| #include <stdio.h> |
| #include <string.h> |
| |
| #include "stm32f4xx_hal.h" |
| |
| #include "misc.h" |
| #include "systick.h" |
| #include "pendsv.h" |
| #include "mpconfig.h" |
| #include "qstr.h" |
| #include "misc.h" |
| #include "lexer.h" |
| #include "parse.h" |
| #include "obj.h" |
| #include "runtime.h" |
| #include "gc.h" |
| #include "gccollect.h" |
| #include "pybstdio.h" |
| #include "readline.h" |
| #include "pyexec.h" |
| #include "i2c.h" |
| #include "spi.h" |
| #include "uart.h" |
| #include "timer.h" |
| #include "led.h" |
| #include "pin.h" |
| #include "extint.h" |
| #include "usrsw.h" |
| #include "usb.h" |
| #include "rtc.h" |
| #include "storage.h" |
| #include "sdcard.h" |
| #include "ff.h" |
| #include "lcd.h" |
| #include "rng.h" |
| #include "accel.h" |
| #include "servo.h" |
| #include "dac.h" |
| #include "pybwlan.h" |
| |
| void SystemClock_Config(void); |
| |
| int errno; |
| |
| static FATFS fatfs0; |
| #if MICROPY_HW_HAS_SDCARD |
| static FATFS fatfs1; |
| #endif |
| |
| void flash_error(int n) { |
| for (int i = 0; i < n; i++) { |
| led_state(PYB_LED_R1, 1); |
| led_state(PYB_LED_R2, 0); |
| HAL_Delay(250); |
| led_state(PYB_LED_R1, 0); |
| led_state(PYB_LED_R2, 1); |
| HAL_Delay(250); |
| } |
| led_state(PYB_LED_R2, 0); |
| } |
| |
| void __fatal_error(const char *msg) { |
| for (volatile uint delay = 0; delay < 10000000; delay++) { |
| } |
| led_state(1, 1); |
| led_state(2, 1); |
| led_state(3, 1); |
| led_state(4, 1); |
| stdout_tx_strn("\nFATAL ERROR:\n", 14); |
| stdout_tx_strn(msg, strlen(msg)); |
| #if 0 && MICROPY_HW_HAS_LCD |
| lcd_print_strn("\nFATAL ERROR:\n", 14); |
| lcd_print_strn(msg, strlen(msg)); |
| #endif |
| for (uint i = 0;;) { |
| led_toggle(((i++) & 3) + 1); |
| for (volatile uint delay = 0; delay < 10000000; delay++) { |
| } |
| if (i >= 16) { |
| // to conserve power |
| __WFI(); |
| } |
| } |
| } |
| |
| void nlr_jump_fail(void *val) { |
| printf("FATAL: uncaught exception %p\n", val); |
| __fatal_error(""); |
| } |
| |
| STATIC mp_obj_t pyb_config_source_dir = MP_OBJ_NULL; |
| STATIC mp_obj_t pyb_config_main = MP_OBJ_NULL; |
| STATIC mp_obj_t pyb_config_usb_mode = MP_OBJ_NULL; |
| |
| STATIC mp_obj_t pyb_source_dir(mp_obj_t source_dir) { |
| if (MP_OBJ_IS_STR(source_dir)) { |
| pyb_config_source_dir = source_dir; |
| } |
| return mp_const_none; |
| } |
| |
| MP_DEFINE_CONST_FUN_OBJ_1(pyb_source_dir_obj, pyb_source_dir); |
| |
| STATIC mp_obj_t pyb_main(mp_obj_t main) { |
| if (MP_OBJ_IS_STR(main)) { |
| pyb_config_main = main; |
| } |
| return mp_const_none; |
| } |
| |
| MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main); |
| |
| STATIC mp_obj_t pyb_usb_mode(mp_obj_t usb_mode) { |
| if (MP_OBJ_IS_STR(usb_mode)) { |
| pyb_config_usb_mode = usb_mode; |
| } |
| return mp_const_none; |
| } |
| |
| MP_DEFINE_CONST_FUN_OBJ_1(pyb_usb_mode_obj, pyb_usb_mode); |
| |
| static const char fresh_boot_py[] = |
| "# boot.py -- run on boot-up\n" |
| "# can run arbitrary Python, but best to keep it minimal\n" |
| "\n" |
| "import pyb\n" |
| "#pyb.main('main.py') # main script to run after this one\n" |
| "#pyb.usb_mode('CDC+MSC') # act as a serial and a storage device\n" |
| "#pyb.usb_mode('CDC+HID') # act as a serial device and a mouse\n" |
| ; |
| |
| static const char fresh_main_py[] = |
| "# main.py -- put your code here!\n" |
| ; |
| |
| static const char fresh_pybcdc_inf[] = |
| #include "genhdr/pybcdc_inf.h" |
| ; |
| |
| static const char fresh_readme_txt[] = |
| "This is a Micro Python board\r\n" |
| "\r\n" |
| "You can get started right away by writing your Python code in 'main.py'.\r\n" |
| "\r\n" |
| "For a serial prompt:\r\n" |
| " - Windows: you need to go to 'Device manager', right click on the unknown device,\r\n" |
| " then update the driver software, using the 'pybcdc.inf' file found on this drive.\r\n" |
| " Then use a terminal program like Hyperterminal or putty.\r\n" |
| " - Mac OS X: use the command: screen /dev/tty.usbmodem*\r\n" |
| " - Linux: use the command: screen /dev/ttyACM0\r\n" |
| "\r\n" |
| "Please visit http://micropython.org/help/ for further help.\r\n" |
| ; |
| |
| int main(void) { |
| // TODO disable JTAG |
| |
| /* STM32F4xx HAL library initialization: |
| - Configure the Flash prefetch, instruction and Data caches |
| - Configure the Systick to generate an interrupt each 1 msec |
| - Set NVIC Group Priority to 4 |
| - Global MSP (MCU Support Package) initialization |
| */ |
| HAL_Init(); |
| |
| // set the system clock to be HSE |
| SystemClock_Config(); |
| |
| // enable GPIO clocks |
| __GPIOA_CLK_ENABLE(); |
| __GPIOB_CLK_ENABLE(); |
| __GPIOC_CLK_ENABLE(); |
| __GPIOD_CLK_ENABLE(); |
| |
| // enable the CCM RAM |
| __CCMDATARAMEN_CLK_ENABLE(); |
| |
| #if 0 |
| #if defined(NETDUINO_PLUS_2) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz; |
| GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; |
| GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; |
| GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; |
| |
| #if MICROPY_HW_HAS_SDCARD |
| // Turn on the power enable for the sdcard (PB1) |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
| GPIO_Init(GPIOB, &GPIO_InitStructure); |
| GPIO_WriteBit(GPIOB, GPIO_Pin_1, Bit_SET); |
| #endif |
| |
| // Turn on the power for the 5V on the expansion header (PB2) |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
| GPIO_Init(GPIOB, &GPIO_InitStructure); |
| GPIO_WriteBit(GPIOB, GPIO_Pin_2, Bit_SET); |
| } |
| #endif |
| #endif |
| |
| // basic sub-system init |
| pendsv_init(); |
| timer_tim3_init(); |
| led_init(); |
| #if MICROPY_HW_HAS_SWITCH |
| switch_init0(); |
| #endif |
| |
| int first_soft_reset = true; |
| |
| soft_reset: |
| |
| // check if user switch held to select the reset mode |
| led_state(1, 0); |
| led_state(2, 1); |
| led_state(3, 0); |
| led_state(4, 0); |
| uint reset_mode = 1; |
| |
| #if MICROPY_HW_HAS_SWITCH |
| if (switch_get()) { |
| for (uint i = 0; i < 3000; i++) { |
| if (!switch_get()) { |
| break; |
| } |
| HAL_Delay(20); |
| if (i % 30 == 29) { |
| if (++reset_mode > 3) { |
| reset_mode = 1; |
| } |
| led_state(2, reset_mode & 1); |
| led_state(3, reset_mode & 2); |
| led_state(4, reset_mode & 4); |
| } |
| } |
| // flash the selected reset mode |
| for (uint i = 0; i < 6; i++) { |
| led_state(2, 0); |
| led_state(3, 0); |
| led_state(4, 0); |
| HAL_Delay(50); |
| led_state(2, reset_mode & 1); |
| led_state(3, reset_mode & 2); |
| led_state(4, reset_mode & 4); |
| HAL_Delay(50); |
| } |
| HAL_Delay(400); |
| } |
| #endif |
| |
| #if MICROPY_HW_ENABLE_RTC |
| if (first_soft_reset) { |
| rtc_init(); |
| } |
| #endif |
| |
| // more sub-system init |
| #if MICROPY_HW_HAS_SDCARD |
| if (first_soft_reset) { |
| sdcard_init(); |
| } |
| #endif |
| if (first_soft_reset) { |
| storage_init(); |
| } |
| |
| // GC init |
| gc_init(&_heap_start, &_heap_end); |
| |
| // Change #if 0 to #if 1 if you want REPL on UART_6 (or another uart) |
| // as well as on USB VCP |
| #if 0 |
| { |
| mp_obj_t args[2] = { |
| MP_OBJ_NEW_SMALL_INT(PYB_UART_6), |
| MP_OBJ_NEW_SMALL_INT(115200), |
| }; |
| pyb_uart_global_debug = pyb_uart_type.make_new((mp_obj_t)&pyb_uart_type, |
| ARRAY_SIZE(args), |
| 0, args); |
| } |
| #else |
| pyb_uart_global_debug = NULL; |
| #endif |
| |
| // Micro Python init |
| qstr_init(); |
| mp_init(); |
| mp_obj_list_init(mp_sys_path, 0); |
| mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_)); |
| mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib)); |
| mp_obj_list_init(mp_sys_argv, 0); |
| |
| readline_init(); |
| |
| pin_init(); |
| extint_init(); |
| |
| #if MICROPY_HW_HAS_LCD |
| // LCD init (just creates class, init hardware by calling LCD()) |
| lcd_init(); |
| #endif |
| |
| // local filesystem init |
| { |
| // try to mount the flash |
| FRESULT res = f_mount(&fatfs0, "0:", 1); |
| if (reset_mode == 3 || res == FR_NO_FILESYSTEM) { |
| // no filesystem, or asked to reset it, so create a fresh one |
| |
| // LED on to indicate creation of LFS |
| led_state(PYB_LED_R2, 1); |
| uint32_t start_tick = HAL_GetTick(); |
| |
| res = f_mkfs("0:", 0, 0); |
| if (res == FR_OK) { |
| // success creating fresh LFS |
| } else { |
| __fatal_error("could not create LFS"); |
| } |
| |
| // create empty main.py |
| FIL fp; |
| f_open(&fp, "0:/main.py", FA_WRITE | FA_CREATE_ALWAYS); |
| UINT n; |
| f_write(&fp, fresh_main_py, sizeof(fresh_main_py) - 1 /* don't count null terminator */, &n); |
| // TODO check we could write n bytes |
| f_close(&fp); |
| |
| // create .inf driver file |
| f_open(&fp, "0:/pybcdc.inf", FA_WRITE | FA_CREATE_ALWAYS); |
| f_write(&fp, fresh_pybcdc_inf, sizeof(fresh_pybcdc_inf) - 1 /* don't count null terminator */, &n); |
| f_close(&fp); |
| |
| // create readme file |
| f_open(&fp, "0:/README.txt", FA_WRITE | FA_CREATE_ALWAYS); |
| f_write(&fp, fresh_readme_txt, sizeof(fresh_readme_txt) - 1 /* don't count null terminator */, &n); |
| f_close(&fp); |
| |
| // keep LED on for at least 200ms |
| sys_tick_wait_at_least(start_tick, 200); |
| led_state(PYB_LED_R2, 0); |
| } else if (res == FR_OK) { |
| // mount sucessful |
| } else { |
| __fatal_error("could not access LFS"); |
| } |
| } |
| |
| // make sure we have a 0:/boot.py |
| { |
| FILINFO fno; |
| #if _USE_LFN |
| fno.lfname = NULL; |
| fno.lfsize = 0; |
| #endif |
| FRESULT res = f_stat("0:/boot.py", &fno); |
| if (res == FR_OK) { |
| if (fno.fattrib & AM_DIR) { |
| // exists as a directory |
| // TODO handle this case |
| // see http://elm-chan.org/fsw/ff/img/app2.c for a "rm -rf" implementation |
| } else { |
| // exists as a file, good! |
| } |
| } else { |
| // doesn't exist, create fresh file |
| |
| // LED on to indicate creation of boot.py |
| led_state(PYB_LED_R2, 1); |
| uint32_t start_tick = HAL_GetTick(); |
| |
| FIL fp; |
| f_open(&fp, "0:/boot.py", FA_WRITE | FA_CREATE_ALWAYS); |
| UINT n; |
| f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n); |
| // TODO check we could write n bytes |
| f_close(&fp); |
| |
| // keep LED on for at least 200ms |
| sys_tick_wait_at_least(start_tick, 200); |
| led_state(PYB_LED_R2, 0); |
| } |
| } |
| |
| // root device defaults to internal flash filesystem |
| uint root_device = 0; |
| |
| #if defined(USE_DEVICE_MODE) |
| usb_storage_medium_t usb_medium = USB_STORAGE_MEDIUM_FLASH; |
| #endif |
| |
| #if MICROPY_HW_HAS_SDCARD |
| // if an SD card is present then mount it on 1:/ |
| if (reset_mode == 1 && sdcard_is_present()) { |
| FRESULT res = f_mount(&fatfs1, "1:", 1); |
| if (res != FR_OK) { |
| printf("[SD] could not mount SD card\n"); |
| } else { |
| // use SD card as root device |
| root_device = 1; |
| |
| if (first_soft_reset) { |
| // use SD card as medium for the USB MSD |
| #if defined(USE_DEVICE_MODE) |
| usb_medium = USB_STORAGE_MEDIUM_SDCARD; |
| #endif |
| } |
| } |
| } |
| #else |
| // Get rid of compiler warning if no SDCARD is configured. |
| (void)first_soft_reset; |
| #endif |
| |
| // run <root>:/boot.py, if it exists |
| if (reset_mode == 1) { |
| const char *boot_file; |
| if (root_device == 0) { |
| boot_file = "0:/boot.py"; |
| } else { |
| boot_file = "1:/boot.py"; |
| } |
| FRESULT res = f_stat(boot_file, NULL); |
| if (res == FR_OK) { |
| if (!pyexec_file(boot_file)) { |
| flash_error(4); |
| } |
| } |
| } |
| |
| // turn boot-up LEDs off |
| led_state(2, 0); |
| led_state(3, 0); |
| led_state(4, 0); |
| |
| #if defined(USE_HOST_MODE) |
| // USB host |
| pyb_usb_host_init(); |
| #elif defined(USE_DEVICE_MODE) |
| // USB device |
| if (reset_mode == 1) { |
| usb_device_mode_t usb_mode = USB_DEVICE_MODE_CDC_MSC; |
| if (pyb_config_usb_mode != MP_OBJ_NULL) { |
| if (strcmp(mp_obj_str_get_str(pyb_config_usb_mode), "CDC+HID") == 0) { |
| usb_mode = USB_DEVICE_MODE_CDC_HID; |
| } |
| } |
| pyb_usb_dev_init(usb_mode, usb_medium); |
| } else { |
| pyb_usb_dev_init(USB_DEVICE_MODE_CDC_MSC, usb_medium); |
| } |
| #endif |
| |
| timer_init0(); |
| |
| #if MICROPY_HW_ENABLE_RNG |
| rng_init0(); |
| #endif |
| |
| i2c_init0(); |
| spi_init0(); |
| |
| #if MICROPY_HW_HAS_MMA7660 |
| // MMA accel: init and reset |
| accel_init(); |
| #endif |
| |
| #if MICROPY_HW_ENABLE_SERVO |
| // servo |
| servo_init(); |
| #endif |
| |
| #if MICROPY_HW_ENABLE_DAC |
| // DAC |
| dac_init(); |
| #endif |
| |
| // now that everything is initialised, run main script |
| if (reset_mode == 1 && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) { |
| vstr_t *vstr = vstr_new(); |
| vstr_printf(vstr, "%d:/", root_device); |
| if (pyb_config_main == MP_OBJ_NULL) { |
| vstr_add_str(vstr, "main.py"); |
| } else { |
| vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main)); |
| } |
| FRESULT res = f_stat(vstr_str(vstr), NULL); |
| if (res == FR_OK) { |
| if (!pyexec_file(vstr_str(vstr))) { |
| flash_error(3); |
| } |
| } |
| vstr_free(vstr); |
| } |
| |
| #if MICROPY_HW_ENABLE_CC3K |
| // wifi using the CC3000 driver |
| pyb_wlan_init(); |
| pyb_wlan_start(); |
| #endif |
| |
| // enter REPL |
| // REPL mode can change, or it can request a soft reset |
| for (;;) { |
| if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) { |
| if (pyexec_raw_repl() != 0) { |
| break; |
| } |
| } else { |
| if (pyexec_friendly_repl() != 0) { |
| break; |
| } |
| } |
| } |
| |
| printf("PYB: sync filesystems\n"); |
| storage_flush(); |
| |
| printf("PYB: soft reboot\n"); |
| |
| first_soft_reset = false; |
| goto soft_reset; |
| } |