main.c 25.1 KB
Newer Older
1
#include <stdio.h>
2
#include <string.h>
Damien's avatar
Damien committed
3
4
#include <stm32f4xx.h>
#include <stm32f4xx_rcc.h>
5
#include <stm32f4xx_syscfg.h>
6
#include <stm32f4xx_gpio.h>
7
#include <stm32f4xx_exti.h>
8
#include <stm32f4xx_tim.h>
Damien's avatar
Damien committed
9
#include <stm32f4xx_pwr.h>
10
#include <stm32f4xx_rtc.h>
11
#include <stm32f4xx_usart.h>
12
#include <stm32f4xx_rng.h>
13
#include <stm_misc.h>
Damien's avatar
Damien committed
14
15
#include "std.h"

16
#include "misc.h"
17
18
#include "ff.h"
#include "mpconfig.h"
19
#include "qstr.h"
20
21
22
#include "nlr.h"
#include "misc.h"
#include "lexer.h"
23
#include "lexerfatfs.h"
24
25
#include "parse.h"
#include "obj.h"
26
#include "compile.h"
27
28
29
#include "runtime0.h"
#include "runtime.h"
#include "repl.h"
Damien's avatar
Damien committed
30
#include "gc.h"
31
#include "gccollect.h"
32
#include "systick.h"
33
#include "led.h"
34
#include "servo.h"
35
#include "lcd.h"
36
#include "storage.h"
37
#include "mma.h"
38
#include "usart.h"
Damien's avatar
Damien committed
39
#include "usb.h"
40
#include "timer.h"
41
#include "audio.h"
42
#include "pybwlan.h"
43
#include "i2c.h"
44
#include "usrsw.h"
mux's avatar
mux committed
45
#include "adc.h"
mux's avatar
mux committed
46
#include "rtc.h"
mux's avatar
mux committed
47
#include "file.h"
48
49

int errno;
Damien's avatar
Damien committed
50

51
52
static FATFS fatfs0;

53
54
55
56
57
58
59
60
61
62
63
64
void flash_error(int n) {
    for (int i = 0; i < n; i++) {
        led_state(PYB_LED_R1, 1);
        led_state(PYB_LED_R2, 0);
        sys_tick_delay_ms(250);
        led_state(PYB_LED_R1, 0);
        led_state(PYB_LED_R2, 1);
        sys_tick_delay_ms(250);
    }
    led_state(PYB_LED_R2, 0);
}

Damien's avatar
Damien committed
65
void __fatal_error(const char *msg) {
mux's avatar
mux committed
66
#if MICROPY_HW_HAS_LCD
Damien's avatar
Damien committed
67
68
    lcd_print_strn("\nFATAL ERROR:\n", 14);
    lcd_print_strn(msg, strlen(msg));
mux's avatar
mux committed
69
#endif
Damien's avatar
Damien committed
70
    for (;;) {
71
        flash_error(1);
Damien's avatar
Damien committed
72
73
74
    }
}

75
76
static mp_obj_t pyb_config_source_dir = MP_OBJ_NULL;
static mp_obj_t pyb_config_main = MP_OBJ_NULL;
77

78
mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
79
80
81
    if (MP_OBJ_IS_STR(source_dir)) {
        pyb_config_source_dir = source_dir;
    }
82
    return mp_const_none;
83
84
}

85
mp_obj_t pyb_main(mp_obj_t main) {
86
87
88
    if (MP_OBJ_IS_STR(main)) {
        pyb_config_main = main;
    }
89
    return mp_const_none;
90
91
92
}

// sync all file systems
93
mp_obj_t pyb_sync(void) {
94
    storage_flush();
95
    return mp_const_none;
96
}
Damien's avatar
Damien committed
97

98
99
100
mp_obj_t pyb_delay(mp_obj_t count) {
    sys_tick_delay_ms(mp_obj_get_int(count));
    return mp_const_none;
Damien's avatar
Damien committed
101
102
}

103
void fatality(void) {
104
105
106
107
108
109
    led_state(PYB_LED_R1, 1);
    led_state(PYB_LED_G1, 1);
    led_state(PYB_LED_R2, 1);
    led_state(PYB_LED_G2, 1);
}

110
static const char fresh_boot_py[] =
111
112
113
114
115
116
117
118
119
120
121
"# boot.py -- run on boot-up\n"
"# can run arbitrary Python, but best to keep it minimal\n"
"\n"
"pyb.source_dir('/src')\n"
"pyb.main('main.py')\n"
"#pyb.usb_usr('VCP')\n"
"#pyb.usb_msd(True, 'dual partition')\n"
"#pyb.flush_cache(False)\n"
"#pyb.error_log('error.txt')\n"
;

122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
static const char fresh_main_py[] =
"# main.py -- put your code here!\n"
;

static const char *help_text =
"Welcome to Micro Python!\n\n"
"This is a *very* early version of Micro Python and has minimal functionality.\n\n"
"Specific commands for the board:\n"
"    pyb.info()     -- print some general information\n"
"    pyb.gc()       -- run the garbage collector\n"
"    pyb.delay(<n>) -- wait for n milliseconds\n"
"    pyb.Led(<n>)   -- create Led object for LED n (n=1,2)\n"
"                      Led methods: on(), off()\n"
"    pyb.Servo(<n>) -- create Servo object for servo n (n=1,2,3,4)\n"
"                      Servo methods: angle(<x>)\n"
"    pyb.switch()   -- return True/False if switch pressed or not\n"
"    pyb.accel()    -- get accelerometer values\n"
"    pyb.rand()     -- get a 16-bit random number\n"
140
"    pyb.gpio(<port>)           -- get port value (port='A4' for example)\n"
141
"    pyb.gpio(<port>, <val>)    -- set port value, True or False, 1 or 0\n"
142
143
"    pyb.ADC(<port>) -- make an analog port object (port='C0' for example)\n"
"                       ADC methods: read()\n"
144
145
146
;

// get some help about available functions
147
static mp_obj_t pyb_help(void) {
148
    printf("%s", help_text);
149
    return mp_const_none;
150
151
}

152
// get lots of info about the board
153
static mp_obj_t pyb_info(void) {
154
155
156
157
158
159
    // get and print unique id; 96 bits
    {
        byte *id = (byte*)0x1fff7a10;
        printf("ID=%02x%02x%02x%02x:%02x%02x%02x%02x:%02x%02x%02x%02x\n", id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7], id[8], id[9], id[10], id[11]);
    }

160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
    // get and print clock speeds
    // SYSCLK=168MHz, HCLK=168MHz, PCLK1=42MHz, PCLK2=84MHz
    {
        RCC_ClocksTypeDef rcc_clocks;
        RCC_GetClocksFreq(&rcc_clocks);
        printf("S=%lu\nH=%lu\nP1=%lu\nP2=%lu\n", rcc_clocks.SYSCLK_Frequency, rcc_clocks.HCLK_Frequency, rcc_clocks.PCLK1_Frequency, rcc_clocks.PCLK2_Frequency);
    }

    // to print info about memory
    {
        extern void *_sidata;
        extern void *_sdata;
        extern void *_edata;
        extern void *_sbss;
        extern void *_ebss;
        extern void *_estack;
        extern void *_etext;
        printf("_sidata=%p\n", &_sidata);
        printf("_sdata=%p\n", &_sdata);
        printf("_edata=%p\n", &_edata);
        printf("_sbss=%p\n", &_sbss);
        printf("_ebss=%p\n", &_ebss);
        printf("_estack=%p\n", &_estack);
        printf("_etext=%p\n", &_etext);
184
        printf("_ram_start=%p\n", &_ram_start);
185
186
187
        printf("_heap_start=%p\n", &_heap_start);
    }

188
189
190
191
192
193
194
195
196
197
    // GC info
    {
        gc_info_t info;
        gc_info(&info);
        printf("GC:\n");
        printf("  %lu total\n", info.total);
        printf("  %lu : %lu\n", info.used, info.free);
        printf("  1=%lu 2=%lu m=%lu\n", info.num_1block, info.num_2block, info.max_block);
    }

198
199
200
201
202
    // free space on flash
    {
        DWORD nclst;
        FATFS *fatfs;
        f_getfree("0:", &nclst, &fatfs);
203
        printf("LFS free: %u bytes\n", (uint)(nclst * fatfs->csize * 512));
204
    }
205

206
    return mp_const_none;
207
208
}

mux's avatar
mux committed
209
#if MICROPY_HW_HAS_SDCARD
210
// SD card test
211
static mp_obj_t pyb_sd_test(void) {
212
213
    extern void sdio_init(void);
    sdio_init();
214
    return mp_const_none;
215
}
mux's avatar
mux committed
216
#endif
217

218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
static void SYSCLKConfig_STOP(void) {
    /* After wake-up from STOP reconfigure the system clock */
    /* Enable HSE */
    RCC_HSEConfig(RCC_HSE_ON);

    /* Wait till HSE is ready */
    while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET) {
    }

    /* Enable PLL */
    RCC_PLLCmd(ENABLE);

    /* Wait till PLL is ready */
    while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET) {
    }

    /* Select PLL as system clock source */
    RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);

    /* Wait till PLL is used as system clock source */
    while (RCC_GetSYSCLKSource() != 0x08) {
    }
}

242
static mp_obj_t pyb_stop(void) {
243
244
245
246
247
248
249
250
251
252
253
254
    PWR_EnterSTANDBYMode();
    //PWR_FlashPowerDownCmd(ENABLE); don't know what the logic is with this

    /* Enter Stop Mode */
    PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);

    /* Configures system clock after wake-up from STOP: enable HSE, PLL and select 
     *        PLL as system clock source (HSE and PLL are disabled in STOP mode) */
    SYSCLKConfig_STOP();

    //PWR_FlashPowerDownCmd(DISABLE);

255
    return mp_const_none;
256
257
}

258
static mp_obj_t pyb_standby(void) {
259
    PWR_EnterSTANDBYMode();
260
    return mp_const_none;
261
262
}

Damien's avatar
Damien committed
263
264
265
266
267
268
269
270
271
272
273
274
char *strdup(const char *str) {
    uint32_t len = strlen(str);
    char *s2 = m_new(char, len + 1);
    memcpy(s2, str, len);
    s2[len] = 0;
    return s2;
}

#define READLINE_HIST_SIZE (8)

static const char *readline_hist[READLINE_HIST_SIZE] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};

275
void stdout_tx_str(const char *str) {
276
277
278
    if (pyb_usart_global_debug != PYB_USART_NONE) {
        usart_tx_str(pyb_usart_global_debug, str);
    }
279
280
281
#if defined(USE_HOST_MODE) && MICROPY_HW_HAS_LCD
    lcd_print_str(str);
#endif
282
283
284
    usb_vcp_send_str(str);
}

285
int readline(vstr_t *line, const char *prompt) {
286
    stdout_tx_str(prompt);
287
    int len = vstr_len(line);
Damien's avatar
Damien committed
288
289
    int escape = 0;
    int hist_num = 0;
290
    for (;;) {
291
292
        char c;
        for (;;) {
293
294
295
296
297
298
299
#ifdef USE_HOST_MODE
            pyb_usb_host_process();
            c = pyb_usb_host_get_keyboard();
            if (c != 0) {
                break;
            }
#endif
300
301
302
            if (usb_vcp_rx_any() != 0) {
                c = usb_vcp_rx_get();
                break;
303
304
            } else if (pyb_usart_global_debug != PYB_USART_NONE && usart_rx_any(pyb_usart_global_debug)) {
                c = usart_rx_char(pyb_usart_global_debug);
305
                break;
306
            }
Damien's avatar
Damien committed
307
            sys_tick_delay_ms(1);
308
309
310
            if (storage_needs_flush()) {
                storage_flush();
            }
311
        }
Damien's avatar
Damien committed
312
313
314
315
        if (escape == 0) {
            if (c == 4 && vstr_len(line) == len) {
                return 0;
            } else if (c == '\r') {
316
                stdout_tx_str("\r\n");
Damien's avatar
Damien committed
317
318
319
320
321
322
323
324
325
326
                for (int i = READLINE_HIST_SIZE - 1; i > 0; i--) {
                    readline_hist[i] = readline_hist[i - 1];
                }
                readline_hist[0] = strdup(vstr_str(line));
                return 1;
            } else if (c == 27) {
                escape = true;
            } else if (c == 127) {
                if (vstr_len(line) > len) {
                    vstr_cut_tail(line, 1);
327
                    stdout_tx_str("\b \b");
Damien's avatar
Damien committed
328
329
330
                }
            } else if (32 <= c && c <= 126) {
                vstr_add_char(line, c);
331
                stdout_tx_str(line->buf + line->len - 1);
332
            }
Damien's avatar
Damien committed
333
334
335
336
337
338
339
340
341
342
343
344
345
        } else if (escape == 1) {
            if (c == '[') {
                escape = 2;
            } else {
                escape = 0;
            }
        } else if (escape == 2) {
            escape = 0;
            if (c == 'A') {
                // up arrow
                if (hist_num < READLINE_HIST_SIZE && readline_hist[hist_num] != NULL) {
                    // erase line
                    for (int i = line->len - len; i > 0; i--) {
346
                        stdout_tx_str("\b \b");
Damien's avatar
Damien committed
347
348
349
350
351
                    }
                    // set line to history
                    line->len = len;
                    vstr_add_str(line, readline_hist[hist_num]);
                    // draw line
352
                    stdout_tx_str(readline_hist[hist_num]);
Damien's avatar
Damien committed
353
354
355
356
357
358
                    // increase hist num
                    hist_num += 1;
                }
            }
        } else {
            escape = 0;
359
        }
Damien's avatar
Damien committed
360
        sys_tick_delay_ms(10);
361
    }
362
363
}

364
void do_repl(void) {
365
366
367
368
369
370
#if defined(USE_HOST_MODE) && MICROPY_HW_HAS_LCD
    // in host mode, we enable the LCD for the repl
    mp_obj_t lcd_o = rt_call_function_0(rt_load_name(qstr_from_str("LCD")));
    rt_call_function_1(rt_load_attr(lcd_o, qstr_from_str("light")), mp_const_true);
#endif

371
    stdout_tx_str("Micro Python build <git hash> on 25/1/2014; " MICROPY_HW_BOARD_NAME " with STM32F405RG\r\n");
372
    stdout_tx_str("Type \"help()\" for more information.\r\n");
373
374

    vstr_t line;
375
    vstr_init(&line, 32);
376
377

    for (;;) {
378
379
380
        vstr_reset(&line);
        int ret = readline(&line, ">>> ");
        if (ret == 0) {
381
            // EOF
382
383
384
385
386
            break;
        }

        if (vstr_len(&line) == 0) {
            continue;
387
        }
388

389
        if (mp_repl_is_compound_stmt(vstr_str(&line))) {
390
            for (;;) {
391
392
393
394
395
                vstr_add_char(&line, '\n');
                int len = vstr_len(&line);
                int ret = readline(&line, "... ");
                if (ret == 0 || vstr_len(&line) == len) {
                    // done entering compound statement
396
397
398
399
400
                    break;
                }
            }
        }

401
        mp_lexer_t *lex = mp_lexer_new_from_str_len(MP_QSTR__lt_stdin_gt_, vstr_str(&line), vstr_len(&line), 0);
402
403
404
        qstr parse_exc_id;
        const char *parse_exc_msg;
        mp_parse_node_t pn = mp_parse(lex, MP_PARSE_SINGLE_INPUT, &parse_exc_id, &parse_exc_msg);
405
        qstr source_name = mp_lexer_source_name(lex);
406
407
408
409
410
411
412
413
414

        if (pn == MP_PARSE_NODE_NULL) {
            // parse error
            mp_lexer_show_error_pythonic_prefix(lex);
            printf("%s: %s\n", qstr_str(parse_exc_id), parse_exc_msg);
            mp_lexer_free(lex);
        } else {
            // parse okay
            mp_lexer_free(lex);
415
            mp_obj_t module_fun = mp_compile(pn, source_name, true);
416
            mp_parse_node_free(pn);
417
418
419
420
421
422
423
424
425
426
            if (module_fun != mp_const_none) {
                nlr_buf_t nlr;
                uint32_t start = sys_tick_counter;
                if (nlr_push(&nlr) == 0) {
                    rt_call_function_0(module_fun);
                    nlr_pop();
                    // optional timing
                    if (0) {
                        uint32_t ticks = sys_tick_counter - start; // TODO implement a function that does this properly
                        printf("(took %lu ms)\n", ticks);
427
                    }
428
429
                } else {
                    // uncaught exception
430
                    mp_obj_print_exception((mp_obj_t)nlr.ret_val);
431
432
433
434
                }
            }
        }
    }
435

436
    stdout_tx_str("\r\n");
437
438
439
}

bool do_file(const char *filename) {
Damien George's avatar
Damien George committed
440
    mp_lexer_t *lex = mp_lexer_new_from_file(filename);
441
442
443
444
445
446

    if (lex == NULL) {
        printf("could not open file '%s' for reading\n", filename);
        return false;
    }

447
448
449
    qstr parse_exc_id;
    const char *parse_exc_msg;
    mp_parse_node_t pn = mp_parse(lex, MP_PARSE_FILE_INPUT, &parse_exc_id, &parse_exc_msg);
450
    qstr source_name = mp_lexer_source_name(lex);
451

452
    if (pn == MP_PARSE_NODE_NULL) {
453
454
455
456
        // parse error
        mp_lexer_show_error_pythonic_prefix(lex);
        printf("%s: %s\n", qstr_str(parse_exc_id), parse_exc_msg);
        mp_lexer_free(lex);
457
458
459
        return false;
    }

460
461
    mp_lexer_free(lex);

462
    mp_obj_t module_fun = mp_compile(pn, source_name, false);
463
464
    mp_parse_node_free(pn);

465
    if (module_fun == mp_const_none) {
466
467
468
469
470
471
472
473
474
475
        return false;
    }

    nlr_buf_t nlr;
    if (nlr_push(&nlr) == 0) {
        rt_call_function_0(module_fun);
        nlr_pop();
        return true;
    } else {
        // uncaught exception
476
        mp_obj_print_exception((mp_obj_t)nlr.ret_val);
477
478
        return false;
    }
479
480
}

481
mp_obj_t pyb_gpio(uint n_args, mp_obj_t *args) {
482
    //assert(1 <= n_args && n_args <= 2);
Damien's avatar
Damien committed
483

484
    const char *pin_name = mp_obj_str_get_str(args[0]);
485
486
487
488
489
490
    GPIO_TypeDef *port;
    switch (pin_name[0]) {
        case 'A': case 'a': port = GPIOA; break;
        case 'B': case 'b': port = GPIOB; break;
        case 'C': case 'c': port = GPIOC; break;
        default: goto pin_error;
491
    }
492
493
494
495
    uint pin_num = 0;
    for (const char *s = pin_name + 1; *s; s++) {
        if (!('0' <= *s && *s <= '9')) {
            goto pin_error;
Damien's avatar
Damien committed
496
        }
497
498
499
500
        pin_num = 10 * pin_num + *s - '0';
    }
    if (!(0 <= pin_num && pin_num <= 15)) {
        goto pin_error;
Damien's avatar
Damien committed
501
    }
502

503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
    if (n_args == 1) {
        // get pin
        if ((port->IDR & (1 << pin_num)) != (uint32_t)Bit_RESET) {
            return MP_OBJ_NEW_SMALL_INT(1);
        } else {
            return MP_OBJ_NEW_SMALL_INT(0);
        }
    } else {
        // set pin
        if (rt_is_true(args[1])) {
            // set pin high
            port->BSRRL = 1 << pin_num;
        } else {
            // set pin low
            port->BSRRH = 1 << pin_num;
        }
        return mp_const_none;
    }
521

522
pin_error:
523
    nlr_jump(mp_obj_new_exception_msg_1_arg(MP_QSTR_ValueError, "pin %s does not exist", pin_name));
Damien's avatar
Damien committed
524
525
}

526
527
MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_gpio_obj, 1, 2, pyb_gpio);

528
529
mp_obj_t pyb_hid_send_report(mp_obj_t arg) {
    mp_obj_t *items = mp_obj_get_array_fixed_n(arg, 4);
530
    uint8_t data[4];
531
532
533
534
    data[0] = mp_obj_get_int(items[0]);
    data[1] = mp_obj_get_int(items[1]);
    data[2] = mp_obj_get_int(items[2]);
    data[3] = mp_obj_get_int(items[3]);
535
    usb_hid_send_report(data);
536
    return mp_const_none;
537
538
}

539
540
mp_obj_t pyb_rng_get(void) {
    return mp_obj_new_int(RNG_GetRandomNumber() >> 16);
541
542
}

543
int main(void) {
544
    // TODO disable JTAG
Damien's avatar
Damien committed
545

546
547
548
    // update the SystemCoreClock variable
    SystemCoreClockUpdate();

549
550
551
552
    // set interrupt priority config to use all 4 bits for pre-empting
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);

    // enable the CCM RAM and the GPIO's
553
    RCC->AHB1ENR |= RCC_AHB1ENR_CCMDATARAMEN | RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN | RCC_AHB1ENR_GPIODEN;
554

mux's avatar
mux committed
555
#if MICROPY_HW_HAS_SDCARD
556
    {
557
558
559
560
561
562
563
564
565
566
567
568
569
        // configure SDIO pins to be high to start with (apparently makes it more robust)
        // FIXME this is not making them high, it just makes them outputs...
        GPIO_InitTypeDef GPIO_InitStructure;
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12;
        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;
        GPIO_Init(GPIOC, &GPIO_InitStructure);

        // Configure PD.02 CMD line
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
        GPIO_Init(GPIOD, &GPIO_InitStructure);
570
    }
mux's avatar
mux committed
571
#endif
572

573
574
    // basic sub-system init
    sys_tick_init();
Damien's avatar
Damien committed
575
    led_init();
mux's avatar
mux committed
576
577

#if MICROPY_HW_ENABLE_RTC
578
    rtc_init();
mux's avatar
mux committed
579
#endif
580
581
582
583
584

    // turn on LED to indicate bootup
    led_state(PYB_LED_G1, 1);

    // more sub-system init
mux's avatar
mux committed
585
#if MICROPY_HW_HAS_SWITCH
586
    switch_init();
mux's avatar
mux committed
587
#endif
588
    storage_init();
589

590
    // uncomment these 2 lines if you want REPL on USART_6 (or another usart) as well as on USB VCP
591
    //pyb_usart_global_debug = PYB_USART_3;
592
    //usart_init(pyb_usart_global_debug, 115200);
Damien's avatar
Damien committed
593

594
595
    int first_soft_reset = true;

596
597
soft_reset:

Damien's avatar
Damien committed
598
    // GC init
599
    gc_init(&_heap_start, &_heap_end);
Damien's avatar
Damien committed
600

601
    // Micro Python init
602
603
    qstr_init();
    rt_init();
604

mux's avatar
mux committed
605
#if MICROPY_HW_HAS_LCD
606
    // LCD init (just creates class, init hardware by calling LCD())
607
    lcd_init();
mux's avatar
mux committed
608
#endif
609

mux's avatar
mux committed
610
#if MICROPY_HW_ENABLE_SERVO
611
612
    // servo
    servo_init();
mux's avatar
mux committed
613
#endif
614

mux's avatar
mux committed
615
#if MICROPY_HW_ENABLE_AUDIO
616
    // audio
mux's avatar
mux committed
617
618
    audio_init();
#endif
619

mux's avatar
mux committed
620
#if MICROPY_HW_ENABLE_TIMER
621
622
    // timer
    timer_init();
mux's avatar
mux committed
623
#endif
624

mux's avatar
mux committed
625
#if MICROPY_HW_ENABLE_RNG
626
    // RNG
mux's avatar
mux committed
627
628
629
    RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_RNG, ENABLE);
    RNG_Cmd(ENABLE);
#endif
630

631
    // add some functions to the python namespace
632
    {
633
634
635
636
        rt_store_name(MP_QSTR_help, rt_make_function_n(0, pyb_help));

        mp_obj_t m = mp_obj_new_module(MP_QSTR_pyb);
        rt_store_attr(m, MP_QSTR_info, rt_make_function_n(0, pyb_info));
mux's avatar
mux committed
637
#if MICROPY_HW_HAS_SDCARD
638
        rt_store_attr(m, MP_QSTR_sd_test, rt_make_function_n(0, pyb_sd_test));
mux's avatar
mux committed
639
#endif
640
641
642
643
644
        rt_store_attr(m, MP_QSTR_stop, rt_make_function_n(0, pyb_stop));
        rt_store_attr(m, MP_QSTR_standby, rt_make_function_n(0, pyb_standby));
        rt_store_attr(m, MP_QSTR_source_dir, rt_make_function_n(1, pyb_source_dir));
        rt_store_attr(m, MP_QSTR_main, rt_make_function_n(1, pyb_main));
        rt_store_attr(m, MP_QSTR_sync, rt_make_function_n(0, pyb_sync));
645
        rt_store_attr(m, MP_QSTR_gc, (mp_obj_t)&pyb_gc_obj);
646
        rt_store_attr(m, MP_QSTR_delay, rt_make_function_n(1, pyb_delay));
mux's avatar
mux committed
647
#if MICROPY_HW_HAS_SWITCH
648
        rt_store_attr(m, MP_QSTR_switch, (mp_obj_t)&pyb_switch_obj);
mux's avatar
mux committed
649
650
#endif
#if MICROPY_HW_ENABLE_SERVO
651
        rt_store_attr(m, MP_QSTR_servo, rt_make_function_n(2, pyb_servo_set));
mux's avatar
mux committed
652
#endif
653
        rt_store_attr(m, MP_QSTR_pwm, rt_make_function_n(2, pyb_pwm_set));
mux's avatar
mux committed
654
#if MICROPY_HW_HAS_MMA7660
655
656
657
        rt_store_attr(m, MP_QSTR_accel, (mp_obj_t)&pyb_mma_read_obj);
        rt_store_attr(m, MP_QSTR_mma_read, (mp_obj_t)&pyb_mma_read_all_obj);
        rt_store_attr(m, MP_QSTR_mma_mode, (mp_obj_t)&pyb_mma_write_mode_obj);
658
#endif
659
        rt_store_attr(m, MP_QSTR_hid, rt_make_function_n(1, pyb_hid_send_report));
660
#if MICROPY_HW_ENABLE_RTC
661
        rt_store_attr(m, MP_QSTR_time, rt_make_function_n(0, pyb_rtc_read));
mux's avatar
mux committed
662
663
#endif
#if MICROPY_HW_ENABLE_RNG
664
        rt_store_attr(m, MP_QSTR_rand, rt_make_function_n(0, pyb_rng_get));
mux's avatar
mux committed
665
#endif
666
        rt_store_attr(m, MP_QSTR_Led, (mp_obj_t)&pyb_Led_obj);
mux's avatar
mux committed
667
#if MICROPY_HW_ENABLE_SERVO
668
        rt_store_attr(m, MP_QSTR_Servo, rt_make_function_n(1, pyb_Servo));
mux's avatar
mux committed
669
#endif
670
671
672
        rt_store_attr(m, MP_QSTR_I2C, rt_make_function_n(2, pyb_I2C));
        rt_store_attr(m, MP_QSTR_gpio, (mp_obj_t)&pyb_gpio_obj);
        rt_store_attr(m, MP_QSTR_Usart, rt_make_function_n(2, pyb_Usart));
673
674
        rt_store_attr(m, qstr_from_str("ADC_all"), (mp_obj_t)&pyb_ADC_all_obj);
        rt_store_attr(m, MP_QSTR_ADC, (mp_obj_t)&pyb_ADC_obj);
675
676
677
        rt_store_name(MP_QSTR_pyb, m);

        rt_store_name(MP_QSTR_open, rt_make_function_n(2, pyb_io_open));
678
    }
679

680
681
    // check if user switch held (initiates reset of filesystem)
    bool reset_filesystem = false;
mux's avatar
mux committed
682
#if MICROPY_HW_HAS_SWITCH
683
    if (switch_get()) {
684
685
        reset_filesystem = true;
        for (int i = 0; i < 50; i++) {
686
            if (!switch_get()) {
687
688
689
690
691
692
                reset_filesystem = false;
                break;
            }
            sys_tick_delay_ms(10);
        }
    }
mux's avatar
mux committed
693
#endif
694
695
696
697
    // local filesystem init
    {
        // try to mount the flash
        FRESULT res = f_mount(&fatfs0, "0:", 1);
698
        if (!reset_filesystem && res == FR_OK) {
699
            // mount sucessful
700
        } else if (reset_filesystem || res == FR_NO_FILESYSTEM) {
701
            // no filesystem, so create a fresh one
702
            // TODO doesn't seem to work correctly when reset_filesystem is true...
703
704
705
706
707
708
709
710
711
712
713
714

            // LED on to indicate creation of LFS
            led_state(PYB_LED_R2, 1);
            uint32_t stc = sys_tick_counter;

            res = f_mkfs("0:", 0, 0);
            if (res == FR_OK) {
                // success creating fresh LFS
            } else {
                __fatal_error("could not create LFS");
            }

715
716
717
718
719
720
721
722
723
724
725
726
            // create src directory
            res = f_mkdir("0:/src");
            // ignore result from mkdir

            // create empty main.py
            FIL fp;
            f_open(&fp, "0:/src/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);

727
728
            // keep LED on for at least 200ms
            sys_tick_wait_at_least(stc, 200);
729
730
731
732
            led_state(PYB_LED_R2, 0);
        } else {
            __fatal_error("could not access LFS");
        }
Damien's avatar
Damien committed
733
734
    }

735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
    // make sure we have a /boot.py
    {
        FILINFO fno;
        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 stc = sys_tick_counter;

            FIL fp;
            f_open(&fp, "0:/boot.py", FA_WRITE | FA_CREATE_ALWAYS);
            UINT n;
757
            f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n);
758
759
760
            // TODO check we could write n bytes
            f_close(&fp);

761
762
            // keep LED on for at least 200ms
            sys_tick_wait_at_least(stc, 200);
763
764
765
766
            led_state(PYB_LED_R2, 0);
        }
    }

767
768
769
770
771
    // run /boot.py
    if (!do_file("0:/boot.py")) {
        flash_error(4);
    }

772
773
774
775
776
777
778
#ifdef USE_HOST_MODE
    // USB host
    pyb_usb_host_init();
#elif defined(USE_DEVICE_MODE)
    // USB device
    pyb_usb_dev_init();
#endif
779

780
    if (first_soft_reset) {
mux's avatar
mux committed
781
#if MICROPY_HW_HAS_MMA7660
782
        // MMA: init and reset address to zero
Damien's avatar
Damien committed
783
        mma_init();
784
#endif
Damien's avatar
Damien committed
785
786
    }

787
788
    // turn boot-up LED off
    led_state(PYB_LED_G1, 0);
789

790
791
792
793
    // run main script
    {
        vstr_t *vstr = vstr_new();
        vstr_add_str(vstr, "0:/");
794
        if (pyb_config_source_dir == MP_OBJ_NULL) {
795
796
            vstr_add_str(vstr, "src");
        } else {
797
            vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_source_dir));
798
799
        }
        vstr_add_char(vstr, '/');
800
        if (pyb_config_main == MP_OBJ_NULL) {
801
802
            vstr_add_str(vstr, "main.py");
        } else {
803
            vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
804
805
806
        }
        if (!do_file(vstr_str(vstr))) {
            flash_error(3);
807
        }
808
        vstr_free(vstr);
809
810
    }

Damien's avatar
Damien committed
811

mux's avatar
mux committed
812
#if MICROPY_HW_HAS_MMA7660
813
814
815
816
817
818
819
820
    // HID example
    if (0) {
        uint8_t data[4];
        data[0] = 0;
        data[1] = 1;
        data[2] = -2;
        data[3] = 0;
        for (;;) {
mux's avatar
mux committed
821
        #if MICROPY_HW_HAS_SWITCH
822
            if (switch_get()) {
823
824
825
826
                data[0] = 0x01; // 0x04 is middle, 0x02 is right
            } else {
                data[0] = 0x00;
            }
mux's avatar
mux committed
827
828
829
        #else
            data[0] = 0x00;
        #endif
830
            mma_start(0x4c /* MMA_ADDR */, 1);
831
            mma_send_byte(0);
832
            mma_restart(0x4c /* MMA_ADDR */, 0);
833
834
835
836
837
838
839
840
841
842
843
844
            for (int i = 0; i <= 1; i++) {
                int v = mma_read_ack() & 0x3f;
                if (v & 0x20) {
                    v |= ~0x1f;
                }
                data[1 + i] = v;
            }
            mma_read_nack();
            usb_hid_send_report(data);
            sys_tick_delay_ms(15);
        }
    }
845
#endif
846

mux's avatar
mux committed
847
#if MICROPY_HW_HAS_WLAN
848
    // wifi
mux's avatar
mux committed
849
850
851
    pyb_wlan_init();
    pyb_wlan_start();
#endif
852

853
854
    do_repl();

855
856
857
858
    printf("PYB: sync filesystems\n");
    pyb_sync();

    printf("PYB: soft reboot\n");
859
860

    first_soft_reset = false;
861
    goto soft_reset;
Damien's avatar
Damien committed
862
}
863

864
865
// these 2 functions seem to actually work... no idea why
// replacing with libgcc does not work (probably due to wrong calling conventions)
866
867
868
869
double __aeabi_f2d(float x) {
    // TODO
    return 0.0;
}
Damien's avatar
Damien committed
870
871
872
873
874
875
876
877
878
879

float __aeabi_d2f(double x) {
    // TODO
    return 0.0;
}

double sqrt(double x) {
    // TODO
    return 0.0;
}
880
881
882
883
884

machine_float_t machine_sqrt(machine_float_t x) {
    // TODO
    return x;
}