main.c 36 KB
Newer Older
1
#include <stdio.h>
Damien's avatar
Damien committed
2
3
#include <stm32f4xx.h>
#include <stm32f4xx_rcc.h>
4
#include <stm32f4xx_syscfg.h>
5
#include <stm32f4xx_gpio.h>
6
#include <stm32f4xx_exti.h>
7
#include <stm32f4xx_tim.h>
Damien's avatar
Damien committed
8
#include <stm32f4xx_pwr.h>
9
#include <stm32f4xx_rtc.h>
10
#include <stm32f4xx_usart.h>
11
#include <stm32f4xx_rng.h>
12
#include <stm_misc.h>
Damien's avatar
Damien committed
13
14
#include "std.h"

15
#include "misc.h"
16
17
#include "ff.h"
#include "mpconfig.h"
18
#include "mpqstr.h"
19
20
21
#include "nlr.h"
#include "misc.h"
#include "lexer.h"
22
#include "lexerfatfs.h"
23
24
#include "parse.h"
#include "obj.h"
25
#include "compile.h"
26
27
28
#include "runtime0.h"
#include "runtime.h"
#include "repl.h"
Damien's avatar
Damien committed
29
#include "gc.h"
30
#include "systick.h"
31
#include "led.h"
32
#include "servo.h"
33
#include "lcd.h"
34
#include "storage.h"
35
#include "mma.h"
36
#include "usart.h"
Damien's avatar
Damien committed
37
#include "usb.h"
38
#include "timer.h"
39
#include "audio.h"
40
#include "pybwlan.h"
41
#include "i2c.h"
42
#include "usrsw.h"
mux's avatar
mux committed
43
#include "adc.h"
44
45

int errno;
Damien's avatar
Damien committed
46

Damien's avatar
Damien committed
47
48
extern uint32_t _heap_start;

49
50
static FATFS fatfs0;

51
52
53
54
55
56
57
58
59
60
61
62
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);
}

63
static void impl02_c_version(void) {
Damien's avatar
Damien committed
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
    int x = 0;
    while (x < 400) {
        int y = 0;
        while (y < 400) {
            volatile int z = 0;
            while (z < 400) {
                z = z + 1;
            }
            y = y + 1;
        }
        x = x + 1;
    }
}

void __fatal_error(const char *msg) {
    lcd_print_strn("\nFATAL ERROR:\n", 14);
    lcd_print_strn(msg, strlen(msg));
    for (;;) {
82
        flash_error(1);
Damien's avatar
Damien committed
83
84
85
    }
}

86
87
88
static qstr pyb_config_source_dir = 0;
static qstr pyb_config_main = 0;

89
90
91
mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
    pyb_config_source_dir = mp_obj_get_qstr(source_dir);
    return mp_const_none;
92
93
}

94
95
96
mp_obj_t pyb_main(mp_obj_t main) {
    pyb_config_main = mp_obj_get_qstr(main);
    return mp_const_none;
97
98
99
}

// sync all file systems
100
mp_obj_t pyb_sync(void) {
101
    storage_flush();
102
    return mp_const_none;
103
}
Damien's avatar
Damien committed
104

105
106
107
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
108
109
}

110
mp_obj_t pyb_led(mp_obj_t state) {
111
    led_state(PYB_LED_G1, rt_is_true(state));
Damien's avatar
Damien committed
112
113
114
    return state;
}

115
/*
116
117
118
119
120
121
void g(uint i) {
    printf("g:%d\n", i);
    if (i & 1) {
        nlr_jump((void*)(42 + i));
    }
}
122
void f(void) {
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
    nlr_buf_t nlr;
    int i;
    for (i = 0; i < 4; i++) {
        printf("f:loop:%d:%p\n", i, &nlr);
        if (nlr_push(&nlr) == 0) {
            // normal
            //printf("a:%p:%p %p %p %u\n", &nlr, nlr.ip, nlr.sp, nlr.prev, nlr.ret_val);
            g(i);
            printf("f:lp:%d:nrm\n", i);
            nlr_pop();
        } else {
            // nlr
            //printf("b:%p:%p %p %p %u\n", &nlr, nlr.ip, nlr.sp, nlr.prev, nlr.ret_val);
            printf("f:lp:%d:nlr:%d\n", i, (int)nlr.ret_val);
        }
    }
}
140
void nlr_test(void) {
141
142
    f(1);
}
143
144
*/

145
void fatality(void) {
146
147
148
149
150
151
    led_state(PYB_LED_R1, 1);
    led_state(PYB_LED_G1, 1);
    led_state(PYB_LED_R2, 1);
    led_state(PYB_LED_G2, 1);
}

152
static const char fresh_boot_py[] =
153
154
155
156
157
158
159
160
161
162
163
"# 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"
;

164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
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"
;

// get some help about available functions
185
static mp_obj_t pyb_help(void) {
186
    printf("%s", help_text);
187
    return mp_const_none;
188
189
}

190
// get lots of info about the board
191
static mp_obj_t pyb_info(void) {
192
193
194
195
196
197
    // 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]);
    }

198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
    // 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);
        printf("_heap_start=%p\n", &_heap_start);
    }

225
226
227
228
229
230
231
232
233
234
    // 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);
    }

235
236
237
238
239
    // free space on flash
    {
        DWORD nclst;
        FATFS *fatfs;
        f_getfree("0:", &nclst, &fatfs);
240
        printf("LFS free: %u bytes\n", (uint)(nclst * fatfs->csize * 512));
241
    }
242

243
    return mp_const_none;
244
245
}

246
// SD card test
247
static mp_obj_t pyb_sd_test(void) {
248
249
    extern void sdio_init(void);
    sdio_init();
250
    return mp_const_none;
251
252
}

253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
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) {
    }
}

277
static mp_obj_t pyb_stop(void) {
278
279
280
281
282
283
284
285
286
287
288
289
    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);

290
    return mp_const_none;
291
292
}

293
static mp_obj_t pyb_standby(void) {
294
    PWR_EnterSTANDBYMode();
295
    return mp_const_none;
296
297
}

Damien's avatar
Damien committed
298
299
300
301
302
303
304
305
306
307
308
309
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};

310
void stdout_tx_str(const char *str) {
311
312
313
    if (pyb_usart_global_debug != PYB_USART_NONE) {
        usart_tx_str(pyb_usart_global_debug, str);
    }
314
315
316
    usb_vcp_send_str(str);
}

317
int readline(vstr_t *line, const char *prompt) {
318
    stdout_tx_str(prompt);
319
    int len = vstr_len(line);
Damien's avatar
Damien committed
320
321
    int escape = 0;
    int hist_num = 0;
322
    for (;;) {
323
324
325
326
327
        char c;
        for (;;) {
            if (usb_vcp_rx_any() != 0) {
                c = usb_vcp_rx_get();
                break;
328
329
            } else if (pyb_usart_global_debug != PYB_USART_NONE && usart_rx_any(pyb_usart_global_debug)) {
                c = usart_rx_char(pyb_usart_global_debug);
330
                break;
331
            }
Damien's avatar
Damien committed
332
            sys_tick_delay_ms(1);
333
334
335
            if (storage_needs_flush()) {
                storage_flush();
            }
336
        }
Damien's avatar
Damien committed
337
338
339
340
        if (escape == 0) {
            if (c == 4 && vstr_len(line) == len) {
                return 0;
            } else if (c == '\r') {
341
                stdout_tx_str("\r\n");
Damien's avatar
Damien committed
342
343
344
345
346
347
348
349
350
351
                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);
352
                    stdout_tx_str("\b \b");
Damien's avatar
Damien committed
353
354
355
                }
            } else if (32 <= c && c <= 126) {
                vstr_add_char(line, c);
356
                stdout_tx_str(line->buf + line->len - 1);
357
            }
Damien's avatar
Damien committed
358
359
360
361
362
363
364
365
366
367
368
369
370
        } 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--) {
371
                        stdout_tx_str("\b \b");
Damien's avatar
Damien committed
372
373
374
375
376
                    }
                    // set line to history
                    line->len = len;
                    vstr_add_str(line, readline_hist[hist_num]);
                    // draw line
377
                    stdout_tx_str(readline_hist[hist_num]);
Damien's avatar
Damien committed
378
379
380
381
382
383
                    // increase hist num
                    hist_num += 1;
                }
            }
        } else {
            escape = 0;
384
        }
Damien's avatar
Damien committed
385
        sys_tick_delay_ms(10);
386
    }
387
388
}

389
void do_repl(void) {
390
    stdout_tx_str("Micro Python build <git hash> on 2/1/2014; PYBv3 with STM32F405RG\r\n");
391
    stdout_tx_str("Type \"help()\" for more information.\r\n");
392
393

    vstr_t line;
394
    vstr_init(&line, 32);
395
396

    for (;;) {
397
398
399
        vstr_reset(&line);
        int ret = readline(&line, ">>> ");
        if (ret == 0) {
400
            // EOF
401
402
403
404
405
            break;
        }

        if (vstr_len(&line) == 0) {
            continue;
406
        }
407

408
        if (mp_repl_is_compound_stmt(vstr_str(&line))) {
409
            for (;;) {
410
411
412
413
414
                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
415
416
417
418
419
                    break;
                }
            }
        }

420
        mp_lexer_t *lex = mp_lexer_new_from_str_len("<stdin>", vstr_str(&line), vstr_len(&line), 0);
421
422
423
        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);
424
        qstr source_name = mp_lexer_source_name(lex);
425
426
427
428
429
430
431
432
433

        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);
434
            mp_obj_t module_fun = mp_compile(pn, source_name, true);
435
436
437
438
439
440
441
442
443
444
            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);
445
                    }
446
447
                } else {
                    // uncaught exception
448
                    mp_obj_print((mp_obj_t)nlr.ret_val, PRINT_REPR);
449
                    printf("\n");
450
451
452
453
                }
            }
        }
    }
454

455
    stdout_tx_str("\r\n");
456
457
458
}

bool do_file(const char *filename) {
Damien George's avatar
Damien George committed
459
    mp_lexer_t *lex = mp_lexer_new_from_file(filename);
460
461
462
463
464
465

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

466
467
468
    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);
469
    qstr source_name = mp_lexer_source_name(lex);
470

471
    if (pn == MP_PARSE_NODE_NULL) {
472
473
474
475
        // 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);
476
477
478
        return false;
    }

479
480
    mp_lexer_free(lex);

481
    mp_obj_t module_fun = mp_compile(pn, source_name, false);
482
    if (module_fun == mp_const_none) {
483
484
485
486
487
488
489
490
491
492
        return false;
    }

    nlr_buf_t nlr;
    if (nlr_push(&nlr) == 0) {
        rt_call_function_0(module_fun);
        nlr_pop();
        return true;
    } else {
        // uncaught exception
493
        mp_obj_print((mp_obj_t)nlr.ret_val, PRINT_REPR);
494
495
496
        printf("\n");
        return false;
    }
497
498
}

499
500
501
502
503
504
#define RAM_START (0x20000000) // fixed for chip
#define HEAP_END  (0x2001c000) // tunable
#define RAM_END   (0x20020000) // fixed for chip

void gc_helper_get_regs_and_clean_stack(machine_uint_t *regs, machine_uint_t heap_end);

505
void gc_collect(void) {
506
    uint32_t start = sys_tick_counter;
Damien's avatar
Damien committed
507
    gc_collect_start();
508
509
510
511
    gc_collect_root((void**)RAM_START, (((uint32_t)&_heap_start) - RAM_START) / 4);
    machine_uint_t regs[10];
    gc_helper_get_regs_and_clean_stack(regs, HEAP_END);
    gc_collect_root((void**)HEAP_END, (RAM_END - HEAP_END) / 4); // will trace regs since they now live in this function on the stack
Damien's avatar
Damien committed
512
    gc_collect_end();
513
    uint32_t ticks = sys_tick_counter - start; // TODO implement a function that does this properly
514
515
516
517
518
519
520
521
522
523

    if (0) {
        // print GC info
        gc_info_t info;
        gc_info(&info);
        printf("GC@%lu %lums\n", start, ticks);
        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);
    }
524
525
}

526
mp_obj_t pyb_gc(void) {
527
    gc_collect();
528
    return mp_const_none;
529
530
}

531
532
mp_obj_t pyb_gpio(int n_args, mp_obj_t *args) {
    //assert(1 <= n_args && n_args <= 2);
Damien's avatar
Damien committed
533

534
535
536
537
538
539
540
    const char *pin_name = qstr_str(mp_obj_get_qstr(args[0]));
    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;
541
    }
542
543
544
545
    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
546
        }
547
548
549
550
        pin_num = 10 * pin_num + *s - '0';
    }
    if (!(0 <= pin_num && pin_num <= 15)) {
        goto pin_error;
Damien's avatar
Damien committed
551
    }
552

553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
    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;
    }
571

572
pin_error:
573
    nlr_jump(mp_obj_new_exception_msg_1_arg(MP_QSTR_ValueError, "pin %s does not exist", pin_name));
Damien's avatar
Damien committed
574
575
}

576
577
MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_gpio_obj, 1, 2, pyb_gpio);

578
579
mp_obj_t pyb_hid_send_report(mp_obj_t arg) {
    mp_obj_t *items = mp_obj_get_array_fixed_n(arg, 4);
580
    uint8_t data[4];
581
582
583
584
    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]);
585
    usb_hid_send_report(data);
586
    return mp_const_none;
587
588
}

589
static void rtc_init(void) {
590
591
592
    uint32_t rtc_clksrc;
    uint32_t timeout =10000;

593
594
595
596
597
598
599
600
601
602
    /* Enable the PWR clock */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);

    /* Allow access to RTC */
    PWR_BackupAccessCmd(ENABLE);

    /* Enable the LSE OSC */
    RCC_LSEConfig(RCC_LSE_ON);

    /* Wait till LSE is ready */
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
    while((RCC_GetFlagStatus(RCC_FLAG_LSERDY) == RESET) && (--timeout > 0)) {
    }

    /* If LSE timed out, use LSI instead */
    if (timeout == 0) {
        /* Enable the LSI OSC */
        RCC_LSICmd(ENABLE);

        /* Wait till LSI is ready */
        while(RCC_GetFlagStatus(RCC_FLAG_LSIRDY) == RESET) {
        }

        /* Use LSI as the RTC Clock Source */
        rtc_clksrc = RCC_RTCCLKSource_LSI;
    } else {
        /* Use LSE as the RTC Clock Source */
        rtc_clksrc = RCC_RTCCLKSource_LSE;
620
621
622
    }

    /* Select the RTC Clock Source */
623
624
625
    RCC_RTCCLKConfig(rtc_clksrc);

    /* Note: LSI is around (32KHz), these dividers should work either way */
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
    /* ck_spre(1Hz) = RTCCLK(LSE) /(uwAsynchPrediv + 1)*(uwSynchPrediv + 1)*/
    uint32_t uwSynchPrediv = 0xFF;
    uint32_t uwAsynchPrediv = 0x7F;

    /* Enable the RTC Clock */
    RCC_RTCCLKCmd(ENABLE);

    /* Wait for RTC APB registers synchronisation */
    RTC_WaitForSynchro();

    /* Configure the RTC data register and RTC prescaler */
    RTC_InitTypeDef RTC_InitStructure;
    RTC_InitStructure.RTC_AsynchPrediv = uwAsynchPrediv;
    RTC_InitStructure.RTC_SynchPrediv = uwSynchPrediv;
    RTC_InitStructure.RTC_HourFormat = RTC_HourFormat_24;
    RTC_Init(&RTC_InitStructure);

    // Set the date (BCD)
    RTC_DateTypeDef RTC_DateStructure;
    RTC_DateStructure.RTC_Year = 0x13;
    RTC_DateStructure.RTC_Month = RTC_Month_October;
    RTC_DateStructure.RTC_Date = 0x26;
    RTC_DateStructure.RTC_WeekDay = RTC_Weekday_Saturday;
    RTC_SetDate(RTC_Format_BCD, &RTC_DateStructure);

    // Set the time (BCD)
    RTC_TimeTypeDef RTC_TimeStructure;
    RTC_TimeStructure.RTC_H12     = RTC_H12_AM;
    RTC_TimeStructure.RTC_Hours   = 0x01;
    RTC_TimeStructure.RTC_Minutes = 0x53;
    RTC_TimeStructure.RTC_Seconds = 0x00;
    RTC_SetTime(RTC_Format_BCD, &RTC_TimeStructure);

    // Indicator for the RTC configuration
    //RTC_WriteBackupRegister(RTC_BKP_DR0, 0x32F2);
}

663
mp_obj_t pyb_rtc_read(void) {
664
665
666
    RTC_TimeTypeDef RTC_TimeStructure;
    RTC_GetTime(RTC_Format_BIN, &RTC_TimeStructure);
    printf("%02d:%02d:%02d\n", RTC_TimeStructure.RTC_Hours, RTC_TimeStructure.RTC_Minutes, RTC_TimeStructure.RTC_Seconds);
667
    return mp_const_none;
668
669
}

670
671
672
673
674
typedef struct _pyb_file_obj_t {
    mp_obj_base_t base;
    FIL fp;
} pyb_file_obj_t;

675
void file_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
676
    printf("<file %p>", self_in);
Damien's avatar
Damien committed
677
678
}

679
680
681
mp_obj_t file_obj_read(mp_obj_t self_in, mp_obj_t arg) {
    pyb_file_obj_t *self = self_in;
    int n = mp_obj_get_int(arg);
Damien's avatar
Damien committed
682
683
    char *buf = m_new(char, n + 1);
    UINT n_out;
684
    f_read(&self->fp, buf, n, &n_out);
Damien's avatar
Damien committed
685
    buf[n_out] = 0;
686
    return mp_obj_new_str(qstr_from_str_take(buf, n + 1));
Damien's avatar
Damien committed
687
688
}

689
690
691
mp_obj_t file_obj_write(mp_obj_t self_in, mp_obj_t arg) {
    pyb_file_obj_t *self = self_in;
    const char *s = qstr_str(mp_obj_get_qstr(arg));
Damien's avatar
Damien committed
692
    UINT n_out;
693
    FRESULT res = f_write(&self->fp, s, strlen(s), &n_out);
Damien's avatar
Damien committed
694
695
696
697
698
    if (res != FR_OK) {
        printf("File error: could not write to file; error code %d\n", res);
    } else if (n_out != strlen(s)) {
        printf("File error: could not write all data to file; wrote %d / %d bytes\n", n_out, strlen(s));
    }
699
    return mp_const_none;
Damien's avatar
Damien committed
700
701
}

702
703
704
705
mp_obj_t file_obj_close(mp_obj_t self_in) {
    pyb_file_obj_t *self = self_in;
    f_close(&self->fp);
    return mp_const_none;
Damien's avatar
Damien committed
706
707
}

708
709
710
711
static MP_DEFINE_CONST_FUN_OBJ_2(file_obj_read_obj, file_obj_read);
static MP_DEFINE_CONST_FUN_OBJ_2(file_obj_write_obj, file_obj_write);
static MP_DEFINE_CONST_FUN_OBJ_1(file_obj_close_obj, file_obj_close);

Damien's avatar
Damien committed
712
// TODO gc hook to close the file if not already closed
713

714
715
716
717
718
719
720
static const mp_method_t file_methods[] = {
    { "read", &file_obj_read_obj },
    { "write", &file_obj_write_obj },
    { "close", &file_obj_close_obj },
    {NULL, NULL},
};

721
722
static const mp_obj_type_t file_obj_type = {
    { &mp_const_type },
Damien's avatar
Damien committed
723
    "File",
724
725
    .print = file_obj_print,
    .methods = file_methods,
Damien's avatar
Damien committed
726
727
};

728
729
730
731
732
mp_obj_t pyb_io_open(mp_obj_t o_filename, mp_obj_t o_mode) {
    const char *filename = qstr_str(mp_obj_get_qstr(o_filename));
    const char *mode = qstr_str(mp_obj_get_qstr(o_mode));
    pyb_file_obj_t *self = m_new_obj(pyb_file_obj_t);
    self->base.type = &file_obj_type;
Damien's avatar
Damien committed
733
734
    if (mode[0] == 'r') {
        // open for reading
735
        FRESULT res = f_open(&self->fp, filename, FA_READ);
Damien's avatar
Damien committed
736
737
        if (res != FR_OK) {
            printf("FileNotFoundError: [Errno 2] No such file or directory: '%s'\n", filename);
738
            return mp_const_none;
Damien's avatar
Damien committed
739
740
741
        }
    } else if (mode[0] == 'w') {
        // open for writing, truncate the file first
742
        FRESULT res = f_open(&self->fp, filename, FA_WRITE | FA_CREATE_ALWAYS);
Damien's avatar
Damien committed
743
744
        if (res != FR_OK) {
            printf("?FileError: could not create file: '%s'\n", filename);
745
            return mp_const_none;
Damien's avatar
Damien committed
746
747
748
        }
    } else {
        printf("ValueError: invalid mode: '%s'\n", mode);
749
        return mp_const_none;
Damien's avatar
Damien committed
750
    }
751
    return self;
Damien's avatar
Damien committed
752
753
}

754
755
mp_obj_t pyb_rng_get(void) {
    return mp_obj_new_int(RNG_GetRandomNumber() >> 16);
756
757
}

758
int main(void) {
759
    // TODO disable JTAG
Damien's avatar
Damien committed
760

761
762
763
    // update the SystemCoreClock variable
    SystemCoreClockUpdate();

764
765
766
767
768
769
    // 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
    RCC->AHB1ENR |= RCC_AHB1ENR_CCMDATARAMEN | RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;

770
    // configure SDIO pins to be high to start with (apparently makes it more robust)
771
772
773
774
775
776
777
778
779
780
781
782
783
784
    {
      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);
    }

785
786
    // basic sub-system init
    sys_tick_init();
Damien's avatar
Damien committed
787
    led_init();
788
    rtc_init();
789
790
791
792
793

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

    // more sub-system init
794
    switch_init();
795
    storage_init();
796

797
798
799
    // uncomment these 2 lines if you want REPL on USART_6 (or another usart) as well as on USB VCP
    //pyb_usart_global_debug = PYB_USART_6;
    //usart_init(pyb_usart_global_debug, 115200);
Damien's avatar
Damien committed
800

801
802
    int first_soft_reset = true;

803
804
soft_reset:

Damien's avatar
Damien committed
805
    // GC init
806
    gc_init(&_heap_start, (void*)HEAP_END);
Damien's avatar
Damien committed
807

808
    // Micro Python init
809
810
    qstr_init();
    rt_init();
811

812
    // LCD init
813
    //lcd_init(); disabled while servos on PA0 PA1
814

815
816
817
    // servo
    servo_init();

818
    // audio
819
    //audio_init();
820

821
822
823
    // timer
    timer_init();

824
    // RNG
825
    if (1) {
826
827
828
829
        RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_RNG, ENABLE);
        RNG_Cmd(ENABLE);
    }

830
    // add some functions to the python namespace
831
    {
832
        rt_store_name(qstr_from_str_static("help"), rt_make_function_n(0, pyb_help));
833

834
        mp_obj_t m = mp_obj_new_module(qstr_from_str_static("pyb"));
835
836
837
838
839
840
841
842
843
844
        rt_store_attr(m, qstr_from_str_static("info"), rt_make_function_n(0, pyb_info));
        rt_store_attr(m, qstr_from_str_static("sd_test"), rt_make_function_n(0, pyb_sd_test));
        rt_store_attr(m, qstr_from_str_static("stop"), rt_make_function_n(0, pyb_stop));
        rt_store_attr(m, qstr_from_str_static("standby"), rt_make_function_n(0, pyb_standby));
        rt_store_attr(m, qstr_from_str_static("source_dir"), rt_make_function_n(1, pyb_source_dir));
        rt_store_attr(m, qstr_from_str_static("main"), rt_make_function_n(1, pyb_main));
        rt_store_attr(m, qstr_from_str_static("sync"), rt_make_function_n(0, pyb_sync));
        rt_store_attr(m, qstr_from_str_static("gc"), rt_make_function_n(0, pyb_gc));
        rt_store_attr(m, qstr_from_str_static("delay"), rt_make_function_n(1, pyb_delay));
        rt_store_attr(m, qstr_from_str_static("led"), rt_make_function_n(1, pyb_led));
845
        rt_store_attr(m, qstr_from_str_static("switch"), (mp_obj_t)&pyb_switch_obj);
846
847
        rt_store_attr(m, qstr_from_str_static("servo"), rt_make_function_n(2, pyb_servo_set));
        rt_store_attr(m, qstr_from_str_static("pwm"), rt_make_function_n(2, pyb_pwm_set));
848
849
850
        rt_store_attr(m, qstr_from_str_static("accel"), (mp_obj_t)&pyb_mma_read_obj);
        rt_store_attr(m, qstr_from_str_static("mma_read"), (mp_obj_t)&pyb_mma_read_all_obj);
        rt_store_attr(m, qstr_from_str_static("mma_mode"), (mp_obj_t)&pyb_mma_write_mode_obj);
851
852
853
854
855
856
        rt_store_attr(m, qstr_from_str_static("hid"), rt_make_function_n(1, pyb_hid_send_report));
        rt_store_attr(m, qstr_from_str_static("time"), rt_make_function_n(0, pyb_rtc_read));
        rt_store_attr(m, qstr_from_str_static("rand"), rt_make_function_n(0, pyb_rng_get));
        rt_store_attr(m, qstr_from_str_static("Led"), rt_make_function_n(1, pyb_Led));
        rt_store_attr(m, qstr_from_str_static("Servo"), rt_make_function_n(1, pyb_Servo));
        rt_store_attr(m, qstr_from_str_static("I2C"), rt_make_function_n(2, pyb_I2C));
857
        rt_store_attr(m, qstr_from_str_static("gpio"), (mp_obj_t)&pyb_gpio_obj);
858
        rt_store_attr(m, qstr_from_str_static("Usart"), rt_make_function_n(2, pyb_Usart));
mux's avatar
mux committed
859
        rt_store_attr(m, qstr_from_str_static("ADC"), rt_make_function_n(1, pyb_ADC));
860
        rt_store_name(qstr_from_str_static("pyb"), m);
Damien's avatar
Damien committed
861

862
        rt_store_name(qstr_from_str_static("open"), rt_make_function_n(2, pyb_io_open));
863
    }
864

865
866
    // print a message to the LCD
    lcd_print_str(" micro py board\n");
Damien's avatar
Damien committed
867

868
869
    // check if user switch held (initiates reset of filesystem)
    bool reset_filesystem = false;
870
    if (switch_get()) {
871
872
        reset_filesystem = true;
        for (int i = 0; i < 50; i++) {
873
            if (!switch_get()) {
874
875
876
877
878
879
880
                reset_filesystem = false;
                break;
            }
            sys_tick_delay_ms(10);
        }
    }

881
882
883
884
    // local filesystem init
    {
        // try to mount the flash
        FRESULT res = f_mount(&fatfs0, "0:", 1);
885
        if (!reset_filesystem && res == FR_OK) {
886
            // mount sucessful
887
        } else if (reset_filesystem || res == FR_NO_FILESYSTEM) {
888
            // no filesystem, so create a fresh one
889
            // TODO doesn't seem to work correctly when reset_filesystem is true...
890
891
892
893
894
895
896
897
898
899
900
901

            // 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");
            }

902
903
904
905
906
907
908
909
910
911
912
913
            // 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);

914
915
            // keep LED on for at least 200ms
            sys_tick_wait_at_least(stc, 200);
916
917
918
919
            led_state(PYB_LED_R2, 0);
        } else {
            __fatal_error("could not access LFS");
        }
Damien's avatar
Damien committed
920
921
    }

922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
    // 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;
944
            f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n);
945
946
947
            // TODO check we could write n bytes
            f_close(&fp);

948
949
            // keep LED on for at least 200ms
            sys_tick_wait_at_least(stc, 200);
950
951
952
953
            led_state(PYB_LED_R2, 0);
        }
    }

954
955
956
957
958
    // run /boot.py
    if (!do_file("0:/boot.py")) {
        flash_error(4);
    }

959
960
961
    // USB
    usb_init();

962
963
964
    // USB host; not working!
    //pyb_usbh_init();

Damien's avatar
Damien committed
965
    // MMA
966
    if (first_soft_reset) {
Damien's avatar
Damien committed
967
968
969
970
        // init and reset address to zero
        mma_init();
    }

971
972
    // turn boot-up LED off
    led_state(PYB_LED_G1, 0);
973

974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
    // run main script
    {
        vstr_t *vstr = vstr_new();
        vstr_add_str(vstr, "0:/");
        if (pyb_config_source_dir == 0) {
            vstr_add_str(vstr, "src");
        } else {
            vstr_add_str(vstr, qstr_str(pyb_config_source_dir));
        }
        vstr_add_char(vstr, '/');
        if (pyb_config_main == 0) {
            vstr_add_str(vstr, "main.py");
        } else {
            vstr_add_str(vstr, qstr_str(pyb_config_main));
        }
        if (!do_file(vstr_str(vstr))) {
            flash_error(3);
991
        }
992
        vstr_free(vstr);
993
994
    }

Damien's avatar
Damien committed
995
    //printf("init;al=%u\n", m_get_total_bytes_allocated()); // 1600, due to qstr_init
996
    //sys_tick_delay_ms(1000);
Damien's avatar
Damien committed
997
998

    // Python!
999
    if (0) {
Damien's avatar
Damien committed
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
        //const char *pysrc = "def f():\n  x=x+1\nprint(42)\n";
        const char *pysrc =
            // impl01.py
            /*
            "x = 0\n"
            "while x < 400:\n"
            "    y = 0\n"
            "    while y < 400:\n"
            "        z = 0\n"
            "        while z < 400:\n"
            "            z = z + 1\n"
            "        y = y + 1\n"
            "    x = x + 1\n";
            */
            // impl02.py
1015
            /*
Damien's avatar
Damien committed
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
            "#@micropython.native\n"
            "def f():\n"
            "    x = 0\n"
            "    while x < 400:\n"
            "        y = 0\n"
            "        while y < 400:\n"
            "            z = 0\n"
            "            while z < 400:\n"
            "                z = z + 1\n"
            "            y = y + 1\n"
            "        x = x + 1\n"
            "f()\n";
1028
            */
1029
            /*
Damien's avatar
Damien committed
1030
1031
1032
1033
1034
1035
1036
            "print('in python!')\n"
            "x = 0\n"
            "while x < 4:\n"
            "    pyb_led(True)\n"
            "    pyb_delay(201)\n"
            "    pyb_led(False)\n"
            "    pyb_delay(201)\n"
1037
            "    x += 1\n"
Damien's avatar
Damien committed
1038
1039
1040
            "print('press me!')\n"
            "while True:\n"
            "    pyb_led(pyb_sw())\n";
1041
            */
Damien's avatar
Damien committed
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
            /*
            // impl16.py
            "@micropython.asm_thumb\n"
            "def delay(r0):\n"
            "    b(loop_entry)\n"
            "    label(loop1)\n"
            "    movw(r1, 55999)\n"
            "    label(loop2)\n"
            "    subs(r1, r1, 1)\n"
            "    cmp(r1, 0)\n"
            "    bgt(loop2)\n"
            "    subs(r0, r0, 1)\n"
            "    label(loop_entry)\n"
            "    cmp(r0, 0)\n"
            "    bgt(loop1)\n"
            "print('in python!')\n"
            "@micropython.native\n"
            "def flash(n):\n"
            "    x = 0\n"
            "    while x < n:\n"
            "        pyb_led(True)\n"
            "        delay(249)\n"
            "        pyb_led(False)\n"
            "        delay(249)\n"
            "        x = x + 1\n"
            "flash(20)\n";
            */
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
            // impl18.py
            /*
            "# basic exceptions\n"
            "x = 1\n"
            "try:\n"
            "    x.a()\n"
            "except:\n"
            "    print(x)\n";
            */
            // impl19.py
            "# for loop\n"
            "def f():\n"
            "    for x in range(400):\n"
            "        for y in range(400):\n"
            "            for z in range(400):\n"
            "                pass\n"
            "f()\n";
Damien's avatar
Damien committed
1086

1087
        mp_lexer_t *lex = mp_lexer_new_from_str_len("<stdin>", pysrc, strlen(pysrc), 0);
Damien's avatar
Damien committed
1088

1089
1090
1091
        // nalloc=1740;6340;6836 -> 140;4600;496 bytes for lexer, parser, compiler
        printf("lex; al=%u\n", m_get_total_bytes_allocated());
        sys_tick_delay_ms(1000);
1092
1093
1094
        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);
1095
1096
        mp_lexer_free(lex);
        if (pn != MP_PARSE_NODE_NULL) {
Damien's avatar
Damien committed
1097
            printf("pars;al=%u\n", m_get_total_bytes_allocated());
1098
            sys_tick_delay_ms(1000);
Damien's avatar
Damien committed
1099
            //parse_node_show(pn, 0);
1100
            mp_obj_t module_fun = mp_compile(pn, 0, false);
Damien's avatar
Damien committed
1101
            printf("comp;al=%u\n", m_get_total_bytes_allocated());
1102
            sys_tick_delay_ms(1000);
Damien's avatar
Damien committed
1103

1104
            if (module_fun == mp_const_none) {
1105
1106
                printf("compile error\n");
            } else {
Damien's avatar
Damien committed
1107
1108
                // execute it!

1109
                // flash once
1110
                led_state(PYB_LED_G1, 1);
1111
                sys_tick_delay_ms(100);
1112
                led_state(PYB_LED_G1, 0);
1113
1114
1115

                nlr_buf_t nlr;
                if (nlr_push(&nlr) == 0) {
1116
                    mp_obj_t ret = rt_call_function_0(module_fun);
1117
                    printf("done! got: ");
1118
                    mp_obj_print(ret, PRINT_REPR);
1119
1120
1121
1122
1123
                    printf("\n");
                    nlr_pop();
                } else {
                    // uncaught exception
                    printf("exception: ");
1124
                    mp_obj_print((mp_obj_t)nlr.ret_val, PRINT_REPR);
1125
1126
1127
1128
                    printf("\n");
                }

                // flash once
1129
                led_state(PYB_LED_G1, 1);
1130
                sys_tick_delay_ms(100);
1131
                led_state(PYB_LED_G1, 0);
Damien's avatar
Damien committed
1132

1133
                sys_tick_delay_ms(1000);
Damien's avatar
Damien committed
1134
                printf("nalloc=%u\n", m_get_total_bytes_allocated());
1135
                sys_tick_delay_ms(1000);
Damien's avatar
Damien committed
1136
1137
1138
1139
            }
        }
    }

1140
1141
1142
1143
1144
1145
1146
1147
    // HID example
    if (0) {
        uint8_t data[4];
        data[0] = 0;
        data[1] = 1;
        data[2] = -2;
        data[3] = 0;
        for (;;) {
1148
            if (switch_get()) {
1149
1150
1151
1152
                data[0] = 0x01; // 0x04 is middle, 0x02 is right
            } else {
                data[0] = 0x00;
            }