main.c 15.9 KB
Newer Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
/*
 * This file is part of the Micro Python project, http://micropython.org/
 *
 * The MIT License (MIT)
 *
 * Copyright (c) 2013, 2014 Damien P. George
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */

Dave Hylands's avatar
Dave Hylands committed
27
28
29
#include <stdio.h>
#include <string.h>

30
31
32
33
34
35
36
#include "py/nlr.h"
#include "py/lexer.h"
#include "py/parse.h"
#include "py/obj.h"
#include "py/runtime.h"
#include "py/stackctrl.h"
#include "py/gc.h"
Dave Hylands's avatar
Dave Hylands committed
37

38
#include "systick.h"
39
#include "pendsv.h"
Dave Hylands's avatar
Dave Hylands committed
40
#include "gccollect.h"
41
#include "readline.h"
Dave Hylands's avatar
Dave Hylands committed
42
#include "pyexec.h"
Damien George's avatar
Damien George committed
43
44
#include "i2c.h"
#include "spi.h"
Damien George's avatar
Damien George committed
45
#include "uart.h"
46
#include "timer.h"
47
#include "led.h"
48
49
#include "pin.h"
#include "extint.h"
50
#include "usrsw.h"
51
#include "usb.h"
Damien George's avatar
Damien George committed
52
#include "rtc.h"
53
#include "storage.h"
Damien George's avatar
Damien George committed
54
#include "sdcard.h"
55
#include "ff.h"
56
#include "rng.h"
57
#include "accel.h"
Dave Hylands's avatar
Dave Hylands committed
58
#include "servo.h"
Damien George's avatar
Damien George committed
59
#include "dac.h"
60
#include "pybstdio.h"
61
#include "modnetwork.h"
Dave Hylands's avatar
Dave Hylands committed
62

63
64
void SystemClock_Config(void);

Dave Hylands's avatar
Dave Hylands committed
65
66
67
68
69
70
71
72
73
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);
74
        HAL_Delay(250);
Dave Hylands's avatar
Dave Hylands committed
75
76
        led_state(PYB_LED_R1, 0);
        led_state(PYB_LED_R2, 1);
77
        HAL_Delay(250);
Dave Hylands's avatar
Dave Hylands committed
78
79
80
81
    }
    led_state(PYB_LED_R2, 0);
}

mux's avatar
mux committed
82
void NORETURN __fatal_error(const char *msg) {
83
84
85
86
87
88
89
90
91
92
93
94
    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));
    for (uint i = 0;;) {
        led_toggle(((i++) & 3) + 1);
        for (volatile uint delay = 0; delay < 10000000; delay++) {
        }
95
96
        if (i >= 16) {
            // to conserve power
97
98
            __WFI();
        }
Dave Hylands's avatar
Dave Hylands committed
99
100
101
    }
}

102
103
104
105
106
void nlr_jump_fail(void *val) {
    printf("FATAL: uncaught exception %p\n", val);
    __fatal_error("");
}

mux's avatar
mux committed
107
#ifndef NDEBUG
mux's avatar
mux committed
108
void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) {
mux's avatar
mux committed
109
110
111
112
    (void)func;
    printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
    __fatal_error("");
}
mux's avatar
mux committed
113
#endif
mux's avatar
mux committed
114

Dave Hylands's avatar
Dave Hylands committed
115
116
STATIC mp_obj_t pyb_main(mp_obj_t main) {
    if (MP_OBJ_IS_STR(main)) {
117
        MP_STATE_PORT(pyb_config_main) = main;
Dave Hylands's avatar
Dave Hylands committed
118
119
120
121
122
    }
    return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main);

123
124
STATIC mp_obj_t pyb_usb_mode(mp_obj_t usb_mode) {
    if (MP_OBJ_IS_STR(usb_mode)) {
125
        MP_STATE_PORT(pyb_config_usb_mode) = usb_mode;
126
127
128
129
130
    }
    return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_usb_mode_obj, pyb_usb_mode);

Dave Hylands's avatar
Dave Hylands committed
131
static const char fresh_boot_py[] =
132
133
134
135
136
137
138
"# boot.py -- run on boot-up\r\n"
"# can run arbitrary Python, but best to keep it minimal\r\n"
"\r\n"
"import pyb\r\n"
"#pyb.main('main.py') # main script to run after this one\r\n"
"#pyb.usb_mode('CDC+MSC') # act as a serial and a storage device\r\n"
"#pyb.usb_mode('CDC+HID') # act as a serial device and a mouse\r\n"
Dave Hylands's avatar
Dave Hylands committed
139
140
141
;

static const char fresh_main_py[] =
142
"# main.py -- put your code here!\r\n"
Dave Hylands's avatar
Dave Hylands committed
143
144
;

145
static const char fresh_pybcdc_inf[] =
146
#include "genhdr/pybcdc_inf.h"
147
148
;

149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
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"
;

Dave Hylands's avatar
Dave Hylands committed
164
165
166
int main(void) {
    // TODO disable JTAG

167
168
169
    // Stack limit should be less than real stack size, so we have a chance
    // to recover from limit hit.  (Limit is measured in bytes.)
    mp_stack_set_limit((char*)&_ram_end - (char*)&_heap_end - 1024);
170

Dave Hylands's avatar
Dave Hylands committed
171
172
173
174
175
176
177
178
    /* 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();

179
180
181
182
183
184
185
186
187
188
189
190
    // 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();

Dave Hylands's avatar
Dave Hylands committed
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
#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);
    }
212
#endif
Dave Hylands's avatar
Dave Hylands committed
213
214
215
216
#endif

    // basic sub-system init
    pendsv_init();
217
    timer_tim3_init();
Dave Hylands's avatar
Dave Hylands committed
218
    led_init();
219
#if MICROPY_HW_HAS_SWITCH
220
    switch_init0();
221
#endif
Dave Hylands's avatar
Dave Hylands committed
222

223
224
225
226
227
228
229
230
231
    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);
232
    uint reset_mode = 1;
233
234
235
236
237
238
239
240
241

#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) {
242
243
244
                if (++reset_mode > 3) {
                    reset_mode = 1;
                }
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
                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
264

Dave Hylands's avatar
Dave Hylands committed
265
#if MICROPY_HW_ENABLE_RTC
266
267
268
    if (first_soft_reset) {
        rtc_init();
    }
269
#endif
Dave Hylands's avatar
Dave Hylands committed
270
271
272

    // more sub-system init
#if MICROPY_HW_HAS_SDCARD
273
274
275
    if (first_soft_reset) {
        sdcard_init();
    }
Dave Hylands's avatar
Dave Hylands committed
276
#endif
277
278
279
    if (first_soft_reset) {
        storage_init();
    }
Dave Hylands's avatar
Dave Hylands committed
280
281
282

    // GC init
    gc_init(&_heap_start, &_heap_end);
283
284
285
286
287
288
289
290

    // Micro Python init
    mp_init();
    mp_obj_list_init(mp_sys_path, 0);
    mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_)); // current dir (or base dir of the script)
    mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash));
    mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash_slash_lib));
    mp_obj_list_init(mp_sys_argv, 0);
Dave Hylands's avatar
Dave Hylands committed
291

Damien George's avatar
Damien George committed
292
    // Change #if 0 to #if 1 if you want REPL on UART_6 (or another uart)
Dave Hylands's avatar
Dave Hylands committed
293
294
    // as well as on USB VCP
#if 0
295
296
    {
        mp_obj_t args[2] = {
Damien George's avatar
Damien George committed
297
            MP_OBJ_NEW_SMALL_INT(PYB_UART_6),
298
299
            MP_OBJ_NEW_SMALL_INT(115200),
        };
300
        pyb_stdio_uart = pyb_uart_type.make_new((mp_obj_t)&pyb_uart_type, MP_ARRAY_SIZE(args), 0, args);
301
    }
Dave Hylands's avatar
Dave Hylands committed
302
#else
303
    MP_STATE_PORT(pyb_stdio_uart) = NULL;
Dave Hylands's avatar
Dave Hylands committed
304
305
#endif

306
307
308
309
310
311
312
313
314
    // Initialise low-level sub-systems.  Here we need to very basic things like
    // zeroing out memory and resetting any of the sub-systems.  Following this
    // we can run Python scripts (eg boot.py), but anything that is configurable
    // by boot.py must be set after boot.py is run.

    readline_init0();
    pin_init0();
    extint_init0();
    timer_init0();
315
    uart_init0();
316
317
318
319

#if MICROPY_HW_ENABLE_RNG
    rng_init0();
#endif
Dave Hylands's avatar
Dave Hylands committed
320

321
322
323
324
325
326
    i2c_init0();
    spi_init0();
    pyb_usb_init0();

    // Initialise the local flash filesystem.
    // Create it if needed, and mount in on /flash.
Dave Hylands's avatar
Dave Hylands committed
327
328
    {
        // try to mount the flash
329
        FRESULT res = f_mount(&fatfs0, "/flash", 1);
330
331
        if (reset_mode == 3 || res == FR_NO_FILESYSTEM) {
            // no filesystem, or asked to reset it, so create a fresh one
Dave Hylands's avatar
Dave Hylands committed
332
333
334

            // LED on to indicate creation of LFS
            led_state(PYB_LED_R2, 1);
335
            uint32_t start_tick = HAL_GetTick();
Dave Hylands's avatar
Dave Hylands committed
336

337
            res = f_mkfs("/flash", 0, 0);
Dave Hylands's avatar
Dave Hylands committed
338
339
340
341
342
343
            if (res == FR_OK) {
                // success creating fresh LFS
            } else {
                __fatal_error("could not create LFS");
            }

344
345
346
            // set label
            f_setlabel("/flash/pybflash");

Dave Hylands's avatar
Dave Hylands committed
347
348
            // create empty main.py
            FIL fp;
349
            f_open(&fp, "/flash/main.py", FA_WRITE | FA_CREATE_ALWAYS);
Dave Hylands's avatar
Dave Hylands committed
350
351
352
353
354
            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);

355
            // create .inf driver file
356
            f_open(&fp, "/flash/pybcdc.inf", FA_WRITE | FA_CREATE_ALWAYS);
357
358
359
            f_write(&fp, fresh_pybcdc_inf, sizeof(fresh_pybcdc_inf) - 1 /* don't count null terminator */, &n);
            f_close(&fp);

360
            // create readme file
361
            f_open(&fp, "/flash/README.txt", FA_WRITE | FA_CREATE_ALWAYS);
362
363
364
            f_write(&fp, fresh_readme_txt, sizeof(fresh_readme_txt) - 1 /* don't count null terminator */, &n);
            f_close(&fp);

Dave Hylands's avatar
Dave Hylands committed
365
            // keep LED on for at least 200ms
366
            sys_tick_wait_at_least(start_tick, 200);
Dave Hylands's avatar
Dave Hylands committed
367
            led_state(PYB_LED_R2, 0);
368
369
        } else if (res == FR_OK) {
            // mount sucessful
Dave Hylands's avatar
Dave Hylands committed
370
371
372
373
374
        } else {
            __fatal_error("could not access LFS");
        }
    }

375
376
377
378
379
    // The current directory is used as the boot up directory.
    // It is set to the internal flash filesystem by default.
    f_chdrive("/flash");

    // Make sure we have a /flash/boot.py.  Create it if needed.
Dave Hylands's avatar
Dave Hylands committed
380
381
    {
        FILINFO fno;
382
383
384
385
#if _USE_LFN
        fno.lfname = NULL;
        fno.lfsize = 0;
#endif
386
        FRESULT res = f_stat("/flash/boot.py", &fno);
Dave Hylands's avatar
Dave Hylands committed
387
388
389
390
391
392
393
394
395
396
397
398
399
        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);
400
            uint32_t start_tick = HAL_GetTick();
Dave Hylands's avatar
Dave Hylands committed
401
402

            FIL fp;
403
            f_open(&fp, "/flash/boot.py", FA_WRITE | FA_CREATE_ALWAYS);
Dave Hylands's avatar
Dave Hylands committed
404
405
406
407
408
409
            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
410
            sys_tick_wait_at_least(start_tick, 200);
Dave Hylands's avatar
Dave Hylands committed
411
412
413
414
            led_state(PYB_LED_R2, 0);
        }
    }

415
#if defined(USE_DEVICE_MODE)
416
    usb_storage_medium_t usb_medium = USB_STORAGE_MEDIUM_FLASH;
417
418
#endif

Dave Hylands's avatar
Dave Hylands committed
419
#if MICROPY_HW_HAS_SDCARD
420
    // if an SD card is present then mount it on /sd/
421
    if (sdcard_is_present()) {
422
        FRESULT res = f_mount(&fatfs1, "/sd", 1);
Dave Hylands's avatar
Dave Hylands committed
423
424
425
        if (res != FR_OK) {
            printf("[SD] could not mount SD card\n");
        } else {
426
            // use SD card as current directory
427
428
429
430
431
            f_chdrive("/sd");

            // TODO these should go before the /flash entries in the path
            mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_sd));
            mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_sd_slash_lib));
432

Dave Hylands's avatar
Dave Hylands committed
433
434
            if (first_soft_reset) {
                // use SD card as medium for the USB MSD
435
#if defined(USE_DEVICE_MODE)
436
                usb_medium = USB_STORAGE_MEDIUM_SDCARD;
437
#endif
Dave Hylands's avatar
Dave Hylands committed
438
439
440
441
442
            }
        }
    }
#endif

443
    // reset config variables; they should be set by boot.py
444
445
    MP_STATE_PORT(pyb_config_main) = MP_OBJ_NULL;
    MP_STATE_PORT(pyb_config_usb_mode) = MP_OBJ_NULL;
446

447
    // run boot.py, if it exists
448
    // TODO perhaps have pyb.reboot([bootpy]) function to soft-reboot and execute custom boot.py
449
    if (reset_mode == 1) {
450
451
        const char *boot_py = "boot.py";
        FRESULT res = f_stat(boot_py, NULL);
452
        if (res == FR_OK) {
453
454
455
456
457
            int ret = pyexec_file(boot_py);
            if (ret & PYEXEC_FORCED_EXIT) {
                goto soft_reset_exit;
            }
            if (!ret) {
458
459
460
461
462
463
464
465
466
467
                flash_error(4);
            }
        }
    }

    // turn boot-up LEDs off
    led_state(2, 0);
    led_state(3, 0);
    led_state(4, 0);

468
469
470
471
    // Now we initialise sub-systems that need configuration from boot.py,
    // or whose initialisation can be safely deferred until after running
    // boot.py.

472
#if defined(USE_HOST_MODE)
Dave Hylands's avatar
Dave Hylands committed
473
474
475
476
    // USB host
    pyb_usb_host_init();
#elif defined(USE_DEVICE_MODE)
    // USB device
477
478
    usb_device_mode_t usb_mode = USB_DEVICE_MODE_CDC_MSC;
    // if we are not in reset_mode==1, this config variable will always be NULL
479
480
    if (MP_STATE_PORT(pyb_config_usb_mode) != MP_OBJ_NULL) {
        if (strcmp(mp_obj_str_get_str(MP_STATE_PORT(pyb_config_usb_mode)), "CDC+HID") == 0) {
481
            usb_mode = USB_DEVICE_MODE_CDC_HID;
482
483
        }
    }
484
    pyb_usb_dev_init(usb_mode, usb_medium);
Dave Hylands's avatar
Dave Hylands committed
485
486
#endif

487
488
489
490
491
#if MICROPY_HW_HAS_MMA7660
    // MMA accel: init and reset
    accel_init();
#endif

492
493
494
495
496
497
498
499
500
501
#if MICROPY_HW_ENABLE_SERVO
    // servo
    servo_init();
#endif

#if MICROPY_HW_ENABLE_DAC
    // DAC
    dac_init();
#endif

502
503
    mod_network_init();

504
505
506
    // At this point everything is fully configured and initialised.

    // Run the main script from the current directory.
507
    if (reset_mode == 1 && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
508
        const char *main_py;
509
        if (MP_STATE_PORT(pyb_config_main) == MP_OBJ_NULL) {
510
            main_py = "main.py";
Dave Hylands's avatar
Dave Hylands committed
511
        } else {
512
            main_py = mp_obj_str_get_str(MP_STATE_PORT(pyb_config_main));
Dave Hylands's avatar
Dave Hylands committed
513
        }
514
        FRESULT res = f_stat(main_py, NULL);
515
        if (res == FR_OK) {
516
517
518
519
520
            int ret = pyexec_file(main_py);
            if (ret & PYEXEC_FORCED_EXIT) {
                goto soft_reset_exit;
            }
            if (!ret) {
521
522
                flash_error(3);
            }
Dave Hylands's avatar
Dave Hylands committed
523
524
525
        }
    }

526
527
    // Main script is finished, so now go into REPL mode.
    // The REPL mode can change, or it can request a soft reset.
528
529
530
531
532
533
534
535
536
537
538
    for (;;) {
        if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
            if (pyexec_raw_repl() != 0) {
                break;
            }
        } else {
            if (pyexec_friendly_repl() != 0) {
                break;
            }
        }
    }
Dave Hylands's avatar
Dave Hylands committed
539

540
541
soft_reset_exit:

542
543
    // soft reset

Dave Hylands's avatar
Dave Hylands committed
544
545
546
547
    printf("PYB: sync filesystems\n");
    storage_flush();

    printf("PYB: soft reboot\n");
548
    timer_deinit();
549
    uart_deinit();
Dave Hylands's avatar
Dave Hylands committed
550
551
552
553

    first_soft_reset = false;
    goto soft_reset;
}