main.c 35.2 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
22
23
24
#include "nlr.h"
#include "misc.h"
#include "lexer.h"
#include "lexerstm.h"
#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"
43
44

int errno;
Damien's avatar
Damien committed
45

Damien's avatar
Damien committed
46
47
extern uint32_t _heap_start;

48
49
static FATFS fatfs0;

50
51
52
53
54
55
56
57
58
59
60
61
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);
}

62
static void impl02_c_version(void) {
Damien's avatar
Damien committed
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
    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 (;;) {
81
        flash_error(1);
Damien's avatar
Damien committed
82
83
84
    }
}

85
86
87
static qstr pyb_config_source_dir = 0;
static qstr pyb_config_main = 0;

88
89
90
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;
91
92
}

93
94
95
mp_obj_t pyb_main(mp_obj_t main) {
    pyb_config_main = mp_obj_get_qstr(main);
    return mp_const_none;
96
97
98
}

// sync all file systems
99
mp_obj_t pyb_sync(void) {
100
    storage_flush();
101
    return mp_const_none;
102
}
Damien's avatar
Damien committed
103

104
105
106
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
107
108
}

109
mp_obj_t pyb_led(mp_obj_t state) {
110
    led_state(PYB_LED_G1, rt_is_true(state));
Damien's avatar
Damien committed
111
112
113
    return state;
}

114
/*
115
116
117
118
119
120
void g(uint i) {
    printf("g:%d\n", i);
    if (i & 1) {
        nlr_jump((void*)(42 + i));
    }
}
121
void f(void) {
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
    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);
        }
    }
}
139
void nlr_test(void) {
140
141
    f(1);
}
142
143
*/

144
void fatality(void) {
145
146
147
148
149
150
    led_state(PYB_LED_R1, 1);
    led_state(PYB_LED_G1, 1);
    led_state(PYB_LED_R2, 1);
    led_state(PYB_LED_G2, 1);
}

151
static const char fresh_boot_py[] =
152
153
154
155
156
157
158
159
160
161
162
"# 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"
;

163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
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
184
static mp_obj_t pyb_help(void) {
185
    printf("%s", help_text);
186
    return mp_const_none;
187
188
}

189
// get lots of info about the board
190
static mp_obj_t pyb_info(void) {
191
192
193
194
195
196
    // 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]);
    }

197
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
    // 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);
    }

224
225
226
227
228
229
230
231
232
233
    // 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);
    }

234
235
236
237
238
    // free space on flash
    {
        DWORD nclst;
        FATFS *fatfs;
        f_getfree("0:", &nclst, &fatfs);
239
        printf("LFS free: %u bytes\n", (uint)(nclst * fatfs->csize * 512));
240
    }
241

242
    return mp_const_none;
243
244
}

245
// SD card test
246
static mp_obj_t pyb_sd_test(void) {
247
248
    extern void sdio_init(void);
    sdio_init();
249
    return mp_const_none;
250
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
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) {
    }
}

276
static mp_obj_t pyb_stop(void) {
277
278
279
280
281
282
283
284
285
286
287
288
    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);

289
    return mp_const_none;
290
291
}

292
static mp_obj_t pyb_standby(void) {
293
    PWR_EnterSTANDBYMode();
294
    return mp_const_none;
295
296
}

297
298
299
mp_obj_t pyb_usart_send(mp_obj_t data) {
    usart_tx_char(mp_obj_get_int(data));
    return mp_const_none;
300
301
}

302
303
mp_obj_t pyb_usart_receive(void) {
    return mp_obj_new_int(usart_rx_char());
304
305
}

306
mp_obj_t pyb_usart_status(void) {
307
    if (usart_rx_any()) {
308
        return mp_const_true;
309
    } else {
310
        return mp_const_false;
311
312
313
    }
}

Damien's avatar
Damien committed
314
315
316
317
318
319
320
321
322
323
324
325
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};

326
327
328
329
330
void stdout_tx_str(const char *str) {
    usart_tx_str(str);
    usb_vcp_send_str(str);
}

331
int readline(vstr_t *line, const char *prompt) {
332
    stdout_tx_str(prompt);
333
    int len = vstr_len(line);
Damien's avatar
Damien committed
334
335
    int escape = 0;
    int hist_num = 0;
336
    for (;;) {
337
338
339
340
341
342
343
344
345
        char c;
        for (;;) {
            if (usb_vcp_rx_any() != 0) {
                c = usb_vcp_rx_get();
                break;
            } else if (usart_rx_any()) {
                c = usart_rx_char();
                break;
            }
Damien's avatar
Damien committed
346
            sys_tick_delay_ms(1);
347
348
349
            if (storage_needs_flush()) {
                storage_flush();
            }
350
        }
Damien's avatar
Damien committed
351
352
353
354
        if (escape == 0) {
            if (c == 4 && vstr_len(line) == len) {
                return 0;
            } else if (c == '\r') {
355
                stdout_tx_str("\r\n");
Damien's avatar
Damien committed
356
357
358
359
360
361
362
363
364
365
                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);
366
                    stdout_tx_str("\b \b");
Damien's avatar
Damien committed
367
368
369
                }
            } else if (32 <= c && c <= 126) {
                vstr_add_char(line, c);
370
                stdout_tx_str(line->buf + line->len - 1);
371
            }
Damien's avatar
Damien committed
372
373
374
375
376
377
378
379
380
381
382
383
384
        } 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--) {
385
                        stdout_tx_str("\b \b");
Damien's avatar
Damien committed
386
387
388
389
390
                    }
                    // set line to history
                    line->len = len;
                    vstr_add_str(line, readline_hist[hist_num]);
                    // draw line
391
                    stdout_tx_str(readline_hist[hist_num]);
Damien's avatar
Damien committed
392
393
394
395
396
397
                    // increase hist num
                    hist_num += 1;
                }
            }
        } else {
            escape = 0;
398
        }
Damien's avatar
Damien committed
399
        sys_tick_delay_ms(10);
400
    }
401
402
}

403
void do_repl(void) {
404
    stdout_tx_str("Micro Python build <git hash> on 2/1/2014; PYBv3 with STM32F405RG\r\n");
405
    stdout_tx_str("Type \"help()\" for more information.\r\n");
406
407
408

    vstr_t line;
    vstr_init(&line);
409
410

    for (;;) {
411
412
413
        vstr_reset(&line);
        int ret = readline(&line, ">>> ");
        if (ret == 0) {
414
            // EOF
415
416
417
418
419
            break;
        }

        if (vstr_len(&line) == 0) {
            continue;
420
        }
421

422
        if (mp_repl_is_compound_stmt(vstr_str(&line))) {
423
            for (;;) {
424
425
426
427
428
                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
429
430
431
432
433
                    break;
                }
            }
        }

434
435
436
437
        mp_lexer_str_buf_t sb;
        mp_lexer_t *lex = mp_lexer_new_from_str_len("<stdin>", vstr_str(&line), vstr_len(&line), false, &sb);
        mp_parse_node_t pn = mp_parse(lex, MP_PARSE_SINGLE_INPUT);
        mp_lexer_free(lex);
438

439
        if (pn != MP_PARSE_NODE_NULL) {
440
441
442
443
444
445
446
447
448
449
450
            mp_obj_t module_fun = mp_compile(pn, true);
            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);
451
                    }
452
453
454
455
                } else {
                    // uncaught exception
                    mp_obj_print((mp_obj_t)nlr.ret_val);
                    printf("\n");
456
457
458
459
                }
            }
        }
    }
460

461
    stdout_tx_str("\r\n");
462
463
464
}

bool do_file(const char *filename) {
465
466
    mp_lexer_file_buf_t fb;
    mp_lexer_t *lex = mp_lexer_new_from_file(filename, &fb);
467
468
469
470
471
472

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

473
474
    mp_parse_node_t pn = mp_parse(lex, MP_PARSE_FILE_INPUT);
    mp_lexer_free(lex);
475

476
    if (pn == MP_PARSE_NODE_NULL) {
477
478
479
        return false;
    }

480
    mp_obj_t module_fun = mp_compile(pn, false);
481
    if (module_fun == mp_const_none) {
482
483
484
485
486
487
488
489
490
491
        return false;
    }

    nlr_buf_t nlr;
    if (nlr_push(&nlr) == 0) {
        rt_call_function_0(module_fun);
        nlr_pop();
        return true;
    } else {
        // uncaught exception
492
        mp_obj_print((mp_obj_t)nlr.ret_val);
493
494
495
        printf("\n");
        return false;
    }
496
497
}

498
499
500
501
502
503
#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);

504
void gc_collect(void) {
505
    uint32_t start = sys_tick_counter;
Damien's avatar
Damien committed
506
    gc_collect_start();
507
508
509
510
    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
511
    gc_collect_end();
512
    uint32_t ticks = sys_tick_counter - start; // TODO implement a function that does this properly
513
514
515
516
517
518
519
520
521
522

    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);
    }
523
524
}

525
mp_obj_t pyb_gc(void) {
526
    gc_collect();
527
    return mp_const_none;
528
529
}

530
531
mp_obj_t pyb_gpio(int n_args, mp_obj_t *args) {
    //assert(1 <= n_args && n_args <= 2);
Damien's avatar
Damien committed
532

533
534
535
536
537
538
539
    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;
540
    }
541
542
543
544
    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
545
        }
546
547
548
549
        pin_num = 10 * pin_num + *s - '0';
    }
    if (!(0 <= pin_num && pin_num <= 15)) {
        goto pin_error;
Damien's avatar
Damien committed
550
    }
551

552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
    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;
    }
570

571
pin_error:
572
    nlr_jump(mp_obj_new_exception_msg_1_arg(MP_QSTR_ValueError, "pin %s does not exist", pin_name));
Damien's avatar
Damien committed
573
574
}

575
576
MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_gpio_obj, 1, 2, pyb_gpio);

577
578
mp_obj_t pyb_hid_send_report(mp_obj_t arg) {
    mp_obj_t *items = mp_obj_get_array_fixed_n(arg, 4);
579
    uint8_t data[4];
580
581
582
583
    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]);
584
    usb_hid_send_report(data);
585
    return mp_const_none;
586
587
}

588
static void rtc_init(void) {
589
590
591
    uint32_t rtc_clksrc;
    uint32_t timeout =10000;

592
593
594
595
596
597
598
599
600
601
    /* 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 */
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
    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;
619
620
621
    }

    /* Select the RTC Clock Source */
622
623
624
    RCC_RTCCLKConfig(rtc_clksrc);

    /* Note: LSI is around (32KHz), these dividers should work either way */
625
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
    /* 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);
}

662
mp_obj_t pyb_rtc_read(void) {
663
664
665
    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);
666
    return mp_const_none;
667
668
}

669
670
671
672
673
674
675
typedef struct _pyb_file_obj_t {
    mp_obj_base_t base;
    FIL fp;
} pyb_file_obj_t;

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

678
679
680
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
681
682
    char *buf = m_new(char, n + 1);
    UINT n_out;
683
    f_read(&self->fp, buf, n, &n_out);
Damien's avatar
Damien committed
684
    buf[n_out] = 0;
685
    return mp_obj_new_str(qstr_from_str_take(buf, n + 1));
Damien's avatar
Damien committed
686
687
}

688
689
690
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
691
    UINT n_out;
692
    FRESULT res = f_write(&self->fp, s, strlen(s), &n_out);
Damien's avatar
Damien committed
693
694
695
696
697
    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));
    }
698
    return mp_const_none;
Damien's avatar
Damien committed
699
700
}

701
702
703
704
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
705
706
}

707
708
709
710
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
711
// TODO gc hook to close the file if not already closed
712

713
714
715
716
717
718
719
static const mp_method_t file_methods[] = {
    { "read", &file_obj_read_obj },
    { "write", &file_obj_write_obj },
    { "close", &file_obj_close_obj },
    {NULL, NULL},
};

720
721
static const mp_obj_type_t file_obj_type = {
    { &mp_const_type },
Damien's avatar
Damien committed
722
    "File",
723
724
    .print = file_obj_print,
    .methods = file_methods,
Damien's avatar
Damien committed
725
726
};

727
728
729
730
731
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
732
733
    if (mode[0] == 'r') {
        // open for reading
734
        FRESULT res = f_open(&self->fp, filename, FA_READ);
Damien's avatar
Damien committed
735
736
        if (res != FR_OK) {
            printf("FileNotFoundError: [Errno 2] No such file or directory: '%s'\n", filename);
737
            return mp_const_none;
Damien's avatar
Damien committed
738
739
740
        }
    } else if (mode[0] == 'w') {
        // open for writing, truncate the file first
741
        FRESULT res = f_open(&self->fp, filename, FA_WRITE | FA_CREATE_ALWAYS);
Damien's avatar
Damien committed
742
743
        if (res != FR_OK) {
            printf("?FileError: could not create file: '%s'\n", filename);
744
            return mp_const_none;
Damien's avatar
Damien committed
745
746
747
        }
    } else {
        printf("ValueError: invalid mode: '%s'\n", mode);
748
        return mp_const_none;
Damien's avatar
Damien committed
749
    }
750
    return self;
Damien's avatar
Damien committed
751
752
}

753
754
mp_obj_t pyb_rng_get(void) {
    return mp_obj_new_int(RNG_GetRandomNumber() >> 16);
755
756
}

757
int main(void) {
758
    // TODO disable JTAG
Damien's avatar
Damien committed
759

760
761
762
    // update the SystemCoreClock variable
    SystemCoreClockUpdate();

763
764
765
766
767
768
    // 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;

769
    // configure SDIO pins to be high to start with (apparently makes it more robust)
770
771
772
773
774
775
776
777
778
779
780
781
782
783
    {
      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);
    }

784
785
    // basic sub-system init
    sys_tick_init();
Damien's avatar
Damien committed
786
    led_init();
787
    rtc_init();
788
789
790
791
792

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

    // more sub-system init
793
    switch_init();
794
    storage_init();
795
796

    //usart_init(); disabled while wi-fi is enabled
Damien's avatar
Damien committed
797

798
799
    int first_soft_reset = true;

800
801
soft_reset:

Damien's avatar
Damien committed
802
    // GC init
803
    gc_init(&_heap_start, (void*)HEAP_END);
Damien's avatar
Damien committed
804

805
    // Micro Python init
806
807
    qstr_init();
    rt_init();
808

809
    // LCD init
810
    //lcd_init(); disabled while servos on PA0 PA1
811

812
813
814
    // servo
    servo_init();

815
    // audio
816
    //audio_init();
817

818
819
820
    // timer
    timer_init();

821
    // RNG
822
    if (1) {
823
824
825
826
        RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_RNG, ENABLE);
        RNG_Cmd(ENABLE);
    }

827
    // add some functions to the python namespace
828
    {
829
830
        rt_store_name(qstr_from_str_static("help"), rt_make_function_0(pyb_help));

831
        mp_obj_t m = mp_obj_new_module(qstr_from_str_static("pyb"));
832
        rt_store_attr(m, qstr_from_str_static("info"), rt_make_function_0(pyb_info));
833
        rt_store_attr(m, qstr_from_str_static("sd_test"), rt_make_function_0(pyb_sd_test));
834
835
        rt_store_attr(m, qstr_from_str_static("stop"), rt_make_function_0(pyb_stop));
        rt_store_attr(m, qstr_from_str_static("standby"), rt_make_function_0(pyb_standby));
836
837
        rt_store_attr(m, qstr_from_str_static("source_dir"), rt_make_function_1(pyb_source_dir));
        rt_store_attr(m, qstr_from_str_static("main"), rt_make_function_1(pyb_main));
838
        rt_store_attr(m, qstr_from_str_static("sync"), rt_make_function_0(pyb_sync));
839
840
841
        rt_store_attr(m, qstr_from_str_static("gc"), rt_make_function_0(pyb_gc));
        rt_store_attr(m, qstr_from_str_static("delay"), rt_make_function_1(pyb_delay));
        rt_store_attr(m, qstr_from_str_static("led"), rt_make_function_1(pyb_led));
842
        rt_store_attr(m, qstr_from_str_static("switch"), (mp_obj_t)&pyb_switch_obj);
843
        rt_store_attr(m, qstr_from_str_static("servo"), rt_make_function_2(pyb_servo_set));
844
        rt_store_attr(m, qstr_from_str_static("pwm"), rt_make_function_2(pyb_pwm_set));
845
846
847
        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);
848
        rt_store_attr(m, qstr_from_str_static("hid"), rt_make_function_1(pyb_hid_send_report));
849
        rt_store_attr(m, qstr_from_str_static("time"), rt_make_function_0(pyb_rtc_read));
850
851
852
        rt_store_attr(m, qstr_from_str_static("uout"), rt_make_function_1(pyb_usart_send));
        rt_store_attr(m, qstr_from_str_static("uin"), rt_make_function_0(pyb_usart_receive));
        rt_store_attr(m, qstr_from_str_static("ustat"), rt_make_function_0(pyb_usart_status));
853
        rt_store_attr(m, qstr_from_str_static("rand"), rt_make_function_0(pyb_rng_get));
854
        rt_store_attr(m, qstr_from_str_static("Led"), rt_make_function_1(pyb_Led));
855
        rt_store_attr(m, qstr_from_str_static("Servo"), rt_make_function_1(pyb_Servo));
856
	rt_store_attr(m, qstr_from_str_static("I2C"), rt_make_function_2(pyb_I2C));
857
        rt_store_attr(m, qstr_from_str_static("gpio"), (mp_obj_t)&pyb_gpio_obj);
858
        rt_store_name(qstr_from_str_static("pyb"), m);
Damien's avatar
Damien committed
859
860

        rt_store_name(qstr_from_str_static("open"), rt_make_function_2(pyb_io_open));
861
    }
862

863
864
    // print a message to the LCD
    lcd_print_str(" micro py board\n");
Damien's avatar
Damien committed
865

866
867
    // check if user switch held (initiates reset of filesystem)
    bool reset_filesystem = false;
868
    if (switch_get()) {
869
870
        reset_filesystem = true;
        for (int i = 0; i < 50; i++) {
871
            if (!switch_get()) {
872
873
874
875
876
877
878
                reset_filesystem = false;
                break;
            }
            sys_tick_delay_ms(10);
        }
    }

879
880
881
882
    // local filesystem init
    {
        // try to mount the flash
        FRESULT res = f_mount(&fatfs0, "0:", 1);
883
        if (!reset_filesystem && res == FR_OK) {
884
            // mount sucessful
885
        } else if (reset_filesystem || res == FR_NO_FILESYSTEM) {
886
            // no filesystem, so create a fresh one
887
            // TODO doesn't seem to work correctly when reset_filesystem is true...
888
889
890
891
892
893
894
895
896
897
898
899

            // 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");
            }

900
901
902
903
904
905
906
907
908
909
910
911
            // 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);

912
913
            // keep LED on for at least 200ms
            sys_tick_wait_at_least(stc, 200);
914
915
916
917
            led_state(PYB_LED_R2, 0);
        } else {
            __fatal_error("could not access LFS");
        }
Damien's avatar
Damien committed
918
919
    }

920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
    // 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;
942
            f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n);
943
944
945
            // TODO check we could write n bytes
            f_close(&fp);

946
947
            // keep LED on for at least 200ms
            sys_tick_wait_at_least(stc, 200);
948
949
950
951
            led_state(PYB_LED_R2, 0);
        }
    }

952
953
954
955
956
    // run /boot.py
    if (!do_file("0:/boot.py")) {
        flash_error(4);
    }

957
958
959
    // USB
    usb_init();

Damien's avatar
Damien committed
960
    // MMA
961
    if (first_soft_reset) {
Damien's avatar
Damien committed
962
963
964
965
        // init and reset address to zero
        mma_init();
    }

966
967
    // turn boot-up LED off
    led_state(PYB_LED_G1, 0);
968

969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
    // 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);
986
        }
987
        vstr_free(vstr);
988
989
    }

Damien's avatar
Damien committed
990
    //printf("init;al=%u\n", m_get_total_bytes_allocated()); // 1600, due to qstr_init
991
    //sys_tick_delay_ms(1000);
Damien's avatar
Damien committed
992
993

    // Python!
994
    if (0) {
Damien's avatar
Damien committed
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
        //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
1010
            /*
Damien's avatar
Damien committed
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
            "#@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";
1023
            */
1024
            /*
Damien's avatar
Damien committed
1025
1026
1027
1028
1029
1030
1031
            "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"
1032
            "    x += 1\n"
Damien's avatar
Damien committed
1033
1034
1035
            "print('press me!')\n"
            "while True:\n"
            "    pyb_led(pyb_sw())\n";
1036
            */
Damien's avatar
Damien committed
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
            /*
            // 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";
            */
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
            // 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
1081

1082
1083
        mp_lexer_str_buf_t mp_lexer_str_buf;
        mp_lexer_t *lex = mp_lexer_new_from_str_len("<stdin>", pysrc, strlen(pysrc), false, &mp_lexer_str_buf);
Damien's avatar
Damien committed
1084

1085
1086
1087
        // 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);
1088
1089
1090
        mp_parse_node_t pn = mp_parse(lex, MP_PARSE_FILE_INPUT);
        mp_lexer_free(lex);
        if (pn != MP_PARSE_NODE_NULL) {
Damien's avatar
Damien committed
1091
            printf("pars;al=%u\n", m_get_total_bytes_allocated());
1092
            sys_tick_delay_ms(1000);
Damien's avatar
Damien committed
1093
            //parse_node_show(pn, 0);
1094
            mp_obj_t module_fun = mp_compile(pn, false);
Damien's avatar
Damien committed
1095
            printf("comp;al=%u\n", m_get_total_bytes_allocated());
1096
            sys_tick_delay_ms(1000);
Damien's avatar
Damien committed
1097

1098
            if (module_fun == mp_const_none) {
1099
1100
                printf("compile error\n");
            } else {
Damien's avatar
Damien committed
1101
1102
                // execute it!

1103
                // flash once
1104
                led_state(PYB_LED_G1, 1);
1105
                sys_tick_delay_ms(100);
1106
                led_state(PYB_LED_G1, 0);
1107
1108
1109

                nlr_buf_t nlr;
                if (nlr_push(&nlr) == 0) {
1110
                    mp_obj_t ret = rt_call_function_0(module_fun);
1111
                    printf("done! got: ");
1112
                    mp_obj_print(ret);
1113
1114
1115
1116
1117
                    printf("\n");
                    nlr_pop();
                } else {
                    // uncaught exception
                    printf("exception: ");
1118
                    mp_obj_print((mp_obj_t)nlr.ret_val);
1119
1120
1121
1122
                    printf("\n");
                }

                // flash once
1123
                led_state(PYB_LED_G1, 1);
1124
                sys_tick_delay_ms(100);
1125
                led_state(PYB_LED_G1, 0);
Damien's avatar
Damien committed
1126

1127
                sys_tick_delay_ms(1000);
Damien's avatar
Damien committed
1128
                printf("nalloc=%u\n", m_get_total_bytes_allocated());
1129
                sys_tick_delay_ms(1000);
Damien's avatar
Damien committed
1130
1131
1132
1133
            }
        }
    }

1134
1135
1136
1137
1138
1139
1140
1141
    // HID example
    if (0) {
        uint8_t data[4];
        data[0] = 0;
        data[1] = 1;
        data[2] = -2;
        data[3] = 0;
        for (;;) {
1142
            if (switch_get()) {
1143
1144
1145
1146
                data[0] = 0x01; // 0x04 is middle, 0x02 is right
            } else {
                data[0] = 0x00;
            }
1147
            mma_start(0x4c /* MMA_ADDR */, 1);
1148
            mma_send_byte(0);
1149
            mma_restart(0x4c /* MMA_ADDR */, 0);
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
            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);
        }
    }