main.c 11.9 KB
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#include <stdio.h>
#include <string.h>

#include <stm32f4xx_hal.h>
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#include <stm32f4xx_hal_gpio.h>
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#include "std.h"

#include "misc.h"
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#include "systick.h"
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#include "pendsv.h"
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#include "mpconfig.h"
#include "qstr.h"
#include "misc.h"
#include "lexer.h"
#include "parse.h"
#include "obj.h"
#include "parsehelper.h"
#include "compile.h"
#include "runtime.h"
#include "gc.h"
#include "gccollect.h"
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#include "readline.h"
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#include "pyexec.h"
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#include "usart.h"
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#include "timer.h"
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#include "led.h"
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#include "exti.h"
#include "usrsw.h"
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#include "usb.h"
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#include "rtc.h"
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#include "storage.h"
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#include "sdcard.h"
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#include "ff.h"
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#include "lcd.h"
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#include "rng.h"
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#include "i2c.h"
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#include "accel.h"
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#include "servo.h"
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#include "dac.h"
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#include "pin.h"
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#if 0
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#include "pybwlan.h"
#endif

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void SystemClock_Config(void);

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int errno;

static FATFS fatfs0;
#if MICROPY_HW_HAS_SDCARD
static FATFS fatfs1;
#endif

void flash_error(int n) {
    for (int i = 0; i < n; i++) {
        led_state(PYB_LED_R1, 1);
        led_state(PYB_LED_R2, 0);
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        HAL_Delay(250);
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        led_state(PYB_LED_R1, 0);
        led_state(PYB_LED_R2, 1);
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        HAL_Delay(250);
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    }
    led_state(PYB_LED_R2, 0);
}

void __fatal_error(const char *msg) {
#if MICROPY_HW_HAS_LCD
    lcd_print_strn("\nFATAL ERROR:\n", 14);
    lcd_print_strn(msg, strlen(msg));
#endif
    for (;;) {
        flash_error(1);
    }
}

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

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STATIC mp_obj_t pyb_config_source_dir = MP_OBJ_NULL;
STATIC mp_obj_t pyb_config_main = MP_OBJ_NULL;
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STATIC mp_obj_t pyb_config_usb_mode = MP_OBJ_NULL;
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STATIC mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
    if (MP_OBJ_IS_STR(source_dir)) {
        pyb_config_source_dir = source_dir;
    }
    return mp_const_none;
}

MP_DEFINE_CONST_FUN_OBJ_1(pyb_source_dir_obj, pyb_source_dir);

STATIC mp_obj_t pyb_main(mp_obj_t main) {
    if (MP_OBJ_IS_STR(main)) {
        pyb_config_main = main;
    }
    return mp_const_none;
}

MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main);

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STATIC mp_obj_t pyb_usb_mode(mp_obj_t usb_mode) {
    if (MP_OBJ_IS_STR(usb_mode)) {
        pyb_config_usb_mode = usb_mode;
    }
    return mp_const_none;
}

MP_DEFINE_CONST_FUN_OBJ_1(pyb_usb_mode_obj, pyb_usb_mode);

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void fatality(void) {
    led_state(PYB_LED_R1, 1);
    led_state(PYB_LED_G1, 1);
    led_state(PYB_LED_R2, 1);
    led_state(PYB_LED_G2, 1);
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    for (;;) {
        flash_error(1);
    }
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}

static const char fresh_boot_py[] =
"# boot.py -- run on boot-up\n"
"# can run arbitrary Python, but best to keep it minimal\n"
"\n"
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"import pyb\n"
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"#pyb.source_dir('/src')\n"
"#pyb.main('main.py')\n"
"#pyb.usb_mode('CDC+MSC') # one of: 'CDC+MSC', 'CDC+HID'\n"
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;

static const char fresh_main_py[] =
"# main.py -- put your code here!\n"
;

int main(void) {
    // TODO disable JTAG

    /* STM32F4xx HAL library initialization:
         - Configure the Flash prefetch, instruction and Data caches
         - Configure the Systick to generate an interrupt each 1 msec
         - Set NVIC Group Priority to 4
         - Global MSP (MCU Support Package) initialization
       */
    HAL_Init();

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    // 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();

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#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);
    }
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#endif
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#endif

    // basic sub-system init
    pendsv_init();
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    timer_tim3_init();
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    led_init();
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    switch_init0();
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    int first_soft_reset = true;
    uint reset_mode;

soft_reset:

    // check if user switch held to select the reset mode
    reset_mode = 1;
    led_state(1, 0);
    led_state(2, 1);
    led_state(3, 0);
    led_state(4, 0);

#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) {
                reset_mode = (reset_mode + 1) & 7;
                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
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#if MICROPY_HW_ENABLE_RTC
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    if (first_soft_reset) {
        rtc_init();
    }
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#endif
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    // more sub-system init
#if MICROPY_HW_HAS_SDCARD
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    if (first_soft_reset) {
        sdcard_init();
    }
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#endif
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    if (first_soft_reset) {
        storage_init();
    }
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    // GC init
    gc_init(&_heap_start, &_heap_end);

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    // Change #if 0 to #if 1 if you want REPL on USART_6 (or another usart)
    // as well as on USB VCP
#if 0
    pyb_usart_global_debug = pyb_Usart(MP_OBJ_NEW_SMALL_INT(PYB_USART_YA),
                                       MP_OBJ_NEW_SMALL_INT(115200));
#else
    pyb_usart_global_debug = NULL;
#endif

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    // Micro Python init
    qstr_init();
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    mp_init();
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    mp_obj_t def_path[3];
    def_path[0] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_);
    def_path[1] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_src);
    def_path[2] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib);
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    mp_sys_path = mp_obj_new_list(3, def_path);
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    readline_init();

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    exti_init();

#if MICROPY_HW_HAS_SWITCH
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    // must come after exti_init
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    switch_init();
#endif

#if MICROPY_HW_HAS_LCD
    // LCD init (just creates class, init hardware by calling LCD())
    lcd_init();
#endif

    pin_map_init();

    // local filesystem init
    {
        // try to mount the flash
        FRESULT res = f_mount(&fatfs0, "0:", 1);
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        if (reset_mode == 3 || res == FR_NO_FILESYSTEM) {
            // no filesystem, or asked to reset it, so create a fresh one
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            // LED on to indicate creation of LFS
            led_state(PYB_LED_R2, 1);
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            uint32_t start_tick = HAL_GetTick();
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            res = f_mkfs("0:", 0, 0);
            if (res == FR_OK) {
                // success creating fresh LFS
            } else {
                __fatal_error("could not create LFS");
            }

            // 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);

            // keep LED on for at least 200ms
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            sys_tick_wait_at_least(start_tick, 200);
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            led_state(PYB_LED_R2, 0);
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        } else if (res == FR_OK) {
            // mount sucessful
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        } else {
            __fatal_error("could not access LFS");
        }
    }

    // make sure we have a /boot.py
    {
        FILINFO fno;
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#if _USE_LFN
        fno.lfname = NULL;
        fno.lfsize = 0;
#endif
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        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);
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            uint32_t start_tick = HAL_GetTick();
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            FIL fp;
            f_open(&fp, "0:/boot.py", FA_WRITE | FA_CREATE_ALWAYS);
            UINT n;
            f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n);
            // TODO check we could write n bytes
            f_close(&fp);

            // keep LED on for at least 200ms
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            sys_tick_wait_at_least(start_tick, 200);
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            led_state(PYB_LED_R2, 0);
        }
    }

    // run /boot.py
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    if (reset_mode == 1) {
        if (!pyexec_file("0:/boot.py")) {
            flash_error(4);
        }
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    }

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    // turn boot-up LEDs off
    led_state(2, 0);
    led_state(3, 0);
    led_state(4, 0);
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#if defined(USE_DEVICE_MODE)
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    usb_storage_medium_t usb_medium = USB_STORAGE_MEDIUM_FLASH;
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#endif

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#if MICROPY_HW_HAS_SDCARD
    // if an SD card is present then mount it on 1:/
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    if (reset_mode == 1 && sdcard_is_present()) {
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        FRESULT res = f_mount(&fatfs1, "1:", 1);
        if (res != FR_OK) {
            printf("[SD] could not mount SD card\n");
        } else {
            if (first_soft_reset) {
                // use SD card as medium for the USB MSD
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#if defined(USE_DEVICE_MODE)
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                usb_medium = USB_STORAGE_MEDIUM_SDCARD;
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#endif
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            }
        }
    }
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#else
    // Get rid of compiler warning if no SDCARD is configured.
    (void)first_soft_reset;
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#endif

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#if defined(USE_HOST_MODE)
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    // USB host
    pyb_usb_host_init();
#elif defined(USE_DEVICE_MODE)
    // USB device
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    if (reset_mode == 1) {
        usb_device_mode_t usb_mode = USB_DEVICE_MODE_CDC_MSC;
        if (pyb_config_usb_mode != MP_OBJ_NULL) {
            if (strcmp(mp_obj_str_get_str(pyb_config_usb_mode), "CDC+HID") == 0) {
                usb_mode = USB_DEVICE_MODE_CDC_HID;
            }
        }
        pyb_usb_dev_init(usb_mode, usb_medium);
    } else {
        pyb_usb_dev_init(USB_DEVICE_MODE_CDC_MSC, usb_medium);
    }
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#endif

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#if MICROPY_HW_ENABLE_RNG
    // RNG
    rng_init();
#endif

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#if MICROPY_HW_ENABLE_TIMER
    // timer
    //timer_init();
#endif

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    // I2C
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    i2c_init();

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#if MICROPY_HW_HAS_MMA7660
    // MMA accel: init and reset
    accel_init();
#endif

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#if MICROPY_HW_ENABLE_SERVO
    // servo
    servo_init();
#endif

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

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    // run main script
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    if (reset_mode == 1 && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
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        vstr_t *vstr = vstr_new();
        vstr_add_str(vstr, "0:/");
        if (pyb_config_source_dir == MP_OBJ_NULL) {
            vstr_add_str(vstr, "src");
        } else {
            vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_source_dir));
        }
        vstr_add_char(vstr, '/');
        if (pyb_config_main == MP_OBJ_NULL) {
            vstr_add_str(vstr, "main.py");
        } else {
            vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
        }
        if (!pyexec_file(vstr_str(vstr))) {
            flash_error(3);
        }
        vstr_free(vstr);
    }

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#if 0
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#if MICROPY_HW_HAS_WLAN
    // wifi
    pyb_wlan_init();
    pyb_wlan_start();
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#endif
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#endif

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    // enter REPL
    // REPL mode can change, or it can request a soft reset
    for (;;) {
        if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
            if (pyexec_raw_repl() != 0) {
                break;
            }
        } else {
            if (pyexec_friendly_repl() != 0) {
                break;
            }
        }
    }
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    printf("PYB: sync filesystems\n");
    storage_flush();

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

    first_soft_reset = false;
    goto soft_reset;
}