main.c 15.8 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
39
#include "lib/fatfs/ff.h"

40
#include "systick.h"
41
#include "pendsv.h"
Dave Hylands's avatar
Dave Hylands committed
42
#include "gccollect.h"
43
#include "readline.h"
Dave Hylands's avatar
Dave Hylands committed
44
#include "pyexec.h"
Damien George's avatar
Damien George committed
45
46
#include "i2c.h"
#include "spi.h"
Damien George's avatar
Damien George committed
47
#include "uart.h"
48
#include "timer.h"
49
#include "led.h"
50
51
#include "pin.h"
#include "extint.h"
52
#include "usrsw.h"
53
#include "usb.h"
Damien George's avatar
Damien George committed
54
#include "rtc.h"
55
#include "storage.h"
Damien George's avatar
Damien George committed
56
#include "sdcard.h"
57
#include "rng.h"
58
#include "accel.h"
Dave Hylands's avatar
Dave Hylands committed
59
#include "servo.h"
Damien George's avatar
Damien George committed
60
#include "dac.h"
61
#include "can.h"
62
#include "modnetwork.h"
63
#include MICROPY_HAL_H
Dave Hylands's avatar
Dave Hylands committed
64

65
66
void SystemClock_Config(void);

Dave Hylands's avatar
Dave Hylands committed
67
68
69
70
71
72
73
74
75
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);
76
        HAL_Delay(250);
Dave Hylands's avatar
Dave Hylands committed
77
78
        led_state(PYB_LED_R1, 0);
        led_state(PYB_LED_R2, 1);
79
        HAL_Delay(250);
Dave Hylands's avatar
Dave Hylands committed
80
81
82
83
    }
    led_state(PYB_LED_R2, 0);
}

mux's avatar
mux committed
84
void NORETURN __fatal_error(const char *msg) {
85
86
87
88
89
90
    for (volatile uint delay = 0; delay < 10000000; delay++) {
    }
    led_state(1, 1);
    led_state(2, 1);
    led_state(3, 1);
    led_state(4, 1);
91
92
    mp_hal_stdout_tx_strn("\nFATAL ERROR:\n", 14);
    mp_hal_stdout_tx_strn(msg, strlen(msg));
93
94
95
96
    for (uint i = 0;;) {
        led_toggle(((i++) & 3) + 1);
        for (volatile uint delay = 0; delay < 10000000; delay++) {
        }
97
98
        if (i >= 16) {
            // to conserve power
99
100
            __WFI();
        }
Dave Hylands's avatar
Dave Hylands committed
101
102
103
    }
}

104
105
106
107
108
void nlr_jump_fail(void *val) {
    printf("FATAL: uncaught exception %p\n", val);
    __fatal_error("");
}

mux's avatar
mux committed
109
#ifndef NDEBUG
mux's avatar
mux committed
110
void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) {
mux's avatar
mux committed
111
112
113
114
    (void)func;
    printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
    __fatal_error("");
}
mux's avatar
mux committed
115
#endif
mux's avatar
mux committed
116

Dave Hylands's avatar
Dave Hylands committed
117
118
STATIC mp_obj_t pyb_main(mp_obj_t main) {
    if (MP_OBJ_IS_STR(main)) {
119
        MP_STATE_PORT(pyb_config_main) = main;
Dave Hylands's avatar
Dave Hylands committed
120
121
122
123
124
125
    }
    return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main);

static const char fresh_boot_py[] =
126
127
128
129
130
131
132
"# 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
133
134
135
;

static const char fresh_main_py[] =
136
"# main.py -- put your code here!\r\n"
Dave Hylands's avatar
Dave Hylands committed
137
138
;

139
static const char fresh_pybcdc_inf[] =
140
#include "genhdr/pybcdc_inf.h"
141
142
;

143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
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"
;

158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
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
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
// we don't make this function static because it needs a lot of stack and we
// want it to be executed without using stack within main() function
void init_flash_fs(uint reset_mode) {
    // try to mount the flash
    FRESULT res = f_mount(&fatfs0, "/flash", 1);

    if (reset_mode == 3 || res == FR_NO_FILESYSTEM) {
        // no filesystem, or asked to reset it, so create a fresh one

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

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

        // set label
        f_setlabel("/flash/pybflash");

        // create empty main.py
        FIL fp;
        f_open(&fp, "/flash/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);

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

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

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

    // 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.
    FILINFO fno;
#if _USE_LFN
    fno.lfname = NULL;
    fno.lfsize = 0;
#endif
    res = f_stat("/flash/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 start_tick = HAL_GetTick();

        FIL fp;
        f_open(&fp, "/flash/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
        sys_tick_wait_at_least(start_tick, 200);
        led_state(PYB_LED_R2, 0);
    }
}

Dave Hylands's avatar
Dave Hylands committed
247
248
249
int main(void) {
    // TODO disable JTAG

250
251
252
    // 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);
253

Dave Hylands's avatar
Dave Hylands committed
254
255
256
257
258
259
260
261
    /* 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();

262
263
264
265
266
267
268
269
270
271
272
273
    // 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
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
#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);
    }
295
#endif
Dave Hylands's avatar
Dave Hylands committed
296
297
298
299
#endif

    // basic sub-system init
    pendsv_init();
300
    timer_tim3_init();
Dave Hylands's avatar
Dave Hylands committed
301
    led_init();
302
#if MICROPY_HW_HAS_SWITCH
303
    switch_init0();
304
#endif
Dave Hylands's avatar
Dave Hylands committed
305

306
307
308
309
310
#if defined(USE_DEVICE_MODE)
    // default to internal flash being the usb medium
    pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_FLASH;
#endif

311
312
313
314
315
316
317
318
319
    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);
320
    uint reset_mode = 1;
321
322
323
324
325
326
327
328
329

#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) {
330
331
332
                if (++reset_mode > 3) {
                    reset_mode = 1;
                }
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
                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
352

Dave Hylands's avatar
Dave Hylands committed
353
#if MICROPY_HW_ENABLE_RTC
354
355
356
    if (first_soft_reset) {
        rtc_init();
    }
357
#endif
Dave Hylands's avatar
Dave Hylands committed
358
359
360

    // more sub-system init
#if MICROPY_HW_HAS_SDCARD
361
362
363
    if (first_soft_reset) {
        sdcard_init();
    }
Dave Hylands's avatar
Dave Hylands committed
364
#endif
365
366
367
    if (first_soft_reset) {
        storage_init();
    }
Dave Hylands's avatar
Dave Hylands committed
368
369
370

    // GC init
    gc_init(&_heap_start, &_heap_end);
371
372
373
374
375
376
377
378

    // 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
379

Damien George's avatar
Damien George committed
380
    // Change #if 0 to #if 1 if you want REPL on UART_6 (or another uart)
Dave Hylands's avatar
Dave Hylands committed
381
382
    // as well as on USB VCP
#if 0
383
384
    {
        mp_obj_t args[2] = {
Damien George's avatar
Damien George committed
385
            MP_OBJ_NEW_SMALL_INT(PYB_UART_6),
386
387
            MP_OBJ_NEW_SMALL_INT(115200),
        };
388
        MP_STATE_PORT(pyb_stdio_uart) = pyb_uart_type.make_new((mp_obj_t)&pyb_uart_type, MP_ARRAY_SIZE(args), 0, args);
389
    }
Dave Hylands's avatar
Dave Hylands committed
390
#else
391
    MP_STATE_PORT(pyb_stdio_uart) = NULL;
Dave Hylands's avatar
Dave Hylands committed
392
393
#endif

394
395
396
397
398
399
400
401
402
    // 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();
403
    uart_init0();
404
405
406
#if MICROPY_HW_ENABLE_CAN
    can_init0();
#endif
407
408
409
410

#if MICROPY_HW_ENABLE_RNG
    rng_init0();
#endif
Dave Hylands's avatar
Dave Hylands committed
411

412
413
414
415
416
    i2c_init0();
    spi_init0();
    pyb_usb_init0();

    // Initialise the local flash filesystem.
417
418
    // Create it if needed, mount in on /flash, and set it as current dir.
    init_flash_fs(reset_mode);
Dave Hylands's avatar
Dave Hylands committed
419
420

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

Dave Hylands's avatar
Dave Hylands committed
431
432
            if (first_soft_reset) {
                // use SD card as medium for the USB MSD
433
#if defined(USE_DEVICE_MODE)
434
                pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_SDCARD;
435
#endif
Dave Hylands's avatar
Dave Hylands committed
436
            }
437
438
439
440
441
442
443
444
445

            #if defined(USE_DEVICE_MODE)
            // only use SD card as current directory if that's what the USB medium is
            if (pyb_usb_storage_medium == PYB_USB_STORAGE_MEDIUM_SDCARD)
            #endif
            {
                // use SD card as current directory
                f_chdrive("/sd");
            }
Dave Hylands's avatar
Dave Hylands committed
446
447
448
449
        }
    }
#endif

450
    // reset config variables; they should be set by boot.py
451
    MP_STATE_PORT(pyb_config_main) = MP_OBJ_NULL;
452

453
    // run boot.py, if it exists
454
    // TODO perhaps have pyb.reboot([bootpy]) function to soft-reboot and execute custom boot.py
455
    if (reset_mode == 1) {
456
457
        const char *boot_py = "boot.py";
        FRESULT res = f_stat(boot_py, NULL);
458
        if (res == FR_OK) {
459
460
461
462
463
            int ret = pyexec_file(boot_py);
            if (ret & PYEXEC_FORCED_EXIT) {
                goto soft_reset_exit;
            }
            if (!ret) {
464
465
466
467
468
469
470
471
472
473
                flash_error(4);
            }
        }
    }

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

474
475
476
477
    // Now we initialise sub-systems that need configuration from boot.py,
    // or whose initialisation can be safely deferred until after running
    // boot.py.

478
479
480
#if defined(USE_DEVICE_MODE)
    // init USB device to default setting if it was not already configured
    if (!(pyb_usb_flags & PYB_USB_FLAG_USB_MODE_CALLED)) {
481
        pyb_usb_dev_init(USBD_VID, USBD_PID_CDC_MSC, USBD_MODE_CDC_MSC, NULL);
482
    }
Dave Hylands's avatar
Dave Hylands committed
483
484
#endif

485
486
487
488
489
#if MICROPY_HW_HAS_MMA7660
    // MMA accel: init and reset
    accel_init();
#endif

490
491
492
493
494
495
496
497
498
499
#if MICROPY_HW_ENABLE_SERVO
    // servo
    servo_init();
#endif

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

500
501
    mod_network_init();

502
503
504
    // At this point everything is fully configured and initialised.

    // Run the main script from the current directory.
505
    if (reset_mode == 1 && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
506
        const char *main_py;
507
        if (MP_STATE_PORT(pyb_config_main) == MP_OBJ_NULL) {
508
            main_py = "main.py";
Dave Hylands's avatar
Dave Hylands committed
509
        } else {
510
            main_py = mp_obj_str_get_str(MP_STATE_PORT(pyb_config_main));
Dave Hylands's avatar
Dave Hylands committed
511
        }
512
        FRESULT res = f_stat(main_py, NULL);
513
        if (res == FR_OK) {
514
515
516
517
518
            int ret = pyexec_file(main_py);
            if (ret & PYEXEC_FORCED_EXIT) {
                goto soft_reset_exit;
            }
            if (!ret) {
519
520
                flash_error(3);
            }
Dave Hylands's avatar
Dave Hylands committed
521
522
523
        }
    }

524
525
    // Main script is finished, so now go into REPL mode.
    // The REPL mode can change, or it can request a soft reset.
526
527
528
529
530
531
532
533
534
535
536
    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
537

538
539
soft_reset_exit:

540
541
    // soft reset

Dave Hylands's avatar
Dave Hylands committed
542
543
544
545
    printf("PYB: sync filesystems\n");
    storage_flush();

    printf("PYB: soft reboot\n");
546
    timer_deinit();
547
    uart_deinit();
548
549
550
#if MICROPY_HW_ENABLE_CAN
    can_deinit();
#endif
Dave Hylands's avatar
Dave Hylands committed
551
552
553
554

    first_soft_reset = false;
    goto soft_reset;
}