main.c 18.7 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"
37
#include "py/mphal.h"
Dave Hylands's avatar
Dave Hylands committed
38

39
#include "lib/utils/pyexec.h"
40
41
#include "lib/fatfs/ff.h"

42
#include "systick.h"
43
#include "pendsv.h"
Dave Hylands's avatar
Dave Hylands committed
44
#include "gccollect.h"
45
#include "readline.h"
Damien George's avatar
Damien George committed
46
47
#include "i2c.h"
#include "spi.h"
Damien George's avatar
Damien George committed
48
#include "uart.h"
49
#include "timer.h"
50
#include "led.h"
51
52
#include "pin.h"
#include "extint.h"
53
#include "usrsw.h"
54
#include "usb.h"
Damien George's avatar
Damien George committed
55
#include "rtc.h"
56
#include "storage.h"
Damien George's avatar
Damien George committed
57
#include "sdcard.h"
58
#include "rng.h"
59
#include "accel.h"
Dave Hylands's avatar
Dave Hylands committed
60
#include "servo.h"
Damien George's avatar
Damien George committed
61
#include "dac.h"
62
#include "can.h"
63
#include "modnetwork.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
void nlr_jump_fail(void *val) {
    printf("FATAL: uncaught exception %p\n", val);
106
    mp_obj_print_exception(&mp_plat_print, (mp_obj_t)val);
107
108
109
    __fatal_error("");
}

mux's avatar
mux committed
110
#ifndef NDEBUG
mux's avatar
mux committed
111
void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) {
mux's avatar
mux committed
112
113
114
115
    (void)func;
    printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
    __fatal_error("");
}
mux's avatar
mux committed
116
#endif
mux's avatar
mux committed
117

118
119
120
121
122
123
124
125
126
127
128
129
STATIC mp_obj_t pyb_main(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
    static const mp_arg_t allowed_args[] = {
        { MP_QSTR_opt, MP_ARG_INT, {.u_int = 0} }
    };

    if (MP_OBJ_IS_STR(pos_args[0])) {
        MP_STATE_PORT(pyb_config_main) = pos_args[0];

        // parse args
        mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
        mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
        MP_STATE_VM(mp_optimise_value) = args[0].u_int;
Dave Hylands's avatar
Dave Hylands committed
130
131
132
    }
    return mp_const_none;
}
133
MP_DEFINE_CONST_FUN_OBJ_KW(pyb_main_obj, 1, pyb_main);
Dave Hylands's avatar
Dave Hylands committed
134
135

static const char fresh_boot_py[] =
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"
139
"import machine\r\n"
140
141
142
143
"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
144
145
146
;

static const char fresh_main_py[] =
147
"# main.py -- put your code here!\r\n"
Dave Hylands's avatar
Dave Hylands committed
148
149
;

150
static const char fresh_pybcdc_inf[] =
151
#include "genhdr/pybcdc_inf.h"
152
153
;

154
static const char fresh_readme_txt[] =
155
"This is a MicroPython board\r\n"
156
157
158
159
160
161
162
163
164
165
166
167
168
"\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"
;

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
247
248
249
250
251
252
253
254
255
256
257
// 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);
    }
}

258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
STATIC uint update_reset_mode(uint reset_mode) {
#if MICROPY_HW_HAS_SWITCH
    if (switch_get()) {

        // The original method used on the pyboard is appropriate if you have 2
        // or more LEDs.
#if defined(MICROPY_HW_LED2)
        for (uint i = 0; i < 3000; i++) {
            if (!switch_get()) {
                break;
            }
            HAL_Delay(20);
            if (i % 30 == 29) {
                if (++reset_mode > 3) {
                    reset_mode = 1;
                }
                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);

#elif defined(MICROPY_HW_LED1)

        // For boards with only a single LED, we'll flash that LED the
        // appropriate number of times, with a pause between each one
        for (uint i = 0; i < 10; i++) {
            led_state(1, 0);
            for (uint j = 0; j < reset_mode; j++) {
                if (!switch_get()) {
                    break;
                }
                led_state(1, 1);
                HAL_Delay(100);
                led_state(1, 0);
                HAL_Delay(200);
            }
            HAL_Delay(400);
            if (!switch_get()) {
                break;
            }
            if (++reset_mode > 3) {
                reset_mode = 1;
            }
        }
        // Flash the selected reset mode
        for (uint i = 0; i < 2; i++) {
            for (uint j = 0; j < reset_mode; j++) {
                led_state(1, 1);
                HAL_Delay(100);
                led_state(1, 0);
                HAL_Delay(200);
            }
            HAL_Delay(400);
        }
#else
#error Need a reset mode update method
#endif
    }
#endif
    return reset_mode;
}

Dave Hylands's avatar
Dave Hylands committed
333
334
335
int main(void) {
    // TODO disable JTAG

336
337
    // Stack limit should be less than real stack size, so we have a chance
    // to recover from limit hit.  (Limit is measured in bytes.)
338
    mp_stack_ctrl_init();
339
    mp_stack_set_limit((char*)&_ram_end - (char*)&_heap_end - 1024);
340

Dave Hylands's avatar
Dave Hylands committed
341
342
343
344
345
346
347
348
    /* 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();

349
350
351
352
353
354
355
356
357
    // set the system clock to be HSE
    SystemClock_Config();

    // enable GPIO clocks
    __GPIOA_CLK_ENABLE();
    __GPIOB_CLK_ENABLE();
    __GPIOC_CLK_ENABLE();
    __GPIOD_CLK_ENABLE();

358
359
360
361
362
    #if defined(__HAL_RCC_DTCMRAMEN_CLK_ENABLE)
    // The STM32F746 doesn't really have CCM memory, but it does have DTCM,
    // which behaves more or less like normal SRAM.
    __HAL_RCC_DTCMRAMEN_CLK_ENABLE();
    #else
363
364
    // enable the CCM RAM
    __CCMDATARAMEN_CLK_ENABLE();
365
    #endif
366

367
368
369
370
371
    #if defined(MICROPY_BOARD_EARLY_INIT)
    MICROPY_BOARD_EARLY_INIT();
    #endif

    //TODO - Move the following to a board_init.c file for the NETDUINO
Dave Hylands's avatar
Dave Hylands committed
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
#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);
    }
393
#endif
Dave Hylands's avatar
Dave Hylands committed
394
395
396
397
#endif

    // basic sub-system init
    pendsv_init();
398
399
400
401
    #if defined(MICROPY_HW_USE_ALT_IRQ_FOR_CDC)
    HAL_NVIC_SetPriority(PVD_IRQn, 6, 0); // same priority as USB
    HAL_NVIC_EnableIRQ(PVD_IRQn);
    #else
402
    timer_tim3_init();
403
    #endif
Dave Hylands's avatar
Dave Hylands committed
404
    led_init();
405
#if MICROPY_HW_HAS_SWITCH
406
    switch_init0();
407
#endif
Dave Hylands's avatar
Dave Hylands committed
408

409
410
411
412
413
#if defined(USE_DEVICE_MODE)
    // default to internal flash being the usb medium
    pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_FLASH;
#endif

414
415
416
417
418
    int first_soft_reset = true;

soft_reset:

    // check if user switch held to select the reset mode
419
#if defined(MICROPY_HW_LED2)
420
421
    led_state(1, 0);
    led_state(2, 1);
422
423
424
425
#else
    led_state(1, 1);
    led_state(2, 0);
#endif
426
427
    led_state(3, 0);
    led_state(4, 0);
428
    uint reset_mode = update_reset_mode(1);
429

Dave Hylands's avatar
Dave Hylands committed
430
#if MICROPY_HW_ENABLE_RTC
431
    if (first_soft_reset) {
432
        rtc_init_start(false);
433
    }
434
#endif
Dave Hylands's avatar
Dave Hylands committed
435
436
437

    // more sub-system init
#if MICROPY_HW_HAS_SDCARD
438
439
440
    if (first_soft_reset) {
        sdcard_init();
    }
Dave Hylands's avatar
Dave Hylands committed
441
#endif
442
443
444
    if (first_soft_reset) {
        storage_init();
    }
Dave Hylands's avatar
Dave Hylands committed
445
446
447

    // GC init
    gc_init(&_heap_start, &_heap_end);
448
449
450
451
452
453
454
455

    // 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
456

457
458
459
460
461
462
463
464
465
466
467
    // 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();
    uart_init0();

468
469
470
471
    // Define MICROPY_HW_UART_REPL to be PYB_UART_6 and define
    // MICROPY_HW_UART_REPL_BAUD in your mpconfigboard.h file if you want a
    // REPL on a hardware UART as well as on USB VCP
#if defined(MICROPY_HW_UART_REPL)
472
473
    {
        mp_obj_t args[2] = {
474
475
            MP_OBJ_NEW_SMALL_INT(MICROPY_HW_UART_REPL),
            MP_OBJ_NEW_SMALL_INT(MICROPY_HW_UART_REPL_BAUD),
476
        };
477
        MP_STATE_PORT(pyb_stdio_uart) = pyb_uart_type.make_new((mp_obj_t)&pyb_uart_type, MP_ARRAY_SIZE(args), 0, args);
478
    }
Dave Hylands's avatar
Dave Hylands committed
479
#else
480
    MP_STATE_PORT(pyb_stdio_uart) = NULL;
Dave Hylands's avatar
Dave Hylands committed
481
482
#endif

483
484
485
#if MICROPY_HW_ENABLE_CAN
    can_init0();
#endif
486
487
488
489

#if MICROPY_HW_ENABLE_RNG
    rng_init0();
#endif
Dave Hylands's avatar
Dave Hylands committed
490

491
492
493
494
495
    i2c_init0();
    spi_init0();
    pyb_usb_init0();

    // Initialise the local flash filesystem.
496
497
    // 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
498
499

#if MICROPY_HW_HAS_SDCARD
500
    // if an SD card is present then mount it on /sd/
501
    if (sdcard_is_present()) {
502
        FRESULT res = f_mount(&fatfs1, "/sd", 1);
Dave Hylands's avatar
Dave Hylands committed
503
504
505
        if (res != FR_OK) {
            printf("[SD] could not mount SD card\n");
        } else {
506
507
508
            // 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));
509

Dave Hylands's avatar
Dave Hylands committed
510
511
            if (first_soft_reset) {
                // use SD card as medium for the USB MSD
512
#if defined(USE_DEVICE_MODE)
513
                pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_SDCARD;
514
#endif
Dave Hylands's avatar
Dave Hylands committed
515
            }
516
517
518
519
520
521
522
523
524

            #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
525
526
527
528
        }
    }
#endif

529
    // reset config variables; they should be set by boot.py
530
    MP_STATE_PORT(pyb_config_main) = MP_OBJ_NULL;
531

532
    // run boot.py, if it exists
533
    // TODO perhaps have pyb.reboot([bootpy]) function to soft-reboot and execute custom boot.py
534
    if (reset_mode == 1 || reset_mode == 3) {
535
536
        const char *boot_py = "boot.py";
        FRESULT res = f_stat(boot_py, NULL);
537
        if (res == FR_OK) {
538
539
540
541
542
            int ret = pyexec_file(boot_py);
            if (ret & PYEXEC_FORCED_EXIT) {
                goto soft_reset_exit;
            }
            if (!ret) {
543
544
545
546
547
548
                flash_error(4);
            }
        }
    }

    // turn boot-up LEDs off
549
550
551
552
553
554
#if !defined(MICROPY_HW_LED2)
    // If there is only one LED on the board then it's used to signal boot-up
    // and so we turn it off here.  Otherwise LED(1) is used to indicate dirty
    // flash cache and so we shouldn't change its state.
    led_state(1, 0);
#endif
555
556
557
558
    led_state(2, 0);
    led_state(3, 0);
    led_state(4, 0);

559
560
561
562
    // Now we initialise sub-systems that need configuration from boot.py,
    // or whose initialisation can be safely deferred until after running
    // boot.py.

563
564
565
#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)) {
566
        pyb_usb_dev_init(USBD_VID, USBD_PID_CDC_MSC, USBD_MODE_CDC_MSC, NULL);
567
    }
Dave Hylands's avatar
Dave Hylands committed
568
569
#endif

570
571
572
573
574
#if MICROPY_HW_HAS_MMA7660
    // MMA accel: init and reset
    accel_init();
#endif

575
576
577
578
579
580
581
582
583
584
#if MICROPY_HW_ENABLE_SERVO
    // servo
    servo_init();
#endif

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

585
586
    mod_network_init();

587
588
589
    // At this point everything is fully configured and initialised.

    // Run the main script from the current directory.
590
    if ((reset_mode == 1 || reset_mode == 3) && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
591
        const char *main_py;
592
        if (MP_STATE_PORT(pyb_config_main) == MP_OBJ_NULL) {
593
            main_py = "main.py";
Dave Hylands's avatar
Dave Hylands committed
594
        } else {
595
            main_py = mp_obj_str_get_str(MP_STATE_PORT(pyb_config_main));
Dave Hylands's avatar
Dave Hylands committed
596
        }
597
        FRESULT res = f_stat(main_py, NULL);
598
        if (res == FR_OK) {
599
600
601
602
603
            int ret = pyexec_file(main_py);
            if (ret & PYEXEC_FORCED_EXIT) {
                goto soft_reset_exit;
            }
            if (!ret) {
604
605
                flash_error(3);
            }
Dave Hylands's avatar
Dave Hylands committed
606
607
608
        }
    }

609
610
    // Main script is finished, so now go into REPL mode.
    // The REPL mode can change, or it can request a soft reset.
611
612
613
614
615
616
617
618
619
620
621
    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
622

623
624
soft_reset_exit:

625
626
    // soft reset

Dave Hylands's avatar
Dave Hylands committed
627
628
629
630
    printf("PYB: sync filesystems\n");
    storage_flush();

    printf("PYB: soft reboot\n");
631
    timer_deinit();
632
    uart_deinit();
633
634
635
#if MICROPY_HW_ENABLE_CAN
    can_deinit();
#endif
Dave Hylands's avatar
Dave Hylands committed
636
637
638
639

    first_soft_reset = false;
    goto soft_reset;
}