2014-03-12 00:55:41 -06:00
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#include <stdio.h>
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#include <string.h>
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#include <stm32f4xx_hal.h>
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2014-03-12 15:59:33 -06:00
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#include <stm32f4xx_hal_gpio.h>
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2014-03-12 00:55:41 -06:00
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#include "std.h"
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#include "misc.h"
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2014-03-12 19:06:26 -06:00
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#include "systick.h"
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2014-03-13 18:30:37 -06:00
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#include "pendsv.h"
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2014-03-12 00:55:41 -06:00
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#include "mpconfig.h"
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#include "qstr.h"
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#include "misc.h"
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#include "lexer.h"
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#include "parse.h"
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#include "obj.h"
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#include "parsehelper.h"
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#include "compile.h"
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#include "runtime.h"
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#include "gc.h"
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#include "gccollect.h"
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2014-03-29 08:20:05 -06:00
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#include "readline.h"
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2014-03-12 00:55:41 -06:00
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#include "pyexec.h"
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2014-03-16 01:22:22 -06:00
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#include "usart.h"
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2014-03-14 01:51:26 -06:00
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#include "led.h"
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2014-03-15 00:41:28 -06:00
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#include "exti.h"
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#include "usrsw.h"
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2014-03-13 18:30:37 -06:00
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#include "usb.h"
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2014-03-15 06:54:48 -06:00
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#include "rtc.h"
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2014-03-17 07:31:35 -06:00
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#include "storage.h"
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2014-03-17 07:03:41 -06:00
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#include "sdcard.h"
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2014-03-12 19:06:26 -06:00
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#include "ff.h"
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2014-03-19 07:12:30 -06:00
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#include "lcd.h"
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2014-03-25 17:33:47 -06:00
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#include "rng.h"
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2014-03-25 17:26:14 -06:00
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#include "i2c.h"
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2014-03-20 17:33:30 -06:00
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#include "accel.h"
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2014-03-12 00:55:41 -06:00
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#include "servo.h"
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2014-03-24 09:15:33 -06:00
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#include "dac.h"
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2014-03-22 17:54:13 -06:00
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#include "pin.h"
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2014-03-22 09:52:33 -06:00
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#if 0
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2014-03-12 00:55:41 -06:00
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#include "timer.h"
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#include "pybwlan.h"
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#endif
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2014-03-12 19:06:26 -06:00
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void SystemClock_Config(void);
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2014-03-12 00:55:41 -06:00
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int errno;
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static FATFS fatfs0;
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#if MICROPY_HW_HAS_SDCARD
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static FATFS fatfs1;
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#endif
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void flash_error(int n) {
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for (int i = 0; i < n; i++) {
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led_state(PYB_LED_R1, 1);
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led_state(PYB_LED_R2, 0);
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2014-03-13 16:40:34 -06:00
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HAL_Delay(250);
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2014-03-12 00:55:41 -06:00
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led_state(PYB_LED_R1, 0);
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led_state(PYB_LED_R2, 1);
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2014-03-13 16:40:34 -06:00
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HAL_Delay(250);
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2014-03-12 00:55:41 -06:00
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}
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led_state(PYB_LED_R2, 0);
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}
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void __fatal_error(const char *msg) {
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#if MICROPY_HW_HAS_LCD
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lcd_print_strn("\nFATAL ERROR:\n", 14);
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lcd_print_strn(msg, strlen(msg));
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#endif
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for (;;) {
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flash_error(1);
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}
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}
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STATIC mp_obj_t pyb_config_source_dir = MP_OBJ_NULL;
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STATIC mp_obj_t pyb_config_main = MP_OBJ_NULL;
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2014-03-29 18:00:15 -06:00
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STATIC mp_obj_t pyb_config_usb_mode = MP_OBJ_NULL;
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2014-03-12 00:55:41 -06:00
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STATIC mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
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if (MP_OBJ_IS_STR(source_dir)) {
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pyb_config_source_dir = source_dir;
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}
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_1(pyb_source_dir_obj, pyb_source_dir);
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STATIC mp_obj_t pyb_main(mp_obj_t main) {
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if (MP_OBJ_IS_STR(main)) {
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pyb_config_main = main;
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}
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main);
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2014-03-29 18:00:15 -06:00
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STATIC mp_obj_t pyb_usb_mode(mp_obj_t usb_mode) {
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if (MP_OBJ_IS_STR(usb_mode)) {
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pyb_config_usb_mode = usb_mode;
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}
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_1(pyb_usb_mode_obj, pyb_usb_mode);
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2014-03-12 00:55:41 -06:00
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void fatality(void) {
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led_state(PYB_LED_R1, 1);
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led_state(PYB_LED_G1, 1);
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led_state(PYB_LED_R2, 1);
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led_state(PYB_LED_G2, 1);
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2014-03-13 18:30:37 -06:00
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for (;;) {
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flash_error(1);
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}
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2014-03-12 00:55:41 -06:00
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}
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static const char fresh_boot_py[] =
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"# boot.py -- run on boot-up\n"
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"# can run arbitrary Python, but best to keep it minimal\n"
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"\n"
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2014-03-25 08:18:18 -06:00
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"import pyb\n"
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2014-03-29 18:00:15 -06:00
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"#pyb.source_dir('/src')\n"
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"#pyb.main('main.py')\n"
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"#pyb.usb_mode('CDC+MSC') # one of: 'CDC+MSC', 'CDC+HID'\n"
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2014-03-12 00:55:41 -06:00
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;
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static const char fresh_main_py[] =
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"# main.py -- put your code here!\n"
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;
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int main(void) {
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// TODO disable JTAG
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/* STM32F4xx HAL library initialization:
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- Configure the Flash prefetch, instruction and Data caches
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- Configure the Systick to generate an interrupt each 1 msec
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- Set NVIC Group Priority to 4
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- Global MSP (MCU Support Package) initialization
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*/
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HAL_Init();
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2014-03-12 15:59:33 -06:00
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// set the system clock to be HSE
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SystemClock_Config();
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// enable GPIO clocks
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__GPIOA_CLK_ENABLE();
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__GPIOB_CLK_ENABLE();
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__GPIOC_CLK_ENABLE();
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__GPIOD_CLK_ENABLE();
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// enable the CCM RAM
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__CCMDATARAMEN_CLK_ENABLE();
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2014-03-12 00:55:41 -06:00
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#if 0
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#if defined(NETDUINO_PLUS_2)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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#if MICROPY_HW_HAS_SDCARD
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// Turn on the power enable for the sdcard (PB1)
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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GPIO_WriteBit(GPIOB, GPIO_Pin_1, Bit_SET);
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#endif
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// Turn on the power for the 5V on the expansion header (PB2)
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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GPIO_WriteBit(GPIOB, GPIO_Pin_2, Bit_SET);
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}
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2014-03-12 19:06:26 -06:00
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#endif
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2014-03-12 00:55:41 -06:00
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#endif
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// basic sub-system init
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pendsv_init();
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led_init();
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2014-03-29 18:00:15 -06:00
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switch_init0();
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2014-03-12 00:55:41 -06:00
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2014-03-29 18:00:15 -06:00
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int first_soft_reset = true;
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uint reset_mode;
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soft_reset:
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// check if user switch held to select the reset mode
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reset_mode = 1;
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led_state(1, 0);
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led_state(2, 1);
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led_state(3, 0);
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led_state(4, 0);
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#if MICROPY_HW_HAS_SWITCH
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if (switch_get()) {
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for (uint i = 0; i < 3000; i++) {
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if (!switch_get()) {
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break;
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}
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HAL_Delay(20);
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if (i % 30 == 29) {
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reset_mode = (reset_mode + 1) & 7;
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led_state(2, reset_mode & 1);
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led_state(3, reset_mode & 2);
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led_state(4, reset_mode & 4);
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}
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}
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// flash the selected reset mode
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for (uint i = 0; i < 6; i++) {
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led_state(2, 0);
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led_state(3, 0);
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led_state(4, 0);
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HAL_Delay(50);
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led_state(2, reset_mode & 1);
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led_state(3, reset_mode & 2);
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led_state(4, reset_mode & 4);
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HAL_Delay(50);
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}
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HAL_Delay(400);
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}
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#endif
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2014-03-15 05:52:29 -06:00
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2014-03-12 00:55:41 -06:00
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#if MICROPY_HW_ENABLE_RTC
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2014-03-29 18:00:15 -06:00
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if (first_soft_reset) {
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rtc_init();
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}
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2014-03-12 19:06:26 -06:00
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#endif
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2014-03-12 00:55:41 -06:00
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// more sub-system init
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#if MICROPY_HW_HAS_SDCARD
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2014-03-29 18:00:15 -06:00
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if (first_soft_reset) {
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sdcard_init();
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}
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2014-03-12 00:55:41 -06:00
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#endif
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2014-03-29 18:00:15 -06:00
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if (first_soft_reset) {
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storage_init();
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}
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2014-03-12 00:55:41 -06:00
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// GC init
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gc_init(&_heap_start, &_heap_end);
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2014-03-16 01:22:22 -06:00
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// Change #if 0 to #if 1 if you want REPL on USART_6 (or another usart)
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// as well as on USB VCP
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#if 0
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pyb_usart_global_debug = pyb_Usart(MP_OBJ_NEW_SMALL_INT(PYB_USART_YA),
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MP_OBJ_NEW_SMALL_INT(115200));
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#else
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pyb_usart_global_debug = NULL;
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#endif
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2014-03-12 00:55:41 -06:00
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// Micro Python init
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qstr_init();
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rt_init();
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mp_obj_t def_path[3];
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def_path[0] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_);
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def_path[1] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_src);
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def_path[2] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib);
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sys_path = mp_obj_new_list(3, def_path);
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2014-03-29 08:20:05 -06:00
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readline_init();
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2014-03-12 00:55:41 -06:00
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exti_init();
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#if MICROPY_HW_HAS_SWITCH
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2014-03-29 18:00:15 -06:00
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// must come after exti_init
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2014-03-12 00:55:41 -06:00
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switch_init();
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#endif
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#if MICROPY_HW_HAS_LCD
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// LCD init (just creates class, init hardware by calling LCD())
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lcd_init();
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#endif
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pin_map_init();
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// local filesystem init
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{
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// try to mount the flash
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FRESULT res = f_mount(&fatfs0, "0:", 1);
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2014-03-29 18:00:15 -06:00
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if (reset_mode == 3 || res == FR_NO_FILESYSTEM) {
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// no filesystem, or asked to reset it, so create a fresh one
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2014-03-12 00:55:41 -06:00
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// LED on to indicate creation of LFS
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led_state(PYB_LED_R2, 1);
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2014-03-13 16:40:34 -06:00
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uint32_t start_tick = HAL_GetTick();
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2014-03-12 00:55:41 -06:00
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res = f_mkfs("0:", 0, 0);
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if (res == FR_OK) {
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// success creating fresh LFS
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} else {
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__fatal_error("could not create LFS");
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}
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// create src directory
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res = f_mkdir("0:/src");
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// ignore result from mkdir
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// create empty main.py
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FIL fp;
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f_open(&fp, "0:/src/main.py", FA_WRITE | FA_CREATE_ALWAYS);
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UINT n;
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f_write(&fp, fresh_main_py, sizeof(fresh_main_py) - 1 /* don't count null terminator */, &n);
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// TODO check we could write n bytes
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f_close(&fp);
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// keep LED on for at least 200ms
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2014-03-13 16:40:34 -06:00
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sys_tick_wait_at_least(start_tick, 200);
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2014-03-12 00:55:41 -06:00
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led_state(PYB_LED_R2, 0);
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2014-03-29 18:00:15 -06:00
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} else if (res == FR_OK) {
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// mount sucessful
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2014-03-12 00:55:41 -06:00
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} else {
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__fatal_error("could not access LFS");
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}
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}
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// make sure we have a /boot.py
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{
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FILINFO fno;
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2014-03-20 17:33:30 -06:00
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#if _USE_LFN
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fno.lfname = NULL;
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fno.lfsize = 0;
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#endif
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2014-03-12 00:55:41 -06:00
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FRESULT res = f_stat("0:/boot.py", &fno);
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if (res == FR_OK) {
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if (fno.fattrib & AM_DIR) {
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// exists as a directory
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// 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);
|
2014-03-13 16:40:34 -06:00
|
|
|
uint32_t start_tick = HAL_GetTick();
|
2014-03-12 00:55:41 -06:00
|
|
|
|
|
|
|
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
|
2014-03-13 16:40:34 -06:00
|
|
|
sys_tick_wait_at_least(start_tick, 200);
|
2014-03-12 00:55:41 -06:00
|
|
|
led_state(PYB_LED_R2, 0);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// run /boot.py
|
2014-03-29 18:00:15 -06:00
|
|
|
if (reset_mode == 1) {
|
|
|
|
if (!pyexec_file("0:/boot.py")) {
|
|
|
|
flash_error(4);
|
|
|
|
}
|
2014-03-12 00:55:41 -06:00
|
|
|
}
|
|
|
|
|
2014-03-29 18:00:15 -06:00
|
|
|
// turn boot-up LEDs off
|
|
|
|
led_state(2, 0);
|
|
|
|
led_state(3, 0);
|
|
|
|
led_state(4, 0);
|
2014-03-12 00:55:41 -06:00
|
|
|
|
2014-03-21 17:32:01 -06:00
|
|
|
#if defined(USE_DEVICE_MODE)
|
2014-03-29 18:00:15 -06:00
|
|
|
usb_storage_medium_t usb_medium = USB_STORAGE_MEDIUM_FLASH;
|
2014-03-21 17:32:01 -06:00
|
|
|
#endif
|
|
|
|
|
2014-03-12 00:55:41 -06:00
|
|
|
#if MICROPY_HW_HAS_SDCARD
|
|
|
|
// if an SD card is present then mount it on 1:/
|
2014-03-29 18:00:15 -06:00
|
|
|
if (reset_mode == 1 && sdcard_is_present()) {
|
2014-03-12 00:55:41 -06:00
|
|
|
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
|
2014-03-21 17:32:01 -06:00
|
|
|
#if defined(USE_DEVICE_MODE)
|
2014-03-29 18:00:15 -06:00
|
|
|
usb_medium = USB_STORAGE_MEDIUM_SDCARD;
|
2014-03-17 08:04:19 -06:00
|
|
|
#endif
|
2014-03-12 00:55:41 -06:00
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
2014-03-25 00:23:09 -06:00
|
|
|
#else
|
|
|
|
// Get rid of compiler warning if no SDCARD is configured.
|
|
|
|
(void)first_soft_reset;
|
2014-03-12 00:55:41 -06:00
|
|
|
#endif
|
|
|
|
|
2014-03-14 01:51:26 -06:00
|
|
|
#if defined(USE_HOST_MODE)
|
2014-03-12 00:55:41 -06:00
|
|
|
// USB host
|
|
|
|
pyb_usb_host_init();
|
|
|
|
#elif defined(USE_DEVICE_MODE)
|
|
|
|
// USB device
|
2014-03-29 18:00:15 -06:00
|
|
|
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);
|
|
|
|
}
|
2014-03-12 00:55:41 -06:00
|
|
|
#endif
|
|
|
|
|
2014-03-25 17:33:47 -06:00
|
|
|
#if MICROPY_HW_ENABLE_RNG
|
|
|
|
// RNG
|
|
|
|
rng_init();
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// I2C
|
2014-03-25 17:26:14 -06:00
|
|
|
i2c_init();
|
|
|
|
|
2014-03-20 17:33:30 -06:00
|
|
|
#if MICROPY_HW_HAS_MMA7660
|
|
|
|
// MMA accel: init and reset
|
|
|
|
accel_init();
|
|
|
|
#endif
|
|
|
|
|
2014-03-25 17:33:47 -06:00
|
|
|
#if MICROPY_HW_ENABLE_SERVO
|
|
|
|
// servo
|
|
|
|
servo_init();
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if 0
|
|
|
|
#if MICROPY_HW_ENABLE_TIMER
|
|
|
|
// timer
|
|
|
|
timer_init();
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if MICROPY_HW_ENABLE_DAC
|
|
|
|
// DAC
|
|
|
|
dac_init();
|
|
|
|
#endif
|
|
|
|
|
2014-03-12 00:55:41 -06:00
|
|
|
// run main script
|
2014-03-29 18:00:15 -06:00
|
|
|
if (reset_mode == 1) {
|
2014-03-12 00:55:41 -06:00
|
|
|
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);
|
|
|
|
}
|
|
|
|
|
2014-03-17 08:04:19 -06:00
|
|
|
#if 0
|
2014-03-12 00:55:41 -06:00
|
|
|
#if MICROPY_HW_HAS_WLAN
|
|
|
|
// wifi
|
|
|
|
pyb_wlan_init();
|
|
|
|
pyb_wlan_start();
|
2014-03-12 19:06:26 -06:00
|
|
|
#endif
|
2014-03-12 00:55:41 -06:00
|
|
|
#endif
|
|
|
|
|
2014-03-24 06:23:37 -06:00
|
|
|
// 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;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
2014-03-12 00:55:41 -06:00
|
|
|
|
|
|
|
printf("PYB: sync filesystems\n");
|
|
|
|
storage_flush();
|
|
|
|
|
|
|
|
printf("PYB: soft reboot\n");
|
|
|
|
|
|
|
|
first_soft_reset = false;
|
|
|
|
goto soft_reset;
|
|
|
|
}
|