/* * This file is part of the MicroPython project, http://micropython.org/ * * The MIT License (MIT) * * Copyright (c) 2020-2021 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. */ #include #include "py/compile.h" #include "py/runtime.h" #include "py/gc.h" #include "py/mperrno.h" #include "py/mphal.h" #include "py/stackctrl.h" #include "extmod/modbluetooth.h" #include "extmod/modnetwork.h" #include "extmod/modmachine.h" #include "shared/readline/readline.h" #include "shared/runtime/gchelper.h" #include "shared/runtime/pyexec.h" #include "shared/runtime/softtimer.h" #include "tusb.h" #include "uart.h" #include "modmachine.h" #include "modrp2.h" #include "mpbthciport.h" #include "mpnetworkport.h" #include "genhdr/mpversion.h" #include "pico/stdlib.h" #include "pico/binary_info.h" #include "pico/unique_id.h" #include "hardware/rtc.h" #include "hardware/irq.h" #include "hardware/regs/intctrl.h" #include "hardware/structs/rosc.h" #include "pico/bootrom.h" #include "pico/aon_timer.h" #include "shared/timeutils/timeutils.h" #include "omv_boardconfig.h" #include "framebuffer.h" #include "omv_i2c.h" #include "omv_csi.h" #include "usbdbg.h" #include "tinyusb_debug.h" #include "py_fir.h" #if MICROPY_PY_AUDIO #include "py_audio.h" #endif #include "pendsv.h" #if MICROPY_VFS_FAT && MICROPY_HW_USB_MSC #include "extmod/vfs.h" #include "extmod/vfs_fat.h" #endif #include "mp_utils.h" extern void pendsv_init(void); extern uint8_t __StackTop, __StackBottom; static char OMV_ATTR_SECTION(OMV_ATTR_ALIGNED(gc_heap[OMV_GC_BLOCK0_SIZE], 4), ".heap"); uint8_t *OMV_BOARD_UID_ADDR; static pico_unique_board_id_t OMV_ATTR_ALIGNED(pico_unique_id, 4); // Embed version info in the binary in machine readable form bi_decl(bi_program_version_string(MICROPY_GIT_TAG)); // Add a section to the picotool output similar to program features, but for frozen modules // (it will aggregate BINARY_INFO_ID_MP_FROZEN binary info) bi_decl(bi_program_feature_group_with_flags(BINARY_INFO_TAG_MICROPYTHON, BINARY_INFO_ID_MP_FROZEN, "frozen modules", BI_NAMED_GROUP_SEPARATE_COMMAS | BI_NAMED_GROUP_SORT_ALPHA)); void __fatal_error() { gpio_init(OMV_LED_PIN); gpio_set_dir(OMV_LED_PIN, GPIO_OUT); while (true) { gpio_put(OMV_LED_PIN, 1); sleep_ms(100); gpio_put(OMV_LED_PIN, 0); sleep_ms(100); } } void pico_reset_to_bootloader(size_t n_args, const void *args_in) { reset_usb_boot(0, 0); } int main(int argc, char **argv) { bool first_soft_reset = true; // This is a tickless port, interrupts should always trigger SEV. #if PICO_ARM SCB->SCR |= SCB_SCR_SEVONPEND_Msk; #endif soft_timer_init(); // Set the MCU frequency and as a side effect the peripheral clock to 48 MHz. set_sys_clock_khz(SYS_CLK_KHZ, false); // Hook for setting up anything that needs to be super early in the bootup process. MICROPY_BOARD_STARTUP(); #if MICROPY_HW_ENABLE_UART_REPL bi_decl(bi_program_feature("UART REPL")) setup_default_uart(); mp_uart_init(); #else #ifndef NDEBUG stdio_init_all(); #endif #endif #if MICROPY_HW_ENABLE_USBDEV bi_decl(bi_program_feature("USB REPL")) #endif #if MICROPY_PY_THREAD bi_decl(bi_program_feature("thread support")) mp_thread_init(); #endif // Start and initialise the RTC struct timespec ts = { 0, 0 }; ts.tv_sec = timeutils_seconds_since_epoch(2021, 1, 1, 0, 0, 0); aon_timer_start(&ts); mp_hal_time_ns_set_from_rtc(); // Set board unique ID from flash for USB debugging. OMV_BOARD_UID_ADDR = pico_unique_id.id; pico_get_unique_board_id(&pico_unique_id); soft_reset: // Initialise stack extents and GC heap. mp_init_gc_stack(&__StackBottom, &__StackTop, &gc_heap[0], &gc_heap[MP_ARRAY_SIZE(gc_heap)], 256); // Initialise MicroPython runtime. mp_init(); mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_lib)); // Initialise sub-systems. readline_init0(); machine_pin_init(); rp2_pio_init(); rp2_dma_init(); machine_i2s_init0(); #if MICROPY_PY_BLUETOOTH mp_bluetooth_hci_init(); #endif #if MICROPY_PY_NETWORK mod_network_init(); #endif pendsv_init(); soft_timer_init(); usbdbg_init(); fb_alloc_init0(); framebuffer_init0(); #if MICROPY_PY_CSI omv_csi_init0(); #endif #if MICROPY_PY_FIR py_fir_init0(); #endif // MICROPY_PY_FIR #if MICROPY_PY_CSI // Initialize the csi. if (first_soft_reset) { int ret = omv_csi_init(); if (ret != 0 && ret != OMV_CSI_ERROR_ISC_UNDETECTED) { __fatal_error("Failed to init the CSI"); } } #endif // Execute _boot.py to set up the filesystem. pyexec_frozen_module("_boot.py", false); // Initialize TinyUSB after the filesystem has been mounted. if (!tusb_inited()) { tusb_init(); // Install Tinyusb CDC debugger IRQ handler. irq_set_enabled(USBCTRL_IRQ, false); irq_remove_handler(USBCTRL_IRQ, irq_get_vtable_handler(USBCTRL_IRQ)); irq_set_exclusive_handler(USBCTRL_IRQ, OMV_USB1_IRQ_HANDLER); } // Run boot.py script. bool interrupted = mp_exec_bootscript("boot.py", true); // Run main.py script on first soft-reset. if (first_soft_reset && !interrupted && mp_vfs_import_stat("main.py")) { mp_exec_bootscript("main.py", true); goto soft_reset_exit; } // If there's no script ready, just re-exec REPL while (!usbdbg_script_ready()) { nlr_buf_t nlr; if (nlr_push(&nlr) == 0) { // enable IDE interrupt usbdbg_set_irq_enabled(true); // run REPL if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) { if (pyexec_raw_repl() != 0) { break; } } else { if (pyexec_friendly_repl() != 0) { break; } } nlr_pop(); } } if (usbdbg_script_ready()) { nlr_buf_t nlr; if (nlr_push(&nlr) == 0) { // Enable IDE interrupt usbdbg_set_irq_enabled(true); // Execute the script. pyexec_str(usbdbg_get_script(), true); // Disable IDE interrupts usbdbg_set_irq_enabled(false); nlr_pop(); } else { mp_obj_print_exception(&mp_plat_print, (mp_obj_t) nlr.ret_val); } } soft_reset_exit: mp_printf(MP_PYTHON_PRINTER, "MPY: soft reboot\n"); #if MICROPY_PY_CSI omv_csi_abort_all(); #endif #if MICROPY_PY_AUDIO py_audio_deinit(); #endif #if MICROPY_PY_BLUETOOTH mp_bluetooth_deinit(); #endif #if MICROPY_PY_NETWORK mod_network_deinit(); #endif rp2_pio_deinit(); rp2_dma_deinit(); machine_pwm_deinit_all(); machine_pin_deinit(); machine_uart_deinit_all(); #if MICROPY_PY_MACHINE_I2C_TARGET mp_machine_i2c_target_deinit_all(); #endif #if MICROPY_PY_THREAD mp_thread_deinit(); #endif soft_timer_deinit(); gc_sweep_all(); mp_deinit(); first_soft_reset = false; goto soft_reset; return 0; } void nlr_jump_fail(void *val) { printf("FATAL: uncaught exception %p\n", val); mp_obj_print_exception(&mp_plat_print, MP_OBJ_FROM_PTR(val)); for (;;) { __breakpoint(); } } #ifndef NDEBUG void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) { printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line); panic("Assertion failed"); } #endif #define POLY (0xD5) uint8_t rosc_random_u8(size_t cycles) { static uint8_t r; for (size_t i = 0; i < cycles; ++i) { r = ((r << 1) | rosc_hw->randombit) ^ (r & 0x80 ? POLY : 0); mp_hal_delay_us_fast(1); } return r; } uint32_t rosc_random_u32(void) { uint32_t value = 0; for (size_t i = 0; i < 4; ++i) { value = value << 8 | rosc_random_u8(32); } return value; }