/* * SPDX-License-Identifier: MIT * * Copyright (C) 2023 OpenMV, LLC. * * 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. * * main function. */ #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 "shared/readline/readline.h" #include "shared/runtime/gchelper.h" #include "shared/runtime/pyexec.h" #include "shared/runtime/softtimer.h" #include "ticks.h" #include "tusb.h" #include "led.h" #include "pendsv.h" #include "modmachine.h" #include "sdcard.h" #include "systick.h" #include "modmimxrt.h" #include "py_fir.h" #include "py_tv.h" #if MICROPY_PY_LWIP #include "lwip/init.h" #include "lwip/apps/mdns.h" #if MICROPY_PY_NETWORK_CYW43 #include "lib/cyw43-driver/src/cyw43.h" #endif #endif #if MICROPY_PY_BLUETOOTH #include "mpbthciport.h" #include "extmod/modbluetooth.h" #endif #if MICROPY_PY_NETWORK #include "extmod/modnetwork.h" #endif #include "extmod/vfs.h" #include "extmod/vfs_fat.h" #include "omv_boardconfig.h" #include "framebuffer.h" #include "omv_csi.h" #include "usbdbg.h" #include "tinyusb_debug.h" #include "fb_alloc.h" #include "dma_alloc.h" #include "file_utils.h" #include "mp_utils.h" #include "mimxrt_hal.h" int main(void) { bool first_soft_reset = true; mimxrt_hal_init(); ticks_init(); led_init(); pendsv_init(); soft_reset: led_init(); // Initialize the stack and GC memory. extern uint8_t _sstack, _estack, _heap_start, _heap_end; mp_init_gc_stack(&_sstack, &_estack, &_heap_start, &_heap_end, 1024); // Initialise MicroPython runtime. mp_init(); // Initialise low-level sub-systems. #if MICROPY_PY_FIR py_fir_init0(); #endif // MICROPY_PY_FIR #if MICROPY_PY_TV py_tv_init0(); #endif imlib_init_all(); readline_init0(); fb_alloc_init0(); framebuffer_init0(); omv_csi_init0(); //dma_alloc_init0(); #ifdef IMLIB_ENABLE_IMAGE_FILE_IO file_buffer_init0(); #endif usbdbg_init(); machine_adc_init(); #if MICROPY_PY_MACHINE_SDCARD machine_sdcard_init0(); #endif #if MICROPY_PY_MACHINE_I2S machine_i2s_init0(); #endif machine_rtc_start(); #if MICROPY_PY_LWIP // lwIP can only be initialized once, because the system timeout // list (next_timeout), is only ever reset by BSS clearing. if (first_soft_reset) { lwip_init(); #if LWIP_MDNS_RESPONDER mdns_resp_init(); #endif } systick_enable_dispatch(SYSTICK_DISPATCH_LWIP, mod_network_lwip_poll_wrapper); #endif #if MICROPY_PY_BLUETOOTH mp_bluetooth_hci_init(); #endif #if MICROPY_PY_NETWORK_CYW43 cyw43_init(&cyw43_state); uint8_t buf[8]; memcpy(&buf[0], "PYBD", 4); mp_hal_get_mac_ascii(MP_HAL_MAC_WLAN0, 8, 4, (char *) &buf[4]); cyw43_wifi_ap_set_ssid(&cyw43_state, 8, buf); cyw43_wifi_ap_set_auth(&cyw43_state, CYW43_AUTH_WPA2_AES_PSK); cyw43_wifi_ap_set_password(&cyw43_state, 8, (const uint8_t *) "pybd0123"); #endif #if MICROPY_PY_NETWORK mod_network_init(); #endif #if MICROPY_PY_CSI if (first_soft_reset) { omv_csi_init(); } #endif // Execute _boot.py to set up the filesystem. pyexec_frozen_module("_boot.py", false); // Set the USB medium to flash block device. mimxrt_msc_medium = &mimxrt_flash_type; const char *path = "/sdcard"; // If SD is mounted, set the USB medium to SD. if (mp_vfs_lookup_path(path, &path) != MP_VFS_NONE) { mimxrt_msc_medium = &machine_sdcard_type; } // Initialize TinyUSB after the filesystem is mounted. if (!tusb_inited()) { tusb_init(); } // 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_MACHINE_CAN machine_can_irq_deinit(); #endif machine_pin_irq_deinit(); machine_rtc_irq_deinit(); #if MICROPY_PY_LWIP systick_disable_dispatch(SYSTICK_DISPATCH_LWIP); #endif #if MICROPY_PY_BLUETOOTH mp_bluetooth_deinit(); #endif #if MICROPY_PY_NETWORK mod_network_deinit(); #endif #if MICROPY_PY_NETWORK_CYW43 cyw43_deinit(&cyw43_state); #endif #if MICROPY_PY_MACHINE_I2S machine_i2s_deinit_all(); #endif machine_pwm_deinit_all(); soft_timer_deinit(); gc_sweep_all(); mp_deinit(); first_soft_reset = false; goto soft_reset; } void nlr_jump_fail(void *val) { for (;;) { } } void __fatal_error() { nlr_jump_fail(NULL); } #ifndef NDEBUG void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) { mp_printf(MP_PYTHON_PRINTER, "Assertion '%s' failed, at file %s:%d\n", expr, file, line); for (;;) { } } #endif const char mimxrt_help_text[] = "Welcome to MicroPython!\n" "\n" "For online help please visit https://micropython.org/help/.\n" "\n" "For access to the hardware use the 'machine' module. \n" "\n" "Quick overview of some objects:\n" " machine.Pin(pin) -- get a pin, eg machine.Pin(0)\n" " machine.Pin(pin, m, [p]) -- get a pin and configure it for IO mode m, pull mode p\n" " methods: init(..), value([v]), high(), low())\n" "\n" " Pins are numbered board specific, either 0-n, or 'D0'-'Dn', or 'A0' - 'An',\n" " according to the boards's pinout sheet.\n" " Pin IO modes are: Pin.IN, Pin.OUT, Pin.OPEN_DRAIN\n" " Pin pull modes are: Pin.PULL_UP, Pin.PULL_UP_47K, Pin.PULL_UP_22K, Pin.PULL_DOWN, Pin.PULL_HOLD\n" " machine.ADC(pin) -- make an analog object from a pin\n" " methods: read_u16()\n" " machine.UART(id, baudrate=115200) -- create an UART object (id=1 - 8, board-specific)\n" " methods: init(), write(buf), any()\n" " buf=read(n), readinto(buf), buf=readline()\n" " The RX and TX pins are fixed and board-specific.\n" " machine.SoftI2C() -- create a Soft I2C object\n" " machine.I2C(id) -- create a HW I2C object\n" " methods: readfrom(addr, buf, stop=True), writeto(addr, buf, stop=True)\n" " readfrom_mem(addr, memaddr, arg), writeto_mem(addr, memaddr, arg)\n" " SoftI2C allows to use any pin for sda and scl, HW I2C id's and pins are fixed\n" " machine.SoftSPI(baudrate=1000000) -- create a Soft SPI object\n" " machine.SPI(id, baudrate=1000000) -- create a HW SPI object\n" " methods: read(nbytes, write=0x00), write(buf), write_readinto(wr_buf, rd_buf)\n" " SoftSPI allows to use any pin for SPI, HW SPI id's and pins are fixed\n" " machine.Timer(id, freq, callback) -- create a hardware timer object (id=0,1,2)\n" " eg: machine.Timer(freq=1, callback=lambda t:print(t))\n" " machine.RTC() -- create a Real Time Clock object\n" " methods: init(), datetime([dateime_tuple]), now()\n" " machine.PWM(pin, freq, duty_u16[, kw_opts]) -- create a PWM object\n" " methods: init(), duty_u16([value]), duty_ns([value]), freq([value])\n" "\n" "Useful control commands:\n" " CTRL-C -- interrupt a running program\n" " CTRL-D -- on a blank line, do a soft reset of the board\n" " CTRL-E -- on a blank line, enter paste mode\n" "\n" "For further help on a specific object, type help(obj)\n" "For a list of available modules, type help('modules')\n" ;