openmv/ports/rp2/main.c
iabdalkader b15cb394ee ports/rp2: Add missing init/deinit calls.
- Add soft-timer init/deinit.
- Add I2C target init/deinit.
- Add thread/uart deinit.

Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
2025-08-15 19:20:09 +02:00

328 lines
9.0 KiB
C

/*
* 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 <stdio.h>
#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;
}