openmv/src/omv/main.c
2014-06-27 22:21:59 +02:00

401 lines
11 KiB
C

#include <stdio.h>
#include <string.h>
#include <stm32f4xx_hal.h>
#include "misc.h"
#include "systick.h"
#include "pendsv.h"
#include "mpconfig.h"
#include "qstr.h"
#include "misc.h"
#include "nlr.h"
#include "lexer.h"
#include "parse.h"
#include "obj.h"
#include "objmodule.h"
#include "runtime.h"
#include "gc.h"
#include "gccollect.h"
#include "pybstdio.h"
#include "readline.h"
#include "pyexec.h"
#include "uart.h"
#include "timer.h"
#include "pin.h"
#include "extint.h"
#include "usb.h"
#include "rtc.h"
#include "storage.h"
#include "sdcard.h"
#include "ff.h"
#include "mdefs.h"
#include "led.h"
#include "rng.h"
#include "sensor.h"
#include "usbdbg.h"
#include "py_led.h"
#include "py_time.h"
#include "py_sensor.h"
#include "py_image.h"
int errno;
static FATFS fatfs0;
//static FATFS fatfs1;
void flash_error(int n) {
for (int i = 0; i < n; i++) {
led_state(LED_RED, 0);
HAL_Delay(250);
led_state(LED_RED, 1);
HAL_Delay(250);
}
led_state(LED_RED, 0);
}
void __fatal_error(const char *msg) {
stdout_tx_strn("\nFATAL ERROR:\n", 14);
stdout_tx_strn(msg, strlen(msg));
for (uint i = 0;;) {
led_toggle(((i++) & 3));
for (volatile uint delay = 0; delay < 500000; delay++) {
}
}
}
void nlr_jump_fail(void *val) {
printf("FATAL: uncaught exception %p\n", val);
__fatal_error("");
}
#ifndef NDEBUG
void __attribute__((weak))
__assert_func(const char *file, int line, const char *func, const char *expr) {
(void)func;
printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
__fatal_error("");
}
#endif
STATIC mp_obj_t pyb_config_source_dir = MP_OBJ_NULL;
STATIC mp_obj_t pyb_config_main = MP_OBJ_NULL;
STATIC mp_obj_t pyb_config_usb_mode = MP_OBJ_NULL;
STATIC mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
if (MP_OBJ_IS_STR(source_dir)) {
pyb_config_source_dir = source_dir;
}
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_source_dir_obj, pyb_source_dir);
STATIC mp_obj_t pyb_main(mp_obj_t main) {
if (MP_OBJ_IS_STR(main)) {
pyb_config_main = main;
}
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main);
STATIC mp_obj_t pyb_usb_mode(mp_obj_t usb_mode) {
if (MP_OBJ_IS_STR(usb_mode)) {
pyb_config_usb_mode = usb_mode;
}
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_usb_mode_obj, pyb_usb_mode);
STATIC mp_obj_t py_vcp_is_connected(void ) {
return MP_BOOL(usb_vcp_is_connected());
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_vcp_is_connected_obj, py_vcp_is_connected);
static const char fresh_main_py[] =
"# main.py -- put your code here!\n"
"import led, sensor\n"
"led.on(led.BLUE)\n"
"sensor.set_pixformat(sensor.RGB565)\n"
"while (vcp_is_connected()==False):\n"
" image = sensor.snapshot()\n"
;
static const char fresh_pybcdc_inf[] =
#include "genhdr/pybcdc_inf.h"
;
static const char fresh_readme_txt[] =
"This is a Micro Python board\r\n"
"\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"
;
typedef struct {
qstr name;
const mp_obj_module_t *(*init)(void);
} module_t;
static const module_t exported_modules[] ={
{MP_QSTR_sensor,py_sensor_init},
{MP_QSTR_led, py_led_init},
{MP_QSTR_time, py_time_init},
// {MP_QSTR_gpio, py_gpio_init},
// {MP_QSTR_spi, py_spi_init},
{0, NULL}
};
int main(void) {
/* 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();
// basic sub-system init
pendsv_init();
timer_tim3_init();
int first_soft_reset = true;
soft_reset:
// check if user switch held to select the reset mode
led_state(LED_RED, 1);
led_state(LED_GREEN, 1);
led_state(LED_BLUE, 1);
uint reset_mode = 1;
#if MICROPY_HW_ENABLE_RTC
if (first_soft_reset) {
rtc_init();
}
#endif
// more sub-system init
#if MICROPY_HW_HAS_SDCARD
if (first_soft_reset) {
sdcard_init();
}
#endif
if (first_soft_reset) {
storage_init();
}
// GC init
gc_init(&_heap_start, &_heap_end);
#if 0
// Change #if 0 to #if 1 if you want REPL on UART_6 (or another uart)
// as well as on USB VCP
mp_obj_t args[2] = {
MP_OBJ_NEW_SMALL_INT(PYB_UART_6),
MP_OBJ_NEW_SMALL_INT(115200),
};
pyb_uart_global_debug = pyb_uart_type.make_new((mp_obj_t)&pyb_uart_type,
ARRAY_SIZE(args),
0, args);
#else
pyb_uart_global_debug = NULL;
#endif
// Micro Python init
qstr_init();
mp_init();
mp_obj_list_init(mp_sys_path, 0);
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib));
mp_obj_list_init(mp_sys_argv, 0);
readline_init();
pin_init();
extint_init();
// local filesystem init
// try to mount the flash
FRESULT res = f_mount(&fatfs0, "0:", 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(LED_RED, 1);
res = f_mkfs("0:", 0, 0);
if (res == FR_OK) {
// success creating fresh LFS
} else {
__fatal_error("could not create LFS");
}
// create empty main.py
FIL fp;
f_open(&fp, "0:/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, "0:/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, "0:/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
led_state(LED_RED, 0);
} else if (res == FR_OK) {
// mount sucessful
} else {
__fatal_error("could not access LFS");
}
// root device defaults to internal flash filesystem
uint root_device = 0;
#if defined(USE_DEVICE_MODE)
usb_storage_medium_t usb_medium = USB_STORAGE_MEDIUM_FLASH;
#endif
#if MICROPY_HW_HAS_SDCARD
/* prepare workarea for sdcard fs */
//f_mount(&fatfs1, "1:", 0);
// if an SD card is present then mount it on 1:/
if (reset_mode == 1 && sdcard_is_present()) {
FRESULT res = f_mount(&fatfs1, "1:", 1);
if (res != FR_OK) {
printf("[SD] could not mount SD card\n");
} else {
// use SD card as root device
root_device = 1;
if (first_soft_reset) {
// use SD card as medium for the USB MSD
#if defined(USE_DEVICE_MODE)
usb_medium = USB_STORAGE_MEDIUM_SDCARD;
#endif
}
}
}
#else
// Get rid of compiler warning if no SDCARD is configured.
(void)first_soft_reset;
#endif
// turn boot-up LEDs off
led_state(LED_RED, 0);
led_state(LED_GREEN, 0);
led_state(LED_BLUE, 0);
#if defined(USE_HOST_MODE)
// USB host
pyb_usb_host_init();
#elif defined(USE_DEVICE_MODE)
// USB device
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);
}
#endif
timer_init0();
rng_init();
usbdbg_init();
/* Add functions to the global python namespace */
// mp_store_global(qstr_from_str("open"), mp_make_function_n(2, py_file_open));
mp_store_global(qstr_from_str("vcp_is_connected"), mp_make_function_n(0, py_vcp_is_connected));
// mp_store_global(qstr_from_str("info"), mp_make_function_n(0, py_info));
// mp_store_global(qstr_from_str("gc_collect"), mp_make_function_n(0, py_gc_collect));
mp_store_global(qstr_from_str("Image"), mp_make_function_n(1, py_image_load_image));
mp_store_global(qstr_from_str("HaarCascade"), mp_make_function_n(1, py_image_load_cascade));
/* Export Python modules to the global python namespace */
for (const module_t *p = exported_modules; p->name; p++) {
const mp_obj_module_t *module = p->init();
if (module == NULL) {
__fatal_error("failed to init module");
} else {
mp_module_register(p->name, (mp_obj_t)module);
}
}
// now that everything is initialised, run main script
if (reset_mode == 1 && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
vstr_t *vstr = vstr_new();
vstr_printf(vstr, "%d:/", root_device);
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));
}
FRESULT res = f_stat(vstr_str(vstr), NULL);
if (res == FR_OK) {
if (!pyexec_file(vstr_str(vstr))) {
flash_error(3);
}
}
vstr_free(vstr);
}
// Enter REPL
// REPL mode can change, or it can request a soft reset
nlr_buf_t nlr;
for (;;) {
if (nlr_push(&nlr) == 0) {
if (usbdbg_script_ready()) {
pyexec_push_scope();
pyexec_str(usbdbg_get_script());
pyexec_pop_scope();
}
usbdbg_clr_script();
// no script run repl
pyexec_friendly_repl();
nlr_pop();
}
}
printf("PYB: sync filesystems\n");
storage_flush();
printf("PYB: soft reboot\n");
first_soft_reset = false;
goto soft_reset;
}
static NORETURN mp_obj_t mp_sys_exit(uint n_args, const mp_obj_t *args) {
int rc = 0;
if (n_args > 0) {
rc = mp_obj_get_int(args[0]);
}
nlr_raise(mp_obj_new_exception_arg1(&mp_type_SystemExit, mp_obj_new_int(rc)));
}
MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_sys_exit_obj, 0, 1, mp_sys_exit);