mirror of
https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
401 lines
11 KiB
C
401 lines
11 KiB
C
#include <stdio.h>
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#include <string.h>
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#include <stm32f4xx_hal.h>
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#include "misc.h"
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#include "systick.h"
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#include "pendsv.h"
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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 "nlr.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 "objmodule.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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#include "pybstdio.h"
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#include "readline.h"
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#include "pyexec.h"
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#include "uart.h"
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#include "timer.h"
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#include "pin.h"
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#include "extint.h"
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#include "usb.h"
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#include "rtc.h"
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#include "storage.h"
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#include "sdcard.h"
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#include "ff.h"
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#include "mdefs.h"
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#include "led.h"
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#include "rng.h"
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#include "sensor.h"
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#include "usbdbg.h"
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#include "py_led.h"
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#include "py_time.h"
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#include "py_sensor.h"
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#include "py_image.h"
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int errno;
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static FATFS fatfs0;
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//static FATFS fatfs1;
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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(LED_RED, 0);
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HAL_Delay(250);
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led_state(LED_RED, 1);
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HAL_Delay(250);
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}
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led_state(LED_RED, 0);
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}
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void __fatal_error(const char *msg) {
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stdout_tx_strn("\nFATAL ERROR:\n", 14);
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stdout_tx_strn(msg, strlen(msg));
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for (uint i = 0;;) {
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led_toggle(((i++) & 3));
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for (volatile uint delay = 0; delay < 500000; delay++) {
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}
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}
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}
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void nlr_jump_fail(void *val) {
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printf("FATAL: uncaught exception %p\n", val);
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__fatal_error("");
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}
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#ifndef NDEBUG
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void __attribute__((weak))
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__assert_func(const char *file, int line, const char *func, const char *expr) {
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(void)func;
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printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
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__fatal_error("");
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}
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#endif
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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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STATIC mp_obj_t pyb_config_usb_mode = MP_OBJ_NULL;
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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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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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STATIC mp_obj_t py_vcp_is_connected(void ) {
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return MP_BOOL(usb_vcp_is_connected());
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_vcp_is_connected_obj, py_vcp_is_connected);
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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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"import led, sensor\n"
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"led.on(led.BLUE)\n"
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"sensor.set_pixformat(sensor.RGB565)\n"
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"while (vcp_is_connected()==False):\n"
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" image = sensor.snapshot()\n"
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;
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static const char fresh_pybcdc_inf[] =
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#include "genhdr/pybcdc_inf.h"
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;
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static const char fresh_readme_txt[] =
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"This is a Micro Python board\r\n"
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"\r\n"
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"You can get started right away by writing your Python code in 'main.py'.\r\n"
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"\r\n"
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"For a serial prompt:\r\n"
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" - Windows: you need to go to 'Device manager', right click on the unknown device,\r\n"
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" then update the driver software, using the 'pybcdc.inf' file found on this drive.\r\n"
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" Then use a terminal program like Hyperterminal or putty.\r\n"
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" - Mac OS X: use the command: screen /dev/tty.usbmodem*\r\n"
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" - Linux: use the command: screen /dev/ttyACM0\r\n"
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"\r\n"
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"Please visit http://micropython.org/help/ for further help.\r\n"
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;
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typedef struct {
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qstr name;
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const mp_obj_module_t *(*init)(void);
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} module_t;
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static const module_t exported_modules[] ={
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{MP_QSTR_sensor,py_sensor_init},
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{MP_QSTR_led, py_led_init},
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{MP_QSTR_time, py_time_init},
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// {MP_QSTR_gpio, py_gpio_init},
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// {MP_QSTR_spi, py_spi_init},
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{0, NULL}
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};
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int main(void) {
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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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// basic sub-system init
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pendsv_init();
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timer_tim3_init();
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int first_soft_reset = true;
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soft_reset:
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// check if user switch held to select the reset mode
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led_state(LED_RED, 1);
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led_state(LED_GREEN, 1);
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led_state(LED_BLUE, 1);
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uint reset_mode = 1;
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#if MICROPY_HW_ENABLE_RTC
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if (first_soft_reset) {
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rtc_init();
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}
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#endif
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// more sub-system init
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#if MICROPY_HW_HAS_SDCARD
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if (first_soft_reset) {
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sdcard_init();
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}
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#endif
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if (first_soft_reset) {
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storage_init();
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}
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// GC init
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gc_init(&_heap_start, &_heap_end);
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#if 0
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// Change #if 0 to #if 1 if you want REPL on UART_6 (or another uart)
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// as well as on USB VCP
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mp_obj_t args[2] = {
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MP_OBJ_NEW_SMALL_INT(PYB_UART_6),
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MP_OBJ_NEW_SMALL_INT(115200),
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};
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pyb_uart_global_debug = pyb_uart_type.make_new((mp_obj_t)&pyb_uart_type,
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ARRAY_SIZE(args),
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0, args);
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#else
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pyb_uart_global_debug = NULL;
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#endif
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// Micro Python init
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qstr_init();
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mp_init();
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mp_obj_list_init(mp_sys_path, 0);
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mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_));
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mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib));
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mp_obj_list_init(mp_sys_argv, 0);
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readline_init();
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pin_init();
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extint_init();
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// local filesystem init
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// try to mount the flash
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FRESULT res = f_mount(&fatfs0, "0:", 1);
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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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// LED on to indicate creation of LFS
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led_state(LED_RED, 1);
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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 empty main.py
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FIL fp;
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f_open(&fp, "0:/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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// create .inf driver file
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f_open(&fp, "0:/pybcdc.inf", FA_WRITE | FA_CREATE_ALWAYS);
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f_write(&fp, fresh_pybcdc_inf, sizeof(fresh_pybcdc_inf) - 1 /* don't count null terminator */, &n);
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f_close(&fp);
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// create readme file
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f_open(&fp, "0:/README.txt", FA_WRITE | FA_CREATE_ALWAYS);
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f_write(&fp, fresh_readme_txt, sizeof(fresh_readme_txt) - 1 /* don't count null terminator */, &n);
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f_close(&fp);
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// keep LED on for at least 200ms
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led_state(LED_RED, 0);
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} else if (res == FR_OK) {
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// mount sucessful
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} else {
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__fatal_error("could not access LFS");
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}
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// root device defaults to internal flash filesystem
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uint root_device = 0;
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#if defined(USE_DEVICE_MODE)
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usb_storage_medium_t usb_medium = USB_STORAGE_MEDIUM_FLASH;
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#endif
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#if MICROPY_HW_HAS_SDCARD
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/* prepare workarea for sdcard fs */
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//f_mount(&fatfs1, "1:", 0);
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// if an SD card is present then mount it on 1:/
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if (reset_mode == 1 && sdcard_is_present()) {
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FRESULT res = f_mount(&fatfs1, "1:", 1);
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if (res != FR_OK) {
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printf("[SD] could not mount SD card\n");
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} else {
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// use SD card as root device
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root_device = 1;
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if (first_soft_reset) {
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// use SD card as medium for the USB MSD
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#if defined(USE_DEVICE_MODE)
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usb_medium = USB_STORAGE_MEDIUM_SDCARD;
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#endif
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}
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}
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}
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#else
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// Get rid of compiler warning if no SDCARD is configured.
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(void)first_soft_reset;
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#endif
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// turn boot-up LEDs off
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led_state(LED_RED, 0);
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led_state(LED_GREEN, 0);
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led_state(LED_BLUE, 0);
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#if defined(USE_HOST_MODE)
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// USB host
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pyb_usb_host_init();
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#elif defined(USE_DEVICE_MODE)
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// USB device
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if (reset_mode == 1) {
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usb_device_mode_t usb_mode = USB_DEVICE_MODE_CDC_MSC;
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if (pyb_config_usb_mode != MP_OBJ_NULL) {
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if (strcmp(mp_obj_str_get_str(pyb_config_usb_mode), "CDC+HID") == 0) {
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usb_mode = USB_DEVICE_MODE_CDC_HID;
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}
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}
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pyb_usb_dev_init(usb_mode, usb_medium);
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} else {
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pyb_usb_dev_init(USB_DEVICE_MODE_CDC_MSC, usb_medium);
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}
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#endif
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timer_init0();
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rng_init();
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usbdbg_init();
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/* Add functions to the global python namespace */
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// mp_store_global(qstr_from_str("open"), mp_make_function_n(2, py_file_open));
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mp_store_global(qstr_from_str("vcp_is_connected"), mp_make_function_n(0, py_vcp_is_connected));
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// mp_store_global(qstr_from_str("info"), mp_make_function_n(0, py_info));
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// mp_store_global(qstr_from_str("gc_collect"), mp_make_function_n(0, py_gc_collect));
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mp_store_global(qstr_from_str("Image"), mp_make_function_n(1, py_image_load_image));
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mp_store_global(qstr_from_str("HaarCascade"), mp_make_function_n(1, py_image_load_cascade));
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/* Export Python modules to the global python namespace */
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for (const module_t *p = exported_modules; p->name; p++) {
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const mp_obj_module_t *module = p->init();
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if (module == NULL) {
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__fatal_error("failed to init module");
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} else {
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mp_module_register(p->name, (mp_obj_t)module);
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}
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}
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// now that everything is initialised, run main script
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if (reset_mode == 1 && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
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vstr_t *vstr = vstr_new();
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vstr_printf(vstr, "%d:/", root_device);
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if (pyb_config_main == MP_OBJ_NULL) {
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vstr_add_str(vstr, "main.py");
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} else {
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vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
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}
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FRESULT res = f_stat(vstr_str(vstr), NULL);
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if (res == FR_OK) {
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if (!pyexec_file(vstr_str(vstr))) {
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flash_error(3);
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}
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}
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vstr_free(vstr);
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}
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// Enter REPL
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// REPL mode can change, or it can request a soft reset
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nlr_buf_t nlr;
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for (;;) {
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if (nlr_push(&nlr) == 0) {
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if (usbdbg_script_ready()) {
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pyexec_push_scope();
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pyexec_str(usbdbg_get_script());
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pyexec_pop_scope();
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}
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usbdbg_clr_script();
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// no script run repl
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pyexec_friendly_repl();
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nlr_pop();
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}
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}
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printf("PYB: sync filesystems\n");
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storage_flush();
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printf("PYB: soft reboot\n");
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first_soft_reset = false;
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goto soft_reset;
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}
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static NORETURN mp_obj_t mp_sys_exit(uint n_args, const mp_obj_t *args) {
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int rc = 0;
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if (n_args > 0) {
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rc = mp_obj_get_int(args[0]);
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}
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nlr_raise(mp_obj_new_exception_arg1(&mp_type_SystemExit, mp_obj_new_int(rc)));
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}
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MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(mp_sys_exit_obj, 0, 1, mp_sys_exit);
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