mirror of
https://github.com/openmv/openmv.git
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373 lines
11 KiB
C
373 lines
11 KiB
C
/*
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* This file is part of the OpenMV project.
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*
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* Copyright (c) 2023 Ibrahim Abdelkader <iabdalkader@openmv.io>
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* Copyright (c) 2023 Kwabena W. Agyeman <kwagyeman@openmv.io>
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*
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* This work is licensed under the MIT license, see the file LICENSE for details.
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*
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* main function.
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*/
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#include "py/compile.h"
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#include "py/runtime.h"
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#include "py/gc.h"
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#include "py/mperrno.h"
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#include "py/mphal.h"
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#include "py/stackctrl.h"
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#include "shared/readline/readline.h"
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#include "shared/runtime/gchelper.h"
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#include "shared/runtime/pyexec.h"
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#include "shared/runtime/softtimer.h"
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#include "ticks.h"
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#include "tusb.h"
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#include "led.h"
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#include "pendsv.h"
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#include "modmachine.h"
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#include "sdcard.h"
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#include "systick.h"
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#include "modmimxrt.h"
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#include "py_fir.h"
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#include "py_tv.h"
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#if MICROPY_PY_LWIP
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#include "lwip/init.h"
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#include "lwip/apps/mdns.h"
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#if MICROPY_PY_NETWORK_CYW43
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#include "lib/cyw43-driver/src/cyw43.h"
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#endif
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#endif
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#if MICROPY_PY_BLUETOOTH
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#include "mpbthciport.h"
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#include "extmod/modbluetooth.h"
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#endif
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#if MICROPY_PY_NETWORK
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#include "extmod/modnetwork.h"
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#endif
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#include "extmod/vfs.h"
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#include "extmod/vfs_fat.h"
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#include "common/factoryreset.h"
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#include "omv_boardconfig.h"
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#include "framebuffer.h"
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#include "sensor.h"
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#include "usbdbg.h"
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#include "tinyusb_debug.h"
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#include "fb_alloc.h"
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#include "dma_alloc.h"
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#include "ff_wrapper.h"
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#include "mimxrt_hal.h"
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extern uint8_t _sstack, _estack, _heap_start, _heap_end;
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void exec_boot_script(const char *path, bool interruptible) {
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nlr_buf_t nlr;
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bool interrupted = false;
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if (nlr_push(&nlr) == 0) {
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// Enable IDE interrupts if allowed.
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if (interruptible) {
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usbdbg_set_irq_enabled(true);
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usbdbg_set_script_running(true);
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}
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// Parse, compile and execute the script.
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pyexec_file_if_exists(path, true);
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nlr_pop();
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} else {
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interrupted = true;
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}
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// Disable IDE interrupts
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usbdbg_set_irq_enabled(false);
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usbdbg_set_script_running(false);
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if (interrupted) {
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mp_obj_print_exception(&mp_plat_print, (mp_obj_t) nlr.ret_val);
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}
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}
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int main(void) {
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bool sdcard_detected = false;
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bool sdcard_mounted = false;
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bool first_soft_reset = true;
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mimxrt_hal_init();
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ticks_init();
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led_init();
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pendsv_init();
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soft_reset:
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#if defined(MICROPY_HW_LED1)
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led_init();
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#endif
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// Initialise stack extents and GC heap.
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mp_stack_set_top(&_estack);
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mp_stack_set_limit(&_estack - &_sstack - 1024);
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gc_init(&_heap_start, &_heap_end);
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// Initialise MicroPython runtime.
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mp_init();
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// Initialise low-level sub-systems.
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py_fir_init0();
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#if MICROPY_PY_TV
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py_tv_init0();
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#endif
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#if MICROPY_PY_BUZZER
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py_buzzer_init0();
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#endif // MICROPY_PY_BUZZER
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imlib_init_all();
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readline_init0();
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#if MICROPY_HW_ENABLE_CAN
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can_init0();
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#endif
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fb_alloc_init0();
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framebuffer_init0();
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sensor_init0();
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//dma_alloc_init0();
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#ifdef IMLIB_ENABLE_IMAGE_FILE_IO
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file_buffer_init0();
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#endif
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#if MICROPY_HW_ENABLE_SERVO
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servo_init();
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#endif
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usbdbg_init();
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machine_adc_init();
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#if MICROPY_PY_MACHINE_SDCARD
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machine_sdcard_init0();
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#endif
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#if MICROPY_PY_MACHINE_I2S
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machine_i2s_init0();
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#endif
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machine_rtc_start();
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#if MICROPY_PY_LWIP
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// lwIP doesn't allow to reinitialise itself by subsequent calls to this function
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// because the system timeout list (next_timeout) is only ever reset by BSS clearing.
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// So for now we only init the lwIP stack once on power-up.
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if (first_soft_reset) {
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lwip_init();
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#if LWIP_MDNS_RESPONDER
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mdns_resp_init();
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#endif
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}
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systick_enable_dispatch(SYSTICK_DISPATCH_LWIP, mod_network_lwip_poll_wrapper);
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#endif
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#if MICROPY_PY_BLUETOOTH
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mp_bluetooth_hci_init();
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#endif
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#if MICROPY_PY_NETWORK_CYW43
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if (first_soft_reset) {
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cyw43_init(&cyw43_state);
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uint8_t buf[8];
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memcpy(&buf[0], "PYBD", 4);
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mp_hal_get_mac_ascii(MP_HAL_MAC_WLAN0, 8, 4, (char *) &buf[4]);
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cyw43_wifi_ap_set_ssid(&cyw43_state, 8, buf);
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cyw43_wifi_ap_set_password(&cyw43_state, 8, (const uint8_t *) "pybd0123");
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}
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#endif
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#if MICROPY_PY_NETWORK
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mod_network_init();
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#endif
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#if MICROPY_PY_SENSOR
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if (first_soft_reset
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&& sensor_init() != 0) {
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printf("sensor init failed!\n");
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}
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#endif
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// Mount or create a fresh filesystem.
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mp_obj_t mount_point = MP_OBJ_NEW_QSTR(MP_QSTR__slash_);
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#if MICROPY_PY_MACHINE_SDCARD
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mimxrt_sdcard_obj_t *sdcard = &mimxrt_sdcard_objs[MICROPY_HW_SDCARD_SDMMC - 1];
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if (!sdcard->state->initialized) {
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mp_hal_pin_input(sdcard->pins->cd_b.pin);
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sdcard_detected = !mp_hal_pin_read(sdcard->pins->cd_b.pin);
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} else {
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sdcard_detected = sdcard_detect(sdcard);
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}
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if (sdcard_detected) {
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mp_obj_t args[] = { MP_OBJ_NEW_SMALL_INT(MICROPY_HW_SDCARD_SDMMC) };
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mp_obj_t bdev = MP_OBJ_TYPE_GET_SLOT(&machine_sdcard_type, make_new) (&machine_sdcard_type, 1, 0, args);
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if (mp_vfs_mount_and_chdir_protected(bdev, mount_point) == 0) {
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mimxrt_msc_medium = &machine_sdcard_type;
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sdcard_mounted = true;
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}
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}
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#endif
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if (sdcard_mounted == false) {
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mp_obj_t bdev = MP_OBJ_TYPE_GET_SLOT(&mimxrt_flash_type, make_new) (&mimxrt_flash_type, 0, 0, NULL);
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if (mp_vfs_mount_and_chdir_protected(bdev, mount_point) == 0) {
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mimxrt_msc_medium = &mimxrt_flash_type;
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} else {
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// Create a fresh filesystem.
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fs_user_mount_t *vfs = MP_OBJ_TYPE_GET_SLOT(&mp_fat_vfs_type, make_new) (&mp_fat_vfs_type, 1, 0, &bdev);
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if (factoryreset_create_filesystem(vfs) == 0) {
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if (mp_vfs_mount_and_chdir_protected(bdev, mount_point) == 0) {
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mimxrt_msc_medium = &mimxrt_flash_type;
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}
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}
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}
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}
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// Deferred tusb_init to allow the filesystem to be mounted/created before MSC.
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if (!tusb_inited()) {
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tusb_init();
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}
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// Execute user scripts.
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exec_boot_script("boot.py", false);
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if (first_soft_reset) {
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exec_boot_script("main.py", true);
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}
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// If there's no script ready, just re-exec REPL
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while (!usbdbg_script_ready()) {
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nlr_buf_t nlr;
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if (nlr_push(&nlr) == 0) {
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// enable IDE interrupt
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usbdbg_set_irq_enabled(true);
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// run REPL
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if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
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if (pyexec_raw_repl() != 0) {
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break;
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}
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} else {
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if (pyexec_friendly_repl() != 0) {
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break;
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}
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}
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nlr_pop();
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}
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}
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if (usbdbg_script_ready()) {
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nlr_buf_t nlr;
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if (nlr_push(&nlr) == 0) {
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// Enable IDE interrupt
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usbdbg_set_irq_enabled(true);
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// Execute the script.
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pyexec_str(usbdbg_get_script(), true);
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// Disable IDE interrupts
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usbdbg_set_irq_enabled(false);
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nlr_pop();
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} else {
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mp_obj_print_exception(&mp_plat_print, (mp_obj_t) nlr.ret_val);
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}
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if (usbdbg_is_busy() && nlr_push(&nlr) == 0) {
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// Enable IDE interrupt
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usbdbg_set_irq_enabled(true);
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// Wait for the current command to finish.
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usbdbg_wait_for_command(1000);
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// Disable IDE interrupts
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usbdbg_set_irq_enabled(false);
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nlr_pop();
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}
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}
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mp_printf(MP_PYTHON_PRINTER, "MPY: soft reboot\n");
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machine_pin_irq_deinit();
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machine_rtc_irq_deinit();
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#if MICROPY_PY_LWIP
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systick_disable_dispatch(SYSTICK_DISPATCH_LWIP);
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#endif
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#if MICROPY_PY_BLUETOOTH
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mp_bluetooth_deinit();
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#endif
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#if MICROPY_PY_NETWORK
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mod_network_deinit();
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#endif
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#if MICROPY_PY_MACHINE_I2S
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machine_i2s_deinit_all();
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#endif
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machine_pwm_deinit_all();
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soft_timer_deinit();
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gc_sweep_all();
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mp_deinit();
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first_soft_reset = false;
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goto soft_reset;
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return 0;
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}
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void gc_collect(void) {
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gc_collect_start();
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gc_helper_collect_regs_and_stack();
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gc_collect_end();
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}
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void nlr_jump_fail(void *val) {
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for (;;) {
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}
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}
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void __fatal_error() {
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nlr_jump_fail(NULL);
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}
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#ifndef NDEBUG
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void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) {
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mp_printf(MP_PYTHON_PRINTER, "Assertion '%s' failed, at file %s:%d\n", expr, file, line);
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for (;;) {
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}
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}
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#endif
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const char mimxrt_help_text[] =
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"Welcome to MicroPython!\n"
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"\n"
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"For online help please visit https://micropython.org/help/.\n"
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"\n"
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"For access to the hardware use the 'machine' module. \n"
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"\n"
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"Quick overview of some objects:\n"
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" machine.Pin(pin) -- get a pin, eg machine.Pin(0)\n"
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" machine.Pin(pin, m, [p]) -- get a pin and configure it for IO mode m, pull mode p\n"
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" methods: init(..), value([v]), high(), low())\n"
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"\n"
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" Pins are numbered board specific, either 0-n, or 'D0'-'Dn', or 'A0' - 'An',\n"
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" according to the boards's pinout sheet.\n"
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" Pin IO modes are: Pin.IN, Pin.OUT, Pin.OPEN_DRAIN\n"
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" Pin pull modes are: Pin.PULL_UP, Pin.PULL_UP_47K, Pin.PULL_UP_22K, Pin.PULL_DOWN, Pin.PULL_HOLD\n"
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" machine.ADC(pin) -- make an analog object from a pin\n"
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" methods: read_u16()\n"
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" machine.UART(id, baudrate=115200) -- create an UART object (id=1 - 8, board-specific)\n"
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" methods: init(), write(buf), any()\n"
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" buf=read(n), readinto(buf), buf=readline()\n"
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" The RX and TX pins are fixed and board-specific.\n"
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" machine.SoftI2C() -- create a Soft I2C object\n"
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" machine.I2C(id) -- create a HW I2C object\n"
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" methods: readfrom(addr, buf, stop=True), writeto(addr, buf, stop=True)\n"
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" readfrom_mem(addr, memaddr, arg), writeto_mem(addr, memaddr, arg)\n"
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" SoftI2C allows to use any pin for sda and scl, HW I2C id's and pins are fixed\n"
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" machine.SoftSPI(baudrate=1000000) -- create a Soft SPI object\n"
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" machine.SPI(id, baudrate=1000000) -- create a HW SPI object\n"
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" methods: read(nbytes, write=0x00), write(buf), write_readinto(wr_buf, rd_buf)\n"
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" SoftSPI allows to use any pin for SPI, HW SPI id's and pins are fixed\n"
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" machine.Timer(id, freq, callback) -- create a hardware timer object (id=0,1,2)\n"
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" eg: machine.Timer(freq=1, callback=lambda t:print(t))\n"
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" machine.RTC() -- create a Real Time Clock object\n"
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" methods: init(), datetime([dateime_tuple]), now()\n"
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" machine.PWM(pin, freq, duty_u16[, kw_opts]) -- create a PWM object\n"
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" methods: init(), duty_u16([value]), duty_ns([value]), freq([value])\n"
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"\n"
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"Useful control commands:\n"
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" CTRL-C -- interrupt a running program\n"
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" CTRL-D -- on a blank line, do a soft reset of the board\n"
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" CTRL-E -- on a blank line, enter paste mode\n"
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"\n"
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"For further help on a specific object, type help(obj)\n"
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"For a list of available modules, type help('modules')\n"
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;
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