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https://github.com/openmv/openmv.git
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274 lines
7.2 KiB
C
274 lines
7.2 KiB
C
/*
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* Copyright (C) 2023-2024 OpenMV, LLC.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Any redistribution, use, or modification in source or binary form
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* is done solely for personal benefit and not for any commercial
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* purpose or for monetary gain. For commercial licensing options,
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* please contact openmv@openmv.io
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*
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* THIS SOFTWARE IS PROVIDED BY THE LICENSOR AND COPYRIGHT OWNER "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE LICENSOR OR COPYRIGHT
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* OWNER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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* OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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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 "tusb.h"
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#include "mpuart.h"
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#include "ospi_flash.h"
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#include "pendsv.h"
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#include "se_services.h"
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#include "system_tick.h"
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#include "extmod/vfs.h"
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#include "extmod/vfs_fat.h"
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#include "extmod/modmachine.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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#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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#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_CYW43
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#include "lib/cyw43-driver/src/cyw43.h"
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#endif
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#include "omv_boardconfig.h"
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#include "framebuffer.h"
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#include "fb_alloc.h"
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#include "file_utils.h"
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#include "mp_utils.h"
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#include "omv_csi.h"
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#include "omv_gpu.h"
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#include "alif_hal.h"
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#include "alif_dma.h"
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#include "py_audio.h"
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#include "py_imu.h"
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#include "omv_gpio.h"
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#include "omv_protocol.h"
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NORETURN void __fatal_error(const char *msg);
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extern void machine_pin_irq_deinit(void);
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int main(void) {
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bool first_soft_reset = true; (void) first_soft_reset;
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system_tick_init();
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alif_hal_init();
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pendsv_init();
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#if MICROPY_HW_ENABLE_UART_REPL
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mp_uart_init_repl();
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#endif
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#if MICROPY_HW_ENABLE_OSPI
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ospi_flash_init();
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#endif
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soft_reset:
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#if CORE_M55_HP
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omv_gpio_write(&omv_pin_LED_R, 1);
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omv_gpio_write(&omv_pin_LED_G, 1);
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omv_gpio_write(&omv_pin_LED_B, 1);
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#endif
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// Initialise stack extents and GC heap.
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extern uint8_t _estack, _sstack, _heap_start, _heap_end;
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mp_init_gc_stack(&_sstack, &_estack, &_heap_start, &_heap_end, 1024);
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// Initialise MicroPython runtime.
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mp_init();
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// Initialise sub-systems.
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readline_init0();
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fb_alloc_init0();
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framebuffer_init0();
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#if MICROPY_PY_CSI
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omv_csi_init0();
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#endif
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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_PY_IMU
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py_imu_init();
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#endif
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imlib_init_all();
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#if MICROPY_PY_CSI
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if (first_soft_reset) {
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omv_csi_init();
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}
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#endif
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#if CORE_M55_HP
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// Initialize OpenMV protocol
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omv_protocol_init_default();
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#endif
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#if MICROPY_PY_LWIP
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// lwIP can only be initialized once, because the system timeout
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// list (next_timeout), is only ever reset by BSS clearing.
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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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mod_network_lwip_init();
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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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cyw43_init(&cyw43_state);
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uint8_t buf[8];
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memcpy(&buf[0], "ALIF", 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_auth(&cyw43_state, CYW43_AUTH_WPA2_AES_PSK);
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cyw43_wifi_ap_set_password(&cyw43_state, 8, (const uint8_t *) "alif0123");
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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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// Initialize TinyUSB after the filesystem is mounted.
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#if MICROPY_HW_ENABLE_USBDEV
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if (!tusb_inited()) {
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tusb_init();
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}
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#endif
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// Execute _boot.py.
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pyexec_frozen_module("_boot.py", false);
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// Run boot.py every reset and main.py on first soft-reset
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if (pyexec_file_if_exists("boot.py") && first_soft_reset) {
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pyexec_file_if_exists("main.py");
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}
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#if CORE_M55_HE
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goto soft_reset_exit;
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#endif
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while (!omv_protocol_exec_script()) {
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nlr_buf_t nlr;
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if (nlr_push(&nlr) == 0) {
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// Enable Ctrl+C to interrupt script or REPL.
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mp_hal_set_interrupt_char(CHAR_CTRL_C);
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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 CORE_M55_HE
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soft_reset_exit:
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#endif
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mp_hal_set_interrupt_char(-1);
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mp_printf(MP_PYTHON_PRINTER, "MPY: soft reboot\n");
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#if MICROPY_PY_CSI
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omv_csi_abort_all();
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#endif
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#if MICROPY_PY_AUDIO
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py_audio_deinit();
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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_NETWORK_CYW43
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cyw43_deinit(&cyw43_state);
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#endif
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#if MICROPY_PY_MACHINE_I2C_TARGET
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mp_machine_i2c_target_deinit_all();
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#endif
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machine_pin_irq_deinit();
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imlib_deinit_all();
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soft_timer_deinit();
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dma_deinit_all();
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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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}
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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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mp_printf(&mp_plat_print, "FATAL: uncaught exception %p\n", val);
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mp_obj_print_exception(&mp_plat_print, MP_OBJ_FROM_PTR(val));
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for (;;) {
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__WFE();
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}
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}
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NORETURN void __fatal_error(const char *msg) {
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mp_hal_stdout_tx_strn("\nFATAL ERROR:\n", 14);
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mp_hal_stdout_tx_strn(msg, strlen(msg));
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for (;;) {
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*(volatile uint32_t *) 0x4900C000 ^= 9;
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for (volatile uint delay = 0; delay < 10000000; delay++) {
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}
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}
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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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printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
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__fatal_error("Assertion failed");
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}
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#endif
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