mirror of
https://github.com/openmv/openmv.git
synced 2025-09-26 23:09:13 +08:00
298 lines
9.0 KiB
C
298 lines
9.0 KiB
C
/*
|
|
* SPDX-License-Identifier: MIT
|
|
*
|
|
* Copyright (C) 2023 OpenMV, LLC.
|
|
*
|
|
* 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.
|
|
*
|
|
* main function.
|
|
*/
|
|
#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 "shared/readline/readline.h"
|
|
#include "shared/runtime/gchelper.h"
|
|
#include "shared/runtime/pyexec.h"
|
|
#include "shared/runtime/softtimer.h"
|
|
#include "ticks.h"
|
|
#include "tusb.h"
|
|
#include "led.h"
|
|
#include "pendsv.h"
|
|
#include "modmachine.h"
|
|
#include "sdcard.h"
|
|
#include "systick.h"
|
|
#include "modmimxrt.h"
|
|
|
|
#include "py_fir.h"
|
|
#include "py_tv.h"
|
|
|
|
#if MICROPY_PY_LWIP
|
|
#include "lwip/init.h"
|
|
#include "lwip/apps/mdns.h"
|
|
#if MICROPY_PY_NETWORK_CYW43
|
|
#include "lib/cyw43-driver/src/cyw43.h"
|
|
#endif
|
|
#endif
|
|
|
|
#if MICROPY_PY_BLUETOOTH
|
|
#include "mpbthciport.h"
|
|
#include "extmod/modbluetooth.h"
|
|
#endif
|
|
|
|
#if MICROPY_PY_NETWORK
|
|
#include "extmod/modnetwork.h"
|
|
#endif
|
|
|
|
#include "extmod/vfs.h"
|
|
#include "extmod/vfs_fat.h"
|
|
|
|
#include "omv_boardconfig.h"
|
|
#include "framebuffer.h"
|
|
#include "omv_csi.h"
|
|
#include "fb_alloc.h"
|
|
#include "dma_alloc.h"
|
|
#include "file_utils.h"
|
|
#include "mp_utils.h"
|
|
#include "mimxrt_hal.h"
|
|
#include "omv_protocol.h"
|
|
|
|
int main(void) {
|
|
bool first_soft_reset = true;
|
|
|
|
mimxrt_hal_init();
|
|
ticks_init();
|
|
led_init();
|
|
pendsv_init();
|
|
|
|
soft_reset:
|
|
led_init();
|
|
|
|
// Initialize the stack and GC memory.
|
|
extern uint8_t _sstack, _estack, _heap_start, _heap_end;
|
|
mp_init_gc_stack(&_sstack, &_estack, &_heap_start, &_heap_end, 1024);
|
|
|
|
// Initialise MicroPython runtime.
|
|
mp_init();
|
|
|
|
// Initialise low-level sub-systems.
|
|
#if MICROPY_PY_FIR
|
|
py_fir_init0();
|
|
#endif // MICROPY_PY_FIR
|
|
#if MICROPY_PY_TV
|
|
py_tv_init0();
|
|
#endif
|
|
imlib_init_all();
|
|
readline_init0();
|
|
fb_alloc_init0();
|
|
framebuffer_init0();
|
|
omv_csi_init0();
|
|
//dma_alloc_init0();
|
|
#ifdef IMLIB_ENABLE_IMAGE_FILE_IO
|
|
file_buffer_init0();
|
|
#endif
|
|
machine_adc_init();
|
|
#if MICROPY_PY_MACHINE_SDCARD
|
|
machine_sdcard_init0();
|
|
#endif
|
|
#if MICROPY_PY_MACHINE_I2S
|
|
machine_i2s_init0();
|
|
#endif
|
|
machine_rtc_start();
|
|
omv_protocol_init_default();
|
|
|
|
#if MICROPY_PY_LWIP
|
|
// lwIP can only be initialized once, because the system timeout
|
|
// list (next_timeout), is only ever reset by BSS clearing.
|
|
if (first_soft_reset) {
|
|
lwip_init();
|
|
#if LWIP_MDNS_RESPONDER
|
|
mdns_resp_init();
|
|
#endif
|
|
}
|
|
systick_enable_dispatch(SYSTICK_DISPATCH_LWIP, mod_network_lwip_poll_wrapper);
|
|
#endif
|
|
|
|
#if MICROPY_PY_BLUETOOTH
|
|
mp_bluetooth_hci_init();
|
|
#endif
|
|
|
|
#if MICROPY_PY_NETWORK_CYW43
|
|
cyw43_init(&cyw43_state);
|
|
uint8_t buf[8];
|
|
memcpy(&buf[0], "PYBD", 4);
|
|
mp_hal_get_mac_ascii(MP_HAL_MAC_WLAN0, 8, 4, (char *) &buf[4]);
|
|
cyw43_wifi_ap_set_ssid(&cyw43_state, 8, buf);
|
|
cyw43_wifi_ap_set_auth(&cyw43_state, CYW43_AUTH_WPA2_AES_PSK);
|
|
cyw43_wifi_ap_set_password(&cyw43_state, 8, (const uint8_t *) "pybd0123");
|
|
#endif
|
|
|
|
#if MICROPY_PY_NETWORK
|
|
mod_network_init();
|
|
#endif
|
|
|
|
#if MICROPY_PY_CSI
|
|
if (first_soft_reset) {
|
|
omv_csi_init();
|
|
}
|
|
#endif
|
|
|
|
// Execute _boot.py to set up the filesystem.
|
|
pyexec_frozen_module("_boot.py", false);
|
|
|
|
// Set the USB medium to flash block device.
|
|
mimxrt_msc_medium = &mimxrt_flash_type;
|
|
|
|
const char *path = "/sdcard";
|
|
// If SD is mounted, set the USB medium to SD.
|
|
if (mp_vfs_lookup_path(path, &path) != MP_VFS_NONE) {
|
|
mimxrt_msc_medium = &machine_sdcard_type;
|
|
}
|
|
|
|
// Initialize TinyUSB after the filesystem is mounted.
|
|
if (!tusb_inited()) {
|
|
tusb_init();
|
|
}
|
|
|
|
// Run boot.py every reset and main.py on first soft-reset
|
|
if (pyexec_file_if_exists("boot.py") && first_soft_reset) {
|
|
pyexec_file_if_exists("main.py");
|
|
}
|
|
|
|
while (!omv_protocol_exec_script()) {
|
|
nlr_buf_t nlr;
|
|
|
|
if (nlr_push(&nlr) == 0) {
|
|
// Enable Ctrl+C to interrupt script or REPL.
|
|
mp_hal_set_interrupt_char(CHAR_CTRL_C);
|
|
|
|
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
|
|
if (pyexec_raw_repl() != 0) {
|
|
break;
|
|
}
|
|
} else {
|
|
if (pyexec_friendly_repl() != 0) {
|
|
break;
|
|
}
|
|
}
|
|
nlr_pop();
|
|
}
|
|
}
|
|
|
|
// soft reset
|
|
mp_hal_set_interrupt_char(-1);
|
|
mp_printf(MP_PYTHON_PRINTER, "MPY: soft reboot\n");
|
|
#if MICROPY_PY_CSI
|
|
omv_csi_abort_all();
|
|
#endif
|
|
#if MICROPY_PY_MACHINE_CAN
|
|
machine_can_irq_deinit();
|
|
#endif
|
|
machine_pin_irq_deinit();
|
|
machine_rtc_irq_deinit();
|
|
#if MICROPY_PY_LWIP
|
|
systick_disable_dispatch(SYSTICK_DISPATCH_LWIP);
|
|
#endif
|
|
#if MICROPY_PY_BLUETOOTH
|
|
mp_bluetooth_deinit();
|
|
#endif
|
|
#if MICROPY_PY_NETWORK
|
|
mod_network_deinit();
|
|
#endif
|
|
#if MICROPY_PY_NETWORK_CYW43
|
|
cyw43_deinit(&cyw43_state);
|
|
#endif
|
|
#if MICROPY_PY_MACHINE_I2S
|
|
machine_i2s_deinit_all();
|
|
#endif
|
|
machine_pwm_deinit_all();
|
|
soft_timer_deinit();
|
|
gc_sweep_all();
|
|
mp_deinit();
|
|
first_soft_reset = false;
|
|
goto soft_reset;
|
|
}
|
|
|
|
void nlr_jump_fail(void *val) {
|
|
for (;;) {
|
|
}
|
|
}
|
|
|
|
void __fatal_error() {
|
|
nlr_jump_fail(NULL);
|
|
}
|
|
|
|
|
|
#ifndef NDEBUG
|
|
void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) {
|
|
mp_printf(MP_PYTHON_PRINTER, "Assertion '%s' failed, at file %s:%d\n", expr, file, line);
|
|
for (;;) {
|
|
}
|
|
}
|
|
#endif
|
|
|
|
const char mimxrt_help_text[] =
|
|
"Welcome to MicroPython!\n"
|
|
"\n"
|
|
"For online help please visit https://micropython.org/help/.\n"
|
|
"\n"
|
|
"For access to the hardware use the 'machine' module. \n"
|
|
"\n"
|
|
"Quick overview of some objects:\n"
|
|
" machine.Pin(pin) -- get a pin, eg machine.Pin(0)\n"
|
|
" machine.Pin(pin, m, [p]) -- get a pin and configure it for IO mode m, pull mode p\n"
|
|
" methods: init(..), value([v]), high(), low())\n"
|
|
"\n"
|
|
" Pins are numbered board specific, either 0-n, or 'D0'-'Dn', or 'A0' - 'An',\n"
|
|
" according to the boards's pinout sheet.\n"
|
|
" Pin IO modes are: Pin.IN, Pin.OUT, Pin.OPEN_DRAIN\n"
|
|
" Pin pull modes are: Pin.PULL_UP, Pin.PULL_UP_47K, Pin.PULL_UP_22K, Pin.PULL_DOWN, Pin.PULL_HOLD\n"
|
|
" machine.ADC(pin) -- make an analog object from a pin\n"
|
|
" methods: read_u16()\n"
|
|
" machine.UART(id, baudrate=115200) -- create an UART object (id=1 - 8, board-specific)\n"
|
|
" methods: init(), write(buf), any()\n"
|
|
" buf=read(n), readinto(buf), buf=readline()\n"
|
|
" The RX and TX pins are fixed and board-specific.\n"
|
|
" machine.SoftI2C() -- create a Soft I2C object\n"
|
|
" machine.I2C(id) -- create a HW I2C object\n"
|
|
" methods: readfrom(addr, buf, stop=True), writeto(addr, buf, stop=True)\n"
|
|
" readfrom_mem(addr, memaddr, arg), writeto_mem(addr, memaddr, arg)\n"
|
|
" SoftI2C allows to use any pin for sda and scl, HW I2C id's and pins are fixed\n"
|
|
" machine.SoftSPI(baudrate=1000000) -- create a Soft SPI object\n"
|
|
" machine.SPI(id, baudrate=1000000) -- create a HW SPI object\n"
|
|
" methods: read(nbytes, write=0x00), write(buf), write_readinto(wr_buf, rd_buf)\n"
|
|
" SoftSPI allows to use any pin for SPI, HW SPI id's and pins are fixed\n"
|
|
" machine.Timer(id, freq, callback) -- create a hardware timer object (id=0,1,2)\n"
|
|
" eg: machine.Timer(freq=1, callback=lambda t:print(t))\n"
|
|
" machine.RTC() -- create a Real Time Clock object\n"
|
|
" methods: init(), datetime([dateime_tuple]), now()\n"
|
|
" machine.PWM(pin, freq, duty_u16[, kw_opts]) -- create a PWM object\n"
|
|
" methods: init(), duty_u16([value]), duty_ns([value]), freq([value])\n"
|
|
"\n"
|
|
"Useful control commands:\n"
|
|
" CTRL-C -- interrupt a running program\n"
|
|
" CTRL-D -- on a blank line, do a soft reset of the board\n"
|
|
" CTRL-E -- on a blank line, enter paste mode\n"
|
|
"\n"
|
|
"For further help on a specific object, type help(obj)\n"
|
|
"For a list of available modules, type help('modules')\n"
|
|
;
|