mirror of
https://github.com/openmv/openmv.git
synced 2025-09-26 23:09:13 +08:00

The removal of unused USB commands that are still sent by the IDE causes tinyusb boards to crash on connect currently. Flushing the excess received bytes for unknown commands solves this issue.
453 lines
14 KiB
C
453 lines
14 KiB
C
/*
|
|
* SPDX-License-Identifier: MIT
|
|
*
|
|
* Copyright (C) 2013-2024 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.
|
|
*
|
|
* USB debugger.
|
|
*/
|
|
#include <string.h>
|
|
#include <stdio.h>
|
|
#include "py/nlr.h"
|
|
#include "py/gc.h"
|
|
#include "py/mphal.h"
|
|
#include "py/obj.h"
|
|
#include "py/objstr.h"
|
|
#include "py/runtime.h"
|
|
|
|
#include "imlib.h"
|
|
#if MICROPY_PY_CSI || MICROPY_PY_CSI_NG
|
|
#include "omv_i2c.h"
|
|
#include "omv_csi.h"
|
|
#endif
|
|
#include "framebuffer.h"
|
|
#include "usbdbg.h"
|
|
#include "tinyusb_debug.h"
|
|
#include "omv_boardconfig.h"
|
|
#include "py_image.h"
|
|
|
|
static int xfer_offs;
|
|
static int xfer_size;
|
|
static enum usbdbg_cmd cmd;
|
|
|
|
static volatile bool script_ready;
|
|
static volatile bool script_running;
|
|
static volatile bool irq_enabled;
|
|
static vstr_t script_buf;
|
|
|
|
// These functions must be implemented by the stack.
|
|
extern uint32_t usb_cdc_buf_len();
|
|
extern uint32_t usb_cdc_get_buf(uint8_t *buf, uint32_t len);
|
|
extern void usb_cdc_reset_buffers(void);
|
|
|
|
void usbdbg_init() {
|
|
cmd = USBDBG_NONE;
|
|
script_ready = false;
|
|
script_running = false;
|
|
irq_enabled = false;
|
|
vstr_init(&script_buf, 32);
|
|
#if OMV_TUSBDBG_ENABLE
|
|
tinyusb_debug_init();
|
|
#endif
|
|
#if OMV_PROFILER_ENABLE
|
|
omv_profiler_init();
|
|
#endif
|
|
}
|
|
|
|
bool usbdbg_script_ready() {
|
|
return script_ready;
|
|
}
|
|
|
|
vstr_t *usbdbg_get_script() {
|
|
return &script_buf;
|
|
}
|
|
|
|
bool usbdbg_is_busy() {
|
|
return cmd != USBDBG_NONE;
|
|
}
|
|
|
|
void usbdbg_set_script_running(bool running) {
|
|
script_running = running;
|
|
}
|
|
|
|
inline void usbdbg_set_irq_enabled(bool enabled) {
|
|
if (enabled) {
|
|
NVIC_EnableIRQ(OMV_USB_IRQN);
|
|
} else {
|
|
NVIC_DisableIRQ(OMV_USB_IRQN);
|
|
}
|
|
__DSB(); __ISB();
|
|
irq_enabled = enabled;
|
|
}
|
|
|
|
static void usbdbg_interrupt_vm(bool ready) {
|
|
// Set script ready flag
|
|
script_ready = ready;
|
|
|
|
// Set script running flag
|
|
script_running = ready;
|
|
|
|
// Disable IDE IRQ (re-enabled by pyexec or in main).
|
|
usbdbg_set_irq_enabled(false);
|
|
|
|
// Abort the VM.
|
|
mp_sched_vm_abort();
|
|
|
|
// When the VM runs again it will raise a KeyboardInterrupt.
|
|
mp_sched_keyboard_interrupt();
|
|
}
|
|
|
|
bool usbdbg_get_irq_enabled() {
|
|
return irq_enabled;
|
|
}
|
|
|
|
void usbdbg_data_in(uint32_t size, usbdbg_write_callback_t write_callback) {
|
|
switch (cmd) {
|
|
case USBDBG_FW_VERSION: {
|
|
uint32_t buffer[3] = {
|
|
FIRMWARE_VERSION_MAJOR,
|
|
FIRMWARE_VERSION_MINOR,
|
|
FIRMWARE_VERSION_PATCH,
|
|
};
|
|
cmd = USBDBG_NONE;
|
|
write_callback(&buffer, sizeof(buffer));
|
|
break;
|
|
}
|
|
|
|
case USBDBG_TX_BUF_LEN: {
|
|
uint32_t tx_buf_len = usb_cdc_buf_len();
|
|
cmd = USBDBG_NONE;
|
|
write_callback(&tx_buf_len, sizeof(tx_buf_len));
|
|
break;
|
|
}
|
|
|
|
case USBDBG_SENSOR_ID: {
|
|
uint32_t buffer = 0xFF;
|
|
#if MICROPY_PY_CSI
|
|
omv_csi_t *csi = omv_csi_get(-1);
|
|
if (omv_csi_is_detected(csi) == true) {
|
|
buffer = omv_csi_get_id(csi);
|
|
}
|
|
#endif
|
|
cmd = USBDBG_NONE;
|
|
write_callback(&buffer, sizeof(buffer));
|
|
break;
|
|
}
|
|
|
|
case USBDBG_TX_BUF: {
|
|
uint8_t buffer[size];
|
|
size = usb_cdc_get_buf(buffer, size);
|
|
xfer_offs += size;
|
|
if (xfer_offs == xfer_size) {
|
|
cmd = USBDBG_NONE;
|
|
}
|
|
if (size) {
|
|
write_callback(buffer, size);
|
|
}
|
|
break;
|
|
}
|
|
|
|
case USBDBG_FRAME_SIZE: {
|
|
// Return 0 if FB is locked or not ready.
|
|
uint32_t buffer[3] = { 0 };
|
|
// Try to lock FB. If header size == 0 frame is not ready
|
|
if (mutex_try_lock(&JPEG_FB()->lock, MUTEX_TID_IDE)) {
|
|
// If header size == 0 frame is not ready
|
|
if (JPEG_FB()->size == 0) {
|
|
// unlock FB
|
|
mutex_unlock(&JPEG_FB()->lock, MUTEX_TID_IDE);
|
|
} else {
|
|
// Return header w, h and size/bpp
|
|
buffer[0] = JPEG_FB()->w;
|
|
buffer[1] = JPEG_FB()->h;
|
|
buffer[2] = JPEG_FB()->size;
|
|
}
|
|
}
|
|
cmd = USBDBG_NONE;
|
|
write_callback(&buffer, sizeof(buffer));
|
|
break;
|
|
}
|
|
|
|
case USBDBG_FRAME_DUMP:
|
|
if (xfer_offs < xfer_size) {
|
|
write_callback(JPEG_FB()->pixels + xfer_offs, size);
|
|
xfer_offs += size;
|
|
if (xfer_offs == xfer_size) {
|
|
cmd = USBDBG_NONE;
|
|
JPEG_FB()->w = 0; JPEG_FB()->h = 0; JPEG_FB()->size = 0;
|
|
mutex_unlock(&JPEG_FB()->lock, MUTEX_TID_IDE);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case USBDBG_ARCH_STR: {
|
|
uint8_t buffer[64];
|
|
unsigned int uid[3] = {
|
|
#if (OMV_BOARD_UID_SIZE == 2)
|
|
0U,
|
|
#else
|
|
*((unsigned int *) (OMV_BOARD_UID_ADDR + OMV_BOARD_UID_OFFSET * 2)),
|
|
#endif
|
|
*((unsigned int *) (OMV_BOARD_UID_ADDR + OMV_BOARD_UID_OFFSET * 1)),
|
|
*((unsigned int *) (OMV_BOARD_UID_ADDR + OMV_BOARD_UID_OFFSET * 0)),
|
|
};
|
|
snprintf((char *) buffer, 64, "%s [%s:%08X%08X%08X]",
|
|
OMV_BOARD_ARCH, OMV_BOARD_TYPE, uid[0], uid[1], uid[2]);
|
|
cmd = USBDBG_NONE;
|
|
write_callback(&buffer, sizeof(buffer));
|
|
break;
|
|
}
|
|
|
|
case USBDBG_SCRIPT_RUNNING: {
|
|
cmd = USBDBG_NONE;
|
|
uint32_t buffer = script_running;
|
|
write_callback(&buffer, sizeof(buffer));
|
|
break;
|
|
}
|
|
|
|
case USBDBG_GET_STATE: {
|
|
// IDE will request 63/511 bytes of data to avoid ZLP packets.
|
|
// 64/512 packets still work too but generate ZLP packets.
|
|
size = OMV_MIN(size, 512);
|
|
uint8_t byte_buffer[size];
|
|
memset(byte_buffer, 0, size);
|
|
uint32_t *buffer = (uint32_t *) byte_buffer;
|
|
static uint32_t last_update_ms = 0;
|
|
|
|
// Set script running flag
|
|
if (script_running) {
|
|
buffer[0] |= USBDBG_FLAG_SCRIPT_RUNNING;
|
|
}
|
|
|
|
// Set text buf valid flag.
|
|
uint32_t tx_buf_len = usb_cdc_buf_len();
|
|
if (tx_buf_len) {
|
|
buffer[0] |= USBDBG_FLAG_TEXTBUF_NOTEMPTY;
|
|
}
|
|
|
|
// Set code profiling flags
|
|
#if OMV_PROFILER_ENABLE
|
|
buffer[0] |= USBDBG_FLAG_PROFILE_ENABLED;
|
|
#if __PMU_PRESENT
|
|
buffer[0] |= USBDBG_FLAG_PROFILE_HAS_PMU;
|
|
#endif // __PMU_PRESENT
|
|
#endif // OMV_PROFILER_ENABLE
|
|
|
|
// Limit the frames sent over USB to 20Hz.
|
|
if (check_timeout_ms(last_update_ms, 50) &&
|
|
mutex_try_lock_fair(&JPEG_FB()->lock, MUTEX_TID_IDE)) {
|
|
// If header size == 0 frame is not ready
|
|
if (JPEG_FB()->size == 0) {
|
|
// unlock FB
|
|
mutex_unlock(&JPEG_FB()->lock, MUTEX_TID_IDE);
|
|
} else {
|
|
// Set valid frame flag.
|
|
buffer[0] |= USBDBG_FLAG_FRAMEBUF_LOCKED;
|
|
|
|
// Set frame width, height and size/bpp
|
|
buffer[1] = JPEG_FB()->w;
|
|
buffer[2] = JPEG_FB()->h;
|
|
buffer[3] = JPEG_FB()->size;
|
|
last_update_ms = mp_hal_ticks_ms();
|
|
}
|
|
}
|
|
|
|
// The rest of this packet is packed with text buffer.
|
|
if (tx_buf_len) {
|
|
const uint32_t hdr = 16;
|
|
tx_buf_len = OMV_MIN(tx_buf_len, (size - hdr - 1));
|
|
usb_cdc_get_buf(byte_buffer + hdr, tx_buf_len);
|
|
byte_buffer[hdr + tx_buf_len] = 0; // Null-terminate
|
|
}
|
|
|
|
cmd = USBDBG_NONE;
|
|
write_callback(&byte_buffer, size);
|
|
break;
|
|
}
|
|
|
|
case USBDBG_PROFILE_SIZE: {
|
|
// Return 0 if the profiling data is locked.
|
|
uint32_t buffer[3] = { 0 };
|
|
#if OMV_PROFILER_ENABLE
|
|
if (mutex_try_lock(omv_profiler_lock(), MUTEX_TID_IDE)) {
|
|
size_t count = 0;
|
|
(void) omv_profiler_get_data(&count);
|
|
|
|
buffer[0] = count;
|
|
buffer[1] = sizeof(omv_profiler_data_t);
|
|
buffer[2] = __PMU_NUM_EVENTCNT;
|
|
}
|
|
#endif
|
|
cmd = USBDBG_NONE;
|
|
write_callback(&buffer, sizeof(buffer));
|
|
break;
|
|
}
|
|
|
|
#if OMV_PROFILER_ENABLE
|
|
case USBDBG_PROFILE_DUMP:
|
|
if (xfer_offs < xfer_size) {
|
|
size_t count = 0;
|
|
char *data = omv_profiler_get_data(&count);
|
|
|
|
write_callback(data + xfer_offs, size);
|
|
xfer_offs += size;
|
|
if (xfer_offs == xfer_size) {
|
|
cmd = USBDBG_NONE;
|
|
mutex_unlock(omv_profiler_lock(), MUTEX_TID_IDE);
|
|
}
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
default: /* error */
|
|
break;
|
|
}
|
|
}
|
|
|
|
void usbdbg_data_out(uint32_t size, usbdbg_read_callback_t read_callback) {
|
|
switch (cmd) {
|
|
case USBDBG_FB_ENABLE: {
|
|
read_callback(&(JPEG_FB()->enabled), 4);
|
|
if (JPEG_FB()->enabled == 0) {
|
|
// When disabling framebuffer, the IDE might still be holding FB lock.
|
|
// If the IDE is not the current lock owner, this operation is ignored.
|
|
mutex_unlock(&JPEG_FB()->lock, MUTEX_TID_IDE);
|
|
}
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
|
|
case USBDBG_SCRIPT_EXEC:
|
|
// check if GC is locked before allocating memory for vstr. If GC was locked
|
|
// at least once before the script is fully uploaded xfer_offs will be less
|
|
// than the total size (xfer_size) and the script will Not be executed.
|
|
if (!script_running) {
|
|
nlr_buf_t nlr;
|
|
if (!gc_is_locked() && nlr_push(&nlr) == 0) {
|
|
char *buffer = vstr_add_len(&script_buf, size);
|
|
read_callback(buffer, size);
|
|
nlr_pop();
|
|
}
|
|
xfer_offs += size;
|
|
if (xfer_offs == xfer_size) {
|
|
cmd = USBDBG_NONE;
|
|
// Schedule the IDE exception to interrupt the VM.
|
|
usbdbg_interrupt_vm(true);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case USBDBG_PROFILE_MODE: {
|
|
uint32_t buffer[1];
|
|
read_callback(&buffer, sizeof(buffer));
|
|
#if OMV_PROFILER_ENABLE
|
|
omv_profiler_set_mode(buffer[0]);
|
|
#endif
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
|
|
case USBDBG_PROFILE_EVENT: {
|
|
uint32_t buffer[2];
|
|
read_callback(&buffer, sizeof(buffer));
|
|
#if OMV_PROFILER_ENABLE
|
|
omv_profiler_set_event(buffer[0], buffer[1]);
|
|
#endif
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
|
|
default: /* error */
|
|
size = OMV_MIN(size, 512);
|
|
uint8_t byte_buffer[size];
|
|
read_callback(&byte_buffer, size);
|
|
break;
|
|
}
|
|
}
|
|
|
|
void usbdbg_control(void *buffer, uint8_t request, uint32_t size) {
|
|
cmd = (enum usbdbg_cmd) request;
|
|
switch (cmd) {
|
|
case USBDBG_FW_VERSION:
|
|
case USBDBG_FRAME_SIZE:
|
|
case USBDBG_FRAME_DUMP:
|
|
case USBDBG_ARCH_STR:
|
|
case USBDBG_FB_ENABLE:
|
|
case USBDBG_TX_BUF:
|
|
case USBDBG_TX_BUF_LEN:
|
|
case USBDBG_SENSOR_ID:
|
|
case USBDBG_GET_STATE:
|
|
case USBDBG_PROFILE_SIZE:
|
|
case USBDBG_PROFILE_DUMP:
|
|
case USBDBG_PROFILE_MODE:
|
|
case USBDBG_PROFILE_EVENT:
|
|
case USBDBG_SCRIPT_EXEC:
|
|
xfer_offs = 0;
|
|
xfer_size = size;
|
|
break;
|
|
|
|
case USBDBG_PROFILE_RESET: {
|
|
#if OMV_PROFILER_ENABLE
|
|
omv_profiler_reset();
|
|
#endif
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
|
|
case USBDBG_SCRIPT_RUNNING:
|
|
vstr_reset(&script_buf);
|
|
xfer_offs = 0;
|
|
xfer_size = size;
|
|
break;
|
|
|
|
case USBDBG_SCRIPT_STOP:
|
|
if (script_running) {
|
|
// Reset CDC buffers.
|
|
usb_cdc_reset_buffers();
|
|
|
|
// Schedule the IDE exception to interrupt the VM.
|
|
usbdbg_interrupt_vm(false);
|
|
}
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
|
|
case USBDBG_SYS_RESET:
|
|
#if defined(OMV_BOARD_RESET)
|
|
OMV_BOARD_RESET();
|
|
#else
|
|
NVIC_SystemReset();
|
|
#endif
|
|
break;
|
|
|
|
case USBDBG_SYS_RESET_TO_BL: {
|
|
#if defined(MICROPY_BOARD_ENTER_BOOTLOADER)
|
|
MICROPY_BOARD_ENTER_BOOTLOADER(0, 0);
|
|
#else
|
|
NVIC_SystemReset();
|
|
#endif
|
|
break;
|
|
}
|
|
|
|
default: /* error */
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
}
|