mirror of
https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
353 lines
10 KiB
C
353 lines
10 KiB
C
/*
|
|
* This file is part of the OpenMV project.
|
|
*
|
|
* Copyright (c) 2013-2019 Ibrahim Abdelkader <iabdalkader@openmv.io>
|
|
* Copyright (c) 2013-2019 Kwabena W. Agyeman <kwagyeman@openmv.io>
|
|
*
|
|
* This work is licensed under the MIT license, see the file LICENSE for details.
|
|
*
|
|
* USB debugger.
|
|
*/
|
|
#include "mp.h"
|
|
#include "imlib.h"
|
|
#include "sensor.h"
|
|
#include "framebuffer.h"
|
|
#include "ff.h"
|
|
#include "usb.h"
|
|
#include "usbdbg.h"
|
|
#include "nlr.h"
|
|
#include "lexer.h"
|
|
#include "parse.h"
|
|
#include "compile.h"
|
|
#include "runtime.h"
|
|
#include "omv_boardconfig.h"
|
|
|
|
static int xfer_bytes;
|
|
static int xfer_length;
|
|
static enum usbdbg_cmd cmd;
|
|
|
|
static volatile bool script_ready;
|
|
static volatile bool script_running;
|
|
static vstr_t script_buf;
|
|
static mp_obj_t mp_const_ide_interrupt = MP_OBJ_NULL;
|
|
extern const char *ffs_strerror(FRESULT res);
|
|
|
|
void usbdbg_init()
|
|
{
|
|
script_ready=false;
|
|
script_running=false;
|
|
vstr_init(&script_buf, 32);
|
|
mp_const_ide_interrupt = mp_obj_new_exception_msg(&mp_type_Exception, "IDE interrupt");
|
|
}
|
|
|
|
bool usbdbg_script_ready()
|
|
{
|
|
return script_ready;
|
|
}
|
|
|
|
vstr_t *usbdbg_get_script()
|
|
{
|
|
return &script_buf;
|
|
}
|
|
|
|
void usbdbg_set_script_running(bool running)
|
|
{
|
|
script_running = running;
|
|
}
|
|
|
|
inline void usbdbg_set_irq_enabled(bool enabled)
|
|
{
|
|
if (enabled) {
|
|
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
|
|
} else {
|
|
HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
|
|
}
|
|
__DSB(); __ISB();
|
|
}
|
|
|
|
void usbdbg_data_in(void *buffer, int length)
|
|
{
|
|
switch (cmd) {
|
|
case USBDBG_FW_VERSION: {
|
|
uint32_t *ver_buf = buffer;
|
|
ver_buf[0] = FIRMWARE_VERSION_MAJOR;
|
|
ver_buf[1] = FIRMWARE_VERSION_MINOR;
|
|
ver_buf[2] = FIRMWARE_VERSION_PATCH;
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
|
|
case USBDBG_TX_BUF_LEN: {
|
|
uint32_t tx_buf_len = usb_cdc_tx_buf_len();
|
|
memcpy(buffer, &tx_buf_len, sizeof(tx_buf_len));
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
|
|
case USBDBG_SENSOR_ID: {
|
|
int sensor_id = sensor_get_id();
|
|
memcpy(buffer, &sensor_id, 4);
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
|
|
case USBDBG_TX_BUF: {
|
|
uint8_t *tx_buf = usb_cdc_tx_buf(length);
|
|
memcpy(buffer, tx_buf, length);
|
|
if (xfer_bytes == xfer_length) {
|
|
cmd = USBDBG_NONE;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case USBDBG_FRAME_SIZE:
|
|
// Return 0 if FB is locked or not ready.
|
|
((uint32_t*)buffer)[0] = 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
|
|
((uint32_t*)buffer)[0] = JPEG_FB()->w;
|
|
((uint32_t*)buffer)[1] = JPEG_FB()->h;
|
|
((uint32_t*)buffer)[2] = JPEG_FB()->size;
|
|
}
|
|
}
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
|
|
case USBDBG_FRAME_DUMP:
|
|
if (xfer_bytes < xfer_length) {
|
|
memcpy(buffer, JPEG_FB()->pixels+xfer_bytes, length);
|
|
xfer_bytes += length;
|
|
if (xfer_bytes == xfer_length) {
|
|
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: {
|
|
snprintf((char *) buffer, 64, "%s [%s:%08X%08X%08X]",
|
|
OMV_ARCH_STR, OMV_BOARD_TYPE,
|
|
*((unsigned int *) (OMV_UNIQUE_ID_ADDR + 8)),
|
|
*((unsigned int *) (OMV_UNIQUE_ID_ADDR + 4)),
|
|
*((unsigned int *) (OMV_UNIQUE_ID_ADDR + 0)));
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
|
|
case USBDBG_SCRIPT_RUNNING: {
|
|
uint32_t *buf = buffer;
|
|
buf[0] = (uint32_t) script_running;
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
default: /* error */
|
|
break;
|
|
}
|
|
}
|
|
|
|
extern int py_image_descriptor_from_roi(image_t *image, const char *path, rectangle_t *roi);
|
|
|
|
void usbdbg_data_out(void *buffer, int length)
|
|
{
|
|
switch (cmd) {
|
|
case USBDBG_FB_ENABLE: {
|
|
uint32_t enable = *((int32_t*)buffer);
|
|
JPEG_FB()->enabled = enable;
|
|
if (enable == 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_bytes will be less
|
|
// than the total length (xfer_length) and the script will Not be executed.
|
|
if (!script_running && !gc_is_locked()) {
|
|
vstr_add_strn(&script_buf, buffer, length);
|
|
xfer_bytes += length;
|
|
if (xfer_bytes == xfer_length) {
|
|
// Set script ready flag
|
|
script_ready = true;
|
|
|
|
// Set script running flag
|
|
script_running = true;
|
|
|
|
// Disable IDE IRQ (re-enabled by pyexec or main).
|
|
usbdbg_set_irq_enabled(false);
|
|
|
|
// Clear interrupt traceback
|
|
mp_obj_exception_clear_traceback(mp_const_ide_interrupt);
|
|
// Interrupt running REPL
|
|
// Note: setting pendsv explicitly here because the VM is probably
|
|
// waiting in REPL and the soft interrupt flag will not be checked.
|
|
pendsv_nlr_jump(mp_const_ide_interrupt);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case USBDBG_TEMPLATE_SAVE: {
|
|
image_t image;
|
|
framebuffer_initialize_image(&image);
|
|
|
|
// null terminate the path
|
|
length = (length == 64) ? 63:length;
|
|
((char*)buffer)[length] = 0;
|
|
|
|
rectangle_t *roi = (rectangle_t*)buffer;
|
|
char *path = (char*)buffer+sizeof(rectangle_t);
|
|
|
|
imlib_save_image(&image, path, roi, 50);
|
|
// raise a flash IRQ to flush image
|
|
//NVIC->STIR = FLASH_IRQn;
|
|
break;
|
|
}
|
|
|
|
case USBDBG_DESCRIPTOR_SAVE: {
|
|
image_t image;
|
|
framebuffer_initialize_image(&image);
|
|
|
|
// null terminate the path
|
|
length = (length == 64) ? 63:length;
|
|
((char*)buffer)[length] = 0;
|
|
|
|
rectangle_t *roi = (rectangle_t*)buffer;
|
|
char *path = (char*)buffer+sizeof(rectangle_t);
|
|
|
|
py_image_descriptor_from_roi(&image, path, roi);
|
|
break;
|
|
}
|
|
|
|
case USBDBG_ATTR_WRITE: {
|
|
/* write sensor attribute */
|
|
int32_t attr= *((int32_t*)buffer);
|
|
int32_t val = *((int32_t*)buffer+1);
|
|
switch (attr) {
|
|
case ATTR_CONTRAST:
|
|
sensor_set_contrast(val);
|
|
break;
|
|
case ATTR_BRIGHTNESS:
|
|
sensor_set_brightness(val);
|
|
break;
|
|
case ATTR_SATURATION:
|
|
sensor_set_saturation(val);
|
|
break;
|
|
case ATTR_GAINCEILING:
|
|
sensor_set_gainceiling(val);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
|
|
default: /* error */
|
|
break;
|
|
}
|
|
}
|
|
|
|
void usbdbg_control(void *buffer, uint8_t request, uint32_t length)
|
|
{
|
|
cmd = (enum usbdbg_cmd) request;
|
|
switch (cmd) {
|
|
case USBDBG_FW_VERSION:
|
|
xfer_bytes = 0;
|
|
xfer_length = length;
|
|
break;
|
|
|
|
case USBDBG_FRAME_SIZE:
|
|
xfer_bytes = 0;
|
|
xfer_length = length;
|
|
break;
|
|
|
|
case USBDBG_FRAME_DUMP:
|
|
xfer_bytes = 0;
|
|
xfer_length = length;
|
|
break;
|
|
|
|
case USBDBG_ARCH_STR:
|
|
xfer_bytes = 0;
|
|
xfer_length = length;
|
|
break;
|
|
|
|
case USBDBG_SCRIPT_EXEC:
|
|
xfer_bytes = 0;
|
|
xfer_length = length;
|
|
vstr_reset(&script_buf);
|
|
break;
|
|
|
|
case USBDBG_SCRIPT_STOP:
|
|
if (script_running) {
|
|
// Set script running flag
|
|
script_running = false;
|
|
|
|
// Disable IDE IRQ (re-enabled by pyexec or main).
|
|
usbdbg_set_irq_enabled(false);
|
|
|
|
// interrupt running code by raising an exception
|
|
mp_obj_exception_clear_traceback(mp_const_ide_interrupt);
|
|
pendsv_nlr_jump(mp_const_ide_interrupt);
|
|
}
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
|
|
case USBDBG_SCRIPT_SAVE:
|
|
/* save running script */
|
|
// TODO
|
|
break;
|
|
|
|
case USBDBG_SCRIPT_RUNNING:
|
|
xfer_bytes = 0;
|
|
xfer_length =length;
|
|
break;
|
|
|
|
case USBDBG_TEMPLATE_SAVE:
|
|
case USBDBG_DESCRIPTOR_SAVE:
|
|
/* save template */
|
|
xfer_bytes = 0;
|
|
xfer_length =length;
|
|
break;
|
|
|
|
case USBDBG_ATTR_WRITE:
|
|
xfer_bytes = 0;
|
|
xfer_length =length;
|
|
break;
|
|
|
|
case USBDBG_SYS_RESET:
|
|
NVIC_SystemReset();
|
|
break;
|
|
|
|
case USBDBG_FB_ENABLE: {
|
|
xfer_bytes = 0;
|
|
xfer_length = length;
|
|
break;
|
|
}
|
|
|
|
case USBDBG_TX_BUF:
|
|
case USBDBG_TX_BUF_LEN:
|
|
xfer_bytes = 0;
|
|
xfer_length = length;
|
|
break;
|
|
|
|
case USBDBG_SENSOR_ID:
|
|
xfer_bytes = 0;
|
|
xfer_length = length;
|
|
break;
|
|
|
|
default: /* error */
|
|
cmd = USBDBG_NONE;
|
|
break;
|
|
}
|
|
}
|