openmv/common/usbdbg.c
iabdalkader b1f81f7cdd common: Update framebuffer API.
Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
2025-09-02 16:05:55 +02:00

455 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
framebuffer_t *fb = framebuffer_get(FB_STREAM_ID);
if (mutex_try_lock(&fb->lock, MUTEX_TID_IDE)) {
// If header size == 0 frame is not ready
if (fb->size == 0) {
// unlock FB
mutex_unlock(&fb->lock, MUTEX_TID_IDE);
} else {
// Return header w, h and size/bpp
buffer[0] = fb->w;
buffer[1] = fb->h;
buffer[2] = fb->size;
}
}
cmd = USBDBG_NONE;
write_callback(&buffer, sizeof(buffer));
break;
}
case USBDBG_FRAME_DUMP:
if (xfer_offs < xfer_size) {
framebuffer_t *fb = framebuffer_get(FB_STREAM_ID);
write_callback(fb->raw_base + xfer_offs, size);
xfer_offs += size;
if (xfer_offs == xfer_size) {
cmd = USBDBG_NONE;
fb->w = 0; fb->h = 0; fb->size = 0;
mutex_unlock(&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.
framebuffer_t *fb = framebuffer_get(FB_STREAM_ID);
if (check_timeout_ms(last_update_ms, 50) &&
mutex_try_lock_fair(&fb->lock, MUTEX_TID_IDE)) {
// If header size == 0 frame is not ready
if (fb->size == 0) {
// unlock FB
mutex_unlock(&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] = fb->w;
buffer[2] = fb->h;
buffer[3] = 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 size = omv_profiler_get_size();
buffer[0] = size / sizeof(omv_profiler_data_t);
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) {
const char *data = omv_profiler_get_data();
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: {
uint32_t enabled = 0;
framebuffer_t *fb = framebuffer_get(FB_STREAM_ID);
read_callback(&enabled, 4);
framebuffer_set_enabled(fb, enabled);
if (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(&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;
}
}