openmv/ports/mimxrt/main.c
Kwabena W. Agyeman fc0cc40a31 drivers/sensors/lepton: Update lepton driver with asynchronous fb.
The FLIR Lepton driver now continously receives frames in the background
that are stored in allocated frame buffers. On snapshot the stored frame
is post-processed to produce a color an image.

* Transpose now works allowing for image rotation with IMU.
* Bilinear scaling is now used when drawing at a higher res.
2025-06-24 10:19:29 -07:00

321 lines
9.7 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 "usbdbg.h"
#include "tinyusb_debug.h"
#include "fb_alloc.h"
#include "dma_alloc.h"
#include "file_utils.h"
#include "mp_utils.h"
#include "mimxrt_hal.h"
#include "vospi.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
#if MICROPY_PY_BUZZER
py_buzzer_init0();
#endif // MICROPY_PY_BUZZER
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
usbdbg_init();
machine_adc_init();
#if MICROPY_PY_MACHINE_SDCARD
machine_sdcard_init0();
#endif
#if MICROPY_PY_MACHINE_I2S
machine_i2s_init0();
#endif
machine_rtc_start();
#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 script.
bool interrupted = mp_exec_bootscript("boot.py", true);
// Run main.py script on first soft-reset.
if (first_soft_reset && !interrupted && mp_vfs_import_stat("main.py")) {
mp_exec_bootscript("main.py", true);
goto soft_reset_exit;
}
// If there's no script ready, just re-exec REPL
while (!usbdbg_script_ready()) {
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
// enable IDE interrupt
usbdbg_set_irq_enabled(true);
// run REPL
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
if (pyexec_raw_repl() != 0) {
break;
}
} else {
if (pyexec_friendly_repl() != 0) {
break;
}
}
nlr_pop();
}
}
if (usbdbg_script_ready()) {
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
// Enable IDE interrupt
usbdbg_set_irq_enabled(true);
// Execute the script.
pyexec_str(usbdbg_get_script(), true);
// Disable IDE interrupts
usbdbg_set_irq_enabled(false);
nlr_pop();
} else {
mp_obj_print_exception(&mp_plat_print, (mp_obj_t) nlr.ret_val);
}
}
soft_reset_exit:
mp_printf(MP_PYTHON_PRINTER, "MPY: soft reboot\n");
#if OMV_ENABLE_VOSPI || OMV_LEPTON_ENABLE
vospi_deinit();
#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"
;