openmv/src/main.c
2014-04-12 18:58:55 +02:00

311 lines
8.6 KiB
C

#include <stm32f4xx.h>
#include <stm32f4xx_rcc.h>
#include <stm32f4xx_syscfg.h>
#include <stm32f4xx_pwr.h>
#include <stm32f4xx_rtc.h>
#include <stm32f4xx_usart.h>
#include <stm32f4xx_rng.h>
#include <stm32f4xx_misc.h>
#include <libmp.h>
#include "systick.h"
#include "rcc_ctrl.h"
#include "led.h"
#include "rng.h"
#include "sensor.h"
#include "usbdbg.h"
#include "py_led.h"
#include "py_sensor.h"
#include "py_file.h"
#include "py_time.h"
#include "py_spi.h"
#include "py_gpio.h"
#include "py_image.h"
#include "libcc3k.h"
int errno;
static FATFS fatfs0, fatfs1;
void __fatal_error(const char *msg) {
printf("%s\n", msg);
while (1) {
led_state(LED_RED, 1);
systick_sleep(250);
led_state(LED_RED, 0);
systick_sleep(250);
}
}
// sync all file systems
mp_obj_t py_sync(void) {
storage_flush();
return mp_const_none;
}
mp_obj_t py_vcp_connected() {
bool connected = usb_vcp_is_connected();
return mp_obj_new_int(connected);
}
static const char fresh_main_py[] =
"# main.py -- put your code here!\n"
"import led, time\n"
"while(vcp_connected()==0):\n"
" led.on(led.BLUE)\n"
" time.sleep(500)\n"
" led.off(led.BLUE)\n"
" time.sleep(500)\n"
;
static const char *help_text =
"Welcome to Micro Python!\n\n"
"This is a *very* early version of Micro Python and has minimal functionality.\n\n"
"Specific commands for the board:\n"
" pyb.info() -- print some general information\n"
" pyb.gc() -- run the garbage collector\n"
" pyb.repl_info(<val>) -- enable/disable printing of info after each command\n"
" pyb.delay(<n>) -- wait for n milliseconds\n"
" pyb.Led(<n>) -- create Led object for LED n (n=1,2)\n"
" Led methods: on(), off()\n"
" pyb.Servo(<n>) -- create Servo object for servo n (n=1,2,3,4)\n"
" Servo methods: angle(<x>)\n"
" pyb.switch() -- return True/False if switch pressed or not\n"
" pyb.accel() -- get accelerometer values\n"
" pyb.rand() -- get a 16-bit random number\n"
" pyb.gpio(<port>) -- get port value (port='A4' for example)\n"
" pyb.gpio(<port>, <val>) -- set port value, True or False, 1 or 0\n"
" pyb.ADC(<port>) -- make an analog port object (port='C0' for example)\n"
" ADC methods: read()\n"
;
// get some help about available functions
static mp_obj_t py_help(void) {
printf("%s", help_text);
return mp_const_none;
}
// get lots of info about the board
static mp_obj_t py_info(void) {
// get and print unique id; 96 bits
{
byte *id = (byte*)0x1fff7a10;
printf("ID=%02x%02x%02x%02x:%02x%02x%02x%02x:%02x%02x%02x%02x\n", id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7], id[8], id[9], id[10], id[11]);
}
// get and print clock speeds
// SYSCLK=168MHz, HCLK=168MHz, PCLK1=42MHz, PCLK2=84MHz
{
RCC_ClocksTypeDef rcc_clocks;
RCC_GetClocksFreq(&rcc_clocks);
printf("S=%lu\nH=%lu\nP1=%lu\nP2=%lu\n", rcc_clocks.SYSCLK_Frequency, rcc_clocks.HCLK_Frequency, rcc_clocks.PCLK1_Frequency, rcc_clocks.PCLK2_Frequency);
}
// to print info about memory
{
extern void *_sidata;
extern void *_sdata;
extern void *_edata;
extern void *_sbss;
extern void *_ebss;
extern void *_estack;
extern void *_etext;
printf("_etext=%p\n", &_etext);
printf("_sidata=%p\n", &_sidata);
printf("_sdata=%p\n", &_sdata);
printf("_edata=%p\n", &_edata);
printf("_sbss=%p\n", &_sbss);
printf("_ebss=%p\n", &_ebss);
printf("_estack=%p\n", &_estack);
printf("_ram_start=%p\n", &_ram_start);
printf("_heap_start=%p\n", &_heap_start);
printf("_heap_end=%p\n", &_heap_end);
printf("_ram_end=%p\n", &_ram_end);
}
// qstr info
{
uint n_pool, n_qstr, n_str_data_bytes, n_total_bytes;
qstr_pool_info(&n_pool, &n_qstr, &n_str_data_bytes, &n_total_bytes);
printf("qstr:\n n_pool=%u\n n_qstr=%u\n n_str_data_bytes=%u\n n_total_bytes=%u\n", n_pool, n_qstr, n_str_data_bytes, n_total_bytes);
}
// GC info
{
gc_info_t info;
gc_info(&info);
printf("GC:\n");
printf(" %lu total\n", info.total);
printf("used: %lu free: %lu\n", info.used, info.free);
printf(" 1=%lu 2=%lu m=%lu\n", info.num_1block, info.num_2block, info.max_block);
}
// free space on flash
{
DWORD nclst;
FATFS *fatfs;
f_getfree("0:", &nclst, &fatfs);
printf("LFS free: %u bytes\n", (uint)(nclst * fatfs->csize * 512));
}
return mp_const_none;
}
static mp_obj_t py_gc_collect(void) {
gc_collect();
return mp_const_none;
}
#if 0
static void SYSCLKConfig_STOP(void) {
/* After wake-up from STOP reconfigure the system clock */
/* Enable HSE */
RCC_HSEConfig(RCC_HSE_ON);
/* Wait till HSE is ready */
while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET) {
}
/* Enable PLL */
RCC_PLLCmd(ENABLE);
/* Wait till PLL is ready */
while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET) {
}
/* Select PLL as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source */
while (RCC_GetSYSCLKSource() != 0x08) {
}
}
static mp_obj_t py_stop(void) {
PWR_EnterSTANDBYMode();
//PWR_FlashPowerDownCmd(ENABLE); don't know what the logic is with this
/* Enter Stop Mode */
PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);
/* Configures system clock after wake-up from STOP: enable HSE, PLL and select
* PLL as system clock source (HSE and PLL are disabled in STOP mode) */
SYSCLKConfig_STOP();
//PWR_FlashPowerDownCmd(DISABLE);
return mp_const_none;
}
static mp_obj_t py_standby(void) {
PWR_EnterSTANDBYMode();
return mp_const_none;
}
#endif
void __libc_init_array(void)
{
}
/* call from gdb */
gc_info_t get_gc_info()
{
gc_info_t info;
gc_info(&info);
return info;
}
typedef struct {
qstr name;
const mp_obj_module_t *(*init)(void);
} module_t;
static const module_t exported_modules[] ={
{MP_QSTR_sensor,py_sensor_init},
{MP_QSTR_led, py_led_init},
{MP_QSTR_time, py_time_init},
{MP_QSTR_gpio, py_gpio_init},
{MP_QSTR_spi, py_spi_init},
{NULL, NULL}
};
#include "mdefs.h"
int main(void)
{
rcc_ctrl_set_frequency(SYSCLK_168_MHZ);
/* Init SysTick timer */
systick_init();
/* Init MicroPython */
libmp_init();
/* init USB debug */
usbdbg_init();
/* init rng */
rng_init();
/* Add functions to the global python namespace */
mp_store_global(qstr_from_str("help"), mp_make_function_n(0, py_help));
mp_store_global(qstr_from_str("open"), mp_make_function_n(2, py_file_open));
mp_store_global(qstr_from_str("vcp_connected"), mp_make_function_n(0, py_vcp_connected));
mp_store_global(qstr_from_str("info"), mp_make_function_n(0, py_info));
mp_store_global(qstr_from_str("gc_collect"), mp_make_function_n(0, py_gc_collect));
mp_store_global(qstr_from_str("Image"), mp_make_function_n(1, py_image_load_image));
mp_store_global(qstr_from_str("HaarCascade"), mp_make_function_n(1, py_image_load_cascade));
/* Export Python modules to the global python namespace */
for (const module_t *p = exported_modules; p->name != NULL; p++) {
const mp_obj_module_t *module = p->init();
if (module == NULL) {
__fatal_error("failed to init module");
} else {
mp_module_register(p->name, (mp_obj_t)module);
}
}
/* prepare workarea for sdcard fs */
f_mount(&fatfs1, "1:", 0);
/* Try to mount the flash fs */
bool reset_filesystem = false;
FRESULT res = f_mount(&fatfs0, "0:", 1);
if (!reset_filesystem && res == FR_OK) {
/* Mount sucessful */
} else if (reset_filesystem || res == FR_NO_FILESYSTEM) {
/* No filesystem, so create a fresh one */
res = f_mkfs("0:", 0, 0);
if (res != FR_OK) {
__fatal_error("could not create LFS");
}
/* Create main.py */
FIL fp;
f_open(&fp, "0:/main.py", FA_WRITE | FA_CREATE_ALWAYS);
UINT n;
f_write(&fp, fresh_main_py, sizeof(fresh_main_py) - 1 /* don't count null terminator */, &n);
// TODO check we could write n bytes
f_close(&fp);
} else {
__fatal_error("could not access LFS");
}
pyb_usb_dev_init(PYB_USB_DEV_VCP_MSC);
#if 1
/* run main script */
if (!libmp_do_file("0:/main.py")) {
printf("failed to run main script\n");
}
libmp_do_repl();
#else
// led_init(LED_BLUE);
systick_sleep(100);
wlan_test();
#endif
while(1);
}