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* This ensures that FS IRQ will never run during a soft-reset which causes issues when using SD card.
321 lines
8.7 KiB
C
321 lines
8.7 KiB
C
/*
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* This file is part of the OpenMV project.
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* Copyright (c) 2013/2014 Ibrahim Abdelkader <i.abdalkader@gmail.com>
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* This work is licensed under the MIT license, see the file LICENSE for details.
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*
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* USB debug support.
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*
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*/
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#include "mp.h"
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#include "imlib.h"
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#include "sensor.h"
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#include "framebuffer.h"
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#include "ff.h"
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#include "core_cm4.h"
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#include "usbdbg.h"
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#include "nlr.h"
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#include "lexer.h"
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#include "parse.h"
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#include "compile.h"
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#include "runtime.h"
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static int xfer_bytes;
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static int xfer_length;
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static enum usbdbg_cmd cmd;
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static volatile bool script_ready;
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static volatile bool script_running;
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static volatile bool irq_enabled;
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static vstr_t script_buf;
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mp_obj_t mp_const_ide_interrupt = MP_OBJ_NULL;
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extern void usbd_cdc_tx_buf_flush();
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extern uint32_t usbd_cdc_tx_buf_len();
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extern uint8_t *usbd_cdc_tx_buf(uint32_t bytes);
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extern const char *ffs_strerror(FRESULT res);
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void usbdbg_init()
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{
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irq_enabled=false;
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script_ready=false;
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script_running=false;
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vstr_init(&script_buf, 32);
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mp_const_ide_interrupt = mp_obj_new_exception_msg(&mp_type_Exception, "IDE interrupt");
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}
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bool usbdbg_script_ready()
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{
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return script_ready;
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}
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vstr_t *usbdbg_get_script()
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{
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return &script_buf;
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}
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inline bool usbdbg_get_irq_enabled()
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{
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return irq_enabled;
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}
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inline void usbdbg_set_irq_enabled(bool enabled)
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{
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irq_enabled=enabled; __DSB();
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}
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void usbdbg_data_in(void *buffer, int length)
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{
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switch (cmd) {
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case USBDBG_FW_VERSION: {
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uint32_t *ver_buf = buffer;
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ver_buf[0] = FIRMWARE_VERSION_MAJOR;
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ver_buf[1] = FIRMWARE_VERSION_MINOR;
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ver_buf[2] = FIRMWARE_VERSION_PATCH;
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cmd = USBDBG_NONE;
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break;
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}
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case USBDBG_TX_BUF_LEN: {
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uint32_t tx_buf_len = usbd_cdc_tx_buf_len();
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memcpy(buffer, &tx_buf_len, sizeof(tx_buf_len));
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cmd = USBDBG_NONE;
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break;
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}
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case USBDBG_TX_BUF: {
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uint8_t *tx_buf = usbd_cdc_tx_buf(length);
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memcpy(buffer, tx_buf, length);
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if (xfer_bytes == xfer_length) {
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cmd = USBDBG_NONE;
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}
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break;
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}
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case USBDBG_FRAME_SIZE:
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if (!fb->ready) {
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// Frame not ready return 0
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((uint32_t*)buffer)[0] = 0;
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} else {
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// Frame ready return header
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((uint32_t*)buffer)[0] = fb->w;
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((uint32_t*)buffer)[1] = fb->h;
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((uint32_t*)buffer)[2] = fb->bpp;
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}
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fb->request = 1;
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cmd = USBDBG_NONE;
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break;
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case USBDBG_FRAME_DUMP:
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if (xfer_bytes < xfer_length) {
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memcpy(buffer, fb->pixels+xfer_bytes, length);
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xfer_bytes += length;
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if (xfer_bytes == xfer_length) {
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fb->request = 0;
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cmd = USBDBG_NONE;
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}
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}
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break;
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case USBDBG_SCRIPT_RUNNING: {
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uint32_t *buf = buffer;
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buf[0] = (uint32_t) script_running;
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cmd = USBDBG_NONE;
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break;
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}
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default: /* error */
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break;
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}
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}
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extern int py_image_descriptor_from_roi(image_t *image, const char *path, rectangle_t *roi);
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void usbdbg_data_out(void *buffer, int length)
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{
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switch (cmd) {
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case USBDBG_SCRIPT_EXEC:
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// check if GC is locked before allocating memory for vstr. If GC was locked
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// at least once before the script is fully uploaded xfer_bytes will be less
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// than the total length (xfer_length) and the script will Not be executed.
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if (!script_running && usbdbg_get_irq_enabled() && !gc_is_locked()) {
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vstr_add_strn(&script_buf, buffer, length);
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xfer_bytes += length;
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if (xfer_bytes == xfer_length) {
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// Set script ready flag
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script_ready = true;
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// Set script running flag
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script_running = true;
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// Disable IDE IRQ (re-enabled by pyexec or main).
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usbdbg_set_irq_enabled(false);
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// interrupt running script/REPL
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mp_obj_exception_clear_traceback(mp_const_ide_interrupt);
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pendsv_nlr_jump_hard(mp_const_ide_interrupt);
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}
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}
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break;
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case USBDBG_TEMPLATE_SAVE: {
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image_t image ={
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.w = fb->w,
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.h = fb->h,
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.bpp = fb->bpp,
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.pixels = fb->pixels
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};
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// null terminate the path
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length = (length == 64) ? 63:length;
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((char*)buffer)[length] = 0;
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rectangle_t *roi = (rectangle_t*)buffer;
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char *path = (char*)buffer+sizeof(rectangle_t);
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imlib_save_image(&image, path, roi);
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// raise a flash IRQ to flush image
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//NVIC->STIR = FLASH_IRQn;
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break;
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}
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case USBDBG_DESCRIPTOR_SAVE: {
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image_t image ={
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.w = fb->w,
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.h = fb->h,
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.bpp = fb->bpp,
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.pixels = fb->pixels
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};
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// null terminate the path
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length = (length == 64) ? 63:length;
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((char*)buffer)[length] = 0;
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rectangle_t *roi = (rectangle_t*)buffer;
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char *path = (char*)buffer+sizeof(rectangle_t);
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py_image_descriptor_from_roi(&image, path, roi);
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break;
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}
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default: /* error */
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break;
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}
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}
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void usbdbg_control(void *buffer, uint8_t request, uint32_t length)
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{
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cmd = (enum usbdbg_cmd) request;
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switch (cmd) {
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case USBDBG_FW_VERSION:
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xfer_bytes = 0;
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xfer_length = length;
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break;
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case USBDBG_FRAME_SIZE:
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xfer_bytes = 0;
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xfer_length = length;
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break;
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case USBDBG_FRAME_DUMP:
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xfer_bytes = 0;
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xfer_length = length;
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break;
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case USBDBG_FRAME_UPDATE:
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sensor_snapshot(NULL);
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cmd = USBDBG_NONE;
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break;
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case USBDBG_SCRIPT_EXEC:
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xfer_bytes = 0;
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xfer_length =length;
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vstr_reset(&script_buf);
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break;
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case USBDBG_SCRIPT_STOP:
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if (usbdbg_get_irq_enabled()) {
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// Set script running flag
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script_running = false;
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// Disable IDE IRQ (re-enabled by pyexec or main).
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usbdbg_set_irq_enabled(false);
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// We can safely disable FS IRQ here
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HAL_NVIC_DisableIRQ(OTG_FS_IRQn); __DSB(); __ISB();
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// interrupt running code by raising an exception
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mp_obj_exception_clear_traceback(mp_const_ide_interrupt);
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pendsv_nlr_jump_hard(mp_const_ide_interrupt);
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}
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cmd = USBDBG_NONE;
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break;
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case USBDBG_SCRIPT_SAVE:
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/* save running script */
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// TODO
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break;
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case USBDBG_SCRIPT_RUNNING:
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xfer_bytes = 0;
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xfer_length =length;
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break;
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case USBDBG_TEMPLATE_SAVE:
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case USBDBG_DESCRIPTOR_SAVE:
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/* save template */
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xfer_bytes = 0;
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xfer_length =length;
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break;
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case USBDBG_ATTR_WRITE: {
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/* write sensor attribute */
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int16_t attr= *((int16_t*)buffer);
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int16_t val = *((int16_t*)buffer+1);
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switch (attr) {
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case ATTR_CONTRAST:
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sensor_set_contrast(val);
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break;
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case ATTR_BRIGHTNESS:
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sensor_set_brightness(val);
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break;
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case ATTR_SATURATION:
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sensor_set_saturation(val);
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break;
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case ATTR_GAINCEILING:
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sensor_set_gainceiling(val);
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break;
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default:
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break;
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}
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cmd = USBDBG_NONE;
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break;
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}
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case USBDBG_SYS_RESET:
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NVIC_SystemReset();
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break;
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case USBDBG_SYS_BOOT:
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*((uint32_t *)0x20002000) = 0xDEADBEEF;
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NVIC_SystemReset();
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break;
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case USBDBG_JPEG_ENABLE: {
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int16_t enable= *((int16_t*)buffer);
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sensor_enable_jpeg(enable);
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cmd = USBDBG_NONE;
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break;
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}
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case USBDBG_TX_BUF:
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case USBDBG_TX_BUF_LEN:
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xfer_bytes = 0;
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xfer_length = length;
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break;
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default: /* error */
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cmd = USBDBG_NONE;
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break;
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}
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}
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