mirror of
https://github.com/openmv/openmv.git
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542 lines
15 KiB
C
542 lines
15 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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* main function.
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*
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*/
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#include <stdio.h>
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#include <stdbool.h>
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#include <string.h>
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#include STM32_HAL_H
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#include "mpconfig.h"
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#include "systick.h"
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#include "pendsv.h"
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#include "qstr.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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#include "obj.h"
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#include "objmodule.h"
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#include "objstr.h"
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#include "gc.h"
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#include "stackctrl.h"
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#include "gccollect.h"
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#include "readline.h"
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#include "timer.h"
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#include "pin.h"
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#include "usb.h"
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#include "rtc.h"
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#include "storage.h"
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#include "sdcard.h"
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#include "ff.h"
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#include "modnetwork.h"
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#include "lib/utils/pyexec.h"
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#include "lib/fatfs/ff.h"
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#include "extmod/fsusermount.h"
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#include "irq.h"
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#include "rng.h"
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#include "led.h"
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#include "spi.h"
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#include "i2c.h"
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#include "uart.h"
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#include "dac.h"
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#include "can.h"
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#include "extint.h"
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#include "servo.h"
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#include "sensor.h"
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#include "usbdbg.h"
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#include "sdram.h"
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#include "fb_alloc.h"
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#include "ff_wrapper.h"
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#include "usbd_core.h"
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#include "usbd_desc.h"
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#include "usbd_cdc_msc_hid.h"
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#include "usbd_cdc_interface.h"
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#include "usbd_msc_storage.h"
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#include "py_sensor.h"
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#include "py_image.h"
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#include "py_lcd.h"
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#include "py_fir.h"
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#include "framebuffer.h"
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int errno;
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extern char _vfs_buf;
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extern char _stack_size;
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static fs_user_mount_t *vfs = (fs_user_mount_t *) &_vfs_buf;
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static const char fresh_main_py[] =
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"# main.py -- put your code here!\n"
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"import pyb, time\n"
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"led = pyb.LED(3)\n"
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"usb = pyb.USB_VCP()\n"
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"while (usb.isconnected()==False):\n"
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" led.on()\n"
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" time.sleep(150)\n"
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" led.off()\n"
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" time.sleep(100)\n"
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" led.on()\n"
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" time.sleep(150)\n"
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" led.off()\n"
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" time.sleep(600)\n"
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;
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static const char fresh_openmv_inf[] =
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#include "genhdr/openmv_inf.h"
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;
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static const char fresh_readme_txt[] =
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"This is a Micro Python board\r\n"
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"\r\n"
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"You can get started right away by writing your Python code in 'main.py'.\r\n"
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"\r\n"
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"For a serial prompt:\r\n"
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" - Windows: you need to go to 'Device manager', right click on the unknown device,\r\n"
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" then update the driver software, using the 'openmv.inf' file found on this drive.\r\n"
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" Then use a terminal program like Hyperterminal or putty.\r\n"
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" - Mac OS X: use the command: screen /dev/tty.usbmodem*\r\n"
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" - Linux: use the command: screen /dev/ttyACM0\r\n"
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"\r\n"
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"Please visit https://openmv.io/ or http://micropython.org/help/ for further help.\r\n"
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;
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#ifdef OPENMV1
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static const char fresh_selftest_py[] ="";
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#else
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static const char fresh_selftest_py[] =
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"import sensor, time, pyb\n"
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"\n"
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"def test_int_adc():\n"
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" adc = pyb.ADCAll(12)\n"
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" # Test VBAT\n"
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" vbat = adc.read_core_vbat()\n"
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" vbat_diff = abs(vbat-3.3)\n"
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" if (vbat_diff > 0.1):\n"
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" raise Exception('INTERNAL ADC TEST FAILED VBAT=%fv'%vbat)\n"
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"\n"
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" # Test VREF\n"
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" vref = adc.read_core_vref()\n"
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" vref_diff = abs(vref-1.2)\n"
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" if (vref_diff > 0.1):\n"
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" raise Exception('INTERNAL ADC TEST FAILED VREF=%fv'%vref)\n"
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" adc = None\n"
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" print('INTERNAL ADC TEST PASSED...')\n"
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"\n"
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"def test_color_bars():\n"
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" sensor.reset()\n"
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" # Set sensor settings\n"
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" sensor.set_brightness(0)\n"
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" sensor.set_saturation(3)\n"
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" sensor.set_gainceiling(8)\n"
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" sensor.set_contrast(2)\n"
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"\n"
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" # Set sensor pixel format\n"
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" sensor.set_framesize(sensor.QVGA)\n"
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" sensor.set_pixformat(sensor.RGB565)\n"
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"\n"
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" # Enable colorbar test mode\n"
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" sensor.set_colorbar(True)\n"
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"\n"
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" # Skip a few frames to allow the sensor settle down\n"
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" for i in range(0, 100):\n"
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" image = sensor.snapshot()\n"
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"\n"
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" #color bars thresholds\n"
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" t = [lambda r, g, b: r < 70 and g < 70 and b < 70, # Black\n"
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" lambda r, g, b: r < 70 and g < 70 and b > 200, # Blue\n"
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" lambda r, g, b: r > 200 and g < 70 and b < 70, # Red\n"
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" lambda r, g, b: r > 200 and g < 70 and b > 200, # Purple\n"
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" lambda r, g, b: r < 70 and g > 200 and b < 70, # Green\n"
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" lambda r, g, b: r < 70 and g > 200 and b > 200, # Aqua\n"
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" lambda r, g, b: r > 200 and g > 200 and b < 70, # Yellow\n"
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" lambda r, g, b: r > 200 and g > 200 and b > 200] # White\n"
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"\n"
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" # color bars are inverted for OV7725\n"
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" if (sensor.get_id() == sensor.OV7725):\n"
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" t = t[::-1]\n"
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"\n"
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" #320x240 image with 8 color bars each one is approx 40 pixels.\n"
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" #we start from the center of the frame buffer, and average the\n"
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" #values of 10 sample pixels from the center of each color bar.\n"
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" for i in range(0, 8):\n"
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" avg = (0, 0, 0)\n"
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" idx = 40*i+20 #center of colorbars\n"
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" for off in range(0, 10): #avg 10 pixels\n"
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" rgb = image.get_pixel(idx+off, 120)\n"
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" avg = tuple(map(sum, zip(avg, rgb)))\n"
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"\n"
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" if not t[i](avg[0]/10, avg[1]/10, avg[2]/10):\n"
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" raise Exception('COLOR BARS TEST FAILED.'\n"
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" 'BAR#(%d): RGB(%d,%d,%d)'%(i+1, avg[0]/10, avg[1]/10, avg[2]/10))\n"
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"\n"
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" print('COLOR BARS TEST PASSED...')\n"
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"\n"
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"if __name__ == '__main__':\n"
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" print('')\n"
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" test_int_adc()\n"
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" test_color_bars()\n"
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;
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#endif
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void flash_error(int n) {
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for (int i = 0; i < n; i++) {
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led_state(LED_RED, 0);
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HAL_Delay(100);
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led_state(LED_RED, 1);
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HAL_Delay(100);
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}
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led_state(LED_RED, 0);
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}
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void NORETURN __fatal_error(const char *msg) {
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FIL fp;
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if (f_open(&fp, "ERROR.LOG",
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FA_WRITE|FA_CREATE_ALWAYS) == FR_OK) {
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f_printf(&fp, "\nFATAL ERROR:\n%s\n", msg);
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}
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f_close(&fp);
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storage_flush();
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for (uint i = 0;;) {
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led_toggle(((i++) & 3));
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for (volatile uint delay = 0; delay < 500000; delay++) {
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}
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}
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}
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void nlr_jump_fail(void *val) {
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printf("FATAL: uncaught exception %p\n", val);
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__fatal_error("");
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}
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#ifndef NDEBUG
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void __attribute__((weak))
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__assert_func(const char *file, int line, const char *func, const char *expr) {
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(void)func;
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printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
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__fatal_error("");
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}
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#endif
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STATIC mp_obj_t pyb_config_source_dir = MP_OBJ_NULL;
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STATIC mp_obj_t pyb_config_main = MP_OBJ_NULL;
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STATIC mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
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if (MP_OBJ_IS_STR(source_dir)) {
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pyb_config_source_dir = source_dir;
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}
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_1(pyb_source_dir_obj, pyb_source_dir);
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STATIC mp_obj_t pyb_main(mp_obj_t main) {
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if (MP_OBJ_IS_STR(main)) {
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pyb_config_main = main;
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}
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main);
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static void make_flash_fs()
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{
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FIL fp;
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UINT n;
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led_state(LED_RED, 1);
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if (f_mkfs("0:", 0, 0) != FR_OK) {
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__fatal_error("could not create LFS");
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}
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// create default main.py
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f_open(&fp, "main.py", FA_WRITE | FA_CREATE_ALWAYS);
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f_write(&fp, fresh_main_py, sizeof(fresh_main_py) - 1 /* don't count null terminator */, &n);
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f_close(&fp);
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// create .inf driver file
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f_open(&fp, "openmv.inf", FA_WRITE | FA_CREATE_ALWAYS);
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f_write(&fp, fresh_openmv_inf, sizeof(fresh_openmv_inf) - 1 /* don't count null terminator */, &n);
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f_close(&fp);
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// create readme file
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f_open(&fp, "README.txt", FA_WRITE | FA_CREATE_ALWAYS);
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f_write(&fp, fresh_readme_txt, sizeof(fresh_readme_txt) - 1 /* don't count null terminator */, &n);
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f_close(&fp);
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// create default selftest.py
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f_open(&fp, "selftest.py", FA_WRITE | FA_CREATE_ALWAYS);
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f_write(&fp, fresh_selftest_py, sizeof(fresh_selftest_py) - 1 /* don't count null terminator */, &n);
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f_close(&fp);
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led_state(LED_RED, 0);
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}
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#ifdef STACK_PROTECTOR
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uint32_t __stack_chk_guard=0xDEADBEEF;
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void NORETURN __stack_chk_fail(void)
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{
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while (1) {
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flash_error(100);
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}
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}
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#endif
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int main(void)
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{
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FRESULT f_res;
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int sensor_init_ret = 0;
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bool first_soft_reset = true;
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// Uncomment to disable write buffer to get precise faults.
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// NOTE: Cache should be disabled on M7.
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//SCnSCB->ACTLR |= SCnSCB_ACTLR_DISDEFWBUF_Msk;
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// STM32F4xx HAL library initialization:
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// - Set NVIC Group Priority to 4
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// - Configure the Flash prefetch, instruction and Data caches
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// - Configure the Systick to generate an interrupt each 1 msec
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// Note: The bootloader enables the CCM/DTCM memory.
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HAL_Init();
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// Stack limit should be less than real stack size, so we have a chance
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// to recover from limit hit. (Limit is measured in bytes.)
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mp_stack_ctrl_init();
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mp_stack_set_limit((char*)&_ram_end - (char*)&_heap_end - 1024);
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// basic sub-system init
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led_init();
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pendsv_init();
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// Re-enable IRQs (disabled by bootloader)
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__enable_irq();
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soft_reset:
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led_state(LED_IR, 0);
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led_state(LED_RED, 1);
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led_state(LED_GREEN, 1);
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led_state(LED_BLUE, 1);
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// GC init
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gc_init(&_heap_start, &_heap_end);
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// Micro Python init
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mp_init();
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mp_obj_list_init(mp_sys_path, 0);
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mp_obj_list_init(mp_sys_argv, 0);
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// zero out the pointers to the mounted devices
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memset(MP_STATE_PORT(fs_user_mount), 0, sizeof(MP_STATE_PORT(fs_user_mount)));
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// Initialise low-level sub-systems. Here we need to very basic things like
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// zeroing out memory and resetting any of the sub-systems. Following this
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// we can run Python scripts (eg main.py).
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readline_init0();
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pin_init0();
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extint_init0();
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timer_init0();
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can_init0();
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rng_init0();
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i2c_init0();
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spi_init0();
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uart_init0();
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dac_init();
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pyb_usb_init0();
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sensor_init0();
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fb_alloc_init0();
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file_buffer_init0();
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py_lcd_init0();
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py_fir_init0();
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#if MICROPY_HW_ENABLE_RTC
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if (first_soft_reset) {
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rtc_init();
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}
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#endif
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// Initialize the sensor and check the result after
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// mounting the file-system to log errors (if any).
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if (first_soft_reset) {
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sensor_init_ret = sensor_init();
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}
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servo_init();
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usbdbg_init();
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mod_network_init();
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// Remove the BASEPRI masking (if any)
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irq_set_base_priority(0);
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// Initialize storage
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if (sdcard_is_present()) {
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sdcard_init();
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// init the vfs object
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vfs->str = "1:";
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vfs->len = 2;
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vfs->flags = 0;
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sdcard_init_vfs(vfs);
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// put the sdcard device in slot 1 (it will be unused at this point)
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MP_STATE_PORT(fs_user_mount)[1] = vfs;
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// try to mount the flash
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FRESULT res = f_mount(&vfs->fatfs, vfs->str, 1);
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if (res != FR_OK) {
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__fatal_error("could not mount SD\n");
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}
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// Set CWD and USB medium to SD
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f_chdrive("1:");
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pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_SDCARD;
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} else {
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storage_init();
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// init the vfs object
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vfs->str = "0:";
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vfs->len = 2;
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vfs->flags = 0;
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pyb_flash_init_vfs(vfs);
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// put the flash device in slot 0 (it will be unused at this point)
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MP_STATE_PORT(fs_user_mount)[0] = vfs;
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// try to mount the flash
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FRESULT res = f_mount(&vfs->fatfs, vfs->str, 1);
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if (res == FR_NO_FILESYSTEM) {
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// create a fresh fs
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make_flash_fs();
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} else if (res != FR_OK) {
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__fatal_error("could not access LFS\n");
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}
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// Set CWD and USB medium to flash
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f_chdrive("0:");
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pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_FLASH;
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}
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// turn boot-up LEDs off
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led_state(LED_RED, 0);
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led_state(LED_GREEN, 0);
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led_state(LED_BLUE, 0);
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// init USB device to default setting if it was not already configured
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if (!(pyb_usb_flags & PYB_USB_FLAG_USB_MODE_CALLED)) {
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pyb_usb_dev_init(USBD_VID, USBD_PID_CDC_MSC, USBD_MODE_CDC_MSC, NULL);
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}
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// check sensor init result
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if (first_soft_reset && sensor_init_ret != 0) {
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char buf[512];
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snprintf(buf, sizeof(buf), "Failed to init sensor, error:%d", sensor_init_ret);
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__fatal_error(buf);
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}
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// Run self tests the first time only
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f_res = f_stat("selftest.py", NULL);
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if (first_soft_reset && f_res == FR_OK) {
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nlr_buf_t nlr;
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if (nlr_push(&nlr) == 0) {
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// Parse, compile and execute the self-tests script.
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pyexec_file("selftest.py");
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nlr_pop();
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} else {
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// Get the exception message. TODO: might be a hack.
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mp_obj_str_t *str = mp_obj_exception_get_value((mp_obj_t)nlr.ret_val);
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// If any of the self-tests fail log the exception message
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// and loop forever. Note: IDE exceptions will not be caught.
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__fatal_error((const char*) str->data);
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}
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// Success: remove self tests script and flush cache
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f_unlink("selftest.py");
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storage_flush();
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// Set flag for SWD debugger (main.py does not use the frame buffer).
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MAIN_FB()->bpp = 0xDEADBEEF;
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}
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// Run the main script from the current directory.
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f_res = f_stat("main.py", NULL);
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if (first_soft_reset && f_res == FR_OK) {
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nlr_buf_t nlr;
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if (nlr_push(&nlr) == 0) {
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// Enable IDE interrupt
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usbdbg_set_irq_enabled(true);
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// Allow the IDE to interrupt main.py
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usbdbg_set_script_running(true);
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// Parse, compile and execute the main script.
|
|
pyexec_file("main.py");
|
|
nlr_pop();
|
|
} else {
|
|
// Disable IDE interrupt and clear script running
|
|
usbdbg_set_irq_enabled(false);
|
|
usbdbg_set_script_running(false);
|
|
|
|
mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);
|
|
if (nlr_push(&nlr) == 0) {
|
|
flash_error(3);
|
|
nlr_pop();
|
|
}// if this gets interrupted again ignore it.
|
|
}
|
|
}
|
|
|
|
// Disable IDE interrupt and clear script running
|
|
usbdbg_set_irq_enabled(false);
|
|
usbdbg_set_script_running(false);
|
|
|
|
// 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
|
|
pyexec_friendly_repl();
|
|
|
|
nlr_pop();
|
|
}
|
|
}
|
|
|
|
if (usbdbg_script_ready()) {
|
|
nlr_buf_t nlr;
|
|
|
|
// execute the script
|
|
if (nlr_push(&nlr) == 0) {
|
|
// enable IDE interrupt
|
|
usbdbg_set_irq_enabled(true);
|
|
|
|
pyexec_str(usbdbg_get_script());
|
|
nlr_pop();
|
|
} else {
|
|
mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);
|
|
}
|
|
}
|
|
|
|
// Disable all other IRQs except Systick and Flash IRQs
|
|
// Note: FS IRQ is disable, since we're going for a soft-reset.
|
|
irq_set_base_priority(IRQ_PRI_FLASH+1);
|
|
|
|
// soft reset
|
|
storage_flush();
|
|
timer_deinit();
|
|
uart_deinit();
|
|
can_deinit();
|
|
|
|
first_soft_reset = false;
|
|
goto soft_reset;
|
|
|
|
}
|