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d99b05282d
micropython/stm/main.c
Damien d99b05282d Change object representation from 1 big union to individual structs. 
A big change.  Micro Python objects are allocated as individual structs
with the first element being a pointer to the type information (which
is itself an object).  This scheme follows CPython.  Much more flexible,
not necessarily slower, uses same heap memory, and can allocate objects
statically.

Also change name prefix, from py_ to mp_ (mp for Micro Python).
2013-12-21 18:17:45 +00:00

1288 lines
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#include <stdio.h>
#include <stm32f4xx.h>
#include <stm32f4xx_rcc.h>
#include <stm32f4xx_syscfg.h>
#include <stm32f4xx_gpio.h>
#include <stm32f4xx_exti.h>
#include <stm32f4xx_tim.h>
#include <stm32f4xx_pwr.h>
#include <stm32f4xx_rtc.h>
#include <stm32f4xx_usart.h>
#include <stm32f4xx_rng.h>
#include <stm_misc.h>
#include "std.h"
#include "misc.h"
#include "ff.h"
#include "mpconfig.h"
#include "nlr.h"
#include "misc.h"
#include "lexer.h"
#include "lexerstm.h"
#include "parse.h"
#include "compile.h"
#include "obj.h"
#include "runtime0.h"
#include "runtime.h"
#include "repl.h"
#include "gc.h"
#include "systick.h"
#include "led.h"
#include "servo.h"
#include "lcd.h"
#include "storage.h"
#include "mma.h"
#include "usart.h"
#include "usb.h"
#include "timer.h"
#include "audio.h"
#include "pybwlan.h"
int errno;
extern uint32_t _heap_start;
static FATFS fatfs0;
void flash_error(int n) {
for (int i = 0; i < n; i++) {
led_state(PYB_LED_R1, 1);
led_state(PYB_LED_R2, 0);
sys_tick_delay_ms(250);
led_state(PYB_LED_R1, 0);
led_state(PYB_LED_R2, 1);
sys_tick_delay_ms(250);
}
led_state(PYB_LED_R2, 0);
}
static void impl02_c_version(void) {
int x = 0;
while (x < 400) {
int y = 0;
while (y < 400) {
volatile int z = 0;
while (z < 400) {
z = z + 1;
}
y = y + 1;
}
x = x + 1;
}
}
#define PYB_USRSW_PORT (GPIOA)
#define PYB_USRSW_PIN (GPIO_Pin_13)
void sw_init(void) {
// make it an input with pull-up
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = PYB_USRSW_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(PYB_USRSW_PORT, &GPIO_InitStructure);
// the rest does the EXTI interrupt
/* Enable SYSCFG clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
/* Connect EXTI Line13 to PA13 pin */
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource13);
/* Configure EXTI Line13, rising edge */
EXTI_InitTypeDef EXTI_InitStructure;
EXTI_InitStructure.EXTI_Line = EXTI_Line13;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Enable and set EXTI15_10 Interrupt to the lowest priority */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
int sw_get(void) {
if (PYB_USRSW_PORT->IDR & PYB_USRSW_PIN) {
// pulled high, so switch is not pressed
return 0;
} else {
// pulled low, so switch is pressed
return 1;
}
}
void __fatal_error(const char *msg) {
lcd_print_strn("\nFATAL ERROR:\n", 14);
lcd_print_strn(msg, strlen(msg));
for (;;) {
flash_error(1);
}
}
static qstr pyb_config_source_dir = 0;
static qstr pyb_config_main = 0;
mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
pyb_config_source_dir = mp_obj_get_qstr(source_dir);
return mp_const_none;
}
mp_obj_t pyb_main(mp_obj_t main) {
pyb_config_main = mp_obj_get_qstr(main);
return mp_const_none;
}
// sync all file systems
mp_obj_t pyb_sync(void) {
storage_flush();
return mp_const_none;
}
mp_obj_t pyb_delay(mp_obj_t count) {
sys_tick_delay_ms(mp_obj_get_int(count));
return mp_const_none;
}
mp_obj_t pyb_led(mp_obj_t state) {
led_state(PYB_LED_G1, rt_is_true(state));
return state;
}
mp_obj_t pyb_sw(void) {
if (sw_get()) {
return mp_const_true;
} else {
return mp_const_false;
}
}
/*
void g(uint i) {
printf("g:%d\n", i);
if (i & 1) {
nlr_jump((void*)(42 + i));
}
}
void f(void) {
nlr_buf_t nlr;
int i;
for (i = 0; i < 4; i++) {
printf("f:loop:%d:%p\n", i, &nlr);
if (nlr_push(&nlr) == 0) {
// normal
//printf("a:%p:%p %p %p %u\n", &nlr, nlr.ip, nlr.sp, nlr.prev, nlr.ret_val);
g(i);
printf("f:lp:%d:nrm\n", i);
nlr_pop();
} else {
// nlr
//printf("b:%p:%p %p %p %u\n", &nlr, nlr.ip, nlr.sp, nlr.prev, nlr.ret_val);
printf("f:lp:%d:nlr:%d\n", i, (int)nlr.ret_val);
}
}
}
void nlr_test(void) {
f(1);
}
*/
void fatality(void) {
led_state(PYB_LED_R1, 1);
led_state(PYB_LED_G1, 1);
led_state(PYB_LED_R2, 1);
led_state(PYB_LED_G2, 1);
}
static const char fresh_boot_py[] =
"# boot.py -- run on boot-up\n"
"# can run arbitrary Python, but best to keep it minimal\n"
"\n"
"pyb.source_dir('/src')\n"
"pyb.main('main.py')\n"
"#pyb.usb_usr('VCP')\n"
"#pyb.usb_msd(True, 'dual partition')\n"
"#pyb.flush_cache(False)\n"
"#pyb.error_log('error.txt')\n"
;
static const char fresh_main_py[] =
"# main.py -- put your code here!\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.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"
;
// get some help about available functions
static mp_obj_t pyb_help(void) {
printf("%s", help_text);
return mp_const_none;
}
// get lots of info about the board
static mp_obj_t pyb_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("_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("_etext=%p\n", &_etext);
printf("_heap_start=%p\n", &_heap_start);
}
// GC info
{
gc_info_t info;
gc_info(&info);
printf("GC:\n");
printf(" %lu total\n", info.total);
printf(" %lu : %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;
}
// SD card test
static mp_obj_t pyb_sd_test(void) {
extern void sdio_init(void);
sdio_init();
return mp_const_none;
}
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 pyb_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 pyb_standby(void) {
PWR_EnterSTANDBYMode();
return mp_const_none;
}
mp_obj_t pyb_usart_send(mp_obj_t data) {
usart_tx_char(mp_obj_get_int(data));
return mp_const_none;
}
mp_obj_t pyb_usart_receive(void) {
return mp_obj_new_int(usart_rx_char());
}
mp_obj_t pyb_usart_status(void) {
if (usart_rx_any()) {
return mp_const_true;
} else {
return mp_const_false;
}
}
char *strdup(const char *str) {
uint32_t len = strlen(str);
char *s2 = m_new(char, len + 1);
memcpy(s2, str, len);
s2[len] = 0;
return s2;
}
#define READLINE_HIST_SIZE (8)
static const char *readline_hist[READLINE_HIST_SIZE] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
void stdout_tx_str(const char *str) {
usart_tx_str(str);
usb_vcp_send_str(str);
}
int readline(vstr_t *line, const char *prompt) {
stdout_tx_str(prompt);
int len = vstr_len(line);
int escape = 0;
int hist_num = 0;
for (;;) {
char c;
for (;;) {
if (usb_vcp_rx_any() != 0) {
c = usb_vcp_rx_get();
break;
} else if (usart_rx_any()) {
c = usart_rx_char();
break;
}
sys_tick_delay_ms(1);
if (storage_needs_flush()) {
storage_flush();
}
}
if (escape == 0) {
if (c == 4 && vstr_len(line) == len) {
return 0;
} else if (c == '\r') {
stdout_tx_str("\r\n");
for (int i = READLINE_HIST_SIZE - 1; i > 0; i--) {
readline_hist[i] = readline_hist[i - 1];
}
readline_hist[0] = strdup(vstr_str(line));
return 1;
} else if (c == 27) {
escape = true;
} else if (c == 127) {
if (vstr_len(line) > len) {
vstr_cut_tail(line, 1);
stdout_tx_str("\b \b");
}
} else if (32 <= c && c <= 126) {
vstr_add_char(line, c);
stdout_tx_str(line->buf + line->len - 1);
}
} else if (escape == 1) {
if (c == '[') {
escape = 2;
} else {
escape = 0;
}
} else if (escape == 2) {
escape = 0;
if (c == 'A') {
// up arrow
if (hist_num < READLINE_HIST_SIZE && readline_hist[hist_num] != NULL) {
// erase line
for (int i = line->len - len; i > 0; i--) {
stdout_tx_str("\b \b");
}
// set line to history
line->len = len;
vstr_add_str(line, readline_hist[hist_num]);
// draw line
stdout_tx_str(readline_hist[hist_num]);
// increase hist num
hist_num += 1;
}
}
} else {
escape = 0;
}
sys_tick_delay_ms(10);
}
}
void do_repl(void) {
stdout_tx_str("Micro Python 0.1; STM32F405RG; PYBv3\r\n");
stdout_tx_str("Type \"help()\" for more information.\r\n");
vstr_t line;
vstr_init(&line);
for (;;) {
vstr_reset(&line);
int ret = readline(&line, ">>> ");
if (ret == 0) {
// EOF
break;
}
if (vstr_len(&line) == 0) {
continue;
}
if (mp_repl_is_compound_stmt(vstr_str(&line))) {
for (;;) {
vstr_add_char(&line, '\n');
int len = vstr_len(&line);
int ret = readline(&line, "... ");
if (ret == 0 || vstr_len(&line) == len) {
// done entering compound statement
break;
}
}
}
mp_lexer_str_buf_t sb;
mp_lexer_t *lex = mp_lexer_new_from_str_len("<stdin>", vstr_str(&line), vstr_len(&line), false, &sb);
mp_parse_node_t pn = mp_parse(lex, MP_PARSE_SINGLE_INPUT);
mp_lexer_free(lex);
if (pn != MP_PARSE_NODE_NULL) {
bool comp_ok = mp_compile(pn, true);
if (comp_ok) {
mp_obj_t module_fun = rt_make_function_from_id(1);
if (module_fun != mp_const_none) {
nlr_buf_t nlr;
uint32_t start = sys_tick_counter;
if (nlr_push(&nlr) == 0) {
rt_call_function_0(module_fun);
nlr_pop();
// optional timing
if (0) {
uint32_t ticks = sys_tick_counter - start; // TODO implement a function that does this properly
printf("(took %lu ms)\n", ticks);
}
} else {
// uncaught exception
mp_obj_print((mp_obj_t)nlr.ret_val);
printf("\n");
}
}
}
}
}
stdout_tx_str("\r\n");
}
bool do_file(const char *filename) {
mp_lexer_file_buf_t fb;
mp_lexer_t *lex = mp_lexer_new_from_file(filename, &fb);
if (lex == NULL) {
printf("could not open file '%s' for reading\n", filename);
return false;
}
mp_parse_node_t pn = mp_parse(lex, MP_PARSE_FILE_INPUT);
mp_lexer_free(lex);
if (pn == MP_PARSE_NODE_NULL) {
return false;
}
bool comp_ok = mp_compile(pn, false);
if (!comp_ok) {
return false;
}
mp_obj_t module_fun = rt_make_function_from_id(1);
if (module_fun == mp_const_none) {
return false;
}
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
rt_call_function_0(module_fun);
nlr_pop();
return true;
} else {
// uncaught exception
mp_obj_print((mp_obj_t)nlr.ret_val);
printf("\n");
return false;
}
}
#define RAM_START (0x20000000) // fixed for chip
#define HEAP_END (0x2001c000) // tunable
#define RAM_END (0x20020000) // fixed for chip
void gc_helper_get_regs_and_clean_stack(machine_uint_t *regs, machine_uint_t heap_end);
void gc_collect(void) {
uint32_t start = sys_tick_counter;
gc_collect_start();
gc_collect_root((void**)RAM_START, (((uint32_t)&_heap_start) - RAM_START) / 4);
machine_uint_t regs[10];
gc_helper_get_regs_and_clean_stack(regs, HEAP_END);
gc_collect_root((void**)HEAP_END, (RAM_END - HEAP_END) / 4); // will trace regs since they now live in this function on the stack
gc_collect_end();
uint32_t ticks = sys_tick_counter - start; // TODO implement a function that does this properly
if (0) {
// print GC info
gc_info_t info;
gc_info(&info);
printf("GC@%lu %lums\n", start, ticks);
printf(" %lu total\n", info.total);
printf(" %lu : %lu\n", info.used, info.free);
printf(" 1=%lu 2=%lu m=%lu\n", info.num_1block, info.num_2block, info.max_block);
}
}
mp_obj_t pyb_gc(void) {
gc_collect();
return mp_const_none;
}
#define MMA_ADDR (0x4c)
int mma_buf[12];
mp_obj_t pyb_mma_read(void) {
for (int i = 0; i <= 6; i += 3) {
mma_buf[0 + i] = mma_buf[0 + i + 3];
mma_buf[1 + i] = mma_buf[1 + i + 3];
mma_buf[2 + i] = mma_buf[2 + i + 3];
}
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_restart(MMA_ADDR, 0);
for (int i = 0; i <= 2; i++) {
int v = mma_read_ack() & 0x3f;
if (v & 0x20) {
v |= ~0x1f;
}
mma_buf[9 + i] = v;
}
int jolt_info = mma_read_nack();
mp_obj_t data[4];
data[0] = mp_obj_new_int(jolt_info);
data[1] = mp_obj_new_int(mma_buf[2] + mma_buf[5] + mma_buf[8] + mma_buf[11]);
data[2] = mp_obj_new_int(mma_buf[1] + mma_buf[4] + mma_buf[7] + mma_buf[10]);
data[3] = mp_obj_new_int(mma_buf[0] + mma_buf[3] + mma_buf[6] + mma_buf[9]);
return rt_build_tuple(4, data); // items in reverse order in data
}
mp_obj_t pyb_hid_send_report(mp_obj_t arg) {
mp_obj_t *items = mp_obj_get_array_fixed_n(arg, 4);
uint8_t data[4];
data[0] = mp_obj_get_int(items[0]);
data[1] = mp_obj_get_int(items[1]);
data[2] = mp_obj_get_int(items[2]);
data[3] = mp_obj_get_int(items[3]);
usb_hid_send_report(data);
return mp_const_none;
}
static void rtc_init(void) {
/* Enable the PWR clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
/* Allow access to RTC */
PWR_BackupAccessCmd(ENABLE);
/* Enable the LSE OSC */
RCC_LSEConfig(RCC_LSE_ON);
/* Wait till LSE is ready */
while(RCC_GetFlagStatus(RCC_FLAG_LSERDY) == RESET) {
}
/* Select the RTC Clock Source */
RCC_RTCCLKConfig(RCC_RTCCLKSource_LSE);
/* ck_spre(1Hz) = RTCCLK(LSE) /(uwAsynchPrediv + 1)*(uwSynchPrediv + 1)*/
uint32_t uwSynchPrediv = 0xFF;
uint32_t uwAsynchPrediv = 0x7F;
/* Enable the RTC Clock */
RCC_RTCCLKCmd(ENABLE);
/* Wait for RTC APB registers synchronisation */
RTC_WaitForSynchro();
/* Configure the RTC data register and RTC prescaler */
RTC_InitTypeDef RTC_InitStructure;
RTC_InitStructure.RTC_AsynchPrediv = uwAsynchPrediv;
RTC_InitStructure.RTC_SynchPrediv = uwSynchPrediv;
RTC_InitStructure.RTC_HourFormat = RTC_HourFormat_24;
RTC_Init(&RTC_InitStructure);
// Set the date (BCD)
RTC_DateTypeDef RTC_DateStructure;
RTC_DateStructure.RTC_Year = 0x13;
RTC_DateStructure.RTC_Month = RTC_Month_October;
RTC_DateStructure.RTC_Date = 0x26;
RTC_DateStructure.RTC_WeekDay = RTC_Weekday_Saturday;
RTC_SetDate(RTC_Format_BCD, &RTC_DateStructure);
// Set the time (BCD)
RTC_TimeTypeDef RTC_TimeStructure;
RTC_TimeStructure.RTC_H12 = RTC_H12_AM;
RTC_TimeStructure.RTC_Hours = 0x01;
RTC_TimeStructure.RTC_Minutes = 0x53;
RTC_TimeStructure.RTC_Seconds = 0x00;
RTC_SetTime(RTC_Format_BCD, &RTC_TimeStructure);
// Indicator for the RTC configuration
//RTC_WriteBackupRegister(RTC_BKP_DR0, 0x32F2);
}
mp_obj_t pyb_rtc_read(void) {
RTC_TimeTypeDef RTC_TimeStructure;
RTC_GetTime(RTC_Format_BIN, &RTC_TimeStructure);
printf("%02d:%02d:%02d\n", RTC_TimeStructure.RTC_Hours, RTC_TimeStructure.RTC_Minutes, RTC_TimeStructure.RTC_Seconds);
return mp_const_none;
}
typedef struct _pyb_file_obj_t {
mp_obj_base_t base;
FIL fp;
} pyb_file_obj_t;
void file_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in) {
printf("<file %p>", self_in);
}
mp_obj_t file_obj_read(mp_obj_t self_in, mp_obj_t arg) {
pyb_file_obj_t *self = self_in;
int n = mp_obj_get_int(arg);
char *buf = m_new(char, n + 1);
UINT n_out;
f_read(&self->fp, buf, n, &n_out);
buf[n_out] = 0;
return mp_obj_new_str(qstr_from_str_take(buf));
}
mp_obj_t file_obj_write(mp_obj_t self_in, mp_obj_t arg) {
pyb_file_obj_t *self = self_in;
const char *s = qstr_str(mp_obj_get_qstr(arg));
UINT n_out;
FRESULT res = f_write(&self->fp, s, strlen(s), &n_out);
if (res != FR_OK) {
printf("File error: could not write to file; error code %d\n", res);
} else if (n_out != strlen(s)) {
printf("File error: could not write all data to file; wrote %d / %d bytes\n", n_out, strlen(s));
}
return mp_const_none;
}
mp_obj_t file_obj_close(mp_obj_t self_in) {
pyb_file_obj_t *self = self_in;
f_close(&self->fp);
return mp_const_none;
}
static MP_DEFINE_CONST_FUN_OBJ_2(file_obj_read_obj, file_obj_read);
static MP_DEFINE_CONST_FUN_OBJ_2(file_obj_write_obj, file_obj_write);
static MP_DEFINE_CONST_FUN_OBJ_1(file_obj_close_obj, file_obj_close);
// TODO gc hook to close the file if not already closed
static const mp_obj_type_t file_obj_type = {
{ &mp_const_type },
"File",
file_obj_print, // print
NULL, // call_n
NULL, // unary_op
NULL, // binary_op
NULL, // getiter
NULL, // iternext
{ // method list
{ "read", &file_obj_read_obj },
{ "write", &file_obj_write_obj },
{ "close", &file_obj_close_obj },
{NULL, NULL},
}
};
mp_obj_t pyb_io_open(mp_obj_t o_filename, mp_obj_t o_mode) {
const char *filename = qstr_str(mp_obj_get_qstr(o_filename));
const char *mode = qstr_str(mp_obj_get_qstr(o_mode));
pyb_file_obj_t *self = m_new_obj(pyb_file_obj_t);
self->base.type = &file_obj_type;
if (mode[0] == 'r') {
// open for reading
FRESULT res = f_open(&self->fp, filename, FA_READ);
if (res != FR_OK) {
printf("FileNotFoundError: [Errno 2] No such file or directory: '%s'\n", filename);
return mp_const_none;
}
} else if (mode[0] == 'w') {
// open for writing, truncate the file first
FRESULT res = f_open(&self->fp, filename, FA_WRITE | FA_CREATE_ALWAYS);
if (res != FR_OK) {
printf("?FileError: could not create file: '%s'\n", filename);
return mp_const_none;
}
} else {
printf("ValueError: invalid mode: '%s'\n", mode);
return mp_const_none;
}
return self;
}
mp_obj_t pyb_rng_get(void) {
return mp_obj_new_int(RNG_GetRandomNumber() >> 16);
}
int main(void) {
// TODO disable JTAG
// update the SystemCoreClock variable
SystemCoreClockUpdate();
// set interrupt priority config to use all 4 bits for pre-empting
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
// enable the CCM RAM and the GPIO's
RCC->AHB1ENR |= RCC_AHB1ENR_CCMDATARAMEN | RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN;
// configure SDIO pins to be high to start with (apparently makes it more robust)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOC, &GPIO_InitStructure);
// Configure PD.02 CMD line
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_Init(GPIOD, &GPIO_InitStructure);
}
// basic sub-system init
sys_tick_init();
led_init();
rtc_init();
// turn on LED to indicate bootup
led_state(PYB_LED_G1, 1);
// more sub-system init
sw_init();
storage_init();
//usart_init(); disabled while wi-fi is enabled
int first_soft_reset = true;
soft_reset:
// GC init
gc_init(&_heap_start, (void*)HEAP_END);
// Micro Python init
qstr_init();
rt_init();
// LCD init
//lcd_init(); disabled while servos on PA0 PA1
// servo
servo_init();
// audio
//audio_init();
// timer
timer_init();
// RNG
if (1) {
RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_RNG, ENABLE);
RNG_Cmd(ENABLE);
}
// add some functions to the python namespace
{
rt_store_name(qstr_from_str_static("help"), rt_make_function_0(pyb_help));
mp_obj_t m = mp_module_new();
rt_store_attr(m, qstr_from_str_static("info"), rt_make_function_0(pyb_info));
rt_store_attr(m, qstr_from_str_static("sd_test"), rt_make_function_0(pyb_sd_test));
rt_store_attr(m, qstr_from_str_static("stop"), rt_make_function_0(pyb_stop));
rt_store_attr(m, qstr_from_str_static("standby"), rt_make_function_0(pyb_standby));
rt_store_attr(m, qstr_from_str_static("source_dir"), rt_make_function_1(pyb_source_dir));
rt_store_attr(m, qstr_from_str_static("main"), rt_make_function_1(pyb_main));
rt_store_attr(m, qstr_from_str_static("sync"), rt_make_function_0(pyb_sync));
rt_store_attr(m, qstr_from_str_static("gc"), rt_make_function_0(pyb_gc));
rt_store_attr(m, qstr_from_str_static("delay"), rt_make_function_1(pyb_delay));
rt_store_attr(m, qstr_from_str_static("led"), rt_make_function_1(pyb_led));
rt_store_attr(m, qstr_from_str_static("switch"), rt_make_function_0(pyb_sw));
rt_store_attr(m, qstr_from_str_static("servo"), rt_make_function_2(pyb_servo_set));
rt_store_attr(m, qstr_from_str_static("pwm"), rt_make_function_2(pyb_pwm_set));
rt_store_attr(m, qstr_from_str_static("accel"), rt_make_function_0(pyb_mma_read));
rt_store_attr(m, qstr_from_str_static("hid"), rt_make_function_1(pyb_hid_send_report));
rt_store_attr(m, qstr_from_str_static("time"), rt_make_function_0(pyb_rtc_read));
rt_store_attr(m, qstr_from_str_static("uout"), rt_make_function_1(pyb_usart_send));
rt_store_attr(m, qstr_from_str_static("uin"), rt_make_function_0(pyb_usart_receive));
rt_store_attr(m, qstr_from_str_static("ustat"), rt_make_function_0(pyb_usart_status));
rt_store_attr(m, qstr_from_str_static("rand"), rt_make_function_0(pyb_rng_get));
rt_store_attr(m, qstr_from_str_static("Led"), rt_make_function_1(pyb_Led));
rt_store_attr(m, qstr_from_str_static("Servo"), rt_make_function_1(pyb_Servo));
rt_store_name(qstr_from_str_static("pyb"), m);
rt_store_name(qstr_from_str_static("open"), rt_make_function_2(pyb_io_open));
}
// print a message to the LCD
lcd_print_str(" micro py board\n");
// check if user switch held (initiates reset of filesystem)
bool reset_filesystem = false;
if (sw_get()) {
reset_filesystem = true;
for (int i = 0; i < 50; i++) {
if (!sw_get()) {
reset_filesystem = false;
break;
}
sys_tick_delay_ms(10);
}
}
// local filesystem init
{
// try to mount the flash
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
// TODO doesn't seem to work correctly when reset_filesystem is true...
// LED on to indicate creation of LFS
led_state(PYB_LED_R2, 1);
uint32_t stc = sys_tick_counter;
res = f_mkfs("0:", 0, 0);
if (res == FR_OK) {
// success creating fresh LFS
} else {
__fatal_error("could not create LFS");
}
// create src directory
res = f_mkdir("0:/src");
// ignore result from mkdir
// create empty main.py
FIL fp;
f_open(&fp, "0:/src/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);
// keep LED on for at least 200ms
sys_tick_wait_at_least(stc, 200);
led_state(PYB_LED_R2, 0);
} else {
__fatal_error("could not access LFS");
}
}
// make sure we have a /boot.py
{
FILINFO fno;
FRESULT res = f_stat("0:/boot.py", &fno);
if (res == FR_OK) {
if (fno.fattrib & AM_DIR) {
// exists as a directory
// TODO handle this case
// see http://elm-chan.org/fsw/ff/img/app2.c for a "rm -rf" implementation
} else {
// exists as a file, good!
}
} else {
// doesn't exist, create fresh file
// LED on to indicate creation of boot.py
led_state(PYB_LED_R2, 1);
uint32_t stc = sys_tick_counter;
FIL fp;
f_open(&fp, "0:/boot.py", FA_WRITE | FA_CREATE_ALWAYS);
UINT n;
f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n);
// TODO check we could write n bytes
f_close(&fp);
// keep LED on for at least 200ms
sys_tick_wait_at_least(stc, 200);
led_state(PYB_LED_R2, 0);
}
}
// run /boot.py
if (!do_file("0:/boot.py")) {
flash_error(4);
}
// USB
usb_init();
// MMA
if (first_soft_reset) {
// init and reset address to zero
mma_init();
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_stop();
/*
// read and print all 11 registers
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_restart(MMA_ADDR, 0);
for (int i = 0; i <= 0xa; i++) {
int data;
if (i == 0xa) {
data = mma_read_nack();
} else {
data = mma_read_ack();
}
printf(" %02x", data);
}
printf("\n");
*/
// put into active mode
mma_start(MMA_ADDR, 1);
mma_send_byte(7); // mode
mma_send_byte(1); // active mode
mma_stop();
/*
// infinite loop to read values
for (;;) {
sys_tick_delay_ms(500);
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_restart(MMA_ADDR, 0);
for (int i = 0; i <= 3; i++) {
int data;
if (i == 3) {
data = mma_read_nack();
printf(" %02x\n", data);
} else {
data = mma_read_ack() & 0x3f;
if (data & 0x20) {
data |= ~0x1f;
}
printf(" % 2d", data);
}
}
}
*/
}
// turn boot-up LED off
led_state(PYB_LED_G1, 0);
// run main script
{
vstr_t *vstr = vstr_new();
vstr_add_str(vstr, "0:/");
if (pyb_config_source_dir == 0) {
vstr_add_str(vstr, "src");
} else {
vstr_add_str(vstr, qstr_str(pyb_config_source_dir));
}
vstr_add_char(vstr, '/');
if (pyb_config_main == 0) {
vstr_add_str(vstr, "main.py");
} else {
vstr_add_str(vstr, qstr_str(pyb_config_main));
}
if (!do_file(vstr_str(vstr))) {
flash_error(3);
}
vstr_free(vstr);
}
//printf("init;al=%u\n", m_get_total_bytes_allocated()); // 1600, due to qstr_init
//sys_tick_delay_ms(1000);
// Python!
if (0) {
//const char *pysrc = "def f():\n x=x+1\nprint(42)\n";
const char *pysrc =
// impl01.py
/*
"x = 0\n"
"while x < 400:\n"
" y = 0\n"
" while y < 400:\n"
" z = 0\n"
" while z < 400:\n"
" z = z + 1\n"
" y = y + 1\n"
" x = x + 1\n";
*/
// impl02.py
/*
"#@micropython.native\n"
"def f():\n"
" x = 0\n"
" while x < 400:\n"
" y = 0\n"
" while y < 400:\n"
" z = 0\n"
" while z < 400:\n"
" z = z + 1\n"
" y = y + 1\n"
" x = x + 1\n"
"f()\n";
*/
/*
"print('in python!')\n"
"x = 0\n"
"while x < 4:\n"
" pyb_led(True)\n"
" pyb_delay(201)\n"
" pyb_led(False)\n"
" pyb_delay(201)\n"
" x += 1\n"
"print('press me!')\n"
"while True:\n"
" pyb_led(pyb_sw())\n";
*/
/*
// impl16.py
"@micropython.asm_thumb\n"
"def delay(r0):\n"
" b(loop_entry)\n"
" label(loop1)\n"
" movw(r1, 55999)\n"
" label(loop2)\n"
" subs(r1, r1, 1)\n"
" cmp(r1, 0)\n"
" bgt(loop2)\n"
" subs(r0, r0, 1)\n"
" label(loop_entry)\n"
" cmp(r0, 0)\n"
" bgt(loop1)\n"
"print('in python!')\n"
"@micropython.native\n"
"def flash(n):\n"
" x = 0\n"
" while x < n:\n"
" pyb_led(True)\n"
" delay(249)\n"
" pyb_led(False)\n"
" delay(249)\n"
" x = x + 1\n"
"flash(20)\n";
*/
// impl18.py
/*
"# basic exceptions\n"
"x = 1\n"
"try:\n"
" x.a()\n"
"except:\n"
" print(x)\n";
*/
// impl19.py
"# for loop\n"
"def f():\n"
" for x in range(400):\n"
" for y in range(400):\n"
" for z in range(400):\n"
" pass\n"
"f()\n";
mp_lexer_str_buf_t mp_lexer_str_buf;
mp_lexer_t *lex = mp_lexer_new_from_str_len("<stdin>", pysrc, strlen(pysrc), false, &mp_lexer_str_buf);
// nalloc=1740;6340;6836 -> 140;4600;496 bytes for lexer, parser, compiler
printf("lex; al=%u\n", m_get_total_bytes_allocated());
sys_tick_delay_ms(1000);
mp_parse_node_t pn = mp_parse(lex, MP_PARSE_FILE_INPUT);
mp_lexer_free(lex);
if (pn != MP_PARSE_NODE_NULL) {
printf("pars;al=%u\n", m_get_total_bytes_allocated());
sys_tick_delay_ms(1000);
//parse_node_show(pn, 0);
bool comp_ok = mp_compile(pn, false);
printf("comp;al=%u\n", m_get_total_bytes_allocated());
sys_tick_delay_ms(1000);
if (!comp_ok) {
printf("compile error\n");
} else {
// execute it!
mp_obj_t module_fun = rt_make_function_from_id(1);
// flash once
led_state(PYB_LED_G1, 1);
sys_tick_delay_ms(100);
led_state(PYB_LED_G1, 0);
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
mp_obj_t ret = rt_call_function_0(module_fun);
printf("done! got: ");
mp_obj_print(ret);
printf("\n");
nlr_pop();
} else {
// uncaught exception
printf("exception: ");
mp_obj_print((mp_obj_t)nlr.ret_val);
printf("\n");
}
// flash once
led_state(PYB_LED_G1, 1);
sys_tick_delay_ms(100);
led_state(PYB_LED_G1, 0);
sys_tick_delay_ms(1000);
printf("nalloc=%u\n", m_get_total_bytes_allocated());
sys_tick_delay_ms(1000);
}
}
}
// HID example
if (0) {
uint8_t data[4];
data[0] = 0;
data[1] = 1;
data[2] = -2;
data[3] = 0;
for (;;) {
if (sw_get()) {
data[0] = 0x01; // 0x04 is middle, 0x02 is right
} else {
data[0] = 0x00;
}
mma_start(MMA_ADDR, 1);
mma_send_byte(0);
mma_restart(MMA_ADDR, 0);
for (int i = 0; i <= 1; i++) {
int v = mma_read_ack() & 0x3f;
if (v & 0x20) {
v |= ~0x1f;
}
data[1 + i] = v;
}
mma_read_nack();
usb_hid_send_report(data);
sys_tick_delay_ms(15);
}
}
// wifi
//pyb_wlan_init();
//pyb_wlan_start();
do_repl();
// benchmark C version of impl02.py
if (0) {
led_state(PYB_LED_G1, 1);
sys_tick_delay_ms(100);
led_state(PYB_LED_G1, 0);
impl02_c_version();
led_state(PYB_LED_G1, 1);
sys_tick_delay_ms(100);
led_state(PYB_LED_G1, 0);
}
// SD card testing
if (0) {
extern void sdio_init(void);
sdio_init();
}
printf("PYB: sync filesystems\n");
pyb_sync();
printf("PYB: soft reboot\n");
first_soft_reset = false;
goto soft_reset;
}
double __aeabi_f2d(float x) {
// TODO
return 0.0;
}
float __aeabi_d2f(double x) {
// TODO
return 0.0;
}
double sqrt(double x) {
// TODO
return 0.0;
}
machine_float_t machine_sqrt(machine_float_t x) {
// TODO
return x;
}
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