static mp_obj_t pyb_switch(uint n_args, mp_obj_t *args) {
if (n_args == 0) {
return switch_get() ? mp_const_true : mp_const_false;
}
switch_user_callback_obj = args[0];
return mp_const_none;
}
static void ensure_uncurved(struct trainsrv_state *state, int sw) {
struct switch_state switches = \
switch_historical_get_current(&state->switch_history);
if (switch_get(&switches, sw) == CURVED) {
tc_switch_switch(sw, STRAIGHT);
tc_deactivate_switch();
update_switch(state, sw, STRAIGHT);
}
}
int Cube::sum_of_face(char face) {
int n, v, sum = 0;
int *handle = switch_get(face);
switch(face) {
case 'f':
case 'b':
n = 0;
v = 2;
break;
case 'r':
case 'l':
n = 1;
v = 2;
break;
case 't':
case 'd':
n = 2;
v = 1;
break;
}
for (int i = 0; i < 4; ++i) {
if (cubie_to_orien(handle[i]) == n) {
sum += 0;
} else if (i % 2 == 0) {
if(cubie_to_orien(handle[i]) == v) {
sum += 1;
} else {
sum += 2;
}
} else if (i % 2 != 0) {
if(cubie_to_orien(handle[i]) == v) {
sum += 2;
} else {
sum += 1;
}
}
}
delete[] handle;
return sum;
}
void Cube::hundred(char face) {
int* before;
int after[8];
std::string str = "|";
before = switch_get(face);
// corners
after[0] = before[2];
after[1] = before[3];
after[2] = before[0];
after[3] = before[1];
// edges
after[4] = before[6];
after[5] = before[7];
after[6] = before[4];
after[7] = before[5];
switch_set(face, after);
last = str_to_last(face + str);
delete[] before;
}
void Cube::counter(char face) {
int* before;
int after[8];
std::string str = "+";
before = switch_get(face);
// corners
after[0] = rotate_cubie(before[1], face);
after[1] = rotate_cubie(before[2], face);
after[2] = rotate_cubie(before[3], face);
after[3] = rotate_cubie(before[0], face);
// edges
after[4] = rotate_cubie(before[5], face);
after[5] = rotate_cubie(before[6], face);
after[6] = rotate_cubie(before[7], face);
after[7] = rotate_cubie(before[4], face);
switch_set(face, after);
last = str_to_last(face + str);
delete[] before;
}
mp_obj_t pyb_switch_value(mp_obj_t self_in) {
(void)self_in;
return mp_obj_new_bool(switch_get());
}
/// \method \call()
/// Return the switch state: `True` if pressed down, `False` otherwise.
mp_obj_t pyb_switch_call(mp_obj_t self_in, size_t n_args, size_t n_kw, const mp_obj_t *args) {
// get switch state
mp_arg_check_num(n_args, n_kw, 0, 0, false);
return switch_get() ? mp_const_true : mp_const_false;
}
void menu(void)
{
strcpy_P(_mes_menu,_mes_menu_select_top_0);
lcd_put_data(0,_mes_menu);
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[MENU_DEFAULT]);
lcd_put_data(1,_mes_menu);
sw_reset_disable();
switch_state switch_state_p0;
switch_state_clear(&switch_state_p0);
switch_state switch_state_p1;
switch_state_clear(&switch_state_p1);
for(;;)
{
if(_exit_flag!=0)
{
strcpy_P(_mes_menu,_mes_menu_select_top_0);
lcd_put_data(0,_mes_menu);
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[MENU_DEFAULT]);
lcd_put_data(1,_mes_menu);
_exit_flag = 0;
}
switch_get(SWITCH_CONT_P0,&switch_state_p0);
if((switch_state_p0.switch_a==1)&&(switch_state_p0.switch_prev_a==0))
{
menu_exec(menu_mode);
}
else if((switch_state_p0.switch_b==1)&&(switch_state_p0.switch_prev_b==0))
{
}
if((switch_state_p0.switch_u==1)&&(switch_state_p0.switch_prev_u==0))
{
if(menu_mode==MENU_DEMO)
{
menu_mode=MENU_TETRIS;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_SOUND)
{
menu_mode=MENU_DEMO;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_OTHERO)
{
menu_mode=MENU_SOUND;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_TETRIS)
{
menu_mode=MENU_OTHERO;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
}
else if((switch_state_p0.switch_d==1)&&(switch_state_p0.switch_prev_d==0))
{
if(menu_mode==MENU_DEMO)
{
menu_mode=MENU_SOUND;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_SOUND)
{
menu_mode=MENU_OTHERO;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_OTHERO){
menu_mode=MENU_TETRIS;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_TETRIS){
menu_mode=MENU_DEMO;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
}
else if((switch_state_p0.switch_l==1)&&(switch_state_p0.switch_prev_l==0))
{
}
else if((switch_state_p0.switch_r==1)&&(switch_state_p0.switch_prev_r==0))
{
}
switch_get(SWITCH_CONT_P1,&switch_state_p1);
if((switch_state_p1.switch_a==1)&&(switch_state_p1.switch_prev_a==0))
{
menu_exec(menu_mode);
}
else if((switch_state_p1.switch_b==1)&&(switch_state_p1.switch_prev_b==0))
{
}
if((switch_state_p1.switch_u==1)&&(switch_state_p1.switch_prev_u==0))
{
if(menu_mode==MENU_DEMO)
{
menu_mode=MENU_TETRIS;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_SOUND)
{
menu_mode=MENU_DEMO;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_OTHERO){
menu_mode=MENU_SOUND;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_TETRIS){
menu_mode=MENU_OTHERO;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
}
else if((switch_state_p1.switch_d==1)&&(switch_state_p1.switch_prev_d==0))
{
if(menu_mode==MENU_DEMO)
{
menu_mode=MENU_SOUND;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_SOUND)
{
menu_mode=MENU_OTHERO;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_OTHERO)
{
menu_mode=MENU_TETRIS;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
else if(menu_mode==MENU_TETRIS)
{
menu_mode=MENU_DEMO;
strcpy_P(_mes_menu,_mes_menu_select_app_list_1[menu_mode]);
lcd_put_data(1,_mes_menu);
}
}
else if((switch_state_p1.switch_l==1)&&(switch_state_p1.switch_prev_l==0))
{
}
else if((switch_state_p1.switch_r==1)&&(switch_state_p1.switch_prev_r==0))
{
}
}
}
mp_obj_t pyb_switch_value(mp_obj_t self_in) {
pyb_switch_obj_t *self = self_in;
return switch_get(SWITCH_ID(self)) ? mp_const_true : mp_const_false;
}
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 | RCC_AHB1ENR_GPIODEN;
#if MICROPY_HW_HAS_SDCARD
{
// configure SDIO pins to be high to start with (apparently makes it more robust)
// FIXME this is not making them high, it just makes them outputs...
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);
}
#endif
#if defined(NETDUINO_PLUS_2)
{
GPIO_InitTypeDef GPIO_InitStructure;
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;
#if MICROPY_HW_HAS_SDCARD
// Turn on the power enable for the sdcard (PB1)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_1, Bit_SET);
#endif
// Turn on the power for the 5V on the expansion header (PB2)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_2, Bit_SET);
}
#endif
// basic sub-system init
sys_tick_init();
pendsv_init();
led_init();
#if MICROPY_HW_ENABLE_RTC
rtc_init();
#endif
// turn on LED to indicate bootup
led_state(PYB_LED_G1, 1);
// more sub-system init
#if MICROPY_HW_HAS_SDCARD
sdcard_init();
#endif
storage_init();
// uncomment these 2 lines if you want REPL on USART_6 (or another usart) as well as on USB VCP
//pyb_usart_global_debug = PYB_USART_YA;
//usart_init(pyb_usart_global_debug, 115200);
int first_soft_reset = true;
soft_reset:
// GC init
gc_init(&_heap_start, &_heap_end);
// Micro Python init
qstr_init();
mp_init();
mp_obj_list_init(mp_sys_path, 0);
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib));
mp_obj_list_init(mp_sys_argv, 0);
exti_init();
#if MICROPY_HW_HAS_SWITCH
switch_init();
#endif
#if MICROPY_HW_HAS_LCD
// LCD init (just creates class, init hardware by calling LCD())
lcd_init();
#endif
#if MICROPY_HW_ENABLE_SERVO
// servo
servo_init();
#endif
#if MICROPY_HW_ENABLE_TIMER
// timer
timer_init();
#endif
#if MICROPY_HW_ENABLE_RNG
// RNG
RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_RNG, ENABLE);
RNG_Cmd(ENABLE);
#endif
pin_map_init();
// add some functions to the builtin Python namespace
mp_store_name(MP_QSTR_help, mp_make_function_n(0, pyb_help));
mp_store_name(MP_QSTR_open, mp_make_function_n(2, pyb_io_open));
// load the pyb module
mp_module_register(MP_QSTR_pyb, (mp_obj_t)&pyb_module);
// check if user switch held (initiates reset of filesystem)
bool reset_filesystem = false;
#if MICROPY_HW_HAS_SWITCH
if (switch_get()) {
reset_filesystem = true;
for (int i = 0; i < 50; i++) {
if (!switch_get()) {
reset_filesystem = false;
break;
}
sys_tick_delay_ms(10);
}
}
#endif
// 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 (!pyexec_file("0:/boot.py")) {
flash_error(4);
}
if (first_soft_reset) {
#if MICROPY_HW_HAS_MMA7660
// MMA accel: init and reset address to zero
accel_init();
#endif
}
// turn boot-up LED off
led_state(PYB_LED_G1, 0);
#if MICROPY_HW_HAS_SDCARD
// if an SD card is present then mount it on 1:/
if (sdcard_is_present()) {
FRESULT res = f_mount(&fatfs1, "1:", 1);
if (res != FR_OK) {
printf("[SD] could not mount SD card\n");
} else {
if (first_soft_reset) {
// use SD card as medium for the USB MSD
usbd_storage_select_medium(USBD_STORAGE_MEDIUM_SDCARD);
}
}
}
#endif
#ifdef USE_HOST_MODE
// USB host
pyb_usb_host_init();
#elif defined(USE_DEVICE_MODE)
// USB device
pyb_usb_dev_init(PYB_USB_DEV_VCP_MSC);
#endif
// run main script
{
vstr_t *vstr = vstr_new();
vstr_add_str(vstr, "0:/");
if (pyb_config_source_dir == MP_OBJ_NULL) {
vstr_add_str(vstr, "src");
} else {
vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_source_dir));
}
vstr_add_char(vstr, '/');
if (pyb_config_main == MP_OBJ_NULL) {
vstr_add_str(vstr, "main.py");
} else {
vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
}
if (!pyexec_file(vstr_str(vstr))) {
flash_error(3);
}
vstr_free(vstr);
}
#if MICROPY_HW_HAS_MMA7660
// HID example
if (0) {
uint8_t data[4];
data[0] = 0;
data[1] = 1;
data[2] = -2;
data[3] = 0;
for (;;) {
#if MICROPY_HW_HAS_SWITCH
if (switch_get()) {
data[0] = 0x01; // 0x04 is middle, 0x02 is right
} else {
data[0] = 0x00;
}
#else
data[0] = 0x00;
#endif
accel_start(0x4c /* ACCEL_ADDR */, 1);
accel_send_byte(0);
accel_restart(0x4c /* ACCEL_ADDR */, 0);
for (int i = 0; i <= 1; i++) {
int v = accel_read_ack() & 0x3f;
if (v & 0x20) {
v |= ~0x1f;
}
data[1 + i] = v;
}
accel_read_nack();
usb_hid_send_report(data);
sys_tick_delay_ms(15);
}
}
#endif
#if MICROPY_HW_HAS_WLAN
// wifi
pyb_wlan_init();
pyb_wlan_start();
#endif
pyexec_repl();
printf("PYB: sync filesystems\n");
storage_flush();
printf("PYB: soft reboot\n");
first_soft_reset = false;
goto soft_reset;
}
int main(void) {
// TODO disable JTAG
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
// set the system clock to be HSE
SystemClock_Config();
// enable GPIO clocks
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
__GPIOD_CLK_ENABLE();
// enable the CCM RAM
__CCMDATARAMEN_CLK_ENABLE();
#if 0
#if defined(NETDUINO_PLUS_2)
{
GPIO_InitTypeDef GPIO_InitStructure;
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;
#if MICROPY_HW_HAS_SDCARD
// Turn on the power enable for the sdcard (PB1)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_1, Bit_SET);
#endif
// Turn on the power for the 5V on the expansion header (PB2)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_2, Bit_SET);
}
#endif
#endif
// basic sub-system init
pendsv_init();
timer_tim3_init();
led_init();
switch_init0();
int first_soft_reset = true;
soft_reset:
// check if user switch held to select the reset mode
led_state(1, 0);
led_state(2, 1);
led_state(3, 0);
led_state(4, 0);
uint reset_mode = 1;
#if MICROPY_HW_HAS_SWITCH
if (switch_get()) {
for (uint i = 0; i < 3000; i++) {
if (!switch_get()) {
break;
}
HAL_Delay(20);
if (i % 30 == 29) {
if (++reset_mode > 3) {
reset_mode = 1;
}
led_state(2, reset_mode & 1);
led_state(3, reset_mode & 2);
led_state(4, reset_mode & 4);
}
}
// flash the selected reset mode
for (uint i = 0; i < 6; i++) {
led_state(2, 0);
led_state(3, 0);
led_state(4, 0);
HAL_Delay(50);
led_state(2, reset_mode & 1);
led_state(3, reset_mode & 2);
led_state(4, reset_mode & 4);
HAL_Delay(50);
}
HAL_Delay(400);
}
#endif
#if MICROPY_HW_ENABLE_RTC
if (first_soft_reset) {
rtc_init();
}
#endif
// more sub-system init
#if MICROPY_HW_HAS_SDCARD
if (first_soft_reset) {
sdcard_init();
}
#endif
if (first_soft_reset) {
storage_init();
}
// GC init
gc_init(&_heap_start, &_heap_end);
// Change #if 0 to #if 1 if you want REPL on USART_6 (or another usart)
// as well as on USB VCP
#if 0
pyb_usart_global_debug = pyb_Usart(MP_OBJ_NEW_SMALL_INT(PYB_USART_YA),
MP_OBJ_NEW_SMALL_INT(115200));
#else
pyb_usart_global_debug = NULL;
#endif
// Micro Python init
qstr_init();
mp_init();
mp_obj_list_init(mp_sys_path, 0);
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib));
mp_obj_list_init(mp_sys_argv, 0);
readline_init();
exti_init();
#if MICROPY_HW_HAS_SWITCH
// must come after exti_init
switch_init();
#endif
#if MICROPY_HW_HAS_LCD
// LCD init (just creates class, init hardware by calling LCD())
lcd_init();
#endif
pin_map_init();
// local filesystem init
{
// try to mount the flash
FRESULT res = f_mount(&fatfs0, "0:", 1);
if (reset_mode == 3 || res == FR_NO_FILESYSTEM) {
// no filesystem, or asked to reset it, so create a fresh one
// LED on to indicate creation of LFS
led_state(PYB_LED_R2, 1);
uint32_t start_tick = HAL_GetTick();
res = f_mkfs("0:", 0, 0);
if (res == FR_OK) {
// success creating fresh LFS
} else {
__fatal_error("could not create LFS");
}
// create empty 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);
// create .inf driver file
f_open(&fp, "0:/pybcdc.inf", FA_WRITE | FA_CREATE_ALWAYS);
f_write(&fp, fresh_pybcdc_inf, sizeof(fresh_pybcdc_inf) - 1 /* don't count null terminator */, &n);
f_close(&fp);
// keep LED on for at least 200ms
sys_tick_wait_at_least(start_tick, 200);
led_state(PYB_LED_R2, 0);
} else if (res == FR_OK) {
// mount sucessful
} else {
__fatal_error("could not access LFS");
}
}
// make sure we have a 0:/boot.py
{
FILINFO fno;
#if _USE_LFN
fno.lfname = NULL;
fno.lfsize = 0;
#endif
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 start_tick = HAL_GetTick();
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(start_tick, 200);
led_state(PYB_LED_R2, 0);
}
}
// root device defaults to internal flash filesystem
uint root_device = 0;
#if defined(USE_DEVICE_MODE)
usb_storage_medium_t usb_medium = USB_STORAGE_MEDIUM_FLASH;
#endif
#if MICROPY_HW_HAS_SDCARD
// if an SD card is present then mount it on 1:/
if (reset_mode == 1 && sdcard_is_present()) {
FRESULT res = f_mount(&fatfs1, "1:", 1);
if (res != FR_OK) {
printf("[SD] could not mount SD card\n");
} else {
// use SD card as root device
root_device = 1;
if (first_soft_reset) {
// use SD card as medium for the USB MSD
#if defined(USE_DEVICE_MODE)
usb_medium = USB_STORAGE_MEDIUM_SDCARD;
#endif
}
}
}
#else
// Get rid of compiler warning if no SDCARD is configured.
(void)first_soft_reset;
#endif
// run <root>:/boot.py, if it exists
if (reset_mode == 1) {
const char *boot_file;
if (root_device == 0) {
boot_file = "0:/boot.py";
} else {
boot_file = "1:/boot.py";
}
FRESULT res = f_stat(boot_file, NULL);
if (res == FR_OK) {
if (!pyexec_file(boot_file)) {
flash_error(4);
}
}
}
// turn boot-up LEDs off
led_state(2, 0);
led_state(3, 0);
led_state(4, 0);
#if defined(USE_HOST_MODE)
// USB host
pyb_usb_host_init();
#elif defined(USE_DEVICE_MODE)
// USB device
if (reset_mode == 1) {
usb_device_mode_t usb_mode = USB_DEVICE_MODE_CDC_MSC;
if (pyb_config_usb_mode != MP_OBJ_NULL) {
if (strcmp(mp_obj_str_get_str(pyb_config_usb_mode), "CDC+HID") == 0) {
usb_mode = USB_DEVICE_MODE_CDC_HID;
}
}
pyb_usb_dev_init(usb_mode, usb_medium);
} else {
pyb_usb_dev_init(USB_DEVICE_MODE_CDC_MSC, usb_medium);
}
#endif
#if MICROPY_HW_ENABLE_RNG
// RNG
rng_init();
#endif
#if MICROPY_HW_ENABLE_TIMER
// timer
//timer_init();
#endif
// I2C
i2c_init();
#if MICROPY_HW_HAS_MMA7660
// MMA accel: init and reset
accel_init();
#endif
#if MICROPY_HW_ENABLE_SERVO
// servo
servo_init();
#endif
#if MICROPY_HW_ENABLE_DAC
// DAC
dac_init();
#endif
// now that everything is initialised, run main script
if (reset_mode == 1 && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
vstr_t *vstr = vstr_new();
vstr_printf(vstr, "%d:/", root_device);
if (pyb_config_main == MP_OBJ_NULL) {
vstr_add_str(vstr, "main.py");
} else {
vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
}
FRESULT res = f_stat(vstr_str(vstr), NULL);
if (res == FR_OK) {
if (!pyexec_file(vstr_str(vstr))) {
flash_error(3);
}
}
vstr_free(vstr);
}
#if 0
#if MICROPY_HW_HAS_WLAN
// wifi
pyb_wlan_init();
pyb_wlan_start();
#endif
#endif
// enter REPL
// REPL mode can change, or it can request a soft reset
for (;;) {
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
if (pyexec_raw_repl() != 0) {
break;
}
} else {
if (pyexec_friendly_repl() != 0) {
break;
}
}
}
printf("PYB: sync filesystems\n");
storage_flush();
printf("PYB: soft reboot\n");
first_soft_reset = false;
goto soft_reset;
}
int main(void) {
// TODO disable JTAG
// Stack limit should be less than real stack size, so we have a chance
// to recover from limit hit. (Limit is measured in bytes.)
mp_stack_set_limit((char*)&_ram_end - (char*)&_heap_end - 1024);
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
// set the system clock to be HSE
SystemClock_Config();
// enable GPIO clocks
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
__GPIOD_CLK_ENABLE();
// enable the CCM RAM
__CCMDATARAMEN_CLK_ENABLE();
#if 0
#if defined(NETDUINO_PLUS_2)
{
GPIO_InitTypeDef GPIO_InitStructure;
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;
#if MICROPY_HW_HAS_SDCARD
// Turn on the power enable for the sdcard (PB1)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_1, Bit_SET);
#endif
// Turn on the power for the 5V on the expansion header (PB2)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_2, Bit_SET);
}
#endif
#endif
// basic sub-system init
pendsv_init();
timer_tim3_init();
led_init();
#if MICROPY_HW_HAS_SWITCH
switch_init0();
#endif
int first_soft_reset = true;
soft_reset:
// check if user switch held to select the reset mode
led_state(1, 0);
led_state(2, 1);
led_state(3, 0);
led_state(4, 0);
uint reset_mode = 1;
#if MICROPY_HW_HAS_SWITCH
if (switch_get()) {
for (uint i = 0; i < 3000; i++) {
if (!switch_get()) {
break;
}
HAL_Delay(20);
if (i % 30 == 29) {
if (++reset_mode > 3) {
reset_mode = 1;
}
led_state(2, reset_mode & 1);
led_state(3, reset_mode & 2);
led_state(4, reset_mode & 4);
}
}
// flash the selected reset mode
for (uint i = 0; i < 6; i++) {
led_state(2, 0);
led_state(3, 0);
led_state(4, 0);
HAL_Delay(50);
led_state(2, reset_mode & 1);
led_state(3, reset_mode & 2);
led_state(4, reset_mode & 4);
HAL_Delay(50);
}
HAL_Delay(400);
}
#endif
#if MICROPY_HW_ENABLE_RTC
if (first_soft_reset) {
rtc_init();
}
#endif
// more sub-system init
#if MICROPY_HW_HAS_SDCARD
if (first_soft_reset) {
sdcard_init();
}
#endif
if (first_soft_reset) {
storage_init();
}
// GC init
gc_init(&_heap_start, &_heap_end);
// Micro Python init
mp_init();
mp_obj_list_init(mp_sys_path, 0);
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_)); // current dir (or base dir of the script)
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash_slash_lib));
mp_obj_list_init(mp_sys_argv, 0);
// Change #if 0 to #if 1 if you want REPL on UART_6 (or another uart)
// as well as on USB VCP
#if 0
{
mp_obj_t args[2] = {
MP_OBJ_NEW_SMALL_INT(PYB_UART_6),
MP_OBJ_NEW_SMALL_INT(115200),
};
pyb_stdio_uart = pyb_uart_type.make_new((mp_obj_t)&pyb_uart_type, MP_ARRAY_SIZE(args), 0, args);
}
#else
pyb_stdio_uart = NULL;
#endif
// Initialise low-level sub-systems. Here we need to very basic things like
// zeroing out memory and resetting any of the sub-systems. Following this
// we can run Python scripts (eg boot.py), but anything that is configurable
// by boot.py must be set after boot.py is run.
readline_init0();
pin_init0();
extint_init0();
timer_init0();
uart_init0();
#if MICROPY_HW_ENABLE_RNG
rng_init0();
#endif
i2c_init0();
spi_init0();
pyb_usb_init0();
// Initialise the local flash filesystem.
// Create it if needed, and mount in on /flash.
{
// try to mount the flash
FRESULT res = f_mount(&fatfs0, "/flash", 1);
if (reset_mode == 3 || res == FR_NO_FILESYSTEM) {
// no filesystem, or asked to reset it, so create a fresh one
// LED on to indicate creation of LFS
led_state(PYB_LED_R2, 1);
uint32_t start_tick = HAL_GetTick();
res = f_mkfs("/flash", 0, 0);
if (res == FR_OK) {
// success creating fresh LFS
} else {
__fatal_error("could not create LFS");
}
// set label
f_setlabel("/flash/pybflash");
// create empty main.py
FIL fp;
f_open(&fp, "/flash/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);
// create .inf driver file
f_open(&fp, "/flash/pybcdc.inf", FA_WRITE | FA_CREATE_ALWAYS);
f_write(&fp, fresh_pybcdc_inf, sizeof(fresh_pybcdc_inf) - 1 /* don't count null terminator */, &n);
f_close(&fp);
// create readme file
f_open(&fp, "/flash/README.txt", FA_WRITE | FA_CREATE_ALWAYS);
f_write(&fp, fresh_readme_txt, sizeof(fresh_readme_txt) - 1 /* don't count null terminator */, &n);
f_close(&fp);
// keep LED on for at least 200ms
sys_tick_wait_at_least(start_tick, 200);
led_state(PYB_LED_R2, 0);
} else if (res == FR_OK) {
// mount sucessful
} else {
__fatal_error("could not access LFS");
}
}
// The current directory is used as the boot up directory.
// It is set to the internal flash filesystem by default.
f_chdrive("/flash");
// Make sure we have a /flash/boot.py. Create it if needed.
{
FILINFO fno;
#if _USE_LFN
fno.lfname = NULL;
fno.lfsize = 0;
#endif
FRESULT res = f_stat("/flash/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 start_tick = HAL_GetTick();
FIL fp;
f_open(&fp, "/flash/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(start_tick, 200);
led_state(PYB_LED_R2, 0);
}
}
#if defined(USE_DEVICE_MODE)
usb_storage_medium_t usb_medium = USB_STORAGE_MEDIUM_FLASH;
#endif
#if MICROPY_HW_HAS_SDCARD
// if an SD card is present then mount it on /sd/
if (sdcard_is_present()) {
FRESULT res = f_mount(&fatfs1, "/sd", 1);
if (res != FR_OK) {
printf("[SD] could not mount SD card\n");
} else {
// use SD card as current directory
f_chdrive("/sd");
// TODO these should go before the /flash entries in the path
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_sd));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_sd_slash_lib));
if (first_soft_reset) {
// use SD card as medium for the USB MSD
#if defined(USE_DEVICE_MODE)
usb_medium = USB_STORAGE_MEDIUM_SDCARD;
#endif
}
}
}
#endif
// reset config variables; they should be set by boot.py
pyb_config_main = MP_OBJ_NULL;
pyb_config_usb_mode = MP_OBJ_NULL;
// run boot.py, if it exists
// TODO perhaps have pyb.reboot([bootpy]) function to soft-reboot and execute custom boot.py
if (reset_mode == 1) {
const char *boot_py = "boot.py";
FRESULT res = f_stat(boot_py, NULL);
if (res == FR_OK) {
int ret = pyexec_file(boot_py);
if (ret & PYEXEC_FORCED_EXIT) {
goto soft_reset_exit;
}
if (!ret) {
flash_error(4);
}
}
}
// turn boot-up LEDs off
led_state(2, 0);
led_state(3, 0);
led_state(4, 0);
// Now we initialise sub-systems that need configuration from boot.py,
// or whose initialisation can be safely deferred until after running
// boot.py.
#if defined(USE_HOST_MODE)
// USB host
pyb_usb_host_init();
#elif defined(USE_DEVICE_MODE)
// USB device
usb_device_mode_t usb_mode = USB_DEVICE_MODE_CDC_MSC;
// if we are not in reset_mode==1, this config variable will always be NULL
if (pyb_config_usb_mode != MP_OBJ_NULL) {
if (strcmp(mp_obj_str_get_str(pyb_config_usb_mode), "CDC+HID") == 0) {
usb_mode = USB_DEVICE_MODE_CDC_HID;
}
}
pyb_usb_dev_init(usb_mode, usb_medium);
#endif
#if MICROPY_HW_HAS_MMA7660
// MMA accel: init and reset
accel_init();
#endif
#if MICROPY_HW_ENABLE_SERVO
// servo
servo_init();
#endif
#if MICROPY_HW_ENABLE_DAC
// DAC
dac_init();
#endif
mod_network_init();
// At this point everything is fully configured and initialised.
// Run the main script from the current directory.
if (reset_mode == 1 && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
const char *main_py;
if (pyb_config_main == MP_OBJ_NULL) {
main_py = "main.py";
} else {
main_py = mp_obj_str_get_str(pyb_config_main);
}
FRESULT res = f_stat(main_py, NULL);
if (res == FR_OK) {
int ret = pyexec_file(main_py);
if (ret & PYEXEC_FORCED_EXIT) {
goto soft_reset_exit;
}
if (!ret) {
flash_error(3);
}
}
}
// Main script is finished, so now go into REPL mode.
// The REPL mode can change, or it can request a soft reset.
for (;;) {
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
if (pyexec_raw_repl() != 0) {
break;
}
} else {
if (pyexec_friendly_repl() != 0) {
break;
}
}
}
soft_reset_exit:
// soft reset
printf("PYB: sync filesystems\n");
storage_flush();
printf("PYB: soft reboot\n");
timer_deinit();
uart_deinit();
first_soft_reset = false;
goto soft_reset;
}
int main( void ){
led_init();
for(;;){
led_set( switch_get() );
}
}