STATIC void mp_reset(void) {
mp_stack_set_top((void*)0x40000000);
mp_stack_set_limit(8192);
mp_hal_init();
gc_init(heap, heap + sizeof(heap));
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_lib));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_));
mp_obj_list_init(mp_sys_argv, 0);
#if MICROPY_VFS_FAT
memset(MP_STATE_PORT(fs_user_mount), 0, sizeof(MP_STATE_PORT(fs_user_mount)));
#endif
MP_STATE_PORT(mp_kbd_exception) = mp_obj_new_exception(&mp_type_KeyboardInterrupt);
MP_STATE_PORT(term_obj) = MP_OBJ_NULL;
MP_STATE_PORT(dupterm_arr_obj) = MP_OBJ_NULL;
pin_init0();
readline_init0();
dupterm_task_init();
#if MICROPY_MODULE_FROZEN
pyexec_frozen_module("_boot.py");
pyexec_file("boot.py");
pyexec_file("main.py");
#endif
}
void mp_obj_exception_add_traceback(mp_obj_t self_in, qstr file, mp_uint_t line, qstr block) {
GET_NATIVE_EXCEPTION(self, self_in);
#if MICROPY_ENABLE_GC
if (gc_is_locked()) {
if (self->traceback == MP_OBJ_NULL) {
// We can't allocate any memory, and no memory has been
// pre-allocated, so there is nothing else we can do.
return;
}
mp_obj_list_t *list = self->traceback;
if (list->alloc <= (list->len + 3)) {
// There is some preallocated memory, but not enough to store an
// entire record.
return;
}
}
#endif
// for traceback, we are just using the list object for convenience, it's not really a list of Python objects
if (self->traceback == MP_OBJ_NULL) {
self->traceback = mp_obj_new_list(0, NULL);
}
mp_obj_list_append(self->traceback, (mp_obj_t)(mp_uint_t)file);
mp_obj_list_append(self->traceback, (mp_obj_t)(mp_uint_t)line);
mp_obj_list_append(self->traceback, (mp_obj_t)(mp_uint_t)block);
}
STATIC void mp_reset(void) {
mp_stack_set_top((void*)0x40000000);
mp_stack_set_limit(8192);
mp_hal_init();
gc_init(heap, heap + sizeof(heap));
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_slash_lib));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash));
mp_obj_list_init(mp_sys_argv, 0);
MP_STATE_PORT(term_obj) = MP_OBJ_NULL;
MP_STATE_PORT(dupterm_arr_obj) = MP_OBJ_NULL;
#if MICROPY_EMIT_XTENSA || MICROPY_EMIT_INLINE_XTENSA
extern void esp_native_code_init(void);
esp_native_code_init();
#endif
pin_init0();
readline_init0();
dupterm_task_init();
#if MICROPY_MODULE_FROZEN
pyexec_frozen_module("_boot.py");
pyexec_file("boot.py");
if (pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
pyexec_file("main.py");
}
#endif
}
void mp_obj_exception_add_traceback(mp_obj_t self_in, qstr file, machine_uint_t line, qstr block) {
GET_NATIVE_EXCEPTION(self, self_in);
// for traceback, we are just using the list object for convenience, it's not really a list of Python objects
if (self->traceback == MP_OBJ_NULL) {
self->traceback = mp_obj_new_list(0, NULL);
}
mp_obj_list_append(self->traceback, (mp_obj_t)(machine_uint_t)file);
mp_obj_list_append(self->traceback, (mp_obj_t)(machine_uint_t)line);
mp_obj_list_append(self->traceback, (mp_obj_t)(machine_uint_t)block);
}
STATIC void setup_sys(int argc, char **argv) {
mp_obj_list_init(mp_sys_path, 0);
for (int i = 0; i < sys_path_count; i++) {
mp_obj_list_append(mp_sys_path, mp_obj_new_str(sys_paths[i], (mp_uint_t) strlen(sys_paths[i]), true));
}
mp_obj_list_init(mp_sys_argv, 0);
for (int i = 0; i < argc; i++) {
mp_obj_list_append(mp_sys_argv, mp_obj_new_str(argv[i], strlen(argv[i]), true));
}
}
void mp_task(void *pvParameter) {
volatile uint32_t sp = (uint32_t)get_sp();
#if MICROPY_PY_THREAD
mp_thread_init(&mp_task_stack[0], MP_TASK_STACK_LEN);
#endif
uart_init();
soft_reset:
// initialise the stack pointer for the main thread
mp_stack_set_top((void *)sp);
mp_stack_set_limit(MP_TASK_STACK_SIZE - 1024);
gc_init(mp_task_heap, mp_task_heap + sizeof(mp_task_heap));
mp_init();
mp_obj_list_init(mp_sys_path, 0);
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_));
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_lib));
mp_obj_list_init(mp_sys_argv, 0);
readline_init0();
// initialise peripherals
machine_pins_init();
// run boot-up scripts
pyexec_frozen_module("_boot.py");
pyexec_file("boot.py");
if (pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
pyexec_file("main.py");
}
for (;;) {
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
if (pyexec_raw_repl() != 0) {
break;
}
} else {
if (pyexec_friendly_repl() != 0) {
break;
}
}
}
#if MICROPY_PY_THREAD
mp_thread_deinit();
#endif
mp_hal_stdout_tx_str("PYB: soft reboot\r\n");
// deinitialise peripherals
machine_pins_deinit();
mp_deinit();
fflush(stdout);
goto soft_reset;
}
void mp_obj_exception_add_traceback(mp_obj_t self_in, qstr file, machine_uint_t line, qstr block) {
// make sure self_in is an exception instance
// TODO add traceback information to user-defined exceptions (need proper builtin subclassing for that)
if (mp_obj_get_type(self_in)->make_new == mp_obj_exception_make_new && self_in != &mp_emergency_exception_obj) {
mp_obj_exception_t *self = self_in;
// for traceback, we are just using the list object for convenience, it's not really a list of Python objects
if (self->traceback == MP_OBJ_NULL) {
self->traceback = mp_obj_new_list(0, NULL);
}
mp_obj_list_append(self->traceback, (mp_obj_t)(machine_uint_t)file);
mp_obj_list_append(self->traceback, (mp_obj_t)(machine_uint_t)line);
mp_obj_list_append(self->traceback, (mp_obj_t)(machine_uint_t)block);
}
}
/// \method names()
/// Returns the cpu and board names for this pin.
STATIC mp_obj_t pin_names(mp_obj_t self_in) {
pin_obj_t *self = self_in;
mp_obj_t result = mp_obj_new_list(0, NULL);
mp_obj_list_append(result, MP_OBJ_NEW_QSTR(self->name));
mp_map_t *map = mp_obj_dict_get_map((mp_obj_t)&pin_board_pins_locals_dict);
mp_map_elem_t *elem = map->table;
for (mp_uint_t i = 0; i < map->used; i++, elem++) {
if (elem->value == self) {
mp_obj_list_append(result, elem->key);
}
}
return result;
}
static mp_obj_t list_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
// TODO check n_kw == 0
switch (n_args) {
case 0:
// return a new, empty list
return mp_obj_new_list(0, NULL);
case 1:
{
// make list from iterable
mp_obj_t iterable = rt_getiter(args[0]);
mp_obj_t list = mp_obj_new_list(0, NULL);
mp_obj_t item;
while ((item = rt_iternext(iterable)) != mp_const_stop_iteration) {
mp_obj_list_append(list, item);
}
return list;
}
default:
nlr_jump(mp_obj_new_exception_msg_1_arg(MP_QSTR_TypeError, "list takes at most 1 argument, %d given", (void*)(machine_int_t)n_args));
}
return NULL;
}
STATIC mp_obj_t list_insert(mp_obj_t self_in, mp_obj_t idx, mp_obj_t obj) {
assert(MP_OBJ_IS_TYPE(self_in, &mp_type_list));
mp_obj_list_t *self = self_in;
// insert has its own strange index logic
mp_int_t index = MP_OBJ_SMALL_INT_VALUE(idx);
mp_int_t i;
if (index < 0) {
index += self->len;
}
if (index < 0) {
index = 0;
}
if (index > self->len) {
index = self->len;
}
mp_obj_list_append(self_in, mp_const_none);
for (i = self->len-1; i > index; i--) {
self->items[i] = self->items[i-1];
}
self->items[index] = obj;
return mp_const_none;
}
STATIC mp_obj_t mp_builtin_dir(uint n_args, const mp_obj_t *args) {
// TODO make this function more general and less of a hack
mp_obj_dict_t *dict = NULL;
if (n_args == 0) {
// make a list of names in the local name space
dict = mp_locals_get();
} else { // n_args == 1
// make a list of names in the given object
if (MP_OBJ_IS_TYPE(args[0], &mp_type_module)) {
dict = mp_obj_module_get_globals(args[0]);
} else {
mp_obj_type_t *type;
if (MP_OBJ_IS_TYPE(args[0], &mp_type_type)) {
type = args[0];
} else {
type = mp_obj_get_type(args[0]);
}
if (type->locals_dict != MP_OBJ_NULL && MP_OBJ_IS_TYPE(type->locals_dict, &mp_type_dict)) {
dict = type->locals_dict;
}
}
}
mp_obj_t dir = mp_obj_new_list(0, NULL);
if (dict != NULL) {
for (uint i = 0; i < dict->map.alloc; i++) {
if (MP_MAP_SLOT_IS_FILLED(&dict->map, i)) {
mp_obj_list_append(dir, dict->map.table[i].key);
}
}
}
return dir;
}
/**
* Return a list of all files and folders in given path.
*
* def listdir(path)
*/
static mp_obj_t os_listdir(mp_uint_t n_args, const mp_obj_t *args_p)
{
struct fs_dir_t dir;
struct fs_dir_entry_t entry;
mp_obj_t entries;
mp_obj_t name;
const char *path_p;
if (n_args == 0) {
path_p = "";
} else {
path_p = mp_obj_str_get_str(args_p[0]);
}
if (fs_dir_open(&dir, path_p, O_READ) != 0) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_OSError,
"No such file or directory: '%s'",
path_p));
}
entries = mp_obj_new_list(0, NULL);
while (fs_dir_read(&dir, &entry) == 1) {
name = mp_obj_new_str(&entry.name[0], strlen(entry.name), false);
mp_obj_list_append(entries, name);
}
fs_dir_close(&dir);
return (entries);
}
STATIC void mp_help_add_from_map(mp_obj_t list, const mp_map_t *map) {
for (size_t i = 0; i < map->alloc; i++) {
if (MP_MAP_SLOT_IS_FILLED(map, i)) {
mp_obj_list_append(list, map->table[i].key);
}
}
}
STATIC mp_obj_t list_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
// TODO check n_kw == 0
switch (n_args) {
case 0:
// return a new, empty list
return mp_obj_new_list(0, NULL);
case 1:
{
// make list from iterable
mp_obj_t iterable = mp_getiter(args[0]);
mp_obj_t list = mp_obj_new_list(0, NULL);
mp_obj_t item;
while ((item = mp_iternext(iterable)) != MP_OBJ_NULL) {
mp_obj_list_append(list, item);
}
return list;
}
default:
nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "list takes at most 1 argument, %d given", n_args));
}
return NULL;
}
static mp_obj_t py_image_draw_keypoints(mp_obj_t image_obj, mp_obj_t kpts_obj)
{
image_t *image = NULL;
py_kp_obj_t *kpts=NULL;
/* get pointer */
image = py_image_cobj(image_obj);
kpts = (py_kp_obj_t*)kpts_obj;
/* sanity checks */
PY_ASSERT_TRUE_MSG(image->bpp == 1,
"This function is only supported on GRAYSCALE images");
PY_ASSERT_TYPE(kpts_obj, &py_kp_type);
color_t cl = {.r=0xFF, .g=0xFF, .b=0xFF};
for (int i=0; i<kpts->size; i++) {
kp_t *kp = &kpts->kpts[i];
float co = arm_cos_f32(kp->angle);
float si = arm_sin_f32(kp->angle);
imlib_draw_line(image, kp->x, kp->y, kp->x+(co*10), kp->y+(si*10));
imlib_draw_circle(image, kp->x, kp->y, 4, &cl);
}
return mp_const_none;
}
static mp_obj_t py_image_find_blobs(mp_obj_t image_obj)
{
/* C stuff */
array_t *blobs;
struct image *image;
mp_obj_t blob_obj[6];
/* MP List */
mp_obj_t objects_list = mp_const_none;
/* get image pointer */
image = py_image_cobj(image_obj);
/* run color dector */
blobs = imlib_count_blobs(image);
/* Create empty Python list */
objects_list = mp_obj_new_list(0, NULL);
if (array_length(blobs)) {
for (int j=0; j<array_length(blobs); j++) {
blob_t *r = array_at(blobs, j);
blob_obj[0] = mp_obj_new_int(r->x);
blob_obj[1] = mp_obj_new_int(r->y);
blob_obj[2] = mp_obj_new_int(r->w);
blob_obj[3] = mp_obj_new_int(r->h);
blob_obj[4] = mp_obj_new_int(r->c);
blob_obj[5] = mp_obj_new_int(r->id);
mp_obj_list_append(objects_list, mp_obj_new_tuple(6, blob_obj));
}
}
array_free(blobs);
return objects_list;
}
STATIC void adv_event_handler(mp_obj_t self_in, uint16_t event_id, ble_drv_adv_data_t * data) {
ubluepy_scanner_obj_t *self = MP_OBJ_TO_PTR(self_in);
ubluepy_scan_entry_obj_t * item = m_new_obj(ubluepy_scan_entry_obj_t);
item->base.type = &ubluepy_scan_entry_type;
vstr_t vstr;
vstr_init(&vstr, 17);
vstr_printf(&vstr, ""HEX2_FMT":"HEX2_FMT":"HEX2_FMT":" \
HEX2_FMT":"HEX2_FMT":"HEX2_FMT"",
data->p_peer_addr[5], data->p_peer_addr[4], data->p_peer_addr[3],
data->p_peer_addr[2], data->p_peer_addr[1], data->p_peer_addr[0]);
item->addr = mp_obj_new_str(vstr.buf, vstr.len);
vstr_clear(&vstr);
item->addr_type = data->addr_type;
item->rssi = data->rssi;
item->data = mp_obj_new_bytearray(data->data_len, data->p_data);
mp_obj_list_append(self->adv_reports, item);
// Continue scanning
ble_drv_scan_start(true);
}
STATIC mp_obj_t list_extend_from_iter(mp_obj_t list, mp_obj_t iterable) {
mp_obj_t iter = mp_getiter(iterable);
mp_obj_t item;
while ((item = mp_iternext(iter)) != MP_OBJ_STOP_ITERATION) {
mp_obj_list_append(list, item);
}
return list;
}
STATIC void mp_help_add_from_names(mp_obj_t list, const char *name) {
while (*name) {
size_t l = strlen(name);
// name should end in '.py' and we strip it off
mp_obj_list_append(list, mp_obj_new_str(name, l - 3, false));
name += l + 1;
}
}
mp_obj_t py_cpufreq_get_supported_frequencies()
{
mp_obj_t freq_list = mp_obj_new_list(0, NULL);
for (int i=0; i<ARRAY_LENGTH(cpufreq_freqs); i++) {
mp_obj_list_append(freq_list, mp_obj_new_int(cpufreq_freqs[i]));
}
return freq_list;
}
static mp_obj_t py_image_find_features(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
{
struct image *image = NULL;
struct cascade *cascade = NULL;
array_t *objects_array=NULL;
mp_obj_t objects_list = mp_const_none;
/* sanity checks */
PY_ASSERT_TRUE_MSG(sensor.pixformat == PIXFORMAT_GRAYSCALE,
"This function is only supported on GRAYSCALE images");
PY_ASSERT_TRUE_MSG(sensor.framesize <= OMV_MAX_INT_FRAME,
"This function is only supported on "OMV_MAX_INT_FRAME_STR" and smaller frames");
/* read arguments */
image = py_image_cobj(args[0]);
cascade = py_cascade_cobj(args[1]);
/* set some defaults */
cascade->threshold = 0.65f;
cascade->scale_factor = 1.65f;
/* read kw args */
mp_map_elem_t *kw_thresh = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(qstr_from_str("threshold")), MP_MAP_LOOKUP);
if (kw_thresh != NULL) {
cascade->threshold = mp_obj_get_float(kw_thresh->value);
}
mp_map_elem_t *kw_scalef = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(qstr_from_str("scale")), MP_MAP_LOOKUP);
if (kw_scalef != NULL) {
cascade->scale_factor = mp_obj_get_float(kw_scalef->value);
}
/* Detect objects */
objects_array = imlib_detect_objects(image, cascade);
/* Create empty Python list */
objects_list = mp_obj_new_list(0, NULL);
/* Add detected objects to the list */
for (int i=0; i<array_length(objects_array); i++) {
struct rectangle *r = array_at(objects_array, i);
mp_obj_t rec_obj[4] = {
mp_obj_new_int(r->x),
mp_obj_new_int(r->y),
mp_obj_new_int(r->w),
mp_obj_new_int(r->h),
};
mp_obj_list_append(objects_list, mp_obj_new_tuple(4, rec_obj));
}
/* Free the objects array */
array_free(objects_array);
return objects_list;
}
void mp_obj_exception_add_traceback(mp_obj_t self_in, qstr file, machine_uint_t line, qstr block) {
#if MICROPY_ENABLE_GC
if (gc_is_locked()) {
// We can't allocate memory, so don't bother to try
return;
}
#endif
GET_NATIVE_EXCEPTION(self, self_in);
// for traceback, we are just using the list object for convenience, it's not really a list of Python objects
if (self->traceback == MP_OBJ_NULL) {
self->traceback = mp_obj_new_list(0, NULL);
}
mp_obj_list_append(self->traceback, (mp_obj_t)(machine_uint_t)file);
mp_obj_list_append(self->traceback, (mp_obj_t)(machine_uint_t)line);
mp_obj_list_append(self->traceback, (mp_obj_t)(machine_uint_t)block);
}
void pyb_sleep_add (const mp_obj_t obj, WakeUpCB_t wakeup) {
pyb_sleep_obj_t *sleep_obj = m_new_obj(pyb_sleep_obj_t);
sleep_obj->base.type = &pyb_sleep_type;
sleep_obj->obj = obj;
sleep_obj->wakeup = wakeup;
// remove it in case it was already registered
pyb_sleep_remove (obj);
mp_obj_list_append(&MP_STATE_PORT(pyb_sleep_obj_list), sleep_obj);
}
/// \classmethod af_list()
/// Returns an array of alternate functions available for this pin.
STATIC mp_obj_t pin_af_list(mp_obj_t self_in) {
pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
mp_obj_t result = mp_obj_new_list(0, NULL);
const pin_af_obj_t *af = self->af;
for (mp_uint_t i = 0; i < self->num_af; i++, af++) {
mp_obj_list_append(result, MP_OBJ_FROM_PTR(af));
}
return result;
}
void mod_network_register_nic(mp_obj_t nic) {
for (mp_uint_t i = 0; i < MP_STATE_PORT(mod_network_nic_list).len; i++) {
if (MP_STATE_PORT(mod_network_nic_list).items[i] == nic) {
// nic already registered
return;
}
}
// nic not registered so add to list
mp_obj_list_append(MP_OBJ_FROM_PTR(&MP_STATE_PORT(mod_network_nic_list)), nic);
}
/// \classmethod af_list()
/// Returns an array of alternate functions available for this pin.
STATIC mp_obj_t pin_af_list(mp_obj_t self_in) {
pin_obj_t *self = self_in;
mp_obj_t result = mp_obj_new_list(0, NULL);
const pin_af_obj_t *af = self->af;
for (mp_uint_t i = 0; i < self->num_af; i++, af++) {
mp_obj_list_append(result, (mp_obj_t)af);
}
return result;
}
mp_obj_t mp_seq_extract_slice(uint len, const mp_obj_t *seq, mp_bound_slice_t *indexes) {
machine_int_t start = indexes->start, stop = indexes->stop;
machine_int_t step = indexes->step;
mp_obj_t res = mp_obj_new_list(0, NULL);
if (step < 0) {
stop--;
while (start <= stop) {
mp_obj_list_append(res, seq[stop]);
stop += step;
}
} else {
while (start < stop) {
mp_obj_list_append(res, seq[start]);
start += step;
}
}
return res;
}
// TODO take an optional extra argument (what does it do exactly?)
STATIC mp_obj_t stream_unbuffered_readlines(mp_obj_t self) {
mp_obj_t lines = mp_obj_new_list(0, NULL);
for (;;) {
mp_obj_t line = stream_unbuffered_readline(1, &self);
if (!mp_obj_is_true(line)) {
break;
}
mp_obj_list_append(lines, line);
}
return lines;
}
/******************************************************************************
DEFINE PRIVATE FUNCTIONS
******************************************************************************/
STATIC pyb_uart_obj_t* pyb_uart_add (pyb_uart_id_t uart_id) {
// create a new uart object
pyb_uart_obj_t *self = m_new_obj(pyb_uart_obj_t);
self->base.type = &pyb_uart_type;
self->uart_id = uart_id;
self->read_buf = NULL;
self->enabled = false;
// add it to the list
mp_obj_list_append(&MP_STATE_PORT(pyb_uart_list), self);
return self;
}
mp_obj_t mp_seq_extract_slice(size_t len, const mp_obj_t *seq, mp_bound_slice_t *indexes) {
(void)len; // TODO can we remove len from the arg list?
mp_int_t start = indexes->start, stop = indexes->stop;
mp_int_t step = indexes->step;
mp_obj_t res = mp_obj_new_list(0, NULL);
if (step < 0) {
while (start >= stop) {
mp_obj_list_append(res, seq[start]);
start += step;
}
} else {
while (start < stop) {
mp_obj_list_append(res, seq[start]);
start += step;
}
}
return res;
}
STATIC mp_obj_t pin_alt_list(mp_obj_t self_in) {
pin_obj_t *self = self_in;
mp_obj_t af[2];
mp_obj_t afs = mp_obj_new_list(0, NULL);
for (int i = 0; i < self->num_afs; i++) {
af[0] = MP_OBJ_NEW_QSTR(self->af_list[i].name);
af[1] = mp_obj_new_int(self->af_list[i].idx);
mp_obj_list_append(afs, mp_obj_new_tuple(MP_ARRAY_SIZE(af), af));
}
return afs;
}
