/**
* @brief This function handles Memory Manage exception.
* @param None
* @retval None
*/
void MemManage_Handler(void)
{
timer_disable_all();
/* Go to infinite loop when Memory Manage exception occurs */
while (1)
{
LED_YLW = 1;
LED_GRN = 1;
}
}
/**
* @brief This function handles Usage Fault exception.
* @param None
* @retval None
*/
void UsageFault_Handler(void)
{
timer_disable_all();
/* Go to infinite loop when Usage Fault exception occurs */
while (1)
{
LED_YLW = 1;
}
}
/**
* @brief This function handles Bus Fault exception.
* @param None
* @retval None
*/
void BusFault_Handler(void)
{
timer_disable_all();
/* Go to infinite loop when Bus Fault exception occurs */
while (1)
{
LED_YLW = 1;
LED_GRN = 1;
LED_RED = 1;
}
}
/* (Called from exc.S with global interrupts disabled.) */
void __error(void) {
/* Turn off peripheral interrupts */
nvic_irq_disable_all();
/* Turn off timers */
timer_disable_all();
/* Turn off ADC */
adc_disable_all();
/* Turn off all USARTs */
usart_disable_all();
/* Turn the USB interrupt back on so the bootloader keeps on functioning */
nvic_irq_enable(NVIC_USB_HP_CAN_TX);
nvic_irq_enable(NVIC_USB_LP_CAN_RX0);
/* Reenable global interrupts */
nvic_globalirq_enable();
throb();
}
// new common exception code
// TODO: we have task switching so if fault occures in task we can just remove task from queue
//
void __attribute__((noreturn)) __error(uint32_t num, uint32_t pc, uint32_t lr)
{
#ifdef DEBUG_BUILD
static const char * const faults[] = {
"", // 0
"", // 1
"HardFault", // 2
"MemManage fault", // 3
"BusFault", // 4
"UsageFault", // 5
"illegal Flash Write", // 6
"", // 7
"", // 8
"", // 9
"", // 10
"PureVirtual function call", // 11
"failed to setup clock", // 12
"exit from main()", // 13
"", // 14
};
#endif
/* Turn off peripheral interrupts */
__disable_irq();
timer_disable_all(); // turn off all PWM
if(is_bare_metal()) // bare metal build without bootloader should reboot to DFU after any fault
board_set_rtc_register(DFU_RTC_SIGNATURE, RTC_SIGNATURE_REG);
/* Turn the USB interrupt back on so "the reboot to bootloader" keeps on functioning */
NVIC_EnableIRQ(OTG_HS_EP1_OUT_IRQn);
NVIC_EnableIRQ(OTG_HS_EP1_IN_IRQn);
NVIC_EnableIRQ(OTG_HS_EP1_IN_IRQn);
NVIC_EnableIRQ(OTG_HS_IRQn);
NVIC_EnableIRQ(OTG_FS_IRQn);
__enable_irq();
if(boardEmergencyHandler) boardEmergencyHandler(); // call emergency handler
#if 0
#ifdef ERROR_USART
usart_putstr(ERROR_USART, "\r\n!!! Exception: ");
#ifdef DEBUG_BUILD
usart_putstr(ERROR_USART, faults[num]);
#else
usart_putudec(ERROR_USART, num);
#endif
usart_putstr(ERROR_USART, " at ");
usart_putudec(ERROR_USART, pc);
usart_putstr(ERROR_USART, " lr ");
usart_putudec(ERROR_USART, lr);
usart_putc(ERROR_USART, '\n');
usart_putc(ERROR_USART, '\r');
#endif
#else
#ifdef DEBUG_BUILD
printf("\r\n!!! Exception: %s at %x LR=%x\n",faults[num], pc, lr);
#else
printf("\r\n!!! Exception: %d at %x LR=%x\n",num, pc, lr);
#endif
#endif
error_throb(num);
}
void TASK_Micropython (void *pvParameters) {
// initialize the garbage collector with the top of our stack
uint32_t sp = gc_helper_get_sp();
gc_collect_init (sp);
bool safeboot = false;
mptask_pre_init();
#ifndef DEBUG
safeboot = PRCMGetSpecialBit(PRCM_SAFE_BOOT_BIT);
#endif
soft_reset:
// GC init
gc_init(&_boot, &_eheap);
// MicroPython init
mp_init();
mp_obj_list_init(mp_sys_path, 0);
mp_obj_list_init(mp_sys_argv, 0);
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_)); // current dir (or base dir of the script)
// execute all basic initializations
mpexception_init0();
mpcallback_init0();
pybsleep_init0();
mperror_init0();
uart_init0();
pin_init0();
timer_init0();
readline_init0();
mod_network_init0();
#if MICROPY_HW_ENABLE_RNG
rng_init0();
#endif
#ifdef LAUNCHXL
// configure the stdio uart pins with the correct alternate functions
// param 3 ("mode") is DON'T CARE" for AFs others than GPIO
pin_config ((pin_obj_t *)&MICROPY_STDIO_UART_TX_PIN, MICROPY_STDIO_UART_TX_PIN_AF, 0, PIN_TYPE_STD_PU, PIN_STRENGTH_2MA);
pin_config ((pin_obj_t *)&MICROPY_STDIO_UART_RX_PIN, MICROPY_STDIO_UART_RX_PIN_AF, 0, PIN_TYPE_STD_PU, PIN_STRENGTH_2MA);
// instantiate the stdio uart
mp_obj_t args[2] = {
mp_obj_new_int(MICROPY_STDIO_UART),
mp_obj_new_int(MICROPY_STDIO_UART_BAUD),
};
pyb_stdio_uart = pyb_uart_type.make_new((mp_obj_t)&pyb_uart_type, MP_ARRAY_SIZE(args), 0, args);
// create a callback for the uart, in order to enable the rx interrupts
uart_callback_new (pyb_stdio_uart, mp_const_none, MICROPY_STDIO_UART_RX_BUF_SIZE, INT_PRIORITY_LVL_3);
#else
pyb_stdio_uart = MP_OBJ_NULL;
#endif
pybsleep_reset_cause_t rstcause = pybsleep_get_reset_cause();
if (rstcause < PYB_SLP_SOFT_RESET) {
if (rstcause == PYB_SLP_HIB_RESET) {
// when waking up from hibernate we just want
// to enable simplelink and leave it as is
wlan_first_start();
}
else {
// only if not comming out of hibernate or a soft reset
mptask_enter_ap_mode();
}
// enable telnet and ftp
servers_start();
}
// initialize the serial flash file system
mptask_init_sflash_filesystem();
// append the flash paths to the system path
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));
// reset config variables; they should be set by boot.py
MP_STATE_PORT(pyb_config_main) = MP_OBJ_NULL;
if (!safeboot) {
// run boot.py
int ret = pyexec_file("boot.py");
if (ret & PYEXEC_FORCED_EXIT) {
goto soft_reset_exit;
}
if (!ret) {
// flash the system led
mperror_signal_error();
}
}
// now we initialise sub-systems that need configuration from boot.py,
// or whose initialisation can be safely deferred until after running
// boot.py.
// at this point everything is fully configured and initialised.
if (!safeboot) {
// run the main script from the current directory.
if (pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
const char *main_py;
if (MP_STATE_PORT(pyb_config_main) == MP_OBJ_NULL) {
main_py = "main.py";
} else {
main_py = mp_obj_str_get_str(MP_STATE_PORT(pyb_config_main));
}
int ret = pyexec_file(main_py);
if (ret & PYEXEC_FORCED_EXIT) {
goto soft_reset_exit;
}
if (!ret) {
// flash the system led
mperror_signal_error();
}
}
}
// 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
pybsleep_signal_soft_reset();
mp_printf(&mp_plat_print, "PYB: soft reboot\n");
// disable all peripherals that could trigger a callback
pyb_rtc_callback_disable(NULL);
timer_disable_all();
uart_disable_all();
// flush the serial flash buffer
sflash_disk_flush();
// clean-up the user socket space
modusocket_close_all_user_sockets();
#if MICROPY_HW_HAS_SDCARD
pybsd_disable();
#endif
// wait for pending transactions to complete
HAL_Delay(20);
goto soft_reset;
}
