Exemplo n.º 1
0
STATIC mp_obj_t pyb_flash_ioctl(mp_obj_t self, mp_obj_t cmd_in, mp_obj_t arg_in) {
    mp_int_t cmd = mp_obj_get_int(cmd_in);
    switch (cmd) {
        case BP_IOCTL_INIT: storage_init(); return MP_OBJ_NEW_SMALL_INT(0);
        case BP_IOCTL_DEINIT: storage_flush(); return MP_OBJ_NEW_SMALL_INT(0); // TODO properly
        case BP_IOCTL_SYNC: storage_flush(); return MP_OBJ_NEW_SMALL_INT(0);
        case BP_IOCTL_SEC_COUNT: return MP_OBJ_NEW_SMALL_INT(storage_get_block_count());
        case BP_IOCTL_SEC_SIZE: return MP_OBJ_NEW_SMALL_INT(storage_get_block_size());
        default: return mp_const_none;
    }
}
Exemplo n.º 2
0
// Activate the bootloader without BOOT* pins.
STATIC NORETURN mp_obj_t machine_bootloader(void) {
    pyb_usb_dev_deinit();
    storage_flush();

    HAL_RCC_DeInit();
    HAL_DeInit();

#if defined(MCU_SERIES_F7)
    // arm-none-eabi-gcc 4.9.0 does not correctly inline this
    // MSP function, so we write it out explicitly here.
    //__set_MSP(*((uint32_t*) 0x1FF00000));
    __ASM volatile ("movw r3, #0x0000\nmovt r3, #0x1FF0\nldr r3, [r3, #0]\nMSR msp, r3\n" : : : "r3", "sp");

    ((void (*)(void)) *((uint32_t*) 0x1FF00004))();
#else
    __HAL_REMAPMEMORY_SYSTEMFLASH();

    // arm-none-eabi-gcc 4.9.0 does not correctly inline this
    // MSP function, so we write it out explicitly here.
    //__set_MSP(*((uint32_t*) 0x00000000));
    __ASM volatile ("movs r3, #0\nldr r3, [r3, #0]\nMSR msp, r3\n" : : : "r3", "sp");

    ((void (*)(void)) *((uint32_t*) 0x00000004))();
#endif

    while (1);
}
Exemplo n.º 3
0
DRESULT disk_ioctl (
    BYTE pdrv,        /* Physical drive nmuber (0..) */
    BYTE cmd,        /* Control code */
    void *buff        /* Buffer to send/receive control data */
)
{
    switch (pdrv) {
        case PD_FLASH:
            switch (cmd) {
                case CTRL_SYNC:
                    storage_flush();
                    return RES_OK;

                case GET_BLOCK_SIZE:
                    *((DWORD*)buff) = 1; // high-level sector erase size in units of the small (512) block size
                    return RES_OK;
            }
            break;

#if MICROPY_HW_HAS_SDCARD
        case PD_SDCARD:
            switch (cmd) {
                case CTRL_SYNC:
                    return RES_OK;

                case GET_BLOCK_SIZE:
                    *((DWORD*)buff) = 1; // high-level sector erase size in units of the small (512) block size
                    return RES_OK;
            }
            break;
#endif
    }

    return RES_PARERR;
}
Exemplo n.º 4
0
DRESULT disk_ioctl (
    BYTE pdrv,        /* Physical drive nmuber (0..) */
    BYTE cmd,        /* Control code */
    void *buff        /* Buffer to send/receive control data */
)
{
    switch (pdrv) {
        case PD_FLASH:
            switch (cmd) {
                case CTRL_SYNC:
                    storage_flush();
                    return RES_OK;

                case GET_BLOCK_SIZE:
                    *((DWORD*)buff) = 1; // high-level sector erase size in units of the small (512) block size
                    return RES_OK;
            }
            break;

#if MICROPY_HW_HAS_SDCARD
        case PD_SDCARD:
            switch (cmd) {
                case CTRL_SYNC:
                    return RES_OK;

                case GET_BLOCK_SIZE:
                    *((DWORD*)buff) = 1; // high-level sector erase size in units of the small (512) block size
                    return RES_OK;
            }
            break;
#endif

        case PD_USER:
            if (MP_STATE_PORT(fs_user_mount) == NULL) {
                // nothing mounted
                return RES_ERROR;
            }
            switch (cmd) {
                case CTRL_SYNC:
                    if (MP_STATE_PORT(fs_user_mount)->sync[0] != MP_OBJ_NULL) {
                        mp_call_method_n_kw(0, 0, MP_STATE_PORT(fs_user_mount)->sync);
                    }
                    return RES_OK;

                case GET_BLOCK_SIZE:
                    *((DWORD*)buff) = 1; // high-level sector erase size in units of the small (512) bl
                    return RES_OK;

                case GET_SECTOR_COUNT: {
                    mp_obj_t ret = mp_call_method_n_kw(0, 0, MP_STATE_PORT(fs_user_mount)->count);
                    *((DWORD*)buff) = mp_obj_get_int(ret);
                    return RES_OK;
                }
            }
            break;
    }

    return RES_PARERR;
}
Exemplo n.º 5
0
/**
  * @brief  Write data to the medium
  * @param  lun : logical unit number
  * @param  buf : Pointer to the buffer to write from
  * @param  blk_addr :  address of 1st block to be written
  * @param  blk_len : nmber of blocks to be read
  * @retval Status
  */
int8_t FLASH_STORAGE_Write (uint8_t lun, uint8_t *buf, uint32_t blk_addr, uint16_t blk_len) {
    disk_write(0, buf, blk_addr, blk_len);
    /*
    for (int i = 0; i < blk_len; i++) {
        if (!storage_write_block(buf + i * FLASH_BLOCK_SIZE, blk_addr + i)) {
            return -1;
        }
    }
    */
    storage_flush(); // XXX hack for now so that the cache is always flushed
    return 0;
}
Exemplo n.º 6
0
void __fatal_error(const char *msg) {
    FIL fp;
    if (f_open(&fp, "ERROR.LOG",
               FA_WRITE|FA_CREATE_ALWAYS) == FR_OK) {
        f_printf(&fp, "\nFATAL ERROR:\n%s\n", msg);
    }
    f_close(&fp);
    storage_flush();

    for (uint i = 0;;) {
        led_toggle(((i++) & 3));
        for (volatile uint delay = 0; delay < 500000; delay++) {
        }
    }
}
Exemplo n.º 7
0
/**
  * @brief  Write data to the medium
  * @param  lun : logical unit number
  * @param  buf : Pointer to the buffer to write from
  * @param  blk_addr :  address of 1st block to be written
  * @param  blk_len : nmber of blocks to be read
  * @retval Status
  */
int8_t STORAGE_Write (uint8_t lun, 
                  uint8_t *buf, 
                  uint32_t blk_addr,
                  uint16_t blk_len)
{
  
    /*
  if( SD_WriteMultiBlocks (buf, 
                           blk_addr * 512, 
                           512,
                           blk_len) != 0)
  {
    return -1;
  }
#ifndef USE_STM3210C_EVAL  
  SD_WaitWriteOperation();
  while (SD_GetStatus() != SD_TRANSFER_OK);  
#endif  
*/
    disk_write(0, buf, blk_addr, blk_len);
    storage_flush(); // XXX hack for now so that the cache is always flushed
  return (0);
}
Exemplo n.º 8
0
/// \function sync()
/// Sync all file systems.
STATIC mp_obj_t pyb_sync(void) {
    storage_flush();
    return mp_const_none;
}
Exemplo n.º 9
0
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;
}
Exemplo n.º 10
0
int main(void)
{
    // Stack limit should be less than real stack size, so we
    // had chance to recover from limit hit.
    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();

    // basic sub-system init
    pendsv_init();
    timer_tim3_init();
    led_init();

soft_reset:
    // check if user switch held to select the reset mode
    led_state(LED_RED, 1);
    led_state(LED_GREEN, 1);
    led_state(LED_BLUE, 1);

#if MICROPY_HW_ENABLE_RTC
    rtc_init();
#endif

    // GC init
    gc_init(&_heap_start, &_heap_end);

    // Micro Python init
    mp_init();
    mp_obj_list_init(mp_sys_path, 0);
    mp_obj_list_init(mp_sys_argv, 0);

    readline_init0();
    pin_init0();
    extint_init0();
    timer_init0();
    rng_init0();
    i2c_init0();
    spi_init0();
    uart_init0();
    pyb_usb_init0();

    usbdbg_init();

    if (sensor_init() != 0) {
        __fatal_error("Failed to init sensor");
    }

    /* Export functions to the global python namespace */
    mp_store_global(qstr_from_str("randint"),           (mp_obj_t)&py_randint_obj);
    mp_store_global(qstr_from_str("cpu_freq"),          (mp_obj_t)&py_cpu_freq_obj);
    mp_store_global(qstr_from_str("Image"),             (mp_obj_t)&py_image_load_image_obj);
    mp_store_global(qstr_from_str("HaarCascade"),       (mp_obj_t)&py_image_load_cascade_obj);
    mp_store_global(qstr_from_str("FreakDesc"),         (mp_obj_t)&py_image_load_descriptor_obj);
    mp_store_global(qstr_from_str("FreakDescSave"),     (mp_obj_t)&py_image_save_descriptor_obj);
    mp_store_global(qstr_from_str("LBPDesc"),           (mp_obj_t)&py_image_load_lbp_obj);
    mp_store_global(qstr_from_str("vcp_is_connected"),  (mp_obj_t)&py_vcp_is_connected_obj);

    if (sdcard_is_present()) {
        sdcard_init();
        FRESULT res = f_mount(&fatfs, "1:", 1);
        if (res != FR_OK) {
            __fatal_error("could not mount SD\n");
        }
        // Set CWD and USB medium to SD
        f_chdrive("1:");
        pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_SDCARD;
    } else {
        storage_init();
        // try to mount the flash
        FRESULT res = f_mount(&fatfs, "0:", 1);
        if (res == FR_NO_FILESYSTEM) {
            // create a fresh fs
            make_flash_fs();
        } else if (res != FR_OK) {
            __fatal_error("could not access LFS\n");
        }

        // Set CWD and USB medium to flash
        f_chdrive("0:");
        pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_FLASH;
    }

    // turn boot-up LEDs off
    led_state(LED_RED, 0);
    led_state(LED_GREEN, 0);
    led_state(LED_BLUE, 0);

    // init USB device to default setting if it was not already configured
    if (!(pyb_usb_flags & PYB_USB_FLAG_USB_MODE_CALLED)) {
        pyb_usb_dev_init(USBD_VID, USBD_PID_CDC_MSC, USBD_MODE_CDC_MSC, NULL);
    }

    // Run the main script from the current directory.
    FRESULT res = f_stat("main.py", NULL);
    if (res == FR_OK) {
        if (!pyexec_file("main.py")) {
            nlr_buf_t nlr;
            if (nlr_push(&nlr) == 0) {
                flash_error(3);
                nlr_pop();
            }
        }
    }

    // Enter REPL
    nlr_buf_t nlr;
    for (;;) {
        if (nlr_push(&nlr) == 0) {
            while (usbdbg_script_ready()) {
                nlr_buf_t nlr;
                vstr_t *script_buf = usbdbg_get_script();
                // clear script flag
                usbdbg_clr_script();

                // execute the script
                if (nlr_push(&nlr) == 0) {
                    pyexec_push_scope();

                    // parse and compile script
                    mp_lexer_t *lex = mp_lexer_new_from_str_len(MP_QSTR__lt_stdin_gt_,
                            vstr_str(script_buf), vstr_len(script_buf), 0);
                    mp_parse_node_t pn = mp_parse(lex, MP_PARSE_FILE_INPUT);
                    mp_obj_t script = mp_compile(pn, lex->source_name, MP_EMIT_OPT_NONE, false);

                    // execute the script
                    mp_call_function_0(script);
                    nlr_pop();
                } else {
                    mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);
                }
                pyexec_pop_scope();
            }

            // clear script flag
            usbdbg_clr_script();

            // no script run REPL
            pyexec_friendly_repl();

            nlr_pop();
        }

    }

    printf("PYB: sync filesystems\n");
    storage_flush();

    printf("PYB: soft reboot\n");

    goto soft_reset;
}
Exemplo n.º 11
0
int main(void)
{
    FRESULT f_res;
    int sensor_init_ret;

    // Stack limit should be less than real stack size, so we
    // had chance to recover from limit hit.
    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();

    // basic sub-system init
    pendsv_init();
    timer_tim3_init();
    led_init();

soft_reset:
    // check if user switch held to select the reset mode
    led_state(LED_RED, 1);
    led_state(LED_GREEN, 1);
    led_state(LED_BLUE, 1);

#if MICROPY_HW_ENABLE_RTC
    rtc_init();
#endif

    // GC init
    gc_init(&_heap_start, &_heap_end);

    // Micro Python init
    mp_init();
    mp_obj_list_init(mp_sys_path, 0);
    mp_obj_list_init(mp_sys_argv, 0);

    readline_init0();
    pin_init0();
    extint_init0();
    timer_init0();
    rng_init0();
    i2c_init0();
    spi_init0();
    uart_init0();
    pyb_usb_init0();
    usbdbg_init();

    sensor_init_ret = sensor_init();

    /* Export functions to the global python namespace */
    mp_store_global(qstr_from_str("randint"),           (mp_obj_t)&py_randint_obj);
    mp_store_global(qstr_from_str("cpu_freq"),          (mp_obj_t)&py_cpu_freq_obj);
    mp_store_global(qstr_from_str("vcp_is_connected"),  (mp_obj_t)&py_vcp_is_connected_obj);

    if (sdcard_is_present()) {
        sdcard_init();
        FRESULT res = f_mount(&fatfs, "1:", 1);
        if (res != FR_OK) {
            __fatal_error("could not mount SD\n");
        }
        // Set CWD and USB medium to SD
        f_chdrive("1:");
        pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_SDCARD;
    } else {
        storage_init();
        // try to mount the flash
        FRESULT res = f_mount(&fatfs, "0:", 1);
        if (res == FR_NO_FILESYSTEM) {
            // create a fresh fs
            make_flash_fs();
        } else if (res != FR_OK) {
            __fatal_error("could not access LFS\n");
        }

        // Set CWD and USB medium to flash
        f_chdrive("0:");
        pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_FLASH;
    }

    // turn boot-up LEDs off
    led_state(LED_RED, 0);
    led_state(LED_GREEN, 0);
    led_state(LED_BLUE, 0);

    // init USB device to default setting if it was not already configured
    if (!(pyb_usb_flags & PYB_USB_FLAG_USB_MODE_CALLED)) {
        pyb_usb_dev_init(USBD_VID, USBD_PID_CDC_MSC, USBD_MODE_CDC_MSC, NULL);
    }

    // check sensor init result
    if (sensor_init_ret != 0) {
        char buf[512];
        snprintf(buf, sizeof(buf), "Failed to init sensor, error:%d", sensor_init_ret);
        __fatal_error(buf);
    }

    // Run self tests the first time only
    f_res = f_stat("selftest.py", NULL);
    if (f_res == FR_OK) {
        nlr_buf_t nlr;
        if (nlr_push(&nlr) == 0) {
            // Parse, compile and execute the self-tests script.
            pyexec_file("selftest.py");
            nlr_pop();
        } else {
            // Get the exception message. TODO: might be a hack.
            mp_obj_str_t *str = mp_obj_exception_get_value((mp_obj_t)nlr.ret_val);
            // If any of the self-tests fail log the exception message
            // and loop forever. Note: IDE exceptions will not be caught.
            __fatal_error((const char*) str->data);
        }
        // Success: remove self tests script and flush cache
        f_unlink("selftest.py");
        storage_flush();
    }

    // Run the main script from the current directory.
    f_res = f_stat("main.py", NULL);
    if (f_res == FR_OK) {
        nlr_buf_t nlr;
        if (nlr_push(&nlr) == 0) {
            // Parse, compile and execute the main script.
            pyexec_file("main.py");
            nlr_pop();
        } else {
            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.
        }
    }

    // Enter REPL
    nlr_buf_t nlr;
    for (;;) {
        if (nlr_push(&nlr) == 0) {
            while (usbdbg_script_ready()) {
                nlr_buf_t nlr;
                vstr_t *script_buf = usbdbg_get_script();

                // clear debugging flags
                usbdbg_clear_flags();

                // re-init MP
                mp_uint_t atomic_state = MICROPY_BEGIN_ATOMIC_SECTION();
                mp_init();
                MICROPY_END_ATOMIC_SECTION(atomic_state);

                // execute the script
                if (nlr_push(&nlr) == 0) {
                    // parse, compile and execute script
                    pyexec_str(script_buf);
                    nlr_pop();
                } else {
                    mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);
                }
            }

            // clear debugging flags
            usbdbg_clear_flags();

            // re-init MP
            mp_uint_t atomic_state = MICROPY_BEGIN_ATOMIC_SECTION();
            mp_init();
            MICROPY_END_ATOMIC_SECTION(atomic_state);

            // no script run REPL
            pyexec_friendly_repl();

            nlr_pop();
        }

    }

    printf("PYB: sync filesystems\n");
    storage_flush();

    printf("PYB: soft reboot\n");

    goto soft_reset;
}
Exemplo n.º 12
0
int8_t FLASH_STORAGE_PreventAllowMediumRemoval(uint8_t lun, uint8_t param) {
    // sync the flash so that the cache is cleared and the device can be unplugged/turned off
    storage_flush();
    return 0;
}
Exemplo n.º 13
0
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;
}
Exemplo n.º 14
0
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;
}