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/*
* This file is part of the OpenMV project.
* Copyright (c) 2013/2014 Ibrahim Abdelkader <i.abdalkader@gmail.com>
* This work is licensed under the MIT license, see the file LICENSE for details.
*
* main function.
*
*/
#include <stdio.h>
#include <stdbool.h>
#include <string.h>
#include STM32_HAL_H
#include "mpconfig.h"
#include "systick.h"
#include "pendsv.h"
#include "qstr.h"
#include "nlr.h"
#include "lexer.h"
#include "parse.h"
#include "compile.h"
#include "runtime.h"
#include "obj.h"
#include "objmodule.h"
#include "objstr.h"
#include "gc.h"
#include "stackctrl.h"
#include "gccollect.h"
#include "readline.h"
#include "timer.h"
#include "pin.h"
#include "usb.h"
#include "rtc.h"
#include "storage.h"
#include "sdcard.h"
#include "ff.h"
#include "modnetwork.h"
#include "modmachine.h"
#include "extmod/vfs.h"
#include "extmod/vfs_fat.h"
#include "lib/utils/pyexec.h"
#include "irq.h"
#include "rng.h"
#include "led.h"
#include "spi.h"
#include "i2c.h"
#include "uart.h"
#include "dac.h"
#include "can.h"
#include "extint.h"
#include "servo.h"
#include "sensor.h"
#include "usbdbg.h"
#include "wifidbg.h"
#include "sdram.h"
#include "fb_alloc.h"
#include "ff_wrapper.h"
#include "usbd_core.h"
#include "usbd_desc.h"
#include "usbd_cdc_msc_hid.h"
#include "usbd_cdc_interface.h"
#include "usbd_msc_storage.h"
#include "py_sensor.h"
#include "py_image.h"
#include "py_lcd.h"
#include "py_fir.h"
#include "py_tv.h"
#include "framebuffer.h"
#include "ini.h"
int errno;
extern char _vfs_buf;
static fs_user_mount_t *vfs_fat = (fs_user_mount_t *) &_vfs_buf;
pyb_thread_t pyb_thread_main;
static const char fresh_main_py[] =
"# main.py -- put your code here!\n"
"import pyb, time\n"
"led = pyb.LED(3)\n"
"usb = pyb.USB_VCP()\n"
"while (usb.isconnected()==False):\n"
" led.on()\n"
" time.sleep(150)\n"
" led.off()\n"
" time.sleep(100)\n"
" led.on()\n"
" time.sleep(150)\n"
" led.off()\n"
" time.sleep(600)\n"
;
static const char fresh_readme_txt[] =
"Thank you for supporting the OpenMV project!\r\n"
"\r\n"
"To download the IDE, please visit:\r\n"
"https://openmv.io/pages/download\r\n"
"\r\n"
"For tutorials and documentation, please visit:\r\n"
"http://docs.openmv.io/\r\n"
"\r\n"
"For technical support and projects, please visit the forums:\r\n"
"http://forums.openmv.io/\r\n"
"\r\n"
"Please use github to report bugs and issues:\r\n"
"https://github.com/openmv/openmv\r\n"
;
#ifdef OPENMV1
static const char fresh_selftest_py[] ="";
#else
static const char fresh_selftest_py[] =
"import sensor, time, pyb\n"
"\n"
"def test_int_adc():\n"
" adc = pyb.ADCAll(12)\n"
" # Test VBAT\n"
" vbat = adc.read_core_vbat()\n"
" vbat_diff = abs(vbat-3.3)\n"
" if (vbat_diff > 0.1):\n"
" raise Exception('INTERNAL ADC TEST FAILED VBAT=%fv'%vbat)\n"
"\n"
" # Test VREF\n"
" vref = adc.read_core_vref()\n"
" vref_diff = abs(vref-1.2)\n"
" if (vref_diff > 0.1):\n"
" raise Exception('INTERNAL ADC TEST FAILED VREF=%fv'%vref)\n"
" adc = None\n"
" print('INTERNAL ADC TEST PASSED...')\n"
"\n"
"def test_color_bars():\n"
" sensor.reset()\n"
" # Set sensor settings\n"
" sensor.set_brightness(0)\n"
" sensor.set_saturation(3)\n"
" sensor.set_gainceiling(8)\n"
" sensor.set_contrast(2)\n"
"\n"
" # Set sensor pixel format\n"
" sensor.set_framesize(sensor.QVGA)\n"
" sensor.set_pixformat(sensor.RGB565)\n"
"\n"
" # Enable colorbar test mode\n"
" sensor.set_colorbar(True)\n"
"\n"
" # Skip a few frames to allow the sensor settle down\n"
" for i in range(0, 100):\n"
" image = sensor.snapshot()\n"
"\n"
" #color bars thresholds\n"
" t = [lambda r, g, b: r < 70 and g < 70 and b < 70, # Black\n"
" lambda r, g, b: r < 70 and g < 70 and b > 200, # Blue\n"
" lambda r, g, b: r > 200 and g < 70 and b < 70, # Red\n"
" lambda r, g, b: r > 200 and g < 70 and b > 200, # Purple\n"
" lambda r, g, b: r < 70 and g > 200 and b < 70, # Green\n"
" lambda r, g, b: r < 70 and g > 200 and b > 200, # Aqua\n"
" lambda r, g, b: r > 200 and g > 200 and b < 70, # Yellow\n"
" lambda r, g, b: r > 200 and g > 200 and b > 200] # White\n"
"\n"
" # color bars are inverted for OV7725\n"
" if (sensor.get_id() == sensor.OV7725):\n"
" t = t[::-1]\n"
"\n"
" #320x240 image with 8 color bars each one is approx 40 pixels.\n"
" #we start from the center of the frame buffer, and average the\n"
" #values of 10 sample pixels from the center of each color bar.\n"
" for i in range(0, 8):\n"
" avg = (0, 0, 0)\n"
" idx = 40*i+20 #center of colorbars\n"
" for off in range(0, 10): #avg 10 pixels\n"
" rgb = image.get_pixel(idx+off, 120)\n"
" avg = tuple(map(sum, zip(avg, rgb)))\n"
"\n"
" if not t[i](avg[0]/10, avg[1]/10, avg[2]/10):\n"
" raise Exception('COLOR BARS TEST FAILED.'\n"
" 'BAR#(%d): RGB(%d,%d,%d)'%(i+1, avg[0]/10, avg[1]/10, avg[2]/10))\n"
"\n"
" print('COLOR BARS TEST PASSED...')\n"
"\n"
"if __name__ == '__main__':\n"
" print('')\n"
" test_int_adc()\n"
" if sensor.get_id() == sensor.OV7725: test_color_bars()\n"
"\n"
;
#endif
void flash_error(int n) {
led_state(LED_RED, 0);
led_state(LED_GREEN, 0);
led_state(LED_BLUE, 0);
for (int i = 0; i < n; i++) {
led_state(LED_RED, 0);
HAL_Delay(100);
led_state(LED_RED, 1);
HAL_Delay(100);
}
led_state(LED_RED, 0);
}
void NORETURN __fatal_error(const char *msg) {
FIL fp;
if (f_open(&vfs_fat->fatfs, &fp, "ERROR.LOG",
FA_WRITE|FA_CREATE_ALWAYS) == FR_OK) {
UINT bytes;
const char *hdr = "FATAL ERROR:\n";
f_write(&fp, hdr, strlen(hdr), &bytes);
f_write(&fp, msg, strlen(msg), &bytes);
}
f_close(&fp);
storage_flush();
for (uint i = 0;;) {
led_toggle(((i++) & 3));
for (volatile uint delay = 0; delay < 500000; delay++) {
}
}
}
void nlr_jump_fail(void *val) {
printf("FATAL: uncaught exception %p\n", val);
__fatal_error("");
}
#ifndef NDEBUG
void __attribute__((weak))
__assert_func(const char *file, int line, const char *func, const char *expr) {
(void)func;
printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
__fatal_error("");
}
#endif
void f_touch(const char *path)
{
FIL fp;
if (f_stat(&vfs_fat->fatfs, path, NULL) != FR_OK) {
f_open(&vfs_fat->fatfs, &fp, path, FA_WRITE | FA_CREATE_ALWAYS);
f_close(&fp);
}
}
void make_flash_fs()
{
FIL fp;
UINT n;
led_state(LED_RED, 1);
uint8_t working_buf[_MAX_SS];
if (f_mkfs(&vfs_fat->fatfs, FM_FAT, 0, working_buf, sizeof(working_buf)) != FR_OK) {
__fatal_error("Could not create LFS");
}
// Mark FS as OpenMV disk.
f_touch("/.openmv_disk");
// Create default main.py
f_open(&vfs_fat->fatfs, &fp, "/main.py", FA_WRITE | FA_CREATE_ALWAYS);
f_write(&fp, fresh_main_py, sizeof(fresh_main_py) - 1 /* don't count null terminator */, &n);
f_close(&fp);
// Create readme file
f_open(&vfs_fat->fatfs, &fp, "/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);
// Create default selftest.py
f_open(&vfs_fat->fatfs, &fp, "/selftest.py", FA_WRITE | FA_CREATE_ALWAYS);
f_write(&fp, fresh_selftest_py, sizeof(fresh_selftest_py) - 1 /* don't count null terminator */, &n);
f_close(&fp);
led_state(LED_RED, 0);
}
#ifdef STACK_PROTECTOR
uint32_t __stack_chk_guard=0xDEADBEEF;
void NORETURN __stack_chk_fail(void)
{
while (1) {
flash_error(100);
}
}
#endif
typedef struct openmv_config {
bool wifidbg;
wifidbg_config_t wifidbg_config;
} openmv_config_t;
int ini_handler_callback(void *user, const char *section, const char *name, const char *value)
{
openmv_config_t *openmv_config = (openmv_config_t *) user;
#define MATCH(s, n) ((strcmp(section, (s)) == 0) && (strcmp(name, (n)) == 0))
if (MATCH("BoardConfig", "REPLUart")) {
if (ini_is_true(value)) {
mp_obj_t args[2] = {
MP_OBJ_NEW_SMALL_INT(3), // UART Port
MP_OBJ_NEW_SMALL_INT(115200) // Baud Rate
};
MP_STATE_PORT(pyb_stdio_uart) = pyb_uart_type.make_new((mp_obj_t) &pyb_uart_type, MP_ARRAY_SIZE(args), 0, args);
uart_attach_to_repl(MP_STATE_PORT(pyb_stdio_uart), true);
}
} else if (MATCH("BoardConfig", "WiFiDebug")) {
openmv_config->wifidbg = ini_is_true(value);
} else if (MATCH("WiFiConfig", "Mode")) {
openmv_config->wifidbg_config.mode = ini_atoi(value);
} else if (MATCH("WiFiConfig", "ClientSSID")) {
strncpy(openmv_config->wifidbg_config.client_ssid, value, WINC_MAX_SSID_LEN);
} else if (MATCH("WiFiConfig", "ClientKey")) {
strncpy(openmv_config->wifidbg_config.client_key, value, WINC_MAX_PSK_LEN);
} else if (MATCH("WiFiConfig", "ClientSecurity")) {
openmv_config->wifidbg_config.client_security = ini_atoi(value);
} else if (MATCH("WiFiConfig", "ClientChannel")) {
openmv_config->wifidbg_config.client_channel = ini_atoi(value);
} else if (MATCH("WiFiConfig", "AccessPointSSID")) {
strncpy(openmv_config->wifidbg_config.access_point_ssid, value, WINC_MAX_SSID_LEN);
} else if (MATCH("WiFiConfig", "AccessPointKey")) {
strncpy(openmv_config->wifidbg_config.access_point_key, value, WINC_MAX_PSK_LEN);
} else if (MATCH("WiFiConfig", "AccessPointSecurity")) {
openmv_config->wifidbg_config.access_point_security = ini_atoi(value);
} else if (MATCH("WiFiConfig", "AccessPointChannel")) {
openmv_config->wifidbg_config.access_point_channel = ini_atoi(value);
} else if (MATCH("WiFiConfig", "BoardName")) {
strncpy(openmv_config->wifidbg_config.board_name, value, WINC_MAX_BOARD_NAME_LEN);
} else {
return 0;
}
return 1;
#undef MATCH
}
FRESULT exec_boot_script(const char *path, bool selftest, bool interruptible)
{
nlr_buf_t nlr;
bool interrupted = false;
FRESULT f_res = f_stat(&vfs_fat->fatfs, path, NULL);
if (f_res == FR_OK) {
if (nlr_push(&nlr) == 0) {
// Enable IDE interrupts if allowed.
if (interruptible) {
usbdbg_set_irq_enabled(true);
usbdbg_set_script_running(true);
}
// Parse, compile and execute the script.
pyexec_file(path);
nlr_pop();
} else {
interrupted = true;
}
}
// Disable IDE interrupts
usbdbg_set_irq_enabled(false);
usbdbg_set_script_running(false);
if (interrupted) {
if (selftest) {
// 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);
} 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.
}
}
if (selftest && f_res == FR_OK) {
// Remove self tests script and flush cache
f_unlink(&vfs_fat->fatfs, path);
storage_flush();
// Set flag for SWD debugger.
// Note: main.py does not use the frame buffer.
MAIN_FB()->bpp = 0xDEADBEEF;
}
return f_res;
}
int main(void)
{
int sensor_init_ret = 0;
bool sdcard_mounted = false;
bool first_soft_reset = true;
// Uncomment to disable write buffer to get precise faults.
// NOTE: Cache should be disabled on M7.
//SCnSCB->ACTLR |= SCnSCB_ACTLR_DISDEFWBUF_Msk;
// STM32F4xx HAL library initialization:
// - Set NVIC Group Priority to 4
// - Configure the Flash prefetch, instruction and Data caches
// - Configure the Systick to generate an interrupt each 1 msec
// NOTE: The bootloader enables the CCM/DTCM memory.
HAL_Init();
// Basic sub-system init
led_init();
pendsv_init();
pyb_thread_init(&pyb_thread_main);
// Re-enable IRQs (disabled by bootloader)
__enable_irq();
soft_reset:
led_state(LED_IR, 0);
led_state(LED_RED, 1);
led_state(LED_GREEN, 1);
led_state(LED_BLUE, 1);
machine_init();
// Python threading init
mp_thread_init();
// 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_top(&_ram_end);
mp_stack_set_limit((char*)&_ram_end - (char*)&_heap_end - 1024);
// 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);
// Initialise low-level sub-systems. Here we need to do the very basic
// things like zeroing out memory and resetting any of the sub-systems.
readline_init0();
pin_init0();
extint_init0();
timer_init0();
#if MICROPY_HW_ENABLE_CAN
can_init0();
#endif
i2c_init0();
spi_init0();
uart_init0();
MP_STATE_PORT(pyb_stdio_uart) = NULL; // need to zero
dac_init();
pyb_usb_init0();
sensor_init0();
fb_alloc_init0();
file_buffer_init0();
py_lcd_init0();
py_fir_init0();
py_tv_init0();
servo_init();
usbdbg_init();
sdcard_init();
if (first_soft_reset) {
rtc_init_start(false);
}
// Initialize the sensor and check the result after
// mounting the file-system to log errors (if any).
if (first_soft_reset) {
sensor_init_ret = sensor_init();
}
mod_network_init();
// Remove the BASEPRI masking (if any)
irq_set_base_priority(0);
// Initialize storage
if (sdcard_is_present()) {
// Init the vfs object
vfs_fat->flags = 0;
sdcard_init_vfs(vfs_fat, 1);
// Try to mount the SD card
FRESULT res = f_mount(&vfs_fat->fatfs);
if (res != FR_OK) {
sdcard_mounted = false;
} else {
sdcard_mounted = true;
// Set USB medium to SD
pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_SDCARD;
}
}
if (sdcard_mounted == false) {
storage_init();
// init the vfs object
vfs_fat->flags = 0;
pyb_flash_init_vfs(vfs_fat);
// Try to mount the flash
FRESULT res = f_mount(&vfs_fat->fatfs);
if (res == FR_NO_FILESYSTEM) {
// Create a fresh fs
make_flash_fs();
// Flush storage
storage_flush();
} else if (res != FR_OK) {
__fatal_error("Could not access LFS\n");
}
// Set USB medium to flash
pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_FLASH;
}
// Mark FS as OpenMV disk.
f_touch("/.openmv_disk");
// Mount the storage device (there should be no other devices mounted at this point)
// we allocate this structure on the heap because vfs->next is a root pointer.
mp_vfs_mount_t *vfs = m_new_obj_maybe(mp_vfs_mount_t);
if (vfs == NULL) {
__fatal_error("Failed to alloc memory for vfs mount\n");
}
vfs->str = "/";
vfs->len = 1;
vfs->obj = MP_OBJ_FROM_PTR(vfs_fat);
vfs->next = NULL;
MP_STATE_VM(vfs_mount_table) = vfs;
MP_STATE_PORT(vfs_cur) = vfs;
// Parse OpenMV configuration file.
openmv_config_t openmv_config;
memset(&openmv_config, 0, sizeof(openmv_config));
// Parse config, and init wifi if enabled.
ini_parse(&vfs_fat->fatfs, "/openmv.config", ini_handler_callback, &openmv_config);
if (openmv_config.wifidbg == true &&
wifidbg_init(&openmv_config.wifidbg_config) != 0) {
openmv_config.wifidbg = false;
}
// Run boot script(s)
if (first_soft_reset) {
// Execute the boot.py script before initializing the USB dev
// to override the USB mode if required, otherwise VCP+MSC is used.
exec_boot_script("/boot.py", false, false);
}
// 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 (first_soft_reset && sensor_init_ret != 0) {
char buf[512];
snprintf(buf, sizeof(buf), "Failed to init sensor, error:%d", sensor_init_ret);
__fatal_error(buf);
}
// Turn boot-up LEDs off
led_state(LED_RED, 0);
led_state(LED_GREEN, 0);
led_state(LED_BLUE, 0);
if (openmv_config.wifidbg == true) {
timer_tim5_init(100);
}
// Run boot script(s)
if (first_soft_reset) {
exec_boot_script("/selftest.py", true, false);
exec_boot_script("/main.py", false, true);
}
do {
usbdbg_init();
// If there's no script ready, just re-exec REPL
while (!usbdbg_script_ready()) {
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
// enable IDE interrupt
usbdbg_set_irq_enabled(true);
// run REPL
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
if (pyexec_raw_repl() != 0) {
break;
}
} else {
if (pyexec_friendly_repl() != 0) {
break;
}
}
nlr_pop();
}
}
if (usbdbg_script_ready()) {
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
// Enable IDE interrupt
usbdbg_set_irq_enabled(true);
// Execute the script.
pyexec_str(usbdbg_get_script());
nlr_pop();
} else {
mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);
}
}
} while (openmv_config.wifidbg == true);
// Disable all other IRQs except Systick and Flash IRQs
// Note: FS IRQ is disable, since we're going for a soft-reset.
irq_set_base_priority(IRQ_PRI_FLASH+1);
// soft reset
storage_flush();
timer_deinit();
uart_deinit();
#if MICROPY_HW_ENABLE_CAN
can_deinit();
#endif
pyb_thread_deinit();
first_soft_reset = false;
goto soft_reset;
}
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