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micropython/teensy/main.c

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#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "nlr.h"
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
#include "lexer.h"
#include "lexermemzip.h"
#include "parse.h"
#include "obj.h"
#include "compile.h"
#include "runtime0.h"
#include "runtime.h"
#include "repl.h"
#include "servo.h"
#include "usb.h"
#include "gc.h"
#include "led.h"
#include "Arduino.h"
extern uint32_t _heap_start;
bool do_file(const char *filename);
void flash_error(int n) {
for (int i = 0; i < n; i++) {
led_state(PYB_LED_BUILTIN, 1);
delay(250);
led_state(PYB_LED_BUILTIN, 0);
delay(250);
}
}
static const char *help_text =
"Welcome to Micro Python!\n\n"
"This is a *very* early version of Micro Python and has minimal functionality.\n\n"
"Specific commands for the board:\n"
" pyb.info() -- print some general information\n"
" pyb.gc() -- run the garbage collector\n"
" pyb.delay(<n>) -- wait for n milliseconds\n"
" pyb.Led(<n>) -- create Led object for LED n (n=0)\n"
" Led methods: on(), off()\n"
" pyb.gpio(<pin>) -- read gpio pin\n"
" pyb.gpio(<pin>, <val>) -- set gpio pin\n"
#if 0
" pyb.Servo(<n>) -- create Servo object for servo n (n=1,2,3,4)\n"
" Servo methods: angle(<x>)\n"
" pyb.switch() -- return True/False if switch pressed or not\n"
" pyb.accel() -- get accelerometer values\n"
" pyb.rand() -- get a 16-bit random number\n"
#endif
;
mp_obj_t pyb_analog_read(mp_obj_t pin_obj) {
uint pin = mp_obj_get_int(pin_obj);
int val = analogRead(pin);
return MP_OBJ_NEW_SMALL_INT(val);
}
mp_obj_t pyb_analog_write(mp_obj_t pin_obj, mp_obj_t val_obj) {
uint pin = mp_obj_get_int(pin_obj);
int val = mp_obj_get_int(val_obj);
analogWrite(pin, val);
return mp_const_none;
}
mp_obj_t pyb_analog_write_resolution(mp_obj_t res_obj) {
int res = mp_obj_get_int(res_obj);
analogWriteResolution(res);
return mp_const_none;
}
mp_obj_t pyb_analog_write_frequency(mp_obj_t pin_obj, mp_obj_t freq_obj) {
uint pin = mp_obj_get_int(pin_obj);
int freq = mp_obj_get_int(freq_obj);
analogWriteFrequency(pin, freq);
return mp_const_none;
}
// get some help about available functions
static mp_obj_t pyb_help(void) {
printf("%s", help_text);
return mp_const_none;
}
// get lots of info about the board
static mp_obj_t pyb_info(void) {
// get and print unique id; 96 bits
{
byte *id = (byte*)0x40048058;
printf("ID=%02x%02x%02x%02x:%02x%02x%02x%02x:%02x%02x%02x%02x\n", id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7], id[8], id[9], id[10], id[11]);
}
// get and print clock speeds
printf("CPU=%u\nBUS=%u\nMEM=%u\n", F_CPU, F_BUS, F_MEM);
// to print info about memory
{
extern void *_sdata;
extern void *_edata;
extern void *_sbss;
extern void *_ebss;
extern void *_estack;
extern void *_etext;
printf("_sdata=%p\n", &_sdata);
printf("_edata=%p\n", &_edata);
printf("_sbss=%p\n", &_sbss);
printf("_ebss=%p\n", &_ebss);
printf("_estack=%p\n", &_estack);
printf("_etext=%p\n", &_etext);
printf("_heap_start=%p\n", &_heap_start);
}
// GC info
{
gc_info_t info;
gc_info(&info);
printf("GC:\n");
printf(" %lu total\n", info.total);
printf(" %lu used %lu free\n", info.used, info.free);
printf(" 1=%lu 2=%lu m=%lu\n", info.num_1block, info.num_2block, info.max_block);
}
#if 0
// free space on flash
{
DWORD nclst;
FATFS *fatfs;
f_getfree("0:", &nclst, &fatfs);
printf("LFS free: %u bytes\n", (uint)(nclst * fatfs->csize * 512));
}
#endif
return mp_const_none;
}
#define RAM_START (0x1FFF8000) // fixed for chip
#define HEAP_END (0x20006000) // tunable
#define RAM_END (0x20008000) // fixed for chip
void gc_helper_get_regs_and_clean_stack(machine_uint_t *regs, machine_uint_t heap_end);
void gc_collect(void) {
uint32_t start = micros();
gc_collect_start();
gc_collect_root((void**)RAM_START, (((uint32_t)&_heap_start) - RAM_START) / 4);
machine_uint_t regs[10];
gc_helper_get_regs_and_clean_stack(regs, HEAP_END);
gc_collect_root((void**)HEAP_END, (RAM_END - HEAP_END) / 4); // will trace regs since they now live in this function on the stack
gc_collect_end();
uint32_t ticks = micros() - start; // TODO implement a function that does this properly
if (0) {
// print GC info
gc_info_t info;
gc_info(&info);
printf("GC@%lu %luus\n", start, ticks);
printf(" %lu total\n", info.total);
printf(" %lu used %lu free\n", info.used, info.free);
printf(" 1=%lu 2=%lu m=%lu\n", info.num_1block, info.num_2block, info.max_block);
}
}
mp_obj_t pyb_gc(void) {
gc_collect();
return mp_const_none;
}
mp_obj_t pyb_gpio(int n_args, mp_obj_t *args) {
//assert(1 <= n_args && n_args <= 2);
uint pin = mp_obj_get_int(args[0]);
if (pin > CORE_NUM_DIGITAL) {
goto pin_error;
}
if (n_args == 1) {
// get pin
pinMode(pin, INPUT);
return MP_OBJ_NEW_SMALL_INT(digitalRead(pin));
}
// set pin
pinMode(pin, OUTPUT);
digitalWrite(pin, rt_is_true(args[1]));
return mp_const_none;
pin_error:
nlr_jump(mp_obj_new_exception_msg_1_arg(MP_QSTR_ValueError, "pin %d does not exist", (void *)(machine_uint_t)pin));
}
MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_gpio_obj, 1, 2, pyb_gpio);
#if 0
mp_obj_t pyb_hid_send_report(mp_obj_t arg) {
mp_obj_t *items = mp_obj_get_array_fixed_n(arg, 4);
uint8_t data[4];
data[0] = mp_obj_get_int(items[0]);
data[1] = mp_obj_get_int(items[1]);
data[2] = mp_obj_get_int(items[2]);
data[3] = mp_obj_get_int(items[3]);
usb_hid_send_report(data);
return mp_const_none;
}
#endif
static mp_obj_t pyb_config_source_dir = MP_OBJ_NULL;
static mp_obj_t pyb_config_main = MP_OBJ_NULL;
mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
if (MP_OBJ_IS_STR(source_dir)) {
pyb_config_source_dir = source_dir;
printf("source_dir = '");
mp_obj_print(source_dir, PRINT_STR);
printf("'\n");
}
return mp_const_none;
}
mp_obj_t pyb_main(mp_obj_t main) {
if (MP_OBJ_IS_STR(main)) {
pyb_config_main = main;
printf("main = '");
mp_obj_print(main, PRINT_STR);
printf("'\n");
}
return mp_const_none;
}
mp_obj_t pyb_delay(mp_obj_t count) {
delay(mp_obj_get_int(count));
return mp_const_none;
}
mp_obj_t pyb_led(mp_obj_t state) {
led_state(PYB_LED_BUILTIN, rt_is_true(state));
return state;
}
mp_obj_t pyb_run(mp_obj_t filename_obj) {
const char *filename = qstr_str(mp_obj_str_get_qstr(filename_obj));
do_file(filename);
return mp_const_none;
}
char *strdup(const char *str) {
uint32_t len = strlen(str);
char *s2 = m_new(char, len + 1);
memcpy(s2, str, len);
s2[len] = 0;
return s2;
}
#define READLINE_HIST_SIZE (8)
static const char *readline_hist[READLINE_HIST_SIZE] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
void stdout_tx_str(const char *str) {
// usart_tx_str(str);
usb_vcp_send_str(str);
}
int readline(vstr_t *line, const char *prompt) {
stdout_tx_str(prompt);
int len = vstr_len(line);
int escape = 0;
int hist_num = 0;
for (;;) {
char c;
for (;;) {
if (usb_vcp_rx_any() != 0) {
c = usb_vcp_rx_get();
break;
#if 0
} else if (usart_rx_any()) {
c = usart_rx_char();
break;
#endif
}
//delay(1);
//if (storage_needs_flush()) {
// storage_flush();
//}
}
if (escape == 0) {
if (c == 4 && vstr_len(line) == len) {
return 0;
} else if (c == '\r') {
stdout_tx_str("\r\n");
for (int i = READLINE_HIST_SIZE - 1; i > 0; i--) {
readline_hist[i] = readline_hist[i - 1];
}
readline_hist[0] = strdup(vstr_str(line));
return 1;
} else if (c == 27) {
escape = true;
} else if (c == 127) {
if (vstr_len(line) > len) {
vstr_cut_tail(line, 1);
stdout_tx_str("\b \b");
}
} else if (32 <= c && c <= 126) {
vstr_add_char(line, c);
stdout_tx_str(line->buf + line->len - 1);
}
} else if (escape == 1) {
if (c == '[') {
escape = 2;
} else {
escape = 0;
}
} else if (escape == 2) {
escape = 0;
if (c == 'A') {
// up arrow
if (hist_num < READLINE_HIST_SIZE && readline_hist[hist_num] != NULL) {
// erase line
for (int i = line->len - len; i > 0; i--) {
stdout_tx_str("\b \b");
}
// set line to history
line->len = len;
vstr_add_str(line, readline_hist[hist_num]);
// draw line
stdout_tx_str(readline_hist[hist_num]);
// increase hist num
hist_num += 1;
}
}
} else {
escape = 0;
}
delay(10);
}
}
bool do_file(const char *filename) {
mp_lexer_t *lex = mp_lexer_new_from_memzip_file(filename);
if (lex == NULL) {
printf("could not open file '%s' for reading\n", filename);
return false;
}
qstr parse_exc_id;
const char *parse_exc_msg;
mp_parse_node_t pn = mp_parse(lex, MP_PARSE_FILE_INPUT, &parse_exc_id, &parse_exc_msg);
qstr source_name = mp_lexer_source_name(lex);
if (pn == MP_PARSE_NODE_NULL) {
// parse error
mp_lexer_show_error_pythonic_prefix(lex);
printf("%s: %s\n", qstr_str(parse_exc_id), parse_exc_msg);
mp_lexer_free(lex);
return false;
}
mp_lexer_free(lex);
mp_obj_t module_fun = mp_compile(pn, source_name, false);
mp_parse_node_free(pn);
if (module_fun == mp_const_none) {
return false;
}
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
rt_call_function_0(module_fun);
nlr_pop();
return true;
} else {
// uncaught exception
mp_obj_print((mp_obj_t)nlr.ret_val, PRINT_REPR);
printf("\n");
return false;
}
}
void do_repl(void) {
stdout_tx_str("Micro Python for Teensy 3.1\r\n");
stdout_tx_str("Type \"help()\" for more information.\r\n");
vstr_t line;
vstr_init(&line, 32);
for (;;) {
vstr_reset(&line);
int ret = readline(&line, ">>> ");
if (ret == 0) {
// EOF
break;
}
if (vstr_len(&line) == 0) {
continue;
}
if (mp_repl_is_compound_stmt(vstr_str(&line))) {
for (;;) {
vstr_add_char(&line, '\n');
int len = vstr_len(&line);
int ret = readline(&line, "... ");
if (ret == 0 || vstr_len(&line) == len) {
// done entering compound statement
break;
}
}
}
mp_lexer_t *lex = mp_lexer_new_from_str_len(MP_QSTR__lt_stdin_gt_, vstr_str(&line), vstr_len(&line), 0);
qstr parse_exc_id;
const char *parse_exc_msg;
mp_parse_node_t pn = mp_parse(lex, MP_PARSE_SINGLE_INPUT, &parse_exc_id, &parse_exc_msg);
qstr source_name = mp_lexer_source_name(lex);
if (pn == MP_PARSE_NODE_NULL) {
// parse error
mp_lexer_show_error_pythonic_prefix(lex);
printf("%s: %s\n", qstr_str(parse_exc_id), parse_exc_msg);
mp_lexer_free(lex);
} else {
// parse okay
mp_lexer_free(lex);
mp_obj_t module_fun = mp_compile(pn, source_name, true);
if (module_fun != mp_const_none) {
nlr_buf_t nlr;
uint32_t start = micros();
if (nlr_push(&nlr) == 0) {
rt_call_function_0(module_fun);
nlr_pop();
// optional timing
if (0) {
uint32_t ticks = micros() - start; // TODO implement a function that does this properly
printf("(took %lu ms)\n", ticks);
}
} else {
// uncaught exception
mp_obj_print((mp_obj_t)nlr.ret_val, PRINT_REPR);
printf("\n");
}
}
}
}
stdout_tx_str("\r\n");
}
int main(void) {
pinMode(LED_BUILTIN, OUTPUT);
#if 0
// Wait for host side to get connected
while (!usb_vcp_is_connected()) {
;
}
#else
delay(1000);
#endif
led_init();
led_state(PYB_LED_BUILTIN, 1);
// int first_soft_reset = true;
soft_reset:
// GC init
gc_init(&_heap_start, (void*)HEAP_END);
qstr_init();
rt_init();
// add some functions to the python namespace
{
rt_store_name(MP_QSTR_help, rt_make_function_n(0, pyb_help));
mp_obj_t m = mp_obj_new_module(MP_QSTR_pyb);
rt_store_attr(m, MP_QSTR_info, rt_make_function_n(0, pyb_info));
rt_store_attr(m, MP_QSTR_source_dir, rt_make_function_n(1, pyb_source_dir));
rt_store_attr(m, MP_QSTR_main, rt_make_function_n(1, pyb_main));
rt_store_attr(m, MP_QSTR_gc, rt_make_function_n(0, pyb_gc));
rt_store_attr(m, MP_QSTR_delay, rt_make_function_n(1, pyb_delay));
rt_store_attr(m, MP_QSTR_led, rt_make_function_n(1, pyb_led));
rt_store_attr(m, MP_QSTR_Led, rt_make_function_n(1, pyb_Led));
rt_store_attr(m, MP_QSTR_analogRead, rt_make_function_n(1, pyb_analog_read));
rt_store_attr(m, MP_QSTR_analogWrite, rt_make_function_n(2, pyb_analog_write));
rt_store_attr(m, MP_QSTR_analogWriteResolution, rt_make_function_n(1, pyb_analog_write_resolution));
rt_store_attr(m, MP_QSTR_analogWriteFrequency, rt_make_function_n(2, pyb_analog_write_frequency));
rt_store_attr(m, MP_QSTR_gpio, (mp_obj_t)&pyb_gpio_obj);
rt_store_attr(m, MP_QSTR_Servo, rt_make_function_n(0, pyb_Servo));
rt_store_name(MP_QSTR_pyb, m);
rt_store_name(MP_QSTR_run, rt_make_function_n(1, pyb_run));
}
printf("About execute /boot.py\n");
if (!do_file("/boot.py")) {
printf("Unable to open '/boot.py'\n");
flash_error(4);
}
printf("Done executing /boot.py\n");
// Turn bootup LED off
led_state(PYB_LED_BUILTIN, 0);
// run main script
{
vstr_t *vstr = vstr_new();
vstr_add_str(vstr, "/");
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));
}
printf("About execute '%s'\n", vstr_str(vstr));
if (!do_file(vstr_str(vstr))) {
printf("Unable to open '%s'\n", vstr_str(vstr));
flash_error(3);
}
printf("Done executing '%s'\n", vstr_str(vstr));
vstr_free(vstr);
}
do_repl();
printf("PYB: soft reboot\n");
// first_soft_reset = false;
goto soft_reset;
}
double sqrt(double x) {
// TODO
return 0.0;
}
machine_float_t machine_sqrt(machine_float_t x) {
// TODO
return x;
}
// stub out __libc_init_array. It's called by mk20dx128.c and is used to call
// global C++ constructors. Since this is a C-only projects, we don't need to
// call constructors.
void __libc_init_array(void) {
}
char * ultoa(unsigned long val, char *buf, int radix)
{
unsigned digit;
int i=0, j;
char t;
while (1) {
digit = val % radix;
buf[i] = ((digit < 10) ? '0' + digit : 'A' + digit - 10);
val /= radix;
if (val == 0) break;
i++;
}
buf[i + 1] = 0;
for (j=0; j < i; j++, i--) {
t = buf[j];
buf[j] = buf[i];
buf[i] = t;
}
return buf;
}
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