diff options
45 files changed, 1404 insertions, 219 deletions
diff --git a/py/builtin.c b/py/builtin.c index 5911fa634..5e2015452 100644 --- a/py/builtin.c +++ b/py/builtin.c @@ -6,6 +6,7 @@ #include "mpconfig.h" #include "qstr.h" #include "obj.h" +#include "objstr.h" #include "runtime0.h" #include "runtime.h" #include "builtin.h" @@ -125,6 +126,13 @@ STATIC mp_obj_t mp_builtin_any(mp_obj_t o_in) { MP_DEFINE_CONST_FUN_OBJ_1(mp_builtin_any_obj, mp_builtin_any); +STATIC mp_obj_t mp_builtin_bin(mp_obj_t o_in) { + mp_obj_t args[] = { MP_OBJ_NEW_QSTR(MP_QSTR__brace_open__colon__hash_b_brace_close_), o_in }; + return mp_obj_str_format(sizeof(args) / sizeof(args[0]), args); +} + +MP_DEFINE_CONST_FUN_OBJ_1(mp_builtin_bin_obj, mp_builtin_bin); + STATIC mp_obj_t mp_builtin_callable(mp_obj_t o_in) { if (mp_obj_is_callable(o_in)) { return mp_const_true; @@ -299,6 +307,12 @@ STATIC mp_obj_t mp_builtin_next(mp_obj_t o) { MP_DEFINE_CONST_FUN_OBJ_1(mp_builtin_next_obj, mp_builtin_next); +STATIC mp_obj_t mp_builtin_oct(mp_obj_t o_in) { + return mp_binary_op(MP_BINARY_OP_MODULO, MP_OBJ_NEW_QSTR(MP_QSTR__percent__hash_o), o_in); +} + +MP_DEFINE_CONST_FUN_OBJ_1(mp_builtin_oct_obj, mp_builtin_oct); + STATIC mp_obj_t mp_builtin_ord(mp_obj_t o_in) { uint len; const char *str = mp_obj_str_get_data(o_in, &len); diff --git a/py/builtin.h b/py/builtin.h index 51a74a310..36b9f3881 100644 --- a/py/builtin.h +++ b/py/builtin.h @@ -6,6 +6,7 @@ MP_DECLARE_CONST_FUN_OBJ(mp_builtin___repl_print___obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_abs_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_all_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_any_obj); +MP_DECLARE_CONST_FUN_OBJ(mp_builtin_bin_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_callable_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_chr_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_dir_obj); @@ -26,6 +27,7 @@ MP_DECLARE_CONST_FUN_OBJ(mp_builtin_locals_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_max_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_min_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_next_obj); +MP_DECLARE_CONST_FUN_OBJ(mp_builtin_oct_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_ord_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_pow_obj); MP_DECLARE_CONST_FUN_OBJ(mp_builtin_print_obj); diff --git a/py/builtintables.c b/py/builtintables.c index 6cf12dffa..6bdae2400 100644 --- a/py/builtintables.c +++ b/py/builtintables.c @@ -51,6 +51,7 @@ STATIC const mp_map_elem_t mp_builtin_object_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_abs), (mp_obj_t)&mp_builtin_abs_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_all), (mp_obj_t)&mp_builtin_all_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_any), (mp_obj_t)&mp_builtin_any_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_bin), (mp_obj_t)&mp_builtin_bin_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_callable), (mp_obj_t)&mp_builtin_callable_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_chr), (mp_obj_t)&mp_builtin_chr_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_dir), (mp_obj_t)&mp_builtin_dir_obj }, @@ -70,6 +71,7 @@ STATIC const mp_map_elem_t mp_builtin_object_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_max), (mp_obj_t)&mp_builtin_max_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_min), (mp_obj_t)&mp_builtin_min_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_next), (mp_obj_t)&mp_builtin_next_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_oct), (mp_obj_t)&mp_builtin_oct_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_ord), (mp_obj_t)&mp_builtin_ord_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_pow), (mp_obj_t)&mp_builtin_pow_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_print), (mp_obj_t)&mp_builtin_print_obj }, diff --git a/py/makeqstrdata.py b/py/makeqstrdata.py index 8620af567..afde77205 100644 --- a/py/makeqstrdata.py +++ b/py/makeqstrdata.py @@ -18,6 +18,8 @@ codepoint2name[ord(':')] = 'colon' codepoint2name[ord('/')] = 'slash' codepoint2name[ord('%')] = 'percent' codepoint2name[ord('#')] = 'hash' +codepoint2name[ord('{')] = 'brace_open' +codepoint2name[ord('}')] = 'brace_close' # this must match the equivalent function in qstr.c def compute_hash(qstr): @@ -320,7 +320,7 @@ uint mp_get_index(const mp_obj_type_t *type, machine_uint_t len, mp_obj_t index, // may return MP_OBJ_NULL mp_obj_t mp_obj_len_maybe(mp_obj_t o_in) { - if (MP_OBJ_IS_STR(o_in)) { + if (MP_OBJ_IS_STR(o_in) || MP_OBJ_IS_TYPE(o_in, &mp_type_bytes)) { return MP_OBJ_NEW_SMALL_INT((machine_int_t)mp_obj_str_get_len(o_in)); } else { mp_obj_type_t *type = mp_obj_get_type(o_in); diff --git a/py/objstr.c b/py/objstr.c index fc1e1c569..7de42b6e9 100644 --- a/py/objstr.c +++ b/py/objstr.c @@ -579,7 +579,7 @@ static mp_obj_t arg_as_int(mp_obj_t arg) { return arg; } -mp_obj_t str_format(uint n_args, const mp_obj_t *args) { +mp_obj_t mp_obj_str_format(uint n_args, const mp_obj_t *args) { assert(MP_OBJ_IS_STR(args[0])); GET_STR_DATA_LEN(args[0], str, len); @@ -1346,7 +1346,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_2(str_join_obj, str_join); STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(str_split_obj, 1, 3, str_split); STATIC MP_DEFINE_CONST_FUN_OBJ_2(str_startswith_obj, str_startswith); STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(str_strip_obj, 1, 2, str_strip); -STATIC MP_DEFINE_CONST_FUN_OBJ_VAR(str_format_obj, 1, str_format); +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR(str_format_obj, 1, mp_obj_str_format); STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(str_replace_obj, 3, 4, str_replace); STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(str_count_obj, 2, 4, str_count); STATIC MP_DEFINE_CONST_FUN_OBJ_2(str_partition_obj, str_partition); @@ -1485,7 +1485,8 @@ uint mp_obj_str_get_hash(mp_obj_t self_in) { } uint mp_obj_str_get_len(mp_obj_t self_in) { - if (MP_OBJ_IS_STR(self_in)) { + // TODO This has a double check for the type, one in obj.c and one here + if (MP_OBJ_IS_STR(self_in) || MP_OBJ_IS_TYPE(self_in, &mp_type_bytes)) { GET_STR_LEN(self_in, l); return l; } else { diff --git a/py/objstr.h b/py/objstr.h index a32ba53b1..800568de8 100644 --- a/py/objstr.h +++ b/py/objstr.h @@ -8,3 +8,5 @@ typedef struct _mp_obj_str_t { } mp_obj_str_t; #define MP_DEFINE_STR_OBJ(obj_name, str) mp_obj_str_t obj_name = {{&mp_type_str}, 0, sizeof(str) - 1, (const byte*)str}; + +mp_obj_t mp_obj_str_format(uint n_args, const mp_obj_t *args); diff --git a/py/qstrdefs.h b/py/qstrdefs.h index d18882f69..20c4db75f 100644 --- a/py/qstrdefs.h +++ b/py/qstrdefs.h @@ -83,6 +83,8 @@ Q(all) Q(any) Q(args) Q(array) +Q(bin) +Q({:#b}) Q(bool) Q(bytearray) Q(bytes) @@ -122,6 +124,8 @@ Q(max) Q(min) Q(namedtuple) Q(next) +Q(oct) +Q(%#o) Q(open) Q(ord) Q(path) diff --git a/stmhal/Makefile b/stmhal/Makefile index 978918994..56c00e905 100644 --- a/stmhal/Makefile +++ b/stmhal/Makefile @@ -70,6 +70,7 @@ SRC_C = \ usb.c \ printf.c \ math.c \ + mathsincos.c \ malloc0.c \ gccollect.c \ pybstdio.c \ @@ -210,6 +211,14 @@ PREFIX_FILE = boards/stm32f4xx-prefix.c GEN_PINS_SRC = $(BUILD)/pins_$(BOARD).c GEN_PINS_HDR = $(BUILD)/pins.h +INSERT_USB_IDS = ../tools/insert-usb-ids.py +FILE2H = ../tools/file2h.py + +USB_IDS_FILE = usbd_desc_cdc_msc.c +CDCINF_TEMPLATE = pybcdc.inf_template +GEN_CDCINF_FILE = $(BUILD)/pybcdc.inf +GEN_CDCINF_HEADER = $(BUILD)/pybcdc_inf.h + # Making OBJ use an order-only depenedency on the generated pins.h file # has the side effect of making the pins.h file before we actually compile # any of the objects. The normal dependency generation will deal with the @@ -217,6 +226,8 @@ GEN_PINS_HDR = $(BUILD)/pins.h # which source files might need it. $(OBJ): | $(BUILD)/pins.h +$(BUILD)/main.o: $(GEN_CDCINF_HEADER) + # Use a pattern rule here so that make will only call make-pins.py once to make # both pins_$(BOARD).c and pins.h $(BUILD)/%_$(BOARD).c $(BUILD)/%.h: boards/$(BOARD)/%.csv $(MAKE_PINS) $(AF_FILE) $(PREFIX_FILE) @@ -226,4 +237,12 @@ $(BUILD)/%_$(BOARD).c $(BUILD)/%.h: boards/$(BOARD)/%.csv $(MAKE_PINS) $(AF_FILE $(BUILD)/pins_$(BOARD).o: $(BUILD)/pins_$(BOARD).c $(call compile_c) +$(GEN_CDCINF_HEADER): $(GEN_CDCINF_FILE) $(FILE2H) + $(ECHO) "Create $@" + $(Q)$(PYTHON) $(FILE2H) $< > $@ + +$(GEN_CDCINF_FILE): $(CDCINF_TEMPLATE) $(INSERT_USB_IDS) $(USB_IDS_FILE) + $(ECHO) "Create $@" + $(Q)$(PYTHON) $(INSERT_USB_IDS) $(USB_IDS_FILE) $< > $@ + include ../py/mkrules.mk diff --git a/stmhal/adc.c b/stmhal/adc.c index 8a1c23c4f..dafa3f7bc 100644 --- a/stmhal/adc.c +++ b/stmhal/adc.c @@ -11,6 +11,7 @@ #include "adc.h" #include "pin.h" #include "build/pins.h" +#include "timer.h" // Usage Model: // @@ -162,8 +163,39 @@ STATIC mp_obj_t adc_read(mp_obj_t self_in) { STATIC MP_DEFINE_CONST_FUN_OBJ_1(adc_read_obj, adc_read); +STATIC mp_obj_t adc_read_timed(mp_obj_t self_in, mp_obj_t buf_in, mp_obj_t freq_in) { + pyb_obj_adc_t *self = self_in; + + buffer_info_t bufinfo; + mp_get_buffer_raise(buf_in, &bufinfo); + + // Init TIM6 at the required frequency (in Hz) + timer_tim6_init(mp_obj_get_int(freq_in)); + + // Start timer + HAL_TIM_Base_Start(&TIM6_Handle); + + // This uses the timer in polling mode to do the sampling + // TODO use DMA + for (uint i = 0; i < bufinfo.len; i++) { + // Wait for the timer to trigger + while (__HAL_TIM_GET_FLAG(&TIM6_Handle, TIM_FLAG_UPDATE) == RESET) { + } + __HAL_TIM_CLEAR_FLAG(&TIM6_Handle, TIM_FLAG_UPDATE); + ((byte*)bufinfo.buf)[i] = adc_read_channel(&self->handle) >> 4; + } + + // Stop timer + HAL_TIM_Base_Stop(&TIM6_Handle); + + return mp_obj_new_int(bufinfo.len); +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_3(adc_read_timed_obj, adc_read_timed); + STATIC const mp_map_elem_t adc_locals_dict_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_read), (mp_obj_t)&adc_read_obj}, + { MP_OBJ_NEW_QSTR(MP_QSTR_read_timed), (mp_obj_t)&adc_read_timed_obj}, }; STATIC MP_DEFINE_CONST_DICT(adc_locals_dict, adc_locals_dict_table); diff --git a/stmhal/dac.c b/stmhal/dac.c index 5e809412e..c018a4046 100644 --- a/stmhal/dac.c +++ b/stmhal/dac.c @@ -10,9 +10,9 @@ #include "parse.h" #include "obj.h" #include "runtime.h" +#include "timer.h" #include "dac.h" -TIM_HandleTypeDef TIM6_Handle; STATIC DAC_HandleTypeDef DAC_Handle; void dac_init(void) { @@ -22,19 +22,8 @@ void dac_init(void) { } STATIC void TIM6_Config(uint freq) { - // TIM6 clock enable - __TIM6_CLK_ENABLE(); - - // Compute the prescaler value so TIM6 triggers at freq-Hz - uint16_t period = (uint16_t) ((SystemCoreClock / 2) / freq) - 1; - - // time base clock configuration - TIM6_Handle.Instance = TIM6; - TIM6_Handle.Init.Period = period; - TIM6_Handle.Init.Prescaler = 0; // timer runs at SystemCoreClock / 2 - TIM6_Handle.Init.ClockDivision = 0; // unused for TIM6 - TIM6_Handle.Init.CounterMode = TIM_COUNTERMODE_UP; // unused for TIM6 - HAL_TIM_Base_Init(&TIM6_Handle); + // Init TIM6 at the required frequency (in Hz) + timer_tim6_init(freq); // TIM6 TRGO selection TIM_MasterConfigTypeDef config; @@ -203,17 +192,14 @@ mp_obj_t pyb_dac_dma(uint n_args, const mp_obj_t *args, mp_map_t *kw_args) { DAC_Init(self->dac_channel, &DAC_InitStructure); */ - if (self->state != 3) { - DAC_ChannelConfTypeDef config; - config.DAC_Trigger = DAC_TRIGGER_T6_TRGO; - config.DAC_OutputBuffer = DAC_OUTPUTBUFFER_ENABLE; - HAL_DAC_ConfigChannel(&DAC_Handle, &config, self->dac_channel); - self->state = 3; - } - // DMA1_Stream[67] channel7 configuration DMA_HandleTypeDef DMA_Handle; DMA_Handle.Instance = self->dma_stream; + + // Need to deinit DMA first + DMA_Handle.State = HAL_DMA_STATE_READY; + HAL_DMA_DeInit(&DMA_Handle); + DMA_Handle.Init.Channel = DMA_CHANNEL_7; DMA_Handle.Init.Direction = DMA_MEMORY_TO_PERIPH; DMA_Handle.Init.PeriphInc = DMA_PINC_DISABLE; @@ -231,6 +217,18 @@ mp_obj_t pyb_dac_dma(uint n_args, const mp_obj_t *args, mp_map_t *kw_args) { __HAL_LINKDMA(&DAC_Handle, DMA_Handle1, DMA_Handle); + DAC_Handle.Instance = DAC; + DAC_Handle.State = HAL_DAC_STATE_RESET; + HAL_DAC_Init(&DAC_Handle); + + if (self->state != 3) { + DAC_ChannelConfTypeDef config; + config.DAC_Trigger = DAC_TRIGGER_T6_TRGO; + config.DAC_OutputBuffer = DAC_OUTPUTBUFFER_ENABLE; + HAL_DAC_ConfigChannel(&DAC_Handle, &config, self->dac_channel); + self->state = 3; + } + HAL_DAC_Start_DMA(&DAC_Handle, self->dac_channel, (uint32_t*)bufinfo.buf, bufinfo.len, DAC_ALIGN_8B_R); /* diff --git a/stmhal/flash.c b/stmhal/flash.c index 6ed3b0432..ce16fe271 100644 --- a/stmhal/flash.c +++ b/stmhal/flash.c @@ -49,7 +49,81 @@ uint32_t flash_get_sector_info(uint32_t addr, uint32_t *start_addr, uint32_t *si return 0; } +void flash_erase(uint32_t flash_dest, const uint32_t *src, uint32_t num_word32) { + // check there is something to write + if (num_word32 == 0) { + return; + } + + // unlock + HAL_FLASH_Unlock(); + + // Clear pending flags (if any) + __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | + FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR|FLASH_FLAG_PGSERR); + + // erase the sector(s) + FLASH_EraseInitTypeDef EraseInitStruct; + EraseInitStruct.TypeErase = TYPEERASE_SECTORS; + EraseInitStruct.VoltageRange = VOLTAGE_RANGE_3; // voltage range needs to be 2.7V to 3.6V + EraseInitStruct.Sector = flash_get_sector_info(flash_dest, NULL, NULL); + EraseInitStruct.NbSectors = flash_get_sector_info(flash_dest + 4 * num_word32 - 1, NULL, NULL) - EraseInitStruct.Sector + 1; + uint32_t SectorError = 0; + if (HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError) != HAL_OK) { + // error occurred during sector erase + HAL_FLASH_Lock(); // lock the flash + return; + } +} + +/* +// erase the sector using an interrupt +void flash_erase_it(uint32_t flash_dest, const uint32_t *src, uint32_t num_word32) { + // check there is something to write + if (num_word32 == 0) { + return; + } + + // unlock + HAL_FLASH_Unlock(); + + // Clear pending flags (if any) + __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | + FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR|FLASH_FLAG_PGSERR); + + // erase the sector(s) + FLASH_EraseInitTypeDef EraseInitStruct; + EraseInitStruct.TypeErase = TYPEERASE_SECTORS; + EraseInitStruct.VoltageRange = VOLTAGE_RANGE_3; // voltage range needs to be 2.7V to 3.6V + EraseInitStruct.Sector = flash_get_sector_info(flash_dest, NULL, NULL); + EraseInitStruct.NbSectors = flash_get_sector_info(flash_dest + 4 * num_word32 - 1, NULL, NULL) - EraseInitStruct.Sector + 1; + if (HAL_FLASHEx_Erase_IT(&EraseInitStruct) != HAL_OK) { + // error occurred during sector erase + HAL_FLASH_Lock(); // lock the flash + return; + } +} +*/ + void flash_write(uint32_t flash_dest, const uint32_t *src, uint32_t num_word32) { + // program the flash word by word + for (int i = 0; i < num_word32; i++) { + if (HAL_FLASH_Program(TYPEPROGRAM_WORD, flash_dest, *src) != HAL_OK) { + // error occurred during flash write + HAL_FLASH_Lock(); // lock the flash + return; + } + flash_dest += 4; + src += 1; + } + + // lock the flash + HAL_FLASH_Lock(); +} + +/* + use erase, then write +void flash_erase_and_write(uint32_t flash_dest, const uint32_t *src, uint32_t num_word32) { // check there is something to write if (num_word32 == 0) { return; @@ -71,6 +145,7 @@ void flash_write(uint32_t flash_dest, const uint32_t *src, uint32_t num_word32) uint32_t SectorError = 0; if (HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError) != HAL_OK) { // error occurred during sector erase + HAL_FLASH_Lock(); // lock the flash return; } @@ -78,6 +153,7 @@ void flash_write(uint32_t flash_dest, const uint32_t *src, uint32_t num_word32) for (int i = 0; i < num_word32; i++) { if (HAL_FLASH_Program(TYPEPROGRAM_WORD, flash_dest, *src) != HAL_OK) { // error occurred during flash write + HAL_FLASH_Lock(); // lock the flash return; } flash_dest += 4; @@ -87,3 +163,4 @@ void flash_write(uint32_t flash_dest, const uint32_t *src, uint32_t num_word32) // lock the flash HAL_FLASH_Lock(); } +*/ diff --git a/stmhal/flash.h b/stmhal/flash.h index 33d31df7a..7900d2c1a 100644 --- a/stmhal/flash.h +++ b/stmhal/flash.h @@ -1,2 +1,3 @@ uint32_t flash_get_sector_info(uint32_t addr, uint32_t *start_addr, uint32_t *size); +void flash_erase(uint32_t flash_dest, const uint32_t *src, uint32_t num_word32); void flash_write(uint32_t flash_dest, const uint32_t *src, uint32_t num_word32); diff --git a/stmhal/i2c.c b/stmhal/i2c.c index 65bc3600e..780d4fb49 100644 --- a/stmhal/i2c.c +++ b/stmhal/i2c.c @@ -98,14 +98,13 @@ STATIC mp_obj_t pyb_i2c_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const return (mp_obj_t)i2c_obj; } +// Check if an I2C device responds to the given address. STATIC mp_obj_t pyb_i2c_is_ready(mp_obj_t self_in, mp_obj_t i2c_addr_o) { pyb_i2c_obj_t *self = self_in; machine_uint_t i2c_addr = mp_obj_get_int(i2c_addr_o) << 1; - //printf("IsDeviceReady\n"); for (int i = 0; i < 10; i++) { HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(self->i2c_handle, i2c_addr, 10, 200); - //printf(" got %d\n", status); if (status == HAL_OK) { return mp_const_true; } @@ -116,6 +115,69 @@ STATIC mp_obj_t pyb_i2c_is_ready(mp_obj_t self_in, mp_obj_t i2c_addr_o) { STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_i2c_is_ready_obj, pyb_i2c_is_ready); +// Scan all I2C addresses from 0x01 to 0x7f and return a list of those that respond. +STATIC mp_obj_t pyb_i2c_scan(mp_obj_t self_in) { + pyb_i2c_obj_t *self = self_in; + + mp_obj_t list = mp_obj_new_list(0, NULL); + + for (uint addr = 1; addr <= 127; addr++) { + for (int i = 0; i < 10; i++) { + HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(self->i2c_handle, addr << 1, 10, 200); + if (status == HAL_OK) { + mp_obj_list_append(list, mp_obj_new_int(addr)); + break; + } + } + } + + return list; +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_i2c_scan_obj, pyb_i2c_scan); + +STATIC mp_obj_t pyb_i2c_read(mp_obj_t self_in, mp_obj_t i2c_addr_in, mp_obj_t n_in) { + pyb_i2c_obj_t *self = self_in; + machine_uint_t i2c_addr = mp_obj_get_int(i2c_addr_in) << 1; + machine_uint_t n = mp_obj_get_int(n_in); + + byte *data; + mp_obj_t o = mp_obj_str_builder_start(&mp_type_bytes, n, &data); + HAL_StatusTypeDef status = HAL_I2C_Master_Receive(self->i2c_handle, i2c_addr, data, n, 500); + + if (status != HAL_OK) { + // TODO really need a HardwareError object, or something + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_I2C_Master_Receive failed with code %d", status)); + } + + return mp_obj_str_builder_end(o); +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_3(pyb_i2c_read_obj, pyb_i2c_read); + +STATIC mp_obj_t pyb_i2c_write(mp_obj_t self_in, mp_obj_t i2c_addr_in, mp_obj_t data_in) { + pyb_i2c_obj_t *self = self_in; + machine_uint_t i2c_addr = mp_obj_get_int(i2c_addr_in) << 1; + HAL_StatusTypeDef status; + if (MP_OBJ_IS_INT(data_in)) { + uint8_t data[1] = {mp_obj_get_int(data_in)}; + status = HAL_I2C_Master_Transmit(self->i2c_handle, i2c_addr, data, 1, 500); + } else { + buffer_info_t bufinfo; + mp_get_buffer_raise(data_in, &bufinfo); + status = HAL_I2C_Master_Transmit(self->i2c_handle, i2c_addr, bufinfo.buf, bufinfo.len, 500); + } + + if (status != HAL_OK) { + // TODO really need a HardwareError object, or something + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_I2C_Master_Transmit failed with code %d", status)); + } + + return mp_const_none; +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_3(pyb_i2c_write_obj, pyb_i2c_write); + STATIC mp_obj_t pyb_i2c_mem_read(uint n_args, const mp_obj_t *args) { pyb_i2c_obj_t *self = args[0]; machine_uint_t i2c_addr = mp_obj_get_int(args[1]) << 1; @@ -166,6 +228,9 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_i2c_mem_write_obj, 4, 4, pyb_i2c_ STATIC const mp_map_elem_t pyb_i2c_locals_dict_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_is_ready), (mp_obj_t)&pyb_i2c_is_ready_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_scan), (mp_obj_t)&pyb_i2c_scan_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_read), (mp_obj_t)&pyb_i2c_read_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_write), (mp_obj_t)&pyb_i2c_write_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_mem_read), (mp_obj_t)&pyb_i2c_mem_read_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_mem_write), (mp_obj_t)&pyb_i2c_mem_write_obj }, }; diff --git a/stmhal/main.c b/stmhal/main.c index 2f40f140a..c5633fb68 100644 --- a/stmhal/main.c +++ b/stmhal/main.c @@ -134,7 +134,22 @@ static const char fresh_main_py[] = ; static const char fresh_pybcdc_inf[] = -#include "pybcdc.h" +#include "build/pybcdc_inf.h" +; + +static const char fresh_readme_txt[] = +"This is a Micro Python board\r\n" +"\r\n" +"You can get started right away by writing your Python code in 'main.py'.\r\n" +"\r\n" +"For a serial prompt:\r\n" +" - Windows: you need to go to 'Device manager', right click on the unknown device,\r\n" +" then update the driver software, using the 'pybcdc.inf' file found on this drive.\r\n" +" Then use a terminal program like Hyperterminal or putty.\r\n" +" - Mac OS X: use the command: screen /dev/tty.usbmodem*\r\n" +" - Linux: use the command: screen /dev/ttyACM0\r\n" +"\r\n" +"Please visit http://micropython.org/help/ for further help.\r\n" ; int main(void) { @@ -254,8 +269,15 @@ soft_reset: // 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)); + { + mp_obj_t args[2] = { + MP_OBJ_NEW_SMALL_INT(PYB_USART_6), + MP_OBJ_NEW_SMALL_INT(115200), + }; + pyb_usart_global_debug = pyb_usart_type.make_new((mp_obj_t)&pyb_usart_type, + sizeof(args) / sizeof(args[0]), + 0, args); + } #else pyb_usart_global_debug = NULL; #endif @@ -315,6 +337,11 @@ soft_reset: 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, "0:/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); diff --git a/stmhal/math.c b/stmhal/math.c index 9b815f118..75a5aeb2e 100644 --- a/stmhal/math.c +++ b/stmhal/math.c @@ -70,16 +70,11 @@ float tanhf(float x) { return sinhf(x) / coshf(x); } float acoshf(float x) { return 0.0; } float asinhf(float x) { return 0.0; } float atanhf(float x) { return 0.0; } -float cosf(float x) { return 0.0; } -float sinf(float x) { return 0.0; } float tanf(float x) { return 0.0; } float acosf(float x) { return 0.0; } float asinf(float x) { return 0.0; } float atanf(float x) { return 0.0; } float atan2f(float x, float y) { return 0.0; } -float ceilf(float x) { return 0.0; } -float floorf(float x) { return 0.0; } -float truncf(float x) { return 0.0; } float fmodf(float x, float y) { return 0.0; } float tgammaf(float x) { return 0.0; } float lgammaf(float x) { return 0.0; } @@ -820,3 +815,79 @@ float sinhf(float x) t = 2*h*__expo2f(absx); return t; } + +/*****************************************************************************/ +/*****************************************************************************/ +// ceilf, floorf and truncf from musl-0.9.15 +/*****************************************************************************/ +/*****************************************************************************/ + +float ceilf(float x) +{ + union {float f; uint32_t i;} u = {x}; + int e = (int)(u.i >> 23 & 0xff) - 0x7f; + uint32_t m; + + if (e >= 23) + return x; + if (e >= 0) { + m = 0x007fffff >> e; + if ((u.i & m) == 0) + return x; + FORCE_EVAL(x + 0x1p120f); + if (u.i >> 31 == 0) + u.i += m; + u.i &= ~m; + } else { + FORCE_EVAL(x + 0x1p120f); + if (u.i >> 31) + u.f = -0.0; + else if (u.i << 1) + u.f = 1.0; + } + return u.f; +} + +float floorf(float x) +{ + union {float f; uint32_t i;} u = {x}; + int e = (int)(u.i >> 23 & 0xff) - 0x7f; + uint32_t m; + + if (e >= 23) + return x; + if (e >= 0) { + m = 0x007fffff >> e; + if ((u.i & m) == 0) + return x; + FORCE_EVAL(x + 0x1p120f); + if (u.i >> 31) + u.i += m; + u.i &= ~m; + } else { + FORCE_EVAL(x + 0x1p120f); + if (u.i >> 31 == 0) + u.i = 0; + else if (u.i << 1) + u.f = -1.0; + } + return u.f; +} + +float truncf(float x) +{ + union {float f; uint32_t i;} u = {x}; + int e = (int)(u.i >> 23 & 0xff) - 0x7f + 9; + uint32_t m; + + if (e >= 23 + 9) + return x; + if (e < 9) + e = 1; + m = -1U >> e; + if ((u.i & m) == 0) + return x; + FORCE_EVAL(x + 0x1p120f); + u.i &= ~m; + return u.f; +} diff --git a/stmhal/mathsincos.c b/stmhal/mathsincos.c new file mode 100644 index 000000000..420c8bba1 --- /dev/null +++ b/stmhal/mathsincos.c @@ -0,0 +1,601 @@ +// These math functions are taken from newlib 2.1.0, the newlib/libm directory. + +#include <stdint.h> +#include <math.h> + + +/* @(#)fdlibm.h 5.1 93/09/24 */ +/* + * ==================================================== + * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved. + * + * Developed at SunPro, a Sun Microsystems, Inc. business. + * Permission to use, copy, modify, and distribute this + * software is freely granted, provided that this notice + * is preserved. + * ==================================================== + */ + +#define FLT_UWORD_IS_FINITE(x) ((x)<0x7f800000L) + +/* A union which permits us to convert between a float and a 32 bit + int. */ + +typedef union +{ + float value; + __uint32_t word; +} ieee_float_shape_type; + + +/* Get a 32 bit int from a float. */ + +#define GET_FLOAT_WORD(i,d) \ +do { \ + ieee_float_shape_type gf_u; \ + gf_u.value = (d); \ + (i) = gf_u.word; \ +} while (0) + +/* Set a float from a 32 bit int. */ + +#define SET_FLOAT_WORD(d,i) \ +do { \ + ieee_float_shape_type sf_u; \ + sf_u.word = (i); \ + (d) = sf_u.value; \ +} while (0) + + + +/* kf_rem_pio2.c -- float version of k_rem_pio2.c + * Conversion to float by Ian Lance Taylor, Cygnus Support, ian@cygnus.com. + */ + +/* + * ==================================================== + * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved. + * + * Developed at SunPro, a Sun Microsystems, Inc. business. + * Permission to use, copy, modify, and distribute this + * software is freely granted, provided that this notice + * is preserved. + * ==================================================== + */ + +/* In the float version, the input parameter x contains 8 bit + integers, not 24 bit integers. 113 bit precision is not supported. */ + +#ifdef __STDC__ +static const int init_jk[] = {4,7,9}; /* initial value for jk */ +#else +static int init_jk[] = {4,7,9}; +#endif + +#ifdef __STDC__ +static const float PIo2[] = { +#else +static float PIo2[] = { +#endif + 1.5703125000e+00, /* 0x3fc90000 */ + 4.5776367188e-04, /* 0x39f00000 */ + 2.5987625122e-05, /* 0x37da0000 */ + 7.5437128544e-08, /* 0x33a20000 */ + 6.0026650317e-11, /* 0x2e840000 */ + 7.3896444519e-13, /* 0x2b500000 */ + 5.3845816694e-15, /* 0x27c20000 */ + 5.6378512969e-18, /* 0x22d00000 */ + 8.3009228831e-20, /* 0x1fc40000 */ + 3.2756352257e-22, /* 0x1bc60000 */ + 6.3331015649e-25, /* 0x17440000 */ +}; + +static const float +zero = 0.0000000000e+00, /* 0x00000000 */ +one = 1.0000000000e+00, /* 0x3f800000 */ +two8 = 2.5600000000e+02, /* 0x43800000 */ +twon8 = 3.9062500000e-03; /* 0x3b800000 */ + +int __kernel_rem_pio2f(float *x, float *y, int e0, int nx, int prec, const __int32_t *ipio2) +{ + __int32_t jz,jx,jv,jp,jk,carry,n,iq[20],i,j,k,m,q0,ih; + float z,fw,f[20],fq[20],q[20]; + + /* initialize jk*/ + jk = init_jk[prec]; + jp = jk; + + /* determine jx,jv,q0, note that 3>q0 */ + jx = nx-1; + jv = (e0-3)/8; if(jv<0) jv=0; + q0 = e0-8*(jv+1); + + /* set up f[0] to f[jx+jk] where f[jx+jk] = ipio2[jv+jk] */ + j = jv-jx; m = jx+jk; + for(i=0;i<=m;i++,j++) f[i] = (j<0)? zero : (float) ipio2[j]; + + /* compute q[0],q[1],...q[jk] */ + for (i=0;i<=jk;i++) { + for(j=0,fw=0.0;j<=jx;j++) fw += x[j]*f[jx+i-j]; q[i] = fw; + } + + jz = jk; +recompute: + /* distill q[] into iq[] reversingly */ + for(i=0,j=jz,z=q[jz];j>0;i++,j--) { + fw = (float)((__int32_t)(twon8* z)); + iq[i] = (__int32_t)(z-two8*fw); + z = q[j-1]+fw; + } + + /* compute n */ + z = scalbnf(z,(int)q0); /* actual value of z */ + z -= (float)8.0*floorf(z*(float)0.125); /* trim off integer >= 8 */ + n = (__int32_t) z; + z -= (float)n; + ih = 0; + if(q0>0) { /* need iq[jz-1] to determine n */ + i = (iq[jz-1]>>(8-q0)); n += i; + iq[jz-1] -= i<<(8-q0); + ih = iq[jz-1]>>(7-q0); + } + else if(q0==0) ih = iq[jz-1]>>8; + else if(z>=(float)0.5) ih=2; + + if(ih>0) { /* q > 0.5 */ + n += 1; carry = 0; + for(i=0;i<jz ;i++) { /* compute 1-q */ + j = iq[i]; + if(carry==0) { + if(j!=0) { + carry = 1; iq[i] = 0x100- j; + } + } else iq[i] = 0xff - j; + } + if(q0>0) { /* rare case: chance is 1 in 12 */ + switch(q0) { + case 1: + iq[jz-1] &= 0x7f; break; + case 2: + iq[jz-1] &= 0x3f; break; + } + } + if(ih==2) { + z = one - z; + if(carry!=0) z -= scalbnf(one,(int)q0); + } + } + + /* check if recomputation is needed */ + if(z==zero) { + j = 0; + for (i=jz-1;i>=jk;i--) j |= iq[i]; + if(j==0) { /* need recomputation */ + for(k=1;iq[jk-k]==0;k++); /* k = no. of terms needed */ + + for(i=jz+1;i<=jz+k;i++) { /* add q[jz+1] to q[jz+k] */ + f[jx+i] = (float) ipio2[jv+i]; + for(j=0,fw=0.0;j<=jx;j++) fw += x[j]*f[jx+i-j]; + q[i] = fw; + } + jz += k; + goto recompute; + } + } + + /* chop off zero terms */ + if(z==(float)0.0) { + jz -= 1; q0 -= 8; + while(iq[jz]==0) { jz--; q0-=8;} + } else { /* break z into 8-bit if necessary */ + z = scalbnf(z,-(int)q0); + if(z>=two8) { + fw = (float)((__int32_t)(twon8*z)); + iq[jz] = (__int32_t)(z-two8*fw); + jz += 1; q0 += 8; + iq[jz] = (__int32_t) fw; + } else iq[jz] = (__int32_t) z ; + } + + /* convert integer "bit" chunk to floating-point value */ + fw = scalbnf(one,(int)q0); + for(i=jz;i>=0;i--) { + q[i] = fw*(float)iq[i]; fw*=twon8; + } + + /* compute PIo2[0,...,jp]*q[jz,...,0] */ + for(i=jz;i>=0;i--) { + for(fw=0.0,k=0;k<=jp&&k<=jz-i;k++) fw += PIo2[k]*q[i+k]; + fq[jz-i] = fw; + } + + /* compress fq[] into y[] */ + switch(prec) { + case 0: + fw = 0.0; + for (i=jz;i>=0;i--) fw += fq[i]; + y[0] = (ih==0)? fw: -fw; + break; + case 1: + case 2: + fw = 0.0; + for (i=jz;i>=0;i--) fw += fq[i]; + y[0] = (ih==0)? fw: -fw; + fw = fq[0]-fw; + for (i=1;i<=jz;i++) fw += fq[i]; + y[1] = (ih==0)? fw: -fw; + break; + case 3: /* painful */ + for (i=jz;i>0;i--) { + fw = fq[i-1]+fq[i]; + fq[i] += fq[i-1]-fw; + fq[i-1] = fw; + } + for (i=jz;i>1;i--) { + fw = fq[i-1]+fq[i]; + fq[i] += fq[i-1]-fw; + fq[i-1] = fw; + } + for (fw=0.0,i=jz;i>=2;i--) fw += fq[i]; + if(ih==0) { + y[0] = fq[0]; y[1] = fq[1]; y[2] = fw; + } else { + y[0] = -fq[0]; y[1] = -fq[1]; y[2] = -fw; + } + } + return n&7; +} + + +/* ef_rem_pio2.c -- float version of e_rem_pio2.c + * Conversion to float by Ian Lance Taylor, Cygnus Support, ian@cygnus.com. + */ + +/* + * ==================================================== + * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved. + * + * Developed at SunPro, a Sun Microsystems, Inc. business. + * Permission to use, copy, modify, and distribute this + * software is freely granted, provided that this notice + * is preserved. + * ==================================================== + * + */ + +/* __ieee754_rem_pio2f(x,y) + * + * return the remainder of x rem pi/2 in y[0]+y[1] + * use __kernel_rem_pio2f() + */ + + +/* + * Table of constants for 2/pi, 396 Hex digits (476 decimal) of 2/pi + */ +static const __int32_t two_over_pi[] = { +0xA2, 0xF9, 0x83, 0x6E, 0x4E, 0x44, 0x15, 0x29, 0xFC, +0x27, 0x57, 0xD1, 0xF5, 0x34, 0xDD, 0xC0, 0xDB, 0x62, +0x95, 0x99, 0x3C, 0x43, 0x90, 0x41, 0xFE, 0x51, 0x63, +0xAB, 0xDE, 0xBB, 0xC5, 0x61, 0xB7, 0x24, 0x6E, 0x3A, +0x42, 0x4D, 0xD2, 0xE0, 0x06, 0x49, 0x2E, 0xEA, 0x09, +0xD1, 0x92, 0x1C, 0xFE, 0x1D, 0xEB, 0x1C, 0xB1, 0x29, +0xA7, 0x3E, 0xE8, 0x82, 0x35, 0xF5, 0x2E, 0xBB, 0x44, +0x84, 0xE9, 0x9C, 0x70, 0x26, 0xB4, 0x5F, 0x7E, 0x41, +0x39, 0x91, 0xD6, 0x39, 0x83, 0x53, 0x39, 0xF4, 0x9C, +0x84, 0x5F, 0x8B, 0xBD, 0xF9, 0x28, 0x3B, 0x1F, 0xF8, +0x97, 0xFF, 0xDE, 0x05, 0x98, 0x0F, 0xEF, 0x2F, 0x11, +0x8B, 0x5A, 0x0A, 0x6D, 0x1F, 0x6D, 0x36, 0x7E, 0xCF, +0x27, 0xCB, 0x09, 0xB7, 0x4F, 0x46, 0x3F, 0x66, 0x9E, +0x5F, 0xEA, 0x2D, 0x75, 0x27, 0xBA, 0xC7, 0xEB, 0xE5, +0xF1, 0x7B, 0x3D, 0x07, 0x39, 0xF7, 0x8A, 0x52, 0x92, +0xEA, 0x6B, 0xFB, 0x5F, 0xB1, 0x1F, 0x8D, 0x5D, 0x08, +0x56, 0x03, 0x30, 0x46, 0xFC, 0x7B, 0x6B, 0xAB, 0xF0, +0xCF, 0xBC, 0x20, 0x9A, 0xF4, 0x36, 0x1D, 0xA9, 0xE3, +0x91, 0x61, 0x5E, 0xE6, 0x1B, 0x08, 0x65, 0x99, 0x85, +0x5F, 0x14, 0xA0, 0x68, 0x40, 0x8D, 0xFF, 0xD8, 0x80, +0x4D, 0x73, 0x27, 0x31, 0x06, 0x06, 0x15, 0x56, 0xCA, +0x73, 0xA8, 0xC9, 0x60, 0xE2, 0x7B, 0xC0, 0x8C, 0x6B, +}; + +/* This array is like the one in e_rem_pio2.c, but the numbers are + single precision and the last 8 bits are forced to 0. */ +static const __int32_t npio2_hw[] = { +0x3fc90f00, 0x40490f00, 0x4096cb00, 0x40c90f00, 0x40fb5300, 0x4116cb00, +0x412fed00, 0x41490f00, 0x41623100, 0x417b5300, 0x418a3a00, 0x4196cb00, +0x41a35c00, 0x41afed00, 0x41bc7e00, 0x41c90f00, 0x41d5a000, 0x41e23100, +0x41eec200, 0x41fb5300, 0x4203f200, 0x420a3a00, 0x42108300, 0x4216cb00, +0x421d1400, 0x42235c00, 0x4229a500, 0x422fed00, 0x42363600, 0x423c7e00, +0x4242c700, 0x42490f00 +}; + +/* + * invpio2: 24 bits of 2/pi + * pio2_1: first 17 bit of pi/2 + * pio2_1t: pi/2 - pio2_1 + * pio2_2: second 17 bit of pi/2 + * pio2_2t: pi/2 - (pio2_1+pio2_2) + * pio2_3: third 17 bit of pi/2 + * pio2_3t: pi/2 - (pio2_1+pio2_2+pio2_3) + */ + +static const float +half = 5.0000000000e-01, /* 0x3f000000 */ +invpio2 = 6.3661980629e-01, /* 0x3f22f984 */ +pio2_1 = 1.5707855225e+00, /* 0x3fc90f80 */ +pio2_1t = 1.0804334124e-05, /* 0x37354443 */ +pio2_2 = 1.0804273188e-05, /* 0x37354400 */ +pio2_2t = 6.0770999344e-11, /* 0x2e85a308 */ +pio2_3 = 6.0770943833e-11, /* 0x2e85a300 */ +pio2_3t = 6.1232342629e-17; /* 0x248d3132 */ + +__int32_t __ieee754_rem_pio2f(float x, float *y) +{ + float z,w,t,r,fn; + float tx[3]; + __int32_t i,j,n,ix,hx; + int e0,nx; + + GET_FLOAT_WORD(hx,x); + ix = hx&0x7fffffff; + if(ix<=0x3f490fd8) /* |x| ~<= pi/4 , no need for reduction */ + {y[0] = x; y[1] = 0; return 0;} + if(ix<0x4016cbe4) { /* |x| < 3pi/4, special case with n=+-1 */ + if(hx>0) { + z = x - pio2_1; + if((ix&0xfffffff0)!=0x3fc90fd0) { /* 24+24 bit pi OK */ + y[0] = z - pio2_1t; + y[1] = (z-y[0])-pio2_1t; + } else { /* near pi/2, use 24+24+24 bit pi */ + z -= pio2_2; + y[0] = z - pio2_2t; + y[1] = (z-y[0])-pio2_2t; + } + return 1; + } else { /* negative x */ + z = x + pio2_1; + if((ix&0xfffffff0)!=0x3fc90fd0) { /* 24+24 bit pi OK */ + y[0] = z + pio2_1t; + y[1] = (z-y[0])+pio2_1t; + } else { /* near pi/2, use 24+24+24 bit pi */ + z += pio2_2; + y[0] = z + pio2_2t; + y[1] = (z-y[0])+pio2_2t; + } + return -1; + } + } + if(ix<=0x43490f80) { /* |x| ~<= 2^7*(pi/2), medium size */ + t = fabsf(x); + n = (__int32_t) (t*invpio2+half); + fn = (float)n; + r = t-fn*pio2_1; + w = fn*pio2_1t; /* 1st round good to 40 bit */ + if(n<32&&(ix&0xffffff00)!=npio2_hw[n-1]) { + y[0] = r-w; /* quick check no cancellation */ + } else { + __uint32_t high; + j = ix>>23; + y[0] = r-w; + GET_FLOAT_WORD(high,y[0]); + i = j-((high>>23)&0xff); + if(i>8) { /* 2nd iteration needed, good to 57 */ + t = r; + w = fn*pio2_2; + r = t-w; + w = fn*pio2_2t-((t-r)-w); + y[0] = r-w; + GET_FLOAT_WORD(high,y[0]); + i = j-((high>>23)&0xff); + if(i>25) { /* 3rd iteration need, 74 bits acc */ + t = r; /* will cover all possible cases */ + w = fn*pio2_3; + r = t-w; + w = fn*pio2_3t-((t-r)-w); + y[0] = r-w; + } + } + } + y[1] = (r-y[0])-w; + if(hx<0) {y[0] = -y[0]; y[1] = -y[1]; return -n;} + else return n; + } + /* + * all other (large) arguments + */ + if(!FLT_UWORD_IS_FINITE(ix)) { + y[0]=y[1]=x-x; return 0; + } + /* set z = scalbn(|x|,ilogb(x)-7) */ + e0 = (int)((ix>>23)-134); /* e0 = ilogb(z)-7; */ + SET_FLOAT_WORD(z, ix - ((__int32_t)e0<<23)); + for(i=0;i<2;i++) { + tx[i] = (float)((__int32_t)(z)); + z = (z-tx[i])*two8; + } + tx[2] = z; + nx = 3; + while(tx[nx-1]==zero) nx--; /* skip zero term */ + n = __kernel_rem_pio2f(tx,y,e0,nx,2,two_over_pi); + if(hx<0) {y[0] = -y[0]; y[1] = -y[1]; return -n;} + return n; +} + + +/* kf_sin.c -- float version of k_sin.c + * Conversion to float by Ian Lance Taylor, Cygnus Support, ian@cygnus.com. + */ + +/* + * ==================================================== + * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved. + * + * Developed at SunPro, a Sun Microsystems, Inc. business. + * Permission to use, copy, modify, and distribute this + * software is freely granted, provided that this notice + * is preserved. + * ==================================================== + */ + + +static const float +S1 = -1.6666667163e-01, /* 0xbe2aaaab */ +S2 = 8.3333337680e-03, /* 0x3c088889 */ +S3 = -1.9841270114e-04, /* 0xb9500d01 */ +S4 = 2.7557314297e-06, /* 0x3638ef1b */ +S5 = -2.5050759689e-08, /* 0xb2d72f34 */ +S6 = 1.5896910177e-10; /* 0x2f2ec9d3 */ + +float __kernel_sinf(float x, float y, int iy) /* iy=0 if y is zero */ +{ + float z,r,v; + __int32_t ix; + GET_FLOAT_WORD(ix,x); + ix &= 0x7fffffff; /* high word of x */ + if(ix<0x32000000) /* |x| < 2**-27 */ + {if((int)x==0) return x;} /* generate inexact */ + z = x*x; + v = z*x; + r = S2+z*(S3+z*(S4+z*(S5+z*S6))); + if(iy==0) return x+v*(S1+z*r); + else return x-((z*(half*y-v*r)-y)-v*S1); +} + + + +/* kf_cos.c -- float version of k_cos.c + * Conversion to float by Ian Lance Taylor, Cygnus Support, ian@cygnus.com. + */ + +/* + * ==================================================== + * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved. + * + * Developed at SunPro, a Sun Microsystems, Inc. business. + * Permission to use, copy, modify, and distribute this + * software is freely granted, provided that this notice + * is preserved. + * ==================================================== + */ + + +static const float +C1 = 4.1666667908e-02, /* 0x3d2aaaab */ +C2 = -1.3888889225e-03, /* 0xbab60b61 */ +C3 = 2.4801587642e-05, /* 0x37d00d01 */ +C4 = -2.7557314297e-07, /* 0xb493f27c */ +C5 = 2.0875723372e-09, /* 0x310f74f6 */ +C6 = -1.1359647598e-11; /* 0xad47d74e */ + +float __kernel_cosf(float x, float y) +{ + float a,hz,z,r,qx; + __int32_t ix; + GET_FLOAT_WORD(ix,x); + ix &= 0x7fffffff; /* ix = |x|'s high word*/ + if(ix<0x32000000) { /* if x < 2**27 */ + if(((int)x)==0) return one; /* generate inexact */ + } + z = x*x; + r = z*(C1+z*(C2+z*(C3+z*(C4+z*(C5+z*C6))))); + if(ix < 0x3e99999a) /* if |x| < 0.3 */ + return one - ((float)0.5*z - (z*r - x*y)); + else { + if(ix > 0x3f480000) { /* x > 0.78125 */ + qx = (float)0.28125; + } else { + SET_FLOAT_WORD(qx,ix-0x01000000); /* x/4 */ + } + hz = (float)0.5*z-qx; + a = one-qx; + return a - (hz - (z*r-x*y)); + } +} + + +/* sf_sin.c -- float version of s_sin.c. + * Conversion to float by Ian Lance Taylor, Cygnus Support, ian@cygnus.com. + */ + +/* + * ==================================================== + * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved. + * + * Developed at SunPro, a Sun Microsystems, Inc. business. + * Permission to use, copy, modify, and distribute this + * software is freely granted, provided that this notice + * is preserved. + * ==================================================== + */ + + +float sinf(float x) +{ + float y[2],z=0.0; + __int32_t n,ix; + + GET_FLOAT_WORD(ix,x); + + /* |x| ~< pi/4 */ + ix &= 0x7fffffff; + if(ix <= 0x3f490fd8) return __kernel_sinf(x,z,0); + + /* sin(Inf or NaN) is NaN */ + else if (!FLT_UWORD_IS_FINITE(ix)) return x-x; + + /* argument reduction needed */ + else { + n = __ieee754_rem_pio2f(x,y); + switch(n&3) { + case 0: return __kernel_sinf(y[0],y[1],1); + case 1: return __kernel_cosf(y[0],y[1]); + case 2: return -__kernel_sinf(y[0],y[1],1); + default: + return -__kernel_cosf(y[0],y[1]); + } + } +} + + +/* sf_cos.c -- float version of s_cos.c. + * Conversion to float by Ian Lance Taylor, Cygnus Support, ian@cygnus.com. + */ + +/* + * ==================================================== + * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved. + * + * Developed at SunPro, a Sun Microsystems, Inc. business. + * Permission to use, copy, modify, and distribute this + * software is freely granted, provided that this notice + * is preserved. + * ==================================================== + */ + + +float cosf(float x) +{ + float y[2],z=0.0; + __int32_t n,ix; + + GET_FLOAT_WORD(ix,x); + + /* |x| ~< pi/4 */ + ix &= 0x7fffffff; + if(ix <= 0x3f490fd8) return __kernel_cosf(x,z); + + /* cos(Inf or NaN) is NaN */ + else if (!FLT_UWORD_IS_FINITE(ix)) return x-x; + + /* argument reduction needed */ + else { + n = __ieee754_rem_pio2f(x,y); + switch(n&3) { + case 0: return __kernel_cosf(y[0],y[1]); + case 1: return -__kernel_sinf(y[0],y[1],1); + case 2: return -__kernel_cosf(y[0],y[1]); + default: + return __kernel_sinf(y[0],y[1],1); + } + } +} diff --git a/stmhal/modpyb.c b/stmhal/modpyb.c index 288008108..be747958e 100644 --- a/stmhal/modpyb.c +++ b/stmhal/modpyb.c @@ -193,6 +193,12 @@ STATIC mp_obj_t pyb_standby(void) { MP_DEFINE_CONST_FUN_OBJ_0(pyb_standby_obj, pyb_standby); +STATIC mp_obj_t pyb_have_cdc(void ) { + return MP_BOOL(usb_vcp_is_connected()); +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_0(pyb_have_cdc_obj, pyb_have_cdc); + STATIC mp_obj_t pyb_hid_send_report(mp_obj_t arg) { mp_obj_t *items; mp_obj_get_array_fixed_n(arg, 4, &items); @@ -235,6 +241,9 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_main), (mp_obj_t)&pyb_main_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_usb_mode), (mp_obj_t)&pyb_usb_mode_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_have_cdc), (mp_obj_t)&pyb_have_cdc_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_hid), (mp_obj_t)&pyb_hid_send_report_obj }, + { MP_OBJ_NEW_QSTR(MP_QSTR_millis), (mp_obj_t)&pyb_millis_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_delay), (mp_obj_t)&pyb_delay_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_udelay), (mp_obj_t)&pyb_udelay_obj }, @@ -278,8 +287,6 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_Accel), (mp_obj_t)&pyb_accel_type }, #endif - { MP_OBJ_NEW_QSTR(MP_QSTR_hid), (mp_obj_t)&pyb_hid_send_report_obj }, - // input { MP_OBJ_NEW_QSTR(MP_QSTR_input), (mp_obj_t)&pyb_input_obj }, diff --git a/stmhal/pybcdc.h b/stmhal/pybcdc.h deleted file mode 100644 index 44685a05b..000000000 --- a/stmhal/pybcdc.h +++ /dev/null @@ -1,92 +0,0 @@ -"; Windows USB CDC ACM Setup File\r\n" -"; Based on INF files which were:\r\n" -"; Copyright (c) 2000 Microsoft Corporation\r\n" -"; Copyright (C) 2007 Microchip Technology Inc.\r\n" -"; Likely to be covered by the MLPL as found at:\r\n" -"; <http://msdn.microsoft.com/en-us/cc300389.aspx#MLPL>.\r\n" -"\r\n" -"[Version]\r\n" -"Signature=\"$Windows NT$\"\r\n" -"Class=Ports\r\n" -"ClassGuid={4D36E978-E325-11CE-BFC1-08002BE10318}\r\n" -"Provider=%MFGNAME%\r\n" -"LayoutFile=layout.inf\r\n" -"DriverVer=03/11/2010,5.1.2600.3\r\n" -"\r\n" -"[Manufacturer]\r\n" -"%MFGNAME%=DeviceList, NTamd64\r\n" -"\r\n" -"[DestinationDirs]\r\n" -"DefaultDestDir=12\r\n" -"\r\n" -";---------------------------------------------------------------------\r\n" -"; Windows 2000/XP/Server2003/Vista/Server2008/7 - 32bit Sections\r\n" -"\r\n" -"[DriverInstall.nt]\r\n" -"include=mdmcpq.inf\r\n" -"CopyFiles=DriverCopyFiles.nt\r\n" -"AddReg=DriverInstall.nt.AddReg\r\n" -"\r\n" -"[DriverCopyFiles.nt]\r\n" -"usbser.sys,,,0x20\r\n" -"\r\n" -"[DriverInstall.nt.AddReg]\r\n" -"HKR,,DevLoader,,*ntkern\r\n" -"HKR,,NTMPDriver,,usbser.sys\r\n" -"HKR,,EnumPropPages32,,\"MsPorts.dll,SerialPortPropPageProvider\"\r\n" -"\r\n" -"[DriverInstall.nt.Services]\r\n" -"AddService=usbser, 0x00000002, DriverService.nt\r\n" -"\r\n" -"[DriverService.nt]\r\n" -"DisplayName=%SERVICE%\r\n" -"ServiceType=1\r\n" -"StartType=3\r\n" -"ErrorControl=1\r\n" -"ServiceBinary=%12%\\usbser.sys\r\n" -"\r\n" -";---------------------------------------------------------------------\r\n" -"; Windows XP/Server2003/Vista/Server2008/7 - 64bit Sections\r\n" -"\r\n" -"[DriverInstall.NTamd64]\r\n" -"include=mdmcpq.inf\r\n" -"CopyFiles=DriverCopyFiles.NTamd64\r\n" -"AddReg=DriverInstall.NTamd64.AddReg\r\n" -"\r\n" -"[DriverCopyFiles.NTamd64]\r\n" -"usbser.sys,,,0x20\r\n" -"\r\n" -"[DriverInstall.NTamd64.AddReg]\r\n" -"HKR,,DevLoader,,*ntkern\r\n" -"HKR,,NTMPDriver,,usbser.sys\r\n" -"HKR,,EnumPropPages32,,\"MsPorts.dll,SerialPortPropPageProvider\"\r\n" -"\r\n" -"[DriverInstall.NTamd64.Services]\r\n" -"AddService=usbser, 0x00000002, DriverService.NTamd64\r\n" -"\r\n" -"[DriverService.NTamd64]\r\n" -"DisplayName=%SERVICE%\r\n" -"ServiceType=1\r\n" -"StartType=3\r\n" -"ErrorControl=1\r\n" -"ServiceBinary=%12%\\usbser.sys\r\n" -"\r\n" -";---------------------------------------------------------------------\r\n" -"; Vendor and Product ID Definitions\r\n" -"\r\n" -"[SourceDisksFiles]\r\n" -"[SourceDisksNames]\r\n" -"[DeviceList]\r\n" -"%DESCRIPTION%=DriverInstall, USB\\VID_0483&PID_5740&MI_00, USB\\VID_0483&PID_5740&MI_01\r\n" -"\r\n" -"[DeviceList.NTamd64]\r\n" -"%DESCRIPTION%=DriverInstall, USB\\VID_0483&PID_5740&MI_00, USB\\VID_0483&PID_5740&MI_01\r\n" -"\r\n" -";---------------------------------------------------------------------\r\n" -"; String Definitions\r\n" -"\r\n" -"[Strings]\r\n" -"MFGFILENAME=\"pybcdc\"\r\n" -"MFGNAME=\"Micro Python\"\r\n" -"DESCRIPTION=\"Pyboard USB Comm Port\"\r\n" -"SERVICE=\"USB Serial Driver\"\r\n" diff --git a/stmhal/pybcdc.inf b/stmhal/pybcdc.inf_template index eb04b65ce..87cd1467b 100755..100644 --- a/stmhal/pybcdc.inf +++ b/stmhal/pybcdc.inf_template @@ -77,10 +77,10 @@ ServiceBinary=%12%\usbser.sys [SourceDisksFiles]
[SourceDisksNames]
[DeviceList]
-%DESCRIPTION%=DriverInstall, USB\VID_0483&PID_5740&MI_00, USB\VID_0483&PID_5740&MI_01
+%DESCRIPTION%=DriverInstall, USB\VID_${USB_VID}&PID_${USB_PID}&MI_00, USB\VID_${USB_VID}&PID_${USB_PID}&MI_01
[DeviceList.NTamd64]
-%DESCRIPTION%=DriverInstall, USB\VID_0483&PID_5740&MI_00, USB\VID_0483&PID_5740&MI_01
+%DESCRIPTION%=DriverInstall, USB\VID_${USB_VID}&PID_${USB_PID}&MI_00, USB\VID_${USB_VID}&PID_${USB_PID}&MI_01
;---------------------------------------------------------------------
; String Definitions
diff --git a/stmhal/pybstdio.c b/stmhal/pybstdio.c index d40cebf94..baabfd120 100644 --- a/stmhal/pybstdio.c +++ b/stmhal/pybstdio.c @@ -9,7 +9,6 @@ #include "obj.h" #include "stream.h" #include "pybstdio.h" -#include "storage.h" #include "usb.h" #include "usart.h" @@ -50,9 +49,6 @@ int stdin_rx_chr(void) { return usart_rx_char(pyb_usart_global_debug); } __WFI(); - if (storage_needs_flush()) { - storage_flush(); - } } } diff --git a/stmhal/pyexec.c b/stmhal/pyexec.c index 298e58a5f..9821e6a92 100644 --- a/stmhal/pyexec.c +++ b/stmhal/pyexec.c @@ -21,7 +21,6 @@ #include "pybstdio.h" #include "readline.h" #include "pyexec.h" -#include "storage.h" #include "usb.h" #include "build/py/py-version.h" diff --git a/stmhal/qstrdefsport.h b/stmhal/qstrdefsport.h index 0dd8c2b61..d64b0c2dd 100644 --- a/stmhal/qstrdefsport.h +++ b/stmhal/qstrdefsport.h @@ -25,6 +25,7 @@ Q(read) Q(readall) Q(readline) Q(write) +Q(have_cdc) Q(hid) Q(time) Q(rng) @@ -82,6 +83,7 @@ Q(MODE_EVT_RISING_FALLING) // for I2C object Q(I2C) Q(is_ready) +Q(scan) Q(mem_read) Q(mem_write) @@ -96,6 +98,7 @@ Q(filtered_xyz) // for ADC object Q(ADC) Q(ADC_all) +Q(read_timed) Q(read_channel) Q(read_core_temp) Q(read_core_vbat) diff --git a/stmhal/stm32f4xx_it.c b/stmhal/stm32f4xx_it.c index aee689d7e..06428a4c4 100644 --- a/stmhal/stm32f4xx_it.c +++ b/stmhal/stm32f4xx_it.c @@ -49,6 +49,7 @@ #include "obj.h"
#include "exti.h"
#include "timer.h"
+#include "storage.h"
/** @addtogroup STM32F4xx_HAL_Examples
* @{
@@ -263,6 +264,19 @@ void OTG_XX_WKUP_IRQHandler(void) {
}*/
+// Handle a flash (erase/program) interrupt.
+void FLASH_IRQHandler(void) {
+ // This calls the real flash IRQ handler, if needed
+ /*
+ uint32_t flash_cr = FLASH->CR;
+ if ((flash_cr & FLASH_IT_EOP) || (flash_cr & FLASH_IT_ERR)) {
+ HAL_FLASH_IRQHandler();
+ }
+ */
+ // This call the storage IRQ handler, to check if the flash cache needs flushing
+ storage_irq_handler();
+}
+
/**
* @brief These functions handle the EXTI interrupt requests.
* @param None
diff --git a/stmhal/storage.c b/stmhal/storage.c index 98d5ee7e7..0348986f2 100644 --- a/stmhal/storage.c +++ b/stmhal/storage.c @@ -16,20 +16,22 @@ #define FLASH_PART1_NUM_BLOCKS (224) // 16k+16k+16k+64k=112k #define FLASH_MEM_START_ADDR (0x08004000) // sector 1, 16k +#define FLASH_FLAG_DIRTY (1) +#define FLASH_FLAG_FORCE_WRITE (2) +#define FLASH_FLAG_ERASED (4) static bool flash_is_initialised = false; -static bool flash_cache_dirty; +static __IO uint8_t flash_flags = 0; static uint32_t flash_cache_sector_id; static uint32_t flash_cache_sector_start; static uint32_t flash_cache_sector_size; static uint32_t flash_tick_counter_last_write; static void flash_cache_flush(void) { - if (flash_cache_dirty) { - // sync the cache RAM buffer by writing it to the flash page - flash_write(flash_cache_sector_start, (const uint32_t*)CACHE_MEM_START_ADDR, flash_cache_sector_size / 4); - flash_cache_dirty = false; - // indicate a clean cache with LED off - led_state(PYB_LED_R1, 0); + if (flash_flags & FLASH_FLAG_DIRTY) { + flash_flags |= FLASH_FLAG_FORCE_WRITE; + while (flash_flags & FLASH_FLAG_DIRTY) { + NVIC->STIR = FLASH_IRQn; + } } } @@ -44,9 +46,9 @@ static uint8_t *flash_cache_get_addr_for_write(uint32_t flash_addr) { flash_cache_sector_start = flash_sector_start; flash_cache_sector_size = flash_sector_size; } - flash_cache_dirty = true; - // indicate a dirty cache with LED on - led_state(PYB_LED_R1, 1); + flash_flags |= FLASH_FLAG_DIRTY; + led_state(PYB_LED_R1, 1); // indicate a dirty cache with LED on + flash_tick_counter_last_write = HAL_GetTick(); return (uint8_t*)CACHE_MEM_START_ADDR + flash_addr - flash_sector_start; } @@ -64,11 +66,17 @@ static uint8_t *flash_cache_get_addr_for_read(uint32_t flash_addr) { void storage_init(void) { if (!flash_is_initialised) { - flash_cache_dirty = false; + flash_flags = 0; flash_cache_sector_id = 0; - flash_is_initialised = true; flash_tick_counter_last_write = 0; + flash_is_initialised = true; } + + // Enable the flash IRQ, which is used to also call our storage IRQ handler + // It needs to go at a higher priority than all those components that rely on + // the flash storage (eg higher than USB MSC). + HAL_NVIC_SetPriority(FLASH_IRQn, 1, 1); + HAL_NVIC_EnableIRQ(FLASH_IRQn); } uint32_t storage_get_block_size(void) { @@ -79,9 +87,47 @@ uint32_t storage_get_block_count(void) { return FLASH_PART1_START_BLOCK + FLASH_PART1_NUM_BLOCKS; } -bool storage_needs_flush(void) { - // wait 2 seconds after last write to flush - return flash_cache_dirty && sys_tick_has_passed(flash_tick_counter_last_write, 2000); +void storage_irq_handler(void) { + if (!(flash_flags & FLASH_FLAG_DIRTY)) { + return; + } + + // This code uses interrupts to erase the flash + /* + if (flash_erase_state == 0) { + flash_erase_it(flash_cache_sector_start, (const uint32_t*)CACHE_MEM_START_ADDR, flash_cache_sector_size / 4); + flash_erase_state = 1; + return; + } + + if (flash_erase_state == 1) { + // wait for erase + // TODO add timeout + #define flash_erase_done() (__HAL_FLASH_GET_FLAG(FLASH_FLAG_BSY) == RESET) + if (!flash_erase_done()) { + return; + } + flash_erase_state = 2; + } + */ + + // This code erases the flash directly, waiting for it to finish + if (!(flash_flags & FLASH_FLAG_ERASED)) { + flash_erase(flash_cache_sector_start, (const uint32_t*)CACHE_MEM_START_ADDR, flash_cache_sector_size / 4); + flash_flags |= FLASH_FLAG_ERASED; + return; + } + + // If not a forced write, wait at least 5 seconds after last write to flush + // On file close and flash unmount we get a forced write, so we can afford to wait a while + if ((flash_flags & FLASH_FLAG_FORCE_WRITE) || sys_tick_has_passed(flash_tick_counter_last_write, 5000)) { + // sync the cache RAM buffer by writing it to the flash page + flash_write(flash_cache_sector_start, (const uint32_t*)CACHE_MEM_START_ADDR, flash_cache_sector_size / 4); + // clear the flash flags now that we have a clean cache + flash_flags = 0; + // indicate a clean cache with LED off + led_state(PYB_LED_R1, 0); + } } void storage_flush(void) { @@ -167,7 +213,6 @@ bool storage_write_block(const uint8_t *src, uint32_t block) { uint32_t flash_addr = FLASH_MEM_START_ADDR + (block - FLASH_PART1_START_BLOCK) * FLASH_BLOCK_SIZE; uint8_t *dest = flash_cache_get_addr_for_write(flash_addr); memcpy(dest, src, FLASH_BLOCK_SIZE); - flash_tick_counter_last_write = HAL_GetTick(); return true; } else { diff --git a/stmhal/storage.h b/stmhal/storage.h index 4d153d2f6..ae6c83228 100644 --- a/stmhal/storage.h +++ b/stmhal/storage.h @@ -3,7 +3,7 @@ void storage_init(void); uint32_t storage_get_block_size(void); uint32_t storage_get_block_count(void); -bool storage_needs_flush(void); +void storage_irq_handler(void); void storage_flush(void); bool storage_read_block(uint8_t *dest, uint32_t block); bool storage_write_block(const uint8_t *src, uint32_t block); diff --git a/stmhal/timer.c b/stmhal/timer.c index 1e77f0fea..26524fbdd 100644 --- a/stmhal/timer.c +++ b/stmhal/timer.c @@ -19,6 +19,7 @@ // the interrupts to be dispatched, so they are all collected here. // // TIM3: +// - flash storage controller, to flush the cache // - USB CDC interface, interval, to check for new data // - LED 4, PWM to set the LED intensity // @@ -27,6 +28,10 @@ TIM_HandleTypeDef TIM3_Handle; TIM_HandleTypeDef TIM5_Handle; +TIM_HandleTypeDef TIM6_Handle; + +// Used to divide down TIM3 and periodically call the flash storage IRQ +static uint32_t tim3_counter = 0; // TIM3 is set-up for the USB CDC interface void timer_tim3_init(void) { @@ -34,8 +39,8 @@ void timer_tim3_init(void) { __TIM3_CLK_ENABLE(); TIM3_Handle.Instance = TIM3; - TIM3_Handle.Init.Period = (USBD_CDC_POLLING_INTERVAL*1000) - 1; - TIM3_Handle.Init.Prescaler = 84-1; + TIM3_Handle.Init.Period = (USBD_CDC_POLLING_INTERVAL*1000) - 1; // TIM3 fires every USBD_CDC_POLLING_INTERVAL ms + TIM3_Handle.Init.Prescaler = 84-1; // for System clock at 168MHz, TIM3 runs at 1MHz TIM3_Handle.Init.ClockDivision = 0; TIM3_Handle.Init.CounterMode = TIM_COUNTERMODE_UP; HAL_TIM_Base_Init(&TIM3_Handle); @@ -57,6 +62,7 @@ void timer_tim3_deinit(void) { */ // TIM5 is set-up for the servo controller +// This function inits but does not start the timer void timer_tim5_init(void) { // TIM5 clock enable __TIM5_CLK_ENABLE(); @@ -74,10 +80,42 @@ void timer_tim5_init(void) { HAL_TIM_PWM_Init(&TIM5_Handle); } +// Init TIM6 with a counter-overflow at the given frequency (given in Hz) +// TIM6 is used by the DAC and ADC for auto sampling at a given frequency +// This function inits but does not start the timer +void timer_tim6_init(uint freq) { + // TIM6 clock enable + __TIM6_CLK_ENABLE(); + + // Timer runs at SystemCoreClock / 2 + // Compute the prescaler value so TIM6 triggers at freq-Hz + uint32_t period = (SystemCoreClock / 2) / freq; + uint32_t prescaler = 1; + while (period > 0xffff) { + period >>= 1; + prescaler <<= 1; + } + + // Time base clock configuration + TIM6_Handle.Instance = TIM6; + TIM6_Handle.Init.Period = period - 1; + TIM6_Handle.Init.Prescaler = prescaler - 1; + TIM6_Handle.Init.ClockDivision = 0; // unused for TIM6 + TIM6_Handle.Init.CounterMode = TIM_COUNTERMODE_UP; // unused for TIM6 + HAL_TIM_Base_Init(&TIM6_Handle); +} + // Interrupt dispatch void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if (htim == &TIM3_Handle) { USBD_CDC_HAL_TIM_PeriodElapsedCallback(); + + // Periodically raise a flash IRQ for the flash storage controller + if (tim3_counter++ >= 500 / USBD_CDC_POLLING_INTERVAL) { + tim3_counter = 0; + NVIC->STIR = FLASH_IRQn; + } + } else if (htim == &TIM5_Handle) { servo_timer_irq_callback(); } diff --git a/stmhal/timer.h b/stmhal/timer.h index 317b39b3f..06e19bcc8 100644 --- a/stmhal/timer.h +++ b/stmhal/timer.h @@ -5,6 +5,8 @@ extern TIM_HandleTypeDef TIM3_Handle; extern TIM_HandleTypeDef TIM5_Handle; +extern TIM_HandleTypeDef TIM6_Handle; void timer_tim3_init(void); void timer_tim5_init(void); +void timer_tim6_init(uint freq); diff --git a/stmhal/usbd_cdc_interface.c b/stmhal/usbd_cdc_interface.c index c6b6cf23f..b2c85fa4f 100644 --- a/stmhal/usbd_cdc_interface.c +++ b/stmhal/usbd_cdc_interface.c @@ -61,6 +61,9 @@ static uint16_t UserRxBufLen = 0; // counts number of valid characters in UserRx static uint8_t UserTxBuffer[APP_TX_DATA_SIZE]; // data for USB IN endpoind is stored in this buffer static uint16_t UserTxBufPtrIn = 0; // increment this pointer modulo APP_TX_DATA_SIZE when new data is available static __IO uint16_t UserTxBufPtrOut = 0; // increment this pointer modulo APP_TX_DATA_SIZE when data is drained +static uint16_t UserTxBufPtrOutShadow = 0; // shadow of above +static uint8_t UserTxBufPtrWaitCount = 0; // used to implement a timeout waiting for low-level USB driver +static uint8_t UserTxNeedEmptyPacket = 0; // used to flush the USB IN endpoint if the last packet was exactly the endpoint packet size static int user_interrupt_char = VCP_CHAR_NONE; static void *user_interrupt_data = NULL; @@ -250,41 +253,62 @@ static int8_t CDC_Itf_Control(uint8_t cmd, uint8_t* pbuf, uint16_t length) { * @retval None */ void USBD_CDC_HAL_TIM_PeriodElapsedCallback(void) { - uint32_t buffptr; - uint32_t buffsize; - - if(UserTxBufPtrOut != UserTxBufPtrIn) - { - if(UserTxBufPtrOut > UserTxBufPtrIn) /* rollback */ - { - buffsize = APP_TX_DATA_SIZE - UserTxBufPtrOut; + if (!dev_is_connected) { + // CDC device is not connected to a host, so we are unable to send any data + return; } - else - { - buffsize = UserTxBufPtrIn - UserTxBufPtrOut; + + if (UserTxBufPtrOut == UserTxBufPtrIn && !UserTxNeedEmptyPacket) { + // No outstanding data to send + return; } - - buffptr = UserTxBufPtrOut; - - // dpgeorge: For some reason that I don't understand, a packet size of 64 bytes - // (CDC_DATA_FS_MAX_PACKET_SIZE) does not get through to the USB host until the - // next packet is sent. To work around this, we just make sure that we never - // send a packet 64 bytes in length. - if (buffsize == CDC_DATA_FS_MAX_PACKET_SIZE) { - buffsize -= 1; + + if (UserTxBufPtrOut != UserTxBufPtrOutShadow) { + // We have sent data and are waiting for the low-level USB driver to + // finish sending it over the USB in-endpoint. + // We have a 15 * 10ms = 150ms timeout + if (UserTxBufPtrWaitCount < 15) { + PCD_HandleTypeDef *hpcd = hUSBDDevice.pData; + USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; + if (USBx_INEP(CDC_IN_EP & 0x7f)->DIEPTSIZ & USB_OTG_DIEPTSIZ_XFRSIZ) { + // USB in-endpoint is still reading the data + UserTxBufPtrWaitCount++; + return; + } + } + UserTxBufPtrOut = UserTxBufPtrOutShadow; } - - USBD_CDC_SetTxBuffer(&hUSBDDevice, (uint8_t*)&UserTxBuffer[buffptr], buffsize); - - if(USBD_CDC_TransmitPacket(&hUSBDDevice) == USBD_OK) - { - UserTxBufPtrOut += buffsize; - if (UserTxBufPtrOut == APP_TX_DATA_SIZE) - { - UserTxBufPtrOut = 0; - } + + if (UserTxBufPtrOutShadow != UserTxBufPtrIn || UserTxNeedEmptyPacket) { + uint32_t buffptr; + uint32_t buffsize; + + if (UserTxBufPtrOutShadow > UserTxBufPtrIn) { // rollback + buffsize = APP_TX_DATA_SIZE - UserTxBufPtrOutShadow; + } else { + buffsize = UserTxBufPtrIn - UserTxBufPtrOutShadow; + } + + buffptr = UserTxBufPtrOutShadow; + + USBD_CDC_SetTxBuffer(&hUSBDDevice, (uint8_t*)&UserTxBuffer[buffptr], buffsize); + + if (USBD_CDC_TransmitPacket(&hUSBDDevice) == USBD_OK) { + UserTxBufPtrOutShadow += buffsize; + if (UserTxBufPtrOutShadow == APP_TX_DATA_SIZE) { + UserTxBufPtrOutShadow = 0; + } + UserTxBufPtrWaitCount = 0; + + // According to the USB specification, a packet size of 64 bytes (CDC_DATA_FS_MAX_PACKET_SIZE) + // gets held at the USB host until the next packet is sent. This is because a + // packet of maximum size is considered to be part of a longer chunk of data, and + // the host waits for all data to arrive (ie, waits for a packet < max packet size). + // To flush a packet of exactly max packet size, we need to send a zero-size packet. + // See eg http://www.cypress.com/?id=4&rID=92719 + UserTxNeedEmptyPacket = (buffsize == CDC_DATA_FS_MAX_PACKET_SIZE && UserTxBufPtrOutShadow == UserTxBufPtrIn); + } } - } } /** @@ -370,11 +394,38 @@ void USBD_CDC_SetInterrupt(int chr, void *data) { void USBD_CDC_Tx(const char *str, uint32_t len) { for (int i = 0; i < len; i++) { - // if the buffer is full, wait until it gets drained, with a timeout of 1000ms (wraparound of tick is taken care of by 2's complement arithmetic) - uint32_t start = HAL_GetTick(); - while (((UserTxBufPtrIn + 1) & (APP_TX_DATA_SIZE - 1)) == UserTxBufPtrOut && HAL_GetTick() - start <= 1000) { - __WFI(); // enter sleep mode, waiting for interrupt + // If the CDC device is not connected to the host then we don't have anyone to receive our data. + // The device may become connected in the future, so we should at least try to fill the buffer + // and hope that it doesn't overflow by the time the device connects. + // If the device is not connected then we should go ahead and fill the buffer straight away, + // ignoring overflow. Otherwise, we should make sure that we have enough room in the buffer. + if (dev_is_connected) { + // If the buffer is full, wait until it gets drained, with a timeout of 500ms + // (wraparound of tick is taken care of by 2's complement arithmetic). + uint32_t start = HAL_GetTick(); + while (((UserTxBufPtrIn + 1) & (APP_TX_DATA_SIZE - 1)) == UserTxBufPtrOut && HAL_GetTick() - start <= 500) { + __WFI(); // enter sleep mode, waiting for interrupt + } + + // Some unused code that makes sure the low-level USB buffer is drained. + // Waiting for low-level is handled in USBD_CDC_HAL_TIM_PeriodElapsedCallback. + /* + start = HAL_GetTick(); + PCD_HandleTypeDef *hpcd = hUSBDDevice.pData; + if (hpcd->IN_ep[0x83 & 0x7f].is_in) { + //volatile uint32_t *xfer_count = &hpcd->IN_ep[0x83 & 0x7f].xfer_count; + //volatile uint32_t *xfer_len = &hpcd->IN_ep[0x83 & 0x7f].xfer_len; + USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; + while ( + // *xfer_count < *xfer_len // using this works + // (USBx_INEP(3)->DIEPTSIZ & USB_OTG_DIEPTSIZ_XFRSIZ) // using this works + && HAL_GetTick() - start <= 2000) { + __WFI(); // enter sleep mode, waiting for interrupt + } + } + */ } + UserTxBuffer[UserTxBufPtrIn] = str[i]; UserTxBufPtrIn = (UserTxBufPtrIn + 1) & (APP_TX_DATA_SIZE - 1); } diff --git a/stmhal/usbd_msc_storage.c b/stmhal/usbd_msc_storage.c index f3ecd023d..6ec9abc3d 100644 --- a/stmhal/usbd_msc_storage.c +++ b/stmhal/usbd_msc_storage.c @@ -35,6 +35,14 @@ #include "diskio.h" #include "sdcard.h" +// These are needed to support removal of the medium, so that the USB drive +// can be unmounted, and won't be remounted automatically. +static uint8_t flash_removed = 0; + +#if MICROPY_HW_HAS_SDCARD +static uint8_t sdcard_removed = 0; +#endif + /******************************************************************************/ // Callback functions for when the internal flash is the mass storage device @@ -83,6 +91,9 @@ int8_t FLASH_STORAGE_GetCapacity(uint8_t lun, uint32_t *block_num, uint16_t *blo * @retval Status */ int8_t FLASH_STORAGE_IsReady(uint8_t lun) { + if (flash_removed) { + return -1; + } return 0; } @@ -95,6 +106,18 @@ int8_t FLASH_STORAGE_IsWriteProtected(uint8_t lun) { return 0; } +// Remove the lun +int8_t FLASH_STORAGE_StopUnit(uint8_t lun) { + flash_removed = 1; + return 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 + disk_ioctl(0, CTRL_SYNC, NULL); + return 0; +} + /** * @brief Read data from the medium * @param lun : logical unit number @@ -132,7 +155,6 @@ int8_t FLASH_STORAGE_Write (uint8_t lun, uint8_t *buf, uint32_t blk_addr, uint16 } } */ - storage_flush(); // XXX hack for now so that the cache is always flushed return 0; } @@ -150,6 +172,8 @@ const USBD_StorageTypeDef USBD_FLASH_STORAGE_fops = { FLASH_STORAGE_GetCapacity, FLASH_STORAGE_IsReady, FLASH_STORAGE_IsWriteProtected, + FLASH_STORAGE_StopUnit, + FLASH_STORAGE_PreventAllowMediumRemoval, FLASH_STORAGE_Read, FLASH_STORAGE_Write, FLASH_STORAGE_GetMaxLun, @@ -236,6 +260,9 @@ int8_t SDCARD_STORAGE_GetCapacity(uint8_t lun, uint32_t *block_num, uint16_t *bl * @retval Status */ int8_t SDCARD_STORAGE_IsReady(uint8_t lun) { + if (sdcard_removed) { + return -1; + } /* #ifndef USE_STM3210C_EVAL @@ -271,6 +298,16 @@ int8_t SDCARD_STORAGE_IsWriteProtected(uint8_t lun) { return 0; } +// Remove the lun +int8_t SDCARD_STORAGE_StopUnit(uint8_t lun) { + sdcard_removed = 1; + return 0; +} + +int8_t SDCARD_STORAGE_PreventAllowMediumRemoval(uint8_t lun, uint8_t param) { + return 0; +} + /** * @brief Read data from the medium * @param lun : logical unit number @@ -315,6 +352,8 @@ const USBD_StorageTypeDef USBD_SDCARD_STORAGE_fops = { SDCARD_STORAGE_GetCapacity, SDCARD_STORAGE_IsReady, SDCARD_STORAGE_IsWriteProtected, + SDCARD_STORAGE_StopUnit, + SDCARD_STORAGE_PreventAllowMediumRemoval, SDCARD_STORAGE_Read, SDCARD_STORAGE_Write, SDCARD_STORAGE_GetMaxLun, diff --git a/stmhal/usbdev/class/cdc_msc_hid/inc/usbd_cdc_msc_hid.h b/stmhal/usbdev/class/cdc_msc_hid/inc/usbd_cdc_msc_hid.h index 8423ad775..798bdc99d 100644 --- a/stmhal/usbdev/class/cdc_msc_hid/inc/usbd_cdc_msc_hid.h +++ b/stmhal/usbdev/class/cdc_msc_hid/inc/usbd_cdc_msc_hid.h @@ -13,6 +13,11 @@ #define MSC_IN_EP (0x81) #define MSC_OUT_EP (0x01) +// Need to define here for usbd_cdc_interface.c (it needs CDC_IN_EP) +#define CDC_IN_EP (0x83) +#define CDC_OUT_EP (0x03) +#define CDC_CMD_EP (0x82) + // only CDC_MSC and CDC_HID are available #define USBD_MODE_CDC (0x01) #define USBD_MODE_MSC (0x02) @@ -53,6 +58,8 @@ typedef struct _USBD_STORAGE { int8_t (* GetCapacity) (uint8_t lun, uint32_t *block_num, uint16_t *block_size); int8_t (* IsReady) (uint8_t lun); int8_t (* IsWriteProtected) (uint8_t lun); + int8_t (* StopUnit)(uint8_t lun); + int8_t (* PreventAllowMediumRemoval)(uint8_t lun, uint8_t param0); int8_t (* Read) (uint8_t lun, uint8_t *buf, uint32_t blk_addr, uint16_t blk_len); int8_t (* Write)(uint8_t lun, uint8_t *buf, uint32_t blk_addr, uint16_t blk_len); int8_t (* GetMaxLun)(void); diff --git a/stmhal/usbdev/class/cdc_msc_hid/src/usbd_cdc_msc_hid.c b/stmhal/usbdev/class/cdc_msc_hid/src/usbd_cdc_msc_hid.c index 6cb15ba21..aa8c0c80c 100644 --- a/stmhal/usbdev/class/cdc_msc_hid/src/usbd_cdc_msc_hid.c +++ b/stmhal/usbdev/class/cdc_msc_hid/src/usbd_cdc_msc_hid.c @@ -4,9 +4,6 @@ #define USB_CDC_MSC_CONFIG_DESC_SIZ (98) #define USB_CDC_HID_CONFIG_DESC_SIZ (100) #define CDC_IFACE_NUM (1) -#define CDC_IN_EP (0x83) -#define CDC_OUT_EP (0x03) -#define CDC_CMD_EP (0x82) #define MSC_IFACE_NUM (0) #define HID_IFACE_NUM_WITH_CDC (0) #define HID_IFACE_NUM_WITH_MSC (1) @@ -583,11 +580,18 @@ static uint8_t USBD_CDC_MSC_HID_Setup(USBD_HandleTypeDef *pdev, USBD_SetupReqTyp /* printf("SU: %x %x %x %x\n", req->bmRequest, req->bRequest, req->wValue, req->wIndex); + This is what we get when MSC is IFACE=0 and CDC is IFACE=1,2: SU: 21 22 0 1 -- USB_REQ_TYPE_CLASS | USB_REQ_RECIPIENT_INTERFACE; CDC_SET_CONTROL_LINE_STATE SU: 21 20 0 1 -- USB_REQ_TYPE_CLASS | USB_REQ_RECIPIENT_INTERFACE; CDC_SET_LINE_CODING SU: a1 fe 0 0 -- 0x80 | USB_REQ_TYPE_CLASS | USB_REQ_RECIPIENT_INTERFACE; BOT_GET_MAX_LUN; 0; 0 SU: 21 22 3 1 -- USB_REQ_TYPE_CLASS | USB_REQ_RECIPIENT_INTERFACE; CDC_SET_CONTROL_LINE_STATE + + On a Mac OS X, with MSC then CDC: + SU: a1 fe 0 0 + SU: 21 22 2 1 + SU: 21 22 3 1 + SU: 21 20 0 1 */ switch (req->bmRequest & USB_REQ_TYPE_MASK) { @@ -723,6 +727,11 @@ static uint8_t USBD_CDC_MSC_HID_Setup(USBD_HandleTypeDef *pdev, USBD_SetupReqTyp return USBD_OK; } +/* unused +static uint8_t EP0_TxSent(USBD_HandleTypeDef *pdev) { +} +*/ + static uint8_t USBD_CDC_MSC_HID_EP0_RxReady(USBD_HandleTypeDef *pdev) { if((CDC_fops != NULL) && (CDC_ClassData.CmdOpCode != 0xFF)) { CDC_fops->Control(CDC_ClassData.CmdOpCode, (uint8_t *)CDC_ClassData.data, CDC_ClassData.CmdLength); @@ -902,8 +911,8 @@ USBD_ClassTypeDef USBD_CDC_MSC_HID = { USBD_CDC_MSC_HID_DataIn, USBD_CDC_MSC_HID_DataOut, NULL, // SOF - NULL, - NULL, + NULL, // IsoINIncomplete + NULL, // IsoOUTIncomplete USBD_CDC_MSC_HID_GetCfgDesc, USBD_CDC_MSC_HID_GetCfgDesc, USBD_CDC_MSC_HID_GetCfgDesc, diff --git a/stmhal/usbdev/class/cdc_msc_hid/src/usbd_msc_scsi.c b/stmhal/usbdev/class/cdc_msc_hid/src/usbd_msc_scsi.c index af3818d37..60258d64d 100644 --- a/stmhal/usbdev/class/cdc_msc_hid/src/usbd_msc_scsi.c +++ b/stmhal/usbdev/class/cdc_msc_hid/src/usbd_msc_scsi.c @@ -86,6 +86,7 @@ static int8_t SCSI_ReadFormatCapacity(USBD_HandleTypeDef *pdev, uint8_t lun, ui static int8_t SCSI_ReadCapacity10(USBD_HandleTypeDef *pdev, uint8_t lun, uint8_t *params);
static int8_t SCSI_RequestSense (USBD_HandleTypeDef *pdev, uint8_t lun, uint8_t *params);
static int8_t SCSI_StartStopUnit(USBD_HandleTypeDef *pdev, uint8_t lun, uint8_t *params);
+static int8_t SCSI_AllowMediumRemoval(USBD_HandleTypeDef *pdev, uint8_t lun, uint8_t *params);
static int8_t SCSI_ModeSense6 (USBD_HandleTypeDef *pdev, uint8_t lun, uint8_t *params);
static int8_t SCSI_ModeSense10 (USBD_HandleTypeDef *pdev, uint8_t lun, uint8_t *params);
static int8_t SCSI_Write10(USBD_HandleTypeDef *pdev, uint8_t lun , uint8_t *params);
@@ -122,6 +123,11 @@ int8_t SCSI_ProcessCmd(USBD_HandleTypeDef *pdev, uint8_t lun,
uint8_t *params)
{
+ /*
+ if (params[0] != SCSI_READ10 && params[0] != SCSI_WRITE10) {
+ printf("SCSI_ProcessCmd(lun=%d, params=%x, %x)\n", lun, params[0], params[1]);
+ }
+ */
switch (params[0])
{
@@ -137,7 +143,7 @@ int8_t SCSI_ProcessCmd(USBD_HandleTypeDef *pdev, return SCSI_StartStopUnit(pdev, lun, params);
case SCSI_ALLOW_MEDIUM_REMOVAL:
- return SCSI_StartStopUnit(pdev, lun, params);
+ return SCSI_AllowMediumRemoval(pdev, lun, params);
case SCSI_MODE_SENSE6:
return SCSI_ModeSense6 (pdev, lun, params);
@@ -442,6 +448,31 @@ static int8_t SCSI_StartStopUnit(USBD_HandleTypeDef *pdev, uint8_t lun, uint8_t {
USBD_MSC_BOT_HandleTypeDef *hmsc = pdev->pClassData;
hmsc->bot_data_length = 0;
+
+ // On Mac OS X, when the device is ejected a SCSI_START_STOP_UNIT command is sent.
+ // params[1]==0 means stop, param[1]==1 seems to be something else (happens after the
+ // device is plugged in and mounted for some time, probably a keep alive).
+ // If we get a stop, we must really stop the device so that the Mac does not
+ // automatically remount it.
+ if (params[1] == 0) {
+ ((USBD_StorageTypeDef *)pdev->pUserData)->StopUnit(lun);
+ }
+
+ return 0;
+}
+
+/**
+* @brief SCSI_AllowMediumRemoval
+* Process Allow Medium Removal command
+* @param lun: Logical unit number
+* @param params: Command parameters
+* @retval status
+*/
+static int8_t SCSI_AllowMediumRemoval(USBD_HandleTypeDef *pdev, uint8_t lun, uint8_t *params)
+{
+ USBD_MSC_BOT_HandleTypeDef *hmsc = pdev->pClassData;
+ hmsc->bot_data_length = 0;
+ ((USBD_StorageTypeDef *)pdev->pUserData)->PreventAllowMediumRemoval(lun, params[0]);
return 0;
}
diff --git a/tests/basics/builtin-bin.py b/tests/basics/builtin-bin.py new file mode 100644 index 000000000..f6b6079de --- /dev/null +++ b/tests/basics/builtin-bin.py @@ -0,0 +1,12 @@ +# test builtin bin function + +print(bin(1)) +print(bin(-1)) +print(bin(15)) +print(bin(-15)) + +print(bin(12345)) +print(bin(0b10101)) + +print(bin(12345678901234567890)) +print(bin(0b10101010101010101010)) diff --git a/tests/basics/builtin-hex.py b/tests/basics/builtin-hex.py new file mode 100644 index 000000000..7d1c98a7a --- /dev/null +++ b/tests/basics/builtin-hex.py @@ -0,0 +1,12 @@ +# test builtin hex function + +print(hex(1)) +print(hex(-1)) +print(hex(15)) +print(hex(-15)) + +print(hex(12345)) +print(hex(0x12345)) + +print(hex(12345678901234567890)) +print(hex(0x12345678901234567890)) diff --git a/tests/basics/builtin-oct.py b/tests/basics/builtin-oct.py new file mode 100644 index 000000000..d8ba8e434 --- /dev/null +++ b/tests/basics/builtin-oct.py @@ -0,0 +1,12 @@ +# test builtin oct function + +print(oct(1)) +print(oct(-1)) +print(oct(15)) +print(oct(-15)) + +print(oct(12345)) +print(oct(0o12345)) + +print(oct(12345678901234567890)) +print(oct(0o12345670123456701234)) diff --git a/tests/basics/fun-callstar.py b/tests/basics/fun-callstar.py index e19acb349..255563b26 100644 --- a/tests/basics/fun-callstar.py +++ b/tests/basics/fun-callstar.py @@ -31,5 +31,3 @@ a.foo(1, 2, *[100]) # Iterator a.foo(*range(3)) - -print('flush') # so that it works on pyboard... diff --git a/tests/basics/fun-defargs.py b/tests/basics/fun-defargs.py index 51516c736..0666b8c49 100644 --- a/tests/basics/fun-defargs.py +++ b/tests/basics/fun-defargs.py @@ -18,5 +18,3 @@ try: fun2(1, 2, 3, 4) except TypeError: print("TypeError") - -print('flush') # so that it works on pyboard... diff --git a/tests/basics/memoryerror.py b/tests/basics/memoryerror.py index e9aa97d85..b4be420c3 100644 --- a/tests/basics/memoryerror.py +++ b/tests/basics/memoryerror.py @@ -1,11 +1,6 @@ -# this test for MemoryError can be difficult to reproduce -# on different machine configurations (notably Travis CI) -# so we disable it -# TODO is there a way of testing that we are on Travis CI? -if False: - l = list(range(10000)) - try: - 100000000 * l - except MemoryError: - print('MemoryError') - print(len(l), l[0], l[-1]) +l = list(range(10000)) +try: + 100000000 * l +except MemoryError: + print('MemoryError') +print(len(l), l[0], l[-1]) diff --git a/tests/bytecode/README.md b/tests/bytecode/README.md index 85e348ded..0d5245cb7 100644 --- a/tests/bytecode/README.md +++ b/tests/bytecode/README.md @@ -5,7 +5,7 @@ You need to first build the 'cpy' executable in the directory micropython/unix-c This executable is a minimal version of Micro Python which compiles a single source file and outputs the corresponding byte code. -The output of Micro Python is checked against CPython 3.3. +The output of Micro Python is checked against CPython 3.4. To run the tests use: diff --git a/tests/run-tests b/tests/run-tests index 554f5134c..bd6e50bbd 100755 --- a/tests/run-tests +++ b/tests/run-tests @@ -15,6 +15,9 @@ else: CPYTHON3 = os.getenv('MICROPY_CPYTHON3', 'python3') MP_PY = '../unix/micropython' +# Set of tests that we shouldn't run under Travis CI +skip_travis_tests = set(['basics/memoryerror.py']) + def rm_f(fname): if os.path.exists(fname): os.remove(fname) @@ -36,8 +39,12 @@ if test_on_pyboard: pyb = pyboard.Pyboard('/dev/ttyACM0') pyb.enter_raw_repl() +running_under_travis = os.environ.get('TRAVIS', 'false') == 'true' + for test_file in tests: - test_name = os.path.splitext(os.path.basename(test_file))[0] + if running_under_travis and test_file in skip_travis_tests: + print("skip ", test_file) + continue # run CPython try: @@ -64,15 +71,20 @@ for test_file in tests: testcase_count += len(output_expected.splitlines()) + test_basename = os.path.basename(test_file) + test_name = os.path.splitext(test_basename)[0] + filename_expected = test_basename + ".exp" + filename_mupy = test_basename + ".out" + if output_expected == output_mupy: print("pass ", test_file) passed_count += 1 - rm_f(os.path.basename(test_file + ".exp")) - rm_f(os.path.basename(test_file + ".out")) + rm_f(filename_expected) + rm_f(filename_mupy) else: - with open(os.path.basename(test_file + ".exp"), "w") as f: + with open(filename_expected, "w") as f: f.write(str(output_expected, "ascii")) - with open(os.path.basename(test_file + ".out"), "w") as f: + with open(filename_mupy, "w") as f: f.write(str(output_mupy, "ascii")) print("FAIL ", test_file) failed_tests.append(test_name) diff --git a/tools/file2h.py b/tools/file2h.py new file mode 100644 index 000000000..2a04ae22b --- /dev/null +++ b/tools/file2h.py @@ -0,0 +1,30 @@ +# Reads in a text file, and performs the necessary escapes so that it +# can be #included as a static string like: +# static const char string_from_textfile[] = +# #include "build/textfile.h" +# ; +# This script simply prints the escaped string straight to stdout + +from __future__ import print_function + +import sys + +# Can either be set explicitly, or left blank to auto-detect +# Except auto-detect doesn't work because the file has been passed +# through Python text processing, which makes all EOL a \n +line_end = '\\r\\n' + +if __name__ == "__main__": + filename = sys.argv[1] + for line in open(filename, 'r').readlines(): + if not line_end: + for ending in ('\r\n', '\r', '\n'): + if line.endswith(ending): + line_end = ending.replace('\r', '\\r').replace('\n', '\\n') + break + if not line_end: + raise Exception("Couldn't auto-detect line-ending of %s" % filename) + line = line.rstrip('\r\n') + line = line.replace('\\', '\\\\') + line = line.replace('"', '\\"') + print('"%s%s"' % (line, line_end)) diff --git a/tools/insert-usb-ids.py b/tools/insert-usb-ids.py new file mode 100644 index 000000000..42303da8b --- /dev/null +++ b/tools/insert-usb-ids.py @@ -0,0 +1,36 @@ +# Reads the USB VID and PID from the file specifed by sys.arg[1] and then +# inserts those values into the template file specified by sys.argv[2], +# printing the result to stdout + +from __future__ import print_function + +import sys +import re +import string + +def parse_usb_ids(filename): + rv = dict() + if filename == 'usbd_desc_cdc_msc.c': + for line in open(filename).readlines(): + line = line.rstrip('\r\n') + match = re.match('^#define\s+(\w+)\s+0x([0-9A-Fa-f]+)$', line) + if match: + if match.group(1) == 'USBD_VID': + rv['USB_VID'] = match.group(2) + elif match.group(1) == 'USBD_PID': + rv['USB_PID'] = match.group(2) + if 'USB_VID' in rv and 'USB_PID' in rv: + break + else: + raise Exception("Don't (yet) know how to parse USB IDs from %s" % filename) + for k in ('USB_PID', 'USB_VID'): + if k not in rv: + raise Exception("Unable to parse %s from %s" % (k, filename)) + return rv + +if __name__ == "__main__": + usb_ids_file = sys.argv[1] + template_file = sys.argv[2] + replacements = parse_usb_ids(usb_ids_file) + for line in open(template_file, 'r').readlines(): + print(string.Template(line).safe_substitute(replacements), end='') diff --git a/unix/Makefile b/unix/Makefile index ac1baf3d0..07a75f7ad 100644 --- a/unix/Makefile +++ b/unix/Makefile @@ -20,6 +20,16 @@ else LDFLAGS = $(LDFLAGS_MOD) -lm -Wl,-Map=$@.map,--cref endif +ifeq ($(MICROPY_FORCE_32BIT),1) +CFLAGS += -m32 +LDFLAGS += -m32 +ifeq ($(MICROPY_MOD_FFI),1) +ifeq ($(UNAME_S),Linux) +CFLAGS_MOD += -I/usr/include/i686-linux-gnu +endif +endif +endif + ifeq ($(MICROPY_USE_READLINE),1) CFLAGS_MOD += -DMICROPY_USE_READLINE=1 LDFLAGS_MOD += -lreadline diff --git a/unix/mpconfigport.mk b/unix/mpconfigport.mk index bfb01a71f..352d01067 100644 --- a/unix/mpconfigport.mk +++ b/unix/mpconfigport.mk @@ -1,5 +1,8 @@ # Enable/disable modules and 3rd-party libs to be included in interpreter +# Build 32-bit binaries on a 64-bit host +MICROPY_FORCE_32BIT = 0 + # Linking with GNU readline causes binary to be licensed under GPL MICROPY_USE_READLINE = 1 |