main.c

/*
 * This file is part of the MicroPython project, http://micropython.org/
 *
 * Development of the code in this file was sponsored by Microbric Pty Ltd
 *
 * The MIT License (MIT)
 *
 * Copyright (c) 2016 Damien P. George
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */

#include <stdio.h>
#include <string.h>
#include <stdarg.h>

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_system.h"
#include "nvs_flash.h"
#include "esp_task.h"
#include "esp_event.h"
#include "esp_log.h"
#include "esp_psram.h"

#include "py/stackctrl.h"
#include "py/nlr.h"
#include "py/compile.h"
#include "py/runtime.h"
#include "py/persistentcode.h"
#include "py/repl.h"
#include "py/gc.h"
#include "py/mphal.h"
#include "shared/readline/readline.h"
#include "shared/runtime/pyexec.h"
#include "uart.h"
#include "usb.h"
#include "usb_serial_jtag.h"
#include "modmachine.h"
#include "modnetwork.h"
#include "mpthreadport.h"

#if MICROPY_BLUETOOTH_NIMBLE
#include "extmod/modbluetooth.h"
#endif

#if MICROPY_ESPNOW
#include "modespnow.h"
#endif

// MicroPython runs as a task under FreeRTOS
#define MP_TASK_PRIORITY        (ESP_TASK_PRIO_MIN + 1)

// Set the margin for detecting stack overflow, depending on the CPU architecture.
#if CONFIG_IDF_TARGET_ESP32C3
#define MP_TASK_STACK_LIMIT_MARGIN (2048)
#else
#define MP_TASK_STACK_LIMIT_MARGIN (1024)
#endif

// Initial Python heap size. This starts small but adds new heap areas on
// demand due to settings MICROPY_GC_SPLIT_HEAP & MICROPY_GC_SPLIT_HEAP_AUTO
#define MP_TASK_HEAP_SIZE (64 * 1024)

int vprintf_null(const char *format, va_list ap) {
    // do nothing: this is used as a log target during raw repl mode
    return 0;
}

void mp_task(void *pvParameter) {
    volatile uint32_t sp = (uint32_t)esp_cpu_get_sp();
    #if MICROPY_PY_THREAD
    mp_thread_init(pxTaskGetStackStart(NULL), MICROPY_TASK_STACK_SIZE / sizeof(uintptr_t));
    #endif
    #if CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG
    usb_serial_jtag_init();
    #elif CONFIG_USB_OTG_SUPPORTED
    usb_init();
    #endif
    #if MICROPY_HW_ENABLE_UART_REPL
    uart_stdout_init();
    #endif
    machine_init();

    esp_err_t err = esp_event_loop_create_default();
    if (err != ESP_OK) {
        ESP_LOGE("esp_init", "can't create event loop: 0x%x\n", err);
    }

    void *mp_task_heap = MP_PLAT_ALLOC_HEAP(MP_TASK_HEAP_SIZE);

soft_reset:
    // initialise the stack pointer for the main thread
    mp_stack_set_top((void *)sp);
    mp_stack_set_limit(MICROPY_TASK_STACK_SIZE - MP_TASK_STACK_LIMIT_MARGIN);
    gc_init(mp_task_heap, mp_task_heap + MP_TASK_HEAP_SIZE);
    mp_init();
    mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_lib));
    readline_init0();

    MP_STATE_PORT(native_code_pointers) = MP_OBJ_NULL;

    // initialise peripherals
    machine_pins_init();
    #if MICROPY_PY_MACHINE_I2S
    machine_i2s_init0();
    #endif

    // run boot-up scripts
    pyexec_frozen_module("_boot.py", false);
    pyexec_file_if_exists("boot.py");
    if (pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
        int ret = pyexec_file_if_exists("main.py");
        if (ret & PYEXEC_FORCED_EXIT) {
            goto soft_reset_exit;
        }
    }

    for (;;) {
        if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
            vprintf_like_t vprintf_log = esp_log_set_vprintf(vprintf_null);
            if (pyexec_raw_repl() != 0) {
                break;
            }
            esp_log_set_vprintf(vprintf_log);
        } else {
            if (pyexec_friendly_repl() != 0) {
                break;
            }
        }
    }

soft_reset_exit:

    #if MICROPY_BLUETOOTH_NIMBLE
    mp_bluetooth_deinit();
    #endif

    #if MICROPY_ESPNOW
    espnow_deinit(mp_const_none);
    MP_STATE_PORT(espnow_singleton) = NULL;
    #endif

    machine_timer_deinit_all();

    #if MICROPY_PY_THREAD
    mp_thread_deinit();
    #endif

    // Free any native code pointers that point to iRAM.
    if (MP_STATE_PORT(native_code_pointers) != MP_OBJ_NULL) {
        size_t len;
        mp_obj_t *items;
        mp_obj_list_get(MP_STATE_PORT(native_code_pointers), &len, &items);
        for (size_t i = 0; i < len; ++i) {
            heap_caps_free(MP_OBJ_TO_PTR(items[i]));
        }
    }

    gc_sweep_all();

    mp_hal_stdout_tx_str("MPY: soft reboot\r\n");

    // deinitialise peripherals
    machine_pwm_deinit_all();
    // TODO: machine_rmt_deinit_all();
    #if MICROPY_PY_MACHINE_PCNT
    machine_encoder_deinit_all();
    #endif
    machine_pins_deinit();
    machine_deinit();
    #if MICROPY_PY_SOCKET_EVENTS
    socket_events_deinit();
    #endif

    mp_deinit();
    fflush(stdout);
    goto soft_reset;
}

void boardctrl_startup(void) {
    esp_err_t ret = nvs_flash_init();
    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
        nvs_flash_erase();
        nvs_flash_init();
    }
}

void app_main(void) {
    // Hook for a board to run code at start up.
    // This defaults to initialising NVS.
    MICROPY_BOARD_STARTUP();

    // Create and transfer control to the MicroPython task.
    xTaskCreatePinnedToCore(mp_task, "mp_task", MICROPY_TASK_STACK_SIZE / sizeof(StackType_t), NULL, MP_TASK_PRIORITY, &mp_main_task_handle, MP_TASK_COREID);
}

void nlr_jump_fail(void *val) {
    printf("NLR jump failed, val=%p\n", val);
    esp_restart();
}

void *esp_native_code_commit(void *buf, size_t len, void *reloc) {
    len = (len + 3) & ~3;
    uint32_t *p = heap_caps_malloc(len, MALLOC_CAP_EXEC);
    if (p == NULL) {
        m_malloc_fail(len);
    }
    if (MP_STATE_PORT(native_code_pointers) == MP_OBJ_NULL) {
        MP_STATE_PORT(native_code_pointers) = mp_obj_new_list(0, NULL);
    }
    mp_obj_list_append(MP_STATE_PORT(native_code_pointers), MP_OBJ_TO_PTR(p));
    if (reloc) {
        mp_native_relocate(reloc, buf, (uintptr_t)p);
    }
    memcpy(p, buf, len);
    return p;
}

MP_REGISTER_ROOT_POINTER(mp_obj_t native_code_pointers);