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-rw-r--r--stmhal/Makefile2
-rw-r--r--stmhal/flash.c77
-rw-r--r--stmhal/flash.h1
-rw-r--r--stmhal/main.c36
-rw-r--r--stmhal/malloc0.c37
-rw-r--r--stmhal/math.c81
-rw-r--r--stmhal/mathsincos.c601
-rw-r--r--stmhal/pybstdio.c4
-rw-r--r--stmhal/pyexec.c1
-rw-r--r--stmhal/std.h2
-rw-r--r--stmhal/stm32f4xx_it.c48
-rw-r--r--stmhal/storage.c77
-rw-r--r--stmhal/storage.h2
-rw-r--r--stmhal/timer.c15
-rw-r--r--stmhal/usbd_cdc_interface.c26
-rw-r--r--stmhal/usbd_desc_cdc_msc.c18
-rw-r--r--stmhal/usbd_msc_storage.c16
-rw-r--r--stmhal/usbdev/class/cdc_msc_hid/inc/usbd_cdc_msc_hid.h6
-rw-r--r--stmhal/usbdev/class/cdc_msc_hid/src/usbd_cdc_msc_hid.c3
-rw-r--r--stmhal/usbdev/class/cdc_msc_hid/src/usbd_msc_scsi.c1
20 files changed, 930 insertions, 124 deletions
diff --git a/stmhal/Makefile b/stmhal/Makefile
index f0d132520d..ac0367024a 100644
--- a/stmhal/Makefile
+++ b/stmhal/Makefile
@@ -70,7 +70,7 @@ SRC_C = \
usb.c \
printf.c \
math.c \
- malloc0.c \
+ mathsincos.c \
gccollect.c \
pybstdio.c \
readline.c \
diff --git a/stmhal/flash.c b/stmhal/flash.c
index 6ed3b04324..ce16fe271b 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 33d31df7a6..7900d2c1ae 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/main.c b/stmhal/main.c
index c5633fb68b..2d7e76172f 100644
--- a/stmhal/main.c
+++ b/stmhal/main.c
@@ -1,9 +1,7 @@
#include <stdio.h>
#include <string.h>
-#include <stm32f4xx_hal.h>
-#include <stm32f4xx_hal_gpio.h>
-#include "std.h"
+#include "stm32f4xx_hal.h"
#include "misc.h"
#include "systick.h"
@@ -14,11 +12,10 @@
#include "lexer.h"
#include "parse.h"
#include "obj.h"
-#include "parsehelper.h"
-#include "compile.h"
#include "runtime.h"
#include "gc.h"
#include "gccollect.h"
+#include "pybstdio.h"
#include "readline.h"
#include "pyexec.h"
#include "usart.h"
@@ -64,12 +61,25 @@ void flash_error(int n) {
}
void __fatal_error(const char *msg) {
-#if MICROPY_HW_HAS_LCD
+ for (volatile uint delay = 0; delay < 10000000; delay++) {
+ }
+ led_state(1, 1);
+ led_state(2, 1);
+ led_state(3, 1);
+ led_state(4, 1);
+ stdout_tx_strn("\nFATAL ERROR:\n", 14);
+ stdout_tx_strn(msg, strlen(msg));
+#if 0 && MICROPY_HW_HAS_LCD
lcd_print_strn("\nFATAL ERROR:\n", 14);
lcd_print_strn(msg, strlen(msg));
#endif
- for (;;) {
- flash_error(1);
+ for (uint i = 0;;) {
+ led_toggle(((i++) & 3) + 1);
+ for (volatile uint delay = 0; delay < 10000000; delay++) {
+ }
+ if (i >= 8) {
+ __WFI();
+ }
}
}
@@ -109,16 +119,6 @@ STATIC mp_obj_t pyb_usb_mode(mp_obj_t usb_mode) {
MP_DEFINE_CONST_FUN_OBJ_1(pyb_usb_mode_obj, pyb_usb_mode);
-void fatality(void) {
- led_state(PYB_LED_R1, 1);
- led_state(PYB_LED_G1, 1);
- led_state(PYB_LED_R2, 1);
- led_state(PYB_LED_G2, 1);
- for (;;) {
- flash_error(1);
- }
-}
-
static const char fresh_boot_py[] =
"# boot.py -- run on boot-up\n"
"# can run arbitrary Python, but best to keep it minimal\n"
diff --git a/stmhal/malloc0.c b/stmhal/malloc0.c
deleted file mode 100644
index 510fa0d740..0000000000
--- a/stmhal/malloc0.c
+++ /dev/null
@@ -1,37 +0,0 @@
-#include <stdio.h>
-#include <stdint.h>
-#include "misc.h"
-#include "mpconfig.h"
-#include "gc.h"
-
-#if 0
-static uint32_t mem = 0;
-
-void *malloc(size_t n) {
- if (mem == 0) {
- extern uint32_t _heap_start;
- mem = (uint32_t)&_heap_start; // need to use big ram block so we can execute code from it (is it true that we can't execute from CCM?)
- }
- void *ptr = (void*)mem;
- mem = (mem + n + 3) & (~3);
- if (mem > 0x20000000 + 0x18000) {
- void __fatal_error(const char*);
- __fatal_error("out of memory");
- }
- return ptr;
-}
-
-void free(void *ptr) {
-}
-
-void *realloc(void *ptr, size_t n) {
- return malloc(n);
-}
-
-#endif
-
-void __assert_func(void) {
- printf("\nASSERT FAIL!");
- for (;;) {
- }
-}
diff --git a/stmhal/math.c b/stmhal/math.c
index 9b815f1180..75a5aeb2ee 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 0000000000..420c8bba10
--- /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/pybstdio.c b/stmhal/pybstdio.c
index d40cebf947..baabfd120c 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 298e58a5fd..9821e6a929 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/std.h b/stmhal/std.h
index 843ddd8270..6982b715d0 100644
--- a/stmhal/std.h
+++ b/stmhal/std.h
@@ -1,7 +1,5 @@
typedef unsigned int size_t;
-void __assert_func(void);
-
void *memcpy(void *dest, const void *src, size_t n);
void *memmove(void *dest, const void *src, size_t n);
void *memset(void *s, int c, size_t n);
diff --git a/stmhal/stm32f4xx_it.c b/stmhal/stm32f4xx_it.c
index aee689d7e2..df69f52b8e 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
* @{
@@ -63,7 +64,7 @@
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
-extern void fatality();
+extern void __fatal_error(const char*);
extern PCD_HandleTypeDef hpcd;
/* Private function prototypes -----------------------------------------------*/
@@ -87,12 +88,10 @@ void NMI_Handler(void)
* @param None
* @retval None
*/
-void HardFault_Handler(void)
-{
+void HardFault_Handler(void) {
/* Go to infinite loop when Hard Fault exception occurs */
- while (1)
- {
- fatality();
+ while (1) {
+ __fatal_error("HardFault");
}
}
@@ -101,12 +100,10 @@ void HardFault_Handler(void)
* @param None
* @retval None
*/
-void MemManage_Handler(void)
-{
+void MemManage_Handler(void) {
/* Go to infinite loop when Memory Manage exception occurs */
- while (1)
- {
- fatality();
+ while (1) {
+ __fatal_error("MemManage");
}
}
@@ -115,12 +112,10 @@ void MemManage_Handler(void)
* @param None
* @retval None
*/
-void BusFault_Handler(void)
-{
+void BusFault_Handler(void) {
/* Go to infinite loop when Bus Fault exception occurs */
- while (1)
- {
- fatality();
+ while (1) {
+ __fatal_error("BusFault");
}
}
@@ -129,12 +124,10 @@ void BusFault_Handler(void)
* @param None
* @retval None
*/
-void UsageFault_Handler(void)
-{
+void UsageFault_Handler(void) {
/* Go to infinite loop when Usage Fault exception occurs */
- while (1)
- {
- fatality();
+ while (1) {
+ __fatal_error("UsageFault");
}
}
@@ -263,6 +256,19 @@ 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 98d5ee7e70..0348986f26 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 4d153d2f69..ae6c832281 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 5ea605039d..26524fbdd9 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
//
@@ -29,14 +30,17 @@ 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) {
// set up the timer for USBD CDC
__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);
@@ -105,6 +109,13 @@ void timer_tim6_init(uint freq) {
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/usbd_cdc_interface.c b/stmhal/usbd_cdc_interface.c
index 552f7cc9ec..b2c85fa4f3 100644
--- a/stmhal/usbd_cdc_interface.c
+++ b/stmhal/usbd_cdc_interface.c
@@ -63,6 +63,7 @@ static uint16_t UserTxBufPtrIn = 0; // increment this pointer modulo APP_TX_DATA
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;
@@ -257,7 +258,7 @@ void USBD_CDC_HAL_TIM_PeriodElapsedCallback(void) {
return;
}
- if (UserTxBufPtrOut == UserTxBufPtrIn) {
+ if (UserTxBufPtrOut == UserTxBufPtrIn && !UserTxNeedEmptyPacket) {
// No outstanding data to send
return;
}
@@ -265,10 +266,11 @@ void USBD_CDC_HAL_TIM_PeriodElapsedCallback(void) {
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.
- if (UserTxBufPtrWaitCount < 10) {
+ // We have a 15 * 10ms = 150ms timeout
+ if (UserTxBufPtrWaitCount < 15) {
PCD_HandleTypeDef *hpcd = hUSBDDevice.pData;
USB_OTG_GlobalTypeDef *USBx = hpcd->Instance;
- if (USBx_INEP(3)->DIEPTSIZ & USB_OTG_DIEPTSIZ_XFRSIZ) {
+ if (USBx_INEP(CDC_IN_EP & 0x7f)->DIEPTSIZ & USB_OTG_DIEPTSIZ_XFRSIZ) {
// USB in-endpoint is still reading the data
UserTxBufPtrWaitCount++;
return;
@@ -277,7 +279,7 @@ void USBD_CDC_HAL_TIM_PeriodElapsedCallback(void) {
UserTxBufPtrOut = UserTxBufPtrOutShadow;
}
- if (UserTxBufPtrOutShadow != UserTxBufPtrIn) {
+ if (UserTxBufPtrOutShadow != UserTxBufPtrIn || UserTxNeedEmptyPacket) {
uint32_t buffptr;
uint32_t buffsize;
@@ -289,14 +291,6 @@ void USBD_CDC_HAL_TIM_PeriodElapsedCallback(void) {
buffptr = UserTxBufPtrOutShadow;
- // 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;
- }
-
USBD_CDC_SetTxBuffer(&hUSBDDevice, (uint8_t*)&UserTxBuffer[buffptr], buffsize);
if (USBD_CDC_TransmitPacket(&hUSBDDevice) == USBD_OK) {
@@ -305,6 +299,14 @@ void USBD_CDC_HAL_TIM_PeriodElapsedCallback(void) {
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);
}
}
}
diff --git a/stmhal/usbd_desc_cdc_msc.c b/stmhal/usbd_desc_cdc_msc.c
index 137e0bed99..1af99d0b90 100644
--- a/stmhal/usbd_desc_cdc_msc.c
+++ b/stmhal/usbd_desc_cdc_msc.c
@@ -32,6 +32,23 @@
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
+
+// So we don't clash with existing ST boards, we use the unofficial FOSS VID.
+// This needs a proper solution.
+#define USBD_VID 0xf055
+#define USBD_PID 0x9800
+#define USBD_LANGID_STRING 0x409
+#define USBD_MANUFACTURER_STRING "Micro Python"
+#define USBD_PRODUCT_HS_STRING "Pyboard Virtual Comm Port in HS Mode"
+#define USBD_SERIALNUMBER_HS_STRING "000000000010"
+#define USBD_PRODUCT_FS_STRING "Pyboard Virtual Comm Port in FS Mode"
+#define USBD_SERIALNUMBER_FS_STRING "000000000011"
+#define USBD_CONFIGURATION_HS_STRING "VCP Config"
+#define USBD_INTERFACE_HS_STRING "VCP Interface"
+#define USBD_CONFIGURATION_FS_STRING "VCP Config"
+#define USBD_INTERFACE_FS_STRING "VCP Interface"
+
+/*
#define USBD_VID 0x0483
#define USBD_PID 0x5740
#define USBD_LANGID_STRING 0x409
@@ -44,6 +61,7 @@
#define USBD_INTERFACE_HS_STRING "VCP Interface"
#define USBD_CONFIGURATION_FS_STRING "VCP Config"
#define USBD_INTERFACE_FS_STRING "VCP Interface"
+*/
/* Private macro -------------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
diff --git a/stmhal/usbd_msc_storage.c b/stmhal/usbd_msc_storage.c
index 0225a2a23c..6ec9abc3d1 100644
--- a/stmhal/usbd_msc_storage.c
+++ b/stmhal/usbd_msc_storage.c
@@ -38,7 +38,10 @@
// 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
@@ -109,6 +112,12 @@ int8_t FLASH_STORAGE_StopUnit(uint8_t lun) {
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
@@ -146,7 +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;
}
@@ -165,6 +173,7 @@ const USBD_StorageTypeDef USBD_FLASH_STORAGE_fops = {
FLASH_STORAGE_IsReady,
FLASH_STORAGE_IsWriteProtected,
FLASH_STORAGE_StopUnit,
+ FLASH_STORAGE_PreventAllowMediumRemoval,
FLASH_STORAGE_Read,
FLASH_STORAGE_Write,
FLASH_STORAGE_GetMaxLun,
@@ -295,6 +304,10 @@ int8_t SDCARD_STORAGE_StopUnit(uint8_t lun) {
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
@@ -340,6 +353,7 @@ const USBD_StorageTypeDef USBD_SDCARD_STORAGE_fops = {
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 9343994931..798bdc99db 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)
@@ -54,6 +59,7 @@ typedef struct _USBD_STORAGE {
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 6dc0af0e65..aa8c0c80cf 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)
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 b00d1ae2ce..60258d64d9 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
@@ -472,6 +472,7 @@ static int8_t SCSI_AllowMediumRemoval(USBD_HandleTypeDef *pdev, uint8_t lun, ui
{
USBD_MSC_BOT_HandleTypeDef *hmsc = pdev->pClassData;
hmsc->bot_data_length = 0;
+ ((USBD_StorageTypeDef *)pdev->pUserData)->PreventAllowMediumRemoval(lun, params[0]);
return 0;
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-05-17 11:29:09 +0000