From 297446e7af472f8869ecca67f37ed159d02b1024 Mon Sep 17 00:00:00 2001 From: Dave Hylands Date: Mon, 6 Jan 2014 00:20:11 -0800 Subject: [PATCH] Initial support for Teensy 3.1 --- teensy/Makefile | 155 ++++++++++++++ teensy/README.md | 31 +++ teensy/gchelper.s | 36 ++++ teensy/led.c | 86 ++++++++ teensy/led.h | 9 + teensy/lexerteensy.c | 33 +++ teensy/lexerteensy.h | 8 + teensy/main.c | 474 ++++++++++++++++++++++++++++++++++++++++++ teensy/main.cpp | 245 ++++++++++++++++++++++ teensy/malloc0.c | 57 +++++ teensy/mk20dx256.ld | 164 +++++++++++++++ teensy/mpconfigport.h | 21 ++ teensy/printf.c | 305 +++++++++++++++++++++++++++ teensy/std.h | 22 ++ teensy/string0.c | 110 ++++++++++ teensy/usb.c | 44 ++++ teensy/usb.h | 9 + 17 files changed, 1809 insertions(+) create mode 100644 teensy/Makefile create mode 100644 teensy/README.md create mode 100644 teensy/gchelper.s create mode 100644 teensy/led.c create mode 100644 teensy/led.h create mode 100644 teensy/lexerteensy.c create mode 100644 teensy/lexerteensy.h create mode 100644 teensy/main.c create mode 100644 teensy/main.cpp create mode 100644 teensy/malloc0.c create mode 100644 teensy/mk20dx256.ld create mode 100644 teensy/mpconfigport.h create mode 100644 teensy/printf.c create mode 100644 teensy/std.h create mode 100644 teensy/string0.c create mode 100644 teensy/usb.c create mode 100644 teensy/usb.h diff --git a/teensy/Makefile b/teensy/Makefile new file mode 100644 index 0000000000..98b467a06e --- /dev/null +++ b/teensy/Makefile @@ -0,0 +1,155 @@ +ifeq ($(ARDUINO),) +$(error Please define ARDUINO (where TeensyDuino is installed)) +endif +TOOLS_PATH = $(ARDUINO)/hardware/tools +COMPILER_PATH = $(TOOLS_PATH)/arm-none-eabi/bin +CORE_PATH = $(ARDUINO)/hardware/teensy/cores/teensy3 + +PYSRC=../py +BUILD=build + +AS = $(COMPILER_PATH)/arm-none-eabi-as +CC = $(COMPILER_PATH)/arm-none-eabi-gcc +LD = $(COMPILER_PATH)/arm-none-eabi-ld +OBJCOPY = $(COMPILER_PATH)/arm-none-eabi-objcopy +SIZE = $(COMPILER_PATH)/arm-none-eabi-size + +CFLAGS_TEENSY = -DF_CPU=96000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH -D__MK20DX256__ +CFLAGS_CORTEX_M4 = -mthumb -mtune=cortex-m4 -mcpu=cortex-m4 -fsingle-precision-constant -Wdouble-promotion $(CFLAGS_TEENSY) +CFLAGS = -I. -I$(PYSRC) -I$(CORE_PATH) -Wall -ansi -std=gnu99 -Os -DNDEBUG $(CFLAGS_CORTEX_M4) +LDFLAGS = -nostdlib -T mk20dx256.ld +LIBS = -L $(COMPILER_PATH)/../lib/gcc/arm-none-eabi/4.7.2/thumb2 -lgcc + +SRC_C = \ + main.c \ + lexerteensy.c \ + led.c \ + malloc0.c \ + printf.c \ + string0.c \ + usb.c \ + +SRC_S = \ + gchelper.s \ + +PY_O = \ + nlrthumb.o \ + gc.o \ + malloc.o \ + qstr.o \ + vstr.o \ + unicode.o \ + lexer.o \ + parse.o \ + scope.o \ + compile.o \ + emitcommon.o \ + emitpass1.o \ + emitbc.o \ + asmthumb.o \ + emitnthumb.o \ + emitinlinethumb.o \ + runtime.o \ + map.o \ + obj.o \ + objbool.o \ + objboundmeth.o \ + objcell.o \ + objclass.o \ + objclosure.o \ + objcomplex.o \ + objdict.o \ + objexcept.o \ + objfloat.o \ + objfun.o \ + objgenerator.o \ + objinstance.o \ + objint.o \ + objlist.o \ + objmodule.o \ + objnone.o \ + objrange.o \ + objset.o \ + objslice.o \ + objstr.o \ + objtuple.o \ + objtype.o \ + builtin.o \ + builtinimport.o \ + vm.o \ + showbc.o \ + repl.o \ + +SRC_TEENSY = \ + mk20dx128.c \ + pins_teensy.c \ + analog.c \ + usb_desc.c \ + usb_dev.c \ + usb_mem.c \ + usb_serial.c \ + yield.c \ + +OBJ = $(addprefix $(BUILD)/, $(SRC_C:.c=.o) $(SRC_S:.s=.o) $(PY_O) $(SRC_TEENSY:.c=.o)) +#LIB = -lreadline +# the following is needed for BSD +#LIB += -ltermcap +PROG = micropython + +all: hex +hex: $(PROG).hex + +post_compile: $(PROG).hex + $(TOOLS_PATH)/teensy_post_compile -file="$(basename $<)" -path="$(CURDIR)" -tools="$(TOOLS_PATH)" + +reboot: + -$(TOOLS_PATH)/teensy_reboot + +upload: post_compile reboot + +$(PROG).elf: $(BUILD) $(OBJ) + $(CC) $(LDFLAGS) -o "$@" -Wl,-Map,$(PROG).map $(OBJ) $(LIBS) + +%.hex: %.elf + $(SIZE) "$<" + $(OBJCOPY) -O ihex -R .eeprom "$<" "$@" + +$(BUILD): + mkdir -p $@ + +$(BUILD)/%.o: %.s + $(AS) -o $@ $< + +$(BUILD)/%.o: %.c + $(CC) $(CFLAGS) -c -o $@ $< + +$(BUILD)/%.o: $(PYSRC)/%.S + $(CC) $(CFLAGS) -c -o $@ $< + +$(BUILD)/%.o: $(PYSRC)/%.c mpconfigport.h + $(CC) $(CFLAGS) -c -o $@ $< + +$(BUILD)/%.o: $(CORE_PATH)/%.c + $(CC) $(CFLAGS) -c -o $@ $< + +$(BUILD)/emitnthumb.o: $(PYSRC)/emitnative.c $(PYSRC)/emit.h + $(CC) $(CFLAGS) -DN_THUMB -c -o $@ $< + +# optimising gc for speed; 5ms down to 4ms +$(BUILD)/gc.o: $(PYSRC)/gc.c + $(CC) $(CFLAGS) -O3 -c -o $@ $< + +# optimising vm for speed, adds only a small amount to code size but makes a huge difference to speed (20% faster) +$(BUILD)/vm.o: $(PYSRC)/vm.c + $(CC) $(CFLAGS) -O3 -c -o $@ $< + +$(BUILD)/main.o: mpconfigport.h +$(BUILD)/parse.o: $(PYSRC)/grammar.h +$(BUILD)/compile.o: $(PYSRC)/grammar.h +$(BUILD)/emitbc.o: $(PYSRC)/emit.h + +clean: + /bin/rm -rf $(BUILD) + /bin/rm -f $(PROG).elf $(PROG).hex $(PROG).map + +.PHONY: clean diff --git a/teensy/README.md b/teensy/README.md new file mode 100644 index 0000000000..31339cd796 --- /dev/null +++ b/teensy/README.md @@ -0,0 +1,31 @@ +Build Instructions for Teensy 3.1 + +This assumes that you have TeensyDuino installed and set the ARUINO environment +variable pointing to the where Arduino with TeensyDuino is installed. + +``` +cd teensy +ARDUINO=~/arduino-1.0.5 make +``` + +To build the loader + +``` +cd teensy/loader +make +``` + +To upload micropython to the Teensy 3.1. + +Press the Program button on the Teensy 3.1 +``` +make upload +``` + +Currently, the python prompt is through the USB serial interface. + +The LED will blink (100 msec on/100 msec off) while waiting for the USB Serial +device to be configured, and will blink (200 msec on/200 msec off) while +sitting at the readline prompt. + +Currently, there is no I/O support configured (no GPIO, ADC, etc). diff --git a/teensy/gchelper.s b/teensy/gchelper.s new file mode 100644 index 0000000000..f8735d2830 --- /dev/null +++ b/teensy/gchelper.s @@ -0,0 +1,36 @@ + .syntax unified + .cpu cortex-m4 + .thumb + .text + .align 2 + +@ void gc_helper_get_regs_and_clean_stack(r0=uint regs[10], r1=heap_end) + .global gc_helper_get_regs_and_clean_stack + .thumb + .thumb_func + .type gc_helper_get_regs_and_clean_stack, %function +gc_helper_get_regs_and_clean_stack: + @ store registers into given array + str r4, [r0], #4 + str r5, [r0], #4 + str r6, [r0], #4 + str r7, [r0], #4 + str r8, [r0], #4 + str r9, [r0], #4 + str r10, [r0], #4 + str r11, [r0], #4 + str r12, [r0], #4 + str r13, [r0], #4 + + @ clean the stack from given pointer up to current sp + movs r0, #0 + mov r2, sp + b.n .entry +.loop: + str r0, [r1], #4 +.entry: + cmp r1, r2 + bcc.n .loop + bx lr + + .size gc_helper_get_regs_and_clean_stack, .-gc_helper_get_regs_and_clean_stack diff --git a/teensy/led.c b/teensy/led.c new file mode 100644 index 0000000000..1aad2a365e --- /dev/null +++ b/teensy/led.c @@ -0,0 +1,86 @@ +#include + +#include "misc.h" +#include "mpconfig.h" +#include "obj.h" +#include "led.h" + +#include "Arduino.h" + +void led_init(void) { +} + +void led_state(pyb_led_t led, int state) { + uint8_t pin; + + if (led == 0) { + pin = LED_BUILTIN; + } else { + return; + } + digitalWrite(pin, state); +} + +void led_toggle(pyb_led_t led) { + uint8_t pin; + + if (led == 0) { + pin = LED_BUILTIN; + } else { + return; + } + + digitalWrite(pin, !digitalRead(pin)); +} + +/******************************************************************************/ +/* Micro Python bindings */ + +typedef struct _pyb_led_obj_t { + mp_obj_base_t base; + uint led_id; +} pyb_led_obj_t; + +void led_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in) { + pyb_led_obj_t *self = self_in; + print(env, "", self->led_id); +} + +mp_obj_t led_obj_on(mp_obj_t self_in) { + pyb_led_obj_t *self = self_in; + led_state(self->led_id, 1); + return mp_const_none; +} + +mp_obj_t led_obj_off(mp_obj_t self_in) { + pyb_led_obj_t *self = self_in; + led_state(self->led_id, 0); + return mp_const_none; +} + +static MP_DEFINE_CONST_FUN_OBJ_1(led_obj_on_obj, led_obj_on); +static MP_DEFINE_CONST_FUN_OBJ_1(led_obj_off_obj, led_obj_off); + +static const mp_obj_type_t led_obj_type = { + { &mp_const_type }, + "Led", + led_obj_print, // print + NULL, // make_new + NULL, // call_n + NULL, // unary_op + NULL, // binary_op + NULL, // getiter + NULL, // iternext + { // method list + { "on", &led_obj_on_obj }, + { "off", &led_obj_off_obj }, + { NULL, NULL }, + } +}; + +mp_obj_t pyb_Led(mp_obj_t led_id) { + pyb_led_obj_t *o = m_new_obj(pyb_led_obj_t); + o->base.type = &led_obj_type; + o->led_id = mp_obj_get_int(led_id); + return o; +} diff --git a/teensy/led.h b/teensy/led.h new file mode 100644 index 0000000000..c5a4812549 --- /dev/null +++ b/teensy/led.h @@ -0,0 +1,9 @@ +typedef enum { + PYB_LED_BUILTIN = 0, +} pyb_led_t; + +void led_init(void); +void led_state(pyb_led_t led, int state); +void led_toggle(pyb_led_t led); + +mp_obj_t pyb_Led(mp_obj_t led_id); diff --git a/teensy/lexerteensy.c b/teensy/lexerteensy.c new file mode 100644 index 0000000000..eefaf66657 --- /dev/null +++ b/teensy/lexerteensy.c @@ -0,0 +1,33 @@ +#include +#include + +#include "misc.h" +#include "lexer.h" +#include "lexerteensy.h" + +unichar str_buf_next_char(mp_lexer_str_buf_t *sb) { + if (sb->src_cur < sb->src_end) { + return *sb->src_cur++; + } else { + return MP_LEXER_CHAR_EOF; + } +} + +void str_buf_free(mp_lexer_str_buf_t *sb) { + if (sb->free) { + m_del(char, (char*)sb->src_beg, 0 /* don't know allocated size of src */); + } +} + +mp_lexer_t *mp_lexer_new_from_str_len(const char *src_name, const char *str, uint len, bool free_str, mp_lexer_str_buf_t *sb) { + sb->free = free_str; + sb->src_beg = str; + sb->src_cur = str; + sb->src_end = str + len; + return mp_lexer_new(src_name, sb, (mp_lexer_stream_next_char_t)str_buf_next_char, (mp_lexer_stream_close_t)str_buf_free); +} + +mp_lexer_t *mp_import_open_file(qstr mod_name) { + printf("import not implemented\n"); + return NULL; +} diff --git a/teensy/lexerteensy.h b/teensy/lexerteensy.h new file mode 100644 index 0000000000..961a70ada4 --- /dev/null +++ b/teensy/lexerteensy.h @@ -0,0 +1,8 @@ +typedef struct _py_lexer_str_buf_t { + bool free; // free src_beg when done + const char *src_beg; // beginning of source + const char *src_cur; // current location in source + const char *src_end; // end (exclusive) of source +} mp_lexer_str_buf_t; + +mp_lexer_t *mp_lexer_new_from_str_len(const char *src_name, const char *str, uint len, bool free_str, mp_lexer_str_buf_t *sb); diff --git a/teensy/main.c b/teensy/main.c new file mode 100644 index 0000000000..3711cd60d6 --- /dev/null +++ b/teensy/main.c @@ -0,0 +1,474 @@ +#include +#include +#include +#include + +#include "nlr.h" +#include "misc.h" +#include "mpconfig.h" +#include "mpqstr.h" +#include "lexer.h" +#include "lexerteensy.h" +#include "parse.h" +#include "obj.h" +#include "compile.h" +#include "runtime0.h" +#include "runtime.h" +#include "repl.h" +#include "usb.h" +#include "gc.h" +#include "led.h" + +#include "Arduino.h" + +extern uint32_t _heap_start; + +#ifdef USE_READLINE +#include +#include +#endif + +#if 0 +static char *str_join(const char *s1, int sep_char, const char *s2) { + int l1 = strlen(s1); + int l2 = strlen(s2); + char *s = m_new(char, l1 + l2 + 2); + memcpy(s, s1, l1); + if (sep_char != 0) { + s[l1] = sep_char; + l1 += 1; + } + memcpy(s + l1, s2, l2); + s[l1 + l2] = 0; + return s; +} + +static char *prompt(char *p) { +#ifdef USE_READLINE + char *line = readline(p); + if (line) { + add_history(line); + } +#else + static char buf[256]; + fputs(p, stdout); + char *s = fgets(buf, sizeof(buf), stdin); + if (!s) { + return NULL; + } + int l = strlen(buf); + if (buf[l - 1] == '\n') { + buf[l - 1] = 0; + } else { + l++; + } + char *line = m_new(char, l); + memcpy(line, buf, l); +#endif + return line; +} +#endif + +static const char *help_text = +"Welcome to Micro Python!\n\n" +"This is a *very* early version of Micro Python and has minimal functionality.\n\n" +"Specific commands for the board:\n" +" pyb.info() -- print some general information\n" +" pyb.gc() -- run the garbage collector\n" +" pyb.delay() -- wait for n milliseconds\n" +" pyb.Led() -- create Led object for LED n (n=0)\n" +" Led methods: on(), off()\n" +" pyb.gpio() -- read gpio pin\n" +" pyb.gpio(, ) -- set gpio pin\n" +#if 0 +" pyb.Servo() -- create Servo object for servo n (n=1,2,3,4)\n" +" Servo methods: angle()\n" +" pyb.switch() -- return True/False if switch pressed or not\n" +" pyb.accel() -- get accelerometer values\n" +" pyb.rand() -- get a 16-bit random number\n" +#endif +; + +// get some help about available functions +static mp_obj_t pyb_help(void) { + printf("%s", help_text); + return mp_const_none; +} + +// get lots of info about the board +static mp_obj_t pyb_info(void) { + // get and print unique id; 96 bits + { + byte *id = (byte*)0x40048058; + printf("ID=%02x%02x%02x%02x:%02x%02x%02x%02x:%02x%02x%02x%02x\n", id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7], id[8], id[9], id[10], id[11]); + } + + // get and print clock speeds + printf("CPU=%u\nBUS=%u\nMEM=%u\n", F_CPU, F_BUS, F_MEM); + + // to print info about memory + { + extern void *_sdata; + extern void *_edata; + extern void *_sbss; + extern void *_ebss; + extern void *_estack; + extern void *_etext; + printf("_sdata=%p\n", &_sdata); + printf("_edata=%p\n", &_edata); + printf("_sbss=%p\n", &_sbss); + printf("_ebss=%p\n", &_ebss); + printf("_estack=%p\n", &_estack); + printf("_etext=%p\n", &_etext); + printf("_heap_start=%p\n", &_heap_start); + } + + // GC info + { + gc_info_t info; + gc_info(&info); + printf("GC:\n"); + printf(" %lu total\n", info.total); + printf(" %lu used %lu free\n", info.used, info.free); + printf(" 1=%lu 2=%lu m=%lu\n", info.num_1block, info.num_2block, info.max_block); + } + +#if 0 + // free space on flash + { + DWORD nclst; + FATFS *fatfs; + f_getfree("0:", &nclst, &fatfs); + printf("LFS free: %u bytes\n", (uint)(nclst * fatfs->csize * 512)); + } +#endif + + return mp_const_none; +} + +#define RAM_START (0x1FFF8000) // fixed for chip +#define HEAP_END (0x20006000) // tunable +#define RAM_END (0x20008000) // fixed for chip + +void gc_helper_get_regs_and_clean_stack(machine_uint_t *regs, machine_uint_t heap_end); + +void gc_collect(void) { + uint32_t start = micros(); + gc_collect_start(); + gc_collect_root((void**)RAM_START, (((uint32_t)&_heap_start) - RAM_START) / 4); + machine_uint_t regs[10]; + gc_helper_get_regs_and_clean_stack(regs, HEAP_END); + gc_collect_root((void**)HEAP_END, (RAM_END - HEAP_END) / 4); // will trace regs since they now live in this function on the stack + gc_collect_end(); + uint32_t ticks = micros() - start; // TODO implement a function that does this properly + + if (0) { + // print GC info + gc_info_t info; + gc_info(&info); + printf("GC@%lu %luus\n", start, ticks); + printf(" %lu total\n", info.total); + printf(" %lu used %lu free\n", info.used, info.free); + printf(" 1=%lu 2=%lu m=%lu\n", info.num_1block, info.num_2block, info.max_block); + } +} + +mp_obj_t pyb_gc(void) { + gc_collect(); + return mp_const_none; +} + +mp_obj_t pyb_gpio(int n_args, mp_obj_t *args) { + //assert(1 <= n_args && n_args <= 2); + + uint pin = mp_obj_get_int(args[0]); + if (pin > CORE_NUM_DIGITAL) { + goto pin_error; + } + + if (n_args == 1) { + // get pin + pinMode(pin, INPUT); + return MP_OBJ_NEW_SMALL_INT(digitalRead(pin)); + } + + // set pin + pinMode(pin, OUTPUT); + digitalWrite(pin, rt_is_true(args[1])); + return mp_const_none; + +pin_error: + nlr_jump(mp_obj_new_exception_msg_1_arg(MP_QSTR_ValueError, "pin %d does not exist", (void *)(machine_uint_t)pin)); +} + +MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_gpio_obj, 1, 2, pyb_gpio); + +#if 0 +mp_obj_t pyb_hid_send_report(mp_obj_t arg) { + mp_obj_t *items = mp_obj_get_array_fixed_n(arg, 4); + uint8_t data[4]; + data[0] = mp_obj_get_int(items[0]); + data[1] = mp_obj_get_int(items[1]); + data[2] = mp_obj_get_int(items[2]); + data[3] = mp_obj_get_int(items[3]); + usb_hid_send_report(data); + return mp_const_none; +} +#endif + +mp_obj_t pyb_delay(mp_obj_t count) { + delay(mp_obj_get_int(count)); + return mp_const_none; +} + +mp_obj_t pyb_led(mp_obj_t state) { + led_state(PYB_LED_BUILTIN, rt_is_true(state)); + return state; +} + +char *strdup(const char *str) { + uint32_t len = strlen(str); + char *s2 = m_new(char, len + 1); + memcpy(s2, str, len); + s2[len] = 0; + return s2; +} + +#define READLINE_HIST_SIZE (8) + +static const char *readline_hist[READLINE_HIST_SIZE] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}; + +void stdout_tx_str(const char *str) { +// usart_tx_str(str); + usb_vcp_send_str(str); +} + +int readline(vstr_t *line, const char *prompt) { + stdout_tx_str(prompt); + int len = vstr_len(line); + int escape = 0; + int hist_num = 0; + for (;;) { + char c; + for (;;) { + if (usb_vcp_rx_any() != 0) { + c = usb_vcp_rx_get(); + break; +#if 0 + } else if (usart_rx_any()) { + c = usart_rx_char(); + break; +#endif + } + //delay(1); + //if (storage_needs_flush()) { + // storage_flush(); + //} + } + if (escape == 0) { + if (c == 4 && vstr_len(line) == len) { + return 0; + } else if (c == '\r') { + stdout_tx_str("\r\n"); + for (int i = READLINE_HIST_SIZE - 1; i > 0; i--) { + readline_hist[i] = readline_hist[i - 1]; + } + readline_hist[0] = strdup(vstr_str(line)); + return 1; + } else if (c == 27) { + escape = true; + } else if (c == 127) { + if (vstr_len(line) > len) { + vstr_cut_tail(line, 1); + stdout_tx_str("\b \b"); + } + } else if (32 <= c && c <= 126) { + vstr_add_char(line, c); + stdout_tx_str(line->buf + line->len - 1); + } + } else if (escape == 1) { + if (c == '[') { + escape = 2; + } else { + escape = 0; + } + } else if (escape == 2) { + escape = 0; + if (c == 'A') { + // up arrow + if (hist_num < READLINE_HIST_SIZE && readline_hist[hist_num] != NULL) { + // erase line + for (int i = line->len - len; i > 0; i--) { + stdout_tx_str("\b \b"); + } + // set line to history + line->len = len; + vstr_add_str(line, readline_hist[hist_num]); + // draw line + stdout_tx_str(readline_hist[hist_num]); + // increase hist num + hist_num += 1; + } + } + } else { + escape = 0; + } + delay(10); + } +} + +void do_repl(void) { + stdout_tx_str("Micro Python for Teensy 3.1\r\n"); + stdout_tx_str("Type \"help()\" for more information.\r\n"); + + vstr_t line; + vstr_init(&line); + + for (;;) { + vstr_reset(&line); + int ret = readline(&line, ">>> "); + if (ret == 0) { + // EOF + break; + } + + if (vstr_len(&line) == 0) { + continue; + } + + if (mp_repl_is_compound_stmt(vstr_str(&line))) { + for (;;) { + vstr_add_char(&line, '\n'); + int len = vstr_len(&line); + int ret = readline(&line, "... "); + if (ret == 0 || vstr_len(&line) == len) { + // done entering compound statement + break; + } + } + } + + mp_lexer_str_buf_t sb; + mp_lexer_t *lex = mp_lexer_new_from_str_len("", vstr_str(&line), vstr_len(&line), false, &sb); + mp_parse_node_t pn = mp_parse(lex, MP_PARSE_SINGLE_INPUT); + mp_lexer_free(lex); + + if (pn != MP_PARSE_NODE_NULL) { + mp_obj_t module_fun = mp_compile(pn, true); + if (module_fun != mp_const_none) { + nlr_buf_t nlr; + uint32_t start = micros(); + if (nlr_push(&nlr) == 0) { + rt_call_function_0(module_fun); + nlr_pop(); + // optional timing + if (0) { + uint32_t ticks = micros() - start; // TODO implement a function that does this properly + printf("(took %lu us)\n", ticks); + } + } else { + // uncaught exception + mp_obj_print((mp_obj_t)nlr.ret_val); + printf("\n"); + } + } + } + } + + stdout_tx_str("\r\n"); +} + +void main(void) { + pinMode(LED_BUILTIN, OUTPUT); + // Wait for host side to get connected + while (!usb_vcp_is_connected()) { + ; + } + + led_init(); + led_state(PYB_LED_BUILTIN, 1); + +// int first_soft_reset = true; + +soft_reset: + + // GC init + gc_init(&_heap_start, (void*)HEAP_END); + + qstr_init(); + rt_init(); + +#if 1 + printf("About to add functions()\n"); + // add some functions to the python namespace + { + rt_store_name(qstr_from_str_static("help"), rt_make_function_0(pyb_help)); + mp_obj_t m = mp_obj_new_module(qstr_from_str_static("pyb")); + rt_store_attr(m, qstr_from_str_static("info"), rt_make_function_0(pyb_info)); + rt_store_attr(m, qstr_from_str_static("gc"), rt_make_function_0(pyb_gc)); + rt_store_attr(m, qstr_from_str_static("delay"), rt_make_function_1(pyb_delay)); + rt_store_attr(m, qstr_from_str_static("led"), rt_make_function_1(pyb_led)); + rt_store_attr(m, qstr_from_str_static("Led"), rt_make_function_1(pyb_Led)); + rt_store_attr(m, qstr_from_str_static("gpio"), (mp_obj_t)&pyb_gpio_obj); + rt_store_name(qstr_from_str_static("pyb"), m); + } +#endif + + // Turn bootup LED off + led_state(PYB_LED_BUILTIN, 0); + + do_repl(); + + printf("PYB: soft reboot\n"); + +// first_soft_reset = false; + goto soft_reset; +} + +double __aeabi_f2d(float x) { + // TODO + return 0.0; +} + +float __aeabi_d2f(double x) { + // TODO + return 0.0; +} + +double sqrt(double x) { + // TODO + return 0.0; +} + +machine_float_t machine_sqrt(machine_float_t x) { + // TODO + return x; +} + +// stub out __libc_init_array. It's called by mk20dx128.c and is used to call +// global C++ constructors. Since this is a C-only projects, we don't need to +// call constructors. +void __libc_init_array(void) { +} + +char * ultoa(unsigned long val, char *buf, int radix) +{ + unsigned digit; + int i=0, j; + char t; + + while (1) { + digit = val % radix; + buf[i] = ((digit < 10) ? '0' + digit : 'A' + digit - 10); + val /= radix; + if (val == 0) break; + i++; + } + buf[i + 1] = 0; + for (j=0; j < i; j++, i--) { + t = buf[j]; + buf[j] = buf[i]; + buf[i] = t; + } + return buf; +} diff --git a/teensy/main.cpp b/teensy/main.cpp new file mode 100644 index 0000000000..52ce51cda2 --- /dev/null +++ b/teensy/main.cpp @@ -0,0 +1,245 @@ +#include +#include +#include +#include + +#include "Arduino.h" + +extern "C" +{ +#include "nlr.h" +#include "misc.h" +#include "mpconfig.h" +#include "lexer.h" +#include "lexerteensy.h" +#include "parse.h" +#include "obj.h" +#include "compile.h" +#include "runtime0.h" +#include "runtime.h" +#include "repl.h" +#include "usb.h" +} + +#ifdef USE_READLINE +#include +#include +#endif + +#if 0 +static char *str_join(const char *s1, int sep_char, const char *s2) { + int l1 = strlen(s1); + int l2 = strlen(s2); + char *s = m_new(char, l1 + l2 + 2); + memcpy(s, s1, l1); + if (sep_char != 0) { + s[l1] = sep_char; + l1 += 1; + } + memcpy(s + l1, s2, l2); + s[l1 + l2] = 0; + return s; +} + +static char *prompt(char *p) { +#ifdef USE_READLINE + char *line = readline(p); + if (line) { + add_history(line); + } +#else + static char buf[256]; + fputs(p, stdout); + char *s = fgets(buf, sizeof(buf), stdin); + if (!s) { + return NULL; + } + int l = strlen(buf); + if (buf[l - 1] == '\n') { + buf[l - 1] = 0; + } else { + l++; + } + char *line = m_new(char, l); + memcpy(line, buf, l); +#endif + return line; +} +#endif + +#define READLINE_HIST_SIZE (8) + +static const char *readline_hist[READLINE_HIST_SIZE] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}; + +void stdout_tx_str(const char *str) { +// usart_tx_str(str); + usb_vcp_send_str(str); +} + +static elapsedMillis ledTime; +static uint8_t ledState; + +int readline(vstr_t *line, const char *prompt) { + stdout_tx_str(prompt); + int len = vstr_len(line); + int escape = 0; + int hist_num = 0; + for (;;) { + char c; + ledState = 1; + ledTime = 0; + digitalWrite(LED_BUILTIN, ledState); + for (;;) { + if (ledTime > 200) { + ledState = !ledState; + digitalWrite(LED_BUILTIN, ledState); + ledTime = 0; + } + if (usb_vcp_rx_any() != 0) { + c = usb_vcp_rx_get(); + break; +#if 0 + } else if (usart_rx_any()) { + c = usart_rx_char(); + break; +#endif + } + //delay(1); + //if (storage_needs_flush()) { + // storage_flush(); + //} + } + if (escape == 0) { + if (c == 4 && vstr_len(line) == len) { + return 0; + } else if (c == '\r') { + stdout_tx_str("\r\n"); + for (int i = READLINE_HIST_SIZE - 1; i > 0; i--) { + readline_hist[i] = readline_hist[i - 1]; + } + readline_hist[0] = strdup(vstr_str(line)); + return 1; + } else if (c == 27) { + escape = true; + } else if (c == 127) { + if (vstr_len(line) > len) { + vstr_cut_tail(line, 1); + stdout_tx_str("\b \b"); + } + } else if (32 <= c && c <= 126) { + vstr_add_char(line, c); + stdout_tx_str(line->buf + line->len - 1); + } + } else if (escape == 1) { + if (c == '[') { + escape = 2; + } else { + escape = 0; + } + } else if (escape == 2) { + escape = 0; + if (c == 'A') { + // up arrow + if (hist_num < READLINE_HIST_SIZE && readline_hist[hist_num] != NULL) { + // erase line + for (int i = line->len - len; i > 0; i--) { + stdout_tx_str("\b \b"); + } + // set line to history + line->len = len; + vstr_add_str(line, readline_hist[hist_num]); + // draw line + stdout_tx_str(readline_hist[hist_num]); + // increase hist num + hist_num += 1; + } + } + } else { + escape = 0; + } + delay(10); + } +} + +void setup(void) { + pinMode(LED_BUILTIN, OUTPUT); + ledState = 1; + digitalWrite(LED_BUILTIN, ledState); + ledTime = 0; + // Wait for host side to get connected + while (!usb_vcp_is_connected()) { + if (ledTime > 100) { + ledState = !ledState; + digitalWrite(LED_BUILTIN, ledState); + ledTime = 0; + } + } + digitalWrite(LED_BUILTIN, 0); + + qstr_init(); + rt_init(); + + stdout_tx_str("Micro Python for Teensy 3.1\r\n"); + stdout_tx_str("Type \"help()\" for more information.\r\n"); +} + +void loop(void) { + vstr_t line; + vstr_init(&line); + + vstr_reset(&line); + int ret = readline(&line, ">>> "); + if (ret == 0) { + // EOF + return; + } + + if (vstr_len(&line) == 0) { + return; + } + + if (mp_repl_is_compound_stmt(vstr_str(&line))) { + for (;;) { + vstr_add_char(&line, '\n'); + int len = vstr_len(&line); + int ret = readline(&line, "... "); + if (ret == 0 || vstr_len(&line) == len) { + // done entering compound statement + break; + } + } + } + + mp_lexer_str_buf_t sb; + mp_lexer_t *lex = mp_lexer_new_from_str_len("", vstr_str(&line), vstr_len(&line), false, &sb); + mp_parse_node_t pn = mp_parse(lex, MP_PARSE_SINGLE_INPUT); + mp_lexer_free(lex); + + if (pn != MP_PARSE_NODE_NULL) { + mp_obj_t module_fun = mp_compile(pn, true); + if (module_fun != mp_const_none) { + nlr_buf_t nlr; + uint32_t start = micros(); + if (nlr_push(&nlr) == 0) { + rt_call_function_0(module_fun); + nlr_pop(); + // optional timing + if (0) { + uint32_t ticks = micros() - start; // TODO implement a function that does this properly + printf("(took %lu us)\n", ticks); + } + } else { + // uncaught exception + mp_obj_print((mp_obj_t)nlr.ret_val); + printf("\r\n"); + } + } + } +} + +// for sqrt +#include +machine_float_t machine_sqrt(machine_float_t x) { + return sqrt(x); +} + diff --git a/teensy/malloc0.c b/teensy/malloc0.c new file mode 100644 index 0000000000..1a6cb708e8 --- /dev/null +++ b/teensy/malloc0.c @@ -0,0 +1,57 @@ +#include +#include "std.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 *calloc(size_t sz, size_t n) { + char *ptr = malloc(sz * n); + for (int i = 0; i < sz * n; i++) { + ptr[i] = 0; + } + return ptr; +} + +void *malloc(size_t n) { + void *m = gc_alloc(n); + return m; +} + +void free(void *ptr) { + gc_free(ptr); +} + +void *realloc(void *ptr, size_t n) { + return gc_realloc(ptr, n); +} + +void __assert_func(void) { + printf("\nASSERT FAIL!"); + for (;;) { + } +} diff --git a/teensy/mk20dx256.ld b/teensy/mk20dx256.ld new file mode 100644 index 0000000000..da57cbe5cb --- /dev/null +++ b/teensy/mk20dx256.ld @@ -0,0 +1,164 @@ +/* Teensyduino Core Library + * http://www.pjrc.com/teensy/ + * Copyright (c) 2013 PJRC.COM, LLC. + * + * 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: + * + * 1. The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * 2. If the Software is incorporated into a build system that allows + * selection among a list of target devices, then similar target + * devices manufactured by PJRC.COM must be included in the list of + * target devices and selectable in the same manner. + * + * 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. + */ + +MEMORY +{ + FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 256K + RAM (rwx) : ORIGIN = 0x1FFF8000, LENGTH = 64K +} + +/* produce a link error if there is not this amount of RAM for these sections */ +_minimum_stack_size = 2K; +_minimum_heap_size = 16K; + +/* INCLUDE common.ld */ + +/* Teensyduino Core Library + * http://www.pjrc.com/teensy/ + * Copyright (c) 2013 PJRC.COM, LLC. + * + * 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: + * + * 1. The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * 2. If the Software is incorporated into a build system that allows + * selection among a list of target devices, then similar target + * devices manufactured by PJRC.COM must be included in the list of + * target devices and selectable in the same manner. + * + * 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. + */ + + + +SECTIONS +{ + .text : { + . = 0; + KEEP(*(.vectors)) + *(.startup*) + /* TODO: does linker detect startup overflow onto flashconfig? */ + . = 0x400; + KEEP(*(.flashconfig*)) + *(.text*) + *(.rodata*) + . = ALIGN(4); + KEEP(*(.init)) + . = ALIGN(4); + __preinit_array_start = .; + KEEP (*(.preinit_array)) + __preinit_array_end = .; + __init_array_start = .; + KEEP (*(SORT(.init_array.*))) + KEEP (*(.init_array)) + __init_array_end = .; + } > FLASH = 0xFF + + .ARM.exidx : { + __exidx_start = .; + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + __exidx_end = .; + } > FLASH + _etext = .; + + .usbdescriptortable (NOLOAD) : { + /* . = ORIGIN(RAM); */ + . = ALIGN(512); + *(.usbdescriptortable*) + } > RAM + + .dmabuffers (NOLOAD) : { + . = ALIGN(4); + *(.dmabuffers*) + } > RAM + + .usbbuffers (NOLOAD) : { + . = ALIGN(4); + *(.usbbuffers*) + } > RAM + + .data : AT (_etext) { + . = ALIGN(4); + _sdata = .; + *(.data*) + . = ALIGN(4); + _edata = .; + } > RAM + + .noinit (NOLOAD) : { + *(.noinit*) + } > RAM + + .bss : { + . = ALIGN(4); + _sbss = .; + *(.bss*) + *(COMMON) + . = ALIGN(4); + _ebss = .; + __bss_end = .; + } > RAM + + /* this is to define the start of the heap, and make sure we have a minimum size */ + .heap : + { + . = ALIGN(4); + _heap_start = .; /* define a global symbol at heap start */ + . = . + _minimum_heap_size; + } >RAM + + /* this just checks there is enough RAM for the stack */ + .stack : + { + . = ALIGN(4); + . = . + _minimum_stack_size; + . = ALIGN(4); + } >RAM + + _estack = ORIGIN(RAM) + LENGTH(RAM); +} + + + + diff --git a/teensy/mpconfigport.h b/teensy/mpconfigport.h new file mode 100644 index 0000000000..4cea332f39 --- /dev/null +++ b/teensy/mpconfigport.h @@ -0,0 +1,21 @@ +#include + +// options to control how Micro Python is built + +#define MICROPY_ENABLE_FLOAT (1) +#define MICROPY_EMIT_CPYTHON (0) +#define MICROPY_EMIT_X64 (0) +#define MICROPY_EMIT_THUMB (1) +#define MICROPY_EMIT_INLINE_THUMB (1) + +// type definitions for the specific machine + +#define BYTES_PER_WORD (4) + +typedef int32_t machine_int_t; // must be pointer size +typedef uint32_t machine_uint_t; // must be pointer size +typedef void *machine_ptr_t; // must be of pointer size +typedef const void *machine_const_ptr_t; // must be of pointer size +typedef float machine_float_t; + +machine_float_t machine_sqrt(machine_float_t x); diff --git a/teensy/printf.c b/teensy/printf.c new file mode 100644 index 0000000000..71b27b8214 --- /dev/null +++ b/teensy/printf.c @@ -0,0 +1,305 @@ +#include +#include +#include "std.h" +#include "misc.h" +//#include "lcd.h" +//#include "usart.h" +#include "usb.h" + +#define PF_FLAG_LEFT_ADJUST (0x01) +#define PF_FLAG_SHOW_SIGN (0x02) +#define PF_FLAG_SPACE_SIGN (0x04) +#define PF_FLAG_NO_TRAILZ (0x08) +#define PF_FLAG_ZERO_PAD (0x10) + +// tricky; we compute pad string by: pad_chars + (flags & PF_FLAG_ZERO_PAD) +#define PF_PAD_SIZE PF_FLAG_ZERO_PAD +static const char *pad_chars = " 0000000000000000"; + +typedef struct _pfenv_t { + void *data; + void (*print_strn)(void *, const char *str, unsigned int len); +} pfenv_t; + +static void print_str_dummy(void *data, const char *str, unsigned int len) { +} + +const pfenv_t pfenv_dummy = {0, print_str_dummy}; + +static int pfenv_print_strn(const pfenv_t *pfenv, const char *str, unsigned int len, int flags, int width) { + int pad = width - len; + if (pad > 0 && (flags & PF_FLAG_LEFT_ADJUST) == 0) { + while (pad > 0) { + int p = pad; + if (p > PF_PAD_SIZE) + p = PF_PAD_SIZE; + pfenv->print_strn(pfenv->data, pad_chars + (flags & PF_FLAG_ZERO_PAD), p); + pad -= p; + } + } + pfenv->print_strn(pfenv->data, str, len); + while (pad > 0) { + int p = pad; + if (p > PF_PAD_SIZE) + p = PF_PAD_SIZE; + pfenv->print_strn(pfenv->data, pad_chars, p); + pad -= p; + } + return len; +} + +// enough room for 32 signed number +#define INT_BUF_SIZE (12) + +static int pfenv_print_int(const pfenv_t *pfenv, unsigned int x, int sgn, int base, int base_char, int flags, int width) { + char sign = 0; + if (sgn) { + if ((int)x < 0) { + sign = '-'; + x = -x; + } else if (flags & PF_FLAG_SHOW_SIGN) { + sign = '+'; + } else if (flags & PF_FLAG_SPACE_SIGN) { + sign = ' '; + } + } + + char buf[INT_BUF_SIZE]; + char *b = buf + INT_BUF_SIZE; + + if (x == 0) { + *(--b) = '0'; + } else { + do { + int c = x % base; + x /= base; + if (c >= 10) { + c += base_char - 10; + } else { + c += '0'; + } + *(--b) = c; + } while (b > buf && x != 0); + } + + if (b > buf && sign != 0) { + *(--b) = sign; + } + + return pfenv_print_strn(pfenv, b, buf + INT_BUF_SIZE - b, flags, width); +} + +void pfenv_prints(const pfenv_t *pfenv, const char *str) { + pfenv->print_strn(pfenv->data, str, strlen(str)); +} + +int pfenv_printf(const pfenv_t *pfenv, const char *fmt, va_list args) { + int chrs = 0; + for (;;) { + { + const char *f = fmt; + while (*f != '\0' && *f != '%') { + ++f; // XXX UTF8 advance char + } + if (f > fmt) { + pfenv->print_strn(pfenv->data, fmt, f - fmt); + chrs += f - fmt; + fmt = f; + } + } + + if (*fmt == '\0') { + break; + } + + // move past % character + ++fmt; + + // parse flags, if they exist + int flags = 0; + while (*fmt != '\0') { + if (*fmt == '-') flags |= PF_FLAG_LEFT_ADJUST; + else if (*fmt == '+') flags |= PF_FLAG_SHOW_SIGN; + else if (*fmt == ' ') flags |= PF_FLAG_SPACE_SIGN; + else if (*fmt == '!') flags |= PF_FLAG_NO_TRAILZ; + else if (*fmt == '0') flags |= PF_FLAG_ZERO_PAD; + else break; + ++fmt; + } + + // parse width, if it exists + int width = 0; + for (; '0' <= *fmt && *fmt <= '9'; ++fmt) { + width = width * 10 + *fmt - '0'; + } + + // parse precision, if it exists + int prec = -1; + if (*fmt == '.') { + ++fmt; + if (*fmt == '*') { + ++fmt; + prec = va_arg(args, int); + } else { + prec = 0; + for (; '0' <= *fmt && *fmt <= '9'; ++fmt) { + prec = prec * 10 + *fmt - '0'; + } + } + if (prec < 0) { + prec = 0; + } + } + + // parse long specifiers (current not used) + //bool long_arg = false; + if (*fmt == 'l') { + ++fmt; + //long_arg = true; + } + + if (*fmt == '\0') { + break; + } + + switch (*fmt) { + case 'b': + if (va_arg(args, int)) { + chrs += pfenv_print_strn(pfenv, "true", 4, flags, width); + } else { + chrs += pfenv_print_strn(pfenv, "false", 5, flags, width); + } + break; + case 'c': + { + char str = va_arg(args, int); + chrs += pfenv_print_strn(pfenv, &str, 1, flags, width); + break; + } + case 's': + { + const char *str = va_arg(args, const char*); + if (str) { + if (prec < 0) { + prec = strlen(str); + } + chrs += pfenv_print_strn(pfenv, str, prec, flags, width); + } else { + chrs += pfenv_print_strn(pfenv, "(null)", 6, flags, width); + } + break; + } + case 'u': + chrs += pfenv_print_int(pfenv, va_arg(args, int), 0, 10, 'a', flags, width); + break; + case 'd': + chrs += pfenv_print_int(pfenv, va_arg(args, int), 1, 10, 'a', flags, width); + break; + case 'x': + case 'p': // ? + chrs += pfenv_print_int(pfenv, va_arg(args, int), 0, 16, 'a', flags, width); + break; + case 'X': + case 'P': // ? + chrs += pfenv_print_int(pfenv, va_arg(args, int), 0, 16, 'A', flags, width); + break; + default: + pfenv->print_strn(pfenv->data, fmt, 1); + chrs += 1; + break; + } + ++fmt; + } + return chrs; +} + +void stdout_print_strn(void *data, const char *str, unsigned int len) { + // send stdout to USART, USB CDC VCP, and LCD if nothing else +#if 0 + int any = 0; + if (usart_is_enabled()) { + usart_tx_strn_cooked(str, len); + any = true; + } +#endif + if (usb_vcp_is_enabled()) { + usb_vcp_send_strn_cooked(str, len); +// any = true; + } +#if 0 + if (!any) { + lcd_print_strn(str, len); + } +#endif +} + +static const pfenv_t pfenv_stdout = {0, stdout_print_strn}; + +int printf(const char *fmt, ...) { + va_list ap; + va_start(ap, fmt); + int ret = pfenv_printf(&pfenv_stdout, fmt, ap); + va_end(ap); + return ret; +} + +int vprintf(const char *fmt, va_list ap) { + return pfenv_printf(&pfenv_stdout, fmt, ap); +} + +// need this because gcc optimises printf("%c", c) -> putchar(c), and printf("a") -> putchar('a') +int putchar(int c) { + char chr = c; + stdout_print_strn(0, &chr, 1); + return chr; +} + +// need this because gcc optimises printf("string\n") -> puts("string") +int puts(const char *s) { + stdout_print_strn(0, s, strlen(s)); + char chr = '\n'; + stdout_print_strn(0, &chr, 1); + return 1; +} + +typedef struct _strn_pfenv_t { + char *cur; + size_t remain; +} strn_pfenv_t; + +void strn_print_strn(void *data, const char *str, unsigned int len) { + strn_pfenv_t *strn_pfenv = data; + if (len > strn_pfenv->remain) { + len = strn_pfenv->remain; + } + memcpy(strn_pfenv->cur, str, len); + strn_pfenv->cur += len; + strn_pfenv->remain -= len; +} + +int vsnprintf(char *str, size_t size, const char *fmt, va_list ap) { + strn_pfenv_t strn_pfenv; + strn_pfenv.cur = str; + strn_pfenv.remain = size; + pfenv_t pfenv; + pfenv.data = &strn_pfenv; + pfenv.print_strn = strn_print_strn; + int len = pfenv_printf(&pfenv, fmt, ap); + // add terminating null byte + if (size > 0) { + if (strn_pfenv.remain == 0) { + strn_pfenv.cur[-1] = 0; + } else { + strn_pfenv.cur[0] = 0; + } + } + return len; +} + +int snprintf(char *str, size_t size, const char *fmt, ...) { + va_list ap; + va_start(ap, fmt); + int ret = vsnprintf(str, size, fmt, ap); + va_end(ap); + return ret; +} diff --git a/teensy/std.h b/teensy/std.h new file mode 100644 index 0000000000..587b9f8880 --- /dev/null +++ b/teensy/std.h @@ -0,0 +1,22 @@ +typedef unsigned int size_t; + +void __assert_func(void); + +void *malloc(size_t n); +void free(void *ptr); +void *calloc(size_t sz, size_t n); +void *realloc(void *ptr, size_t n); + +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); + +int strlen(const char *str); +int strcmp(const char *s1, const char *s2); +int strncmp(const char *s1, const char *s2, size_t n); +char *strndup(const char *s, size_t n); +char *strcpy(char *dest, const char *src); +char *strcat(char *dest, const char *src); + +int printf(const char *fmt, ...); +int snprintf(char *str, size_t size, const char *fmt, ...); diff --git a/teensy/string0.c b/teensy/string0.c new file mode 100644 index 0000000000..2a5f255971 --- /dev/null +++ b/teensy/string0.c @@ -0,0 +1,110 @@ +#include +#include "std.h" + +void *memcpy(void *dest, const void *src, size_t n) { + // TODO align and copy 32 bits at a time + uint8_t *d = dest; + const uint8_t *s = src; + for (; n > 0; n--) { + *d++ = *s++; + } + return dest; +} + +void *memmove(void *dest, const void *src, size_t n) { + if (src < dest && dest < src + n) { + // need to copy backwards + uint8_t *d = dest + n - 1; + const uint8_t *s = src + n - 1; + for (; n > 0; n--) { + *d-- = *s--; + } + return dest; + } else { + // can use normal memcpy + return memcpy(dest, src, n); + } +} + +void *memset(void *s, int c, size_t n) { + uint8_t *s2 = s; + for (; n > 0; n--) { + *s2++ = c; + } + return s; +} + +int strlen(const char *str) { + int len = 0; + for (const char *s = str; *s; s++) { + len += 1; + } + return len; +} + +int strcmp(const char *s1, const char *s2) { + while (*s1 && *s2) { + char c1 = *s1++; // XXX UTF8 get char, next char + char c2 = *s2++; // XXX UTF8 get char, next char + if (c1 < c2) return -1; + else if (c1 > c2) return 1; + } + if (*s2) return -1; + else if (*s1) return 1; + else return 0; +} + +int strncmp(const char *s1, const char *s2, size_t n) { + while (*s1 && *s2 && n > 0) { + char c1 = *s1++; // XXX UTF8 get char, next char + char c2 = *s2++; // XXX UTF8 get char, next char + n--; + if (c1 < c2) return -1; + else if (c1 > c2) return 1; + } + if (n == 0) return 0; + else if (*s2) return -1; + else if (*s1) return 1; + else return 0; +} + +char *strndup(const char *s, size_t n) { + size_t len = strlen(s); + if (n > len) { + n = len; + } + char *s2 = malloc(n + 1); + memcpy(s2, s, n); + s2[n] = '\0'; + return s2; +} + +char *strcpy(char *dest, const char *src) { + char *d = dest; + while (*src) { + *d++ = *src++; + } + *d = '\0'; + return dest; +} + +// needed because gcc optimises strcpy + strcat to this +char *stpcpy(char *dest, const char *src) { + while (*src) { + *dest++ = *src++; + } + *dest = '\0'; + return dest; +} + +char *strcat(char *dest, const char *src) { + char *d = dest; + while (*d) { + d++; + } + while (*src) { + *d++ = *src++; + } + *d = '\0'; + return dest; +} diff --git a/teensy/usb.c b/teensy/usb.c new file mode 100644 index 0000000000..a045a2ed69 --- /dev/null +++ b/teensy/usb.c @@ -0,0 +1,44 @@ +#include "Arduino.h" + +#include "usb.h" +#include "usb_serial.h" + +int usb_vcp_is_connected(void) +{ + return usb_configuration && (usb_cdc_line_rtsdtr & (USB_SERIAL_DTR | USB_SERIAL_RTS)); +} + +int usb_vcp_is_enabled(void) +{ + return 1; +} + +int usb_vcp_rx_any(void) +{ + return usb_serial_available(); +} + +char usb_vcp_rx_get(void) +{ + return usb_serial_getchar(); +} + +void usb_vcp_send_str(const char* str) +{ + usb_vcp_send_strn(str, strlen(str)); +} + +void usb_vcp_send_strn(const char* str, int len) +{ + usb_serial_write(str, len); +} + +void usb_vcp_send_strn_cooked(const char *str, int len) +{ + for (const char *top = str + len; str < top; str++) { + if (*str == '\n') { + usb_serial_putchar('\r'); + } + usb_serial_putchar(*str); + } +} diff --git a/teensy/usb.h b/teensy/usb.h new file mode 100644 index 0000000000..8f32309ecb --- /dev/null +++ b/teensy/usb.h @@ -0,0 +1,9 @@ +void usb_init(void); +int usb_vcp_is_enabled(void); +int usb_vcp_is_connected(void); +int usb_vcp_rx_any(void); +char usb_vcp_rx_get(void); +void usb_vcp_send_str(const char* str); +void usb_vcp_send_strn(const char* str, int len); +void usb_vcp_send_strn_cooked(const char *str, int len); +void usb_hid_send_report(uint8_t *buf); // 4 bytes for mouse: ?, x, y, ?