tmp

Author: IhorNehrutsa

ports/esp32/CMakeLists.txt

@@ -25,6 +25,8 @@ if(MICROPY_BOARD_VARIANT)
     endif()
 endif()
 
+# set(MICROPY_MPY_TOOL_FLAGS -mlongint_impl longlong)
+
 # Define the output sdkconfig so it goes in the build directory.
 set(SDKCONFIG ${CMAKE_BINARY_DIR}/sdkconfig)
 

ports/esp32/lockfiles/dependencies.lock.esp32

@@ -25,7 +25,7 @@ dependencies:
   idf:
     source:
       type: idf
-    version: 5.5.0
+    version: 5.4.2
 direct_dependencies:
 - espressif/lan867x
 - espressif/mdns

ports/esp32/machine_can.c

@@ -59,15 +59,26 @@
 
 //static twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
 
+static esp32_can_obj_t *esp32_can_objs[SOC_TWAI_CONTROLLER_NUM] = {};
+
 // INTERNAL Deinitialize can
 void can_deinit(esp32_can_obj_t *self) {
-    check_esp_err(twai_stop_v2(self->handle));
-    check_esp_err(twai_driver_uninstall_v2(self->handle));
-    if (self->irq_handler != NULL) {
+    if (self->handle) {
+        check_esp_err(twai_stop_v2(self->handle));
+        check_esp_err(twai_driver_uninstall_v2(self->handle));
+        self->handle = NULL;
+    }
+    if (self->irq_handler) {
         vTaskDelete(self->irq_handler);
+        self->irq_handler = NULL;
+    }
+}
+
+// This called from Ctrl-D soft reboot
+void machine_can_deinit_all() {
+    for (int i = 0; i < SOC_TWAI_CONTROLLER_NUM; i++) {
+        can_deinit(esp32_can_objs[i]);
     }
-    self->irq_handler = NULL;
-    self->handle = NULL;
 }
 
 static void esp32_can_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
@@ -201,8 +212,6 @@ static mp_obj_t esp32_can_init_helper(esp32_can_obj_t *self, size_t n_args, cons
         { MP_QSTR_rx_queue, MP_ARG_INT, {.u_int = 5} },
     };
 
-    printf("esp32_can_init_helper() \n");
-
     // parse args
     mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
     mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
@@ -325,7 +334,6 @@ static mp_obj_t esp32_can_init_helper(esp32_can_obj_t *self, size_t n_args, cons
     if (xTaskCreatePinnedToCore(esp32_can_irq_task, "can_irq_task", CAN_TASK_STACK_SIZE, self, CAN_TASK_PRIORITY, (TaskHandle_t *)&self->irq_handler, MP_TASK_COREID) != pdPASS) {
         mp_raise_msg(&mp_type_RuntimeError, MP_ERROR_TEXT("failed to create can irq task handler"));
     }
-    printf("2: esp32_can_init_helper() \n");
     return mp_const_none;
 }
 
@@ -344,8 +352,9 @@ static mp_obj_t esp32_can_make_new(const mp_obj_type_t *type, size_t n_args, siz
 //        mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("out of CAN controllers:%d"), SOC_TWAI_CONTROLLER_NUM);
     }
 
-//    esp32_can_obj_t *self = &esp32_can_obj;
     esp32_can_obj_t *self = mp_obj_malloc(esp32_can_obj_t, &machine_can_type);
+    esp32_can_objs[can_idx] = self;
+    //esp32_can_obj_t *self = &esp32_can_objs[can_idx];
 
     self->g_config = (twai_general_config_t)TWAI_GENERAL_CONFIG_DEFAULT_V2(can_idx, GPIO_NUM_22, GPIO_NUM_23, TWAI_MODE_NORMAL);
     self->f_config = (twai_filter_config_t)TWAI_FILTER_CONFIG_ACCEPT_ALL();
@@ -502,7 +511,7 @@ static mp_obj_t esp32_can_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t
     }
 
     check_esp_err(twai_get_status_info_v2(self->handle, &self->status));
-    debug_printf("state:%d", self->status.state);
+    //debug_printf("state:%d", self->status.state);
     if (self->status.state == TWAI_STATE_RUNNING) {
         uint32_t timeout_ms = args[ARG_timeout].u_int;
 

ports/esp32/main.c

@@ -205,6 +205,7 @@ void mp_task(void *pvParameter) {
     mp_hal_stdout_tx_str("MPY: soft reboot\r\n");
 
     // deinitialise peripherals
+    machine_can_deinit_all();
     machine_pwm_deinit_all();
     // TODO: machine_rmt_deinit_all();
     machine_pins_deinit();

ports/esp32/modmachine.h

@@ -21,6 +21,7 @@ void machine_init(void);
 void machine_deinit(void);
 void machine_pins_init(void);
 void machine_pins_deinit(void);
+void machine_can_deinit_all();
 void machine_pwm_deinit_all(void);
 // TODO: void machine_rmt_deinit_all(void);
 void machine_timer_deinit_all(void);

ports/esp32/mpconfigport.h

@@ -61,7 +61,7 @@
 #define MICROPY_ENABLE_GC                   (1)
 #define MICROPY_STACK_CHECK_MARGIN          (1024)
 #define MICROPY_ENABLE_EMERGENCY_EXCEPTION_BUF (1)
-#define MICROPY_LONGINT_IMPL                (MICROPY_LONGINT_IMPL_MPZ)
+#define MICROPY_LONGINT_IMPL                (MICROPY_LONGINT_IMPL_MPZ) // (MICROPY_LONGINT_IMPL_LONGLONG) //
 #define MICROPY_ERROR_REPORTING             (MICROPY_ERROR_REPORTING_NORMAL +1) // Debugging Note: Increase the error reporting level to view
                                                                              // __FUNCTION__, __LINE__, __FILE__ in check_esp_err() exceptions
 #define MICROPY_WARNINGS                    (1)

py/mpz.c

@@ -31,6 +31,10 @@
 
 #if MICROPY_LONGINT_IMPL == MICROPY_LONGINT_IMPL_MPZ
 
+#include "py/objint.h"
+#include "py/runtime.h"
+#define debug_printf(...) // mp_printf(&mp_plat_print, __VA_ARGS__); mp_printf(&mp_plat_print, " | %d at %s\n", __LINE__, __FILE__);
+
 #define DIG_SIZE (MPZ_DIG_SIZE)
 #define DIG_MASK ((MPZ_LONG_1 << DIG_SIZE) - 1)
 #define DIG_MSB  (MPZ_LONG_1 << (DIG_SIZE - 1))
@@ -851,19 +855,58 @@ size_t mpz_set_from_str(mpz_t *z, const char *str, size_t len, bool neg, unsigne
 }
 
 void mpz_set_from_bytes(mpz_t *z, bool big_endian, bool is_signed, size_t len, const byte *buf) {
-    int delta = 1;
-    if (big_endian) {
-        buf += len - 1;
-        delta = -1;
+    debug_printf("MPZ");
+    debug_printf("big_endian:%d, is_signed:%d, len:%d", big_endian, is_signed, len)
+    debug_printf("buf %X %X %X %X %X %X", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5])
+    union {
+        long long value;
+        byte buf[sizeof(long long)];
+    } result = {0};
+    if (len > sizeof(result)) {
+        mp_raise_msg(&mp_type_OverflowError, MP_ERROR_TEXT("big-int overflow"));
     }
-
+    if (big_endian) {
+        debug_printf("big_endian");
+        reverce_memcpy(&result, buf, len);
+    } else { // little-endian
+        debug_printf("little-endian");
+        memcpy(&result, buf, len);
+    }
+
+    if ((is_signed) && (sizeof(result) > len) && (result.buf[len - 1] & 0x80)) {
+        debug_printf("DDD");
+        // Sign propagation in little-endian
+        // x = 2
+        // x.to_bytes(1, 'little', True) -> b'\x02'
+        // x.to_bytes(4, 'little', True) -> b'\x02\x00\x00\x00'
+        // x = -2
+        // x.to_bytes(1, 'little', True) -> b'\xFE'
+        // x.to_bytes(4, 'little', True) -> b'\xFE\xFF\xFF\xFF'
+        memset(result.buf + len, 0xFF, sizeof(result) - len);
+    }
+    debug_printf("val: %ld, 0x%X", result.value, result.value);
+    mpz_set_from_ll(z, result.value, is_signed);
+    return;
+    /*
+    debug_printf("MPZ");
+    debug_printf("big_endian:%d, is_signed:%d, len:%d", big_endian, is_signed, len)
+    debug_printf("buf %X %X %X %X %X %X  %X %X", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5], buf[len - 1] & 0x80, buf[0] & 0x80)
     mpz_need_dig(z, (len * 8 + DIG_SIZE - 1) / DIG_SIZE);
 
     mpz_dig_t d = 0;
     int num_bits = 0;
     z->neg = 0;
-    if ((is_signed) && (buf[len - 1] & 0x80)) {
-        z->neg = 1;
+    if (is_signed) {
+        debug_printf("is_signed");
+        if (((!big_endian) && (buf[len - 1] & 0x80)) || ((big_endian) && (buf[0] & 0x80))) {
+            z->neg = 1;
+            debug_printf("NEG");
+        }
+    }
+    int delta = 1;
+    if (big_endian) {
+        buf += len - 1;
+        delta = -1;
     }
     z->len = 0;
     while (len) {
@@ -891,6 +934,7 @@ void mpz_set_from_bytes(mpz_t *z, bool big_endian, bool is_signed, size_t len, c
         z->dig[z->len++] = d & DIG_MASK;
     }
     z->len = mpn_remove_trailing_zeros(z->dig, z->dig + z->len);
+    */
 }
 
 #if 0