/*

* This file is part of the MicroPython project, http://micropython.org/

*

* The MIT License (MIT)

*

* Copyright (c) 2016-2017 Scott Shawcroft for Adafruit Industries

*

* Permission is hereby granted, free of charge, to any person obtaining a copy

* of this software and associated documentation files (the "Software"), to deal

* in the Software without restriction, including without limitation the rights

* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

* copies of the Software, and to permit persons to whom the Software is

* furnished to do so, subject to the following conditions:

*

* The above copyright notice and this permission notice shall be included in

* all copies or substantial portions of the Software.

*

* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN

* THE SOFTWARE.

*/

#include <stdint.h>

#include <string.h>

#include "extmod/vfs.h"

#include "extmod/vfs_fat.h"

#include "genhdr/mpversion.h"

#include "py/nlr.h"

#include "py/compile.h"

#include "py/frozenmod.h"

#include "py/mphal.h"

#include "py/runtime.h"

#include "py/repl.h"

#include "py/gc.h"

#include "py/stackctrl.h"

#include "lib/mp-readline/readline.h"

#include "lib/utils/pyexec.h"

#include "background.h"

#include "mpconfigboard.h"

#include "supervisor/background_callback.h"

#include "supervisor/board.h"

#include "supervisor/cpu.h"

#include "supervisor/filesystem.h"

#include "supervisor/memory.h"

#include "supervisor/port.h"

#include "supervisor/serial.h"

#include "supervisor/shared/autoreload.h"

#include "supervisor/shared/safe_mode.h"

#include "supervisor/shared/stack.h"

#include "supervisor/shared/status_leds.h"

#include "supervisor/shared/translate.h"

#include "supervisor/shared/workflow.h"

#include "supervisor/usb.h"

#include "supervisor/workflow.h"

#include "shared-bindings/microcontroller/__init__.h"

#include "shared-bindings/microcontroller/Processor.h"

#include "shared-bindings/supervisor/Runtime.h"

#if CIRCUITPY_ALARM

#include "shared-bindings/alarm/__init__.h"

#endif

#if CIRCUITPY_BLEIO

#include "shared-bindings/_bleio/__init__.h"

#include "supervisor/shared/bluetooth.h"

#endif

#if CIRCUITPY_BOARD

#include "shared-module/board/__init__.h"

#endif

#if CIRCUITPY_CANIO

#include "common-hal/canio/CAN.h"

#endif

#if CIRCUITPY_DISPLAYIO

#include "shared-module/displayio/__init__.h"

#endif

#if CIRCUITPY_MEMORYMONITOR

#include "shared-module/memorymonitor/__init__.h"

#endif

#if CIRCUITPY_NETWORK

#include "shared-module/network/__init__.h"

#endif

#if CIRCUITPY_USB_HID

#include "shared-module/usb_hid/__init__.h"

#endif

#if CIRCUITPY_WIFI

#include "shared-bindings/wifi/__init__.h"

#endif

#if MICROPY_ENABLE_PYSTACK

static size_t PLACE_IN_DTCM_BSS(_pystack[CIRCUITPY_PYSTACK_SIZE / sizeof(size_t)]);

#endif

static void reset_devices(void) {

#if CIRCUITPY_BLEIO_HCI

bleio_reset();

#endif

}

STATIC void start_mp(supervisor_allocation* heap) {

autoreload_stop();

supervisor_workflow_reset();

// Stack limit should be less than real stack size, so we have a chance

// to recover from limit hit. (Limit is measured in bytes.)

mp_stack_ctrl_init();

if (stack_get_bottom() != NULL) {

mp_stack_set_limit(stack_get_length() - 1024);

}

#if MICROPY_MAX_STACK_USAGE

// _ezero (same as _ebss) is an int, so start 4 bytes above it.

if (stack_get_bottom() != NULL) {

mp_stack_set_bottom(stack_get_bottom());

mp_stack_fill_with_sentinel();

}

#endif

// Sync the file systems in case any used RAM from the GC to cache. As soon

// as we re-init the GC all bets are off on the cache.

filesystem_flush();

// Clear the readline history. It references the heap we're about to destroy.

readline_init0();

#if MICROPY_ENABLE_PYSTACK

mp_pystack_init(_pystack, _pystack + (sizeof(_pystack) / sizeof(size_t)));

#endif

#if MICROPY_ENABLE_GC

gc_init(heap->ptr, heap->ptr + get_allocation_length(heap) / 4);

#endif

mp_init();

mp_obj_list_init(mp_sys_path, 0);

mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_)); // current dir (or base dir of the script)

mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_));

// Frozen modules are in their own pseudo-dir, e.g., ".frozen".

// Prioritize .frozen over /lib.

mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_FROZEN_FAKE_DIR_QSTR));

mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_lib));

mp_obj_list_init(mp_sys_argv, 0);

#if CIRCUITPY_ALARM

// Record which alarm woke us up, if any. An object may be created so the heap must be functional.

shared_alarm_save_wake_alarm(common_hal_alarm_create_wake_alarm());

// Reset alarm module only after we retrieved the wakeup alarm.

alarm_reset();

#endif

#if CIRCUITPY_NETWORK

network_module_init();

#endif

}

STATIC void stop_mp(void) {

#if CIRCUITPY_NETWORK

network_module_deinit();

#endif

#if MICROPY_VFS

mp_vfs_mount_t *vfs = MP_STATE_VM(vfs_mount_table);

// Unmount all heap allocated vfs mounts.

while (gc_nbytes(vfs) > 0) {

vfs = vfs->next;

}

MP_STATE_VM(vfs_mount_table) = vfs;

MP_STATE_VM(vfs_cur) = vfs;

#endif

background_callback_reset();

#if CIRCUITPY_USB

usb_background();

#endif

gc_deinit();

}

#define STRING_LIST(...) {__VA_ARGS__, ""}

// Look for the first file that exists in the list of filenames, using mp_import_stat().

// Return its index. If no file found, return -1.

STATIC const char* first_existing_file_in_list(const char * const * filenames) {

for (int i = 0; filenames[i] != (char*)""; i++) {

mp_import_stat_t stat = mp_import_stat(filenames[i]);

if (stat == MP_IMPORT_STAT_FILE) {

return filenames[i];

}

}

return NULL;

}

STATIC bool maybe_run_list(const char * const * filenames, pyexec_result_t* exec_result) {

const char* filename = first_existing_file_in_list(filenames);

if (filename == NULL) {

return false;

}

mp_hal_stdout_tx_str(filename);

const compressed_string_t* compressed = translate(" output:\n");

char decompressed[decompress_length(compressed)];

decompress(compressed, decompressed);

mp_hal_stdout_tx_str(decompressed);

pyexec_file(filename, exec_result);

return true;

}

STATIC void cleanup_after_vm(supervisor_allocation* heap) {

// Reset port-independent devices, like CIRCUITPY_BLEIO_HCI.

reset_devices();

// Turn off the display and flush the filesystem before the heap disappears.

#if CIRCUITPY_DISPLAYIO

reset_displays();

#endif

#if CIRCUITPY_MEMORYMONITOR

memorymonitor_reset();

#endif

filesystem_flush();

stop_mp();

free_memory(heap);

supervisor_move_memory();

#if CIRCUITPY_CANIO

common_hal_canio_reset();

#endif

// reset_board_busses() first because it may release pins from the never_reset state, so that

// reset_port() can reset them.

#if CIRCUITPY_BOARD

reset_board_busses();

#endif

reset_port();

reset_board();

}

STATIC void print_code_py_status_message(safe_mode_t safe_mode) {

if (autoreload_is_enabled()) {

serial_write_compressed(translate("Auto-reload is on. Simply save files over USB to run them or enter REPL to disable.\n"));

} else {

serial_write_compressed(translate("Auto-reload is off.\n"));

}

if (safe_mode != NO_SAFE_MODE) {

serial_write_compressed(translate("Running in safe mode! Not running saved code.\n"));

}

}

STATIC bool run_code_py(safe_mode_t safe_mode) {

bool serial_connected_at_start = serial_connected();

bool printed_safe_mode_message = false;

#if CIRCUITPY_AUTORELOAD_DELAY_MS > 0

if (serial_connected_at_start) {

serial_write("\r\n");

print_code_py_status_message(safe_mode);

print_safe_mode_message(safe_mode);

printed_safe_mode_message = true;

}

#endif

pyexec_result_t result;

result.return_code = 0;

result.exception_type = NULL;

result.exception_line = 0;

bool found_main = false;

if (safe_mode == NO_SAFE_MODE) {

static const char * const supported_filenames[] = STRING_LIST(

"code.txt", "code.py", "main.py", "main.txt");

#if CIRCUITPY_FULL_BUILD

static const char * const double_extension_filenames[] = STRING_LIST(

"code.txt.py", "code.py.txt", "code.txt.txt","code.py.py",

"main.txt.py", "main.py.txt", "main.txt.txt","main.py.py");

#endif

stack_resize();

filesystem_flush();

supervisor_allocation* heap = allocate_remaining_memory();

// Prepare the VM state. Includes an alarm check/reset for sleep.

start_mp(heap);

#if CIRCUITPY_USB

usb_setup_with_vm();

#endif

// This is where the user's python code is actually executed:

found_main = maybe_run_list(supported_filenames, &result);

// If that didn't work, double check the extensions

#if CIRCUITPY_FULL_BUILD

if (!found_main){

found_main = maybe_run_list(double_extension_filenames, &result);

if (found_main) {

serial_write_compressed(translate("WARNING: Your code filename has two extensions\n"));

}

}

#else

(void) found_main;

#endif

// Finished executing python code. Cleanup includes a board reset.

cleanup_after_vm(heap);

if (result.return_code & PYEXEC_FORCED_EXIT) {

return reload_requested;

}

if (reload_requested && result.return_code == PYEXEC_EXCEPTION) {

serial_write_compressed(translate("\nCode stopped by auto-reload.\n"));

} else {

serial_write_compressed(translate("\nCode done running.\n"));

}

}

// Program has finished running.

bool printed_press_any_key = false;

#if CIRCUITPY_DISPLAYIO

size_t time_to_epaper_refresh = 1;

#endif

// Setup LED blinks.

#if CIRCUITPY_STATUS_LED

uint32_t color;

uint8_t blink_count;

bool led_active = false;

#if CIRCUITPY_ALARM

if (result.return_code & PYEXEC_DEEP_SLEEP) {

color = BLACK;

blink_count = 0;

} else

#endif

if (result.return_code != PYEXEC_EXCEPTION) {

if (safe_mode == NO_SAFE_MODE) {

color = ALL_DONE;

blink_count = ALL_DONE_BLINKS;

} else {

color = SAFE_MODE;

blink_count = SAFE_MODE_BLINKS;

}

} else {

color = EXCEPTION;

blink_count = EXCEPTION_BLINKS;

}

size_t pattern_start = supervisor_ticks_ms32();

size_t single_blink_time = (OFF_ON_RATIO + 1) * BLINK_TIME_MS;

size_t blink_time = single_blink_time * blink_count;

size_t total_time = blink_time + LED_SLEEP_TIME_MS;

#endif

#if CIRCUITPY_ALARM

bool fake_sleeping = false;

#endif

bool skip_repl = false;

while (true) {

RUN_BACKGROUND_TASKS;

// If a reload was requested by the supervisor or autoreload, return

if (reload_requested) {

reload_requested = false;

skip_repl = true;

break;

}

// If interrupted by keyboard, return

if (serial_connected() && serial_bytes_available()) {

// Skip REPL if reload was requested.

skip_repl = serial_read() == CHAR_CTRL_D;

if (skip_repl) {

supervisor_set_run_reason(RUN_REASON_REPL_RELOAD);

}

break;

}

// Check for a deep sleep alarm and restart the VM. This can happen if

// an alarm alerts faster than our USB delay or if we pretended to deep

// sleep.

#if CIRCUITPY_ALARM

if (fake_sleeping && common_hal_alarm_woken_from_sleep()) {

serial_write_compressed(translate("Woken up by alarm.\n"));

supervisor_set_run_reason(RUN_REASON_STARTUP);

skip_repl = true;

break;

}

#endif

// If messages haven't been printed yet, print them

if (!printed_press_any_key && serial_connected()) {

if (!serial_connected_at_start) {

print_code_py_status_message(safe_mode);

}

if (!printed_safe_mode_message) {

print_safe_mode_message(safe_mode);

printed_safe_mode_message = true;

}

serial_write("\r\n");

serial_write_compressed(translate("Press any key to enter the REPL. Use CTRL-D to reload.\n"));

printed_press_any_key = true;

}

if (!serial_connected()) {

serial_connected_at_start = false;

printed_press_any_key = false;

}

// Sleep until our next interrupt.

#if CIRCUITPY_ALARM

if (result.return_code & PYEXEC_DEEP_SLEEP) {

// Make sure we have been awake long enough for USB to connect (enumeration delay).

int64_t connecting_delay_ticks = CIRCUITPY_USB_CONNECTED_SLEEP_DELAY * 1024 - port_get_raw_ticks(NULL);

// Until it's safe to decide whether we're real/fake sleeping

if (fake_sleeping) {

// This waits until a pretend deep sleep alarm occurs. They are set

// during common_hal_alarm_set_deep_sleep_alarms. On some platforms

// it may also return due to another interrupt, that's why we check

// for deep sleep alarms above. If it wasn't a deep sleep alarm,

// then we'll idle here again.

common_hal_alarm_pretending_deep_sleep();

} else if (connecting_delay_ticks < 0) {

// Entering deep sleep (may be fake or real.)

board_deinit();

if (!supervisor_workflow_active()) {

// Enter true deep sleep. When we wake up we'll be back at the

// top of main(), not in this loop.

common_hal_alarm_enter_deep_sleep();

// Does not return.

} else {

serial_write_compressed(translate("Pretending to deep sleep until alarm, CTRL-C or file write.\n"));

fake_sleeping = true;

}

} else {

// Loop while checking the time. We can't idle because we don't want to override a

// time alarm set for the deep sleep.

}

} else

#endif

{

// Refresh the ePaper display if we have one. That way it'll show an error message.

#if CIRCUITPY_DISPLAYIO

if (time_to_epaper_refresh > 0) {

time_to_epaper_refresh = maybe_refresh_epaperdisplay();

}

#if !CIRCUITPY_STATUS_LED

port_interrupt_after_ticks(time_to_epaper_refresh);

#endif

#endif

#if CIRCUITPY_STATUS_LED

uint32_t tick_diff = supervisor_ticks_ms32() - pattern_start;

// By default, don't sleep.

size_t time_to_next_change = 0;

if (tick_diff < blink_time) {

uint32_t blink_diff = tick_diff % (single_blink_time);

if (blink_diff >= BLINK_TIME_MS) {

if (led_active) {

new_status_color(BLACK);

status_led_deinit();

led_active = false;

}

time_to_next_change = single_blink_time - blink_diff;

} else {

if (!led_active) {

status_led_init();

new_status_color(color);

led_active = true;

}

time_to_next_change = BLINK_TIME_MS - blink_diff;

}

} else if (tick_diff > total_time) {

pattern_start = supervisor_ticks_ms32();

} else {

if (led_active) {

new_status_color(BLACK);

status_led_deinit();

led_active = false;

}

time_to_next_change = total_time - tick_diff;

}

#if CIRCUITPY_DISPLAYIO

if (time_to_epaper_refresh > 0 && time_to_next_change > 0) {

time_to_next_change = MIN(time_to_next_change, time_to_epaper_refresh);

}

#endif

// time_to_next_change is in ms and ticks are slightly shorter so

// we'll undersleep just a little. It shouldn't matter.

port_interrupt_after_ticks(time_to_next_change);

#endif

port_idle_until_interrupt();

}

}

// Done waiting, start the board back up.

#if CIRCUITPY_STATUS_LED

if (led_active) {

new_status_color(BLACK);

status_led_deinit();

}

#endif

#if CIRCUITPY_ALARM

if (fake_sleeping) {

board_init();

}

#endif

return skip_repl;

}

FIL* boot_output_file;

STATIC void __attribute__ ((noinline)) run_boot_py(safe_mode_t safe_mode) {

// If not in safe mode, run boot before initing USB and capture output in a file.

// There is USB setup to do even if boot.py is not actually run.

const bool ok_to_run = filesystem_present()

&& safe_mode == NO_SAFE_MODE

&& MP_STATE_VM(vfs_mount_table) != NULL;

static const char * const boot_py_filenames[] = STRING_LIST("settings.txt", "settings.py", "boot.py", "boot.txt");

bool skip_boot_output = false;

if (ok_to_run) {

#ifdef CIRCUITPY_BOOT_OUTPUT_FILE

FIL file_pointer;

boot_output_file = &file_pointer;

// Get the base filesystem.

FATFS *fs = &((fs_user_mount_t *) MP_STATE_VM(vfs_mount_table)->obj)->fatfs;

bool have_boot_py = first_existing_file_in_list(boot_py_filenames) != NULL;

// If there's no boot.py file that might write some changing output,

// read the existing copy of CIRCUITPY_BOOT_OUTPUT_FILE and see if its contents

// match the version info we would print anyway. If so, skip writing CIRCUITPY_BOOT_OUTPUT_FILE.

// This saves wear and tear on the flash and also prevents filesystem damage if power is lost

// during the write, which may happen due to bobbling the power connector or weak power.

static const size_t NUM_CHARS_TO_COMPARE = 160;

if (!have_boot_py && f_open(fs, boot_output_file, CIRCUITPY_BOOT_OUTPUT_FILE, FA_READ) == FR_OK) {

char file_contents[NUM_CHARS_TO_COMPARE];

UINT chars_read = 0;

f_read(boot_output_file, file_contents, NUM_CHARS_TO_COMPARE, &chars_read);

f_close(boot_output_file);

skip_boot_output =

// + 2 accounts for \r\n.

chars_read == strlen(MICROPY_FULL_VERSION_INFO) + 2 &&

strncmp(file_contents, MICROPY_FULL_VERSION_INFO, strlen(MICROPY_FULL_VERSION_INFO)) == 0;

}

if (!skip_boot_output) {

// Wait 1.5 seconds before opening CIRCUITPY_BOOT_OUTPUT_FILE for write,

// in case power is momentary or will fail shortly due to, say a low, battery.

if (common_hal_mcu_processor_get_reset_reason() == RESET_REASON_POWER_ON) {

mp_hal_delay_ms(1500);

}

// USB isn't up, so we can write the file.

filesystem_set_internal_writable_by_usb(false);

f_open(fs, boot_output_file, CIRCUITPY_BOOT_OUTPUT_FILE, FA_WRITE | FA_CREATE_ALWAYS);

// Switch the filesystem back to non-writable by Python now instead of later,

// since boot.py might change it back to writable.

filesystem_set_internal_writable_by_usb(true);

// Write version info to boot_out.txt.

mp_hal_stdout_tx_str(MICROPY_FULL_VERSION_INFO);

mp_hal_stdout_tx_str("\r\n");

}

#endif

filesystem_flush();

}

// Do USB setup even if boot.py is not run.

supervisor_allocation* heap = allocate_remaining_memory();

start_mp(heap);

#if CIRCUITPY_USB

// Set up default USB values after boot.py VM starts but before running boot.py.

usb_set_defaults();

#endif

if (ok_to_run) {

bool found_boot = maybe_run_list(boot_py_filenames, NULL);

(void) found_boot;

#ifdef CIRCUITPY_BOOT_OUTPUT_FILE

if (!skip_boot_output) {

f_close(boot_output_file);

filesystem_flush();

}

boot_output_file = NULL;

#endif

}

#if CIRCUITPY_USB

// Some data needs to be carried over from the USB settings in boot.py

// to the next VM, while the heap is still available.

// Its size can vary, so save it temporarily on the stack,

// and then when the heap goes away, copy it in into a

// storage_allocation.

size_t size = usb_boot_py_data_size();

uint8_t usb_boot_py_data[size];

usb_get_boot_py_data(usb_boot_py_data, size);

#endif

cleanup_after_vm(heap);

#if CIRCUITPY_USB

// Now give back the data we saved from the heap going away.

usb_return_boot_py_data(usb_boot_py_data, size);

#endif

}

STATIC int run_repl(void) {

int exit_code = PYEXEC_FORCED_EXIT;

stack_resize();

filesystem_flush();

supervisor_allocation* heap = allocate_remaining_memory();

start_mp(heap);

#if CIRCUITPY_USB

usb_setup_with_vm();

#endif

autoreload_suspend();

// Set the status LED to the REPL color before running the REPL. For

// NeoPixels and DotStars this will be sticky but for PWM or single LED it

// won't. This simplifies pin sharing because they won't be in use when

// actually in the REPL.

#if CIRCUITPY_STATUS_LED

status_led_init();

new_status_color(REPL_RUNNING);

status_led_deinit();

#endif

if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {

exit_code = pyexec_raw_repl();

} else {

exit_code = pyexec_friendly_repl();

}

cleanup_after_vm(heap);

#if CIRCUITPY_STATUS_LED

status_led_init();

new_status_color(BLACK);

status_led_deinit();

#endif

autoreload_resume();

return exit_code;

}

int __attribute__((used)) main(void) {

// initialise the cpu and peripherals

safe_mode_t safe_mode = port_init();

// Turn on RX and TX LEDs if we have them.

init_rxtx_leds();

// Wait briefly to give a reset window where we'll enter safe mode after the reset.

if (safe_mode == NO_SAFE_MODE) {

safe_mode = wait_for_safe_mode_reset();

}

stack_init();

// Create a new filesystem only if we're not in a safe mode.

// A power brownout here could make it appear as if there's

// no SPI flash filesystem, and we might erase the existing one.

filesystem_init(safe_mode == NO_SAFE_MODE, false);

// displays init after filesystem, since they could share the flash SPI

board_init();

// Start the debug serial

serial_early_init();

// Reset everything and prep MicroPython to run boot.py.

reset_port();

// Port-independent devices, like CIRCUITPY_BLEIO_HCI.

reset_devices();

reset_board();

// This is first time we are running CircuitPython after a reset or power-up.

supervisor_set_run_reason(RUN_REASON_STARTUP);

// If not in safe mode turn on autoreload by default but before boot.py in case it wants to change it.

if (safe_mode == NO_SAFE_MODE) {

autoreload_enable();

}

// By default our internal flash is readonly to local python code and

// writable over USB. Set it here so that boot.py can change it.

filesystem_set_internal_concurrent_write_protection(true);

filesystem_set_internal_writable_by_usb(true);

run_boot_py(safe_mode);

// Start USB after giving boot.py a chance to tweak behavior.

#if CIRCUITPY_USB

// Setup USB connection after heap is available.

// It needs the heap to build descriptors.

usb_init();

#endif

// Set up any other serial connection.

serial_init();

#if CIRCUITPY_BLEIO

supervisor_start_bluetooth();

#endif

// Boot script is finished, so now go into REPL/main mode.

int exit_code = PYEXEC_FORCED_EXIT;

bool skip_repl = true;

bool first_run = true;

for (;;) {

if (!skip_repl) {

exit_code = run_repl();

supervisor_set_run_reason(RUN_REASON_REPL_RELOAD);

}

if (exit_code == PYEXEC_FORCED_EXIT) {

if (!first_run) {

serial_write_compressed(translate("soft reboot\n"));

}

first_run = false;

skip_repl = run_code_py(safe_mode);

} else if (exit_code != 0) {

break;

}

}

mp_deinit();

return 0;

}

void gc_collect(void) {

gc_collect_start();

mp_uint_t regs[10];

mp_uint_t sp = cpu_get_regs_and_sp(regs);

// This collects root pointers from the VFS mount table. Some of them may

// have lost their references in the VM even though they are mounted.

gc_collect_root((void**)&MP_STATE_VM(vfs_mount_table), sizeof(mp_vfs_mount_t) / sizeof(mp_uint_t));

background_callback_gc_collect();

#if CIRCUITPY_ALARM

common_hal_alarm_gc_collect();

#endif

#if CIRCUITPY_DISPLAYIO

displayio_gc_collect();

#endif

#if CIRCUITPY_BLEIO

common_hal_bleio_gc_collect();

#endif

#if CIRCUITPY_USB_HID

usb_hid_gc_collect();

#endif

#if CIRCUITPY_WIFI

common_hal_wifi_gc_collect();

#endif

// This naively collects all object references from an approximate stack

// range.

gc_collect_root((void**)sp, ((uint32_t)port_stack_get_top() - sp) / sizeof(uint32_t));

gc_collect_end();

}

void NORETURN nlr_jump_fail(void *val) {

reset_into_safe_mode(MICROPY_NLR_JUMP_FAIL);

while (true) {}

}

void NORETURN __fatal_error(const char *msg) {

reset_into_safe_mode(MICROPY_FATAL_ERROR);

while (true) {}

}

#ifndef NDEBUG

void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) {

mp_printf(&mp_plat_print, "Assertion '%s' failed, at file %s:%d\n", expr, file, line);

__fatal_error("Assertion failed");

}

#endif