From 298c072433f41f5b2a2813df423ddc3212e96792 Mon Sep 17 00:00:00 2001 From: Andreas Valder Date: Mon, 20 Nov 2017 17:03:38 +0100 Subject: [PATCH] esp32: Add support for the esp32's ULP. The ULP is available as esp32.ULP(). See README.ulp.md for basic usage. --- ports/esp32/Makefile | 7 +++ ports/esp32/README.ulp.md | 126 ++++++++++++++++++++++++++++++++++++++ ports/esp32/esp32_ulp.c | 97 +++++++++++++++++++++++++++++ ports/esp32/modesp32.c | 3 + ports/esp32/modesp32.h | 2 + ports/esp32/sdkconfig.h | 2 +- 6 files changed, 236 insertions(+), 1 deletion(-) create mode 100644 ports/esp32/README.ulp.md create mode 100644 ports/esp32/esp32_ulp.c diff --git a/ports/esp32/Makefile b/ports/esp32/Makefile index d2d6192b5f..0d9e074286 100644 --- a/ports/esp32/Makefile +++ b/ports/esp32/Makefile @@ -83,6 +83,7 @@ INC_ESPCOMP += -I$(ESPCOMP)/lwip/include/lwip/posix INC_ESPCOMP += -I$(ESPCOMP)/mbedtls/include INC_ESPCOMP += -I$(ESPCOMP)/mbedtls/port/include INC_ESPCOMP += -I$(ESPCOMP)/spi_flash/include +INC_ESPCOMP += -I$(ESPCOMP)/ulp/include INC_ESPCOMP += -I$(ESPCOMP)/vfs/include INC_ESPCOMP += -I$(ESPCOMP)/newlib/platform_include INC_ESPCOMP += -I$(ESPCOMP)/xtensa-debug-module/include @@ -148,6 +149,7 @@ SRC_C = \ network_lan.c \ modsocket.c \ modesp.c \ + esp32_ulp.c \ modesp32.c \ moduhashlib.c \ espneopixel.c \ @@ -417,6 +419,10 @@ ESPIDF_SPI_FLASH_O = $(addprefix $(ESPCOMP)/spi_flash/,\ flash_ops.o \ ) +ESPIDF_ULP_O = $(addprefix $(ESPCOMP)/ulp/,\ + ulp.o \ + ) + $(BUILD)/$(ESPCOMP)/lwip/%.o: CFLAGS += -Wno-address -Wno-unused-variable -Wno-unused-but-set-variable ESPIDF_LWIP_O = $(addprefix $(ESPCOMP)/lwip/,\ api/pppapi.o \ @@ -605,6 +611,7 @@ OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_NGHTTP_O)) OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_NVS_FLASH_O)) OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_OPENSSL_O)) OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_SPI_FLASH_O)) +OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_ULP_O)) OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_WPA_SUPPLICANT_O)) ################################################################################ # Main targets diff --git a/ports/esp32/README.ulp.md b/ports/esp32/README.ulp.md new file mode 100644 index 0000000000..cbc5771a90 --- /dev/null +++ b/ports/esp32/README.ulp.md @@ -0,0 +1,126 @@ +# ULP + +To compile binarys for the ulp you need the ulp toolkit. Download it from https://github.com/espressif/binutils-esp32ulp/wiki#downloads +Then extract it, then add ```esp32ulp-elf-binutils/bin``` to your PATH + +## Example Makefile + +```make +ULP_S_SOURCES := main.S +ULP_APP_NAME := test +ULP_LD_SCRIPT := esp32.ulp.ld + +SRC_PATH := src +BUILD_PATH := build + +include $(ESPIDF)/components/ulp/Makefile.projbuild + +ULP_ELF := $(ULP_APP_NAME).elf +ULP_MAP := $(ULP_ELF:.elf=.map) +ULP_SYM := $(ULP_ELF:.elf=.sym) +ULP_BIN := $(ULP_ELF:.elf=.bin) +ULP_EXPORTS_LD := $(ULP_ELF:.elf=.ld) +ULP_EXPORTS_HEADER := $(ULP_ELF:.elf=.h) + +ULP_OBJECTS := $(notdir $(ULP_S_SOURCES:.S=.ulp.o)) +ULP_DEP := $(notdir $(ULP_S_SOURCES:.S=.ulp.d)) $(ULP_LD_SCRIPT:.ld=.d) +ULP_PREPROCESSED := $(notdir $(ULP_S_SOURCES:.S=.ulp.pS)) +ULP_LISTINGS := $(notdir $(ULP_S_SOURCES:.S=.ulp.lst)) + +.PHONY: all clean + +all: $(BUILD_PATH) $(BUILD_PATH)/$(ULP_BIN) + +clean: + rm -rf $(BUILD_PATH) + +$(BUILD_PATH): + mkdir $@ + +# Generate preprocessed linker file. +$(BUILD_PATH)/$(ULP_APP_NAME).ld: $(SRC_PATH)/$(ULP_LD_SCRIPT) + cpp -P $< -o $@ + +# Generate preprocessed assembly files. +# To inspect these preprocessed files, add a ".PRECIOUS: %.ulp.pS" rule. +$(BUILD_PATH)/%.ulp.pS: $(SRC_PATH)/%.S + cpp $< -o $@ + +# Compiled preprocessed files into object files. +$(BUILD_PATH)/%.ulp.o: $(BUILD_PATH)/%.ulp.pS + $(ULP_AS) -al=$(patsubst %.ulp.o,%.ulp.lst,$@) -o $@ $< + +# Link object files and generate map file +$(BUILD_PATH)/$(ULP_ELF): $(BUILD_PATH)/$(ULP_OBJECTS) $(BUILD_PATH)/$(ULP_APP_NAME).ld + $(ULP_LD) -o $@ -A elf32-esp32ulp -Map=$(BUILD_PATH)/$(ULP_MAP) -T $(BUILD_PATH)/$(ULP_APP_NAME).ld $< + +# Dump the list of global symbols in a convenient format. +$(ULP_SYM): $(ULP_ELF) + $(ULP_NM) -g -f posix $< > $@ + +# Dump the binary for inclusion into the project +$(BUILD_PATH)/$(ULP_BIN): $(BUILD_PATH)/$(ULP_ELF) + $(ULP_OBJCOPY) -O binary $< $@ +``` + +## Example linker script for the ulp +``` +#define ULP_BIN_MAGIC 0x00706c75 +#define HEADER_SIZE 12 +#define CONFIG_ULP_COPROC_RESERVE_MEM 4096 + +MEMORY +{ + ram(RW) : ORIGIN = 0, LENGTH = CONFIG_ULP_COPROC_RESERVE_MEM +} + +SECTIONS +{ + .text : AT(HEADER_SIZE) + { + *(.text) + } >ram + .data : + { + . = ALIGN(4); + *(.data) + } >ram + .bss : + { + . = ALIGN(4); + *(.bss) + } >ram + + .header : AT(0) + { + LONG(ULP_BIN_MAGIC) + SHORT(LOADADDR(.text)) + SHORT(SIZEOF(.text)) + SHORT(SIZEOF(.data)) + SHORT(SIZEOF(.bss)) + } +} +``` + +## Example ulp code +```asm +move R3, 99 +move R0, 10 + +# mem[R0+0] = R3 +st R3, R0, 0 + +HALT +``` + +## Example python code using the ulp +```python +import esp32 +import time + +u = esp32.ULP() +with open('test.bin', 'rb') as f: + b = f.read() +u.load_binary(0,b) +u.run(0) +``` diff --git a/ports/esp32/esp32_ulp.c b/ports/esp32/esp32_ulp.c new file mode 100644 index 0000000000..3772639f44 --- /dev/null +++ b/ports/esp32/esp32_ulp.c @@ -0,0 +1,97 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2018 "Andreas Valder" + * + * 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 "py/runtime.h" + +#include "esp32/ulp.h" +#include "esp_err.h" + +typedef struct _esp32_ulp_obj_t { + mp_obj_base_t base; +} esp32_ulp_obj_t; + +const mp_obj_type_t esp32_ulp_type; + +// singleton ULP object +STATIC const esp32_ulp_obj_t esp32_ulp_obj = {{&esp32_ulp_type}}; + +STATIC mp_obj_t esp32_ulp_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) { + // check arguments + mp_arg_check_num(n_args, n_kw, 0, 0, false); + + // return constant object + return (mp_obj_t)&esp32_ulp_obj; +} + +STATIC mp_obj_t esp32_ulp_set_wakeup_period(mp_obj_t self_in, mp_obj_t period_index_in, mp_obj_t period_us_in) { + mp_uint_t period_index = mp_obj_get_int(period_index_in); + mp_uint_t period_us = mp_obj_get_int(period_us_in); + int _errno = ulp_set_wakeup_period(period_index, period_us); + if (_errno != ESP_OK) { + mp_raise_OSError(_errno); + } + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_3(esp32_ulp_set_wakeup_period_obj, esp32_ulp_set_wakeup_period); + +STATIC mp_obj_t esp32_ulp_load_binary(mp_obj_t self_in, mp_obj_t load_addr_in, mp_obj_t program_binary_in) { + mp_uint_t load_addr = mp_obj_get_int(load_addr_in); + + mp_buffer_info_t bufinfo; + mp_get_buffer_raise(program_binary_in, &bufinfo, MP_BUFFER_READ); + + int _errno = ulp_load_binary(load_addr, bufinfo.buf, bufinfo.len/sizeof(uint32_t)); + if (_errno != ESP_OK) { + mp_raise_OSError(_errno); + } + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_3(esp32_ulp_load_binary_obj, esp32_ulp_load_binary); + +STATIC mp_obj_t esp32_ulp_run(mp_obj_t self_in, mp_obj_t entry_point_in) { + mp_uint_t entry_point = mp_obj_get_int(entry_point_in); + int _errno = ulp_run(entry_point/sizeof(uint32_t)); + if (_errno != ESP_OK) { + mp_raise_OSError(_errno); + } + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_2(esp32_ulp_run_obj, esp32_ulp_run); + +STATIC const mp_rom_map_elem_t esp32_ulp_locals_dict_table[] = { + { MP_ROM_QSTR(MP_QSTR_set_wakeup_period), MP_ROM_PTR(&esp32_ulp_set_wakeup_period_obj) }, + { MP_ROM_QSTR(MP_QSTR_load_binary), MP_ROM_PTR(&esp32_ulp_load_binary_obj) }, + { MP_ROM_QSTR(MP_QSTR_run), MP_ROM_PTR(&esp32_ulp_run_obj) }, + { MP_ROM_QSTR(MP_QSTR_RESERVE_MEM), MP_ROM_INT(CONFIG_ULP_COPROC_RESERVE_MEM) }, +}; +STATIC MP_DEFINE_CONST_DICT(esp32_ulp_locals_dict, esp32_ulp_locals_dict_table); + +const mp_obj_type_t esp32_ulp_type = { + { &mp_type_type }, + .name = MP_QSTR_ULP, + .make_new = esp32_ulp_make_new, + .locals_dict = (mp_obj_t)&esp32_ulp_locals_dict, +}; diff --git a/ports/esp32/modesp32.c b/ports/esp32/modesp32.c index 6d18e0add1..bab78e9543 100644 --- a/ports/esp32/modesp32.c +++ b/ports/esp32/modesp32.c @@ -126,6 +126,9 @@ STATIC const mp_rom_map_elem_t esp32_module_globals_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_wake_on_touch), (mp_obj_t)&esp32_wake_on_touch_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_wake_on_ext0), (mp_obj_t)&esp32_wake_on_ext0_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_wake_on_ext1), (mp_obj_t)&esp32_wake_on_ext1_obj }, + + { MP_ROM_QSTR(MP_QSTR_ULP), MP_ROM_PTR(&esp32_ulp_type) }, + { MP_OBJ_NEW_QSTR(MP_QSTR_WAKEUP_ALL_LOW), mp_const_false }, { MP_OBJ_NEW_QSTR(MP_QSTR_WAKEUP_ANY_HIGH), mp_const_true }, }; diff --git a/ports/esp32/modesp32.h b/ports/esp32/modesp32.h index 83532e052f..1d18cb41fb 100644 --- a/ports/esp32/modesp32.h +++ b/ports/esp32/modesp32.h @@ -26,4 +26,6 @@ #define RTC_LAST_EXT_PIN 39 #define RTC_IS_VALID_EXT_PIN(pin_id) ((1ll << (pin_id)) & RTC_VALID_EXT_PINS) +extern const mp_obj_type_t esp32_ulp_type; + #endif // MICROPY_INCLUDED_ESP32_MODESP32_H diff --git a/ports/esp32/sdkconfig.h b/ports/esp32/sdkconfig.h index 113c0395fa..ff25afaf2d 100644 --- a/ports/esp32/sdkconfig.h +++ b/ports/esp32/sdkconfig.h @@ -5,7 +5,7 @@ #define CONFIG_TRACEMEM_RESERVE_DRAM 0x0 #define CONFIG_BT_RESERVE_DRAM 0x0 -#define CONFIG_ULP_COPROC_RESERVE_MEM 0 +#define CONFIG_ULP_COPROC_RESERVE_MEM 2040 #define CONFIG_PHY_DATA_OFFSET 0xf000 #define CONFIG_APP_OFFSET 0x10000