esp-idf/components/ulp/ulp_riscv/ulp_riscv.c

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/*
* SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "sdkconfig.h"
#include "esp_attr.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_private/esp_clk.h"
#include "ulp_riscv.h"
#include "soc/soc.h"
#include "soc/rtc.h"
#include "soc/rtc_cntl_reg.h"
#include "soc/sens_reg.h"
#include "ulp_common.h"
#include "esp_rom_sys.h"
__attribute__((unused)) static const char* TAG = "ulp-riscv";
static esp_err_t ulp_riscv_config_wakeup_source(ulp_riscv_wakeup_source_t wakeup_source)
{
esp_err_t ret = ESP_OK;
switch (wakeup_source) {
case ULP_RISCV_WAKEUP_SOURCE_TIMER:
/* start ULP_TIMER */
CLEAR_PERI_REG_MASK(RTC_CNTL_ULP_CP_CTRL_REG, RTC_CNTL_ULP_CP_FORCE_START_TOP);
SET_PERI_REG_MASK(RTC_CNTL_ULP_CP_TIMER_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
break;
case ULP_RISCV_WAKEUP_SOURCE_GPIO:
SET_PERI_REG_MASK(RTC_CNTL_ULP_CP_TIMER_REG, RTC_CNTL_ULP_CP_GPIO_WAKEUP_ENA);
break;
default:
ret = ESP_ERR_INVALID_ARG;
}
return ret;
}
esp_err_t ulp_riscv_config_and_run(ulp_riscv_cfg_t* cfg)
{
esp_err_t ret = ESP_OK;
#if CONFIG_IDF_TARGET_ESP32S2
/* Reset COCPU when power on. */
SET_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_SHUT_RESET_EN);
esp_rom_delay_us(20);
CLEAR_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_SHUT_RESET_EN);
/* The coprocessor cpu trap signal doesnt have a stable reset value,
force ULP-RISC-V clock on to stop RTC_COCPU_TRAP_TRIG_EN from waking the CPU*/
SET_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_CLK_FO);
/* Disable ULP timer */
CLEAR_PERI_REG_MASK(RTC_CNTL_ULP_CP_TIMER_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
/* wait for at least 1 RTC_SLOW_CLK cycle */
esp_rom_delay_us(20);
/* Select RISC-V as the ULP_TIMER trigger target. */
CLEAR_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_SEL);
/* Select ULP-RISC-V to send the DONE signal. */
SET_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_DONE_FORCE);
ret = ulp_riscv_config_wakeup_source(cfg->wakeup_source);
#elif CONFIG_IDF_TARGET_ESP32S3
/* Reset COCPU when power on. */
SET_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_SHUT_RESET_EN);
esp_rom_delay_us(20);
CLEAR_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_SHUT_RESET_EN);
/* The coprocessor cpu trap signal doesnt have a stable reset value,
force ULP-RISC-V clock on to stop RTC_COCPU_TRAP_TRIG_EN from waking the CPU*/
SET_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_CLK_FO);
/* Disable ULP timer */
CLEAR_PERI_REG_MASK(RTC_CNTL_ULP_CP_TIMER_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
/* wait for at least 1 RTC_SLOW_CLK cycle */
esp_rom_delay_us(20);
/* We do not select RISC-V as the Coprocessor here as this could lead to a hang
* in the main CPU. Instead, we reset RTC_CNTL_COCPU_SEL after we have enabled the ULP timer.
*
* IDF-4510
*/
//CLEAR_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_SEL);
/* Select ULP-RISC-V to send the DONE signal */
SET_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_DONE_FORCE);
/* Set the CLKGATE_EN signal */
SET_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_CLKGATE_EN);
ret = ulp_riscv_config_wakeup_source(cfg->wakeup_source);
/* Select RISC-V as the ULP_TIMER trigger target
* Selecting the RISC-V as the Coprocessor at the end is a workaround
* for the hang issue recorded in IDF-4510.
*/
CLEAR_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_SEL);
/* Clear any spurious wakeup trigger interrupts upon ULP startup */
esp_rom_delay_us(20);
REG_WRITE(RTC_CNTL_INT_CLR_REG, RTC_CNTL_COCPU_INT_CLR | RTC_CNTL_COCPU_TRAP_INT_CLR | RTC_CNTL_ULP_CP_INT_CLR);
#endif
return ret;
}
esp_err_t ulp_riscv_run(void)
{
ulp_riscv_cfg_t cfg = ULP_RISCV_DEFAULT_CONFIG();
return ulp_riscv_config_and_run(&cfg);
}
void ulp_riscv_timer_stop(void)
{
CLEAR_PERI_REG_MASK(RTC_CNTL_ULP_CP_TIMER_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
}
void ulp_riscv_timer_resume(void)
{
SET_PERI_REG_MASK(RTC_CNTL_ULP_CP_TIMER_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
}
void ulp_riscv_halt(void)
{
ulp_riscv_timer_stop();
/* suspends the ulp operation*/
SET_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_DONE);
/* Resets the processor */
SET_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_SHUT_RESET_EN);
}
esp_err_t ulp_riscv_load_binary(const uint8_t* program_binary, size_t program_size_bytes)
{
if (program_binary == NULL) {
return ESP_ERR_INVALID_ARG;
}
if (program_size_bytes > CONFIG_ULP_COPROC_RESERVE_MEM) {
return ESP_ERR_INVALID_SIZE;
}
uint8_t* base = (uint8_t*) RTC_SLOW_MEM;
//Start by clearing memory reserved with zeros, this will also will initialize the bss:
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wstringop-overflow"
#pragma GCC diagnostic ignored "-Warray-bounds"
memset(base, 0, CONFIG_ULP_COPROC_RESERVE_MEM);
memcpy(base, program_binary, program_size_bytes);
#pragma GCC diagnostic pop
return ESP_OK;
}