Merge branch 'bugfix/ulp_fixes_v3.0' into 'release/v3.0'

ULP fixes (backport v3.0)

See merge request idf/esp-idf!3002

components/ulp/component_ulp_common.mk

@@ -81,7 +81,7 @@ build: $(COMPONENT_BUILD_DIR)/$(ULP_EXPORTS_HEADER) \
 $(ULP_EXP_DEP_OBJECTS) : $(ULP_EXPORTS_HEADER) $(ULP_SYM)
 
 # Finally, set all the variables processed by the build system. 
-COMPONENT_EXTRA_CLEAN := $(ULP_OBJECTS) \
+COMPONENT_EXTRA_CLEAN += $(ULP_OBJECTS) \
 			$(ULP_LD_SCRIPT) \
 			$(ULP_PREPROCESSED) \
 			$(ULP_ELF) $(ULP_BIN) \
@@ -91,6 +91,6 @@ COMPONENT_EXTRA_CLEAN := $(ULP_OBJECTS) \
 			$(ULP_DEP) \
 			$(ULP_LISTINGS)
 
-COMPONENT_EMBED_FILES := $(COMPONENT_BUILD_DIR)/$(ULP_BIN)
-COMPONENT_ADD_LDFLAGS := -l$(COMPONENT_NAME) -T $(COMPONENT_BUILD_DIR)/$(ULP_EXPORTS_LD)
-COMPONENT_EXTRA_INCLUDES := $(COMPONENT_BUILD_DIR)
+COMPONENT_EMBED_FILES += $(COMPONENT_BUILD_DIR)/$(ULP_BIN)
+COMPONENT_ADD_LDFLAGS += -l$(COMPONENT_NAME) -T $(COMPONENT_BUILD_DIR)/$(ULP_EXPORTS_LD)
+COMPONENT_EXTRA_INCLUDES += $(COMPONENT_BUILD_DIR)

components/ulp/include/esp32/ulp.h

@@ -17,6 +17,7 @@
 #include <stddef.h>
 #include <stdlib.h>
 #include "esp_err.h"
+#include "soc/soc.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -857,7 +858,7 @@ esp_err_t ulp_process_macros_and_load(uint32_t load_addr, const ulp_insn_t* prog
  * 3. TEXT_SIZE, size of .text section (2 bytes)
  * 4. DATA_SIZE, size of .data section (2 bytes)
  * 5. BSS_SIZE, size of .bss section (2 bytes)
- * 6. (TEXT_OFFSET - 16) bytes of arbitrary data (will not be loaded into RTC memory)
+ * 6. (TEXT_OFFSET - 12) bytes of arbitrary data (will not be loaded into RTC memory)
  * 7. .text section
  * 8. .data section
  *

components/ulp/test/component.mk

@@ -1 +1,11 @@
-COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive
+ULP_APP_NAME = ulp_test
+
+ULP_S_SOURCES = $(addprefix $(COMPONENT_PATH)/ulp/, \
+	test_jumps.S \
+	)
+
+ULP_EXP_DEP_OBJECTS := test_ulp_as.o
+ 
+include $(IDF_PATH)/components/ulp/component_ulp_common.mk
+
+COMPONENT_ADD_LDFLAGS += -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive

components/ulp/test/test_ulp_as.c

@@ -0,0 +1,25 @@
+#include <unistd.h>
+#include "unity.h"
+#include "soc/rtc_cntl_reg.h"
+#include "esp32/ulp.h"
+#include "ulp_test.h"
+
+
+extern const uint8_t ulp_test_bin_start[] asm("_binary_ulp_test_bin_start");
+extern const uint8_t ulp_test_bin_end[]   asm("_binary_ulp_test_bin_end");
+
+
+TEST_CASE("jumps condition", "[ulp]")
+{
+    esp_err_t err = ulp_load_binary(0, ulp_test_bin_start,
+            (ulp_test_bin_end - ulp_test_bin_start) / sizeof(uint32_t));
+    TEST_ESP_OK(err);
+
+    REG_CLR_BIT(RTC_CNTL_INT_RAW_REG, RTC_CNTL_ULP_CP_INT_RAW);
+    TEST_ESP_OK(ulp_run(&ulp_test_jumps - RTC_SLOW_MEM));
+    usleep(10000);
+
+    TEST_ASSERT_NOT_EQUAL(0, REG_GET_BIT(RTC_CNTL_INT_RAW_REG, RTC_CNTL_ULP_CP_INT_RAW));
+    TEST_ASSERT_EQUAL(0, ulp_jumps_fail & UINT16_MAX);
+    TEST_ASSERT_EQUAL(1, ulp_jumps_pass & UINT16_MAX);
+}

components/ulp/test/ulp/test_jumps.S

@@ -0,0 +1,101 @@
+#include "soc/rtc_cntl_reg.h"
+#include "soc/rtc_io_reg.h"
+#include "soc/soc_ulp.h"
+
+	.bss
+
+	.global jumps_pass
+jumps_pass:
+	.long 0
+
+	.global jumps_fail
+jumps_fail:
+	.long 0
+
+	.text
+	.global test_jumps
+test_jumps:
+
+	/* tests for LT (less than) condition */
+	stage_rst           /* cnt = 0 */
+	jumps test_fail, 0, LT /* 0 < 0: false, should not jump */
+	jumps 1f, 1, LT     /* 0 < 1: true, should jump */
+	jump test_fail
+1:
+	stage_inc 2         /* cnt = 2 */
+	jumps 1f, 3, LT     /* 2 < 1: true */
+	jump test_fail
+1:
+	jumps test_fail, 1, LT  /* 2 < 1: false */
+	jumps test_fail, 2, LT  /* 2 < 2: false */
+
+	/* tests for LE (less or equal) condition */
+	stage_rst           /* cnt = 0 */
+	jumps 1f, 0, LE     /* 0 <= 0: true */
+	jump test_fail
+1:
+	jumps 1f, 1, LE     /* 0 <= 1: true */
+	jump test_fail
+1:
+	stage_inc 2         /* cnt = 2 */
+	jumps test_fail, 1, LE  /* 2 <= 1: false */
+
+	/* tests for EQ (equal) condition */
+	stage_rst           /* cnt = 0 */
+	jumps 1f, 0, EQ     /* 0 = 0: true */
+	jump test_fail
+1:
+	jumps test_fail, 1, EQ  /* 0 = 1: false */
+
+	stage_inc 1         /* cnt = 1 */
+	jumps test_fail, 0, EQ  /* 1 = 0: false */
+	jumps test_fail, 2, EQ  /* 1 = 2: false */
+	jumps 1f, 1, EQ         /* 1 = 1: true */
+1:
+
+	/* tests for GE (greater or equal) condition */
+	stage_rst           /* cnt = 0 */
+	jumps 1f, 0, GE     /* 0 >= 0: true */
+	jump test_fail
+1:
+	jumps test_fail, 1, GE  /* 0 >= 1: false */
+
+	stage_inc 1         /* cnt = 1 */
+	jumps 1f, 0, GE     /* 1 >= 0: true */
+	jump test_fail
+1:
+	jumps 1f, 1, GE     /* 1 >= 1: true */
+	jump test_fail
+1:
+	jumps test_fail, 2, GE  /* 1 >= 2: false */
+
+	/* tests for GT (greater than) condition */
+	stage_rst           /* cnt = 0 */
+	jumps test_fail, 0, GT  /* 0 > 0: false */
+	jumps test_fail, 1, GE  /* 0 > 1: false */
+
+	stage_inc 1         /* cnt = 1 */
+	jumps 1f, 0, GT     /* 1 > 0: true */
+	jump test_fail
+1:
+	jumps test_fail, 1, GT  /* 1 > 1: false */
+	jumps test_fail, 2, GT  /* 1 > 2: false */
+
+	jump test_pass
+
+test_fail:
+	move r0, jumps_fail
+	move r1, 1
+	st r1, r0, 0
+	jump done
+
+test_pass:
+	move r0, jumps_pass
+	move r1, 1
+	st r1, r0, 0
+	jump done
+
+	.global done
+done:
+	wake
+	halt

docs/api-guides/ulp.rst

@@ -15,8 +15,8 @@ Installing the toolchain
 
 ULP coprocessor code is written in assembly and compiled using the `binutils-esp32ulp toolchain`_.
 
-1. Download the toolchain using the links listed on this page:
-https://github.com/espressif/binutils-esp32ulp/wiki#downloads
+1. Download pre-built binaries of the latest toolchain release from:
+https://github.com/espressif/binutils-esp32ulp/releases.
 
 2. Extract the toolchain into a directory, and add the path to the ``bin/`` directory of the toolchain to the ``PATH`` environment variable.
 
@@ -134,7 +134,7 @@ Each ULP program is embedded into the ESP-IDF application as a binary blob. Appl
 
 Once the program is loaded into RTC memory, application can start it, passing the address of the entry point to ``ulp_run`` function::
 
-    ESP_ERROR_CHECK( ulp_run((&ulp_entry - RTC_SLOW_MEM) / sizeof(uint32_t)) );
+    ESP_ERROR_CHECK( ulp_run(&ulp_entry - RTC_SLOW_MEM) );
 
 .. doxygenfunction:: ulp_run
 

examples/system/ulp/main/ulp_example_main.c

@@ -80,7 +80,7 @@ static void init_ulp_program()
     REG_SET_FIELD(SENS_ULP_CP_SLEEP_CYC0_REG, SENS_SLEEP_CYCLES_S0, 3095);
 
     /* Start the program */
-    err = ulp_run((&ulp_entry - RTC_SLOW_MEM) / sizeof(uint32_t));
+    err = ulp_run(&ulp_entry - RTC_SLOW_MEM);
     ESP_ERROR_CHECK(err);
 }
 

examples/system/ulp_adc/main/ulp_adc_example_main.c

@@ -87,6 +87,6 @@ static void start_ulp_program()
     ulp_sample_counter = 0;
 
     /* Start the program */
-    esp_err_t err = ulp_run((&ulp_entry - RTC_SLOW_MEM) / sizeof(uint32_t));
+    esp_err_t err = ulp_run(&ulp_entry - RTC_SLOW_MEM);
     ESP_ERROR_CHECK(err);
 }