Merge branch 'feature/c6_ulp_sleep' into 'master'

ulp: added sleep support for lp core

Closes IDF-7012

See merge request espressif/esp-idf!23103

components/esp_hw_support/include/esp_private/esp_pmu.h

@@ -51,6 +51,9 @@ extern "C" {
 #define RTC_UART1_TRIG_EN           PMU_UART1_WAKEUP_EN     //!< UART1 wakeup (light sleep only)
 #define RTC_BT_TRIG_EN              PMU_BLE_SOC_WAKEUP_EN   //!< BT wakeup (light sleep only)
 #define RTC_USB_TRIG_EN             PMU_USB_WAKEUP_EN
+#if SOC_LP_CORE_SUPPORTED
+#define RTC_LP_CORE_TRIG_EN         PMU_LP_CORE_WAKEUP_EN   //!< LP core wakeup
+#endif //SOC_LP_CORE_SUPPORTED
 #define RTC_XTAL32K_DEAD_TRIG_EN    0 // TODO
 #define RTC_BROWNOUT_DET_TRIG_EN    0 // TODO
 
@@ -82,6 +85,9 @@ extern "C" {
 #define PMU_UART1_WAKEUP_EN         BIT(7)
 #define PMU_SDIO_WAKEUP_EN          BIT(8)
 #define PMU_BLE_SOC_WAKEUP_EN       BIT(10)
+#if SOC_LP_CORE_SUPPORTED
+#define PMU_LP_CORE_WAKEUP_EN       BIT(11)
+#endif //SOC_LP_CORE_SUPPORTED
 #define PMU_USB_WAKEUP_EN           BIT(14)
 
 

components/esp_hw_support/port/esp32c6/pmu_sleep.c

@@ -273,6 +273,7 @@ uint32_t pmu_sleep_start(uint32_t wakeup_opt, uint32_t reject_opt, uint32_t lslp
     pmu_ll_hp_clear_wakeup_intr_status(PMU_instance()->hal->dev);
     pmu_ll_hp_clear_reject_intr_status(PMU_instance()->hal->dev);
     pmu_ll_hp_clear_reject_cause(PMU_instance()->hal->dev);
+    pmu_ll_hp_clear_sw_intr_status(PMU_instance()->hal->dev);
 
     /* Start entry into sleep mode */
     pmu_ll_hp_set_sleep_enable(PMU_instance()->hal->dev);

components/esp_hw_support/sleep_modes.c

@@ -533,8 +533,7 @@ static uint32_t IRAM_ATTR esp_sleep_start(uint32_t pd_flags, esp_sleep_mode_t mo
     }
 #endif
 
-#if !CONFIG_IDF_TARGET_ESP32C6 // TODO IDF-7012 Add sleep support for lp core
-#if CONFIG_ULP_COPROC_ENABLED
+#if CONFIG_ULP_COPROC_TYPE_FSM
     // Enable ULP wakeup
     if (s_config.wakeup_triggers & RTC_ULP_TRIG_EN) {
 #ifdef CONFIG_IDF_TARGET_ESP32
@@ -544,7 +543,6 @@ static uint32_t IRAM_ATTR esp_sleep_start(uint32_t pd_flags, esp_sleep_mode_t mo
 #endif
     }
 #endif
-#endif //!CONFIG_IDF_TARGET_ESP32C6
 
     misc_modules_sleep_prepare(deep_sleep);
 
@@ -1075,7 +1073,7 @@ esp_err_t esp_sleep_disable_wakeup_source(esp_sleep_source_t source)
     } else if (CHECK_SOURCE(source, ESP_SLEEP_WAKEUP_UART, (RTC_UART0_TRIG_EN | RTC_UART1_TRIG_EN))) {
         s_config.wakeup_triggers &= ~(RTC_UART0_TRIG_EN | RTC_UART1_TRIG_EN);
     }
-#if CONFIG_ULP_COPROC_ENABLED && !CONFIG_IDF_TARGET_ESP32C6 // TODO IDF-7012 Add sleep support for lp core
+#if CONFIG_ULP_COPROC_TYPE_FSM
     else if (CHECK_SOURCE(source, ESP_SLEEP_WAKEUP_ULP, RTC_ULP_TRIG_EN)) {
         s_config.wakeup_triggers &= ~RTC_ULP_TRIG_EN;
     }
@@ -1109,6 +1107,9 @@ esp_err_t esp_sleep_enable_ulp_wakeup(void)
 #elif CONFIG_ULP_COPROC_TYPE_RISCV
     s_config.wakeup_triggers |= (RTC_COCPU_TRIG_EN | RTC_COCPU_TRAP_TRIG_EN);
     return ESP_OK;
+#elif CONFIG_ULP_COPROC_TYPE_LP_CORE
+    s_config.wakeup_triggers |= RTC_LP_CORE_TRIG_EN;
+    return ESP_OK;
 #else
     return ESP_ERR_NOT_SUPPORTED;
 #endif //CONFIG_ULP_COPROC_TYPE_FSM
@@ -1494,7 +1495,7 @@ esp_sleep_wakeup_cause_t esp_sleep_get_wakeup_cause(void)
     } else if (wakeup_cause & RTC_TOUCH_TRIG_EN) {
         return ESP_SLEEP_WAKEUP_TOUCHPAD;
 #endif
-#if SOC_ULP_SUPPORTED
+#if SOC_ULP_FSM_SUPPORTED
     } else if (wakeup_cause & RTC_ULP_TRIG_EN) {
         return ESP_SLEEP_WAKEUP_ULP;
 #endif
@@ -1511,6 +1512,10 @@ esp_sleep_wakeup_cause_t esp_sleep_get_wakeup_cause(void)
         return ESP_SLEEP_WAKEUP_ULP;
     } else if (wakeup_cause & RTC_COCPU_TRAP_TRIG_EN) {
         return ESP_SLEEP_WAKEUP_COCPU_TRAP_TRIG;
+#endif
+#if SOC_LP_CORE_SUPPORTED
+    } else if (wakeup_cause & RTC_LP_CORE_TRIG_EN) {
+        return ESP_SLEEP_WAKEUP_ULP;
 #endif
     } else {
         return ESP_SLEEP_WAKEUP_UNDEFINED;

components/hal/adc_hal_common.c

@@ -18,7 +18,7 @@ static adc_ll_controller_t get_controller(adc_unit_t unit, adc_hal_work_mode_t w
 {
     if (unit == ADC_UNIT_1) {
         switch (work_mode) {
-#if SOC_ULP_SUPPORTED
+#if SOC_ULP_HAS_ADC
             case ADC_HAL_ULP_FSM_MODE:
                 return ADC_LL_CTRL_ULP;
 #endif
@@ -35,7 +35,7 @@ static adc_ll_controller_t get_controller(adc_unit_t unit, adc_hal_work_mode_t w
         }
     } else {
         switch (work_mode) {
-#if SOC_ULP_SUPPORTED
+#if SOC_ULP_HAS_ADC
             case ADC_HAL_ULP_FSM_MODE:
                 return ADC_LL_CTRL_ULP;
 #endif

components/hal/esp32c6/include/hal/pmu_ll.h

@@ -506,6 +506,11 @@ FORCE_INLINE_ATTR bool pmu_ll_hp_is_sleep_reject(pmu_dev_t *hw)
     return (hw->hp_ext.int_raw.reject == 1);
 }
 
+FORCE_INLINE_ATTR void pmu_ll_hp_clear_sw_intr_status(pmu_dev_t *hw)
+{
+    hw->hp_ext.int_clr.sw = 1;
+}
+
 FORCE_INLINE_ATTR void pmu_ll_hp_clear_wakeup_intr_status(pmu_dev_t *hw)
 {
     hw->hp_ext.int_clr.wakeup = 1;

components/soc/esp32/include/soc/Kconfig.soc_caps.in

@@ -854,3 +854,7 @@ config SOC_BT_CLASSIC_SUPPORTED
 config SOC_BLE_DEVICE_PRIVACY_SUPPORTED
     bool
     default n
+
+config SOC_ULP_HAS_ADC
+    bool
+    default y

components/soc/esp32/include/soc/soc_caps.h

@@ -417,3 +417,6 @@
 #define SOC_BLE_MESH_SUPPORTED          (1)    /*!< Support BLE MESH */
 #define SOC_BT_CLASSIC_SUPPORTED        (1)    /*!< Support Bluetooth Classic hardware */
 #define SOC_BLE_DEVICE_PRIVACY_SUPPORTED (0)   /*!< Support BLE device privacy mode */
+
+/*-------------------------- ULP CAPS ----------------------------------------*/
+#define SOC_ULP_HAS_ADC                     (1)    /* ADC can be accessed from ULP */

components/soc/esp32c6/include/soc/Kconfig.soc_caps.in

@@ -71,6 +71,10 @@ config SOC_SUPPORTS_SECURE_DL_MODE
     bool
     default y
 
+config SOC_ULP_SUPPORTED
+    bool
+    default y
+
 config SOC_LP_CORE_SUPPORTED
     bool
     default y

components/soc/esp32c6/include/soc/soc_caps.h

@@ -42,6 +42,7 @@
 #define SOC_TEMP_SENSOR_SUPPORTED       1
 #define SOC_WIFI_SUPPORTED              1
 #define SOC_SUPPORTS_SECURE_DL_MODE     1
+#define SOC_ULP_SUPPORTED               1
 #define SOC_LP_CORE_SUPPORTED           1
 #define SOC_EFUSE_KEY_PURPOSE_FIELD     1
 #define SOC_RTC_FAST_MEM_SUPPORTED      1

components/soc/esp32s2/include/soc/Kconfig.soc_caps.in

@@ -1086,3 +1086,7 @@ config SOC_WIFI_SUPPORT_VARIABLE_BEACON_WINDOW
 config SOC_WIFI_NAN_SUPPORT
     bool
     default y
+
+config SOC_ULP_HAS_ADC
+    bool
+    default y

components/soc/esp32s2/include/soc/soc_caps.h

@@ -465,3 +465,5 @@
 #define SOC_WIFI_MESH_SUPPORT               (1)    /*!< Support WIFI MESH */
 #define SOC_WIFI_SUPPORT_VARIABLE_BEACON_WINDOW   (1)    /*!< Support delta early time for rf phy on/off */
 #define SOC_WIFI_NAN_SUPPORT                (1)    /*!< Support WIFI Aware (NAN) */
+/*-------------------------- ULP CAPS ----------------------------------------*/
+#define SOC_ULP_HAS_ADC                     (1)    /* ADC can be accessed from ULP */

components/soc/esp32s3/include/soc/Kconfig.soc_caps.in

@@ -1262,3 +1262,7 @@ config SOC_BLE_50_SUPPORTED
 config SOC_BLE_DEVICE_PRIVACY_SUPPORTED
     bool
     default y
+
+config SOC_ULP_HAS_ADC
+    bool
+    default y

components/soc/esp32s3/include/soc/soc_caps.h

@@ -511,3 +511,6 @@
 #define SOC_BLE_MESH_SUPPORTED          (1)    /*!< Support BLE MESH */
 #define SOC_BLE_50_SUPPORTED            (1)    /*!< Support Bluetooth 5.0 */
 #define SOC_BLE_DEVICE_PRIVACY_SUPPORTED (1)   /*!< Support BLE device privacy mode */
+
+/*-------------------------- ULP CAPS ----------------------------------------*/
+#define SOC_ULP_HAS_ADC                     (1)    /* ADC can be accessed from ULP */

components/ulp/.build-test-rules.yml

@@ -5,7 +5,7 @@ components/ulp/test_apps/lp_core:
     - if: SOC_LP_CORE_SUPPORTED != 1
 components/ulp/test_apps/ulp_fsm:
   enable:
-    - if: SOC_ULP_SUPPORTED == 1
+    - if: SOC_ULP_FSM_SUPPORTED == 1
 
 components/ulp/test_apps/ulp_riscv:
   disable:

components/ulp/CMakeLists.txt

@@ -3,7 +3,7 @@ idf_build_get_property(target IDF_TARGET)
 set(srcs "")
 set(includes "")
 
-if(CONFIG_SOC_ULP_SUPPORTED OR CONFIG_SOC_RISCV_COPROC_SUPPORTED)
+if(CONFIG_ULP_COPROC_TYPE_FSM OR CONFIG_SOC_RISCV_COPROC_SUPPORTED)
 
     list(APPEND srcs
         "ulp_common/ulp_common.c"

components/ulp/cmake/CMakeLists.txt

@@ -79,7 +79,9 @@ if(ULP_COCPU_IS_RISCV)
 elseif(ULP_COCPU_IS_LP_CORE)
     list(APPEND ULP_S_SOURCES
     "${IDF_PATH}/components/ulp/lp_core/lp_core/start.S"
-    "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_startup.c")
+    "${IDF_PATH}/components/ulp/lp_core/lp_core/vector.S"
+    "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_startup.c"
+    "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_utils.c")
 
     target_link_options(${ULP_APP_NAME} PRIVATE "-nostartfiles")
     target_link_options(${ULP_APP_NAME} PRIVATE "-Wl,--no-warn-rwx-segments")

components/ulp/cmake/toolchain-lp-core-riscv.cmake

@@ -9,7 +9,7 @@ set(CMAKE_C_FLAGS "-Os -march=rv32imac_zicsr_zifencei -mdiv -fdata-sections -ffu
     CACHE STRING "C Compiler Base Flags")
 set(CMAKE_CXX_FLAGS "-Os -march=rv32imac_zicsr_zifencei -mdiv -fdata-sections -ffunction-sections"
     CACHE STRING "C++ Compiler Base Flags")
-set(CMAKE_ASM_FLAGS "-march=rv32imac -x assembler-with-cpp"
+set(CMAKE_ASM_FLAGS "-march=rv32imac_zicsr_zifencei -x assembler-with-cpp"
     CACHE STRING "Assembler Base Flags")
 set(CMAKE_EXE_LINKER_FLAGS "-march=rv32imac_zicsr_zifencei --specs=nano.specs --specs=nosys.specs"
     CACHE STRING "Linker Base Flags")

components/ulp/lp_core/include/ulp_lp_core_utils.h

@@ -0,0 +1,36 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+
+/**
+ * @brief Wakeup main CPU from sleep or deep sleep.
+ *
+ * This raises a software interrupt signal, if the
+ * main CPU has configured the ULP as a wakeup source
+ * calling this function will make the main CPU to
+ * exit from sleep or deep sleep.
+ */
+void ulp_lp_core_wakeup_main_processor(void);
+
+
+/**
+ * @brief Makes the co-processor busy wait for a certain number of microseconds
+ *
+ * @param us Number of microseconds to busy-wait for
+ */
+void ulp_lp_core_delay_us(uint32_t us);
+
+#ifdef __cplusplus
+}
+#endif

components/ulp/lp_core/lp_core.c

@@ -7,20 +7,28 @@
 #include "sdkconfig.h"
 #include "esp_log.h"
 #include "soc/pmu_reg.h"
+#include "soc/lp_aon_reg.h"
 #include "soc/lpperi_reg.h"
 #include "hal/misc.h"
 #include "ulp_common.h"
 #include "ulp_lp_core.h"
 
-
 const static char* TAG = "ulp-lp-core";
 
-
 esp_err_t ulp_lp_core_run(ulp_lp_core_cfg_t* cfg)
 {
+    /* Enable LP-Core */
+    REG_CLR_BIT(LP_AON_LPCORE_REG, LP_AON_LPCORE_DISABLE);
+
+    /* Allow LP core to access LP memory during sleep */
+    REG_CLR_BIT(LP_AON_LPBUS_REG, LP_AON_FAST_MEM_MUX_SEL);
+    REG_SET_BIT(LP_AON_LPBUS_REG, LP_AON_FAST_MEM_MUX_SEL_UPDATE);
 
     REG_SET_FIELD(PMU_LP_CPU_PWR1_REG, PMU_LP_CPU_WAKEUP_EN, 1);
 
+    /* Enable JTAG debugging */
+    REG_CLR_BIT(LPPERI_CPU_REG, LPPERI_LPCORE_DBGM_UNAVALIABLE);
+
     switch(cfg->wakeup_source) {
         case ULP_LP_CORE_WAKEUP_SOURCE_HP_CPU:
             REG_SET_FIELD(PMU_HP_LP_CPU_COMM_REG, PMU_HP_TRIGGER_LP, 1);
@@ -41,6 +49,10 @@ esp_err_t ulp_lp_core_load_binary(const uint8_t* program_binary, size_t program_
         return ESP_ERR_INVALID_SIZE;
     }
 
+    /* Turn off LP CPU before loading binary */
+    REG_SET_FIELD(PMU_LP_CPU_PWR1_REG, PMU_LP_CPU_WAKEUP_EN, 0);
+    REG_SET_FIELD(PMU_LP_CPU_PWR1_REG, PMU_LP_CPU_SLEEP_REQ, 1);
+
     uint8_t* base = (uint8_t*) RTC_SLOW_MEM;
 
     //Start by clearing memory reserved with zeros, this will also will initialize the bss:

components/ulp/lp_core/lp_core/lp_core_utils.c

@@ -0,0 +1,43 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+
+#include <stdint.h>
+#include "riscv/csr.h"
+#include "soc/soc.h"
+#include "soc/pmu_reg.h"
+
+/* LP_FAST_CLK is not very accurate, for now use a rough estimate */
+#define LP_CORE_CPU_FREQUENCY_HZ 16000000
+
+/**
+ * @brief Wakeup main CPU from sleep or deep sleep.
+ *
+ * This raises a software interrupt signal, if the
+ * main CPU has configured the ULP as a wakeup source
+ * calling this function will make the main CPU to
+ * exit from sleep or deep sleep.
+ */
+void ulp_lp_core_wakeup_main_processor(void)
+{
+    REG_SET_FIELD(PMU_HP_LP_CPU_COMM_REG, PMU_LP_TRIGGER_HP, 1);
+}
+
+
+/**
+ * @brief Makes the co-processor busy wait for a certain number of microseconds
+ *
+ * @param us Number of microseconds to busy-wait for
+ */
+void ulp_lp_core_delay_us(uint32_t us)
+{
+    uint32_t start = RV_READ_CSR(mcycle);
+    uint32_t end = us * (LP_CORE_CPU_FREQUENCY_HZ / 1000000);
+
+    while ((RV_READ_CSR(mcycle) - start) < end) {
+        /* nothing to do */
+    }
+}

components/ulp/lp_core/lp_core/vector.S

@@ -0,0 +1,24 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+	.section	.init.vector,"ax"
+	/* This is the vector table. It is currently empty, but will be populated
+	 * with exception and interrupt handlers when this is supported
+	*/
+
+	.align	0x4, 0xff
+	.global _vector_table
+	.type _vector_table, @function
+_vector_table:
+	.option push
+	.option norvc
+
+	.rept 32
+	nop
+	.endr
+
+	.option pop
+	.size _vector_table, .-_vector_table

components/ulp/test_apps/lp_core/main/CMakeLists.txt

@@ -3,7 +3,7 @@ set(lp_core_sources "lp_core/test_main.c")
 
 idf_component_register(SRCS ${app_sources}
                        INCLUDE_DIRS "lp_core"
-                       REQUIRES ulp unity
+                       REQUIRES ulp unity esp_timer
                        WHOLE_ARCHIVE)
 
 set(lp_core_app_name lp_core_test_app)

components/ulp/test_apps/lp_core/main/lp_core/test_main.c

@@ -8,6 +8,8 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "test_shared.h"
+#include "ulp_lp_core_utils.h"
+
 
 
 volatile lp_core_test_commands_t main_cpu_command = LP_CORE_NO_COMMAND;
@@ -33,10 +35,48 @@ void handle_commands(lp_core_test_commands_t cmd)
 
             /* Set the command reply status */
             main_cpu_reply = LP_CORE_COMMAND_OK;
+            main_cpu_command = LP_CORE_NO_COMMAND;
+
+            break;
+
+        case LP_CORE_DELAY_TEST:
+            counter++;
+            /* Echo the command ID back to the main CPU */
+            command_resp = LP_CORE_DELAY_TEST;
+
+            ulp_lp_core_delay_us(test_data_in);
+            main_cpu_reply = LP_CORE_COMMAND_OK;
+            main_cpu_command = LP_CORE_NO_COMMAND;
+            break;
+
+        case LP_CORE_DEEP_SLEEP_WAKEUP_SHORT_DELAY_TEST:
+            /* Echo the command ID back to the main CPU */
+            command_resp = LP_CORE_DEEP_SLEEP_WAKEUP_SHORT_DELAY_TEST;
+
+            /* Set the command reply status */
+            main_cpu_reply = LP_CORE_COMMAND_OK;
+            main_cpu_command = LP_CORE_NO_COMMAND;
+
+            ulp_lp_core_delay_us(1000*1000);
+            ulp_lp_core_wakeup_main_processor();
+
+            break;
+
+        case LP_CORE_DEEP_SLEEP_WAKEUP_LONG_DELAY_TEST:
+            /* Echo the command ID back to the main CPU */
+            command_resp = LP_CORE_DEEP_SLEEP_WAKEUP_LONG_DELAY_TEST;
+
+            /* Set the command reply status */
+            main_cpu_reply = LP_CORE_COMMAND_OK;
+            main_cpu_command = LP_CORE_NO_COMMAND;
+
+            ulp_lp_core_delay_us(10000*1000);
+            ulp_lp_core_wakeup_main_processor();
+
             break;
 
         case LP_CORE_NO_COMMAND:
-            main_cpu_reply = LP_CORE_COMMAND_OK;
+            main_cpu_reply = LP_CORE_COMMAND_NOK;
             break;
 
         default:
@@ -49,7 +89,7 @@ int main (void)
 {
     while (1) {
         handle_commands(main_cpu_command);
-    }
+   }
 
     return 0;
 }

components/ulp/test_apps/lp_core/main/lp_core/test_shared.h

@@ -9,6 +9,9 @@
 
 typedef enum{
     LP_CORE_READ_WRITE_TEST = 1,
+    LP_CORE_DELAY_TEST,
+    LP_CORE_DEEP_SLEEP_WAKEUP_SHORT_DELAY_TEST,
+    LP_CORE_DEEP_SLEEP_WAKEUP_LONG_DELAY_TEST,
     LP_CORE_NO_COMMAND,
 } lp_core_test_commands_t;
 

components/ulp/test_apps/lp_core/main/test_lp_core.c

@@ -10,6 +10,8 @@
 #include "ulp_lp_core.h"
 #include "test_shared.h"
 #include "unity.h"
+#include "esp_sleep.h"
+#include "esp_timer.h"
 
 extern const uint8_t lp_core_main_bin_start[] asm("_binary_lp_core_test_app_bin_start");
 extern const uint8_t lp_core_main_bin_end[]   asm("_binary_lp_core_test_app_bin_end");
@@ -59,4 +61,80 @@ TEST_CASE("LP core and main CPU are able to exchange data", "[lp_core]")
 
     /* Clear test data */
     ulp_main_cpu_command = LP_CORE_NO_COMMAND;
+    ulp_command_resp = LP_CORE_NO_COMMAND;
 }
+
+TEST_CASE("Test LP core delay", "[lp_core]")
+{
+    int64_t start, diff;
+    const uint32_t delay_period_us = 5000000;
+    const uint32_t delta_us = 500000; // RTC FAST is not very accurate
+
+    /* Load ULP RISC-V firmware and start the coprocessor */
+    load_and_start_lp_core_firmware();
+
+    /* Setup test data */
+    ulp_test_data_in = delay_period_us;
+    ulp_main_cpu_command = LP_CORE_DELAY_TEST;
+
+    /* Wait till we receive the correct command response */
+    while (ulp_command_resp != LP_CORE_DELAY_TEST) {
+    }
+
+    start = esp_timer_get_time();
+
+    /* Wait till we receive COMMAND_OK reply */
+    while (ulp_main_cpu_reply != LP_CORE_COMMAND_OK) {
+    }
+
+    diff = esp_timer_get_time() - start;
+
+    printf("Waited for %" PRIi64 "us, expected: %" PRIi32 "us\n", diff, delay_period_us);
+    TEST_ASSERT_INT_WITHIN(delta_us, delay_period_us, diff);
+
+    /* Clear test data */
+    ulp_main_cpu_command = LP_CORE_NO_COMMAND;
+    ulp_command_resp = LP_CORE_NO_COMMAND;
+}
+
+
+static void do_ulp_wakeup_deepsleep(lp_core_test_commands_t ulp_cmd)
+{
+    /* Load ULP RISC-V firmware and start the ULP RISC-V Coprocessor */
+    load_and_start_lp_core_firmware();
+
+    /* Setup wakeup triggers */
+    TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
+
+    /* Setup test data */
+    ulp_main_cpu_command = ulp_cmd;
+
+    /* Enter Deep Sleep */
+    esp_deep_sleep_start();
+    UNITY_TEST_FAIL(__LINE__, "Should not get here!");
+}
+
+
+static void check_reset_reason_ulp_wakeup(void)
+{
+    TEST_ASSERT_EQUAL(ESP_SLEEP_WAKEUP_ULP, esp_sleep_get_wakeup_cause());
+}
+
+static void do_ulp_wakeup_after_short_delay_deepsleep(void)
+{
+    do_ulp_wakeup_deepsleep(LP_CORE_DEEP_SLEEP_WAKEUP_SHORT_DELAY_TEST);
+}
+
+static void do_ulp_wakeup_after_long_delay_deepsleep(void)
+{
+    do_ulp_wakeup_deepsleep(LP_CORE_DEEP_SLEEP_WAKEUP_LONG_DELAY_TEST);
+}
+
+TEST_CASE_MULTIPLE_STAGES("LP-core is able to wakeup main CPU from deep sleep after a short delay", "[ulp]",
+        do_ulp_wakeup_after_short_delay_deepsleep,
+        check_reset_reason_ulp_wakeup);
+
+/* Certain erroneous wake-up triggers happen only after sleeping for a few seconds  */
+TEST_CASE_MULTIPLE_STAGES("LP-core is able to wakeup main CPU from deep sleep after a long delay", "[ulp]",
+        do_ulp_wakeup_after_long_delay_deepsleep,
+        check_reset_reason_ulp_wakeup);

components/ulp/test_apps/ulp_riscv/main/test_ulp_riscv.c

@@ -321,7 +321,7 @@ static void do_ulp_wakeup_after_long_delay_deepsleep(void)
     do_ulp_wakeup_deepsleep(RISCV_DEEP_SLEEP_WAKEUP_LONG_DELAY_TEST, true);
 }
 
-/* Certain erroneous wake-up triggers happen only after a sleeping for a few seconds  */
+/* Certain erroneous wake-up triggers happen only after sleeping for a few seconds  */
 TEST_CASE_MULTIPLE_STAGES("ULP-RISC-V is able to wakeup main CPU from deep sleep after a long delay", "[ulp]",
         do_ulp_wakeup_after_long_delay_deepsleep,
         check_reset_reason_ulp_wakeup);

components/ulp/ulp_riscv/ulp_core/include/ulp_riscv_utils.h

@@ -18,7 +18,7 @@ extern "C" {
  * @brief Wakeup main CPU from sleep or deep sleep.
  *
  * This raises a software interrupt signal, if the
- * main CPU is configured the ULP as a wakeup source
+ * main CPU has configured the ULP as a wakeup source
  * calling this function will make the main CPU to
  * exit from sleep or deep sleep.
  */

docs/conf_common.py

@@ -104,9 +104,9 @@ FTDI_JTAG_DOCS = ['api-guides/jtag-debugging/configure-ft2232h-jtag.rst']
 USB_SERIAL_JTAG_DOCS = ['api-guides/jtag-debugging/configure-builtin-jtag.rst',
                         'api-guides/usb-serial-jtag-console.rst']
 
-ULP_DOCS = ['api-reference/system/ulp.rst',
-            'api-reference/system/ulp_macros.rst',
-            'api-reference/system/ulp_instruction_set.rst']
+ULP_FSM_DOCS = ['api-reference/system/ulp.rst',
+                'api-reference/system/ulp_macros.rst',
+                'api-reference/system/ulp_instruction_set.rst']
 
 RISCV_COPROC_DOCS = ['api-reference/system/ulp-risc-v.rst',]
 
@@ -183,7 +183,7 @@ conditional_include_dict = {'SOC_BT_SUPPORTED':BT_DOCS,
                             'SOC_DAC_SUPPORTED':DAC_DOCS,
                             'SOC_ETM_SUPPORTED':ETM_DOCS,
                             'SOC_TOUCH_SENSOR_SUPPORTED':TOUCH_SENSOR_DOCS,
-                            'SOC_ULP_SUPPORTED':ULP_DOCS,
+                            'SOC_ULP_FSM_SUPPORTED':ULP_FSM_DOCS,
                             'SOC_RISCV_COPROC_SUPPORTED':RISCV_COPROC_DOCS,
                             'SOC_DIG_SIGN_SUPPORTED':['api-reference/peripherals/ds.rst'],
                             'SOC_HMAC_SUPPORTED':['api-reference/peripherals/hmac.rst'],

docs/en/api-reference/peripherals/gpio.rst

@@ -18,7 +18,7 @@ GPIO Summary
     .. list::
 
         - In Deep-sleep mode
-        :SOC_ULP_SUPPORTED: - The :doc:`Ultra Low Power co-processor <../../api-reference/system/ulp>` is running
+        :SOC_ULP_SUPPORTED and not esp32c6: - The :doc:`Ultra Low Power co-processor <../../api-reference/system/ulp>` is running
         - Analog functions such as ADC/DAC/etc are in use.
 
 

docs/en/api-reference/system/index.rst

@@ -37,7 +37,7 @@ System API
     system_time
     :SOC_ASYNC_MEMCPY_SUPPORTED: async_memcpy
     :esp32: himem
-    :SOC_ULP_SUPPORTED: ulp
+    :SOC_ULP_FSM_SUPPORTED: ulp
     :SOC_RISCV_COPROC_SUPPORTED: ulp-risc-v
     wdts
 

docs/zh_CN/api-reference/peripherals/gpio.rst

@@ -18,7 +18,7 @@ GPIO 汇总
     .. list::
 
         - 处于 Deep-sleep 模式时
-        :SOC_ULP_SUPPORTED: - :doc:`超低功耗协处理器 (ULP) <../../api-reference/system/ulp>` 运行时
+        :SOC_ULP_SUPPORTED and not esp32c6: - :doc:`超低功耗协处理器 (ULP) <../../api-reference/system/ulp>` 运行时
         - 使用 ADC/DAC 等模拟功能时
 
 

docs/zh_CN/api-reference/system/index.rst

@@ -37,7 +37,7 @@ System API
     system_time
     :SOC_ASYNC_MEMCPY_SUPPORTED: async_memcpy
     :esp32: himem
-    :SOC_ULP_SUPPORTED: ulp
+    :SOC_ULP_FSM_SUPPORTED: ulp
     :SOC_RISCV_COPROC_SUPPORTED: ulp-risc-v
     wdts
 

examples/system/.build-test-rules.yml

@@ -175,7 +175,7 @@ examples/system/task_watchdog:
 
 examples/system/ulp_fsm/ulp:
   disable:
-    - if: SOC_ULP_SUPPORTED != 1
+    - if: SOC_ULP_FSM_SUPPORTED != 1
 
 examples/system/ulp_fsm/ulp_adc:
   enable: