ulp: Added ULP RISC-V support for esp32s3

This commit adds support for ULP RISC-V for esp32s3.

Signed-off-by: Sudeep Mohanty <sudeep.mohanty@espressif.com>

components/esp32s3/Kconfig

@@ -320,6 +320,13 @@ menu "ESP32S3-Specific"
 
             Data is reserved at the beginning of RTC slow memory.
 
+    config ESP32S3_ULP_COPROC_RISCV
+        bool "Enable RISC-V as ULP coprocessor"
+        depends on ESP32S3_ULP_COPROC_ENABLED
+        default n
+        help
+            Set this to y to use the RISC-V coprocessor instead of the FSM-ULP.
+
     config ESP32S3_DEBUG_OCDAWARE
         bool "Make exception and panic handlers JTAG/OCD aware"
         default y

components/esp_hw_support/sleep_modes.c

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -833,7 +833,7 @@ 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 defined(CONFIG_ESP32_ULP_COPROC_ENABLED) || defined(CONFIG_ESP32S2_ULP_COPROC_ENABLED)
+#if defined(CONFIG_ESP32_ULP_COPROC_ENABLED) || defined(CONFIG_ESP32S2_ULP_COPROC_ENABLED) || defined(CONFIG_ESP32S3_ULP_COPROC_ENABLED)
     else if (CHECK_SOURCE(source, ESP_SLEEP_WAKEUP_ULP, RTC_ULP_TRIG_EN)) {
         s_config.wakeup_triggers &= ~RTC_ULP_TRIG_EN;
     }
@@ -1203,7 +1203,7 @@ esp_sleep_wakeup_cause_t esp_sleep_get_wakeup_cause(void)
     } else if (wakeup_cause & RTC_BT_TRIG_EN) {
         return ESP_SLEEP_WAKEUP_BT;
 #endif
-#if CONFIG_IDF_TARGET_ESP32S2
+#if SOC_RISCV_COPROC_SUPPORTED
     } else if (wakeup_cause & RTC_COCPU_TRIG_EN) {
         return ESP_SLEEP_WAKEUP_ULP;
     } else if (wakeup_cause & RTC_COCPU_TRAP_TRIG_EN) {

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

@@ -121,6 +121,10 @@
 #define REG_SPI_MEM_BASE(i)     (DR_REG_SPI0_BASE - (i) * 0x1000)
 #define REG_I2C_BASE(i)    (DR_REG_I2C_EXT_BASE + (i) * 0x14000 )
 
+//Convenient way to replace the register ops when ulp riscv projects
+//consume this file
+#ifndef ULP_RISCV_REGISTER_OPS
+
 //Registers Operation {{
 #define ETS_UNCACHED_ADDR(addr) (addr)
 #define ETS_CACHED_ADDR(addr) (addr)
@@ -227,6 +231,7 @@
 
 #endif /* !__ASSEMBLER__ */
 //}}
+#endif /* !ULP_RISCV_REGISTER_OPS */
 
 //Periheral Clock {{
 #define  APB_CLK_FREQ_ROM                            (40*1000000)

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

@@ -22,6 +22,7 @@
 #define SOC_CPU_CORES_NUM               2
 #define SOC_CACHE_SUPPORT_WRAP          1
 #define SOC_ULP_SUPPORTED               1
+#define SOC_RISCV_COPROC_SUPPORTED      1
 #define SOC_BT_SUPPORTED                1
 #define SOC_USB_OTG_SUPPORTED           1
 #define SOC_USB_SERIAL_JTAG_SUPPORTED   1

components/ulp/CMakeLists.txt

@@ -4,7 +4,7 @@ if(NOT (IDF_TARGET STREQUAL "esp32c3") AND NOT (IDF_TARGET STREQUAL "esp32h2"))
     set(srcs "ulp.c"
              "ulp_macro.c")
 
-    if(CONFIG_ESP32S2_ULP_COPROC_RISCV)
+    if(CONFIG_ESP32S2_ULP_COPROC_RISCV OR CONFIG_ESP32S3_ULP_COPROC_RISCV)
             list(APPEND srcs "ulp_riscv.c")
     endif()
 

components/ulp/cmake/CMakeLists.txt

@@ -17,10 +17,10 @@ string(REGEX MATCH "\\(GNU Binutils\\) (${version_pattern})" as_version ${as_out
 set(as_version ${CMAKE_MATCH_1})
 
 
-message(STATUS "Building ULP app ${ULP_APP_NAME}")
+message(STATUS "Building ULP app ${ULP_APP_NAME} for ${IDF_TARGET}")
 
 if(ULP_COCPU_IS_RISCV)
-    set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/ld/esp32s2.ulp.riscv.ld)
+    set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/ld/${IDF_TARGET}.ulp.riscv.ld)
 else()
     message(STATUS "ULP assembler version: ${as_version}")
 
@@ -38,7 +38,7 @@ else()
                         the toolchain, or proceed at your own risk.")
     endif()
 
-    set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/ld/esp32.ulp.ld)
+    set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/ld/ulp_fsm.ld)
 endif()
 
 

components/ulp/include/esp32s3/ulp_riscv.h

@@ -0,0 +1,43 @@
+/*
+ * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+#include <stdint.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include "esp_err.h"
+#include "ulp_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Run the program loaded into RTC memory
+ * @return  ESP_OK on success
+ */
+esp_err_t ulp_riscv_run(void);
+
+/**
+ * @brief Load ULP-RISC-V program binary into RTC memory
+ *
+ * Different than ULP FSM, the binary program has no special format, it is the ELF
+ * file generated by RISC-V toolchain converted to binary format using objcopy.
+ *
+ * Linker script in components/ulp/ld/esp32s3.ulp.riscv.ld produces ELF files which
+ * correspond to this format. This linker script produces binaries with load_addr == 0.
+ *
+ * @param program_binary pointer to program binary
+ * @param program_size_bytes size of the program binary
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_INVALID_SIZE if program_size_bytes is more than 8KiB
+ */
+esp_err_t ulp_riscv_load_binary(const uint8_t* program_binary, size_t program_size_bytes);
+
+#ifdef __cplusplus
+}
+#endif

components/ulp/include/ulp_common.h

@@ -1,20 +1,12 @@
-// Copyright 2016-2018 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2016-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 #pragma once
 
-/* This file contains definitions that are common between esp32/ulp.h
-   and esp32s2/ulp.h
+/* This file contains definitions that are common between esp32/ulp.h,
+   esp32s2/ulp.h and esp32s3/ulp.h
 */
 
 #ifdef __cplusplus

components/ulp/ld/esp32s3.ulp.riscv.ld

@@ -0,0 +1,48 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include "sdkconfig.h"
+
+ENTRY(reset_vector)
+
+MEMORY
+{
+    ram(RW) : ORIGIN = 0, LENGTH = CONFIG_ESP32S3_ULP_COPROC_RESERVE_MEM
+}
+
+SECTIONS
+{
+    . = ORIGIN(ram);
+    .text :
+    {
+        *start.S.obj(.text.vectors) /* Default reset vector must link to offset 0x0 */
+        *(.text)
+        *(.text*)
+    } >ram
+
+    .rodata ALIGN(4):
+    {
+        *(.rodata)
+        *(.rodata*)
+    } > ram
+
+    .data ALIGN(4):
+    {
+        *(.data)
+        *(.data*)
+        *(.sdata)
+        *(.sdata*)
+    } > ram
+
+    .bss ALIGN(4) :
+    {
+        *(.bss)
+        *(.bss*)
+        *(.sbss)
+        *(.sbss*)
+    } >ram
+
+    __stack_top = ORIGIN(ram) + LENGTH(ram);
+}

components/ulp/ld/ulp_fsm.ld

@@ -1,7 +1,14 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 #include "sdkconfig.h"
 
 #if CONFIG_ESP32S2_ULP_COPROC_RESERVE_MEM
 #define LOCAL_ULP_COPROC_RESERVE_MEM CONFIG_ESP32S2_ULP_COPROC_RESERVE_MEM
+#elif CONFIG_ESP32S3_ULP_COPROC_RESERVE_MEM
+#define LOCAL_ULP_COPROC_RESERVE_MEM CONFIG_ESP32S3_ULP_COPROC_RESERVE_MEM
 #else
 #define LOCAL_ULP_COPROC_RESERVE_MEM CONFIG_ESP32_ULP_COPROC_RESERVE_MEM
 #endif

components/ulp/project_include.cmake

@@ -31,20 +31,19 @@ function(ulp_embed_binary app_name s_sources exp_dep_srcs)
 
         idf_build_get_property(sdkconfig_header SDKCONFIG_HEADER)
         idf_build_get_property(idf_path IDF_PATH)
+        idf_build_get_property(idf_target IDF_TARGET)
         idf_build_get_property(python PYTHON)
         idf_build_get_property(extra_cmake_args EXTRA_CMAKE_ARGS)
 
         if(IDF_TARGET STREQUAL "esp32")
-            set(TOOLCHAIN_FLAG ${idf_path}/components/ulp/cmake/toolchain-esp32-ulp.cmake)
+            set(TOOLCHAIN_FLAG ${idf_path}/components/ulp/cmake/toolchain-${idf_target}-ulp.cmake)
             set(ULP_IS_RISCV OFF)
-        endif()
-
-        if(IDF_TARGET STREQUAL "esp32s2")
-            if(CONFIG_ESP32S2_ULP_COPROC_RISCV STREQUAL "y")
-                set(TOOLCHAIN_FLAG ${idf_path}/components/ulp/cmake/toolchain-esp32s2-ulp-riscv.cmake)
+        elseif(IDF_TARGET STREQUAL "esp32s2" OR IDF_TARGET STREQUAL "esp32s3")
+            if(CONFIG_ESP32S2_ULP_COPROC_RISCV STREQUAL "y" OR CONFIG_ESP32S3_ULP_COPROC_RISCV STREQUAL "y")
+                set(TOOLCHAIN_FLAG ${idf_path}/components/ulp/cmake/toolchain-ulp-riscv.cmake)
                 set(ULP_IS_RISCV ON)
             else()
-                set(TOOLCHAIN_FLAG ${idf_path}/components/ulp/cmake/toolchain-esp32s2-ulp.cmake)
+                set(TOOLCHAIN_FLAG ${idf_path}/components/ulp/cmake/toolchain-${idf_target}-ulp.cmake)
                 set(ULP_IS_RISCV OFF)
             endif()
         endif()
@@ -60,6 +59,7 @@ function(ulp_embed_binary app_name s_sources exp_dep_srcs)
                             -DCOMPONENT_DIR=${COMPONENT_DIR}
                             -DCOMPONENT_INCLUDES=$<TARGET_PROPERTY:${COMPONENT_TARGET},INTERFACE_INCLUDE_DIRECTORIES>
                             -DIDF_PATH=${idf_path}
+                            -DIDF_TARGET=${idf_target}
                             -DSDKCONFIG_HEADER=${SDKCONFIG_HEADER}
                             -DPYTHON=${python}
                             -DULP_COCPU_IS_RISCV=${ULP_IS_RISCV}

components/ulp/test/CMakeLists.txt

@@ -1,16 +1,18 @@
-if(IDF_TARGET STREQUAL "esp32s3")
-    return()
+if(IDF_TARGET STREQUAL "esp32")
+    set(src_dirs ${IDF_TARGET})
+    set(ulp_sources "ulp/test_jumps_esp32.S")
+elseif(IDF_TARGET STREQUAL "esp32s2" OR IDF_TARGET STREQUAL "esp32s3")
+    if(CONFIG_ESP32S2_ULP_COPROC_RISCV STREQUAL "y" OR CONFIG_ESP32S3_ULP_COPROC_RISCV STREQUAL "y")
+        set(src_dirs "ulp_riscv")
+        set(ulp_sources "ulp_riscv/ulp/test_main.c")
+    endif()
+    #TODO: Add ULP-FSM Test case for esp32s2 and esp32s3
 endif()
-idf_component_register(SRC_DIRS ${IDF_TARGET}
+
+idf_component_register(SRC_DIRS ${src_dirs}
 PRIV_INCLUDE_DIRS .
 PRIV_REQUIRES cmock ulp soc esp_common driver)
 
-if(IDF_TARGET STREQUAL "esp32")
-    set(ulp_sources "ulp/test_jumps_esp32.S")
-elseif(IDF_TARGET STREQUAL "esp32s2")
-    set(ulp_sources "ulp_riscv/test_main.c")
-endif()
-
 set(ulp_app_name ulp_test_app)
-set(ulp_exp_dep_srcs ${IDF_TARGET})
+set(ulp_exp_dep_srcs ${src_dirs})
 ulp_embed_binary(${ulp_app_name} "${ulp_sources}" "${ulp_exp_dep_srcs}")

components/ulp/test/ulp_riscv/test_main.c

@@ -1,70 +0,0 @@
-// Copyright 2010-2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <stdio.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include "ulp_riscv/ulp_riscv.h"
-#include "ulp_riscv/ulp_riscv_utils.h"
-
-typedef enum{
-    RISCV_READ_WRITE_TEST = 1,
-    RISCV_DEEP_SLEEP_WAKEUP_TEST,
-    RISCV_LIGHT_SLEEP_WAKEUP_TEST,
-    RISCV_NO_COMMAND,
-} riscv_test_commands_t;
-
-typedef enum {
-    RISCV_COMMAND_OK = 1,
-    RISCV_COMMAND_NOK,
-    RISCV_COMMAND_INVALID,
-} riscv_test_command_reply_t;
-
-#define XOR_MASK 0xDEADBEEF
-
-volatile riscv_test_commands_t main_cpu_command = RISCV_NO_COMMAND;
-volatile riscv_test_command_reply_t main_cpu_reply = RISCV_COMMAND_INVALID;
-volatile uint32_t riscv_test_data_in = 0;
-volatile uint32_t riscv_test_data_out = 0;
-
-void handle_commands(riscv_test_commands_t cmd)
-{
-    switch (cmd) {
-        case RISCV_READ_WRITE_TEST:
-            riscv_test_data_out =riscv_test_data_in ^ XOR_MASK;
-            main_cpu_reply =  RISCV_COMMAND_OK;
-            break;
-
-        case RISCV_DEEP_SLEEP_WAKEUP_TEST:
-        case RISCV_LIGHT_SLEEP_WAKEUP_TEST:
-            main_cpu_reply = RISCV_COMMAND_OK;
-            break;
-
-        default:
-            main_cpu_reply = RISCV_COMMAND_NOK;
-            break;
-    }
-    ulp_riscv_wakeup_main_processor();
-}
-
-int main (void)
-{
-    while (1) {
-        handle_commands(main_cpu_command);
-        break;
-    }
-
-    /* ulp_riscv_shutdown() is called automatically when main exits */
-    return 0;
-}

components/ulp/test/ulp_riscv/test_ulp_riscv_main.c

@@ -1,16 +1,8 @@
-// Copyright 2010-2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #include <stdio.h>
 #include <string.h>
@@ -18,10 +10,16 @@
 #include "soc/rtc_cntl_reg.h"
 #include "soc/sens_reg.h"
 #include "soc/rtc_periph.h"
+#if CONFIG_IDF_TARGET_ESP32S2
 #include "esp32s2/ulp.h"
 #include "esp32s2/ulp_riscv.h"
+#elif CONFIG_IDF_TARGET_ESP32S3
+#include "esp32s3/ulp.h"
+#include "esp32s3/ulp_riscv.h"
+#endif
 #include "ulp_test_app.h"
 #include "unity.h"
+#include <sys/time.h>
 
 typedef enum{
     RISCV_READ_WRITE_TEST = 1,
@@ -33,9 +31,11 @@ typedef enum{
 typedef enum {
     RISCV_COMMAND_OK = 1,
     RISCV_COMMAND_NOK,
+    RISCV_COMMAND_INVALID,
 } riscv_test_command_reply_t;
 
 #define XOR_MASK 0xDEADBEEF
+#define ULP_WAKEUP_PERIOD 1000000 // 1 second
 
 extern const uint8_t ulp_main_bin_start[] asm("_binary_ulp_test_app_bin_start");
 extern const uint8_t ulp_main_bin_end[]   asm("_binary_ulp_test_app_bin_end");
@@ -47,7 +47,7 @@ static void load_and_start_ulp_firmware(void)
         TEST_ASSERT(ulp_riscv_load_binary(ulp_main_bin_start,
                             (ulp_main_bin_end - ulp_main_bin_start)) == ESP_OK);
 
-        TEST_ASSERT(ulp_set_wakeup_period(0, 1000000) == ESP_OK);
+        TEST_ASSERT(ulp_set_wakeup_period(0, ULP_WAKEUP_PERIOD) == ESP_OK);
         TEST_ASSERT(ulp_riscv_run() == ESP_OK);
 
         firmware_loaded = true;
@@ -57,37 +57,87 @@ static void load_and_start_ulp_firmware(void)
 TEST_CASE("ULP-RISC-V and main CPU are able to exchange data", "[ulp][ignore]")
 {
     const uint32_t test_data = 0x12345678;
+    struct timeval start, end;
 
+    /* Load ULP RISC-V firmware and start the ULP RISC-V Coprocessor */
     load_and_start_ulp_firmware();
+
+    /* Setup wakeup triggers */
     TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
 
+    /* Setup test data */
     ulp_riscv_test_data_in = test_data ^ XOR_MASK;
     ulp_main_cpu_command = RISCV_READ_WRITE_TEST;
 
+    /* Enter Light Sleep */
     TEST_ASSERT(esp_light_sleep_start() == ESP_OK);
-    TEST_ASSERT(esp_sleep_get_wakeup_cause() == ESP_SLEEP_WAKEUP_ULP);
-    TEST_ASSERT(ulp_main_cpu_reply == RISCV_COMMAND_OK);
 
+    /* Wait for wakeup from ULP RISC-V Coprocessor */
+    TEST_ASSERT(esp_sleep_get_wakeup_cause() == ESP_SLEEP_WAKEUP_ULP);
+
+    /* Wait till we receive the correct command response */
+    gettimeofday(&start, NULL);
+    while (ulp_command_resp != RISCV_READ_WRITE_TEST)
+        ;
+    gettimeofday(&end, NULL);
+    printf("Response time %ld ms\n", (end.tv_sec - start.tv_sec) * 1000 + (end.tv_usec - start.tv_usec) / 1000);
+
+    /* Verify test data */
+    TEST_ASSERT(ulp_command_resp == RISCV_READ_WRITE_TEST);
+    TEST_ASSERT(ulp_main_cpu_reply == RISCV_COMMAND_OK);
     printf("data out: 0x%X, expected: 0x%X \n", ulp_riscv_test_data_out, test_data);
     TEST_ASSERT(test_data == ulp_riscv_test_data_out);
 
+    /* Clear test data */
+    ulp_main_cpu_command = RISCV_NO_COMMAND;
 }
 
 TEST_CASE("ULP-RISC-V is able to wakeup main CPU from light sleep", "[ulp][ignore]")
 {
+    struct timeval start, end;
+
+    /* Load ULP RISC-V firmware and start the ULP RISC-V Coprocessor */
     load_and_start_ulp_firmware();
+
+    /* Setup wakeup triggers */
     TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
+
+    /* Setup test data */
     ulp_main_cpu_command = RISCV_LIGHT_SLEEP_WAKEUP_TEST;
+
+    /* Enter Light Sleep */
     TEST_ASSERT(esp_light_sleep_start() == ESP_OK);
+
+    /* Wait for wakeup from ULP RISC-V Coprocessor */
     TEST_ASSERT(esp_sleep_get_wakeup_cause() == ESP_SLEEP_WAKEUP_ULP);
+
+    /* Wait till we receive the correct command response */
+    gettimeofday(&start, NULL);
+    while (ulp_command_resp != RISCV_LIGHT_SLEEP_WAKEUP_TEST)
+        ;
+    gettimeofday(&end, NULL);
+    printf("Response time %ld ms\n", (end.tv_sec - start.tv_sec) * 1000 + (end.tv_usec - start.tv_usec) / 1000);
+
+    /* Verify test data */
+    TEST_ASSERT(ulp_command_resp == RISCV_LIGHT_SLEEP_WAKEUP_TEST);
     TEST_ASSERT(ulp_main_cpu_reply == RISCV_COMMAND_OK);
+
+    /* Clear test data */
+    ulp_main_cpu_command = RISCV_NO_COMMAND;
 }
 
 TEST_CASE("ULP-RISC-V is able to wakeup main CPU from deep sleep", "[ulp][reset=SW_CPU_RESET][ignore]")
 {
+    /* Load ULP RISC-V firmware and start the ULP RISC-V Coprocessor */
     load_and_start_ulp_firmware();
+
+    /* Setup wakeup triggers */
     TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
+
+    /* Setup test data */
     ulp_main_cpu_command = RISCV_DEEP_SLEEP_WAKEUP_TEST;
+
+    /* Enter Deep Sleep */
     esp_deep_sleep_start();
     UNITY_TEST_FAIL(__LINE__, "Should not get here!");
 }

components/ulp/test/ulp_riscv/ulp/test_main.c

@@ -0,0 +1,92 @@
+/*
+ * SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include "ulp_riscv/ulp_riscv.h"
+#include "ulp_riscv/ulp_riscv_utils.h"
+
+typedef enum{
+    RISCV_READ_WRITE_TEST = 1,
+    RISCV_DEEP_SLEEP_WAKEUP_TEST,
+    RISCV_LIGHT_SLEEP_WAKEUP_TEST,
+    RISCV_NO_COMMAND,
+} riscv_test_commands_t;
+
+typedef enum {
+    RISCV_COMMAND_OK = 1,
+    RISCV_COMMAND_NOK,
+    RISCV_COMMAND_INVALID,
+} riscv_test_command_reply_t;
+
+#define XOR_MASK 0xDEADBEEF
+
+volatile riscv_test_commands_t main_cpu_command = RISCV_NO_COMMAND;
+volatile riscv_test_command_reply_t main_cpu_reply = RISCV_COMMAND_INVALID;
+volatile riscv_test_commands_t command_resp = RISCV_NO_COMMAND;
+volatile uint32_t riscv_test_data_in = 0;
+volatile uint32_t riscv_test_data_out = 0;
+
+void handle_commands(riscv_test_commands_t cmd)
+{
+    switch (cmd) {
+        case RISCV_READ_WRITE_TEST:
+            /* Echo the command ID back to the main CPU */
+            command_resp = RISCV_READ_WRITE_TEST;
+
+            /* Process test data */
+            riscv_test_data_out = riscv_test_data_in ^ XOR_MASK;
+
+            /* Set the command reply status */
+            main_cpu_reply = RISCV_COMMAND_OK;
+
+            /* Wakeup the main CPU */
+            ulp_riscv_wakeup_main_processor();
+            break;
+
+        case RISCV_DEEP_SLEEP_WAKEUP_TEST:
+            /* Echo the command ID back to the main CPU */
+            command_resp = RISCV_DEEP_SLEEP_WAKEUP_TEST;
+
+            /* Set the command reply status */
+            main_cpu_reply = RISCV_COMMAND_OK;
+
+            /* Wakeup the main CPU */
+            ulp_riscv_wakeup_main_processor();
+            break;
+
+        case RISCV_LIGHT_SLEEP_WAKEUP_TEST:
+            /* Echo the command ID back to the main CPU */
+            command_resp = RISCV_LIGHT_SLEEP_WAKEUP_TEST;
+
+            /* Set the command reply status */
+            main_cpu_reply = RISCV_COMMAND_OK;
+
+            /* Wakeup the main CPU */
+            ulp_riscv_wakeup_main_processor();
+            break;
+
+        case RISCV_NO_COMMAND:
+            main_cpu_reply = RISCV_COMMAND_OK;
+            break;
+
+        default:
+            main_cpu_reply = RISCV_COMMAND_NOK;
+            break;
+    }
+}
+
+int main (void)
+{
+    while (1) {
+        handle_commands(main_cpu_command);
+        break;
+    }
+
+    /* ulp_riscv_shutdown() is called automatically when main exits */
+    return 0;
+}

components/ulp/ulp.c

@@ -1,16 +1,8 @@
-// Copyright 2010-2016 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2010-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #include <stdio.h>
 #include <string.h>
@@ -69,7 +61,7 @@ esp_err_t ulp_run(uint32_t entry_point)
     SET_PERI_REG_MASK(RTC_CNTL_OPTIONS0_REG, RTC_CNTL_BIAS_SLEEP_FOLW_8M);
     // enable ULP timer
     SET_PERI_REG_MASK(RTC_CNTL_STATE0_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
-#elif defined CONFIG_IDF_TARGET_ESP32S2
+#elif defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
     // 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
@@ -154,7 +146,7 @@ esp_err_t ulp_set_wakeup_period(size_t period_index, uint32_t period_us)
     }
     REG_SET_FIELD(SENS_ULP_CP_SLEEP_CYC0_REG + period_index * sizeof(uint32_t),
             SENS_SLEEP_CYCLES_S0, (uint32_t) period_cycles);
-#elif defined CONFIG_IDF_TARGET_ESP32S2
+#elif defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
     if (period_index > 4) {
         return ESP_ERR_INVALID_ARG;
     }

components/ulp/ulp_riscv.c

@@ -1,16 +1,8 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2020-2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #include <stdio.h>
 #include <string.h>
@@ -19,9 +11,15 @@
 #include "esp_attr.h"
 #include "esp_err.h"
 #include "esp_log.h"
+#if CONFIG_IDF_TARGET_ESP32S2
 #include "esp32s2/clk.h"
 #include "esp32s2/ulp.h"
 #include "esp32s2/ulp_riscv.h"
+#elif CONFIG_IDF_TARGET_ESP32S3
+#include "esp32s3/clk.h"
+#include "esp32s3/ulp.h"
+#include "esp32s3/ulp_riscv.h"
+#endif
 #include "soc/soc.h"
 #include "soc/rtc.h"
 #include "soc/rtc_cntl_reg.h"
@@ -31,6 +29,7 @@
 
 esp_err_t ulp_riscv_run(void)
 {
+#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);
@@ -55,6 +54,48 @@ esp_err_t ulp_riscv_run(void)
     SET_PERI_REG_MASK(RTC_CNTL_ULP_CP_TIMER_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
 
     return ESP_OK;
+#elif CONFIG_IDF_TARGET_ESP32S3
+    /* Reset COCPU when power on. */
+    SET_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_CLK_FO);
+    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_CLK_FO);
+    CLEAR_PERI_REG_MASK(RTC_CNTL_COCPU_CTRL_REG, RTC_CNTL_COCPU_SHUT_RESET_EN);
+
+    /* 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);
+
+    /* 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);
+
+    /* 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);
+
+    return ESP_OK;
+#endif
 }
 
 esp_err_t ulp_riscv_load_binary(const uint8_t* program_binary, size_t program_size_bytes)

components/ulp/ulp_riscv/include/ulp_riscv/ulp_riscv_gpio.h

@@ -1,16 +1,8 @@
-// Copyright 2010-2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #pragma once
 
@@ -55,7 +47,11 @@ typedef enum {
 
 static inline void ulp_riscv_gpio_init(gpio_num_t gpio_num)
 {
+#if CONFIG_IDF_TARGET_ESP32S2
     SET_PERI_REG_MASK(SENS_SAR_IO_MUX_CONF_REG, SENS_IOMUX_CLK_GATE_EN_M);
+#elif CONFIG_IDF_TARGET_ESP32S3
+    SET_PERI_REG_MASK(SENS_SAR_PERI_CLK_GATE_CONF_REG, SENS_IOMUX_CLK_EN_M);
+#endif
     SET_PERI_REG_MASK(RTC_IO_TOUCH_PAD0_REG + gpio_num*4, RTC_IO_TOUCH_PAD0_MUX_SEL);
     REG_SET_FIELD(RTC_IO_TOUCH_PAD0_REG + gpio_num*4, RTC_IO_TOUCH_PAD0_FUN_SEL, 0);
 }

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

@@ -1,16 +1,8 @@
-// Copyright 2015-2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #pragma once
 
@@ -63,10 +55,14 @@ void __attribute__((noreturn)) ulp_riscv_shutdown(void);
 				__ccount; })
 
 
+#if CONFIG_IDF_TARGET_ESP32S2
 /* These are only approximate default numbers, the default frequency
    of the 8M oscillator is 8.5MHz +/- 5%, at the default DCAP setting
 */
 #define ULP_RISCV_CYCLES_PER_US 8.5
+#elif CONFIG_IDF_TARGET_ESP32S3
+#define ULP_RISCV_CYCLES_PER_US 17.5
+#endif
 #define ULP_RISCV_CYCLES_PER_MS ULP_RISCV_CYCLES_PER_US*1000
 
 /**

docs/doxygen/Doxyfile_esp32s3

@@ -8,6 +8,8 @@ INPUT += \
          $(PROJECT_PATH)/components/driver/include/driver/pcnt.h \
          $(PROJECT_PATH)/components/soc/$(IDF_TARGET)/include/soc/touch_sensor_channel.h \
          $(PROJECT_PATH)/components/driver/$(IDF_TARGET)/include/driver/touch_sensor.h \
+         $(PROJECT_PATH)/components/ulp/include/esp32s3/ulp_riscv.h \
+         $(PROJECT_PATH)/components/ulp/include/$(IDF_TARGET)/ulp.h \
          $(PROJECT_PATH)/components/usb/include/usb/usb_helpers.h \
          $(PROJECT_PATH)/components/usb/include/usb/usb_host.h \
          $(PROJECT_PATH)/components/usb/include/usb/usb_types_ch9.h \

docs/zh_CN/api-guides/index.rst

@@ -39,7 +39,7 @@ API 指南
    工具 <tools/index>
    :SOC_ULP_SUPPORTED: ULP 协处理器 <ulp>
    :esp32: ULP (传统 GNU Make) <ulp-legacy>
-   :esp32s2: ULP-RISC-V 协处理器 <ulp-risc-v>
+   :SOC_RISCV_COPROC_SUPPORTED: ULP-RISC-V 协处理器 <ulp-risc-v>
    单元测试 (Target) <unit-tests>
    单元测试 (Linux Host) <linux-host-testing>
    :esp32: 单元测试 (传统 GNU Make) <unit-tests-legacy>

examples/system/ulp_riscv/ds18b20_onewire/CMakeLists.txt

@@ -2,5 +2,11 @@
 # in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.5)
 
+if(NOT IDF_TARGET STREQUAL "esp32s2")
+    #IDF-4514
+    message(FATAL_ERROR "DO NOT BUILD THIS APP FOR ANY TARGET OTHER THAN ESP32-S2 OTHERWISE YOU MAY BRICK YOUR DEVICE")
+    return()
+endif()
+
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(ulp_riscv_ds18b20_example)

examples/system/ulp_riscv/gpio/CMakeLists.txt

@@ -2,5 +2,11 @@
 # in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.5)
 
+if(NOT IDF_TARGET STREQUAL "esp32s2")
+    #IDF-4514
+    message(FATAL_ERROR "DO NOT BUILD THIS APP FOR ANY TARGET OTHER THAN ESP32-S2 OTHERWISE YOU MAY BRICK YOUR DEVICE")
+    return()
+endif()
+
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(ulp_riscv_example)

tools/unit-test-app/sdkconfig.defaults.esp32s3

@@ -1 +1,5 @@
 CONFIG_ESP32S3_DEFAULT_CPU_FREQ_240=y
+
+CONFIG_ESP32S3_ULP_COPROC_ENABLED=y
+CONFIG_ESP32S3_ULP_COPROC_RISCV=y
+CONFIG_ESP32S3_ULP_COPROC_RESERVE_MEM=4096