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esp-idf/components/ulp/test/ulp_fsm/test_ulp.c
Sudeep Mohanty a0e3d488da ulp: Added support for ULP FSM on esp32s3 and fixed bugs for esp32s2 
This commit enables ULP FSM support for esp32s3 and updates ULP FSM code
flow for other chips.
It adds C Macro support for the ULP FSM instruction set on esp32s2 and
esp32s3.
The unit tests are also updated to test ULP FSM on ep32s2 and esp32s3.
2022-06-29 11:57:02 +08:00

681 lines
28 KiB
C
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/*
* SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <stdio.h>
#include <string.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <freertos/semphr.h>
#include <unity.h>
#include "esp_attr.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_sleep.h"
#include "soc/soc.h"
#include "soc/rtc.h"
#include "soc/rtc_cntl_reg.h"
#include "soc/sens_reg.h"
#include "soc/rtc_io_reg.h"
#include "driver/rtc_io.h"
#include "sdkconfig.h"
#include "esp_rom_sys.h"
#if CONFIG_IDF_TARGET_ESP32
#include "esp32/ulp.h"
#elif CONFIG_IDF_TARGET_ESP32S2
#include "esp32s2/ulp.h"
#elif CONFIG_IDF_TARGET_ESP32S3
#include "esp32s3/ulp.h"
#endif
#include "ulp_test_app.h"
extern const uint8_t ulp_test_app_bin_start[] asm("_binary_ulp_test_app_bin_start");
extern const uint8_t ulp_test_app_bin_end[] asm("_binary_ulp_test_app_bin_end");
#define HEX_DUMP_DEBUG 0
#if CONFIG_IDF_TARGET_ESP32
#define COPROC_RESERVE_MEM CONFIG_ESP32_ULP_COPROC_RESERVE_MEM
#elif CONFIG_IDF_TARGET_ESP32S2
#define COPROC_RESERVE_MEM CONFIG_ESP32S2_ULP_COPROC_RESERVE_MEM
#elif CONFIG_IDF_TARGET_ESP32S3
#define COPROC_RESERVE_MEM CONFIG_ESP32S3_ULP_COPROC_RESERVE_MEM
#endif
static void hexdump(const uint32_t* src, size_t count) {
#if HEX_DUMP_DEBUG
for (size_t i = 0; i < count; ++i) {
printf("%08x ", *src);
++src;
if ((i + 1) % 4 == 0) {
printf("\n");
}
}
#else
(void)src;
(void)count;
#endif
}
TEST_CASE("ULP FSM addition test", "[ulp]")
{
/* Clear the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
/* ULP co-processor program to add data in 2 memory locations using ULP macros */
const ulp_insn_t program[] = {
I_MOVI(R3, 16), // r3 = 16
I_LD(R0, R3, 0), // r0 = mem[r3 + 0]
I_LD(R1, R3, 1), // r1 = mem[r3 + 1]
I_ADDR(R2, R0, R1), // r2 = r0 + r1
I_ST(R2, R3, 2), // mem[r3 + 2] = r2
I_HALT() // halt
};
/* Load the memory regions used by the ULP co-processor */
RTC_SLOW_MEM[16] = 10;
RTC_SLOW_MEM[17] = 11;
/* Calculate the size of the ULP co-processor binary, load it and run the ULP coprocessor */
size_t size = sizeof(program)/sizeof(ulp_insn_t);
TEST_ASSERT_EQUAL(ESP_OK, ulp_process_macros_and_load(0, program, &size));
TEST_ASSERT_EQUAL(ESP_OK, ulp_run(0));
/* Wait for the ULP co-processor to finish up */
esp_rom_delay_us(1000);
hexdump(RTC_SLOW_MEM, 20);
/* Verify the test results */
TEST_ASSERT_EQUAL(10 + 11, RTC_SLOW_MEM[18] & 0xffff);
}
TEST_CASE("ULP FSM subtraction and branch test", "[ulp]")
{
assert(COPROC_RESERVE_MEM >= 260 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
/* Clear the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
/* ULP co-processor program to perform subtractions and branch to a label */
const ulp_insn_t program[] = {
I_MOVI(R0, 34), // r0 = 34
M_LABEL(1), // define a label with label number as 1
I_MOVI(R1, 32), // r1 = 32
I_LD(R1, R1, 0), // r1 = mem[32 + 0]
I_MOVI(R2, 33), // r2 = 33
I_LD(R2, R2, 0), // r2 = mem[33 + 0]
I_SUBR(R3, R1, R2), // r3 = r1 - r2
I_ST(R3, R0, 0), // mem[r0 + 0] = r3
I_ADDI(R0, R0, 1), // r0 = r0 + 1
M_BL(1, 64), // branch to label 1 if r0 < 64
I_HALT(), // halt
};
/* Load the memory regions used by the ULP co-processor */
RTC_SLOW_MEM[32] = 42;
RTC_SLOW_MEM[33] = 18;
/* Calculate the size of the ULP co-processor binary, load it and run the ULP coprocessor */
size_t size = sizeof(program)/sizeof(ulp_insn_t);
TEST_ASSERT_EQUAL(ESP_OK, ulp_process_macros_and_load(0, program, &size));
TEST_ASSERT_EQUAL(ESP_OK, ulp_run(0));
printf("\n\n");
/* Wait for the ULP co-processor to finish up */
esp_rom_delay_us(1000);
hexdump(RTC_SLOW_MEM, 50);
/* Verify the test results */
for (int i = 34; i < 64; ++i) {
TEST_ASSERT_EQUAL(42 - 18, RTC_SLOW_MEM[i] & 0xffff);
}
TEST_ASSERT_EQUAL(0, RTC_SLOW_MEM[64]);
}
TEST_CASE("ULP FSM JUMPS instruction test", "[ulp]")
{
/*
* Load the ULP binary.
*
* This ULP program is written in assembly. Please refer associated .S file.
*/
esp_err_t err = ulp_load_binary(0, ulp_test_app_bin_start,
(ulp_test_app_bin_end - ulp_test_app_bin_start) / sizeof(uint32_t));
TEST_ESP_OK(err);
/* Clear ULP FSM raw interrupt */
REG_CLR_BIT(RTC_CNTL_INT_RAW_REG, RTC_CNTL_ULP_CP_INT_RAW);
/* Run the ULP coprocessor */
TEST_ESP_OK(ulp_run(&ulp_test_jumps - RTC_SLOW_MEM));
/* Wait for the ULP co-processor to finish up */
esp_rom_delay_us(1000);
/* Verify that ULP FSM issued an interrupt to wake up the main CPU */
TEST_ASSERT_NOT_EQUAL(0, REG_GET_BIT(RTC_CNTL_INT_RAW_REG, RTC_CNTL_ULP_CP_INT_RAW));
/* Verify the test results */
TEST_ASSERT_EQUAL(0, ulp_jumps_fail & UINT16_MAX);
TEST_ASSERT_EQUAL(1, ulp_jumps_pass & UINT16_MAX);
}
TEST_CASE("ULP FSM light-sleep wakeup test", "[ulp]")
{
assert(COPROC_RESERVE_MEM >= 260 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
/* Clear the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
/* ULP co-processor program to perform some activities and wakeup the main CPU from deep-sleep */
const ulp_insn_t program[] = {
I_MOVI(R1, 1024), // r1 = 1024
M_LABEL(1), // define label 1
I_DELAY(32000), // add a delay (NOP for 32000 cycles)
I_SUBI(R1, R1, 1), // r1 = r1 - 1
M_BXZ(3), // branch to label 3 if ALU value is 0. (r1 = 0)
I_RSHI(R3, R1, 5), // r3 = r1 / 32
I_ST(R1, R3, 16), // mem[r3 + 16] = r1
M_BX(1), // loop to label 1
M_LABEL(3), // define label 3
I_MOVI(R2, 42), // r2 = 42
I_MOVI(R3, 15), // r3 = 15
I_ST(R2, R3, 0), // mem[r3 + 0] = r2
I_WAKE(), // wake the SoC from deep-sleep
I_END(), // stop ULP timer
I_HALT() // halt
};
/* Calculate the size of the ULP co-processor binary, load it and run the ULP coprocessor */
size_t size = sizeof(program)/sizeof(ulp_insn_t);
TEST_ASSERT_EQUAL(ESP_OK, ulp_process_macros_and_load(0, program, &size));
TEST_ASSERT_EQUAL(ESP_OK, ulp_run(0));
/* Setup wakeup triggers */
TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
/* Enter Light Sleep */
TEST_ASSERT(esp_light_sleep_start() == ESP_OK);
/* Wait for wakeup from ULP FSM Coprocessor */
printf("cause %d\r\n", esp_sleep_get_wakeup_cause());
TEST_ASSERT(esp_sleep_get_wakeup_cause() == ESP_SLEEP_WAKEUP_ULP);
}
TEST_CASE("ULP FSM deep-sleep wakeup test", "[ulp][reset=SW_CPU_RESET][ignore]")
{
assert(COPROC_RESERVE_MEM >= 260 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
/* Clearout the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
/* ULP co-processor program to perform some activities and wakeup the main CPU from deep-sleep */
const ulp_insn_t program[] = {
I_MOVI(R1, 1024), // r1 = 1024
M_LABEL(1), // define label 1
I_DELAY(32000), // add a delay (NOP for 32000 cycles)
I_SUBI(R1, R1, 1), // r1 = r1 - 1
M_BXZ(3), // branch to label 3 if ALU value is 0. (r1 = 0)
I_RSHI(R3, R1, 5), // r3 = r1 / 32
I_ST(R1, R3, 16), // mem[r3 + 16] = r1
M_BX(1), // loop to label 1
M_LABEL(3), // define label 3
I_MOVI(R2, 42), // r2 = 42
I_MOVI(R3, 15), // r3 = 15
I_ST(R2, R3, 0), // mem[r3 + 0] = r2
I_WAKE(), // wake the SoC from deep-sleep
I_END(), // stop ULP timer
I_HALT() // halt
};
/* Calculate the size of the ULP co-processor binary, load it and run the ULP coprocessor */
size_t size = sizeof(program)/sizeof(ulp_insn_t);
TEST_ASSERT_EQUAL(ESP_OK, ulp_process_macros_and_load(0, program, &size));
TEST_ASSERT_EQUAL(ESP_OK, ulp_run(0));
/* Setup wakeup triggers */
TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
/* Enter Deep Sleep */
esp_deep_sleep_start();
UNITY_TEST_FAIL(__LINE__, "Should not get here!");
}
TEST_CASE("ULP FSM can write and read peripheral registers", "[ulp]")
{
assert(COPROC_RESERVE_MEM >= 260 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
/* Clear ULP timer */
CLEAR_PERI_REG_MASK(RTC_CNTL_STATE0_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
/* Clear the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
/* ULP co-processor program to read from and write to peripheral registers */
const ulp_insn_t program[] = {
I_MOVI(R1, 64), // r1 = 64
I_RD_REG(RTC_CNTL_STORE1_REG, 0, 15), // r0 = REG_READ(RTC_CNTL_STORE1_REG[15:0])
I_ST(R0, R1, 0), // mem[r1 + 0] = r0
I_RD_REG(RTC_CNTL_STORE1_REG, 4, 11), // r0 = REG_READ(RTC_CNTL_STORE1_REG[11:4])
I_ST(R0, R1, 1), // mem[r1 + 1] = r0
I_RD_REG(RTC_CNTL_STORE1_REG, 16, 31), // r0 = REG_READ(RTC_CNTL_STORE1_REG[31:16])
I_ST(R0, R1, 2), // mem[r1 + 2] = r0
I_RD_REG(RTC_CNTL_STORE1_REG, 20, 27), // r0 = REG_READ(RTC_CNTL_STORE1_REG[27:20])
I_ST(R0, R1, 3), // mem[r1 + 3] = r0
I_WR_REG(RTC_CNTL_STORE0_REG, 0, 7, 0x89), // REG_WRITE(RTC_CNTL_STORE0_REG[7:0], 0x89)
I_WR_REG(RTC_CNTL_STORE0_REG, 8, 15, 0xab), // REG_WRITE(RTC_CNTL_STORE0_REG[15:8], 0xab)
I_WR_REG(RTC_CNTL_STORE0_REG, 16, 23, 0xcd), // REG_WRITE(RTC_CNTL_STORE0_REG[23:16], 0xcd)
I_WR_REG(RTC_CNTL_STORE0_REG, 24, 31, 0xef), // REG_WRITE(RTC_CNTL_STORE0_REG[31:24], 0xef)
I_LD(R0, R1, 4), // r0 = mem[r1 + 4]
I_ADDI(R0, R0, 1), // r0 = r0 + 1
I_ST(R0, R1, 4), // mem[r1 + 4] = r0
I_END(), // stop ULP timer
I_HALT() // halt
};
/* Set data in the peripheral register to be read by the ULP co-processor */
REG_WRITE(RTC_CNTL_STORE1_REG, 0x89abcdef);
/* Calculate the size of the ULP co-processor binary, load it and run the ULP coprocessor */
size_t size = sizeof(program)/sizeof(ulp_insn_t);
TEST_ESP_OK(ulp_process_macros_and_load(0, program, &size));
TEST_ESP_OK(ulp_run(0));
/* Wait for the ULP co-processor to finish up */
vTaskDelay(100/portTICK_PERIOD_MS);
/* Verify the test results */
TEST_ASSERT_EQUAL_HEX32(0xefcdab89, REG_READ(RTC_CNTL_STORE0_REG));
TEST_ASSERT_EQUAL_HEX16(0xcdef, RTC_SLOW_MEM[64] & 0xffff);
TEST_ASSERT_EQUAL_HEX16(0xde, RTC_SLOW_MEM[65] & 0xffff);
TEST_ASSERT_EQUAL_HEX16(0x89ab, RTC_SLOW_MEM[66] & 0xffff);
TEST_ASSERT_EQUAL_HEX16(0x9a, RTC_SLOW_MEM[67] & 0xffff);
TEST_ASSERT_EQUAL_HEX16(1, RTC_SLOW_MEM[68] & 0xffff);
}
TEST_CASE("ULP FSM I_WR_REG instruction test", "[ulp]")
{
assert(COPROC_RESERVE_MEM >= 260 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
/* Clear the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
/* Define the test set */
typedef struct {
int low;
int width;
} wr_reg_test_item_t;
const wr_reg_test_item_t test_items[] = {
{0, 1}, {0, 2}, {0, 3}, {0, 4}, {0, 5}, {0, 6}, {0, 7}, {0, 8},
{3, 1}, {3, 2}, {3, 3}, {3, 4}, {3, 5}, {3, 6}, {3, 7}, {3, 8},
{15, 1}, {15, 2}, {15, 3}, {15, 4}, {15, 5}, {15, 6}, {15, 7}, {15, 8},
{16, 1}, {16, 2}, {16, 3}, {16, 4}, {16, 5}, {16, 6}, {16, 7}, {16, 8},
{18, 1}, {18, 2}, {18, 3}, {18, 4}, {18, 5}, {18, 6}, {18, 7}, {18, 8},
{24, 1}, {24, 2}, {24, 3}, {24, 4}, {24, 5}, {24, 6}, {24, 7}, {24, 8},
};
const size_t test_items_count =
sizeof(test_items)/sizeof(test_items[0]);
for (size_t i = 0; i < test_items_count; ++i) {
const uint32_t mask = (uint32_t) (((1ULL << test_items[i].width) - 1) << test_items[i].low);
const uint32_t not_mask = ~mask;
printf("#%2d: low: %2d width: %2d mask: %08x expected: %08x ", i,
test_items[i].low, test_items[i].width,
mask, not_mask);
/* Set all bits in RTC_CNTL_STORE0_REG and reset all bits in RTC_CNTL_STORE1_REG */
REG_WRITE(RTC_CNTL_STORE0_REG, 0xffffffff);
REG_WRITE(RTC_CNTL_STORE1_REG, 0x00000000);
/* ULP co-processor program to write to peripheral registers */
const ulp_insn_t program[] = {
I_WR_REG(RTC_CNTL_STORE0_REG,
test_items[i].low,
test_items[i].low + test_items[i].width - 1,
0),
I_WR_REG(RTC_CNTL_STORE1_REG,
test_items[i].low,
test_items[i].low + test_items[i].width - 1,
0xff & ((1 << test_items[i].width) - 1)),
I_END(),
I_HALT()
};
/* Calculate the size of the ULP co-processor binary, load it and run the ULP coprocessor */
size_t size = sizeof(program)/sizeof(ulp_insn_t);
TEST_ESP_OK(ulp_process_macros_and_load(0, program, &size));
TEST_ESP_OK(ulp_run(0));
/* Wait for the ULP co-processor to finish up */
vTaskDelay(10/portTICK_PERIOD_MS);
/* Verify the test results */
uint32_t clear = REG_READ(RTC_CNTL_STORE0_REG);
uint32_t set = REG_READ(RTC_CNTL_STORE1_REG);
printf("clear: %08x set: %08x\n", clear, set);
TEST_ASSERT_EQUAL_HEX32(not_mask, clear);
TEST_ASSERT_EQUAL_HEX32(mask, set);
}
}
TEST_CASE("ULP FSM controls RTC_IO", "[ulp][ignore]")
{
assert(COPROC_RESERVE_MEM >= 260 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
/* Clear the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
/* ULP co-processor program to toggle LED */
const ulp_insn_t program[] = {
I_MOVI(R0, 0), // r0 is LED state
I_MOVI(R2, 16), // loop r2 from 16 down to 0
M_LABEL(4), // define label 4
I_SUBI(R2, R2, 1), // r2 = r2 - 1
M_BXZ(6), // branch to label 6 if r2 = 0
I_ADDI(R0, R0, 1), // r0 = (r0 + 1) % 2
I_ANDI(R0, R0, 0x1),
M_BL(0, 1), // if r0 < 1 goto 0
M_LABEL(1), // define label 1
I_WR_REG(RTC_GPIO_OUT_REG, 26, 27, 1), // RTC_GPIO12 = 1
M_BX(2), // goto 2
M_LABEL(0), // define label 0
I_WR_REG(RTC_GPIO_OUT_REG, 26, 27, 0), // RTC_GPIO12 = 0
M_LABEL(2), // define label 2
I_MOVI(R1, 100), // loop R1 from 100 down to 0
M_LABEL(3), // define label 3
I_SUBI(R1, R1, 1), // r1 = r1 - 1
M_BXZ(5), // branch to label 5 if r1 = 0
I_DELAY(32000), // delay for a while
M_BX(3), // goto 3
M_LABEL(5), // define label 5
M_BX(4), // loop back to label 4
M_LABEL(6), // define label 6
I_WAKE(), // wake up the SoC
I_END(), // stop ULP program timer
I_HALT()
};
/* Configure LED GPIOs */
const gpio_num_t led_gpios[] = {
GPIO_NUM_2,
GPIO_NUM_0,
GPIO_NUM_4
};
for (size_t i = 0; i < sizeof(led_gpios)/sizeof(led_gpios[0]); ++i) {
rtc_gpio_init(led_gpios[i]);
rtc_gpio_set_direction(led_gpios[i], RTC_GPIO_MODE_OUTPUT_ONLY);
rtc_gpio_set_level(led_gpios[i], 0);
}
/* Calculate the size of the ULP co-processor binary, load it and run the ULP coprocessor */
size_t size = sizeof(program)/sizeof(ulp_insn_t);
TEST_ESP_OK(ulp_process_macros_and_load(0, program, &size));
TEST_ESP_OK(ulp_run(0));
/* Setup wakeup triggers */
TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
/* Enter Deep Sleep */
esp_deep_sleep_start();
UNITY_TEST_FAIL(__LINE__, "Should not get here!");
}
TEST_CASE("ULP FSM power consumption in deep sleep", "[ulp][ignore]")
{
assert(COPROC_RESERVE_MEM >= 4 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
/* Clear the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
/* Put the ULP coprocessor in halt state */
ulp_insn_t insn = I_HALT();
memcpy(&RTC_SLOW_MEM[0], &insn, sizeof(insn));
/* Set ULP timer */
ulp_set_wakeup_period(0, 0x8000);
/* Run the ULP coprocessor */
TEST_ESP_OK(ulp_run(0));
/* Setup wakeup triggers */
TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
TEST_ASSERT(esp_sleep_enable_timer_wakeup(10 * 1000000) == ESP_OK);
/* Enter Deep Sleep */
esp_deep_sleep_start();
UNITY_TEST_FAIL(__LINE__, "Should not get here!");
}
TEST_CASE("ULP FSM timer setting", "[ulp]")
{
assert(COPROC_RESERVE_MEM >= 32 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
/* Clear the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
/*
* Run a simple ULP program which increments the counter, for one second.
* Program calls I_HALT each time and gets restarted by the timer.
* Compare the expected number of times the program runs with the actual.
*/
const int offset = 6;
const ulp_insn_t program[] = {
I_MOVI(R1, offset), // r1 <- offset
I_LD(R2, R1, 0), // load counter
I_ADDI(R2, R2, 1), // counter += 1
I_ST(R2, R1, 0), // save counter
I_HALT(),
};
/* Calculate the size of the ULP co-processor binary, load it and run the ULP coprocessor */
size_t size = sizeof(program)/sizeof(ulp_insn_t);
TEST_ESP_OK(ulp_process_macros_and_load(0, program, &size));
assert(offset >= size && "data offset needs to be greater or equal to program size");
TEST_ESP_OK(ulp_run(0));
/* Disable the ULP program timer — we will enable it later */
ulp_timer_stop();
/* Define the test data */
const uint32_t cycles_to_test[] = { 10000, // 10 ms
20000, // 20 ms
50000, // 50 ms
100000, // 100 ms
200000, // 200 ms
500000, // 500 ms
1000000 }; // 1 sec
const size_t tests_count = sizeof(cycles_to_test) / sizeof(cycles_to_test[0]);
for (size_t i = 0; i < tests_count; ++i) {
// zero out the counter
RTC_SLOW_MEM[offset] = 0;
// set the ulp timer period
ulp_set_wakeup_period(0, cycles_to_test[i]);
// enable the timer and wait for a second
ulp_timer_resume();
vTaskDelay(1000 / portTICK_PERIOD_MS);
// stop the timer and get the counter value
ulp_timer_stop();
uint32_t counter = RTC_SLOW_MEM[offset] & 0xffff;
// calculate the expected counter value and allow a tolerance of 15%
uint32_t expected_counter = 1000000 / cycles_to_test[i];
uint32_t tolerance = (expected_counter * 15 / 100);
tolerance = tolerance ? tolerance : 1; // Keep a tolerance of at least 1 count
printf("expected: %u\t tolerance: +/- %u\t actual: %u\n", expected_counter, tolerance, counter);
// Should be within 15%
TEST_ASSERT_INT_WITHIN(tolerance, expected_counter, counter);
}
}
TEST_CASE("ULP FSM can use temperature sensor (TSENS) in deep sleep", "[ulp][ignore]")
{
assert(COPROC_RESERVE_MEM >= 260 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
/* Clear the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
// Allow TSENS to be controlled by the ULP
SET_PERI_REG_BITS(SENS_SAR_TSENS_CTRL_REG, SENS_TSENS_CLK_DIV, 10, SENS_TSENS_CLK_DIV_S);
#if CONFIG_IDF_TARGET_ESP32
SET_PERI_REG_BITS(SENS_SAR_MEAS_WAIT2_REG, SENS_FORCE_XPD_SAR, SENS_FORCE_XPD_SAR_FSM, SENS_FORCE_XPD_SAR_S);
#elif CONFIG_IDF_TARGET_ESP32S2
SET_PERI_REG_BITS(SENS_SAR_POWER_XPD_SAR_REG, SENS_FORCE_XPD_SAR, SENS_FORCE_XPD_SAR_FSM, SENS_FORCE_XPD_SAR_S);
SET_PERI_REG_MASK(SENS_SAR_TSENS_CTRL2_REG, SENS_TSENS_CLKGATE_EN);
#elif CONFIG_IDF_TARGET_ESP32S3
SET_PERI_REG_BITS(SENS_SAR_POWER_XPD_SAR_REG, SENS_FORCE_XPD_SAR, 0, SENS_FORCE_XPD_SAR_S);
SET_PERI_REG_MASK(SENS_SAR_PERI_CLK_GATE_CONF_REG, SENS_TSENS_CLK_EN);
#endif
CLEAR_PERI_REG_MASK(SENS_SAR_TSENS_CTRL_REG, SENS_TSENS_POWER_UP);
CLEAR_PERI_REG_MASK(SENS_SAR_TSENS_CTRL_REG, SENS_TSENS_DUMP_OUT);
CLEAR_PERI_REG_MASK(SENS_SAR_TSENS_CTRL_REG, SENS_TSENS_POWER_UP_FORCE);
// data start offset
size_t offset = 20;
// number of samples to collect
RTC_SLOW_MEM[offset] = (COPROC_RESERVE_MEM) / 4 - offset - 8;
// sample counter
RTC_SLOW_MEM[offset + 1] = 0;
/* ULP co-processor program to record temperature sensor readings */
const ulp_insn_t program[] = {
I_MOVI(R1, offset), // r1 <- offset
I_LD(R2, R1, 1), // r2 <- counter
I_LD(R3, R1, 0), // r3 <- length
I_SUBI(R3, R3, 1), // end = length - 1
I_SUBR(R3, R3, R2), // r3 = length - counter
M_BXF(1), // if overflow goto 1:
I_TSENS(R0, 16383), // r0 <- tsens
I_ST(R0, R2, offset + 4), // mem[r2 + offset +4] <- r0
I_ADDI(R2, R2, 1), // counter += 1
I_ST(R2, R1, 1), // save counter
I_HALT(), // enter sleep
M_LABEL(1), // done with measurements
I_END(), // stop ULP timer
I_WAKE(), // initiate wakeup
I_HALT()
};
size_t size = sizeof(program)/sizeof(ulp_insn_t);
TEST_ESP_OK(ulp_process_macros_and_load(0, program, &size));
assert(offset >= size);
/* Run the ULP coprocessor */
TEST_ESP_OK(ulp_run(0));
/* Setup wakeup triggers */
TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
TEST_ASSERT(esp_sleep_enable_timer_wakeup(10 * 1000000) == ESP_OK);
/* Enter Deep Sleep */
esp_deep_sleep_start();
UNITY_TEST_FAIL(__LINE__, "Should not get here!");
}
TEST_CASE("ULP FSM can use ADC in deep sleep", "[ulp][ignore]")
{
assert(COPROC_RESERVE_MEM >= 260 && "this test needs ULP_COPROC_RESERVE_MEM option set in menuconfig");
const int adc = 0;
const int channel = 0;
const int atten = 0;
/* Clear the RTC_SLOW_MEM region for the ULP co-processor binary to be loaded */
memset(RTC_SLOW_MEM, 0, COPROC_RESERVE_MEM);
#if defined(CONFIG_IDF_TARGET_ESP32)
// Configure SAR ADCn resolution
SET_PERI_REG_BITS(SENS_SAR_START_FORCE_REG, SENS_SAR1_BIT_WIDTH, 3, SENS_SAR1_BIT_WIDTH_S);
SET_PERI_REG_BITS(SENS_SAR_START_FORCE_REG, SENS_SAR2_BIT_WIDTH, 3, SENS_SAR2_BIT_WIDTH_S);
SET_PERI_REG_BITS(SENS_SAR_READ_CTRL_REG, SENS_SAR1_SAMPLE_BIT, 0x3, SENS_SAR1_SAMPLE_BIT_S);
SET_PERI_REG_BITS(SENS_SAR_READ_CTRL2_REG, SENS_SAR2_SAMPLE_BIT, 0x3, SENS_SAR2_SAMPLE_BIT_S);
// SAR ADCn is started by ULP FSM
CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_MEAS2_START_FORCE);
CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_MEAS1_START_FORCE);
// Use ULP FSM to power up SAR ADCn
SET_PERI_REG_BITS(SENS_SAR_MEAS_WAIT2_REG, SENS_FORCE_XPD_SAR, 0, SENS_FORCE_XPD_SAR_S);
SET_PERI_REG_BITS(SENS_SAR_MEAS_WAIT2_REG, SENS_FORCE_XPD_AMP, 2, SENS_FORCE_XPD_AMP_S);
// SAR ADCn invert result
SET_PERI_REG_MASK(SENS_SAR_READ_CTRL_REG, SENS_SAR1_DATA_INV);
SET_PERI_REG_MASK(SENS_SAR_READ_CTRL_REG, SENS_SAR2_DATA_INV);
// Set SAR ADCn pad enable bitmap to be controlled by ULP FSM
CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START1_REG, SENS_SAR1_EN_PAD_FORCE_M);
CLEAR_PERI_REG_MASK(SENS_SAR_MEAS_START2_REG, SENS_SAR2_EN_PAD_FORCE_M);
#elif defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
// SAR ADCn is started by ULP FSM
CLEAR_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_MEAS2_START_FORCE);
CLEAR_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_MEAS1_START_FORCE);
// Use ULP FSM to power up/down SAR ADCn
SET_PERI_REG_BITS(SENS_SAR_POWER_XPD_SAR_REG, SENS_FORCE_XPD_SAR, 0, SENS_FORCE_XPD_SAR_S);
SET_PERI_REG_BITS(SENS_SAR_MEAS1_CTRL1_REG, SENS_FORCE_XPD_AMP, 2, SENS_FORCE_XPD_AMP_S);
// SAR1 invert result
SET_PERI_REG_MASK(SENS_SAR_READER1_CTRL_REG, SENS_SAR1_DATA_INV);
SET_PERI_REG_MASK(SENS_SAR_READER2_CTRL_REG, SENS_SAR2_DATA_INV);
// Set SAR ADCn pad enable bitmap to be controlled by ULP FSM
CLEAR_PERI_REG_MASK(SENS_SAR_MEAS1_CTRL2_REG, SENS_SAR1_EN_PAD_FORCE_M);
CLEAR_PERI_REG_MASK(SENS_SAR_MEAS2_CTRL2_REG, SENS_SAR2_EN_PAD_FORCE_M);
// Enable SAR ADCn clock gate on esp32s3
#if CONFIG_IDF_TARGET_ESP32S3
SET_PERI_REG_MASK(SENS_SAR_PERI_CLK_GATE_CONF_REG, SENS_SARADC_CLK_EN);
#endif
#endif
SET_PERI_REG_BITS(SENS_SAR_ATTEN1_REG, 3, atten, 2 * channel); //set SAR1 attenuation
SET_PERI_REG_BITS(SENS_SAR_ATTEN2_REG, 3, atten, 2 * channel); //set SAR2 attenuation
// data start offset
size_t offset = 20;
// number of samples to collect
RTC_SLOW_MEM[offset] = (COPROC_RESERVE_MEM) / 4 - offset - 8;
// sample counter
RTC_SLOW_MEM[offset + 1] = 0;
const ulp_insn_t program[] = {
I_MOVI(R1, offset), // r1 <- offset
I_LD(R2, R1, 1), // r2 <- counter
I_LD(R3, R1, 0), // r3 <- length
I_SUBI(R3, R3, 1), // end = length - 1
I_SUBR(R3, R3, R2), // r3 = length - counter
M_BXF(1), // if overflow goto 1:
I_ADC(R0, adc, channel), // r0 <- ADC
I_ST(R0, R2, offset + 4), // mem[r2 + offset +4] = r0
I_ADDI(R2, R2, 1), // counter += 1
I_ST(R2, R1, 1), // save counter
I_HALT(), // enter sleep
M_LABEL(1), // done with measurements
I_END(), // stop ULP program timer
I_HALT()
};
size_t size = sizeof(program)/sizeof(ulp_insn_t);
TEST_ESP_OK(ulp_process_macros_and_load(0, program, &size));
assert(offset >= size);
/* Run the ULP coprocessor */
TEST_ESP_OK(ulp_run(0));
/* Setup wakeup triggers */
TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
TEST_ASSERT(esp_sleep_enable_timer_wakeup(10 * 1000000) == ESP_OK);
/* Enter Deep Sleep */
esp_deep_sleep_start();
UNITY_TEST_FAIL(__LINE__, "Should not get here!");
}
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