esp-idf/components/ulp
2018-10-20 12:07:24 +08:00
..
cmake cmake: add ulp components build support 2018-09-13 14:54:59 +08:00
include/esp32 Corrected number of FSM cycles and related description 2018-09-10 07:14:19 +02:00
ld ulp: add build system integration and example 2017-03-27 12:41:00 +08:00
test cmake: Add support for test build 2018-10-20 12:07:24 +08:00
CMakeLists.txt cmake: make main a component again 2018-09-11 09:44:12 +08:00
component_ulp_common.cmake cmake: add ulp components build support 2018-09-13 14:54:59 +08:00
component_ulp_common.mk ulp: use += instead of := when setting component vars 2018-08-07 16:14:57 +03:00
component.mk remove executable permission from source files 2018-05-29 20:07:45 +08:00
esp32ulp_mapgen.py ulp: add build system integration and example 2017-03-27 12:41:00 +08:00
Makefile.projbuild ulp: add build system integration and example 2017-03-27 12:41:00 +08:00
README.rst ulp: mention that instructions array must be declared in local scope 2017-12-11 12:11:46 +08:00
ulp_macro.c ulp: add build system integration and example 2017-03-27 12:41:00 +08:00
ulp.c Corrected ULP wakeup period setup API to account for time the ULP FSM spends on internal tasks before being able to execute the program. Inspired by https://esp32.com/viewtopic.php?f=2&t=7081. 2018-09-10 07:08:12 +02:00

Programming ULP coprocessor using C macros
==========================================

In addition to the existing binutils port for the ESP32 ULP coprocessor, it is possible to generate programs for the ULP by embedding assembly-like macros into an ESP32 application. Here is an example how this can be done::

    const ulp_insn_t program[] = {
        I_MOVI(R3, 16),         // R3 <- 16
        I_LD(R0, R3, 0),        // R0 <- RTC_SLOW_MEM[R3 + 0]
        I_LD(R1, R3, 1),        // R1 <- RTC_SLOW_MEM[R3 + 1]
        I_ADDR(R2, R0, R1),     // R2 <- R0 + R1
        I_ST(R2, R3, 2),        // R2 -> RTC_SLOW_MEM[R2 + 2]
        I_HALT()
    };
    size_t load_addr = 0;
    size_t size = sizeof(program)/sizeof(ulp_insn_t);
    ulp_process_macros_and_load(load_addr, program, &size);
    ulp_run(load_addr);

The ``program`` array is an array of ``ulp_insn_t``, i.e. ULP coprocessor instructions. Each ``I_XXX`` preprocessor define translates into a single 32-bit instruction. Arguments of these preprocessor defines can be register numbers (``R0 — R3``) and literal constants. See `ULP coprocessor instruction defines`_ section for descriptions of instructions and arguments they take.

.. note::

    Because some of the instruction macros expand to inline function calls, defining such array in global scope will cause the compiler to produce an "initializer element is not constant" error. To fix this error, move the definition of instructions array into local scope.

Load and store instructions use addresses expressed in 32-bit words. Address 0 corresponds to the first word of ``RTC_SLOW_MEM`` (which is address 0x50000000 as seen by the main CPUs).

To generate branch instructions, special ``M_`` preprocessor defines are used. ``M_LABEL`` define can be used to define a branch target. Label identifier is a 16-bit integer. ``M_Bxxx`` defines can be used to generate branch instructions with target set to a particular label. 

Implementation note: these ``M_`` preprocessor defines will be translated into two ``ulp_insn_t`` values: one is a token value which contains label number, and the other is the actual instruction. ``ulp_process_macros_and_load`` function resolves the label number to the address, modifies the branch instruction to use the correct address, and removes the the extra ``ulp_insn_t`` token which contains the label numer.

Here is an example of using labels and branches::

    const ulp_insn_t program[] = {
        I_MOVI(R0, 34),         // R0 <- 34
        M_LABEL(1),             // label_1
        I_MOVI(R1, 32),         // R1 <- 32
        I_LD(R1, R1, 0),        // R1 <- RTC_SLOW_MEM[R1]
        I_MOVI(R2, 33),         // R2 <- 33
        I_LD(R2, R2, 0),        // R2 <- RTC_SLOW_MEM[R2]
        I_SUBR(R3, R1, R2),     // R3 <- R1 - R2
        I_ST(R3, R0, 0),        // R3 -> RTC_SLOW_MEM[R0 + 0]
        I_ADDI(R0, R0, 1),      // R0++
        M_BL(1, 64),            // if (R0 < 64) goto label_1
        I_HALT(),
    };
    RTC_SLOW_MEM[32] = 42;
    RTC_SLOW_MEM[33] = 18;
    size_t load_addr = 0;
    size_t size = sizeof(program)/sizeof(ulp_insn_t);
    ulp_process_macros_and_load(load_addr, program, &size);
    ulp_run(load_addr);


Functions
^^^^^^^^^

.. doxygenfunction:: ulp_process_macros_and_load
.. doxygenfunction:: ulp_run

Error codes
^^^^^^^^^^^

.. doxygendefine:: ESP_ERR_ULP_BASE
.. doxygendefine:: ESP_ERR_ULP_SIZE_TOO_BIG
.. doxygendefine:: ESP_ERR_ULP_INVALID_LOAD_ADDR
.. doxygendefine:: ESP_ERR_ULP_DUPLICATE_LABEL
.. doxygendefine:: ESP_ERR_ULP_UNDEFINED_LABEL
.. doxygendefine:: ESP_ERR_ULP_BRANCH_OUT_OF_RANGE

ULP coprocessor registers
^^^^^^^^^^^^^^^^^^^^^^^^^

ULP co-processor has 4 16-bit general purpose registers. All registers have same functionality, with one exception. R0 register is used by some of the compare-and-branch instructions as a source register.
 
These definitions can be used for all instructions which require a register.

.. doxygengroup:: ulp_registers
    :content-only:
    
ULP coprocessor instruction defines
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. doxygendefine:: I_DELAY
.. doxygendefine:: I_HALT
.. doxygendefine:: I_END
.. doxygendefine:: I_ST
.. doxygendefine:: I_LD
.. doxygendefine:: I_WR_REG
.. doxygendefine:: I_RD_REG
.. doxygendefine:: I_BL
.. doxygendefine:: I_BGE
.. doxygendefine:: I_BXR
.. doxygendefine:: I_BXI
.. doxygendefine:: I_BXZR
.. doxygendefine:: I_BXZI
.. doxygendefine:: I_BXFR
.. doxygendefine:: I_BXFI
.. doxygendefine:: I_ADDR
.. doxygendefine:: I_SUBR
.. doxygendefine:: I_ANDR
.. doxygendefine:: I_ORR
.. doxygendefine:: I_MOVR
.. doxygendefine:: I_LSHR
.. doxygendefine:: I_RSHR
.. doxygendefine:: I_ADDI
.. doxygendefine:: I_SUBI
.. doxygendefine:: I_ANDI
.. doxygendefine:: I_ORI
.. doxygendefine:: I_MOVI
.. doxygendefine:: I_LSHI
.. doxygendefine:: I_RSHI
.. doxygendefine:: M_LABEL
.. doxygendefine:: M_BL
.. doxygendefine:: M_BGE
.. doxygendefine:: M_BX
.. doxygendefine:: M_BXZ
.. doxygendefine:: M_BXF

Defines
^^^^^^^

.. doxygendefine:: RTC_SLOW_MEM