ports/esp32 add support for the ulp #3578
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| # ULP | ||
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| To compile binarys for the ulp you need the ulp toolkit. Download it from https://github.com/espressif/binutils-esp32ulp/wiki#downloads | ||
| Then extract it, then add ```esp32ulp-elf-binutils/bin``` to your PATH | ||
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| ## Example Makefile | ||
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| ```make | ||
| ULP_S_SOURCES := main.S | ||
| ULP_APP_NAME := test | ||
| ULP_LD_SCRIPT := esp32.ulp.ld | ||
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| SRC_PATH := src | ||
| BUILD_PATH := build | ||
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| include $(ESPIDF)/components/ulp/Makefile.projbuild | ||
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| ULP_ELF := $(ULP_APP_NAME).elf | ||
| ULP_MAP := $(ULP_ELF:.elf=.map) | ||
| ULP_SYM := $(ULP_ELF:.elf=.sym) | ||
| ULP_BIN := $(ULP_ELF:.elf=.bin) | ||
| ULP_EXPORTS_LD := $(ULP_ELF:.elf=.ld) | ||
| ULP_EXPORTS_HEADER := $(ULP_ELF:.elf=.h) | ||
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| ULP_OBJECTS := $(notdir $(ULP_S_SOURCES:.S=.ulp.o)) | ||
| ULP_DEP := $(notdir $(ULP_S_SOURCES:.S=.ulp.d)) $(ULP_LD_SCRIPT:.ld=.d) | ||
| ULP_PREPROCESSED := $(notdir $(ULP_S_SOURCES:.S=.ulp.pS)) | ||
| ULP_LISTINGS := $(notdir $(ULP_S_SOURCES:.S=.ulp.lst)) | ||
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| .PHONY: all clean | ||
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| all: $(BUILD_PATH) $(BUILD_PATH)/$(ULP_BIN) | ||
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| clean: | ||
| rm -rf $(BUILD_PATH) | ||
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| $(BUILD_PATH): | ||
| mkdir $@ | ||
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| # Generate preprocessed linker file. | ||
| $(BUILD_PATH)/$(ULP_APP_NAME).ld: $(SRC_PATH)/$(ULP_LD_SCRIPT) | ||
| cpp -P $< -o $@ | ||
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| # Generate preprocessed assembly files. | ||
| # To inspect these preprocessed files, add a ".PRECIOUS: %.ulp.pS" rule. | ||
| $(BUILD_PATH)/%.ulp.pS: $(SRC_PATH)/%.S | ||
| cpp $< -o $@ | ||
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| # Compiled preprocessed files into object files. | ||
| $(BUILD_PATH)/%.ulp.o: $(BUILD_PATH)/%.ulp.pS | ||
| $(ULP_AS) -al=$(patsubst %.ulp.o,%.ulp.lst,$@) -o $@ $< | ||
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| # Link object files and generate map file | ||
| $(BUILD_PATH)/$(ULP_ELF): $(BUILD_PATH)/$(ULP_OBJECTS) $(BUILD_PATH)/$(ULP_APP_NAME).ld | ||
| $(ULP_LD) -o $@ -A elf32-esp32ulp -Map=$(BUILD_PATH)/$(ULP_MAP) -T $(BUILD_PATH)/$(ULP_APP_NAME).ld $< | ||
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| # Dump the list of global symbols in a convenient format. | ||
| $(ULP_SYM): $(ULP_ELF) | ||
| $(ULP_NM) -g -f posix $< > $@ | ||
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| # Dump the binary for inclusion into the project | ||
| $(BUILD_PATH)/$(ULP_BIN): $(BUILD_PATH)/$(ULP_ELF) | ||
| $(ULP_OBJCOPY) -O binary $< $@ | ||
| ``` | ||
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| ## Example linker script for the ulp | ||
| ``` | ||
| #define ULP_BIN_MAGIC 0x00706c75 | ||
| #define HEADER_SIZE 12 | ||
| #define CONFIG_ULP_COPROC_RESERVE_MEM 4096 | ||
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| MEMORY | ||
| { | ||
| ram(RW) : ORIGIN = 0, LENGTH = CONFIG_ULP_COPROC_RESERVE_MEM | ||
| } | ||
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| SECTIONS | ||
| { | ||
| .text : AT(HEADER_SIZE) | ||
| { | ||
| *(.text) | ||
| } >ram | ||
| .data : | ||
| { | ||
| . = ALIGN(4); | ||
| *(.data) | ||
| } >ram | ||
| .bss : | ||
| { | ||
| . = ALIGN(4); | ||
| *(.bss) | ||
| } >ram | ||
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| .header : AT(0) | ||
| { | ||
| LONG(ULP_BIN_MAGIC) | ||
| SHORT(LOADADDR(.text)) | ||
| SHORT(SIZEOF(.text)) | ||
| SHORT(SIZEOF(.data)) | ||
| SHORT(SIZEOF(.bss)) | ||
| } | ||
| } | ||
| ``` | ||
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| ## Example ulp code | ||
| ```asm | ||
| move R3, 99 | ||
| move R0, 10 | ||
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| # mem[R0+0] = R3 | ||
| st R3, R0, 0 | ||
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| HALT | ||
| ``` | ||
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| ## Example python code using the ulp | ||
| ```python | ||
| import esp32 | ||
| import time | ||
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| u = esp32.ULP() | ||
| with open('test.bin', 'rb') as f: | ||
| b = f.read() | ||
| u.load_binary(0,b) | ||
| u.run(0) | ||
| ``` | ||
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| /* | ||
| * This file is part of the MicroPython project, http://micropython.org/ | ||
| * | ||
| * The MIT License (MIT) | ||
| * | ||
| * Copyright (c) 2018 "Andreas Valder" <andreas.valder@serioese.gmbh> | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| * of this software and associated documentation files (the "Software"), to deal | ||
| * in the Software without restriction, including without limitation the rights | ||
| * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| * copies of the Software, and to permit persons to whom the Software is | ||
| * furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in | ||
| * all copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| * THE SOFTWARE. | ||
| */ | ||
| #include "py/obj.h" | ||
| #include "py/runtime.h" | ||
| #include "py/mperrno.h" | ||
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| #include "esp32/ulp.h" | ||
| #include "esp_err.h" | ||
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| typedef struct _esp32_ulp_obj_t { | ||
| mp_obj_base_t base; | ||
| } esp32_ulp_obj_t; | ||
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| const mp_obj_type_t esp32_ulp_type; | ||
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| // singleton ULP object | ||
| STATIC const esp32_ulp_obj_t esp32_ulp_obj = {{&esp32_ulp_type}}; | ||
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| STATIC mp_obj_t esp32_ulp_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) { | ||
| // check arguments | ||
| mp_arg_check_num(n_args, n_kw, 0, 0, false); | ||
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| // return constant object | ||
| return (mp_obj_t)&esp32_ulp_obj; | ||
| } | ||
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| STATIC mp_obj_t esp32_ulp_set_wakeup_period(mp_obj_t self_in, mp_obj_t period_index_in, mp_obj_t period_us_in) { | ||
| mp_uint_t period_index = mp_obj_get_int(period_index_in); | ||
| mp_uint_t period_us = mp_obj_get_int(period_us_in); | ||
| int _errno = ulp_set_wakeup_period(period_index, period_us); | ||
| if (_errno != ESP_OK) { | ||
| mp_raise_OSError(_errno); | ||
| } | ||
| return mp_const_none; | ||
| } | ||
| STATIC MP_DEFINE_CONST_FUN_OBJ_3(esp32_ulp_set_wakeup_period_obj, esp32_ulp_set_wakeup_period); | ||
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| STATIC mp_obj_t esp32_ulp_load_binary(mp_obj_t self_in, mp_obj_t load_addr_in, mp_obj_t program_binary_in) { | ||
| mp_uint_t load_addr = mp_obj_get_int(load_addr_in); | ||
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| mp_buffer_info_t bufinfo; | ||
| mp_get_buffer_raise(program_binary_in, &bufinfo, MP_BUFFER_READ); | ||
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| int _errno = ulp_load_binary(load_addr, bufinfo.buf, bufinfo.len/sizeof(uint32_t)); | ||
| if (_errno != ESP_OK) { | ||
| mp_raise_OSError(_errno); | ||
| } | ||
| return mp_const_none; | ||
| } | ||
| STATIC MP_DEFINE_CONST_FUN_OBJ_3(esp32_ulp_load_binary_obj, esp32_ulp_load_binary); | ||
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| STATIC mp_obj_t esp32_ulp_run(mp_obj_t self_in, mp_obj_t entry_point_in) { | ||
| mp_uint_t entry_point = mp_obj_get_int(entry_point_in); | ||
| int _errno = ulp_run(entry_point/sizeof(uint32_t)); | ||
| if (_errno != ESP_OK) { | ||
| mp_raise_OSError(_errno); | ||
| } | ||
| return mp_const_none; | ||
| } | ||
| STATIC MP_DEFINE_CONST_FUN_OBJ_2(esp32_ulp_run_obj, esp32_ulp_run); | ||
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| STATIC const mp_map_elem_t esp32_ulp_locals_dict_table[] = { | ||
| { MP_ROM_QSTR(MP_QSTR_set_wakeup_period), (mp_obj_t)&esp32_ulp_set_wakeup_period_obj }, | ||
| { MP_ROM_QSTR(MP_QSTR_load_binary), (mp_obj_t)&esp32_ulp_load_binary_obj }, | ||
| { MP_ROM_QSTR(MP_QSTR_run), (mp_obj_t)&esp32_ulp_run_obj }, | ||
| { MP_ROM_QSTR(MP_QSTR_RESERVE_MEM), MP_ROM_INT(CONFIG_ULP_COPROC_RESERVE_MEM) }, | ||
| }; | ||
| STATIC MP_DEFINE_CONST_DICT(esp32_ulp_locals_dict, esp32_ulp_locals_dict_table); | ||
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| const mp_obj_type_t esp32_ulp_type = { | ||
| { &mp_type_type }, | ||
| .name = MP_QSTR_ULP, | ||
| .make_new = esp32_ulp_make_new, | ||
| .locals_dict = (mp_obj_t)&esp32_ulp_locals_dict, | ||
| }; |
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could there be a more practical example (without getting too long / too complex), where the python code feeds some data to the ulp program and also fetches from data back from it?
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Not easily. It is possible to access the slow mem from the upstream using magic values and normal memory access. We use a machine.RTC().slowmem[addr] construct internally, but it is not upstream and we do not plan to publish it. That is why i choose a very limited example.