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.

Author: sudeep-mohanty

components/ulp/Makefile.projbuild

@@ -4,6 +4,6 @@ export ULP_AS := $(ULP_BINUTILS_PREFIX)as
 export ULP_LD := $(ULP_BINUTILS_PREFIX)ld
 export ULP_OBJCOPY := $(ULP_BINUTILS_PREFIX)objcopy
 export ULP_OBJDUMP := $(ULP_BINUTILS_PREFIX)objdump
-export ULP_LD_TEMPLATE := $(IDF_PATH)/components/ulp/ld/esp32.ulp.ld
+export ULP_LD_TEMPLATE := $(IDF_PATH)/components/ulp/ld/ulp_fsm.ld
 export ULP_NM := $(ULP_BINUTILS_PREFIX)nm
 export ULP_MAP_GEN := $(IDF_PATH)/components/ulp/esp32ulp_mapgen.py

components/ulp/cmake/toolchain-esp32s3-ulp.cmake

@@ -0,0 +1,16 @@
+# CMake toolchain file for ULP
+
+set(CMAKE_SYSTEM_NAME Generic)
+
+# Compiler is only used for preprocessing
+# The S2 and S3 ULP are the same, so we use the same toolchain
+set(CMAKE_C_COMPILER "xtensa-esp32s2-elf-gcc")
+
+set(CMAKE_ASM_COMPILER "esp32s2ulp-elf-as")
+set(CMAKE_LINKER "esp32s2ulp-elf-ld")
+
+set(CMAKE_ASM${ASM_DIALECT}_COMPILE_OBJECT "${CMAKE_ASM${ASM_DIALECT}_COMPILER} \
+                                    <DEFINES> <INCLUDES> -o <OBJECT> -c <SOURCE>")
+set(CMAKE_EXE_LINKER_FLAGS "-A elf32-esp32s2ulp -nostdlib" CACHE STRING "ULP Linker Base Flags")
+set(CMAKE_ASM_LINK_EXECUTABLE "${CMAKE_LINKER} <FLAGS> <CMAKE_ASM_LINK_FLAGS> \
+                                <LINK_FLAGS> <OBJECTS> -o <TARGET> <LINK_LIBRARIES>")

components/ulp/include/esp32/ulp.h

@@ -289,6 +289,8 @@ union ulp_insn {
 
 };
 
+_Static_assert(sizeof(ulp_insn_t) == 4, "ULP coprocessor instruction size should be 4 bytes");
+
 /**
  * Delay (nop) for a given number of cycles
  */

components/ulp/include/esp32s2/ulp.h

@@ -103,6 +103,22 @@ esp_err_t ulp_run(uint32_t entry_point);
  */
 esp_err_t ulp_set_wakeup_period(size_t period_index, uint32_t period_us);
 
+/**
+ * @brief Stop the ULP timer
+ *
+ * @note This will stop the ULP from waking up if halted, but will not abort any program
+ *       currently executing on the ULP.
+ */
+void ulp_timer_stop(void);
+
+/**
+ * @brief Resume the ULP timer
+ *
+ * @note This will resume an already configured timer, but does no other configuration
+ *
+ */
+void ulp_timer_resume(void);
+
 #ifdef __cplusplus
 }
 #endif

components/ulp/include/esp32s3/ulp.h

@@ -1,12 +1,14 @@
 if(IDF_TARGET STREQUAL "esp32")
-    set(src_dirs ${IDF_TARGET})
-    set(ulp_sources "ulp/test_jumps_esp32.S")
+    set(src_dirs "ulp_fsm")
+    set(ulp_sources "ulp_fsm/ulp/test_jumps.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")
+    if(CONFIG_ESP32S2_ULP_COPROC_RISCV OR CONFIG_ESP32S3_ULP_COPROC_RISCV)
         set(src_dirs "ulp_riscv")
         set(ulp_sources "ulp_riscv/ulp/test_main.c")
+    else()
+        set(src_dirs "ulp_fsm")
+        set(ulp_sources "ulp_fsm/ulp/test_jumps.S")
     endif()
-    #TODO: Add ULP-FSM Test case for esp32s2 and esp32s3
 endif()
 
 idf_component_register(SRC_DIRS ${src_dirs}