esp-idf/components/ulp/test/test_ulp.c

// 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.

#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 "esp32/ulp.h"

#include "soc/soc.h"
#include "soc/rtc.h"
#include "soc/rtc_cntl_reg.h"
#include "soc/sens_reg.h"
#include "driver/rtc_io.h"

#include "sdkconfig.h"

static void hexdump(const uint32_t* src, size_t count) {
    for (size_t i = 0; i < count; ++i) {
        printf("%08x ", *src);
        ++src;
        if ((i + 1) % 4 == 0) {
            printf("\n");
        }
    }
}

TEST_CASE("ulp add test", "[ulp]")
{
    memset(RTC_SLOW_MEM, 0, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM);
    const ulp_insn_t program[] = {
        I_MOVI(R3, 16),
        I_LD(R0, R3, 0),
        I_LD(R1, R3, 1),
        I_ADDR(R2, R0, R1),
        I_ST(R2, R3, 2),
        I_HALT()
    };
    RTC_SLOW_MEM[16] = 10;
    RTC_SLOW_MEM[17] = 11;
    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));
    ets_delay_us(1000);
    hexdump(RTC_SLOW_MEM, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM / 4);
    TEST_ASSERT_EQUAL(10 + 11, RTC_SLOW_MEM[18] & 0xffff);
}

TEST_CASE("ulp branch test", "[ulp]")
{
    assert(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM >= 260 && "this test needs ESP32_ULP_COPROC_RESERVE_MEM option set in menuconfig");
    memset(RTC_SLOW_MEM, 0, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM);
    const ulp_insn_t program[] = {
        I_MOVI(R0, 34),     // r0 = dst
        M_LABEL(1),
        I_MOVI(R1, 32),
        I_LD(R1, R1, 0),    // r1 = mem[33]
        I_MOVI(R2, 33),
        I_LD(R2, R2, 0),    // r2 = mem[34]
        I_SUBR(R3, R1, R2), // r3 = r1 - r2
        I_ST(R3, R0, 0),    // dst[0] = r3
        I_ADDI(R0, R0, 1),
        M_BL(1, 64),
        I_HALT(),
    };
    RTC_SLOW_MEM[32] = 42;
    RTC_SLOW_MEM[33] = 18;
    hexdump(RTC_SLOW_MEM, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM / 4);
    size_t size = sizeof(program)/sizeof(ulp_insn_t);
    ulp_process_macros_and_load(0, program, &size);
    ulp_run(0);
    printf("\n\n");
    hexdump(RTC_SLOW_MEM, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM / 4);
    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 wakeup test", "[ulp][ignore]")
{
    assert(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM >= 260 && "this test needs ESP32_ULP_COPROC_RESERVE_MEM option set in menuconfig");
    memset(RTC_SLOW_MEM, 0, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM);
    const ulp_insn_t program[] = {
        I_MOVI(R1, 1024),
        M_LABEL(1),
        I_DELAY(32000),
        I_SUBI(R1, R1, 1),
        M_BXZ(3),
        I_RSHI(R3, R1, 5),  // R3 = R1 / 32
        I_ST(R1, R3, 16),
        M_BX(1),
        M_LABEL(3),
        I_MOVI(R2, 42),
        I_MOVI(R3, 15),
        I_ST(R2, R3, 0),
        I_WAKE(),
        I_END(),
        I_HALT()
    };
    size_t size = sizeof(program)/sizeof(ulp_insn_t);
    ulp_process_macros_and_load(0, program, &size);
    ulp_run(0);
    esp_sleep_enable_ulp_wakeup();
    esp_deep_sleep_start();
}

TEST_CASE("ulp can write and read peripheral registers", "[ulp]")
{
    assert(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM >= 260 && "this test needs ESP32_ULP_COPROC_RESERVE_MEM option set in menuconfig");
    CLEAR_PERI_REG_MASK(RTC_CNTL_STATE0_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
    memset(RTC_SLOW_MEM, 0, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM);
    REG_WRITE(RTC_CNTL_STORE1_REG, 0x89abcdef);

    const ulp_insn_t program[] = {
            I_MOVI(R1, 64),
            I_RD_REG(RTC_CNTL_STORE1_REG, 0, 15),
            I_ST(R0, R1, 0),
            I_RD_REG(RTC_CNTL_STORE1_REG, 4, 11),
            I_ST(R0, R1, 1),
            I_RD_REG(RTC_CNTL_STORE1_REG, 16, 31),
            I_ST(R0, R1, 2),
            I_RD_REG(RTC_CNTL_STORE1_REG, 20, 27),
            I_ST(R0, R1, 3),
            I_WR_REG(RTC_CNTL_STORE0_REG, 0, 7, 0x89),
            I_WR_REG(RTC_CNTL_STORE0_REG, 8, 15, 0xab),
            I_WR_REG(RTC_CNTL_STORE0_REG, 16, 23, 0xcd),
            I_WR_REG(RTC_CNTL_STORE0_REG, 24, 31, 0xef),
            I_LD(R0, R1, 4),
            I_ADDI(R0, R0, 1),
            I_ST(R0, R1, 4),
            I_END(),
            I_HALT()
    };
    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));
    vTaskDelay(100/portTICK_PERIOD_MS);

    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_HEX32(1 | (15 << 21) | (1 << 16), RTC_SLOW_MEM[68]);
}

TEST_CASE("ULP I_WR_REG instruction test", "[ulp]")
{
    assert(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM >= 260 && "this test needs ESP32_ULP_COPROC_RESERVE_MEM option set in menuconfig");
    memset(RTC_SLOW_MEM, 0, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM);
    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);

        REG_WRITE(RTC_CNTL_STORE0_REG, 0xffffffff);
        REG_WRITE(RTC_CNTL_STORE1_REG, 0x00000000);
        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()
        };
        size_t size = sizeof(program)/sizeof(ulp_insn_t);
        ulp_process_macros_and_load(0, program, &size);
        ulp_run(0);
        vTaskDelay(10/portTICK_PERIOD_MS);
        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 controls RTC_IO", "[ulp][ignore]")
{
    assert(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM >= 260 && "this test needs ESP32_ULP_COPROC_RESERVE_MEM option set in menuconfig");
    memset(RTC_SLOW_MEM, 0, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM);
    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),
            I_SUBI(R2, R2, 1),
            M_BXZ(6),
            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),
                I_WR_REG(RTC_GPIO_OUT_REG, 26, 27, 1), // RTC_GPIO12 = 1
                M_BX(2),                // goto 2
            M_LABEL(0),                 // 0:
                I_WR_REG(RTC_GPIO_OUT_REG, 26, 27, 0), // RTC_GPIO12 = 0
            M_LABEL(2),                 // 2:
            I_MOVI(R1, 100),            // loop R1 from 100 down to 0
            M_LABEL(3),
                I_SUBI(R1, R1, 1),
                M_BXZ(5),
                I_DELAY(32000),         // delay for a while
                M_BX(3),
            M_LABEL(5),
            M_BX(4),
        M_LABEL(6),
        I_WAKE(),                       // wake up the SoC
        I_END(),                        // stop ULP program timer
        I_HALT()
    };
    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);
    }
    size_t size = sizeof(program)/sizeof(ulp_insn_t);
    ulp_process_macros_and_load(0, program, &size);
    ulp_run(0);
    esp_sleep_enable_ulp_wakeup();
    esp_deep_sleep_start();
}

TEST_CASE("ulp power consumption in deep sleep", "[ulp][ignore]")
{
    assert(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM >= 4 && "this test needs ESP32_ULP_COPROC_RESERVE_MEM option set in menuconfig");
    ulp_insn_t insn = I_HALT();
    memcpy(&RTC_SLOW_MEM[0], &insn, sizeof(insn));

    REG_WRITE(SENS_ULP_CP_SLEEP_CYC0_REG, 0x8000);

    ulp_run(0);

    esp_sleep_enable_ulp_wakeup();
    esp_sleep_enable_timer_wakeup(10 * 1000000);
    esp_deep_sleep_start();
}

TEST_CASE("ulp timer setting", "[ulp]")
{
    /*
     * 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.
     */
    assert(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM >= 32 && "this test needs ESP32_ULP_COPROC_RESERVE_MEM option set in menuconfig");
    memset(RTC_SLOW_MEM, 0, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM);

    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(),
    };

    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
    CLEAR_PERI_REG_MASK(RTC_CNTL_STATE0_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);

    const uint32_t cycles_to_test[] = {0x80, 0x100, 0x200, 0x400, 0x800, 0x1000, 0x2000, 0x4000};
    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 number of slow clock cycles
        REG_WRITE(SENS_ULP_CP_SLEEP_CYC0_REG, cycles_to_test[i]);
        // enable the timer and wait for a second
        SET_PERI_REG_MASK(RTC_CNTL_STATE0_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
        vTaskDelay(1000 / portTICK_PERIOD_MS);
        // get the counter value and stop the timer
        uint32_t counter = RTC_SLOW_MEM[offset] & 0xffff;
        CLEAR_PERI_REG_MASK(RTC_CNTL_STATE0_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN);
        // compare the actual and expected numbers of iterations of ULP program
        float expected_period = (cycles_to_test[i] + 16) / (float) rtc_clk_slow_freq_get_hz() + 5 / 8e6f;
        float error = 1.0f - counter * expected_period;
        printf("%u\t%u\t%.01f\t%.04f\n", cycles_to_test[i], counter, 1.0f / expected_period, error);
        // Should be within 15%
        TEST_ASSERT_INT_WITHIN(15, 0, (int) error * 100);
    }
}

TEST_CASE("ulp can use TSENS in deep sleep", "[ulp][ignore]")
{
    assert(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM >= 260 && "this test needs ESP32_ULP_COPROC_RESERVE_MEM option set in menuconfig");

    hexdump(RTC_SLOW_MEM, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM / 4);
    printf("\n\n");
    memset(RTC_SLOW_MEM, 0, CONFIG_ESP32_ULP_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);
    SET_PERI_REG_BITS(SENS_SAR_MEAS_WAIT2_REG, SENS_FORCE_XPD_SAR, 3, SENS_FORCE_XPD_SAR_S);
    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] = (CONFIG_ESP32_ULP_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_WR_REG(SENS_SAR_MEAS_WAIT2_REG, SENS_FORCE_XPD_SAR_S, SENS_FORCE_XPD_SAR_S + 1, 3),
            I_TSENS(R0, 16383), // r0 <- tsens
            I_WR_REG(SENS_SAR_MEAS_WAIT2_REG, SENS_FORCE_XPD_SAR_S, SENS_FORCE_XPD_SAR_S + 1, 0),
            I_ST(R0, R2, offset + 4),
            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);

    TEST_ESP_OK(ulp_run(0));
    esp_sleep_enable_timer_wakeup(4000000);
    esp_sleep_enable_ulp_wakeup();
    esp_deep_sleep_start();
}

TEST_CASE("can use ADC in deep sleep", "[ulp][ignore]")
{
    assert(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM >= 260 && "this test needs ESP32_ULP_COPROC_RESERVE_MEM option set in menuconfig");

    hexdump(RTC_SLOW_MEM, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM / 4);
    printf("\n\n");
    memset(RTC_SLOW_MEM, 0, CONFIG_ESP32_ULP_COPROC_RESERVE_MEM);

    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);

    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);

    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);

//    SAR1 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);


//    const int adc = 1;
//    const int channel = 1;
//    const int atten = 3;
//    const int gpio_num = 0;

    const int adc = 0;
    const int channel = 0;
    const int atten = 0;
    const int gpio_num = 36;

    rtc_gpio_init(gpio_num);

    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);

    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] = (CONFIG_ESP32_ULP_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),
            I_ADDI(R2, R2, 1),  // counter += 1
            I_ST(R2, R1, 1),    // save counter
            I_HALT(),
        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);

    TEST_ESP_OK(ulp_run(0));
    esp_sleep_enable_timer_wakeup(4000000);
    esp_deep_sleep_start();
}