6a51a13b70
When compiling
> const ulp_insn_t program[] = {
> I_DELAY(1)
> };
with the xtensa-esp32-elf-g++ compiler i always got the error:
> sorry, unimplemented: non-trivial designated initializers not supported
>
> };
This was due to the different order in the macro and the struct. The struct has another order of the fields (opcode, unused, cycles) vs (cycles, unused, opcode):
> struct {
> uint32_t cycles : 16; /*!< Number of cycles to sleep */
> uint32_t unused : 12; /*!< Unused */
> uint32_t opcode : 4; /*!< Opcode (OPCODE_DELAY) */
> } delay; /*!< Format of DELAY instruction */
After updating the order in the macro it is possible to compile with the g++ compiler.
Merges https://github.com/espressif/esp-idf/pull/1310
905 lines
32 KiB
C
905 lines
32 KiB
C
// Copyright 2016 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include <stdint.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include "esp_err.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @defgroup ulp_registers ULP coprocessor registers
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* @{
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*/
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#define R0 0 /*!< general purpose register 0 */
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#define R1 1 /*!< general purpose register 1 */
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#define R2 2 /*!< general purpose register 2 */
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#define R3 3 /*!< general purpose register 3 */
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/**@}*/
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/** @defgroup ulp_opcodes ULP coprocessor opcodes, sub opcodes, and various modifiers/flags
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*
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* These definitions are not intended to be used directly.
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* They are used in definitions of instructions later on.
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*
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* @{
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*/
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#define OPCODE_WR_REG 1 /*!< Instruction: write peripheral register (RTC_CNTL/RTC_IO/SARADC) (not implemented yet) */
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#define OPCODE_RD_REG 2 /*!< Instruction: read peripheral register (RTC_CNTL/RTC_IO/SARADC) (not implemented yet) */
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#define RD_REG_PERIPH_RTC_CNTL 0 /*!< Identifier of RTC_CNTL peripheral for RD_REG and WR_REG instructions */
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#define RD_REG_PERIPH_RTC_IO 1 /*!< Identifier of RTC_IO peripheral for RD_REG and WR_REG instructions */
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#define RD_REG_PERIPH_SENS 2 /*!< Identifier of SARADC peripheral for RD_REG and WR_REG instructions */
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#define OPCODE_I2C 3 /*!< Instruction: read/write I2C (not implemented yet) */
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#define OPCODE_DELAY 4 /*!< Instruction: delay (nop) for a given number of cycles */
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#define OPCODE_ADC 5 /*!< Instruction: SAR ADC measurement (not implemented yet) */
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#define OPCODE_ST 6 /*!< Instruction: store indirect to RTC memory */
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#define SUB_OPCODE_ST 4 /*!< Store 32 bits, 16 MSBs contain PC, 16 LSBs contain value from source register */
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#define OPCODE_ALU 7 /*!< Arithmetic instructions */
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#define SUB_OPCODE_ALU_REG 0 /*!< Arithmetic instruction, both source values are in register */
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#define SUB_OPCODE_ALU_IMM 1 /*!< Arithmetic instruction, one source value is an immediate */
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#define SUB_OPCODE_ALU_CNT 2 /*!< Arithmetic instruction between counter register and an immediate (not implemented yet)*/
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#define ALU_SEL_ADD 0 /*!< Addition */
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#define ALU_SEL_SUB 1 /*!< Subtraction */
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#define ALU_SEL_AND 2 /*!< Logical AND */
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#define ALU_SEL_OR 3 /*!< Logical OR */
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#define ALU_SEL_MOV 4 /*!< Copy value (immediate to destination register or source register to destination register */
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#define ALU_SEL_LSH 5 /*!< Shift left by given number of bits */
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#define ALU_SEL_RSH 6 /*!< Shift right by given number of bits */
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#define OPCODE_BRANCH 8 /*!< Branch instructions */
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#define SUB_OPCODE_BX 0 /*!< Branch to absolute PC (immediate or in register) */
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#define BX_JUMP_TYPE_DIRECT 0 /*!< Unconditional jump */
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#define BX_JUMP_TYPE_ZERO 1 /*!< Branch if last ALU result is zero */
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#define BX_JUMP_TYPE_OVF 2 /*!< Branch if last ALU operation caused and overflow */
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#define SUB_OPCODE_B 1 /*!< Branch to a relative offset */
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#define B_CMP_L 0 /*!< Branch if R0 is less than an immediate */
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#define B_CMP_GE 1 /*!< Branch if R0 is greater than or equal to an immediate */
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#define OPCODE_END 9 /*!< Stop executing the program */
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#define SUB_OPCODE_END 0 /*!< Stop executing the program and optionally wake up the chip */
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#define SUB_OPCODE_SLEEP 1 /*!< Stop executing the program and run it again after selected interval */
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#define OPCODE_TSENS 10 /*!< Instruction: temperature sensor measurement (not implemented yet) */
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#define OPCODE_HALT 11 /*!< Halt the coprocessor */
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#define OPCODE_LD 13 /*!< Indirect load lower 16 bits from RTC memory */
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#define OPCODE_MACRO 15 /*!< Not a real opcode. Used to identify labels and branches in the program */
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#define SUB_OPCODE_MACRO_LABEL 0 /*!< Label macro */
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#define SUB_OPCODE_MACRO_BRANCH 1 /*!< Branch macro */
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/**@}*/
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/**@{*/
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#define ESP_ERR_ULP_BASE 0x1200 /*!< Offset for ULP-related error codes */
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#define ESP_ERR_ULP_SIZE_TOO_BIG (ESP_ERR_ULP_BASE + 1) /*!< Program doesn't fit into RTC memory reserved for the ULP */
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#define ESP_ERR_ULP_INVALID_LOAD_ADDR (ESP_ERR_ULP_BASE + 2) /*!< Load address is outside of RTC memory reserved for the ULP */
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#define ESP_ERR_ULP_DUPLICATE_LABEL (ESP_ERR_ULP_BASE + 3) /*!< More than one label with the same number was defined */
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#define ESP_ERR_ULP_UNDEFINED_LABEL (ESP_ERR_ULP_BASE + 4) /*!< Branch instructions references an undefined label */
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#define ESP_ERR_ULP_BRANCH_OUT_OF_RANGE (ESP_ERR_ULP_BASE + 5) /*!< Branch target is out of range of B instruction (try replacing with BX) */
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/**@}*/
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/**
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* @brief Instruction format structure
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*
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* All ULP instructions are 32 bit long.
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* This union contains field layouts used by all of the supported instructions.
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* This union also includes a special "macro" instruction layout.
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* This is not a real instruction which can be executed by the CPU. It acts
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* as a token which is removed from the program by the
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* ulp_process_macros_and_load function.
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*
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* These structures are not intended to be used directly.
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* Preprocessor definitions provided below fill the fields of these structure with
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* the right arguments.
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*/
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typedef union {
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struct {
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uint32_t cycles : 16; /*!< Number of cycles to sleep */
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uint32_t unused : 12; /*!< Unused */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_DELAY) */
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} delay; /*!< Format of DELAY instruction */
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struct {
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uint32_t dreg : 2; /*!< Register which contains data to store */
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uint32_t sreg : 2; /*!< Register which contains address in RTC memory (expressed in words) */
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uint32_t unused1 : 6; /*!< Unused */
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uint32_t offset : 11; /*!< Offset to add to sreg */
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uint32_t unused2 : 4; /*!< Unused */
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uint32_t sub_opcode : 3; /*!< Sub opcode (SUB_OPCODE_ST) */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_ST) */
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} st; /*!< Format of ST instruction */
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struct {
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uint32_t dreg : 2; /*!< Register where the data should be loaded to */
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uint32_t sreg : 2; /*!< Register which contains address in RTC memory (expressed in words) */
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uint32_t unused1 : 6; /*!< Unused */
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uint32_t offset : 11; /*!< Offset to add to sreg */
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uint32_t unused2 : 7; /*!< Unused */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_LD) */
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} ld; /*!< Format of LD instruction */
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struct {
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uint32_t unused : 28; /*!< Unused */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_HALT) */
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} halt; /*!< Format of HALT instruction */
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struct {
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uint32_t dreg : 2; /*!< Register which contains target PC, expressed in words (used if .reg == 1) */
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uint32_t addr : 11; /*!< Target PC, expressed in words (used if .reg == 0) */
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uint32_t unused : 8; /*!< Unused */
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uint32_t reg : 1; /*!< Target PC in register (1) or immediate (0) */
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uint32_t type : 3; /*!< Jump condition (BX_JUMP_TYPE_xxx) */
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uint32_t sub_opcode : 3; /*!< Sub opcode (SUB_OPCODE_BX) */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_BRANCH) */
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} bx; /*!< Format of BRANCH instruction (absolute address) */
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struct {
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uint32_t imm : 16; /*!< Immediate value to compare against */
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uint32_t cmp : 1; /*!< Comparison to perform: B_CMP_L or B_CMP_GE */
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uint32_t offset : 7; /*!< Absolute value of target PC offset w.r.t. current PC, expressed in words */
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uint32_t sign : 1; /*!< Sign of target PC offset: 0: positive, 1: negative */
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uint32_t sub_opcode : 3; /*!< Sub opcode (SUB_OPCODE_B) */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_BRANCH) */
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} b; /*!< Format of BRANCH instruction (relative address) */
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struct {
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uint32_t dreg : 2; /*!< Destination register */
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uint32_t sreg : 2; /*!< Register with operand A */
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uint32_t treg : 2; /*!< Register with operand B */
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uint32_t unused : 15; /*!< Unused */
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uint32_t sel : 4; /*!< Operation to perform, one of ALU_SEL_xxx */
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uint32_t sub_opcode : 3; /*!< Sub opcode (SUB_OPCODE_ALU_REG) */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_ALU) */
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} alu_reg; /*!< Format of ALU instruction (both sources are registers) */
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struct {
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uint32_t dreg : 2; /*!< Destination register */
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uint32_t sreg : 2; /*!< Register with operand A */
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uint32_t imm : 16; /*!< Immediate value of operand B */
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uint32_t unused : 1; /*!< Unused */
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uint32_t sel : 4; /*!< Operation to perform, one of ALU_SEL_xxx */
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uint32_t sub_opcode : 3; /*!< Sub opcode (SUB_OPCODE_ALU_IMM) */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_ALU) */
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} alu_imm; /*!< Format of ALU instruction (one source is an immediate) */
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struct {
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uint32_t addr : 8; /*!< Address within either RTC_CNTL, RTC_IO, or SARADC */
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uint32_t periph_sel : 2; /*!< Select peripheral: RTC_CNTL (0), RTC_IO(1), SARADC(2) */
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uint32_t data : 8; /*!< 8 bits of data to write */
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uint32_t low : 5; /*!< Low bit */
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uint32_t high : 5; /*!< High bit */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_WR_REG) */
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} wr_reg; /*!< Format of WR_REG instruction */
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struct {
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uint32_t addr : 8; /*!< Address within either RTC_CNTL, RTC_IO, or SARADC */
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uint32_t periph_sel : 2; /*!< Select peripheral: RTC_CNTL (0), RTC_IO(1), SARADC(2) */
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uint32_t unused : 8; /*!< Unused */
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uint32_t low : 5; /*!< Low bit */
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uint32_t high : 5; /*!< High bit */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_WR_REG) */
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} rd_reg; /*!< Format of RD_REG instruction */
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struct {
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uint32_t dreg : 2; /*!< Register where to store ADC result */
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uint32_t mux : 4; /*!< Select SARADC pad (mux + 1) */
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uint32_t sar_sel : 1; /*!< Select SARADC0 (0) or SARADC1 (1) */
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uint32_t unused1 : 1; /*!< Unused */
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uint32_t cycles : 16; /*!< TBD, cycles used for measurement */
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uint32_t unused2 : 4; /*!< Unused */
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uint32_t opcode: 4; /*!< Opcode (OPCODE_ADC) */
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} adc; /*!< Format of ADC instruction */
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struct {
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uint32_t dreg : 2; /*!< Register where to store temperature measurement result */
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uint32_t wait_delay: 14; /*!< Cycles to wait after measurement is done */
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uint32_t reserved: 12; /*!< Reserved, set to 0 */
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uint32_t opcode: 4; /*!< Opcode (OPCODE_TSENS) */
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} tsens; /*!< Format of TSENS instruction */
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struct {
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uint32_t i2c_addr : 8; /*!< I2C slave address */
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uint32_t data : 8; /*!< Data to read or write */
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uint32_t low_bits : 3; /*!< TBD */
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uint32_t high_bits : 3; /*!< TBD */
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uint32_t i2c_sel : 4; /*!< TBD, select reg_i2c_slave_address[7:0] */
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uint32_t unused : 1; /*!< Unused */
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uint32_t rw : 1; /*!< Write (1) or read (0) */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_I2C) */
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} i2c; /*!< Format of I2C instruction */
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struct {
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uint32_t wakeup : 1; /*!< Set to 1 to wake up chip */
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uint32_t unused : 24; /*!< Unused */
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uint32_t sub_opcode : 3; /*!< Sub opcode (SUB_OPCODE_WAKEUP) */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_END) */
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} end; /*!< Format of END instruction with wakeup */
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struct {
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uint32_t cycle_sel : 4; /*!< Select which one of SARADC_ULP_CP_SLEEP_CYCx_REG to get the sleep duration from */
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uint32_t unused : 21; /*!< Unused */
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uint32_t sub_opcode : 3; /*!< Sub opcode (SUB_OPCODE_SLEEP) */
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uint32_t opcode : 4; /*!< Opcode (OPCODE_END) */
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} sleep; /*!< Format of END instruction with sleep */
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struct {
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uint32_t label : 16; /*!< Label number */
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uint32_t unused : 8; /*!< Unused */
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uint32_t sub_opcode : 4; /*!< SUB_OPCODE_MACRO_LABEL or SUB_OPCODE_MACRO_BRANCH */
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uint32_t opcode: 4; /*!< Opcode (OPCODE_MACRO) */
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} macro; /*!< Format of tokens used by LABEL and BRANCH macros */
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} ulp_insn_t;
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_Static_assert(sizeof(ulp_insn_t) == 4, "ULP coprocessor instruction size should be 4 bytes");
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/**
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* Delay (nop) for a given number of cycles
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*/
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#define I_DELAY(cycles_) { .delay = {\
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.cycles = cycles_, \
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.unused = 0, \
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.opcode = OPCODE_DELAY } }
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/**
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* Halt the coprocessor.
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*
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* This instruction halts the coprocessor, but keeps ULP timer active.
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* As such, ULP program will be restarted again by timer.
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* To stop the program and prevent the timer from restarting the program,
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* use I_END(0) instruction.
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*/
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#define I_HALT() { .halt = {\
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.unused = 0, \
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.opcode = OPCODE_HALT } }
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/**
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* Map SoC peripheral register to periph_sel field of RD_REG and WR_REG
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* instructions.
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*
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* @param reg peripheral register in RTC_CNTL_, RTC_IO_, SENS_ peripherals.
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* @return periph_sel value for the peripheral to which this register belongs.
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*/
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static inline uint32_t SOC_REG_TO_ULP_PERIPH_SEL(uint32_t reg) {
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uint32_t ret = 3;
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if (reg < DR_REG_RTCCNTL_BASE) {
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assert(0 && "invalid register base");
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} else if (reg < DR_REG_RTCIO_BASE) {
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ret = RD_REG_PERIPH_RTC_CNTL;
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} else if (reg < DR_REG_SENS_BASE) {
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ret = RD_REG_PERIPH_RTC_IO;
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} else if (reg < DR_REG_RTCMEM0_BASE){
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ret = RD_REG_PERIPH_SENS;
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} else {
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assert(0 && "invalid register base");
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}
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return ret;
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}
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/**
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* Write literal value to a peripheral register
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*
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* reg[high_bit : low_bit] = val
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* This instruction can access RTC_CNTL_, RTC_IO_, and SENS_ peripheral registers.
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*/
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#define I_WR_REG(reg, low_bit, high_bit, val) {.wr_reg = {\
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.addr = (reg & 0xff) / sizeof(uint32_t), \
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.periph_sel = SOC_REG_TO_ULP_PERIPH_SEL(reg), \
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.data = val, \
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.low = low_bit, \
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.high = high_bit, \
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.opcode = OPCODE_WR_REG } }
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/**
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* Read from peripheral register into R0
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*
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* R0 = reg[high_bit : low_bit]
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* This instruction can access RTC_CNTL_, RTC_IO_, and SENS_ peripheral registers.
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*/
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#define I_RD_REG(reg, low_bit, high_bit) {.rd_reg = {\
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.addr = (reg & 0xff) / sizeof(uint32_t), \
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.periph_sel = SOC_REG_TO_ULP_PERIPH_SEL(reg), \
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.unused = 0, \
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.low = low_bit, \
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.high = high_bit, \
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.opcode = OPCODE_RD_REG } }
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/**
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* Set or clear a bit in the peripheral register.
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*
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* Sets bit (1 << shift) of register reg to value val.
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* This instruction can access RTC_CNTL_, RTC_IO_, and SENS_ peripheral registers.
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*/
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#define I_WR_REG_BIT(reg, shift, val) I_WR_REG(reg, shift, shift, val)
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/**
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* Wake the SoC from deep sleep.
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*
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* This instruction initiates wake up from deep sleep.
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* Use esp_deep_sleep_enable_ulp_wakeup to enable deep sleep wakeup
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* triggered by the ULP before going into deep sleep.
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* Note that ULP program will still keep running until the I_HALT
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* instruction, and it will still be restarted by timer at regular
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* intervals, even when the SoC is woken up.
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*
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* To stop the ULP program, use I_HALT instruction.
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*
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* To disable the timer which start ULP program, use I_END()
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* instruction. I_END instruction clears the
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* RTC_CNTL_ULP_CP_SLP_TIMER_EN_S bit of RTC_CNTL_STATE0_REG
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* register, which controls the ULP timer.
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*/
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#define I_WAKE() { .end = { \
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.wakeup = 1, \
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.unused = 0, \
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.sub_opcode = SUB_OPCODE_END, \
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.opcode = OPCODE_END } }
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/**
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* Stop ULP program timer.
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*
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* This is a convenience macro which disables the ULP program timer.
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* Once this instruction is used, ULP program will not be restarted
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* anymore until ulp_run function is called.
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*
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* ULP program will continue running after this instruction. To stop
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* the currently running program, use I_HALT().
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*/
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#define I_END() \
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I_WR_REG_BIT(RTC_CNTL_STATE0_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN_S, 0)
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/**
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* Select the time interval used to run ULP program.
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*
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* This instructions selects which of the SENS_SLEEP_CYCLES_Sx
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* registers' value is used by the ULP program timer.
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* When the ULP program stops at I_HALT instruction, ULP program
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* timer start counting. When the counter reaches the value of
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* the selected SENS_SLEEP_CYCLES_Sx register, ULP program
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* start running again from the start address (passed to the ulp_run
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* function).
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* There are 5 SENS_SLEEP_CYCLES_Sx registers, so 0 <= timer_idx < 5.
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*
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* By default, SENS_SLEEP_CYCLES_S0 register is used by the ULP
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* program timer.
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*/
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#define I_SLEEP_CYCLE_SEL(timer_idx) { .sleep = { \
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.cycle_sel = timer_idx, \
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.unused = 0, \
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.sub_opcode = SUB_OPCODE_SLEEP, \
|
|
.opcode = OPCODE_END } }
|
|
|
|
/**
|
|
* Perform temperature sensor measurement and store it into reg_dest.
|
|
*
|
|
* Delay can be set between 1 and ((1 << 14) - 1). Higher values give
|
|
* higher measurement resolution.
|
|
*/
|
|
#define I_TSENS(reg_dest, delay) { .tsens = { \
|
|
.dreg = reg_dest, \
|
|
.wait_delay = delay, \
|
|
.reserved = 0, \
|
|
.opcode = OPCODE_TSENS } }
|
|
|
|
/**
|
|
* Perform ADC measurement and store result in reg_dest.
|
|
*
|
|
* adc_idx selects ADC (0 or 1).
|
|
* pad_idx selects ADC pad (0 - 7).
|
|
*/
|
|
#define I_ADC(reg_dest, adc_idx, pad_idx) { .adc = {\
|
|
.dreg = reg_dest, \
|
|
.mux = pad_idx + 1, \
|
|
.sar_sel = adc_idx, \
|
|
.unused1 = 0, \
|
|
.cycles = 0, \
|
|
.unused2 = 0, \
|
|
.opcode = OPCODE_ADC } }
|
|
|
|
/**
|
|
* Store value from register reg_val into RTC memory.
|
|
*
|
|
* The value is written to an offset calculated by adding value of
|
|
* reg_addr register and offset_ field (this offset is expressed in 32-bit words).
|
|
* 32 bits written to RTC memory are built as follows:
|
|
* - bits [31:21] hold the PC of current instruction, expressed in 32-bit words
|
|
* - bits [20:16] = 5'b1
|
|
* - bits [15:0] are assigned the contents of reg_val
|
|
*
|
|
* RTC_SLOW_MEM[addr + offset_] = { 5'b0, insn_PC[10:0], val[15:0] }
|
|
*/
|
|
#define I_ST(reg_val, reg_addr, offset_) { .st = { \
|
|
.dreg = reg_val, \
|
|
.sreg = reg_addr, \
|
|
.unused1 = 0, \
|
|
.offset = offset_, \
|
|
.unused2 = 0, \
|
|
.sub_opcode = SUB_OPCODE_ST, \
|
|
.opcode = OPCODE_ST } }
|
|
|
|
|
|
/**
|
|
* Load value from RTC memory into reg_dest register.
|
|
*
|
|
* Loads 16 LSBs from RTC memory word given by the sum of value in reg_addr and
|
|
* value of offset_.
|
|
*/
|
|
#define I_LD(reg_dest, reg_addr, offset_) { .ld = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_addr, \
|
|
.unused1 = 0, \
|
|
.offset = offset_, \
|
|
.unused2 = 0, \
|
|
.opcode = OPCODE_LD } }
|
|
|
|
|
|
/**
|
|
* Branch relative if R0 less than immediate value.
|
|
*
|
|
* pc_offset is expressed in words, and can be from -127 to 127
|
|
* imm_value is a 16-bit value to compare R0 against
|
|
*/
|
|
#define I_BL(pc_offset, imm_value) { .b = { \
|
|
.imm = imm_value, \
|
|
.cmp = B_CMP_L, \
|
|
.offset = abs(pc_offset), \
|
|
.sign = (pc_offset >= 0) ? 0 : 1, \
|
|
.sub_opcode = SUB_OPCODE_B, \
|
|
.opcode = OPCODE_BRANCH } }
|
|
|
|
/**
|
|
* Branch relative if R0 greater or equal than immediate value.
|
|
*
|
|
* pc_offset is expressed in words, and can be from -127 to 127
|
|
* imm_value is a 16-bit value to compare R0 against
|
|
*/
|
|
#define I_BGE(pc_offset, imm_value) { .b = { \
|
|
.imm = imm_value, \
|
|
.cmp = B_CMP_GE, \
|
|
.offset = abs(pc_offset), \
|
|
.sign = (pc_offset >= 0) ? 0 : 1, \
|
|
.sub_opcode = SUB_OPCODE_B, \
|
|
.opcode = OPCODE_BRANCH } }
|
|
|
|
/**
|
|
* Unconditional branch to absolute PC, address in register.
|
|
*
|
|
* reg_pc is the register which contains address to jump to.
|
|
* Address is expressed in 32-bit words.
|
|
*/
|
|
#define I_BXR(reg_pc) { .bx = { \
|
|
.dreg = reg_pc, \
|
|
.addr = 0, \
|
|
.unused = 0, \
|
|
.reg = 1, \
|
|
.type = BX_JUMP_TYPE_DIRECT, \
|
|
.sub_opcode = SUB_OPCODE_BX, \
|
|
.opcode = OPCODE_BRANCH } }
|
|
|
|
/**
|
|
* Unconditional branch to absolute PC, immediate address.
|
|
*
|
|
* Address imm_pc is expressed in 32-bit words.
|
|
*/
|
|
#define I_BXI(imm_pc) { .bx = { \
|
|
.dreg = 0, \
|
|
.addr = imm_pc, \
|
|
.unused = 0, \
|
|
.reg = 0, \
|
|
.type = BX_JUMP_TYPE_DIRECT, \
|
|
.sub_opcode = SUB_OPCODE_BX, \
|
|
.opcode = OPCODE_BRANCH } }
|
|
|
|
/**
|
|
* Branch to absolute PC if ALU result is zero, address in register.
|
|
*
|
|
* reg_pc is the register which contains address to jump to.
|
|
* Address is expressed in 32-bit words.
|
|
*/
|
|
#define I_BXZR(reg_pc) { .bx = { \
|
|
.dreg = reg_pc, \
|
|
.addr = 0, \
|
|
.unused = 0, \
|
|
.reg = 1, \
|
|
.type = BX_JUMP_TYPE_ZERO, \
|
|
.sub_opcode = SUB_OPCODE_BX, \
|
|
.opcode = OPCODE_BRANCH } }
|
|
|
|
/**
|
|
* Branch to absolute PC if ALU result is zero, immediate address.
|
|
*
|
|
* Address imm_pc is expressed in 32-bit words.
|
|
*/
|
|
#define I_BXZI(imm_pc) { .bx = { \
|
|
.dreg = 0, \
|
|
.addr = imm_pc, \
|
|
.unused = 0, \
|
|
.reg = 0, \
|
|
.type = BX_JUMP_TYPE_ZERO, \
|
|
.sub_opcode = SUB_OPCODE_BX, \
|
|
.opcode = OPCODE_BRANCH } }
|
|
|
|
/**
|
|
* Branch to absolute PC if ALU overflow, address in register
|
|
*
|
|
* reg_pc is the register which contains address to jump to.
|
|
* Address is expressed in 32-bit words.
|
|
*/
|
|
#define I_BXFR(reg_pc) { .bx = { \
|
|
.dreg = reg_pc, \
|
|
.addr = 0, \
|
|
.unused = 0, \
|
|
.reg = 1, \
|
|
.type = BX_JUMP_TYPE_OVF, \
|
|
.sub_opcode = SUB_OPCODE_BX, \
|
|
.opcode = OPCODE_BRANCH } }
|
|
|
|
/**
|
|
* Branch to absolute PC if ALU overflow, immediate address
|
|
*
|
|
* Address imm_pc is expressed in 32-bit words.
|
|
*/
|
|
#define I_BXFI(imm_pc) { .bx = { \
|
|
.dreg = 0, \
|
|
.addr = imm_pc, \
|
|
.unused = 0, \
|
|
.reg = 0, \
|
|
.type = BX_JUMP_TYPE_OVF, \
|
|
.sub_opcode = SUB_OPCODE_BX, \
|
|
.opcode = OPCODE_BRANCH } }
|
|
|
|
|
|
/**
|
|
* Addition: dest = src1 + src2
|
|
*/
|
|
#define I_ADDR(reg_dest, reg_src1, reg_src2) { .alu_reg = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src1, \
|
|
.treg = reg_src2, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_ADD, \
|
|
.sub_opcode = SUB_OPCODE_ALU_REG, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Subtraction: dest = src1 - src2
|
|
*/
|
|
#define I_SUBR(reg_dest, reg_src1, reg_src2) { .alu_reg = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src1, \
|
|
.treg = reg_src2, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_SUB, \
|
|
.sub_opcode = SUB_OPCODE_ALU_REG, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Logical AND: dest = src1 & src2
|
|
*/
|
|
#define I_ANDR(reg_dest, reg_src1, reg_src2) { .alu_reg = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src1, \
|
|
.treg = reg_src2, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_AND, \
|
|
.sub_opcode = SUB_OPCODE_ALU_REG, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Logical OR: dest = src1 | src2
|
|
*/
|
|
#define I_ORR(reg_dest, reg_src1, reg_src2) { .alu_reg = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src1, \
|
|
.treg = reg_src2, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_OR, \
|
|
.sub_opcode = SUB_OPCODE_ALU_REG, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Copy: dest = src
|
|
*/
|
|
#define I_MOVR(reg_dest, reg_src) { .alu_reg = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src, \
|
|
.treg = 0, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_MOV, \
|
|
.sub_opcode = SUB_OPCODE_ALU_REG, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Logical shift left: dest = src << shift
|
|
*/
|
|
#define I_LSHR(reg_dest, reg_src, reg_shift) { .alu_reg = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src, \
|
|
.treg = reg_shift, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_LSH, \
|
|
.sub_opcode = SUB_OPCODE_ALU_REG, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
|
|
/**
|
|
* Logical shift right: dest = src >> shift
|
|
*/
|
|
#define I_RSHR(reg_dest, reg_src, reg_shift) { .alu_reg = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src, \
|
|
.treg = reg_shift, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_RSH, \
|
|
.sub_opcode = SUB_OPCODE_ALU_REG, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Add register and an immediate value: dest = src1 + imm
|
|
*/
|
|
#define I_ADDI(reg_dest, reg_src, imm_) { .alu_imm = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src, \
|
|
.imm = imm_, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_ADD, \
|
|
.sub_opcode = SUB_OPCODE_ALU_IMM, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
|
|
/**
|
|
* Subtract register and an immediate value: dest = src - imm
|
|
*/
|
|
#define I_SUBI(reg_dest, reg_src, imm_) { .alu_imm = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src, \
|
|
.imm = imm_, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_SUB, \
|
|
.sub_opcode = SUB_OPCODE_ALU_IMM, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Logical AND register and an immediate value: dest = src & imm
|
|
*/
|
|
#define I_ANDI(reg_dest, reg_src, imm_) { .alu_imm = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src, \
|
|
.imm = imm_, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_AND, \
|
|
.sub_opcode = SUB_OPCODE_ALU_IMM, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Logical OR register and an immediate value: dest = src | imm
|
|
*/
|
|
#define I_ORI(reg_dest, reg_src, imm_) { .alu_imm = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src, \
|
|
.imm = imm_, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_OR, \
|
|
.sub_opcode = SUB_OPCODE_ALU_IMM, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Copy an immediate value into register: dest = imm
|
|
*/
|
|
#define I_MOVI(reg_dest, imm_) { .alu_imm = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = 0, \
|
|
.imm = imm_, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_MOV, \
|
|
.sub_opcode = SUB_OPCODE_ALU_IMM, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Logical shift left register value by an immediate: dest = src << imm
|
|
*/
|
|
#define I_LSHI(reg_dest, reg_src, imm_) { .alu_imm = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src, \
|
|
.imm = imm_, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_LSH, \
|
|
.sub_opcode = SUB_OPCODE_ALU_IMM, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
|
|
/**
|
|
* Logical shift right register value by an immediate: dest = val >> imm
|
|
*/
|
|
#define I_RSHI(reg_dest, reg_src, imm_) { .alu_imm = { \
|
|
.dreg = reg_dest, \
|
|
.sreg = reg_src, \
|
|
.imm = imm_, \
|
|
.unused = 0, \
|
|
.sel = ALU_SEL_RSH, \
|
|
.sub_opcode = SUB_OPCODE_ALU_IMM, \
|
|
.opcode = OPCODE_ALU } }
|
|
|
|
/**
|
|
* Define a label with number label_num.
|
|
*
|
|
* This is a macro which doesn't generate a real instruction.
|
|
* The token generated by this macro is removed by ulp_process_macros_and_load
|
|
* function. Label defined using this macro can be used in branch macros defined
|
|
* below.
|
|
*/
|
|
#define M_LABEL(label_num) { .macro = { \
|
|
.label = label_num, \
|
|
.unused = 0, \
|
|
.sub_opcode = SUB_OPCODE_MACRO_LABEL, \
|
|
.opcode = OPCODE_MACRO } }
|
|
|
|
/**
|
|
* Token macro used by M_B and M_BX macros. Not to be used directly.
|
|
*/
|
|
#define M_BRANCH(label_num) { .macro = { \
|
|
.label = label_num, \
|
|
.unused = 0, \
|
|
.sub_opcode = SUB_OPCODE_MACRO_BRANCH, \
|
|
.opcode = OPCODE_MACRO } }
|
|
|
|
/**
|
|
* Macro: branch to label label_num if R0 is less than immediate value.
|
|
*
|
|
* This macro generates two ulp_insn_t values separated by a comma, and should
|
|
* be used when defining contents of ulp_insn_t arrays. First value is not a
|
|
* real instruction; it is a token which is removed by ulp_process_macros_and_load
|
|
* function.
|
|
*/
|
|
#define M_BL(label_num, imm_value) \
|
|
M_BRANCH(label_num), \
|
|
I_BL(0, imm_value)
|
|
|
|
/**
|
|
* Macro: branch to label label_num if R0 is greater or equal than immediate value
|
|
*
|
|
* This macro generates two ulp_insn_t values separated by a comma, and should
|
|
* be used when defining contents of ulp_insn_t arrays. First value is not a
|
|
* real instruction; it is a token which is removed by ulp_process_macros_and_load
|
|
* function.
|
|
*/
|
|
#define M_BGE(label_num, imm_value) \
|
|
M_BRANCH(label_num), \
|
|
I_BGE(0, imm_value)
|
|
|
|
/**
|
|
* Macro: unconditional branch to label
|
|
*
|
|
* This macro generates two ulp_insn_t values separated by a comma, and should
|
|
* be used when defining contents of ulp_insn_t arrays. First value is not a
|
|
* real instruction; it is a token which is removed by ulp_process_macros_and_load
|
|
* function.
|
|
*/
|
|
#define M_BX(label_num) \
|
|
M_BRANCH(label_num), \
|
|
I_BXI(0)
|
|
|
|
/**
|
|
* Macro: branch to label if ALU result is zero
|
|
*
|
|
* This macro generates two ulp_insn_t values separated by a comma, and should
|
|
* be used when defining contents of ulp_insn_t arrays. First value is not a
|
|
* real instruction; it is a token which is removed by ulp_process_macros_and_load
|
|
* function.
|
|
*/
|
|
#define M_BXZ(label_num) \
|
|
M_BRANCH(label_num), \
|
|
I_BXZI(0)
|
|
|
|
/**
|
|
* Macro: branch to label if ALU overflow
|
|
*
|
|
* This macro generates two ulp_insn_t values separated by a comma, and should
|
|
* be used when defining contents of ulp_insn_t arrays. First value is not a
|
|
* real instruction; it is a token which is removed by ulp_process_macros_and_load
|
|
* function.
|
|
*/
|
|
#define M_BXF(label_num) \
|
|
M_BRANCH(label_num), \
|
|
I_BXFI(0)
|
|
|
|
|
|
|
|
#define RTC_SLOW_MEM ((uint32_t*) 0x50000000) /*!< RTC slow memory, 8k size */
|
|
|
|
/**
|
|
* @brief Resolve all macro references in a program and load it into RTC memory
|
|
* @param load_addr address where the program should be loaded, expressed in 32-bit words
|
|
* @param program ulp_insn_t array with the program
|
|
* @param psize size of the program, expressed in 32-bit words
|
|
* @return
|
|
* - ESP_OK on success
|
|
* - ESP_ERR_NO_MEM if auxiliary temporary structure can not be allocated
|
|
* - one of ESP_ERR_ULP_xxx if program is not valid or can not be loaded
|
|
*/
|
|
esp_err_t ulp_process_macros_and_load(uint32_t load_addr, const ulp_insn_t* program, size_t* psize);
|
|
|
|
/**
|
|
* @brief Load ULP program binary into RTC memory
|
|
*
|
|
* ULP program binary should have the following format (all values little-endian):
|
|
*
|
|
* 1. MAGIC, (value 0x00706c75, 4 bytes)
|
|
* 2. TEXT_OFFSET, offset of .text section from binary start (2 bytes)
|
|
* 3. TEXT_SIZE, size of .text section (2 bytes)
|
|
* 4. DATA_SIZE, size of .data section (2 bytes)
|
|
* 5. BSS_SIZE, size of .bss section (2 bytes)
|
|
* 6. (TEXT_OFFSET - 16) bytes of arbitrary data (will not be loaded into RTC memory)
|
|
* 7. .text section
|
|
* 8. .data section
|
|
*
|
|
* Linker script in components/ulp/ld/esp32.ulp.ld produces ELF files which
|
|
* correspond to this format. This linker script produces binaries with load_addr == 0.
|
|
*
|
|
* @param load_addr address where the program should be loaded, expressed in 32-bit words
|
|
* @param program_binary pointer to program binary
|
|
* @param program_size size of the program binary
|
|
* @return
|
|
* - ESP_OK on success
|
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* - ESP_ERR_INVALID_ARG if load_addr is out of range
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* - ESP_ERR_INVALID_SIZE if program_size doesn't match (TEXT_OFFSET + TEXT_SIZE + DATA_SIZE)
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* - ESP_ERR_NOT_SUPPORTED if the magic number is incorrect
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*/
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esp_err_t ulp_load_binary(uint32_t load_addr, const uint8_t* program_binary, size_t program_size);
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/**
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* @brief Run the program loaded into RTC memory
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* @param entry_point entry point, expressed in 32-bit words
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* @return ESP_OK on success
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*/
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esp_err_t ulp_run(uint32_t entry_point);
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/**
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* @brief Set one of ULP wakeup period values
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*
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* ULP coprocessor starts running the program when the wakeup timer counts up
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* to a given value (called period). There are 5 period values which can be
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* programmed into SENS_ULP_CP_SLEEP_CYCx_REG registers, x = 0..4.
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* By default, wakeup timer will use the period set into SENS_ULP_CP_SLEEP_CYC0_REG,
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* i.e. period number 0. ULP program code can use SLEEP instruction to select
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* which of the SENS_ULP_CP_SLEEP_CYCx_REG should be used for subsequent wakeups.
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*
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* @param period_index wakeup period setting number (0 - 4)
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|
* @param period_us wakeup period, us
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|
* @return
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* - ESP_OK on success
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|
* - ESP_ERR_INVALID_ARG if period_index is out of range
|
|
*/
|
|
esp_err_t ulp_set_wakeup_period(size_t period_index, uint32_t period_us);
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|
|
|
#ifdef __cplusplus
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}
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|
#endif
|