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arch/risc-v/esp32c6: Add ULP shared memory encapsulation
Add ULP shared memory encapsulation for esp32c6 Signed-off-by: Eren Terzioglu <eren.terzioglu@espressif.com>
This commit is contained in:
Eren Terzioglu
Matteo Golin
parent
45b90e82e5
commit
e01f967c99
2 changed files with 128 additions and 5 deletions
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@ -25,9 +25,14 @@
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****************************************************************************/
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#include <nuttx/config.h>
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#include <debug.h>
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#include <errno.h>
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#include <stdio.h>
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#include <string.h>
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#include "ulp_lp_core.h"
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#include "ulp/ulp_code.h"
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#include "ulp/ulp_var_map.h"
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/****************************************************************************
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* Pre-processor Definitions
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@ -41,10 +46,24 @@
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* Private Function Prototypes
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****************************************************************************/
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static int esp_ulp_ioctl(struct file *filep, int cmd, unsigned long arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct file_operations g_esp_ulp_fops =
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{
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.ioctl = esp_ulp_ioctl, /* ioctl */
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};
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/* Configuration for ULP LP Core */
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ulp_lp_core_cfg_t cfg =
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{
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.wakeup_source = ULP_LP_CORE_WAKEUP_SOURCE_HP_CPU,
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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@ -53,6 +72,88 @@
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: esp_ulp_ioctl
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*
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* Description:
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* Lower-half logic may support platform-specific ioctl commands
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*
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* Input Parameters:
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* filep - The pointer of file, represents each user using the sensor
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* cmd - The ioctl command
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* arg - The argument accompanying the ioctl command
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*
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* Returned Value:
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* Zero on success; a negated errno value on failure
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*
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****************************************************************************/
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static int esp_ulp_ioctl(struct file *filep, int cmd, unsigned long arg)
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{
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int ret = 0;
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int index = -1;
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struct symtab_s *sym = (struct symtab_s *)arg;
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int var_map_size = sizeof(ulp_var_map) / sizeof(ulp_var_map[0]);
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DEBUGASSERT(sym);
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/* Decode and dispatch the driver-specific IOCTL command */
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for (int i = 0; i < var_map_size; i++)
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{
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if (strcmp(ulp_var_map[i].sym.sym_name, sym->sym_name) == 0)
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{
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index = i;
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break;
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}
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}
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if (index == -1)
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{
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ferr("Symbol name does not exist\n");
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return ERROR;
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}
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switch (cmd)
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{
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case FIONREAD:
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memcpy((void *)sym->sym_value, ulp_var_map[index].sym.sym_value,
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ulp_var_map[index].size);
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break;
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case FIONWRITE:
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memcpy((void *)ulp_var_map[index].sym.sym_value, sym->sym_value,
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ulp_var_map[index].size);
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break;
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default:
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ferr("Unrecognized IOCTL command: %d\n", cmd);
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ret = -ENOTTY;
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break;
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}
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return ret;
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}
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/****************************************************************************
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* Name: esp_ulp_register
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*
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* Description:
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* This function registers ULP.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static void esp_ulp_register(void)
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{
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register_driver("/dev/ulp", &g_esp_ulp_fops, 0666, NULL);
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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@ -73,13 +174,9 @@
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void esp_ulp_init(void)
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{
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ulp_lp_core_cfg_t cfg =
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{
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.wakeup_source = ULP_LP_CORE_WAKEUP_SOURCE_HP_CPU,
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};
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ulp_lp_core_load_binary(esp_ulp_bin,
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sizeof(esp_ulp_bin));
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esp_ulp_register();
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ulp_lp_core_run(&cfg);
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}
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@ -143,6 +143,7 @@ ULP_READELF = $(CROSSDEV)readelf
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ULP_MAPGEN_TOOL_PATH = chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)esp32ulp_mapgen.py
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ULP_PREFIX = ulp_
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ULP_BASE = 0
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ULP_VAR_MAP_HEADER_STRING = '\#include "nuttx/symtab.h"\n\nstruct ulp_var_map_s\n{\n struct symtab_s sym;\n size_t size;\n};\n'
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# To prevent redefining error of other header files in nuttx folder, nuttx/config.h file
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# will be moved during ULP compilation. This step will only effect ULP
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@ -224,11 +225,35 @@ $(ULP_ELF_FILE): $(ULP_OBJS)
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$(Q) $(CC) $(ULP_LDFLAGS) $(ULP_OBJS) -o $@
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$(ULP_BIN_FILE): $(ULP_ELF_FILE) checkpython3
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$(Q) echo -e $(ULP_VAR_MAP_HEADER_STRING) > $(ULP_FOLDER)$(DELIM)ulp_var_map.h
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$(Q) echo -e "\n\nstruct ulp_var_map_s ulp_var_map[] =\n{\n" >> $(ULP_FOLDER)$(DELIM)ulp_var_map.h
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$(Q) echo -e "\n};" >> $(ULP_FOLDER)$(DELIM)ulp_var_map.h
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ifneq ($(suffix $(ULP_PROJECT_PATH)),.bin)
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$(Q) echo "Creating bin for ULP"
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$(Q) $(OBJCOPY) -O binary $(ULP_ELF_FILE) $(ULP_BIN_FILE)
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$(Q) $(ULP_READELF) -sW $(ULP_ELF_FILE) > $(ULP_SYM_FILE)
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$(Q) python3 $(ULP_MAPGEN_TOOL_PATH) -s $(ULP_SYM_FILE) -o $(ULP_FOLDER)$(DELIM)ulp_main --base $(ULP_BASE) --prefix $(ULP_PREFIX)
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# Creating map header file for accessing shared memory region of ULP variables
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$(Q) echo -e $(ULP_VAR_MAP_HEADER_STRING) > $(ULP_FOLDER)$(DELIM)ulp_var_map.h
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$(Q) grep "extern uint32_t" $(ULP_FOLDER)$(DELIM)ulp_main.h >> $(ULP_FOLDER)$(DELIM)ulp_var_map.h
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$(Q) echo -e "\n\nstruct ulp_var_map_s ulp_var_map[] =\n{\n" >> $(ULP_FOLDER)$(DELIM)ulp_var_map.h
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$(Q) grep "$(ULP_PREFIX)" $(ULP_FOLDER)$(DELIM)ulp_main.h | while IFS= read -r line; do \
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var=$$(echo $$line | grep -oP "$${ULP_PREFIX}\w+(?=[;\[])"); \
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if [ -n "$$var" ]; then \
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size=$$(echo "$$line" | grep -oP "\[\d+\]" | grep -oP "\d+"); \
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if [ -n "$$size" ]; then \
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size=$$(( $$size * 4 )); \
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else \
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size=4; \
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fi; \
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echo -e " {" >> $(ULP_FOLDER)$(DELIM)ulp_var_map.h; \
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echo -e " .sym.sym_name = \"$${var}\"," >> $(ULP_FOLDER)$(DELIM)ulp_var_map.h; \
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echo -e " .sym.sym_value = &$${var}," >> $(ULP_FOLDER)$(DELIM)ulp_var_map.h; \
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echo -e " .size = $${size}," >> $(ULP_FOLDER)$(DELIM)ulp_var_map.h; \
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echo -e " }," >> $(ULP_FOLDER)$(DELIM)ulp_var_map.h; \
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fi; \
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done
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$(Q) echo -e "\n};" >> $(ULP_FOLDER)$(DELIM)ulp_var_map.h
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endif
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$(Q) echo "Converting bin for ULP into header file"
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$(Q) xxd -i $(ULP_BIN_FILE_PATH) >$(ULP_CODE_HEADER) || { echo "xxd of $< failed" ; exit 1 ; }
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@ -243,6 +268,7 @@ $(ULP_FOLDER):
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context:: $(ULP_FOLDER)
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$(Q) touch $(ULP_CODE_HEADER)
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$(Q) touch $(ULP_FOLDER)$(DELIM)ulp_main.h
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$(Q) touch $(ULP_FOLDER)$(DELIM)ulp_var_map.h
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depend: $(ULP_BIN_FILE)
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