ulp: add build system integration and example
This commit is contained in:
Dmitry Yakovlev
committed by
Ivan Grokhotkov
Ivan Grokhotkov
parent
573cc7d36f
commit
a6e4e89592
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#
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# This is a project Makefile. It is assumed the directory this Makefile resides in is a
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# project subdirectory.
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#
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PROJECT_NAME := ulp-example
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include $(IDF_PATH)/make/project.mk
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# ULP Pulse Counting Example
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This example demonstrates how to program the ULP coprocessor to count pulses on an IO while the main CPUs are either running some other code or are in deep sleep. See the README.md file in the upper level 'examples' directory for more information about examples.
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ULP program written in assembly can be found in `ulp/pulse_cnt.S`. The build system assembles and links this program, converts it into binary format, and embeds it into the .rodata section of the ESP-IDF application.
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At runtime, the main code running on the ESP32 (found in main.c) loads ULP program into the `RTC_SLOW_MEM` memory region using `ulp_load_binary` function. Main code configures the ULP program by setting up values of some variables and then starts it using `ulp_run`. Once the ULP program is started, it runs periodically, with the period set by the main program. The main program enables ULP wakeup source and puts the chip into deep sleep mode.
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When the ULP program finds an edge in the input signal, it performs debouncing and increments the variable maintaining the total edge count. Once the edge count reaches certain value (set by the main program), ULP triggers wake up from deep sleep. Note that the ULP program keeps running and monitoring the input signal even when the SoC is woken up.
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Upon wakeup, the main program saves total edge count into NVS and returns to deep sleep.
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In this example the input signal is connected to GPIO0. Note that this pin was chosen because most development boards have a button connected to it, so the pulses to be counted can be generated by pressing the button. For real world applications this is not a good choice of a pin, because GPIO0 also acts as a bootstrapping pin. To change the pin number, check the ESP32 Chip Pin List document and adjust `gpio_num` and `ulp_io_number` variables in main.c.
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## Example output
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Note: GPIO15 is connected to GND to disable ROM bootloader output.
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```
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Not ULP wakeup, initializing ULP
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Entering deep sleep
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ULP wakeup, saving pulse count
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Read pulse count from NVS: 384
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Pulse count from ULP: 5
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Wrote updated pulse count to NVS: 389
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Entering deep sleep
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ULP wakeup, saving pulse count
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Read pulse count from NVS: 389
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Pulse count from ULP: 5
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Wrote updated pulse count to NVS: 394
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Entering deep sleep
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ULP wakeup, saving pulse count
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Read pulse count from NVS: 394
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Pulse count from ULP: 6
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Wrote updated pulse count to NVS: 400
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Entering deep sleep
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ULP wakeup, saving pulse count
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Read pulse count from NVS: 400
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Pulse count from ULP: 5
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Wrote updated pulse count to NVS: 405
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Entering deep sleep
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```
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Note that in one case the pulse count captured by the ULP program is 6, even though the `edge_count_to_wake_up` variable is set to 10 by the main program. This shows that the ULP program keeps track of pulses while the main CPUs are starting up, so when pulses are sent rapidly it is possible to register more pulses between wake up and entry into app_main.
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#
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# ULP support additions to component makefile.
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#
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# 1. ULP_APP_NAME must be unique (if multiple components use ULP)
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# Default value, override if necessary:
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ULP_APP_NAME ?= ulp_$(COMPONENT_NAME)
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#
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# 2. Specify all assembly source files here.
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# Files should be placed into a separate directory (in this case, ulp/),
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# which should not be added to COMPONENT_SRCDIRS.
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ULP_S_SOURCES = $(addprefix $(COMPONENT_PATH)/ulp/, \
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pulse_cnt.S \
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)
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#
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# 3. List all the component object files which include automatically
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# generated ULP export file, $(ULP_APP_NAME).h:
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ULP_EXP_DEP_OBJECTS := ulp_example_main.o
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#
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# 4. Include build rules for ULP program
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include $(IDF_PATH)/components/ulp/component_ulp_common.mk
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#
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# End of ULP support additions to component makefile.
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#
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/* ULP Example: pulse counting
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This example code is in the Public Domain (or CC0 licensed, at your option.)
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Unless required by applicable law or agreed to in writing, this
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software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
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CONDITIONS OF ANY KIND, either express or implied.
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This file contains assembly code which runs on the ULP.
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ULP wakes up to run this code at a certain period, determined by the values
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in SENS_ULP_CP_SLEEP_CYCx_REG registers. On each wake up, the program checks
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the input on GPIO0. If the value is different from the previous one, the
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program "debounces" the input: on the next debounce_max_count wake ups,
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it expects to see the same value of input.
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If this condition holds true, the program increments edge_count and starts
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waiting for input signal polarity to change again.
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When the edge counter reaches certain value (set by the main program),
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this program running triggers a wake up from deep sleep.
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*/
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/* ULP assembly files are passed through C preprocessor first, so include directives
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and C macros may be used in these files
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*/
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#include "soc/rtc_cntl_reg.h"
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#include "soc/rtc_io_reg.h"
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#include "soc/soc_ulp.h"
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/* Define variables, which go into .bss section (zero-initialized data) */
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.bss
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/* Next input signal edge expected: 0 (negative) or 1 (positive) */
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.global next_edge
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next_edge:
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.long 0
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/* Counter started when signal value changes.
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Edge is "debounced" when the counter reaches zero. */
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.global debounce_counter
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debounce_counter:
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.long 0
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/* Value to which debounce_counter gets reset.
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Set by the main program. */
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.global debounce_max_count
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debounce_max_count:
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.long 0
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/* Total number of signal edges acquired */
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.global edge_count
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edge_count:
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.long 0
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/* Number of edges to acquire before waking up the SoC.
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Set by the main program. */
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.global edge_count_to_wake_up
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edge_count_to_wake_up:
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.long 0
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/* RTC IO number used to sample the input signal.
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Set by main program. */
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.global io_number
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io_number:
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.long 0
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/* Code goes into .text section */
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.text
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.global entry
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entry:
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/* Read the value of lower 16 RTC IOs into R0 */
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READ_RTC_FIELD(RTC_GPIO_IN_REG, RTC_GPIO_IN_NEXT)
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/* Load io_number, extract the state of input */
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move r3, io_number
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ld r3, r3, 0
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rsh r0, r0, r3
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and r0, r0, 1
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/* State of input changed? */
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move r3, next_edge
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ld r3, r3, 0
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add r3, r0, r3
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and r3, r3, 1
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jump changed, eq
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/* Not changed */
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/* Reset debounce_counter to debounce_max_count */
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move r3, debounce_max_count
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move r2, debounce_counter
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ld r3, r3, 0
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st r3, r2, 0
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/* End program */
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halt
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.global changed
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changed:
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/* Input state changed */
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/* Has debounce_counter reached zero? */
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move r3, debounce_counter
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ld r2, r3, 0
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add r2, r2, 0 /* dummy ADD to use "jump if ALU result is zero" */
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jump edge_detected, eq
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/* Not yet. Decrement debounce_counter */
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sub r2, r2, 1
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st r2, r3, 0
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/* End program */
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halt
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.global edge_detected
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edge_detected:
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/* Reset debounce_counter to debounce_max_count */
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move r3, debounce_max_count
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move r2, debounce_counter
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ld r3, r3, 0
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st r3, r2, 0
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/* Flip next_edge */
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move r3, next_edge
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ld r2, r3, 0
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add r2, r2, 1
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and r2, r2, 1
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st r2, r3, 0
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/* Increment edge_count */
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move r3, edge_count
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ld r2, r3, 0
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add r2, r2, 1
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st r2, r3, 0
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/* Compare edge_count to edge_count_to_wake_up */
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move r3, edge_count_to_wake_up
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ld r3, r3, 0
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sub r3, r3, r2
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jump wake_up, eq
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/* Not yet. End program */
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halt
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.global wake_up
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wake_up:
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/* Wake up the SoC, end program */
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wake
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halt
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@@ -0,0 +1,106 @@
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/* ULP Example
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This example code is in the Public Domain (or CC0 licensed, at your option.)
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Unless required by applicable law or agreed to in writing, this
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software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
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CONDITIONS OF ANY KIND, either express or implied.
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*/
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#include <stdio.h>
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#include "esp_deep_sleep.h"
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#include "nvs.h"
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#include "nvs_flash.h"
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#include "soc/rtc_cntl_reg.h"
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#include "soc/sens_reg.h"
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#include "driver/gpio.h"
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#include "driver/rtc_io.h"
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#include "esp32/ulp.h"
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#include "ulp_main.h"
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extern const uint8_t ulp_main_bin_start[] asm("_binary_ulp_main_bin_start");
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extern const uint8_t ulp_main_bin_end[] asm("_binary_ulp_main_bin_end");
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static void init_ulp_program();
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static void update_pulse_count();
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void app_main()
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{
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esp_deep_sleep_wakeup_cause_t cause = esp_deep_sleep_get_wakeup_cause();
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if (cause != ESP_DEEP_SLEEP_WAKEUP_ULP) {
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printf("Not ULP wakeup, initializing ULP\n");
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init_ulp_program();
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} else {
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printf("ULP wakeup, saving pulse count\n");
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update_pulse_count();
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}
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printf("Entering deep sleep\n\n");
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ESP_ERROR_CHECK( esp_deep_sleep_enable_ulp_wakeup() );
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esp_deep_sleep_start();
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}
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static void init_ulp_program()
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{
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esp_err_t err = ulp_load_binary(0, ulp_main_bin_start,
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(ulp_main_bin_end - ulp_main_bin_start) / sizeof(uint32_t));
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ESP_ERROR_CHECK(err);
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/* Initialize some variables used by ULP program.
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* Each 'ulp_xyz' variable corresponds to 'xyz' variable in the ULP program.
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* These variables are declared in an auto generated header file,
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* 'ulp_main.h', name of this file is defined in component.mk as ULP_APP_NAME.
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* These variables are located in RTC_SLOW_MEM and can be accessed both by the
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* ULP and the main CPUs.
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*
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* Note that the ULP reads only the lower 16 bits of these variables.
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*/
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ulp_debounce_counter = 3;
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ulp_debounce_max_count = 3;
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ulp_next_edge = 0;
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ulp_io_number = 11; /* GPIO0 is RTC_IO 11 */
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ulp_edge_count_to_wake_up = 10;
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/* Initialize GPIO0 as RTC IO, input, disable pullup and pulldown */
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gpio_num_t gpio_num = GPIO_NUM_0;
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rtc_gpio_set_direction(gpio_num, RTC_GPIO_MODE_INPUT_ONLY);
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rtc_gpio_pulldown_dis(gpio_num);
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rtc_gpio_pullup_dis(gpio_num);
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rtc_gpio_hold_en(gpio_num);
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/* Set ULP wake up period to T = 20ms (3095 cycles of RTC_SLOW_CLK clock).
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* Minimum pulse width has to be T * (ulp_debounce_counter + 1) = 80ms.
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*/
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REG_SET_FIELD(SENS_ULP_CP_SLEEP_CYC0_REG, SENS_SLEEP_CYCLES_S0, 3095);
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/* Start the program */
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err = ulp_run((&ulp_entry - RTC_SLOW_MEM) / sizeof(uint32_t));
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ESP_ERROR_CHECK(err);
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}
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static void update_pulse_count()
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{
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const char* namespace = "plusecnt";
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const char* count_key = "count";
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ESP_ERROR_CHECK( nvs_flash_init() );
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nvs_handle handle;
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ESP_ERROR_CHECK( nvs_open(namespace, NVS_READWRITE, &handle));
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uint32_t pulse_count = 0;
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esp_err_t err = nvs_get_u32(handle, count_key, &pulse_count);
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assert(err == ESP_OK || err == ESP_ERR_NVS_NOT_FOUND);
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printf("Read pulse count from NVS: %5d\n", pulse_count);
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/* ULP program counts signal edges, convert that to the number of pulses */
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uint32_t pulse_count_from_ulp = (ulp_edge_count & UINT16_MAX) / 2;
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/* In case of an odd number of edges, keep one until next time */
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ulp_edge_count = ulp_edge_count % 2;
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printf("Pulse count from ULP: %5d\n", pulse_count_from_ulp);
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/* Save the new pulse count to NVS */
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pulse_count += pulse_count_from_ulp;
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ESP_ERROR_CHECK(nvs_set_u32(handle, count_key, pulse_count));
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ESP_ERROR_CHECK(nvs_commit(handle));
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nvs_close(handle);
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printf("Wrote updated pulse count to NVS: %5d\n", pulse_count);
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}
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@@ -0,0 +1,11 @@
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# Enable ULP
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CONFIG_ULP_COPROC_ENABLED=y
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CONFIG_ULP_COPROC_RESERVE_MEM=1024
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# Some flash chips need extra time to wake up
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# Set this a bit higher to improve out-of-the-box experience
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CONFIG_ESP32_DEEP_SLEEP_WAKEUP_DELAY=500
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# Set log level to Warning to produce clean output
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CONFIG_LOG_BOOTLOADER_LEVEL_WARN=y
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CONFIG_LOG_BOOTLOADER_LEVEL=2
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CONFIG_LOG_DEFAULT_LEVEL_WARN=y
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CONFIG_LOG_DEFAULT_LEVEL=2
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