ulp: Added support for ULP FSM on esp32s3 and fixed bugs for esp32s2

This commit enables ULP FSM support for esp32s3 and updates ULP FSM code
flow for other chips.
It adds C Macro support for the ULP FSM instruction set on esp32s2 and
esp32s3.
The unit tests are also updated to test ULP FSM on ep32s2 and esp32s3.

components/ulp/CMakeLists.txt

@@ -18,7 +18,8 @@ if(CONFIG_SOC_ULP_SUPPORTED OR CONFIG_SOC_RISCV_COPROC_SUPPORTED)
             "ulp_fsm/ulp_macro.c")
 
             list(APPEND includes
-                ulp_fsm/include)
+                ulp_fsm/include
+                ulp_fsm/include/${target})
 
     elseif(CONFIG_ULP_COPROC_TYPE_RISCV)
         list(APPEND srcs

components/ulp/README.rst

@@ -1,7 +1,7 @@
 Programming ULP FSM coprocessor using C macros (legacy)
 =======================================================
 
-In addition to the existing binutils port for the ESP32 ULP coprocessor, it is possible to generate programs for the ULP by embedding assembly-like macros into an ESP32 application. Here is an example how this can be done::
+In addition to the existing binutils port for the {IDF_TARGET_NAME} ULP coprocessor, it is possible to generate programs for the ULP by embedding assembly-like macros into an {IDF_TARGET_NAME} application. Here is an example how this can be done::
 
     const ulp_insn_t program[] = {
         I_MOVI(R3, 16),         // R3 <- 16
@@ -65,7 +65,6 @@ Header File
 
 .. list::
 
-    :component_file:`ulp/ulp_fsm/include/ulp_fsm_common.h`
     :esp32: - :component_file:`ulp/ulp_fsm/include/esp32/ulp.h`
     :esp32s2: - :component_file:`ulp/ulp_fsm/include/esp32s2/ulp.h`
     :esp32s3: - :component_file:`ulp/ulp_fsm/include/esp32s3/ulp.h`
@@ -103,11 +102,39 @@ ULP coprocessor instruction defines
 .. doxygendefine:: I_HALT
 .. doxygendefine:: I_END
 .. doxygendefine:: I_ST
+.. only:: esp32s2 or esp32s3
+
+    .. doxygendefine:: I_ST_MANUAL
+    .. doxygendefine:: I_STL
+    .. doxygendefine:: I_STH
+    .. doxygendefine:: I_ST32
+    .. doxygendefine:: I_STL_LABEL
+    .. doxygendefine:: I_STH_LABEL
+    .. doxygendefine:: I_ST_AUTO
+    .. doxygendefine:: I_STO
+    .. doxygendefine:: I_STI
+    .. doxygendefine:: I_STI_LABEL
+    .. doxygendefine:: I_STI32
+
 .. doxygendefine:: I_LD
+.. only:: esp32s2 or esp32s3
+
+    .. doxygendefine:: I_LD_MANUAL
+    .. doxygendefine:: I_LDL
+    .. doxygendefine:: I_LDH
+
 .. doxygendefine:: I_WR_REG
 .. doxygendefine:: I_RD_REG
 .. doxygendefine:: I_BL
-.. doxygendefine:: I_BGE
+.. only:: esp32
+
+    .. doxygendefine:: I_BGE
+
+.. only:: esp32s2 or esp32s3
+
+    .. doxygendefine:: I_BG
+    .. doxygendefine:: I_BE
+
 .. doxygendefine:: I_BXR
 .. doxygendefine:: I_BXI
 .. doxygendefine:: I_BXZR
@@ -130,7 +157,15 @@ ULP coprocessor instruction defines
 .. doxygendefine:: I_RSHI
 .. doxygendefine:: M_LABEL
 .. doxygendefine:: M_BL
-.. doxygendefine:: M_BGE
+.. only:: esp32
+
+    .. doxygendefine:: M_BGE
+
+.. only:: esp32s2 or esp32s3
+
+    .. doxygendefine:: M_BG
+    .. doxygendefine:: M_BE
+
 .. doxygendefine:: M_BX
 .. doxygendefine:: M_BXZ
 .. doxygendefine:: M_BXF

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

@@ -0,0 +1,16 @@
+# CMake toolchain file for ULP
+
+set(CMAKE_SYSTEM_NAME Generic)
+
+# Compiler is only used for preprocessing
+#TODO: Update toolchain to be used once esp32s3 support is added to binutils
+set(CMAKE_C_COMPILER "xtensa-esp32s2-elf-gcc")
+
+set(CMAKE_ASM_COMPILER "esp32s2ulp-elf-as")
+set(CMAKE_LINKER "esp32s2ulp-elf-ld")
+
+set(CMAKE_ASM${ASM_DIALECT}_COMPILE_OBJECT "${CMAKE_ASM${ASM_DIALECT}_COMPILER} \
+                                    <DEFINES> <INCLUDES> -o <OBJECT> -c <SOURCE>")
+set(CMAKE_EXE_LINKER_FLAGS "-A elf32-esp32s2ulp -nostdlib" CACHE STRING "ULP Linker Base Flags")
+set(CMAKE_ASM_LINK_EXECUTABLE "${CMAKE_LINKER} <FLAGS> <CMAKE_ASM_LINK_FLAGS> \
+                                <LINK_FLAGS> <OBJECTS> -o <TARGET> <LINK_LIBRARIES>")

components/ulp/test/CMakeLists.txt

@@ -1,12 +1,13 @@
-if(IDF_TARGET STREQUAL "esp32")
-    set(src_dirs ${IDF_TARGET})
-    set(ulp_sources "ulp/test_jumps_esp32.S")
-elseif(IDF_TARGET STREQUAL "esp32s2" OR IDF_TARGET STREQUAL "esp32s3")
-    if(CONFIG_ULP_COPROC_TYPE_RISCV)
-        set(src_dirs "ulp_riscv")
-        set(ulp_sources "ulp_riscv/ulp/test_main.c")
-    endif()
-    #TODO: Add ULP-FSM Test case for esp32s2 and esp32s3
+if(CONFIG_ULP_COPROC_TYPE_FSM)
+
+    set(src_dirs "ulp_fsm")
+    set(ulp_sources "ulp_fsm/ulp/test_jumps.S")
+
+elseif(CONFIG_ULP_COPROC_TYPE_RISCV)
+
+    set(src_dirs "ulp_riscv")
+    set(ulp_sources "ulp_riscv/ulp/test_main.c")
+
 endif()
 
 idf_component_register(SRC_DIRS ${src_dirs}