esp32: Add support for the esp32's ULP.

The ULP is available as esp32.ULP().  See README.ulp.md for basic usage.

ports/esp32/Makefile

@@ -83,6 +83,7 @@ INC_ESPCOMP += -I$(ESPCOMP)/lwip/include/lwip/posix
 INC_ESPCOMP += -I$(ESPCOMP)/mbedtls/include
 INC_ESPCOMP += -I$(ESPCOMP)/mbedtls/port/include
 INC_ESPCOMP += -I$(ESPCOMP)/spi_flash/include
+INC_ESPCOMP += -I$(ESPCOMP)/ulp/include
 INC_ESPCOMP += -I$(ESPCOMP)/vfs/include
 INC_ESPCOMP += -I$(ESPCOMP)/newlib/platform_include
 INC_ESPCOMP += -I$(ESPCOMP)/xtensa-debug-module/include
@@ -148,6 +149,7 @@ SRC_C = \
 	network_lan.c \
 	modsocket.c \
 	modesp.c \
+	esp32_ulp.c \
 	modesp32.c \
 	moduhashlib.c \
 	espneopixel.c \
@@ -417,6 +419,10 @@ ESPIDF_SPI_FLASH_O = $(addprefix $(ESPCOMP)/spi_flash/,\
 	flash_ops.o \
 	)
 
+ESPIDF_ULP_O = $(addprefix $(ESPCOMP)/ulp/,\
+	ulp.o \
+	)
+
 $(BUILD)/$(ESPCOMP)/lwip/%.o: CFLAGS += -Wno-address -Wno-unused-variable -Wno-unused-but-set-variable
 ESPIDF_LWIP_O = $(addprefix $(ESPCOMP)/lwip/,\
 	api/pppapi.o \
@@ -605,6 +611,7 @@ OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_NGHTTP_O))
 OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_NVS_FLASH_O))
 OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_OPENSSL_O))
 OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_SPI_FLASH_O))
+OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_ULP_O))
 OBJ_ESPIDF += $(addprefix $(BUILD)/, $(ESPIDF_WPA_SUPPLICANT_O))
 ################################################################################
 # Main targets

ports/esp32/README.ulp.md

@@ -0,0 +1,126 @@
+# ULP
+
+To compile binarys for the ulp you need the ulp toolkit. Download it from https://github.com/espressif/binutils-esp32ulp/wiki#downloads
+Then extract it, then add ```esp32ulp-elf-binutils/bin``` to your PATH
+
+## Example Makefile
+
+```make
+ULP_S_SOURCES := main.S
+ULP_APP_NAME := test
+ULP_LD_SCRIPT := esp32.ulp.ld
+
+SRC_PATH := src
+BUILD_PATH := build
+
+include $(ESPIDF)/components/ulp/Makefile.projbuild 
+
+ULP_ELF := $(ULP_APP_NAME).elf
+ULP_MAP := $(ULP_ELF:.elf=.map)
+ULP_SYM := $(ULP_ELF:.elf=.sym)
+ULP_BIN := $(ULP_ELF:.elf=.bin)
+ULP_EXPORTS_LD := $(ULP_ELF:.elf=.ld)
+ULP_EXPORTS_HEADER := $(ULP_ELF:.elf=.h)
+
+ULP_OBJECTS := $(notdir $(ULP_S_SOURCES:.S=.ulp.o))
+ULP_DEP := $(notdir $(ULP_S_SOURCES:.S=.ulp.d)) $(ULP_LD_SCRIPT:.ld=.d)
+ULP_PREPROCESSED := $(notdir $(ULP_S_SOURCES:.S=.ulp.pS))
+ULP_LISTINGS := $(notdir $(ULP_S_SOURCES:.S=.ulp.lst))
+
+.PHONY: all clean
+
+all: $(BUILD_PATH) $(BUILD_PATH)/$(ULP_BIN) 
+
+clean:
+	rm -rf $(BUILD_PATH)
+
+$(BUILD_PATH):
+	mkdir $@
+
+# Generate preprocessed linker file.
+$(BUILD_PATH)/$(ULP_APP_NAME).ld: $(SRC_PATH)/$(ULP_LD_SCRIPT)
+	cpp -P $< -o $@
+
+# Generate preprocessed assembly files.
+# To inspect these preprocessed files, add a ".PRECIOUS: %.ulp.pS" rule. 
+$(BUILD_PATH)/%.ulp.pS: $(SRC_PATH)/%.S
+	cpp $< -o $@
+
+# Compiled preprocessed files into object files.
+$(BUILD_PATH)/%.ulp.o: $(BUILD_PATH)/%.ulp.pS
+	$(ULP_AS) -al=$(patsubst %.ulp.o,%.ulp.lst,$@) -o $@ $<
+
+# Link object files and generate map file
+$(BUILD_PATH)/$(ULP_ELF): $(BUILD_PATH)/$(ULP_OBJECTS) $(BUILD_PATH)/$(ULP_APP_NAME).ld
+	$(ULP_LD) -o $@ -A elf32-esp32ulp -Map=$(BUILD_PATH)/$(ULP_MAP) -T $(BUILD_PATH)/$(ULP_APP_NAME).ld $<
+
+# Dump the list of global symbols in a convenient format.
+$(ULP_SYM): $(ULP_ELF)
+	$(ULP_NM) -g -f posix $< > $@
+
+# Dump the binary for inclusion into the project 
+$(BUILD_PATH)/$(ULP_BIN): $(BUILD_PATH)/$(ULP_ELF)
+	$(ULP_OBJCOPY) -O binary $< $@
+```
+
+## Example linker script for the ulp
+```
+#define ULP_BIN_MAGIC		0x00706c75
+#define HEADER_SIZE			12
+#define CONFIG_ULP_COPROC_RESERVE_MEM	4096
+
+MEMORY
+{
+    ram(RW) : ORIGIN = 0, LENGTH = CONFIG_ULP_COPROC_RESERVE_MEM
+}
+
+SECTIONS
+{
+    .text : AT(HEADER_SIZE)
+    {
+        *(.text)
+    } >ram
+    .data :
+    {
+        . = ALIGN(4);
+        *(.data)
+    } >ram
+    .bss :
+    {
+        . = ALIGN(4);
+        *(.bss)
+    } >ram
+    
+    .header : AT(0)
+    {
+        LONG(ULP_BIN_MAGIC)
+        SHORT(LOADADDR(.text)) 
+        SHORT(SIZEOF(.text))
+        SHORT(SIZEOF(.data))
+        SHORT(SIZEOF(.bss))
+    }
+}
+```
+
+## Example ulp code
+```asm
+move R3, 99
+move R0, 10
+
+# mem[R0+0] = R3
+st R3, R0, 0
+
+HALT
+```
+
+## Example python code using the ulp
+```python
+import esp32
+import time
+
+u = esp32.ULP()
+with open('test.bin', 'rb') as f:
+    b = f.read()
+u.load_binary(0,b)
+u.run(0)
+```

ports/esp32/esp32_ulp.c

@@ -0,0 +1,97 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018 "Andreas Valder" <andreas.valder@serioese.gmbh>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/runtime.h"
+
+#include "esp32/ulp.h"
+#include "esp_err.h"
+
+typedef struct _esp32_ulp_obj_t {
+    mp_obj_base_t base;
+} esp32_ulp_obj_t;
+
+const mp_obj_type_t esp32_ulp_type;
+
+// singleton ULP object
+STATIC const esp32_ulp_obj_t esp32_ulp_obj = {{&esp32_ulp_type}};
+
+STATIC mp_obj_t esp32_ulp_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
+    // check arguments
+    mp_arg_check_num(n_args, n_kw, 0, 0, false);
+
+    // return constant object
+    return (mp_obj_t)&esp32_ulp_obj;
+}
+
+STATIC mp_obj_t esp32_ulp_set_wakeup_period(mp_obj_t self_in, mp_obj_t period_index_in, mp_obj_t period_us_in) {
+    mp_uint_t period_index = mp_obj_get_int(period_index_in);
+    mp_uint_t period_us = mp_obj_get_int(period_us_in);
+    int _errno = ulp_set_wakeup_period(period_index, period_us);
+    if (_errno != ESP_OK) {
+	    mp_raise_OSError(_errno);
+    }
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_3(esp32_ulp_set_wakeup_period_obj, esp32_ulp_set_wakeup_period);
+
+STATIC mp_obj_t esp32_ulp_load_binary(mp_obj_t self_in, mp_obj_t load_addr_in, mp_obj_t program_binary_in) {
+    mp_uint_t load_addr = mp_obj_get_int(load_addr_in);
+
+    mp_buffer_info_t bufinfo;
+    mp_get_buffer_raise(program_binary_in, &bufinfo, MP_BUFFER_READ);
+
+    int _errno = ulp_load_binary(load_addr, bufinfo.buf, bufinfo.len/sizeof(uint32_t));
+    if (_errno != ESP_OK) {
+	    mp_raise_OSError(_errno);
+    }
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_3(esp32_ulp_load_binary_obj, esp32_ulp_load_binary);
+
+STATIC mp_obj_t esp32_ulp_run(mp_obj_t self_in, mp_obj_t entry_point_in) {
+    mp_uint_t entry_point = mp_obj_get_int(entry_point_in);
+    int _errno = ulp_run(entry_point/sizeof(uint32_t));
+    if (_errno != ESP_OK) {
+	    mp_raise_OSError(_errno);
+    }
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(esp32_ulp_run_obj, esp32_ulp_run);
+
+STATIC const mp_rom_map_elem_t esp32_ulp_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_set_wakeup_period), MP_ROM_PTR(&esp32_ulp_set_wakeup_period_obj) },
+    { MP_ROM_QSTR(MP_QSTR_load_binary), MP_ROM_PTR(&esp32_ulp_load_binary_obj) },
+    { MP_ROM_QSTR(MP_QSTR_run), MP_ROM_PTR(&esp32_ulp_run_obj) },
+    { MP_ROM_QSTR(MP_QSTR_RESERVE_MEM), MP_ROM_INT(CONFIG_ULP_COPROC_RESERVE_MEM) },
+};
+STATIC MP_DEFINE_CONST_DICT(esp32_ulp_locals_dict, esp32_ulp_locals_dict_table);
+
+const mp_obj_type_t esp32_ulp_type = {
+    { &mp_type_type },
+    .name = MP_QSTR_ULP,
+    .make_new = esp32_ulp_make_new,
+    .locals_dict = (mp_obj_t)&esp32_ulp_locals_dict,
+};

ports/esp32/modesp32.c

@@ -126,6 +126,9 @@ STATIC const mp_rom_map_elem_t esp32_module_globals_table[] = {
     { MP_OBJ_NEW_QSTR(MP_QSTR_wake_on_touch), (mp_obj_t)&esp32_wake_on_touch_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_wake_on_ext0), (mp_obj_t)&esp32_wake_on_ext0_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_wake_on_ext1), (mp_obj_t)&esp32_wake_on_ext1_obj },
+
+    { MP_ROM_QSTR(MP_QSTR_ULP), MP_ROM_PTR(&esp32_ulp_type) },
+
     { MP_OBJ_NEW_QSTR(MP_QSTR_WAKEUP_ALL_LOW), mp_const_false },
     { MP_OBJ_NEW_QSTR(MP_QSTR_WAKEUP_ANY_HIGH), mp_const_true },
 };

ports/esp32/modesp32.h

@@ -26,4 +26,6 @@
 #define RTC_LAST_EXT_PIN 39
 #define RTC_IS_VALID_EXT_PIN(pin_id) ((1ll << (pin_id)) & RTC_VALID_EXT_PINS)
 
+extern const mp_obj_type_t esp32_ulp_type;
+
 #endif // MICROPY_INCLUDED_ESP32_MODESP32_H

ports/esp32/sdkconfig.h

@@ -5,7 +5,7 @@
 
 #define CONFIG_TRACEMEM_RESERVE_DRAM 0x0
 #define CONFIG_BT_RESERVE_DRAM 0x0
-#define CONFIG_ULP_COPROC_RESERVE_MEM 0
+#define CONFIG_ULP_COPROC_RESERVE_MEM 2040
 #define CONFIG_PHY_DATA_OFFSET 0xf000
 #define CONFIG_APP_OFFSET 0x10000