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Update support/example for ESP32-C3 to use latest versions of dependencies (#975)

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* Update `rtic` package to use latest version of `esp32c3` dependency

* Update `rtic-macros` ESP32-C3 bindings to reflect changes in HAL

* Update the ESP32-C3 examples to use latest versions of all dependencies

* Update changelogs

* adjust expected qemu output, add compile-time checks

* remove runtime checks, this is checked at compile time

* fix expected qemu output

* Clean up interrupt enable code a bit

* Update `rtic-monotonic` to use the latest PAC for ESP32-C3

* Update `CHANGELOG.md` for `rtic-monotonic`

* ci: esp32c3: Format runner.sh

* ci: esp32c3: Default to silent boot

export DEBUGGING while running to get verbose boot

env DEBUGGING=1 cargo xtask ...

* ci: esp32c3: Update expected example output

---------

Co-authored-by: onsdagens <pawdzi-7@student.ltu.se>
Co-authored-by: Henrik Tjäder <henrik@tjaders.com>
This commit is contained in:
Jesse Braham 2024-10-16 12:29:51 -07:00 committed by GitHub
parent 89d76a53d8
commit 1f6b6a42e5
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
14 changed files with 463 additions and 440 deletions
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28
ci/expected/esp32c3/monotonic.run
View file

@ -1,33 +1,5 @@
QEMU 8.2.0 monitor - type 'help' for more information
(qemu) q
ESP-ROM:esp32c3-api1-20210207
Build:Feb 7 2021
rst:0x1 (POWERON),boot:0x8 (SPI_FAST_FLASH_BOOT)
SPIWP:0xee
mode:DIO, clock div:2
load:0x3fcd5820,len:0x1714
load:0x403cc710,len:0x968
load:0x403ce710,len:0x2f9c
entry 0x403cc710
I (0) boot: ESP-IDF v5.1.2-342-gbcf1645e44 2nd stage bootloader
I (0) boot: compile time Dec 12 2023 10:50:58
I (0) boot: chip revision: v0.3
I (0) boot.esp32c3: SPI Speed : 40MHz
I (0) boot.esp32c3: SPI Mode : SLOW READ
I (0) boot.esp32c3: SPI Flash Size : 4MB
I (0) boot: Enabling RNG early entropy source...
I (1) boot: Partition Table:
I (1) boot: ## Label Usage Type ST Offset Length
I (1) boot: 0 nvs WiFi data 01 02 00009000 00006000
I (1) boot: 1 phy_init RF data 01 01 0000f000 00001000
I (1) boot: 2 factory factory app 00 00 00010000 003f0000
I (1) boot: End of partition table
I (1) esp_image: REDACTED
I (3) esp_image: REDACTED
I (3) esp_image: REDACTED
I (8) esp_image: REDACTED
I (11) boot: Loaded app from partition at offset 0x10000
I (11) boot: Disabling RNG early entropy source...
init
hello from bar
hello from baz

28
ci/expected/esp32c3/sw_and_hw.run
View file

@ -1,33 +1,5 @@
QEMU 8.2.0 monitor - type 'help' for more information
(qemu) q
ESP-ROM:esp32c3-api1-20210207
Build:Feb 7 2021
rst:0x1 (POWERON),boot:0x8 (SPI_FAST_FLASH_BOOT)
SPIWP:0xee
mode:DIO, clock div:2
load:0x3fcd5820,len:0x1714
load:0x403cc710,len:0x968
load:0x403ce710,len:0x2f9c
entry 0x403cc710
I (0) boot: ESP-IDF v5.1.2-342-gbcf1645e44 2nd stage bootloader
I (0) boot: compile time Dec 12 2023 10:50:58
I (0) boot: chip revision: v0.3
I (0) boot.esp32c3: SPI Speed : 40MHz
I (0) boot.esp32c3: SPI Mode : SLOW READ
I (0) boot.esp32c3: SPI Flash Size : 4MB
I (0) boot: Enabling RNG early entropy source...
I (1) boot: Partition Table:
I (1) boot: ## Label Usage Type ST Offset Length
I (1) boot: 0 nvs WiFi data 01 02 00009000 00006000
I (1) boot: 1 phy_init RF data 01 01 0000f000 00001000
I (1) boot: 2 factory factory app 00 00 00010000 003f0000
I (1) boot: End of partition table
I (1) esp_image: REDACTED
I (3) esp_image: REDACTED
I (3) esp_image: REDACTED
I (8) esp_image: REDACTED
I (11) boot: Loaded app from partition at offset 0x10000
I (11) boot: Disabling RNG early entropy source...
init
Inside high prio task, press button now!
Leaving high prio task.

700
examples/esp32c3/Cargo.lock generated
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File diff suppressed because it is too large Load diff

11
examples/esp32c3/Cargo.toml
View file

@ -7,18 +7,17 @@ license = "MIT OR Apache-2.0"
[workspace]
[dependencies]
rtic = {path = "../../rtic/"}
rtic = { path = "../../rtic/" }
rtic-monotonics = {path = "../../rtic-monotonics/"}
esp-hal = { version = "0.16.1", features = ["esp32c3", "direct-vectoring", "interrupt-preemption"] }
esp-backtrace = { version = "0.11.0", features = [
esp-hal = { version = "0.20.1", features = ["esp32c3"] }
esp-backtrace = { version = "0.14.0", features = [
"esp32c3",
"panic-handler",
"exception-handler",
"println",
] }
esp32c3 = {version = "0.22.0", features = ["critical-section"]}
esp-println = { version = "0.9.0", features = ["esp32c3", "uart"] }
esp32c3 = {version = "0.25.0", features = ["critical-section"]}
esp-println = { version = "0.11.0", features = ["esp32c3"] }
[features]
test-critical-section = []

13
examples/esp32c3/examples/sw_and_hw.rs
View file

@ -4,17 +4,17 @@
mod app {
use esp_backtrace as _;
use esp_hal::{
gpio::{Event, Gpio9, Input, PullDown, IO},
gpio::{Event, GpioPin, Input, Io, Pull},
peripherals::Peripherals,
prelude::*,
};
use esp_println::println;
#[shared]
struct Shared {}
#[local]
struct Local {
button: Gpio9<Input<PullDown>>,
button: Input<'static, GpioPin<9>>,
}
// do nothing in init
@ -22,14 +22,14 @@ mod app {
fn init(_: init::Context) -> (Shared, Local) {
println!("init");
let peripherals = Peripherals::take();
let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
let mut button = io.pins.gpio9.into_pull_down_input();
let io = Io::new_no_bind_interrupt(peripherals.GPIO, peripherals.IO_MUX);
let mut button = Input::new(io.pins.gpio9, Pull::Up);
button.listen(Event::FallingEdge);
foo::spawn().unwrap();
(Shared {}, Local { button })
}
#[idle()]
#[idle]
fn idle(_: idle::Context) -> ! {
println!("idle");
loop {}
@ -46,6 +46,7 @@ mod app {
}
println!("Leaving high prio task.");
}
#[task(priority = 2)]
async fn bar(_: bar::Context) {
println!("Inside low prio task, press button now!");

20
examples/esp32c3/runner.sh
View file

@ -1,8 +1,7 @@
#!/bin/bash
if [ $# -eq 0 ]
then
echo "No arguments supplied! Provide path to ELF as argument"
if [ $# -eq 0 ]; then
echo "No arguments supplied! Provide path to ELF as argument"
fi
outputfilenamecargo=$1
@ -19,13 +18,20 @@ espflash save-image --chip esp32c3 --merge "$outputfilenamecargo" "$outputfilena
esptool.py image_info --version 2 "$outputfilename" 1>&2
# Run in QEMU
$qemuexec -nographic -monitor tcp:127.0.0.1:55555,server,nowait -icount 3 -machine esp32c3 -drive file="$outputfilename",if=mtd,format=raw -serial file:"$logfile" &
$qemuexec -nographic -monitor tcp:127.0.0.1:55555,server,nowait -icount 3 -machine esp32c3 -drive file="$outputfilename",if=mtd,format=raw -serial file:"$logfile" &
# Let it run
sleep 3s
# Kill QEMU nicely by sending 'q' (quit) over tcp
echo q | nc -N 127.0.0.1 55555
# Output that will be compared, remove the esp_image segments as they change
# between runs
cat "$logfile" | sed 's/esp_image: .*$/esp_image: REDACTED/'
# Output that will be compared must be printed to stdout
# Make boot phase silent, for debugging change, run with e.g. $ `env DEBUGGING=true` cargo xtask....
if [ -n "${DEBUGGING}" ]; then
# Debugging: strip leading "I (xyz)" where xyz is an incrementing number, and esp_image specifics
sed -e 's/esp_image: .*$/esp_image: REDACTED/' -e 's/I\s\([0-9]*\)(.*)/\1/' < $logfile
else
tail -n +12 "$logfile" | sed -e '/I\s\([0-9]*\)(.*)/d'
fi

4
rtic-macros/CHANGELOG.md
View file

@ -14,6 +14,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
- Fix codegen emitting unqualified `Result`
- Improve error output for prios > dispatchers
### Fixed
- Fix interrupt handlers when targeting esp32c3 and using latest version of esp-hal
## [v2.1.0] - 2024-02-27
### Added

12
rtic-macros/src/codegen/bindings/esp32c3.rs
View file

@ -80,11 +80,13 @@ mod esp32c3 {
}
stmts
}
pub fn pre_init_enable_interrupts(app: &App, analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
let mut stmts = vec![];
let mut curr_cpu_id: u8 = 1; //cpu interrupt id 0 is reserved
let mut curr_cpu_id: u8 = 16; // cpu interrupt ids 0-15 are reserved
let rt_err = util::rt_err_ident();
let max_prio: usize = 15; //unfortunately this is not part of pac, but we know that max prio is 15.
let min_prio: usize = 1;
let interrupt_ids = analysis.interrupts.iter().map(|(p, (id, _))| (p, id));
// Unmask interrupts and set their priorities
for (&priority, name) in interrupt_ids.chain(
@ -95,9 +97,11 @@ mod esp32c3 {
let es = format!(
"Maximum priority used by interrupt vector '{name}' is more than supported by hardware"
);
let es_zero = format!("Priority {priority} used by interrupt vector '{name}' is less than supported by hardware");
// Compile time assert that this priority is supported by the device
stmts.push(quote!(
const _: () = if (#max_prio) <= #priority as usize { ::core::panic!(#es); };
const _: () = if (#min_prio) > #priority as usize { ::core::panic!(#es_zero);};
));
stmts.push(quote!(
rtic::export::enable(
@ -218,14 +222,14 @@ mod esp32c3 {
static RTIC_ASYNC_MAX_LOGICAL_PRIO: u8 = #max;
)]
}
pub fn handler_config(
app: &App,
analysis: &CodegenAnalysis,
dispatcher_name: Ident,
) -> Vec<TokenStream2> {
let mut stmts = vec![];
let mut curr_cpu_id = 1;
//let mut ret = "";
let mut curr_cpu_id = 16; // cpu interrupt ids 0-15 are reserved
let interrupt_ids = analysis.interrupts.iter().map(|(p, (id, _))| (p, id));
for (_, name) in interrupt_ids.chain(
app.hardware_tasks
@ -233,7 +237,7 @@ mod esp32c3 {
.filter_map(|task| Some((&task.args.priority, &task.args.binds))),
) {
if *name == dispatcher_name {
let ret = &("cpu_int_".to_owned() + &curr_cpu_id.to_string() + "_handler");
let ret = &("interrupt".to_owned() + &curr_cpu_id.to_string());
stmts.push(quote!(#[export_name = #ret]));
}
curr_cpu_id += 1;

4
rtic-monotonics/CHANGELOG.md
View file

@ -11,6 +11,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
- RP235x support
### Changed
- Update `esp32c3` dependency
## v2.0.2 - 2024-07-05
### Added

2
rtic-monotonics/Cargo.toml
View file

@ -67,7 +67,7 @@ stm32-metapac = { version = "15.0.0", optional = true }
imxrt-ral = { version = "0.5.3", optional = true }
esp32c3 = {version = "0.22.0", optional = true }
esp32c3 = {version = "0.25.0", optional = true }
riscv = {version = "0.11.1", optional = true }

41
rtic-monotonics/src/esp32c3.rs
View file

@ -1,4 +1,4 @@
//! [`Monotonic`](rtic_time::Monotonic) implementation for ESP32C3's SYSTIMER.
//! [`Monotonic`](rtic_time::Monotonic) implementation for ESP32-C3's SYSTIMER.
//!
//! Always runs at a fixed rate of 16 MHz.
//!
@ -26,7 +26,7 @@
//! }
//! ```
/// Common definitions and traits for using the RP2040 timer monotonic
/// Common definitions and traits for using the ESP32-C3 timer monotonic
pub mod prelude {
pub use crate::esp32c3_systimer_monotonic;
@ -61,7 +61,7 @@ impl TimerBackend {
.cpu_int_enable()
.modify(|r, w| w.bits((1 << cpu_interrupt_number) | r.bits())); //enable the CPU interupt.
let intr = INTERRUPT_CORE0::ptr();
let intr_prio_base = (*intr).cpu_int_pri_0().as_ptr();
let intr_prio_base = (*intr).cpu_int_pri(0).as_ptr();
intr_prio_base
.offset(cpu_interrupt_number)
@ -84,18 +84,11 @@ impl TimerQueueBackend for TimerBackend {
peripherals
.SYSTIMER
.unit0_op()
.write(|w| w.timer_unit0_update().set_bit());
.write(|w| w.update().set_bit());
// this must be polled until value is valid
while {
peripherals
.SYSTIMER
.unit0_op()
.read()
.timer_unit0_value_valid()
== false
} {}
let instant: u64 = (peripherals.SYSTIMER.unit0_value_lo().read().bits() as u64)
| ((peripherals.SYSTIMER.unit0_value_hi().read().bits() as u64) << 32);
while peripherals.SYSTIMER.unit0_op().read().value_valid() == false {}
let instant: u64 = (peripherals.SYSTIMER.unit_value(0).lo().read().bits() as u64)
| ((peripherals.SYSTIMER.unit_value(0).hi().read().bits() as u64) << 32);
instant
}
@ -103,19 +96,19 @@ impl TimerQueueBackend for TimerBackend {
let systimer = unsafe { esp32c3::Peripherals::steal() }.SYSTIMER;
systimer
.target0_conf()
.write(|w| w.target0_timer_unit_sel().set_bit());
.write(|w| w.timer_unit_sel().set_bit());
systimer
.target0_conf()
.write(|w| w.target0_period_mode().clear_bit());
.write(|w| w.period_mode().clear_bit());
systimer
.target0_lo()
.trgt(0)
.lo()
.write(|w| unsafe { w.bits((instant & 0xFFFFFFFF).try_into().unwrap()) });
systimer
.target0_hi()
.trgt(0)
.hi()
.write(|w| unsafe { w.bits((instant >> 32).try_into().unwrap()) });
systimer
.comp0_load()
.write(|w| w.timer_comp0_load().set_bit()); //sync period to comp register
systimer.comp0_load().write(|w| w.load().set_bit()); //sync period to comp register
systimer.conf().write(|w| w.target0_work_en().set_bit());
systimer.int_ena().write(|w| w.target0().set_bit());
}
@ -129,13 +122,13 @@ impl TimerQueueBackend for TimerBackend {
fn pend_interrupt() {
extern "C" {
fn cpu_int_31_handler();
fn interrupt31();
}
//run the timer interrupt handler in a critical section to emulate a max priority
//interrupt.
//since there is no hardware support for pending a timer interrupt.
riscv::interrupt::disable();
unsafe { cpu_int_31_handler() };
unsafe { interrupt31() };
unsafe { riscv::interrupt::enable() };
}
@ -162,7 +155,7 @@ macro_rules! esp32c3_systimer_monotonic {
///
/// This method must be called only once.
pub fn start(timer: esp32c3::SYSTIMER) {
#[export_name = "cpu_int_31_handler"]
#[export_name = "interrupt31"]
#[allow(non_snake_case)]
unsafe extern "C" fn Systimer() {
use $crate::TimerQueueBackend;

1
rtic/CHANGELOG.md
View file

@ -13,6 +13,7 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
- Use `riscv-slic` from `crates.io`
- Replace `atomic-polyfill` with `portable-atomic`
- Remove unused dependency `rtic-monotonics`
- Updated esp32c3 dependency to v0.25.0
## [v2.1.1] - 2024-03-13

2
rtic/Cargo.toml
View file

@ -26,7 +26,7 @@ name = "rtic"
[dependencies]
riscv-slic = { version = "0.1.1", optional = true }
esp32c3 = { version = "0.22.0", optional = true }
esp32c3 = { version = "0.25.0", optional = true }
riscv = { version = "0.11.0", optional = true }
cortex-m = { version = "0.7.0", optional = true }
bare-metal = "1.0.0"

37
rtic/src/export/riscv_esp32c3.rs
View file

@ -1,7 +1,6 @@
use esp32c3::INTERRUPT_CORE0; //priority threshold control
use esp32c3::INTERRUPT_CORE0;
pub use esp32c3::{Interrupt, Peripherals};
pub use riscv::interrupt;
pub use riscv::register::mcause; //low level interrupt enable/disable
pub use riscv::{interrupt, register::mcause};
#[cfg(all(feature = "riscv-esp32c3", not(feature = "riscv-esp32c3-backend")))]
compile_error!("Building for the esp32c3, but 'riscv-esp32c3-backend not selected'");
@ -138,28 +137,20 @@ pub fn unpend(int: Interrupt) {
}
pub fn enable(int: Interrupt, prio: u8, cpu_int_id: u8) {
const INTERRUPT_MAP_BASE: u32 = 0x600c2000; //this isn't exposed properly in the PAC,
//should maybe figure out a workaround that
//doesnt involve raw pointers.
//Again, this is how they do it in the HAL
//but i'm really not a fan.
let interrupt_number = int as isize;
let cpu_interrupt_number = cpu_int_id as isize;
unsafe {
let intr_map_base = INTERRUPT_MAP_BASE as *mut u32;
intr_map_base
.offset(interrupt_number)
.write_volatile(cpu_interrupt_number as u32);
//map peripheral interrupt to CPU interrupt
// Map the peripheral interrupt to a CPU interrupt:
(INTERRUPT_CORE0::ptr() as *mut u32)
.offset(int as isize)
.write_volatile(cpu_int_id as u32);
// Set the interrupt's priority:
(*INTERRUPT_CORE0::ptr())
.cpu_int_pri(cpu_int_id as usize)
.modify(|_, w| w.bits(prio as u32));
// Finally, enable the CPU interrupt:
(*INTERRUPT_CORE0::ptr())
.cpu_int_enable()
.modify(|r, w| w.bits((1 << cpu_interrupt_number) | r.bits())); //enable the CPU interupt.
let intr = INTERRUPT_CORE0::ptr();
let intr_prio_base = (*intr).cpu_int_pri_0().as_ptr();
intr_prio_base
.offset(cpu_interrupt_number)
.write_volatile(prio as u32);
.modify(|r, w| w.bits((1 << cpu_int_id) | r.bits()));
}
}