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

* 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>

ci/expected/esp32c3/monotonic.run

@@ -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

ci/expected/esp32c3/sw_and_hw.run

@@ -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.

examples/esp32c3/Cargo.toml

@@ -9,16 +9,15 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 rtic = { path = "../../rtic/" }
 rtic-monotonics = {path = "../../rtic-monotonics/"}
-esp-hal = { version = "0.16.1", features = ["esp32c3", "direct-vectoring", "interrupt-preemption"] }
+esp-hal = { version = "0.20.1", features = ["esp32c3"] }
-esp-backtrace = { version = "0.11.0", features = [
+esp-backtrace = { version = "0.14.0", features = [
     "esp32c3",
     "panic-handler",
     "exception-handler",
     "println",
 ] }
-
+esp32c3 = {version = "0.25.0", features = ["critical-section"]}
-esp32c3 = {version = "0.22.0", features = ["critical-section"]}
+esp-println = { version = "0.11.0", features = ["esp32c3"] }
-esp-println = { version = "0.9.0", features = ["esp32c3", "uart"] }
 
 [features]
 test-critical-section = []

examples/esp32c3/examples/sw_and_hw.rs

@@ -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 io = Io::new_no_bind_interrupt(peripherals.GPIO, peripherals.IO_MUX);
-        let mut button = io.pins.gpio9.into_pull_down_input();
+        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!");

examples/esp32c3/runner.sh

@@ -1,7 +1,6 @@
 #!/bin/bash
 
-if [ $# -eq 0 ]
+if [ $# -eq 0 ]; then
-  then
   echo "No arguments supplied! Provide path to ELF as argument"
 fi
 
@@ -26,6 +25,13 @@ 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
+# Output that will be compared must be printed to stdout
-cat "$logfile" | sed 's/esp_image: .*$/esp_image: REDACTED/'
+
+# 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

rtic-macros/CHANGELOG.md

@@ -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

rtic-macros/src/codegen/bindings/esp32c3.rs

@@ -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 curr_cpu_id = 16; // cpu interrupt ids 0-15 are reserved
-        //let mut ret = "";
         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;

rtic-monotonics/CHANGELOG.md

@@ -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

rtic-monotonics/Cargo.toml

@@ -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 }
 
 

rtic-monotonics/src/esp32c3.rs

@@ -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 {
+        while peripherals.SYSTIMER.unit0_op().read().value_valid() == false {}
-            peripherals
+        let instant: u64 = (peripherals.SYSTIMER.unit_value(0).lo().read().bits() as u64)
-                .SYSTIMER
+            | ((peripherals.SYSTIMER.unit_value(0).hi().read().bits() as u64) << 32);
-                .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);
         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
+        systimer.comp0_load().write(|w| w.load().set_bit()); //sync period to comp register
-            .comp0_load()
-            .write(|w| w.timer_comp0_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;

rtic/CHANGELOG.md

@@ -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
 

rtic/Cargo.toml

@@ -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"

rtic/src/export/riscv_esp32c3.rs

@@ -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::{interrupt, register::mcause};
-pub use riscv::register::mcause; //low level interrupt enable/disable
 
 #[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;
+        // Map the peripheral interrupt to a CPU interrupt:
-        intr_map_base
+        (INTERRUPT_CORE0::ptr() as *mut u32)
-            .offset(interrupt_number)
+            .offset(int as isize)
-            .write_volatile(cpu_interrupt_number as u32);
+            .write_volatile(cpu_int_id as u32);
-        //map peripheral interrupt to CPU interrupt
+
+        // 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.
+            .modify(|r, w| w.bits((1 << cpu_int_id) | r.bits()));
-        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);
     }
 }