Merge branch 'feature/unicore_bootloader_can_run_multicore_app_v4.4' into 'release/v4.4'

esp_system: Fix case when multicore app can not be run if bootloader is unicore (v4.4)

See merge request espressif/esp-idf!23029

.gitlab/ci/target-test.yml

@@ -374,6 +374,12 @@ test_app_test_005:
     - ESP32C3
     - Example_GENERIC
 
+test_app_test_006:
+  extends: .test_app_esp32s3_template
+  tags:
+    - ESP32S3
+    - Example_GENERIC
+
 test_app_test_esp32_generic:
   extends: .test_app_esp32_template
   parallel: 5

components/bootloader_support/src/bootloader_init.c

@@ -94,4 +94,12 @@ void bootloader_print_banner(void)
 {
     ESP_LOGI(TAG, "ESP-IDF %s 2nd stage bootloader", IDF_VER);
     ESP_LOGI(TAG, "compile time " __TIME__);
+
+#if CONFIG_FREERTOS_UNICORE
+#if (SOC_CPU_CORES_NUM > 1)
+    ESP_EARLY_LOGW(TAG, "Unicore bootloader");
+#endif
+#else
+    ESP_EARLY_LOGI(TAG, "Multicore bootloader");
+#endif
 }

components/esp_system/port/cpu_start.c

@@ -70,6 +70,10 @@
 #include "hal/wdt_hal.h"
 #include "soc/rtc.h"
 #include "soc/efuse_reg.h"
+#if (SOC_CPU_CORES_NUM > 1)
+#include "hal/cache_ll.h"
+#endif
+#include "hal/efuse_ll.h"
 #include "soc/periph_defs.h"
 #include "soc/cpu.h"
 #include "soc/rtc.h"
@@ -244,6 +248,39 @@ static void start_other_core(void)
         esp_rom_delay_us(100);
     }
 }
+
+// This function is needed to make the multicore app runnable on a unicore bootloader (built with FREERTOS UNICORE).
+// It does some cache settings for other CPUs.
+void IRAM_ATTR do_multicore_settings(void)
+{
+    // We intentionally do not check the cache settings before changing them,
+    // because it helps to get the application to run on older bootloaders.
+#ifdef CONFIG_IDF_TARGET_ESP32
+    if (!efuse_ll_get_disable_app_cpu()) {
+        Cache_Read_Disable(1);
+        Cache_Flush(1);
+        DPORT_REG_SET_BIT(DPORT_APP_CACHE_CTRL1_REG, DPORT_APP_CACHE_MMU_IA_CLR);
+        DPORT_REG_CLR_BIT(DPORT_APP_CACHE_CTRL1_REG, DPORT_APP_CACHE_MMU_IA_CLR);
+        // We do not enable cache for CPU1 now because it will be done later in start_other_core().
+    }
+#endif
+
+    cache_bus_mask_t cache_bus_mask_core0 = cache_ll_l1_get_enabled_bus(0);
+#ifndef CONFIG_IDF_TARGET_ESP32
+    // 1. disable the cache before changing its settings.
+    Cache_Disable_ICache();
+    Cache_Disable_DCache();
+#endif
+    for (unsigned core = 1; core < SOC_CPU_CORES_NUM; core++) {
+        // 2. change cache settings. All cores must have the same settings.
+        cache_ll_l1_enable_bus(core, cache_bus_mask_core0);
+    }
+#ifndef CONFIG_IDF_TARGET_ESP32
+    // 3. enable the cache after changing its settings.
+    Cache_Enable_ICache(0);
+    Cache_Enable_DCache(0);
+#endif
+}
 #endif // !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
 
 /*
@@ -312,6 +349,14 @@ void IRAM_ATTR call_start_cpu0(void)
         memset(&_rtc_bss_start, 0, (&_rtc_bss_end - &_rtc_bss_start) * sizeof(_rtc_bss_start));
     }
 
+#if CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+    ESP_EARLY_LOGI(TAG, "Unicore app");
+#else
+    ESP_EARLY_LOGI(TAG, "Multicore app");
+    // It helps to fix missed cache settings for other cores. It happens when bootloader is unicore.
+    do_multicore_settings();
+#endif
+
 #if CONFIG_IDF_TARGET_ESP32S2
     /* Configure the mode of instruction cache : cache size, cache associated ways, cache line size. */
     extern void esp_config_instruction_cache_mode(void);

components/hal/esp32/include/hal/cache_ll.h

@@ -0,0 +1,127 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+// The LL layer for Cache register operations
+
+#pragma once
+
+#include <stdbool.h>
+#include "soc/dport_reg.h"
+#include "hal/cache_types.h"
+#include "hal/assert.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Enable the Cache Buses
+ *
+ * @param cache_id    cache ID (when l1 cache is per core)
+ * @param mask        To know which buses should be enabled
+ * @param enable      1: enable; 0: disable
+ */
+#if !BOOTLOADER_BUILD
+__attribute__((always_inline))
+#endif
+static inline void cache_ll_l1_enable_bus(uint32_t cache_id, cache_bus_mask_t mask)
+{
+    (void) mask;
+    HAL_ASSERT(cache_id == 0 || cache_id == 1);
+
+    uint32_t bus_mask = 0;
+    if (cache_id == 0) {
+        bus_mask |= (mask & CACHE_BUS_IBUS0) ? DPORT_PRO_CACHE_MASK_IRAM0 : 0;
+        bus_mask |= (mask & CACHE_BUS_IBUS1) ? DPORT_PRO_CACHE_MASK_IRAM1 : 0;
+        bus_mask |= (mask & CACHE_BUS_IBUS2) ? DPORT_PRO_CACHE_MASK_IROM0 : 0;
+
+        bus_mask |= (mask & CACHE_BUS_DBUS0) ? DPORT_PRO_CACHE_MASK_DROM0 : 0;
+        bus_mask |= (mask & CACHE_BUS_DBUS1) ? DPORT_PRO_CACHE_MASK_DRAM1 : 0;
+
+        DPORT_REG_CLR_BIT(DPORT_PRO_CACHE_CTRL1_REG, bus_mask);
+    } else {
+        bus_mask |= (mask & CACHE_BUS_IBUS0) ? DPORT_APP_CACHE_MASK_IRAM0 : 0;
+        bus_mask |= (mask & CACHE_BUS_IBUS1) ? DPORT_APP_CACHE_MASK_IRAM1 : 0;
+        bus_mask |= (mask & CACHE_BUS_IBUS2) ? DPORT_APP_CACHE_MASK_IROM0 : 0;
+
+        bus_mask |= (mask & CACHE_BUS_DBUS0) ? DPORT_APP_CACHE_MASK_DROM0 : 0;
+        bus_mask |= (mask & CACHE_BUS_DBUS1) ? DPORT_APP_CACHE_MASK_DRAM1 : 0;
+
+        DPORT_REG_CLR_BIT(DPORT_APP_CACHE_CTRL1_REG, bus_mask);
+    }
+}
+
+/**
+ * Returns enabled buses for a given core
+ *
+ * @param cache_id    cache ID (when l1 cache is per core)
+ *
+ * @return State of enabled buses
+ */
+__attribute__((always_inline))
+static inline cache_bus_mask_t cache_ll_l1_get_enabled_bus(uint32_t cache_id)
+{
+    cache_bus_mask_t mask = 0;
+    HAL_ASSERT(cache_id == 0 || cache_id == 1);
+    if (cache_id == 0) {
+        uint32_t bus_mask= DPORT_REG_READ(DPORT_PRO_CACHE_CTRL1_REG);
+        mask |= (!(bus_mask & DPORT_PRO_CACHE_MASK_IRAM0)) ? CACHE_BUS_IBUS0 : 0;
+        mask |= (!(bus_mask & DPORT_PRO_CACHE_MASK_IRAM1)) ? CACHE_BUS_IBUS1 : 0;
+        mask |= (!(bus_mask & DPORT_PRO_CACHE_MASK_IROM0)) ? CACHE_BUS_IBUS2 : 0;
+
+        mask |= (!(bus_mask & DPORT_PRO_CACHE_MASK_DROM0)) ? CACHE_BUS_DBUS0 : 0;
+        mask |= (!(bus_mask & DPORT_PRO_CACHE_MASK_DRAM1)) ? CACHE_BUS_DBUS1 : 0;
+    } else {
+        uint32_t bus_mask= DPORT_REG_READ(DPORT_APP_CACHE_CTRL1_REG);
+        mask |= (!(bus_mask & DPORT_APP_CACHE_MASK_IRAM0)) ? CACHE_BUS_IBUS0 : 0;
+        mask |= (!(bus_mask & DPORT_APP_CACHE_MASK_IRAM1)) ? CACHE_BUS_IBUS1 : 0;
+        mask |= (!(bus_mask & DPORT_APP_CACHE_MASK_IROM0)) ? CACHE_BUS_IBUS2 : 0;
+
+        mask |= (!(bus_mask & DPORT_APP_CACHE_MASK_DROM0)) ? CACHE_BUS_DBUS0 : 0;
+        mask |= (!(bus_mask & DPORT_APP_CACHE_MASK_DRAM1)) ? CACHE_BUS_DBUS1 : 0;
+    }
+    return mask;
+}
+
+/**
+ * Disable the Cache Buses
+ *
+ * @param cache_id    cache ID (when l1 cache is per core)
+ * @param mask        To know which buses should be enabled
+ * @param enable      1: enable; 0: disable
+ */
+__attribute__((always_inline))
+static inline void cache_ll_l1_disable_bus(uint32_t cache_id, cache_bus_mask_t mask)
+{
+    (void) mask;
+    HAL_ASSERT(cache_id == 0 || cache_id == 1);
+
+    uint32_t bus_mask = 0;
+    if (cache_id == 0) {
+        bus_mask |= (mask & CACHE_BUS_IBUS0) ? DPORT_PRO_CACHE_MASK_IRAM0 : 0;
+        bus_mask |= (mask & CACHE_BUS_IBUS1) ? DPORT_PRO_CACHE_MASK_IRAM1 : 0;
+        bus_mask |= (mask & CACHE_BUS_IBUS2) ? DPORT_PRO_CACHE_MASK_IROM0 : 0;
+
+        bus_mask |= (mask & CACHE_BUS_DBUS0) ? DPORT_PRO_CACHE_MASK_DROM0 : 0;
+        bus_mask |= (mask & CACHE_BUS_DBUS1) ? DPORT_PRO_CACHE_MASK_DRAM1 : 0;
+
+        DPORT_REG_SET_BIT(DPORT_PRO_CACHE_CTRL1_REG, bus_mask);
+    } else {
+        bus_mask |= (mask & CACHE_BUS_IBUS0) ? DPORT_APP_CACHE_MASK_IRAM0 : 0;
+        bus_mask |= (mask & CACHE_BUS_IBUS1) ? DPORT_APP_CACHE_MASK_IRAM1 : 0;
+        bus_mask |= (mask & CACHE_BUS_IBUS2) ? DPORT_APP_CACHE_MASK_IROM0 : 0;
+
+        bus_mask |= (mask & CACHE_BUS_DBUS0) ? DPORT_APP_CACHE_MASK_DROM0 : 0;
+        bus_mask |= (mask & CACHE_BUS_DBUS1) ? DPORT_APP_CACHE_MASK_DRAM1 : 0;
+
+        DPORT_REG_SET_BIT(DPORT_APP_CACHE_CTRL1_REG, bus_mask);
+    }
+}
+
+#ifdef __cplusplus
+}
+#endif

components/hal/esp32s3/include/hal/cache_ll.h

@@ -0,0 +1,115 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+// The LL layer for Cache register operations
+
+#pragma once
+
+#include "soc/extmem_reg.h"
+#include "hal/cache_types.h"
+#include "hal/assert.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Enable the Cache Buses
+ *
+ * @param cache_id    cache ID (when l1 cache is per core)
+ * @param mask        To know which buses should be enabled
+ */
+#if !BOOTLOADER_BUILD
+__attribute__((always_inline))
+#endif
+static inline void cache_ll_l1_enable_bus(uint32_t cache_id, cache_bus_mask_t mask)
+{
+    HAL_ASSERT(cache_id == 0 || cache_id == 1);
+    //On esp32s3, only `CACHE_BUS_IBUS0` and `CACHE_BUS_DBUS0` are supported. Use `cache_ll_l1_get_bus()` to get your bus first
+    HAL_ASSERT((mask & (CACHE_BUS_IBUS1 | CACHE_BUS_IBUS2| CACHE_BUS_DBUS1 | CACHE_BUS_DBUS2)) == 0);
+
+    uint32_t ibus_mask = 0;
+    if (cache_id == 0) {
+        ibus_mask |= (mask & CACHE_BUS_IBUS0) ? EXTMEM_ICACHE_SHUT_CORE0_BUS : 0;
+    } else {
+        ibus_mask |= (mask & CACHE_BUS_IBUS0) ? EXTMEM_ICACHE_SHUT_CORE1_BUS : 0;
+    }
+    REG_CLR_BIT(EXTMEM_ICACHE_CTRL1_REG, ibus_mask);
+
+    uint32_t dbus_mask = 0;
+    if (cache_id == 1) {
+        dbus_mask |= (mask & CACHE_BUS_DBUS0) ? EXTMEM_DCACHE_SHUT_CORE0_BUS : 0;
+    } else {
+        dbus_mask |= (mask & CACHE_BUS_DBUS0) ? EXTMEM_DCACHE_SHUT_CORE1_BUS : 0;
+    }
+    REG_CLR_BIT(EXTMEM_DCACHE_CTRL1_REG, dbus_mask);
+}
+
+/**
+ * Returns enabled buses for a given core
+ *
+ * @param cache_id    cache ID (when l1 cache is per core)
+ *
+ * @return State of enabled buses
+ */
+__attribute__((always_inline))
+static inline cache_bus_mask_t cache_ll_l1_get_enabled_bus(uint32_t cache_id)
+{
+    cache_bus_mask_t mask = 0;
+    HAL_ASSERT(cache_id == 0 || cache_id == 1);
+    //On esp32s3, only `CACHE_BUS_IBUS0` and `CACHE_BUS_DBUS0` are supported. Use `cache_ll_l1_get_bus()` to get your bus first
+
+    uint32_t ibus_mask = REG_READ(EXTMEM_ICACHE_CTRL1_REG);
+    if (cache_id == 0) {
+        mask |= (!(ibus_mask & EXTMEM_ICACHE_SHUT_CORE0_BUS)) ? CACHE_BUS_IBUS0 : 0;
+    } else {
+        mask |= (!(ibus_mask & EXTMEM_ICACHE_SHUT_CORE1_BUS)) ? CACHE_BUS_IBUS0 : 0;
+    }
+
+    uint32_t dbus_mask = REG_READ(EXTMEM_DCACHE_CTRL1_REG);
+    if (cache_id == 1) {
+        mask |= (!(dbus_mask & EXTMEM_DCACHE_SHUT_CORE0_BUS)) ? CACHE_BUS_DBUS0 : 0;
+    } else {
+        mask |= (!(dbus_mask & EXTMEM_DCACHE_SHUT_CORE1_BUS)) ? CACHE_BUS_DBUS0 : 0;
+    }
+
+    return mask;
+}
+
+/**
+ * Disable the Cache Buses
+ *
+ * @param cache_id    cache ID (when l1 cache is per core)
+ * @param mask        To know which buses should be disabled
+ */
+__attribute__((always_inline))
+static inline void cache_ll_l1_disable_bus(uint32_t cache_id, cache_bus_mask_t mask)
+{
+    HAL_ASSERT(cache_id == 0 || cache_id == 1);
+    //On esp32s3, only `CACHE_BUS_IBUS0` and `CACHE_BUS_DBUS0` are supported. Use `cache_ll_l1_get_bus()` to get your bus first
+    HAL_ASSERT((mask & (CACHE_BUS_IBUS1 | CACHE_BUS_IBUS2| CACHE_BUS_DBUS1 | CACHE_BUS_DBUS2)) == 0);
+
+    uint32_t ibus_mask = 0;
+    if (cache_id == 0) {
+        ibus_mask |= (mask & CACHE_BUS_IBUS0) ? EXTMEM_ICACHE_SHUT_CORE0_BUS : 0;
+    } else {
+        ibus_mask |= (mask & CACHE_BUS_IBUS0) ? EXTMEM_ICACHE_SHUT_CORE1_BUS : 0;
+    }
+    REG_SET_BIT(EXTMEM_ICACHE_CTRL1_REG, ibus_mask);
+
+    uint32_t dbus_mask = 0;
+    if (cache_id == 1) {
+        dbus_mask |= (mask & CACHE_BUS_DBUS0) ? EXTMEM_DCACHE_SHUT_CORE0_BUS : 0;
+    } else {
+        dbus_mask |= (mask & CACHE_BUS_DBUS0) ? EXTMEM_DCACHE_SHUT_CORE1_BUS : 0;
+    }
+    REG_SET_BIT(EXTMEM_DCACHE_CTRL1_REG, dbus_mask);
+}
+
+#ifdef __cplusplus
+}
+#endif

components/hal/include/hal/cache_types.h

@@ -0,0 +1,33 @@
+/*
+ * SPDX-FileCopyrightText: 2010-2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "esp_bit_defs.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Ibuses and Dbuses.
+ *
+ * @note
+ * These enumurations are abstract concepts. Virtual address reside in one of these buses.
+ * Therefore, use `cache_ll_l1_get_bus(cache_id, vaddr_start, len)` to convert your vaddr into buses first
+ */
+typedef enum {
+    CACHE_BUS_IBUS0 = BIT(0),
+    CACHE_BUS_IBUS1 = BIT(1),
+    CACHE_BUS_IBUS2 = BIT(2),
+    CACHE_BUS_DBUS0 = BIT(3),
+    CACHE_BUS_DBUS1 = BIT(4),
+    CACHE_BUS_DBUS2 = BIT(5),
+} cache_bus_mask_t;
+
+#ifdef __cplusplus
+}
+#endif

tools/ci/python_packages/ttfw_idf/IDFDUT.py

@@ -391,13 +391,14 @@ class IDFDUT(DUT.SerialDUT):
             for (_, f) in encrypt_offs_files:
                 f.close()
 
-    def bootloader_flash(self):
+    def bootloader_flash(self, binary_path=None):
         """
         download bootloader.
 
         :return: None
         """
-        bootloader_path = os.path.join(self.app.binary_path, 'bootloader', 'bootloader.bin')
+        binary_path = self.app.binary_path if binary_path is None else binary_path
+        bootloader_path = os.path.join(binary_path, 'bootloader', 'bootloader.bin')
         offs = int(self.app.get_sdkconfig()['CONFIG_BOOTLOADER_OFFSET_IN_FLASH'], 0)
         flash_files = [(offs, bootloader_path)]
         self.write_flash(flash_files)

tools/test_apps/system/unicore_bootloader/CMakeLists.txt

@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(test_unicore_bootloader)

tools/test_apps/system/unicore_bootloader/README.md

@@ -0,0 +1,2 @@
+| Supported Targets | ESP32 | ESP32-S3 |
+| ----------------- | ----- | -------- |

tools/test_apps/system/unicore_bootloader/README.txt

@@ -0,0 +1,4 @@
+This project tests if the app can start up in a certain configuration.
+Multicore app can start up even if the bootloader is unicore.
+
+The test is only for Multicore chips.

tools/test_apps/system/unicore_bootloader/app_test.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python
+
+from typing import Any
+
+import ttfw_idf
+
+
+@ttfw_idf.idf_custom_test(env_tag='Example_GENERIC', group='test-apps', target=['esp32', 'esp32s3'])
+def test_multicore_app_and_unicore_bootloader(env, _):  # type: (Any, Any) -> None
+    dut = env.get_dut('unicore_bootloader', 'tools/test_apps/system/unicore_bootloader', app_config_name='multicore_cfg')
+    dut.start_app()
+    dut.expect('Multicore bootloader')
+    dut.expect('Multicore app')
+    dut.expect('App is running')
+    env.close_dut(dut.name)
+
+    dut = env.get_dut('unicore_bootloader', 'tools/test_apps/system/unicore_bootloader', app_config_name='unicore_cfg')
+    dut.bootloader_flash()
+    dut.expect('Unicore bootloader')
+    dut.expect('Multicore app')
+    dut.expect('App is running')
+
+
+@ttfw_idf.idf_custom_test(env_tag='Example_GENERIC', group='test-apps', target=['esp32', 'esp32s3'])
+def test_unicore_app_and_multicore_bootloader(env, _):  # type: (Any, Any) -> None
+    dut = env.get_dut('unicore_bootloader', 'tools/test_apps/system/unicore_bootloader', app_config_name='unicore_cfg')
+    dut.start_app()
+    dut.expect('Unicore bootloader')
+    dut.expect('Unicore app')
+    dut.expect('App is running')
+    env.close_dut(dut.name)
+
+    dut = env.get_dut('unicore_bootloader', 'tools/test_apps/system/unicore_bootloader', app_config_name='multicore_cfg')
+    dut.bootloader_flash()
+    dut.expect('Multicore bootloader')
+    dut.expect('Unicore app')
+    dut.expect('App is running')
+
+
+if __name__ == '__main__':
+    test_multicore_app_and_unicore_bootloader()
+    test_unicore_app_and_multicore_bootloader()

tools/test_apps/system/unicore_bootloader/main/CMakeLists.txt

@@ -0,0 +1 @@
+idf_component_register(SRCS "main.c")

tools/test_apps/system/unicore_bootloader/main/main.c

@@ -0,0 +1,12 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+
+void app_main(void)
+{
+    printf("App is running\n");
+}

tools/test_apps/system/unicore_bootloader/sdkconfig.ci.unicore_cfg

@@ -0,0 +1 @@
+CONFIG_FREERTOS_UNICORE=y