feat(systimer): support ETM on esp32p4

components/esp_rom/esp32p4/ld/esp32p4.rom.ld

@@ -175,8 +175,9 @@ g_flash_guard_ops = 0x4ff3fff0;
  ***************************************/
 
 /* Functions */
-systimer_hal_init = 0x4fc00228;
-systimer_hal_deinit = 0x4fc0022c;
+/* The following ROM functions are commented out because they're patched in the esp_rom_systimer.c */
+/* systimer_hal_init = 0x4fc00228; */
+/* systimer_hal_deinit = 0x4fc0022c; */
 systimer_hal_set_tick_rate_ops = 0x4fc00230;
 systimer_hal_get_counter_value = 0x4fc00234;
 systimer_hal_get_time = 0x4fc00238;

components/esp_timer/src/esp_timer_impl_systimer.c

@@ -156,7 +156,12 @@ void esp_timer_impl_advance(int64_t time_diff_us)
 
 esp_err_t esp_timer_impl_early_init(void)
 {
-    periph_module_enable(PERIPH_SYSTIMER_MODULE);
+    PERIPH_RCC_ACQUIRE_ATOMIC(PERIPH_SYSTIMER_MODULE, ref_count) {
+        if (ref_count == 0) {
+            systimer_ll_enable_bus_clock(true);
+            systimer_ll_reset_register();
+        }
+    }
     systimer_hal_tick_rate_ops_t ops = {
         .ticks_to_us = systimer_ticks_to_us,
         .us_to_ticks = systimer_us_to_ticks,

components/freertos/port_systick.c

@@ -72,7 +72,12 @@ void vSystimerSetup(void)
     ESP_ERROR_CHECK(esp_intr_alloc(ETS_SYSTIMER_TARGET0_INTR_SOURCE + cpuid, ESP_INTR_FLAG_IRAM | level, SysTickIsrHandler, &systimer_hal, NULL));
 
     if (cpuid == 0) {
-        periph_module_enable(PERIPH_SYSTIMER_MODULE);
+        PERIPH_RCC_ACQUIRE_ATOMIC(PERIPH_SYSTIMER_MODULE, ref_count) {
+            if (ref_count == 0) {
+                systimer_ll_enable_bus_clock(true);
+                systimer_ll_reset_register();
+            }
+        }
         systimer_hal_init(&systimer_hal);
         systimer_hal_tick_rate_ops_t ops = {
             .ticks_to_us = systimer_ticks_to_us,

components/hal/esp32c2/include/hal/systimer_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -9,6 +9,7 @@
 #include <stdbool.h>
 #include "soc/systimer_struct.h"
 #include "soc/clk_tree_defs.h"
+#include "soc/system_struct.h"
 #include "hal/assert.h"
 
 #ifdef __cplusplus
@@ -35,6 +36,35 @@ static inline soc_periph_systimer_clk_src_t systimer_ll_get_clock_source(void)
     return SYSTIMER_CLK_SRC_XTAL;
 }
 
+/**
+ * @brief Enable the bus clock for systimer module
+ *
+ * @param enable true to enable, false to disable
+ */
+static inline void systimer_ll_enable_bus_clock(bool enable)
+{
+    SYSTEM.perip_clk_en0.systimer_clk_en = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_enable_bus_clock(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the systimer module
+ *
+ * @param group_id Group ID
+ */
+static inline void systimer_ll_reset_register(void)
+{
+    SYSTEM.perip_rst_en0.systimer_rst = 1;
+    SYSTEM.perip_rst_en0.systimer_rst = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_reset_register(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_reset_register(__VA_ARGS__)
+
 /******************* Counter *************************/
 
 __attribute__((always_inline)) static inline void systimer_ll_enable_counter(systimer_dev_t *dev, uint32_t counter_id, bool en)

components/hal/esp32c3/include/hal/systimer_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -9,6 +9,7 @@
 #include <stdbool.h>
 #include "soc/systimer_struct.h"
 #include "soc/clk_tree_defs.h"
+#include "soc/system_struct.h"
 #include "hal/assert.h"
 
 #ifdef __cplusplus
@@ -35,6 +36,35 @@ static inline soc_periph_systimer_clk_src_t systimer_ll_get_clock_source(void)
     return SYSTIMER_CLK_SRC_XTAL;
 }
 
+/**
+ * @brief Enable the bus clock for systimer module
+ *
+ * @param enable true to enable, false to disable
+ */
+static inline void systimer_ll_enable_bus_clock(bool enable)
+{
+    SYSTEM.perip_clk_en0.reg_systimer_clk_en = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_enable_bus_clock(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the systimer module
+ *
+ * @param group_id Group ID
+ */
+static inline void systimer_ll_reset_register(void)
+{
+    SYSTEM.perip_rst_en0.reg_systimer_rst = 1;
+    SYSTEM.perip_rst_en0.reg_systimer_rst = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_reset_register(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_reset_register(__VA_ARGS__)
+
 /******************* Counter *************************/
 
 __attribute__((always_inline)) static inline void systimer_ll_enable_counter(systimer_dev_t *dev, uint32_t counter_id, bool en)

components/hal/esp32c6/include/hal/systimer_ll.h

@@ -37,6 +37,35 @@ static inline soc_periph_systimer_clk_src_t systimer_ll_get_clock_source(void)
     return (PCR.systimer_func_clk_conf.systimer_func_clk_sel == 1) ? SYSTIMER_CLK_SRC_RC_FAST : SYSTIMER_CLK_SRC_XTAL;
 }
 
+/**
+ * @brief Enable the bus clock for systimer module
+ *
+ * @param enable true to enable, false to disable
+ */
+static inline void systimer_ll_enable_bus_clock(bool enable)
+{
+    PCR.systimer_conf.systimer_clk_en = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_enable_bus_clock(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the systimer module
+ *
+ * @param group_id Group ID
+ */
+static inline void systimer_ll_reset_register(void)
+{
+    PCR.systimer_conf.systimer_rst_en = 1;
+    PCR.systimer_conf.systimer_rst_en = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_reset_register(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_reset_register(__VA_ARGS__)
+
 /********************** ETM *****************************/
 
 __attribute__((always_inline)) static inline void systimer_ll_enable_etm(systimer_dev_t *dev, bool en)

components/hal/esp32h2/include/hal/systimer_ll.h

@@ -37,6 +37,35 @@ static inline soc_periph_systimer_clk_src_t systimer_ll_get_clock_source(void)
     return (PCR.systimer_func_clk_conf.systimer_func_clk_sel == 1) ? SYSTIMER_CLK_SRC_RC_FAST : SYSTIMER_CLK_SRC_XTAL;
 }
 
+/**
+ * @brief Enable the bus clock for systimer module
+ *
+ * @param enable true to enable, false to disable
+ */
+static inline void systimer_ll_enable_bus_clock(bool enable)
+{
+    PCR.systimer_conf.systimer_clk_en = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_enable_bus_clock(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the systimer module
+ *
+ * @param group_id Group ID
+ */
+static inline void systimer_ll_reset_register(void)
+{
+    PCR.systimer_conf.systimer_rst_en = 1;
+    PCR.systimer_conf.systimer_rst_en = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_reset_register(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_reset_register(__VA_ARGS__)
+
 /********************** ETM *****************************/
 
 __attribute__((always_inline)) static inline void systimer_ll_enable_etm(systimer_dev_t *dev, bool en)

components/hal/esp32p4/include/hal/clk_gate_ll.h

@@ -34,8 +34,6 @@ static inline uint32_t periph_ll_get_clk_en_mask(periph_module_t periph)
         return 0;
     case PERIPH_I3C_MODULE:
         return HP_SYS_CLKRST_REG_I3C_MST_CLK_EN;
-    case PERIPH_SYSTIMER_MODULE:
-        return HP_SYS_CLKRST_REG_SYSTIMER_CLK_EN;
     case PERIPH_SARADC_MODULE:
         return HP_SYS_CLKRST_REG_ADC_CLK_EN;
     case PERIPH_PVT_MODULE:
@@ -85,8 +83,6 @@ static inline uint32_t periph_ll_get_rst_en_mask(periph_module_t periph, bool en
         return HP_SYS_CLKRST_REG_RST_EN_DMA2D;
     case PERIPH_PPA_MODULE:
         return HP_SYS_CLKRST_REG_RST_EN_PPA;
-    case PERIPH_SYSTIMER_MODULE:
-        return HP_SYS_CLKRST_REG_RST_EN_STIMER;
     case PERIPH_UHCI_MODULE:
         return HP_SYS_CLKRST_REG_RST_EN_UHCI;
     case PERIPH_I3C_MODULE:
@@ -144,7 +140,6 @@ static inline uint32_t periph_ll_get_clk_en_reg(periph_module_t periph)
     case PERIPH_MIPI_DSI_MODULE:
         return HP_SYS_CLKRST_PERI_CLK_CTRL03_REG;
     case PERIPH_I3C_MODULE:
-    case PERIPH_SYSTIMER_MODULE:
     case PERIPH_SARADC_MODULE:
         return HP_SYS_CLKRST_PERI_CLK_CTRL22_REG;
     case PERIPH_PVT_MODULE:
@@ -178,7 +173,6 @@ static inline uint32_t periph_ll_get_rst_en_reg(periph_module_t periph)
     case PERIPH_DMA2D_MODULE:
         return HP_SYS_CLKRST_HP_RST_EN0_REG;
     case PERIPH_PPA_MODULE:
-    case PERIPH_SYSTIMER_MODULE:
     case PERIPH_UHCI_MODULE:
     case PERIPH_I3C_MODULE:
     case PERIPH_SARADC_MODULE:

components/hal/esp32p4/include/hal/systimer_ll.h

@@ -36,12 +36,40 @@ static inline void systimer_ll_set_clock_source(soc_periph_systimer_clk_src_t cl
 /// the critical section needs to declare the __DECLARE_RCC_ATOMIC_ENV variable in advance
 #define systimer_ll_set_clock_source(...) (void)__DECLARE_RCC_ATOMIC_ENV; systimer_ll_set_clock_source(__VA_ARGS__)
 
-
 static inline soc_periph_systimer_clk_src_t systimer_ll_get_clock_source(void)
 {
     return (HP_SYS_CLKRST.peri_clk_ctrl21.reg_systimer_clk_src_sel == 1) ? SYSTIMER_CLK_SRC_RC_FAST : SYSTIMER_CLK_SRC_XTAL;
 }
 
+/**
+ * @brief Enable the bus clock for systimer module
+ *
+ * @param enable true to enable, false to disable
+ */
+static inline void systimer_ll_enable_bus_clock(bool enable)
+{
+    HP_SYS_CLKRST.soc_clk_ctrl2.reg_systimer_apb_clk_en = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_enable_bus_clock(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the systimer module
+ *
+ * @param group_id Group ID
+ */
+static inline void systimer_ll_reset_register(void)
+{
+    HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_stimer = 1;
+    HP_SYS_CLKRST.hp_rst_en1.reg_rst_en_stimer = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_reset_register(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_reset_register(__VA_ARGS__)
+
 /********************** ETM *****************************/
 
 __attribute__((always_inline)) static inline void systimer_ll_enable_etm(systimer_dev_t *dev, bool en)

components/hal/esp32s2/include/hal/systimer_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -9,6 +9,7 @@
 #include <stdbool.h>
 #include "soc/systimer_struct.h"
 #include "soc/clk_tree_defs.h"
+#include "soc/system_reg.h"
 #include "hal/assert.h"
 
 #ifdef __cplusplus
@@ -35,6 +36,38 @@ static inline soc_periph_systimer_clk_src_t systimer_ll_get_clock_source(void)
     return SYSTIMER_CLK_SRC_XTAL;
 }
 
+/**
+ * @brief Enable the bus clock for systimer module
+ *
+ * @param enable true to enable, false to disable
+ */
+static inline void systimer_ll_enable_bus_clock(bool enable)
+{
+    uint32_t reg_val = READ_PERI_REG(DPORT_PERIP_CLK_EN0_REG);
+    reg_val &= ~DPORT_SYSTIMER_CLK_EN_M;
+    reg_val |= enable << DPORT_SYSTIMER_CLK_EN_S;
+    WRITE_PERI_REG(DPORT_PERIP_CLK_EN0_REG, reg_val);
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_enable_bus_clock(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the systimer module
+ *
+ * @param group_id Group ID
+ */
+static inline void systimer_ll_reset_register(void)
+{
+    WRITE_PERI_REG(DPORT_PERIP_RST_EN0_REG, DPORT_SYSTIMER_RST_M);
+    WRITE_PERI_REG(DPORT_PERIP_RST_EN0_REG, 0);
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_reset_register(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_reset_register(__VA_ARGS__)
+
 /******************* Counter *************************/
 
 __attribute__((always_inline)) static inline void systimer_ll_enable_counter(systimer_dev_t *dev, uint32_t counter_id, bool en)

components/hal/esp32s3/include/hal/systimer_ll.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -9,6 +9,7 @@
 #include <stdbool.h>
 #include "soc/systimer_struct.h"
 #include "soc/clk_tree_defs.h"
+#include "soc/system_struct.h"
 #include "hal/assert.h"
 
 #ifdef __cplusplus
@@ -35,6 +36,35 @@ static inline soc_periph_systimer_clk_src_t systimer_ll_get_clock_source(void)
     return SYSTIMER_CLK_SRC_XTAL;
 }
 
+/**
+ * @brief Enable the bus clock for systimer module
+ *
+ * @param enable true to enable, false to disable
+ */
+static inline void systimer_ll_enable_bus_clock(bool enable)
+{
+    SYSTEM.perip_clk_en0.systimer_clk_en = enable;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_enable_bus_clock(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_enable_bus_clock(__VA_ARGS__)
+
+/**
+ * @brief Reset the systimer module
+ *
+ * @param group_id Group ID
+ */
+static inline void systimer_ll_reset_register(void)
+{
+    SYSTEM.perip_rst_en0.systimer_rst = 1;
+    SYSTEM.perip_rst_en0.systimer_rst = 0;
+}
+
+/// use a macro to wrap the function, force the caller to use it in a critical section
+/// the critical section needs to declare the __DECLARE_RCC_RC_ATOMIC_ENV variable in advance
+#define systimer_ll_reset_register(...) (void)__DECLARE_RCC_RC_ATOMIC_ENV; systimer_ll_reset_register(__VA_ARGS__)
+
 /******************* Counter *************************/
 
 __attribute__((always_inline)) static inline void systimer_ll_enable_counter(systimer_dev_t *dev, uint32_t counter_id, bool en)

components/soc/esp32p4/include/soc/Kconfig.soc_caps.in

@@ -1039,6 +1039,10 @@ config SOC_SYSTIMER_ALARM_MISS_COMPENSATE
     bool
     default y
 
+config SOC_SYSTIMER_SUPPORT_ETM
+    bool
+    default y
+
 config SOC_LP_TIMER_BIT_WIDTH_LO
     int
     default 32

components/soc/esp32p4/include/soc/soc_caps.h

@@ -460,7 +460,7 @@
 #define SOC_SYSTIMER_SUPPORT_RC_FAST        1  // Systimer can use RC_FAST clock source
 #define SOC_SYSTIMER_INT_LEVEL              1  // Systimer peripheral uses level interrupt
 #define SOC_SYSTIMER_ALARM_MISS_COMPENSATE  1  // Systimer peripheral can generate interrupt immediately if t(target) > t(current)
-// #define SOC_SYSTIMER_SUPPORT_ETM            1  // Systimer comparator can generate ETM event  //TODO: IDF-7486
+#define SOC_SYSTIMER_SUPPORT_ETM            1  // Systimer comparator can generate ETM event
 
 /*-------------------------- LP_TIMER CAPS ----------------------------------*/
 #define SOC_LP_TIMER_BIT_WIDTH_LO           32 // Bit width of lp_timer low part