feat(xtensa): add support for esp32s3 with xtensa arch

laze-project.yml

@@ -12,8 +12,6 @@ contexts:
       - ?defmt
     env:
       RUSTFLAGS:
-        - "-Clink-arg=--nmagic"
-        - "-Clink-arg=${LINK_ARG_PREFIX}--no-eh-frame-hdr"
         - --cfg builder=\"${builder}\"
         - --cfg context=\"${builder}\"
         - --cfg context=\"riot-rs\"
@@ -63,7 +61,7 @@ contexts:
         pool: console
         always: true
         cmd: >-
-          cd ${relpath} && ${CARGO_ENV} cargo ${CARGO_ARGS} build --${PROFILE} ${FEATURES}
+          cd ${relpath} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS} build --${PROFILE} ${FEATURES}
           && cp ${relroot}/${build-dir}/bin/${builder}/${app}/cargo/${RUSTC_TARGET}/${PROFILE}/${riot_binary} ${relroot}/${out}
 
       - name: GIT_DOWNLOAD
@@ -77,13 +75,13 @@ contexts:
 
       cargo:
         cmd:
-          - cd ${relpath} && ${CARGO_ENV} cargo ${CARGO_ARGS}
+          - cd ${relpath} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS}
         build: false
 
       run:
         build: false
         cmd:
-          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_ARGS} run --${PROFILE} ${FEATURES}
+          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS} run --${PROFILE} ${FEATURES}
 
       cargo-test:
         cmd:
@@ -92,7 +90,7 @@ contexts:
 
       debug:
         cmd:
-          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_ARGS} run --${PROFILE} ${FEATURES}
+          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS} run --${PROFILE} ${FEATURES}
         build: false
         ignore_ctrl_c: true
 
@@ -104,12 +102,12 @@ contexts:
 
       bloat:
         cmd:
-          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_ARGS} bloat --${PROFILE} ${FEATURES}
+          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS} bloat --${PROFILE} ${FEATURES}
         build: false
 
       tree:
         cmd:
-          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_ARGS} tree ${FEATURES}
+          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS} tree ${FEATURES}
         build: false
 
       flash:
@@ -278,8 +276,6 @@ contexts:
         - --cfg context=\"esp\"
         # linkall first
         - -Clink-arg=-Tlinkall.x
-        - -Clink-arg=-Tlinkme-esp-fixup.x
-        - -Clink-arg=-Tlinkme.x
         # this might be needed for backtraces
         # - -C force-frame-pointers
       CARGO_ARGS:
@@ -288,6 +284,8 @@ contexts:
 
   - name: esp32c3
     parent: esp
+    selects:
+      - riscv
     env:
       RUSTFLAGS:
         - --cfg context=\"esp32c3\"
@@ -296,12 +294,25 @@ contexts:
 
   - name: esp32c6
     parent: esp
+    selects:
+      - riscv
     env:
       RUSTFLAGS:
         - --cfg context=\"esp32c6\"
       RUSTC_TARGET: riscv32imac-unknown-none-elf
       CARGO_TARGET_PREFIX: CARGO_TARGET_RISCV32IMAC_UNKNOWN_NONE_ELF
 
+  - name: esp32s3
+    parent: esp
+    selects:
+      - xtensa
+    env:
+      CARGO_TOOLCHAIN: +esp
+      RUSTFLAGS:
+        - --cfg context=\"esp32s3\"
+      RUSTC_TARGET: xtensa-esp32s3-none-elf
+      CARGO_TARGET_PREFIX: CARGO_TARGET_XTENSA_ESP32S3_NONE_ELF
+
   - name: stm32
     help: STM32 support (based on embassy-stm32)
     parent: riot-rs
@@ -358,6 +369,8 @@ modules:
       global:
         OBJCOPY: arm-none-eabi-objcopy
         RUSTFLAGS:
+          - -Clink-arg=--nmagic
+          - -Clink-arg=${LINK_ARG_PREFIX}--no-eh-frame-hdr
           - -Clink-arg=-Tlinkme.x
           - -Clink-arg=-Tlink.x
           - -Clink-arg=-Tdevice.x
@@ -414,6 +427,18 @@ modules:
         RUSTFLAGS:
           - --cfg armv7m
 
+  - name: xtensa
+    env:
+      global:
+        RUSTFLAGS:
+          - --cfg context=\"xtensa\"
+
+  - name: riscv
+    env:
+      global:
+        RUSTFLAGS:
+          - --cfg context=\"riscv\"
+
   - name: rp-link-arg
     help: helper module that ensures link-rp.x is added behind cortex-m ld scripts
     env:
@@ -630,6 +655,7 @@ modules:
       - nrf
       - rp
       - stm32
+      - esp
 
   - name: wifi-esp
     context:
@@ -776,6 +802,9 @@ builders:
   - name: espressif-esp32-c6-devkitc-1
     parent: esp32c6
 
+  - name: espressif-esp32-s3-wroom-1
+    parent: esp32s3
+
   - name: nrf5340dk
     parent: nrf5340
 

src/riot-rs-bench/Cargo.toml

@@ -15,3 +15,6 @@ defmt = { workspace = true, optional = true }
 
 [target.'cfg(context = "cortex-m")'.dependencies]
 cortex-m = { workspace = true, features = ["critical-section-single-core"] }
+
+[target.'cfg(context = "esp")'.dependencies]
+esp-hal = { workspace = true }

src/riot-rs-bench/src/esp.rs

@@ -0,0 +1,28 @@
+use esp_hal::{
+    peripherals,
+    timer::systimer::{SystemTimer, Unit as _},
+};
+
+use crate::Error;
+
+#[allow(missing_docs)]
+pub fn benchmark<F: Fn() -> ()>(iterations: usize, f: F) -> Result<usize, Error> {
+    let mut systimer_periph = unsafe { peripherals::SYSTIMER::steal() };
+    let timer = SystemTimer::new(&mut systimer_periph);
+
+    // Reset counter of unit0, which is read in `SystemTimer::now()`.
+    timer.unit0.set_count(0);
+
+    while SystemTimer::now() == 0 {}
+
+    let before = SystemTimer::now();
+
+    for _ in 0..iterations {
+        f();
+    }
+
+    SystemTimer::now()
+        .checked_sub(before)
+        .map(|total| total as usize / iterations)
+        .ok_or(Error::SystemTimerWrapped)
+}

src/riot-rs-bench/src/lib.rs

@@ -9,8 +9,10 @@ cfg_if::cfg_if! {
     if #[cfg(context = "cortex-m")] {
         mod cortexm;
         use cortexm as bench;
-    }
-    else if #[cfg(context = "riot-rs")] {
+    } else if #[cfg(context = "esp")] {
+        mod esp;
+        use esp as bench;
+    } else if #[cfg(context = "riot-rs")] {
         // When run with laze but the architecture is not supported
         compile_error!("benchmarking is not supported for this architecture");
     } else {

src/riot-rs-boards/Cargo.toml

@@ -16,6 +16,7 @@ riot-rs-rt = { path = "../riot-rs-rt" }
 
 ai-c3 = { optional = true, path = "ai-c3" }
 espressif-esp32-c6-devkitc-1 = { optional = true, path = "espressif-esp32-c6-devkitc-1" }
+espressif-esp32-s3-wroom-1 = { optional = true, path = "espressif-esp32-s3-wroom-1" }
 dwm1001 = { optional = true, path = "dwm1001" }
 microbit = { optional = true, path = "microbit" }
 microbit-v2 = { optional = true, path = "microbit-v2" }

src/riot-rs-boards/espressif-esp32-s3-wroom-1/Cargo.toml

@@ -0,0 +1,10 @@
+[package]
+name = "espressif-esp32-s3-wroom-1"
+version = "0.1.0"
+authors = ["Elena Frank <[email protected]>"]
+license.workspace = true
+edition = "2021"
+
+[dependencies]
+riot-rs-rt = { workspace = true, features = ["_esp32s3"] }
+riot-rs-debug.workspace = true

src/riot-rs-boards/espressif-esp32-s3-wroom-1/src/lib.rs

@@ -0,0 +1,7 @@
+#![no_std]
+
+use riot_rs_debug::log::debug;
+
+pub fn init() {
+    debug!("espressif-esp32-s3-wroom-1::init()");
+}

src/riot-rs-boards/src/lib.rs

@@ -8,6 +8,8 @@ cfg_if! {
         pub use ai_c3 as board;
     } else if #[cfg(feature = "espressif-esp32-c6-devkitc-1")] {
         pub use espressif_esp32_c6_devkitc_1 as board;
+    } else if #[cfg(feature = "espressif-esp32-s3-wroom-1")] {
+        pub use espressif_esp32_s3_wroom_1 as board;
     } else if #[cfg(feature = "nrf52dk")] {
         pub use nrf52dk as board;
     } else if #[cfg(feature = "dwm1001")] {

src/riot-rs-debug/Cargo.toml

@@ -33,6 +33,9 @@ esp-println = { workspace = true, features = ["esp32c3"] }
 [target.'cfg(context = "esp32c6")'.dependencies]
 esp-println = { workspace = true, features = ["esp32c6"] }
 
+[target.'cfg(context = "esp32s3")'.dependencies]
+esp-println = { workspace = true, features = ["esp32s3"] }
+
 [features]
 debug-console = []
 defmt = ["dep:defmt", "esp-println?/defmt-espflash"]

src/riot-rs-esp/Cargo.toml

@@ -51,6 +51,15 @@ esp-wifi = { workspace = true, default-features = false, features = [
   "esp32c6",
 ], optional = true }
 
+[target.'cfg(context = "esp32s3")'.dependencies]
+esp-hal = { workspace = true, features = ["esp32s3"] }
+esp-hal-embassy = { workspace = true, default-features = false, features = [
+  "esp32s3",
+] }
+esp-wifi = { workspace = true, default-features = false, features = [
+  "esp32s3",
+], optional = true }
+
 [features]
 ## Enables GPIO interrupt support.
 external-interrupts = ["riot-rs-embassy-common/external-interrupts"]

src/riot-rs-rt/Cargo.toml

@@ -38,10 +38,11 @@ silent-panic = []
 _panic-handler = []
 
 # internal
-# These two features are used by `build.rs`, which doesn't "see" context
+# These features are used by `build.rs`, which doesn't "see" context
 # variables.
 _esp32c3 = []
 _esp32c6 = []
+_esp32s3 = []
 
 [dev-dependencies]
 riot-rs-boards = { path = "../riot-rs-boards" }

src/riot-rs-rt/build.rs

@@ -8,13 +8,5 @@ fn main() {
     std::fs::copy("isr_stack.ld.in", out.join("isr_stack.x")).unwrap();
     std::fs::copy("linkme.x", out.join("linkme.x")).unwrap();
 
-    if env::var_os("CARGO_FEATURE__ESP32C3").is_some() {
-        std::fs::copy("linkme-esp32c3-fixup.x", out.join("linkme-esp-fixup.x")).unwrap();
-    }
-
-    if env::var_os("CARGO_FEATURE__ESP32C6").is_some() {
-        std::fs::copy("linkme-esp32c6-fixup.x", out.join("linkme-esp-fixup.x")).unwrap();
-    }
-
     println!("cargo:rustc-link-search={}", out.display());
 }

src/riot-rs-threads/Cargo.toml

@@ -26,6 +26,9 @@ esp-hal = { workspace = true, features = ["esp32c3"] }
 [target.'cfg(context = "esp32c6")'.dependencies]
 esp-hal = { workspace = true, features = ["esp32c6"] }
 
+[target.'cfg(context = "esp32s3")'.dependencies]
+esp-hal = { workspace = true, features = ["esp32s3"] }
+
 [target.'cfg(context = "cortex-m")'.dependencies]
 # cortex-m specifics
 cortex-m.workspace = true

src/riot-rs-threads/src/arch/mod.rs

@@ -28,12 +28,13 @@ cfg_if::cfg_if! {
     if #[cfg(context = "cortex-m")] {
         mod cortex_m;
         pub use cortex_m::Cpu;
-    }
-    else if #[cfg(any(context = "esp32c3", context = "esp32c6"))] {
+    } else if #[cfg(context = "riscv")] {
         mod riscv;
         pub use riscv::Cpu;
-    }
-    else {
+    } else if #[cfg(context = "xtensa")] {
+        mod xtensa;
+        pub use xtensa::Cpu;
+    } else {
         pub struct Cpu;
         impl Arch for Cpu {
             type ThreadData = ();