diff options
| author | Gabriel Schneider <[email protected]> | 2026-08-26 13:27:46 -0300 |
|---|---|---|
| committer | Gabriel Schneider <[email protected]> | 2026-08-27 09:47:39 -0300 |
| commit | 11f380f6d7222f2cad93c2cdf13701ea1f903d47 (patch) | |
| tree | 803194ee5853a6b4cda93f90a95e28d1f02e69ae /src/esp32p4/app.zig | |
| parent | fbc194068687e49a8490c85c9f1257a2f2bb9079 (diff) | |
| download | pardes-11f380f6d7222f2cad93c2cdf13701ea1f903d47.tar.gz pardes-11f380f6d7222f2cad93c2cdf13701ea1f903d47.zip | |
One core behind N frontends, the board's own runner moved in, and every board cap on one screen
## The wire is the effect stream, not a new protocol
`pardes --detach` leaves a core running with no terminal; `pardes --attach` is a frontend that owns
a terminal and a socket and nothing else. N frontends on one core all look at the same screen —
`screen -x`, not N sessions.
The codec (`src/detached/wire.zig`) carries exactly one `Event` or one `Host.VTable` call per
message. That is not a coincidence and it is why there is no third vocabulary to keep in step: the
core's IO seam was already a struct of function pointers with plain-data arguments, so a socket is
a legal implementation of it. `nested.zig`'s socket could not be reused — it carries a builtin
command line, and a command line cannot carry a frame.
ARCHITECTURE-NEUTRAL on purpose, not as decoration. The frontend on the far end may be
riscv32-freestanding on the ESP32-P4 while the core is x86_64 Linux, so every field is an explicit
little-endian fixed width and no message is a blit of a native struct. A protocol that only works
between two builds of the same compiler would have thrown away the one frontend that motivated it.
## The board comes in; its toolchain stays out
`src/p4.zig` becomes `src/esp32p4.zig`, and the pardes half of `../05-zig-p4` — the vaxis-over-
serial runner, the UART editor terminal, the keystroke rescue ring, the on-die test suite — moves
into `src/esp32p4/`. `build.zig.zon` gains `.zig_p4 = .{ .path = "../05-zig-p4" }`, so
`zig build -Dplatform=esp32p4 -Desp32p4-firmware` builds, flashes, monitors and self-tests the
board from this repo's `build.zig`.
The DIVISION is the point. What moved is what only pardes wants: the runner that drives a pardes
core over a serial line. What stayed is everything a second project would also want — the HAL, the
register/radio/oracle layers, the linker script, `_start`. `zig_p4` declares no dependencies of its
own and its `build()` early-returns when it is not the root package, so this costs the package
graph exactly zero packages and the editor's own builds nothing at all.
## limits.zig: nine forgettable places become one budget
Nine `platform == .esp32p4` capacity tests lived in nine files. They were never nine decisions —
they are ONE decision, how much memory this build may spend, taken nine times where no reader could
see the total. `src/limits.zig` puts the whole budget on one screen with every cap named against
what it is measured against, derived from two booleans.
The payoff is testability on a machine that is not the board: the caps are ordinary comptime values,
so a host build can be compiled against the board's numbers and the parking, eviction and clamping
paths a 240 KiB core takes get exercised by the normal test suite instead of only over a UART.
## A bare `zig build`
`zig build` with no arguments now builds the tty and GUI binaries and installs them into
`~/.local/bin`, and says so once on stdout with the flag that overrides it. The old default built
one binary into `zig-out` — a path nothing on a `PATH` ever looks at, which made "build it" and
"use it" two different commands for no reason.
Diffstat (limited to 'src/esp32p4/app.zig')
| -rw-r--r-- | src/esp32p4/app.zig | 546 |
1 files changed, 546 insertions, 0 deletions
diff --git a/src/esp32p4/app.zig b/src/esp32p4/app.zig new file mode 100644 index 00000000..a9cf627d --- /dev/null +++ b/src/esp32p4/app.zig @@ -0,0 +1,546 @@ +//! pardes, as ESP32-P4 firmware: the reset entry, the heap, the clock, the trap handler and the +//! loop. +//! +//! There is no operating system under this. `_start` is the reset entry the second-stage bootloader +//! jumps to, and this file is the entire platform: a heap, a millisecond clock, and UART0. +//! +//! ## Why the firmware root is in the editor's repository +//! +//! It was written in the `05-zig-p4` toolchain repository, next to the SoC support it uses, and it +//! moved here because everything in it is a statement about the EDITOR. The heap span it hands over +//! is the number that decides how large a grid the board can drive; `input_chunk` is sized against +//! what applying one keystroke costs in `src/pardes.zig`; the loop's shape - read, chunk, tick, +//! render only when dirty - is this editor's loop and no one else's; and the `-Dprof` attribution +//! exists to answer "where did the 34 ms of a keystroke go" about this program. A firmware root that +//! specific to one application belongs beside it. +//! +//! What stayed behind is everything a second application would also want, and none of it is +//! duplicated here: the SoC and HAL, the translate-c register layer, the coalescing heap, `std.Io` +//! for this chip, the app descriptor, the generated linker script, the image builder, the flasher +//! and the interactive console. Those arrive as the `zig_p4` dependency, and this file imports +//! exactly four of its modules - `soc`, `hal`, `heap` and `config` - plus two sibling files, +//! `uart.zig` and `input_rescue.zig`, which are the editor's own. +//! +//! ## Where the editor is +//! +//! On the far side of a C ABI, still, and that is a choice rather than a leftover. `src/esp32p4.zig` in +//! this same repository is compiled as ONE freestanding object (`b.addObject`, rooted at that file) +//! and linked in beside this one; the `extern` declarations below are the near side of that seam. +//! +//! Importing `esp32p4.zig` as a module instead would be shorter to write and worse in every way that +//! matters. It would drag the core's whole module graph - vaxis, the themes, the allocator tiers - +//! into this root, which is the compilation that must stay small enough to reason about. It would +//! give the firmware two ways to reach the editor. And above all it would make the OBJECT path a +//! second arrangement, tested separately: that path is what `05-zig-p4 -Dpardes -Dpardes-obj=...` +//! builds, it is what every measurement in that repository's `experiments/` was taken through, and +//! it is a supported way to build this board. With the extern kept, both builds link the same eight +//! symbols against the same object file, so neither can drift and neither is the better-tested one. +//! The reasons the seam is a file at all - a nested `build.zig.zon` dependency broke every build in +//! the toolchain repository - are recorded in `src/esp32p4.zig:8-15` and `05-zig-p4/build.zig:238-260`. +//! +//! Who owns which symbol: `src/esp32p4.zig` exports all eight `pardes_esp32p4_*` functions and nothing else. +//! This file exports `_start`, `zig_main`, `trapEntry` and `trapReport`. `esp_app_desc` belongs to +//! neither and comes from the toolchain's own appdesc object, which the link adds unconditionally. +//! `abi_version` below is the one constant both sides spell, and its counterpart is +//! `src/esp32p4.zig:98` - one repository now, so a bump is two lines in one diff rather than two commits +//! in two trees. +//! +//! The seam is deliberately **bytes in, bytes out**. Everything that needs to know what a cell is - +//! vaxis, the ANSI encoder, the input parser, the capability handshake - lives on the far side, +//! next to the vaxis it is built against. What crosses is a byte stream in each direction, which is +//! exactly what a serial line is, so this file has no opinion about terminals at all. +//! +//! ## Where the memory is +//! +//! Measured on this die by the toolchain's `examples/memprobe.zig`, not read off a datasheet, and +//! written down once in the generated linker script (`05-zig-p4/build.zig:1572,1579,1584-1585`): +//! +//! 0x4FF00000..0x4FF3F000 252 KiB `l2mem`: .data/.bss/.stack are linked into this +//! 0x4FF3F000..0x4FF40000 4 KiB mask ROM .data/.bss - untouchable, ets_printf needs it +//! 0x4FF40000..0x4FFA0000 384 KiB `l2high`: handed to the editor as its entire heap +//! 0x4FFA0000..0x4FFC0000 128 KiB NOT memory - the L2 cache lives here +//! +//! That last line is why the heap is 384 KiB and not the 512 KiB an earlier version of this comment +//! claimed. The first probe wrote a pattern and read it back one page at a time and reported the +//! whole upper 512 KiB as RAM, because a store followed immediately by a load of the SAME address +//! returns the stored value whether the backing store is real, an address mirror, or merely a dirty +//! cache line. Writing every page before reading any page separates the three, and the top 128 KiB +//! then failed; handing them to an allocator hung the heap on its first free-list walk. ESP-IDF's +//! own arithmetic agrees exactly: SRAM_HIGH_SIZE = 0x80000 - CONFIG_CACHE_L2_CACHE_SIZE, with the +//! Kconfig default of 128 KiB. +//! +//! The span arrives as `__heap_start`/`__heap_end` from that script, so those addresses are written +//! down in exactly one place. The editor owns it outright: it is passed in at init and this file +//! never allocates from it. +//! +//! PSRAM is not used. The board has 32 MB fitted and it would make all of this comfortable, but +//! ESP-IDF's own ESP32-P4 implementation runs past a thousand lines - MPLL, MSPI clocking, pin +//! drive and DQS, CS timing, mode registers, a connectivity check, and an entire timing-calibration +//! subsystem - and the mask ROM offers only MMU mapping, no device init. Touching it untrained +//! faults and hangs the core, which `examples/memprobe.zig` demonstrates on purpose. + +const std = @import("std"); +const soc = @import("soc"); +const config = @import("config"); + +/// `-Dprof`: time the two phases of a keystroke on the board and print the cycle counts. A +/// diagnostic, not a feature - see the loop. +const prof = config.prof; + +/// Every byte this loop has taken off the UART, for `-Dprof`. Ground truth for "did the burst +/// arrive", which a screen reconstruction cannot answer: a character can be missing from the screen +/// because it never arrived, because the editor never applied it, or because the viewport does not +/// show that column. +var rx_total: u32 = 0; + +/// How many input bytes to hand the editor before draining the receiver again. Chosen against the +/// FIFO rather than against the editor: applying one keystroke was measured at 44 us on an empty +/// line and 63 us at 640 characters, so eight of them is at most ~0.5 ms in which nothing empties +/// the receiver, against a 128-byte FIFO that holds 11 ms of wire at 115200. Twenty times the margin +/// needed, and it costs nothing on the wire because one render still happens per loop iteration. +const input_chunk = 8; +const hal = @import("hal"); +const heapmod = @import("heap"); +const uart = @import("uart.zig"); + +// ------------------------------------------------------------------------------------- the ABI +// Eight functions, all `callconv(.c)`, all implemented in the linked object - `src/esp32p4.zig` in this +// repository, compiled for the same target and exporting exactly these names. This is the complete +// interface between this board and the editor, and it is deliberately bytes-and-memory only: the +// editor never learns what a UART is, and this file never learns what a cell is. +// +// The declarations below are a SECOND spelling of the signatures in `src/esp32p4.zig:100-127,259-...`, +// and that duplication is what a C ABI is: each side declares the wire independently, which is +// precisely why `abi_version` has to be checked. Sharing a Zig type between them would mean sharing +// a module, which would mean the core in this compilation - see the header. + +/// How the editor emits bytes. Called with finished runs of ANSI, many times per frame. +const WriteFn = *const fn (ctx: ?*anyopaque, ptr: [*]const u8, len: usize) callconv(.c) void; + +/// The board's pads, offered to the editor. Optional on the wire so a firmware with nothing to +/// toggle passes null and the `Gpio` word reports that rather than the object guessing. +const GpioFn = *const fn (ctx: ?*anyopaque, pin: u16, was: *u8, now: *u8) callconv(.c) bool; + +/// This board's allocator, handed across as plain function pointers. `log2_align` is a log2 value, +/// which is exactly how `std.mem.Alignment` represents itself, so neither side needs a conversion +/// table. +/// +/// The memory belongs to THIS side: only the firmware knows that the heap is the 384 KiB at +/// 0x4FF40000, that the 128 KiB above it is L2 cache, and that PSRAM is untrained. The editor gets +/// an allocator, not an address range. +const Allocator = extern struct { + ctx: ?*anyopaque, + alloc: *const fn (ctx: ?*anyopaque, len: usize, log2_align: u8) callconv(.c) ?[*]u8, + resize: *const fn (ctx: ?*anyopaque, ptr: [*]u8, len: usize, log2_align: u8, new_len: usize) callconv(.c) bool, + free: *const fn (ctx: ?*anyopaque, ptr: [*]u8, len: usize, log2_align: u8) callconv(.c) void, +}; + +/// The one number both sides must agree on. Linkers do not type-check C symbols, so a signature +/// that drifts on one side of this seam links cleanly and then corrupts the stack; checking this +/// before calling anything else turns that into a refusal to boot. +const abi_version: u32 = 2; +extern fn pardes_esp32p4_abi_version() callconv(.c) u32; + +/// Hand over the allocator and the output sink, and state the initial window size. Returns 0, or a +/// small non-zero code this file can only report. +extern fn pardes_esp32p4_init( + alloc: *const Allocator, + write: WriteFn, + gpio: ?GpioFn, + ctx: ?*anyopaque, + cols: u16, + rows: u16, +) callconv(.c) u32; + +/// Raw bytes off the wire: keystrokes, capability-query replies, and the host bridge's in-band +/// resize reports. The editor parses all three; this file distinguishes none of them. +extern fn pardes_esp32p4_input(ptr: [*]const u8, len: usize) callconv(.c) void; + +/// Advance time. Separate from `input` because animations and timeouts must progress on a wire +/// where nothing is arriving. +extern fn pardes_esp32p4_tick(now_ms: u64) callconv(.c) void; + +/// Emit one frame through the write callback. Returns 0 or an error code. +extern fn pardes_esp32p4_render() callconv(.c) u32; + +/// Is there anything to draw - a dirty surface or a running animation? Asked every iteration so a +/// quiet editor costs no bytes on a 115200-baud link. +extern fn pardes_esp32p4_wants_frame() callconv(.c) bool; + +/// Has the user asked to leave? There is nowhere to go, so this only stops the loop. +extern fn pardes_esp32p4_quit() callconv(.c) bool; + +/// The last frame's three stages in CPU cycles: the copy of pardes's Surface into vaxis's grid, +/// vaxis's own diff-and-emit, and the push into the UART. Only meaningful under `-Dprof`; the +/// editor object always exports it, and it costs two CSR reads per stage. +extern fn pardes_esp32p4_frame_prof(copy: *u64, render: *u64, flush: *u64) callconv(.c) void; + +// ------------------------------------------------------------------------------------ the sink + +/// The write callback handed to `pardes_esp32p4_init`. No context is needed - there is one UART. +fn writeOut(_: ?*anyopaque, ptr: [*]const u8, len: usize) callconv(.c) void { + uart.write(ptr[0..len]); +} + +/// Flip one pad and report the level before and after. The editor's `Gpio` word calls this; the +/// editor has no register of its own for it, deliberately. +/// +/// THIS IS WHY THE SEAM IS HERE. A toggle is not a write to GPIO_OUT: `configureOutput` points the +/// pad's IO MUX at the GPIO function, routes the GPIO matrix's output to it, sets the drive strength +/// and input buffer and clears the pulls, and only then enables the driver - four register files, +/// indexed by a per-pin table. That code already exists in the toolchain package's `src/hal/gpio.zig`, +/// it is the same call that package's `src/main.zig` blinks with, and its register numbers are +/// checked against ESP-IDF's own headers by `zig build diff` there. A second copy inside the editor +/// object would be a second copy under no test. +/// +/// `getDrivenLevel` rather than `getLevel`: the answer is the level this board is DRIVING, which is +/// defined for every pin. The pad's own level is what the outside world says, and on an unconnected +/// header pin that is noise. The input buffer is enabled anyway, so `Peek` of GPIO_IN_REG shows the +/// pad for anyone who wants to compare the two. +fn gpioToggle(_: ?*anyopaque, pin: u16, was: *u8, now: *u8) callconv(.c) bool { + if (pin > hal.gpio.max_pin) return false; + const p: u8 = @intCast(pin); + hal.gpio.configureOutput(p, .{ .readback = true }); + const before = hal.gpio.getDrivenLevel(p); + if (before == 1) hal.gpio.setLow(p) else hal.gpio.setHigh(p); + was.* = before; + now.* = hal.gpio.getDrivenLevel(p); + return true; +} + +// ------------------------------------------------------------------------------------- the heap + +/// The span the linker script hands over, from `l2high`'s ORIGIN and LENGTH. +/// +/// Reached with `@extern`, NOT with `extern const __heap_start: anyopaque` plus +/// `@intFromPtr`/`@ptrFromInt`. That spelling was here first and it was silently wrong: declaring a +/// linker symbol as an `anyopaque` OBJECT gives the optimiser a zero-sized object, so a pointer +/// derived from its address carries provenance for zero bytes, and ordinary (non-volatile) stores +/// through it are dead code it may drop. The toolchain's `examples/heapcheck.zig` caught it on the +/// die - the allocator's first block header read back as `size=2988759312 next=0xffffffff`-not, and +/// the free list walk never terminated. A `[*]u8` from `@extern` has no size to lose. +const heap_start = @extern([*]align(heapmod.Heap.granule) u8, .{ .name = "__heap_start" }); +const heap_end = @extern([*]align(heapmod.Heap.granule) u8, .{ .name = "__heap_end" }); + +fn heapSpan() []align(heapmod.Heap.granule) u8 { + return heap_start[0 .. @intFromPtr(heap_end) - @intFromPtr(heap_start)]; +} + +/// The one heap. A K&R coalescing free list over that span, validated on this die by the toolchain's +/// `examples/heapcheck.zig`: 512 blocks fill and free back to a single 393,216-byte block, a holed +/// arena still satisfies a 4 KiB request, and 20,000 random operations drain back to one block. +var gpa_heap: heapmod.Heap = undefined; + +// The four C forwarders the editor is handed. `log2_align` round-trips through +// `std.mem.Alignment`, whose representation IS the log2 value. + +fn cAlloc(_: ?*anyopaque, len: usize, log2_align: u8) callconv(.c) ?[*]u8 { + const a = gpa_heap.allocator(); + return a.vtable.alloc(a.ptr, len, @enumFromInt(log2_align), @returnAddress()); +} + +fn cResize(_: ?*anyopaque, ptr: [*]u8, len: usize, log2_align: u8, new_len: usize) callconv(.c) bool { + const a = gpa_heap.allocator(); + return a.vtable.resize(a.ptr, ptr[0..len], @enumFromInt(log2_align), new_len, @returnAddress()); +} + +fn cFree(_: ?*anyopaque, ptr: [*]u8, len: usize, log2_align: u8) callconv(.c) void { + const a = gpa_heap.allocator(); + a.vtable.free(a.ptr, ptr[0..len], @enumFromInt(log2_align), @returnAddress()); +} + +const editor_allocator: Allocator = .{ + .ctx = null, + .alloc = cAlloc, + .resize = cResize, + .free = cFree, +}; + +// ------------------------------------------------------------------------------------ the clock + +/// Milliseconds since boot, off the systimer - a 16 MHz counter (the toolchain package's +/// `src/hal/systimer.zig:31`), which is the cheapest trustworthy clock on this chip. `read` returns +/// null if the unit is not running, in which case time simply does not advance and the editor stops +/// animating; that is a better failure than a clock that jumps. +fn nowMs() u64 { + const us = hal.systimer.micros(.unit0) orelse return 0; + return us / 1000; +} + +// ------------------------------------------------------------------------------------- the loop + +export fn zig_main() noreturn { + // FIRST, before a single byte of `.rodata` is touched - which means before the marker below, + // because that marker IS a string literal in flash and would read as machine code without this. + soc.flushFlashCache(); + const heap = heapSpan(); + soc.rom.print("\r\nMARK B3 rom.print heap 0x%08x..0x%08x %u KiB\r\n", .{ + @as(u32, @intFromPtr(heap.ptr)), + @as(u32, @intFromPtr(heap.ptr)) + @as(u32, @intCast(heap.len)), + @as(u32, @intCast(heap.len / 1024)), + }); + + // The CPU clock, before anything is timed against it. The bootloader leaves 90 MHz and the + // CPLL is already at 360, so this is a divider change that disturbs neither UART0 (XTAL) nor + // the systimer (XTAL/2.5) nor the flash interface (SPLL). See the toolchain package's + // `src/hal/clkrst.zig:setCpuFreq`. + if (config.cpu_mhz != 90) hal.clkrst.setCpuFreq(switch (config.cpu_mhz) { + 180 => .mhz180, + 360 => .mhz360, + else => .mhz90, + }); + + const rwdt_was_armed = hal.rwdt.disable(); + hal.systimer.init(); + _ = rwdt_was_armed; + + const their_abi = pardes_esp32p4_abi_version(); + if (their_abi != abi_version) { + uart.write("MARK PARDES_ABI_MISMATCH\r\n"); + while (true) {} + } + + gpa_heap = heapmod.Heap.init(heap); + _ = uart.drainInput(); + + // Ask for more than any grid this board will ever render, so the SHELL's own ceiling is what + // governs - it clamps to `-Desp32p4-cols`/`-Desp32p4-rows` and reports the result. Naming 80x24 here made + // the firmware a second opinion about the geometry, which is one opinion too many. + const rc = pardes_esp32p4_init(&editor_allocator, writeOut, gpioToggle, null, 255, 255); + + if (rc != 0) { + soc.rom.print("MARK PARDES_INIT_FAIL rc=%u\r\n", .{rc}); + const s = gpa_heap.stats(); + soc.rom.print("MARK PARDES_HEAP free=%u largest=%u blocks=%u\r\n", .{ + s.free, s.largest_free, s.free_blocks, + }); + while (true) {} + } + + // The HEAP, after the editor has taken what it needs. This is the number that decides how large + // a grid the board can drive, so it is printed on every boot rather than only on failure: a + // geometry that fits with 2 KB to spare and one that fits with 80 KB are not the same answer, + // and the difference is invisible from the host otherwise. + { + const s = gpa_heap.stats(); + soc.rom.print("MARK PARDES_HEAP free=%u largest=%u blocks=%u\r\n", .{ + s.free, s.largest_free, s.free_blocks, + }); + } + + // The CPU clock, measured rather than assumed. Every cycle count this firmware reports is + // divided by it somewhere, and the toolchain's `src/io/chip.zig` records it as "a measured + // ~90 MHz" that nothing here reconfigures - so it is worth printing rather than remembering. The + // systimer is XTAL/2.5 = 16 MHz and is NOT derived from the CPU clock + // (`src/hal/systimer.zig:31`, `clk_tree_defs.h:196-198`), which is exactly what makes it a valid + // reference for measuring it. + if (prof) { + const t_start = hal.systimer.micros(.unit0) orelse 0; + const c_start = soc.cycles(); + // 50 ms is long enough that the systimer's 16 MHz granularity and the loop's own overhead + // are both noise, and short enough to be invisible in a boot. + while ((hal.systimer.micros(.unit0) orelse 0) -% t_start < 50_000) {} + const elapsed_us = (hal.systimer.micros(.unit0) orelse 0) -% t_start; + const elapsed_cy = soc.cycles() - c_start; + soc.rom.print("MARK CPU_HZ cycles=%u us=%u khz=%u\r\n", .{ + @as(u32, @intCast(elapsed_cy)), + @as(u32, @intCast(elapsed_us)), + @as(u32, @intCast(if (elapsed_us > 0) elapsed_cy * 1000 / elapsed_us else 0)), + }); + } + soc.rom.print("MARK PARDES_READY\r\n", .{}); + + var in: [256]u8 = undefined; + while (!pardes_esp32p4_quit()) { + // ATTRIBUTION. The host can time a keystroke's round trip but cannot see what the firmware + // spent it on, and the two candidates - parsing and editing, versus rendering - want + // opposite fixes. `soc.cycles()` is the unprivileged cycle counter, so this costs two CSR + // reads per phase and quantises at one cycle, which is four orders of magnitude below the + // milliseconds being attributed. Gated on `prof` so the shipping build carries none of it. + const n = uart.read(&in); + rx_total +%= @intCast(n); + + var input_cy: u64 = 0; + if (n > 0) { + const t0 = if (prof) soc.cycles() else 0; + // IN CHUNKS, rescuing the receiver between them. Applying a keystroke is not free and + // gets dearer as the line grows - measured at 44 us on an empty line and 63 us at 640 + // characters - so handing over a full 128-byte batch is up to 8 ms in which nothing + // drains the receiver, against a FIFO that holds only 11 ms of wire. A 600-byte paste + // lost 93 bytes to exactly that window even with the transmitter's own rescue in place. + // + // Splitting a burst at an arbitrary byte is safe: `pardes_esp32p4_input` keeps whatever it + // could not parse, which is how it already survives an escape sequence split across two + // UART reads. One render still happens per loop iteration, so this costs no extra wire. + var off: usize = 0; + while (off < n) { + const chunk = @min(input_chunk, n - off); + pardes_esp32p4_input(in[off..].ptr, chunk); + off += chunk; + if (off < n) uart.rescueNow(); + } + if (prof) input_cy = soc.cycles() - t0; + } + + pardes_esp32p4_tick(nowMs()); + + // Only when there is something to show. On a link this slow an unconditional repaint per + // iteration would saturate the wire and starve input. + if (pardes_esp32p4_wants_frame()) { + const t0 = if (prof) soc.cycles() else 0; + const err = pardes_esp32p4_render(); + if (err != 0) soc.rom.print("MARK PARDES_RENDER_FAIL rc=%u\r\n", .{err}); + if (prof) { + const render_cy = soc.cycles() - t0; + // A SECOND render with nothing changed since the first. It splits the cost in two: + // whatever this still costs is the price of walking and diffing the whole editor + // state, paid regardless of output, while the difference between the two is the + // price of the change itself. `wants_frame` is false now, so this only happens + // under -Dprof and never on a shipping build. + const t1 = soc.cycles(); + _ = pardes_esp32p4_render(); + const idle_cy = soc.cycles() - t1; + // Reported in cycles, not microseconds: the divisor is the CPU clock, which this + // firmware does not set and has only ever measured, so converting here would bake a + // guess into the data. The toolchain's `experiments/` divides by the clock it + // measured. + var copy_cy: u64 = 0; + var vx_cy: u64 = 0; + var flush_cy: u64 = 0; + pardes_esp32p4_frame_prof(©_cy, &vx_cy, &flush_cy); + soc.rom.print("PROF in=%u render=%u idle=%u copy=%u vaxis=%u flush=%u rx=%u rxdrop=%u txdrop=%u\r\n", .{ + @as(u32, @intCast(input_cy)), + @as(u32, @intCast(render_cy)), + @as(u32, @intCast(idle_cy)), + @as(u32, @intCast(copy_cy)), + @as(u32, @intCast(vx_cy)), + @as(u32, @intCast(flush_cy)), + rx_total, + uart.inputDropped(), + uart.dropped, + }); + } + } + } + + soc.rom.print("\r\nMARK PARDES_QUIT\r\n", .{}); + while (true) {} +} + +// ------------------------------------------------------------------------------------ the trap + +/// A trap handler, because the absence of one is why this port has been guessing. +/// +/// The mask ROM prints "Guru Meditation" for a trap only while ITS handler is still installed; +/// anything this image does that replaces or outgrows that path fails silently instead, and a silent +/// fault is indistinguishable from an infinite loop over a serial line. This one reports the three +/// registers that name the fault and then stops, using the direct-FIFO writer so it shares nothing +/// with the editor's buffered output. +/// +/// `mtvec` is set in DIRECT mode (low two bits zero), so every trap and every interrupt lands on +/// `trapEntry` regardless of cause - which is what a diagnostic wants. +export fn trapEntry() linksection(".text.entry") callconv(.naked) noreturn { + asm volatile ("j trapReport"); +} + +export fn trapReport() noreturn { + const mcause = asm volatile ("csrr %[o], mcause" + : [o] "=r" (-> u32), + ); + const mepc = asm volatile ("csrr %[o], mepc" + : [o] "=r" (-> u32), + ); + const mtval = asm volatile ("csrr %[o], mtval" + : [o] "=r" (-> u32), + ); + uart.write("\r\nMARK TRAP mcause="); + uart.dumpWord(mcause); + uart.write("MARK TRAP mepc="); + uart.dumpWord(mepc); + uart.write("MARK TRAP mtval="); + uart.dumpWord(mtval); + uart.write("MARK TRAP dropped="); + uart.dumpWord(uart.dropped); + while (true) {} +} + +// --------------------------------------------------------------------------- the root's own duties +// +// These are the FIRMWARE root's declarations, and they are not the same set as `src/esp32p4.zig`'s: that +// file is the root of its own object and carries its own `std_options` and `panic` for the core's +// half of the image. Two roots, two instantiations of std, one per compilation unit - which is +// exactly what the object seam buys, and why a panic in the core prints `PARDES_CORE_PANIC` through +// the write callback while a panic here prints `PARDES_PANIC` through the mask ROM. + +/// `page_size_min`/`max`: the board has no MMU and no pages, but std derives allocator alignment +/// from these. 4 KiB is the ESP32-P4's cache and DMA granularity. +/// +/// `logFn` is not cosmetic. std's default log implementation reaches `std.debug_io`, which +/// instantiates `std.Io.Threaded` - a thread pool, `getrandom`, `IOV_MAX`, `mremap` - none of which +/// exist here, and one `log.warn` from anywhere is enough to drag all of it into the image. +pub const std_options: std.Options = .{ + .page_size_min = 4096, + .page_size_max = 4096, + .logFn = logFn, +}; + +fn logFn( + comptime level: std.log.Level, + comptime scope: @EnumLiteral(), + comptime fmt: []const u8, + args: anytype, +) void { + var buf: [256]u8 = undefined; + const line = std.fmt.bufPrint(&buf, "\r\n[" ++ level.asText() ++ "/" ++ @tagName(scope) ++ "] " ++ fmt ++ "\r\n", args) catch + "\r\n[log overflow]\r\n"; + uart.write(line); +} + +pub const panic = std.debug.FullPanic(panicImpl); + +fn panicImpl(msg: []const u8, first_trace_addr: ?usize) noreturn { + // The fixed text goes out through the ROM deliberately: a panic may BE the console writer + // failing, and `ets_printf` shares nothing with `uart.write` except the FIFO itself. + // + // The MESSAGE does not, and that is a correction rather than a preference. `msg` is a Zig SLICE + // and `%s` reads until a NUL, so handing `msg.ptr` to printf prints the message and then + // whatever happens to sit after it in memory until a zero byte turns up. Literals get away with + // it; std's own panics do not, because they are formatted into a buffer - "index out of bounds: + // index 5, len 3" - and carry no terminator. `uart.write` takes a length. + soc.rom.print("\r\nMARK PARDES_PANIC ", .{}); + uart.write(msg); + // The address is what makes it actionable: addr2line against the ELF in zig-out turns it into a + // source line, and without it a panic message names a KIND of failure with no way to find which + // one of them happened. Zero when the caller had no return address to give. + soc.rom.print("\r\nMARK PARDES_PANIC_AT 0x%08x\r\n", .{@as(u32, @truncate(first_trace_addr orelse 0))}); + while (true) {} +} + +/// Reset entry. The bootloader hands over with an unspecified stack pointer and the FPU off, so: +/// enable the F extension (`mstatus.FS`, which ESP-IDF only ever turns on lazily from a trap handler +/// this image does not have), establish a stack, clear `.bss`, and call into Zig. +/// +/// The cache invalidate that this image also needs is the FIRST thing `zig_main` does, not something +/// done here. Hand-written `la t0, Cache_Invalidate_All` against an absolute linker symbol computed +/// a PC-relative target and jumped into nowhere (measured: PC=0x88b5d788 with the argument stranded +/// in a2); Zig generates the addressing for an `extern fn` correctly, and `zig_main` runs before any +/// `.rodata` is touched anyway. +export fn _start() linksection(".text.entry") callconv(.naked) noreturn { + asm volatile ( + \\ li t0, 1 << 13 + \\ csrs mstatus, t0 + \\ la sp, __stack_top + \\ mv fp, sp + \\ la t0, trapEntry + \\ csrw mtvec, t0 + \\ la t0, __bss_start + \\ la t1, __bss_end + \\ bgeu t0, t1, 2f + \\1: + \\ sw zero, 0(t0) + \\ addi t0, t0, 4 + \\ bltu t0, t1, 1b + \\2: + \\ j zig_main + ); +} |
