ulp: refactor ulp component

This commit refactors the ulp component.
Files are now divided based on type of ulp, viz., fsm or risc-v.
Files common to both are maintained in the ulp_common folder.

This commit also adds menuconfig options for ULP within the ulp
component instead of presenting target specific configuations for ulp.

components/ulp/ulp_fsm/include/ulp_fsm_common.h

@@ -0,0 +1,78 @@
+/*
+ * SPDX-FileCopyrightText: 2016-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#pragma once
+
+/* This file contains definitions that are common between esp32/ulp.h,
+   esp32s2/ulp.h and esp32s3/ulp.h
+*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**@{*/
+#define ESP_ERR_ULP_BASE                0x1200                  /*!< Offset for ULP-related error codes */
+#define ESP_ERR_ULP_SIZE_TOO_BIG        (ESP_ERR_ULP_BASE + 1)  /*!< Program doesn't fit into RTC memory reserved for the ULP */
+#define ESP_ERR_ULP_INVALID_LOAD_ADDR   (ESP_ERR_ULP_BASE + 2)  /*!< Load address is outside of RTC memory reserved for the ULP */
+#define ESP_ERR_ULP_DUPLICATE_LABEL     (ESP_ERR_ULP_BASE + 3)  /*!< More than one label with the same number was defined */
+#define ESP_ERR_ULP_UNDEFINED_LABEL     (ESP_ERR_ULP_BASE + 4)  /*!< Branch instructions references an undefined label */
+#define ESP_ERR_ULP_BRANCH_OUT_OF_RANGE (ESP_ERR_ULP_BASE + 5)  /*!< Branch target is out of range of B instruction (try replacing with BX) */
+/**@}*/
+
+union ulp_insn;  // Declared in the chip-specific ulp.h header
+
+typedef union ulp_insn ulp_insn_t;
+
+/**
+ * @brief Resolve all macro references in a program and load it into RTC memory
+ * @param load_addr  address where the program should be loaded, expressed in 32-bit words
+ * @param program  ulp_insn_t array with the program
+ * @param psize  size of the program, expressed in 32-bit words
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_NO_MEM if auxiliary temporary structure can not be allocated
+ *      - one of ESP_ERR_ULP_xxx if program is not valid or can not be loaded
+ */
+esp_err_t ulp_process_macros_and_load(uint32_t load_addr, const ulp_insn_t* program, size_t* psize);
+
+/**
+ * @brief Load ULP program binary into RTC memory
+ *
+ * ULP program binary should have the following format (all values little-endian):
+ *
+ * 1. MAGIC, (value 0x00706c75, 4 bytes)
+ * 2. TEXT_OFFSET, offset of .text section from binary start (2 bytes)
+ * 3. TEXT_SIZE, size of .text section (2 bytes)
+ * 4. DATA_SIZE, size of .data section (2 bytes)
+ * 5. BSS_SIZE, size of .bss section (2 bytes)
+ * 6. (TEXT_OFFSET - 12) bytes of arbitrary data (will not be loaded into RTC memory)
+ * 7. .text section
+ * 8. .data section
+ *
+ * Linker script in components/ulp/ld/esp32.ulp.ld produces ELF files which
+ * correspond to this format. This linker script produces binaries with load_addr == 0.
+ *
+ * @param load_addr address where the program should be loaded, expressed in 32-bit words
+ * @param program_binary pointer to program binary
+ * @param program_size size of the program binary
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_ERR_INVALID_ARG if load_addr is out of range
+ *      - ESP_ERR_INVALID_SIZE if program_size doesn't match (TEXT_OFFSET + TEXT_SIZE + DATA_SIZE)
+ *      - ESP_ERR_NOT_SUPPORTED if the magic number is incorrect
+ */
+esp_err_t ulp_load_binary(uint32_t load_addr, const uint8_t* program_binary, size_t program_size);
+
+/**
+ * @brief Run the program loaded into RTC memory
+ * @param entry_point entry point, expressed in 32-bit words
+ * @return  ESP_OK on success
+ */
+esp_err_t ulp_run(uint32_t entry_point);
+
+#ifdef __cplusplus
+}
+#endif