Merge branch 'feat/ulp_component_split' into 'master'

refactor(ulp): separate the ULP coprocessor code from the driver

Closes IDF-15957

See merge request espressif/esp-idf!52268

components/ulp/CMakeLists_v2.txt

@@ -1,347 +1,159 @@
+# The application's driver for the ULP coprocessor. The code that runs on the
+# ULP coprocessor is built from the components in subproject/components, whose
+# headers this component also publishes: they are on the application's include
+# path.
+if(__ULP_BUILDV2)
+    idf_die("The ulp component is not built for the ULP coprocessor. A ULP "
+            "program is built against the components in ulp/subproject.")
+endif()
+
 set(srcs "")
 set(includes "")
 set(requires "")
 set(priv_requires "")
 
-if(__ULP_BUILDV2)
-    if(ULP_TYPE STREQUAL "riscv")
-        list(APPEND includes
-            ulp_common/include
-            ulp_riscv/include
-            ulp_riscv/shared/include
-            ulp_riscv/ulp_core/include)
-        list(APPEND srcs
-            "ulp_riscv/ulp_core/ulp_riscv_vectors.S"
-            "ulp_riscv/ulp_core/start.S"
-            "ulp_riscv/ulp_core/ulp_riscv_adc.c"
-            "ulp_riscv/ulp_core/ulp_riscv_lock.c"
-            "ulp_riscv/ulp_core/ulp_riscv_uart.c"
-            "ulp_riscv/ulp_core/ulp_riscv_print.c"
-            "ulp_riscv/ulp_core/ulp_riscv_i2c.c"
-            "ulp_riscv/ulp_core/ulp_riscv_utils.c"
-            "ulp_riscv/ulp_core/ulp_riscv_touch.c"
-            "ulp_riscv/ulp_core/ulp_riscv_gpio.c"
-            "ulp_riscv/ulp_core/ulp_riscv_interrupt.c")
-        list(APPEND requires
-            esp_common
-            esp_hal_ana_conv
-            esp_hal_gpio
-            esp_hal_i2c
-            esp_hal_touch_sens
-            esp_hw_support
-            riscv
-            soc)
-    elseif(ULP_TYPE STREQUAL "lp_core")
-        list(APPEND includes
-            ulp_common/include
-            lp_core/include
-            lp_core/lp_core/include
-            lp_core/shared/include)
-        list(APPEND srcs
-            "lp_core/lp_core/start.S"
-            "lp_core/lp_core/vector.S"
-            "lp_core/lp_core/port/${target}/vector_table.S"
-            "lp_core/shared/ulp_lp_core_memory_shared.c"
-            "lp_core/lp_core/lp_core_startup.c"
-            "lp_core/lp_core/lp_core_pmp.c"
-            "lp_core/lp_core/lp_core_utils.c"
-            "lp_core/lp_core/lp_core_print.c"
-            "lp_core/lp_core/lp_core_panic.c"
-            "lp_core/lp_core/lp_core_interrupt.c"
-            "lp_core/lp_core/lp_core_ubsan.c"
-            "lp_core/lp_core/lp_core_mailbox.c"
-            "lp_core/shared/ulp_lp_core_critical_section_shared.c")
+# TODO(IDF-15993): Keep esp_driver_gpio and esp_adc public for compatibility
+# with the CMake v1 dependency graph until downstream users are fixed.
+list(APPEND requires
+    esp_adc
+    esp_driver_gpio)
 
-        list(APPEND requires
-            esp_common
-            esp_hal_gpio
-            esp_hal_uart
-            esp_rom
-            hal
-            riscv
-            soc)
-        list(APPEND priv_requires
-            esp_hal_pmu
-            esp_hw_support)
-
-        if(CONFIG_SOC_RTC_TIMER_V2 OR CONFIG_SOC_RTC_TIMER_V3)
-            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_timer_shared.c")
-            list(APPEND priv_requires
-                esp_hal_clock
-                esp_hal_rtc_timer)
-        endif()
-
-        if(CONFIG_SOC_LP_CORE_SUPPORT_I2C)
-            list(APPEND srcs "lp_core/lp_core/lp_core_i2c.c")
-            list(APPEND requires esp_hal_i2c)
-        endif()
-
-        if(CONFIG_SOC_LP_SPI_SUPPORTED)
-            list(APPEND srcs "lp_core/lp_core/lp_core_spi.c")
-            list(APPEND priv_requires esp_hal_gpspi)
-        endif()
-
-        if(CONFIG_SOC_ULP_LP_UART_SUPPORTED)
-            list(APPEND srcs
-                "lp_core/shared/ulp_lp_core_lp_uart_shared.c"
-                "lp_core/lp_core/lp_core_uart.c")
-            list(APPEND requires esp_driver_uart)
-        endif()
-
-        if(CONFIG_SOC_LP_MAILBOX_SUPPORTED)
-            list(APPEND srcs "lp_core/lp_core/port/lp_core_mailbox_impl_hw.c")
-        else()
-            list(APPEND srcs "lp_core/lp_core/port/lp_core_mailbox_impl_sw.c")
-        endif()
-
-        if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
-            list(APPEND srcs "lp_core/lp_core/lp_core_touch.c")
-            list(APPEND requires esp_hal_touch_sens)
-        endif()
-
-        if(CONFIG_SOC_LP_ADC_SUPPORTED)
-            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_adc_shared.c")
-            list(APPEND requires
-                esp_adc
-                esp_hal_ana_conv)
-        endif()
-
-        if(CONFIG_SOC_LP_VAD_SUPPORTED)
-            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_vad_shared.c")
-            list(APPEND requires esp_driver_i2s)
-        endif()
-    elseif(ULP_TYPE STREQUAL "fsm")
-        list(APPEND includes
-            ulp_common/include
-            ulp_fsm/include
-            ulp_fsm/include/${target})
-        list(APPEND requires soc)
-    else()
-        message(FATAL_ERROR "__ULP_BUILDV2 requires ULP_TYPE to be one of: riscv, lp_core, fsm.")
-    endif()
-else()
-    # TODO(IDF-15993): Keep esp_driver_gpio and esp_adc public for compatibility
-    # with the CMake v1 dependency graph until downstream users are fixed.
+if(CONFIG_ULP_COPROC_ENABLED OR CONFIG_IDF_DOC_BUILD)
+    list(APPEND includes
+        ulp_common/include)
     list(APPEND requires
-        esp_adc
-        esp_driver_gpio)
+        esp_common
+        soc)
+endif()
 
-    if(CONFIG_ULP_COPROC_ENABLED OR CONFIG_IDF_DOC_BUILD)
-        list(APPEND includes
-            ulp_common/include)
-        list(APPEND requires
-            esp_common
-            soc)
-    endif()
+if(CONFIG_ULP_COPROC_TYPE_FSM OR (CONFIG_IDF_DOC_BUILD AND CONFIG_SOC_ULP_FSM_SUPPORTED))
+    list(APPEND includes
+        ulp_fsm/include
+        ulp_fsm/include/${target})
+    list(APPEND requires esp_hw_support)
+endif()
 
-    if(CONFIG_ULP_COPROC_TYPE_FSM OR (CONFIG_IDF_DOC_BUILD AND CONFIG_SOC_ULP_FSM_SUPPORTED))
-        list(APPEND includes
-            ulp_fsm/include
-            ulp_fsm/include/${target})
-        list(APPEND requires esp_hw_support)
-    endif()
+if(CONFIG_ULP_COPROC_TYPE_RISCV OR CONFIG_IDF_DOC_BUILD)
+    list(APPEND includes
+        ulp_riscv/include
+        ulp_riscv/shared/include
+        subproject/components/ulp_riscv/include)
+    list(APPEND requires esp_hw_support)
+endif()
 
-    if(CONFIG_ULP_COPROC_TYPE_RISCV OR CONFIG_IDF_DOC_BUILD)
-        list(APPEND includes
-            ulp_riscv/include
-            ulp_riscv/shared/include
-            ulp_riscv/ulp_core/include)
-        list(APPEND requires esp_hw_support)
-    endif()
+if(CONFIG_ULP_COPROC_TYPE_LP_CORE OR CONFIG_IDF_DOC_BUILD)
+    list(APPEND includes
+         lp_core/include
+         subproject/components/lp_core/include
+         lp_core/shared/include)
+endif()
 
-    if(CONFIG_ULP_COPROC_TYPE_LP_CORE OR CONFIG_IDF_DOC_BUILD)
-        list(APPEND includes
-             lp_core/include
-             lp_core/lp_core/include
-             lp_core/shared/include)
-    endif()
+if(CONFIG_ULP_COPROC_TYPE_FSM OR CONFIG_ULP_COPROC_TYPE_RISCV)
+    list(APPEND srcs
+        "ulp_common/ulp_common.c"
+        "ulp_common/ulp_adc.c")
 
-    if(CONFIG_ULP_COPROC_TYPE_FSM OR CONFIG_ULP_COPROC_TYPE_RISCV)
+    if(CONFIG_ULP_COPROC_TYPE_FSM)
         list(APPEND srcs
-            "ulp_common/ulp_common.c"
-            "ulp_common/ulp_adc.c")
-
-        if(CONFIG_ULP_COPROC_TYPE_FSM)
-            list(APPEND srcs
-                "ulp_fsm/ulp.c"
-                "ulp_fsm/ulp_macro.c")
-        endif()
-
-        if(CONFIG_ULP_COPROC_TYPE_RISCV)
-            list(APPEND srcs
-                "ulp_riscv/ulp_riscv.c"
-                "ulp_riscv/ulp_riscv_lock.c"
-                "ulp_riscv/ulp_riscv_i2c.c")
-            list(APPEND priv_requires esp_driver_gpio)
-            list(APPEND requires
-                # ulp/ulp_riscv/ulp_core/include/ulp_riscv_touch_ulp_core.h
-                # includes hal/touch_sens_types.h.
-                esp_hal_touch_sens
-                esp_hal_i2c
-                hal)
-        endif()
+            "ulp_fsm/ulp.c"
+            "ulp_fsm/ulp_macro.c")
     endif()
 
-    if(CONFIG_ULP_COPROC_TYPE_LP_CORE)
+    if(CONFIG_ULP_COPROC_TYPE_RISCV)
         list(APPEND srcs
-            "lp_core/lp_core.c"
-            "lp_core/shared/ulp_lp_core_memory_shared.c"
-            "lp_core/shared/ulp_lp_core_critical_section_shared.c")
+            "ulp_riscv/ulp_riscv.c"
+            "ulp_riscv/ulp_riscv_lock.c"
+            "ulp_riscv/ulp_riscv_i2c.c")
+        list(APPEND priv_requires esp_driver_gpio)
         list(APPEND requires
-            esp_common
-            esp_hal_pmu
-            esp_rom
-            hal
-            riscv
-            soc)
-
-        if(CONFIG_SOC_ULP_LP_UART_SUPPORTED)
-            list(APPEND srcs
-            "lp_core/lp_core_uart.c"
-            "lp_core/shared/ulp_lp_core_lp_uart_shared.c")
-            list(APPEND requires
-                esp_driver_gpio
-                esp_driver_uart)
-        endif()
-
-        if(CONFIG_SOC_LP_CORE_SUPPORT_I2C)
-            list(APPEND srcs "lp_core/lp_core_i2c.c")
-            list(APPEND requires
-                esp_driver_gpio
-                esp_hal_i2c)
-        endif()
-
-        if(CONFIG_SOC_RTC_TIMER_V2 OR CONFIG_SOC_RTC_TIMER_V3)
-            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_timer_shared.c")
-            list(APPEND requires
-                esp_hal_clock
-                esp_hal_rtc_timer)
-        endif()
-
-        if(CONFIG_SOC_LP_SPI_SUPPORTED)
-            list(APPEND srcs "lp_core/lp_core_spi.c")
-            list(APPEND requires
-                esp_driver_gpio
-                esp_hal_gpspi)
-        endif()
-
-        if(CONFIG_SOC_LP_CORE_SUPPORT_ETM)
-            list(APPEND srcs "lp_core/lp_core_etm.c")
-        endif()
-
-        if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
-            list(APPEND requires esp_hal_touch_sens)
-        endif()
-
-        if(CONFIG_SOC_LP_ADC_SUPPORTED)
-            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_adc_shared.c")
-            list(APPEND priv_requires esp_hw_support)
-        endif()
-
-        if(CONFIG_SOC_LP_VAD_SUPPORTED)
-            list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_vad_shared.c")
-            list(APPEND requires esp_driver_i2s)
-        endif()
-
-        list(APPEND srcs "lp_core/lp_core_mailbox.c")
-        if(CONFIG_SOC_LP_MAILBOX_SUPPORTED)
-            list(APPEND srcs "lp_core/lp_core_mailbox_impl_hw.c")
-        else()
-            list(APPEND srcs "lp_core/lp_core_mailbox_impl_sw.c")
-        endif()
-    endif()
-
-    if(srcs)
-        list(APPEND priv_requires
-            bootloader_support
-            esp_mm)
+            # ulp/subproject/components/ulp_riscv/include/ulp_riscv_touch_ulp_core.h
+            # includes hal/touch_sens_types.h.
+            esp_hal_touch_sens
+            esp_hal_i2c
+            hal)
     endif()
 endif()
 
-if(requires)
-    list(REMOVE_DUPLICATES requires)
+if(CONFIG_ULP_COPROC_TYPE_LP_CORE)
+    list(APPEND srcs
+        "lp_core/lp_core.c"
+        "lp_core/shared/ulp_lp_core_memory_shared.c"
+        "lp_core/shared/ulp_lp_core_critical_section_shared.c")
+    list(APPEND requires
+        esp_common
+        esp_hal_pmu
+        esp_rom
+        hal
+        riscv
+        soc)
+
+    if(CONFIG_SOC_ULP_LP_UART_SUPPORTED)
+        list(APPEND srcs
+        "lp_core/lp_core_uart.c"
+        "lp_core/shared/ulp_lp_core_lp_uart_shared.c")
+        list(APPEND requires
+            esp_driver_gpio
+            esp_driver_uart)
+    endif()
+
+    if(CONFIG_SOC_LP_CORE_SUPPORT_I2C)
+        list(APPEND srcs "lp_core/lp_core_i2c.c")
+        list(APPEND requires
+            esp_driver_gpio
+            esp_hal_i2c)
+    endif()
+
+    if(CONFIG_SOC_RTC_TIMER_V2 OR CONFIG_SOC_RTC_TIMER_V3)
+        list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_timer_shared.c")
+        list(APPEND requires
+            esp_hal_clock
+            esp_hal_rtc_timer)
+    endif()
+
+    if(CONFIG_SOC_LP_SPI_SUPPORTED)
+        list(APPEND srcs "lp_core/lp_core_spi.c")
+        list(APPEND requires
+            esp_driver_gpio
+            esp_hal_gpspi)
+    endif()
+
+    if(CONFIG_SOC_LP_CORE_SUPPORT_ETM)
+        list(APPEND srcs "lp_core/lp_core_etm.c")
+    endif()
+
+    if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
+        list(APPEND requires esp_hal_touch_sens)
+    endif()
+
+    if(CONFIG_SOC_LP_ADC_SUPPORTED)
+        list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_adc_shared.c")
+        list(APPEND priv_requires esp_hw_support)
+    endif()
+
+    if(CONFIG_SOC_LP_VAD_SUPPORTED)
+        list(APPEND srcs "lp_core/shared/ulp_lp_core_lp_vad_shared.c")
+        list(APPEND requires esp_driver_i2s)
+    endif()
+
+    list(APPEND srcs "lp_core/lp_core_mailbox.c")
+    if(CONFIG_SOC_LP_MAILBOX_SUPPORTED)
+        list(APPEND srcs "lp_core/lp_core_mailbox_impl_hw.c")
+    else()
+        list(APPEND srcs "lp_core/lp_core_mailbox_impl_sw.c")
+    endif()
 endif()
 
-if(priv_requires)
-    list(REMOVE_DUPLICATES priv_requires)
-endif()
-
-set(whole_archive)
-if(__ULP_BUILDV2)
-    # Legacy ULP child builds added the LP-core runtime sources directly to the
-    # executable. Preserve that behavior so strong handlers such as
-    # ulp_lp_core_panic_handler are not dropped in favor of weak defaults from
-    # other runtime objects.
-    set(whole_archive WHOLE_ARCHIVE)
+if(srcs)
+    list(APPEND priv_requires
+        bootloader_support
+        esp_mm)
 endif()
+list(REMOVE_DUPLICATES requires)
+list(REMOVE_DUPLICATES priv_requires)
 
 idf_component_register(SRCS ${srcs}
                        INCLUDE_DIRS ${includes}
                        REQUIRES ${requires}
-                       PRIV_REQUIRES ${priv_requires}
-                       ${whole_archive})
+                       PRIV_REQUIRES ${priv_requires})
 
-# In the parent app build, the ulp component only provides the host-side API.
-# The executable/linker setup below is for native ULP child projects.
-if(NOT __ULP_BUILDV2)
-    idf_define_esp_err_codes(HEADERS ulp_fsm/include/ulp_fsm_common.h)
-    return()
-endif()
-
-# Preprocessor flags shared by every ULP memory-layout template. The template
-# is a ".in" file, so the standard target_linker_script flow runs the C
-# preprocessor on it. -D__ASSEMBLER__ keeps SoC headers to their macro-only
-# form, and the component's own ld directory is available for relative
-# includes.
-set(ulp_ld_flags "-D__ASSEMBLER__ -I\"${CMAKE_CURRENT_SOURCE_DIR}/ld\"")
-
-# Select the linker template and target-specific link options used by the ULP
-# executable created in the child project. The memory-layout template is
-# registered with target_linker_script so the standard build system
-# preprocesses and attaches it; per-type FLAGS supply the include directories
-# its #include lines need.
-if(ULP_TYPE STREQUAL "riscv")
-    target_linker_script(${COMPONENT_LIB} INTERFACE "ld/ulp_riscv.ld.in" MEMORY
-                         FLAGS "${ulp_ld_flags}")
-    target_linker_script(${COMPONENT_LIB} INTERFACE "ld/${target}.peripherals.ld")
-    target_link_options(${COMPONENT_LIB} INTERFACE
-        -nostartfiles
-        -Wl,--gc-sections
-        -Wl,--no-warn-rwx-segments
-        LINKER:-u,main)
-    target_compile_definitions(${COMPONENT_LIB} PUBLIC
-        IS_ULP_COCPU
-        ULP_RISCV_REGISTER_OPS)
-elseif(ULP_TYPE STREQUAL "lp_core")
-    # lp_core_riscv.ld includes soc/soc.h and esp_common headers, which are
-    # resolved automatically from the linked component graph. It also includes
-    # the esp_system ld snippets (ld.common, ld.hp_mem_defs); those live in the
-    # component's ld/ directory, which is not a public include dir, so pass it
-    # via FLAGS.
-    idf_component_get_property(esp_system_dir esp_system COMPONENT_DIR)
-    set(lp_core_ld_flags "${ulp_ld_flags} -I\"${esp_system_dir}/ld\" -I\"${esp_system_dir}/ld/${target}\"")
-    # A user-supplied LINKER layout replaces the default one composed into
-    # lp_core_riscv.ld.in. It reaches this child project as LP_CORE_LINKER_SCRIPT
-    # (passed by __setup_ulp_project, same as the CMake v1 path). Hand it to the
-    # wrapper as the LP_CORE_LINKER_INCLUDE macro it #includes. The escaped quotes
-    # survive separate_arguments() in the linker-script preprocessor so the macro
-    # expands to a quoted header-name token ("/abs/path.ld").
-    if(LP_CORE_LINKER_SCRIPT)
-        message(STATUS "Using custom LP-core linker layout: ${LP_CORE_LINKER_SCRIPT}")
-        string(APPEND lp_core_ld_flags " -DLP_CORE_LINKER_INCLUDE=\\\"${LP_CORE_LINKER_SCRIPT}\\\"")
-    endif()
-    target_linker_script(${COMPONENT_LIB} INTERFACE "ld/lp_core_riscv.ld.in" MEMORY
-                         FLAGS "${lp_core_ld_flags}")
-
-    target_link_options(${COMPONENT_LIB} INTERFACE
-        -nostartfiles
-        -Wl,--gc-sections
-        -Wl,--no-warn-rwx-segments
-        LINKER:-u,main)
-    target_compile_definitions(${COMPONENT_LIB} PUBLIC IS_ULP_COCPU)
-    target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-implicit-fallthrough)
-elseif(ULP_TYPE STREQUAL "fsm")
-    target_linker_script(${COMPONENT_LIB} INTERFACE "ld/ulp_fsm.ld.in" MEMORY
-                         FLAGS "${ulp_ld_flags}")
-    target_link_options(${COMPONENT_LIB} INTERFACE "SHELL:-u entry")
-endif()
+idf_define_esp_err_codes(HEADERS ulp_fsm/include/ulp_fsm_common.h)

components/ulp/Kconfig

@@ -54,20 +54,8 @@ menu "Ultra Low Power (ULP) Co-processor"
     menu "ULP RISC-V Settings"
         depends on ULP_COPROC_TYPE_RISCV
 
-        config ULP_RISCV_INTERRUPT_ENABLE
-            bool
-            prompt "Enable ULP RISC-V interrupts"
-            default "n"
-            help
-                Turn on this setting to enabled interrupts on the ULP RISC-V core.
-
-        config ULP_RISCV_UART_BAUDRATE
-            int
-            prompt "Baudrate used by the bitbanged ULP RISC-V UART driver"
-            default 9600
-            help
-                The accuracy of the bitbanged UART driver is limited, it is not
-                recommend to increase the value above 19200.
+        # Declared by the component that builds the ULP RISC-V program.
+        rsource "subproject/components/ulp_riscv/Kconfig.ulp_riscv"
 
         config ULP_RISCV_I2C_RW_TIMEOUT
             int
@@ -117,28 +105,8 @@ menu "Ultra Low Power (ULP) Co-processor"
                 HP application.
     endmenu
 
-    config ULP_ROM_PRINT_ENABLE
-        depends on ULP_COPROC_TYPE_LP_CORE && ESP_ROM_HAS_LP_ROM
-        bool
-        prompt "Enable print utilities from LP ROM"
-        default "y"
-        help
-            Set this option to enable printf functionality from LP ROM. This option
-            can help reduce the LP core binary size by not linking printf functionality
-            from RAM code.
-            Note: For LP ROM prints to work properly, make sure that the LP core boots
-            from the LP ROM.
-
-    config ULP_LP_CORE_MEMPROT
-        bool "Enable LP Core memory protection (PMP)"
-        depends on ULP_COPROC_TYPE_LP_CORE && SOC_LP_CORE_HAS_PMP && !ULP_COPROC_RUN_FROM_HP_MEM
-        default n
-        help
-            Configures the LP CPU's PMP entries to enforce memory protection.
-            LP RAM is split into executable (.text) and data (.data/.bss/stack)
-            regions. Regions not explicitly permitted are inaccessible.
-            Not available when "Run LP Core from HP memory" is enabled.
-            Disable this if you need full control over PMP configuration.
+    # Declared by the component that builds the LP core program.
+    rsource "subproject/components/lp_core/Kconfig.lp_core"
 
     config ULP_TRAP_WAKEUP
         depends on ULP_COPROC_TYPE_LP_CORE
@@ -150,38 +118,8 @@ menu "Ultra Low Power (ULP) Co-processor"
             the LP-core encounters an exception.
 
     menu "ULP Debugging Options"
-        config ULP_PANIC_OUTPUT_ENABLE
-            depends on ULP_COPROC_TYPE_LP_CORE && SOC_ULP_LP_UART_SUPPORTED
-            bool
-            prompt "Enable panic handler which outputs over LP UART"
-            default "n"
-            help
-                Set this option to enable panic handler functionality. If this option is
-                enabled then the LP Core will output a panic dump over LP UART,
-                similar to what the main core does. Output depends on LP UART already being
-                initialized and configured.
-                Disabling this option will reduce the LP core binary size by not
-                linking in panic handler functionality.
-
-        config ULP_HP_UART_CONSOLE_PRINT
-            depends on ULP_COPROC_TYPE_LP_CORE
-            bool
-            prompt "Route lp_core_printf to the console HP-UART"
-            help
-                Set this option to route lp_core_printf to the console HP-UART.
-                This allows you to easily view print outputs from the LP core, without
-                having to connect to the LP-UART. This option comes with the following
-                limitations:
-
-                1. There is no mutual exclusion between the HP-Core and the LP-Core accessing
-                the HP-UART, which means that if both cores are logging heavily the output
-                strings might get mangled together.
-                2. The HP-UART can only work while the HP-Core is running, which means that
-                if the HP-Core is in deep sleep, the LP-Core will not be able to print to the
-                console HP-UART.
-
-                Due to these limitations it is only recommended to use this option for easy debugging.
-                For more serious use-cases you should use the LP-UART.
+        # Declared by the component that builds the LP core program.
+        rsource "subproject/components/lp_core/Kconfig.lp_core_debug"
 
         config ULP_NORESET_UNDER_DEBUG
             bool "Avoid resetting LP core when debugger is attached"

components/ulp/project_include.cmake

@@ -10,7 +10,7 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                              s_sources exp_dep_srcs linker_script)
 
     if(NOT CMAKE_BUILD_EARLY_EXPANSION)
-        set(ulp_cmake_dir "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/cmake")
+        set(ulp_subproject_dir "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/subproject")
         set(sources "")
         spaces2list(s_sources)
         foreach(source ${s_sources})
@@ -95,7 +95,7 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                                         "Only FSM type is available for ULP on this target.")
                 endif()
             endif()
-            set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-${idf_target}-ulp.cmake)
+            set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/ulp_fsm/toolchain-${idf_target}-ulp.cmake)
             set(ULP_IS_RISCV OFF)
         elseif(IDF_TARGET STREQUAL "esp32s2" OR IDF_TARGET STREQUAL "esp32s3")
             # If both FSM and RISC-V are enabled in sdkconfig and a TYPE was
@@ -105,21 +105,21 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                 message(STATUS "Both RISCV and FSM are enabled, using '${type}' toolchain for ${app_name} ULP project.")
                 string(TOLOWER "${type}" type_lower)
                 if(type_lower STREQUAL "riscv")
-                    set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-ulp-riscv.cmake)
+                    set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/ulp_riscv/toolchain-ulp-riscv.cmake)
                 elseif(type_lower STREQUAL "fsm")
-                    set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-${idf_target}-ulp.cmake)
+                    set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/ulp_fsm/toolchain-${idf_target}-ulp.cmake)
                 else()
                     message(FATAL_ERROR "Invalid ULP_TYPE '${type}'; expected 'fsm' or 'riscv'.")
                 endif()
             else()
                 if(CONFIG_ULP_COPROC_TYPE_RISCV STREQUAL "y")
-                    set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-ulp-riscv.cmake)
+                    set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/ulp_riscv/toolchain-ulp-riscv.cmake)
                 else()
-                    set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-${idf_target}-ulp.cmake)
+                    set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/ulp_fsm/toolchain-${idf_target}-ulp.cmake)
                 endif()
             endif()
         elseif(CONFIG_ULP_COPROC_TYPE_LP_CORE)
-                set(TOOLCHAIN_FLAG ${ulp_cmake_dir}/toolchain-lp-core-riscv.cmake)
+                set(TOOLCHAIN_FLAG ${ulp_subproject_dir}/components/lp_core/toolchain-lp-core-riscv.cmake)
         endif()
 
         set(ulp_project_args)
@@ -133,7 +133,7 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                 -DIDF_DEFAULT_PROJECT_NAME=${app_name}
                 -DULP_APP_NAME=${app_name}
                 -DIDF_BUILD_V2=y
-                -DCMAKE_MODULE_PATH=${ulp_cmake_dir}
+                -DCMAKE_MODULE_PATH=${ulp_subproject_dir}
                 # Internal marker for ULP child component graphs. Only the
                 # IDF_BUILD_V2 path sets it for now.
                 -D__ULP_BUILDV2=1
@@ -176,7 +176,7 @@ function(__setup_ulp_project app_name project_path prefix prefix_append_bin_name
                 -DSDKCONFIG_HEADER=${SDKCONFIG_HEADER}
                 -DSDKCONFIG_CMAKE=${SDKCONFIG_CMAKE}
                 # The v1 ULP child resolves include(IDFULPProject) via the module path.
-                -DCMAKE_MODULE_PATH=${ulp_cmake_dir})
+                -DCMAKE_MODULE_PATH=${ulp_subproject_dir})
         endif()
 
         externalproject_add(${app_name}
@@ -315,9 +315,9 @@ function(ulp_embed_binary app_name s_sources exp_dep_srcs)
         set(ULP_TYPE "${ulp_resolved_type}")
     endif()
     __resolve_lp_core_linker("${ULP_LINKER_LAYOUT}" "${ulp_resolved_type}" LP_CORE_LINKER)
-    set(ulp_cmake_dir "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/cmake")
+    set(ulp_subproject_dir "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/subproject")
 
-    __setup_ulp_project("${app_name}" "${ulp_cmake_dir}"
+    __setup_ulp_project("${app_name}" "${ulp_subproject_dir}"
                         "${ULP_PREFIX}" FALSE "${ULP_TYPE}"
                         "${app_name}"
                         "${s_sources}" "${exp_dep_srcs}" "${LP_CORE_LINKER}")

components/ulp/subproject/CMakeLists_v2.txt

@@ -1,6 +1,6 @@
-# CMake v2 default ULP project for ulp_embed_binary() callers. The ULP runtime
-# is built from the ulp component graph, and the legacy source list is attached
-# directly to the executable, matching the CMake v1 link semantics.
+# CMake v2 default ULP project for ulp_embed_binary() callers. The ULP program
+# is built against the component for its architecture, and the call-site source
+# list is linked before it, matching the build system v1 link semantics.
 include(${CMAKE_CURRENT_LIST_DIR}/ulp_project.cmake)
 
 if("${ULP_TYPE}" STREQUAL "fsm")
@@ -49,7 +49,9 @@ function(__ulp_embed_binary_add_legacy_sources executable)
     __idf_build_link_whole_archive(${executable} PRIVATE ${legacy_sources_lib} BEFORE)
 endfunction()
 
-set(executable_args COMPONENTS ulp)
+__ulp_arch_component(ulp_component)
+
+set(executable_args COMPONENTS ${ulp_component})
 if(NOT BUILD_FSM)
     list(APPEND executable_args MAPFILE_TARGET ${ULP_APP_NAME}_mapfile)
 endif()

components/ulp/subproject/IDFULPProject.cmake

@@ -1,5 +1,5 @@
 # This is the CMake v1 (legacy) ULP child entry point, used by ulp_embed_binary.
-# CMake v2 full-subproject builds include components/ulp/cmake/ulp_project.cmake
+# CMake v2 full-subproject builds include components/ulp/subproject/ulp_project.cmake
 # instead.
 #
 # Legacy ULP child projects are plain CMake projects, so the parent-provided
@@ -103,11 +103,11 @@ function(ulp_apply_default_sources ulp_app_name)
     # replaces the layout, swapped in by the wrapper. This is supported for the
     # LP-core type only.
     if(BUILD_RISCV)
-        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/ld/ulp_riscv.ld.in)
+        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ld/ulp_riscv.ld.in)
     elseif(BUILD_LP_CORE)
-        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/ld/lp_core_riscv.ld.in)
+        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/subproject/components/lp_core/ld/lp_core_riscv.ld.in)
     elseif(BUILD_FSM)
-        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/ld/ulp_fsm.ld.in)
+        set(ULP_LD_TEMPLATE ${IDF_PATH}/components/ulp/subproject/components/ulp_fsm/ld/ulp_fsm.ld.in)
     else()
         message(FATAL_ERROR "Unable to determine ULP type. ")
     endif()
@@ -143,24 +143,27 @@ function(ulp_apply_default_sources ulp_app_name)
     if(BUILD_RISCV)
         #risc-v ulp uses extra files for building:
         list(APPEND ULP_S_SOURCES
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_vectors.S"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/start.S"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_adc.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_lock.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_uart.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_print.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_i2c.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_utils.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_touch.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_gpio.c"
-            "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/ulp_riscv_interrupt.c")
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_vectors.S"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/start.S"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_adc.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_lock.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_uart.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_print.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_i2c.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_utils.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_touch.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_gpio.c"
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ulp_riscv_interrupt.c")
 
         target_sources(${ulp_app_name} PRIVATE ${ULP_S_SOURCES})
         #Makes the csr utillies for riscv visible:
-        target_include_directories(${ulp_app_name} PRIVATE "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/include"
-                                                        "${IDF_PATH}/components/ulp/ulp_riscv/shared/include"
-                                                        "${IDF_PATH}/components/riscv/include")
-        target_link_options(${ulp_app_name} PRIVATE SHELL:-T ${IDF_PATH}/components/ulp/ld/${IDF_TARGET}.peripherals.ld)
+        target_include_directories(${ulp_app_name} PRIVATE
+            "${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/include"
+            "${IDF_PATH}/components/ulp/ulp_riscv/shared/include"
+            "${IDF_PATH}/components/riscv/include")
+        target_link_options(${ulp_app_name}
+            PRIVATE SHELL:-T
+            ${IDF_PATH}/components/ulp/subproject/components/ulp_riscv/ld/${IDF_TARGET}.peripherals.ld)
         target_compile_definitions(${ulp_app_name} PRIVATE IS_ULP_COCPU)
         target_compile_definitions(${ulp_app_name} PRIVATE ULP_RISCV_REGISTER_OPS)
 
@@ -191,31 +194,31 @@ function(ulp_apply_default_sources ulp_app_name)
 
     elseif(BUILD_LP_CORE)
         list(APPEND ULP_S_SOURCES
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/start.S"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/vector.S"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/port/${IDF_TARGET}/vector_table.S"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/start.S"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/vector.S"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/port/${IDF_TARGET}/vector_table.S"
         "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_memory_shared.c"
         "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_lp_timer_shared.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_startup.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_pmp.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_utils.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_print.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_panic.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_interrupt.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_ubsan.c"
-        "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_mailbox.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_startup.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_pmp.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_utils.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_print.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_panic.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_interrupt.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_ubsan.c"
+        "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_mailbox.c"
         "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_lp_adc_shared.c"
         "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_lp_vad_shared.c"
         "${IDF_PATH}/components/ulp/lp_core/shared/ulp_lp_core_critical_section_shared.c")
 
         if(CONFIG_SOC_LP_CORE_SUPPORT_I2C)
             list(APPEND ULP_S_SOURCES
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_i2c.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_i2c.c")
         endif()
 
         if(CONFIG_SOC_LP_SPI_SUPPORTED)
             list(APPEND ULP_S_SOURCES
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_spi.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_spi.c")
         endif()
 
         if(CONFIG_SOC_ULP_LP_UART_SUPPORTED)
@@ -224,20 +227,20 @@ function(ulp_apply_default_sources ulp_app_name)
                 "${IDF_PATH}/components/esp_driver_uart/src/uart_wakeup.c"
                 "${IDF_PATH}/components/esp_hal_uart/uart_hal_iram.c"
                 "${IDF_PATH}/components/esp_hal_uart/uart_hal.c"
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_uart.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_uart.c")
         endif()
 
         if(CONFIG_SOC_LP_MAILBOX_SUPPORTED)
             list(APPEND ULP_S_SOURCES
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_hw.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/port/lp_core_mailbox_impl_hw.c")
         else()
             list(APPEND ULP_S_SOURCES
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_sw.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/port/lp_core_mailbox_impl_sw.c")
         endif()
 
         if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
             list(APPEND ULP_S_SOURCES
-                "${IDF_PATH}/components/ulp/lp_core/lp_core/lp_core_touch.c")
+                "${IDF_PATH}/components/ulp/subproject/components/lp_core/lp_core_touch.c")
         endif()
 
         set(target_folder ${IDF_TARGET})
@@ -257,8 +260,9 @@ function(ulp_apply_default_sources ulp_app_name)
         endif()
 
         target_sources(${ulp_app_name} PRIVATE ${ULP_S_SOURCES})
-        target_include_directories(${ulp_app_name} PRIVATE "${IDF_PATH}/components/ulp/lp_core/lp_core/include"
-                                                        "${IDF_PATH}/components/ulp/lp_core/shared/include")
+        target_include_directories(${ulp_app_name} PRIVATE
+            "${IDF_PATH}/components/ulp/subproject/components/lp_core/include"
+            "${IDF_PATH}/components/ulp/lp_core/shared/include")
         target_compile_definitions(${ulp_app_name} PRIVATE IS_ULP_COCPU)
 
     endif()

components/ulp/subproject/IDFULPProjectCommon.cmake

@@ -1,3 +1,8 @@
+# The directory of this file, captured while it is being processed:
+# CMAKE_CURRENT_LIST_DIR inside a function resolves at call time, which is the
+# caller's directory, not this one.
+set(__ULP_SUBPROJECT_DIR "${CMAKE_CURRENT_LIST_DIR}")
+
 macro(ulp_detect_build_type)
     # Logic to determine ULP type and set reusable flags
     set(BUILD_RISCV OFF)
@@ -49,7 +54,7 @@ function(ulp_add_build_binary_targets ulp_app_name)
         set(ULP_BASE_ADDR "0x50000000")
     endif()
 
-    set(ULP_MAP_GEN ${PYTHON} ${IDF_PATH}/components/ulp/esp32ulp_mapgen.py)
+    set(ULP_MAP_GEN ${PYTHON} ${__ULP_SUBPROJECT_DIR}/esp32ulp_mapgen.py)
 
     # Dump the list of global symbols in a convenient format
     add_custom_command(OUTPUT ${ulp_app_name}.sym

components/ulp/subproject/components/lp_core/CMakeLists.txt

@@ -0,0 +1,120 @@
+# The code compiled for the LP core.
+#
+# Sources shared with the driver stay in components/ulp and are named by path
+# from here.
+
+idf_build_get_property(target IDF_TARGET)
+get_filename_component(ulp_dir "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+
+set(srcs "start.S"
+         "vector.S"
+         "port/${target}/vector_table.S"
+         "${ulp_dir}/lp_core/shared/ulp_lp_core_memory_shared.c"
+         "lp_core_startup.c"
+         "lp_core_pmp.c"
+         "lp_core_utils.c"
+         "lp_core_print.c"
+         "lp_core_panic.c"
+         "lp_core_interrupt.c"
+         "lp_core_ubsan.c"
+         "lp_core_mailbox.c"
+         "${ulp_dir}/lp_core/shared/ulp_lp_core_critical_section_shared.c")
+
+set(requires esp_common
+             esp_hal_gpio
+             esp_hal_uart
+             esp_rom
+             hal
+             riscv
+             soc)
+set(priv_requires esp_hal_pmu
+                  esp_hw_support)
+
+if(CONFIG_SOC_RTC_TIMER_V2 OR CONFIG_SOC_RTC_TIMER_V3)
+    list(APPEND srcs "${ulp_dir}/lp_core/shared/ulp_lp_core_lp_timer_shared.c")
+    list(APPEND priv_requires esp_hal_clock esp_hal_rtc_timer)
+endif()
+
+if(CONFIG_SOC_LP_CORE_SUPPORT_I2C)
+    list(APPEND srcs "lp_core_i2c.c")
+    list(APPEND requires esp_hal_i2c)
+endif()
+
+if(CONFIG_SOC_LP_SPI_SUPPORTED)
+    list(APPEND srcs "lp_core_spi.c")
+    list(APPEND priv_requires esp_hal_gpspi)
+endif()
+
+if(CONFIG_SOC_ULP_LP_UART_SUPPORTED)
+    list(APPEND srcs
+        "${ulp_dir}/lp_core/shared/ulp_lp_core_lp_uart_shared.c"
+        "lp_core_uart.c")
+    list(APPEND requires esp_driver_uart)
+endif()
+
+if(CONFIG_SOC_LP_MAILBOX_SUPPORTED)
+    list(APPEND srcs "port/lp_core_mailbox_impl_hw.c")
+else()
+    list(APPEND srcs "port/lp_core_mailbox_impl_sw.c")
+endif()
+
+if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
+    list(APPEND srcs "lp_core_touch.c")
+    list(APPEND requires esp_hal_touch_sens)
+endif()
+
+if(CONFIG_SOC_LP_ADC_SUPPORTED)
+    list(APPEND srcs "${ulp_dir}/lp_core/shared/ulp_lp_core_lp_adc_shared.c")
+    list(APPEND requires esp_adc esp_hal_ana_conv)
+endif()
+
+if(CONFIG_SOC_LP_VAD_SUPPORTED)
+    list(APPEND srcs "${ulp_dir}/lp_core/shared/ulp_lp_core_lp_vad_shared.c")
+    list(APPEND requires esp_driver_i2s)
+endif()
+
+# The ULP subproject in build system v1 adds these sources straight to the
+# executable, so a strong handler such as ulp_lp_core_panic_handler is not
+# dropped in favour of a weak default from another runtime object.
+# WHOLE_ARCHIVE keeps that behaviour here.
+idf_component_register(SRCS ${srcs}
+                       INCLUDE_DIRS "${ulp_dir}/ulp_common/include"
+                                    "${ulp_dir}/lp_core/include"
+                                    "include"
+                                    "${ulp_dir}/lp_core/shared/include"
+                       REQUIRES ${requires}
+                       PRIV_REQUIRES ${priv_requires}
+                       WHOLE_ARCHIVE)
+
+# -D__ASSEMBLER__ keeps the SoC headers to their macro-only form.
+set(ulp_ld_flags "-D__ASSEMBLER__ -I\"${CMAKE_CURRENT_SOURCE_DIR}/ld\"")
+
+# lp_core_riscv.ld includes soc/soc.h and esp_common headers, resolved from the
+# linked component graph. It also includes the esp_system ld snippets
+# (ld.common, ld.hp_mem_defs); those live in that component's ld/ directory,
+# which is not a public include dir, so pass it via FLAGS.
+idf_component_get_property(esp_system_dir esp_system COMPONENT_DIR)
+set(lp_core_ld_flags "${ulp_ld_flags} -I\"${esp_system_dir}/ld\" -I\"${esp_system_dir}/ld/${target}\"")
+
+# A user-supplied LINKER layout replaces the default one composed into
+# lp_core_riscv.ld.in. It reaches this child project as LP_CORE_LINKER_SCRIPT
+# (passed by __setup_ulp_project, same as the build system v1 path). Hand it to
+# the wrapper as the LP_CORE_LINKER_INCLUDE macro it #includes. The escaped
+# quotes survive separate_arguments() in the linker-script preprocessor so the
+# macro expands to a quoted header-name token ("/abs/path.ld").
+if(LP_CORE_LINKER_SCRIPT)
+    message(STATUS "Using custom LP-core linker layout: ${LP_CORE_LINKER_SCRIPT}")
+    string(APPEND lp_core_ld_flags " -DLP_CORE_LINKER_INCLUDE=\\\"${LP_CORE_LINKER_SCRIPT}\\\"")
+endif()
+
+target_linker_script(${COMPONENT_LIB} INTERFACE "ld/lp_core_riscv.ld.in" MEMORY
+                     FLAGS "${lp_core_ld_flags}")
+
+target_link_options(${COMPONENT_LIB} INTERFACE
+    -nostartfiles
+    -Wl,--gc-sections
+    -Wl,--no-warn-rwx-segments
+    LINKER:-u,main)
+
+target_compile_definitions(${COMPONENT_LIB} PUBLIC IS_ULP_COCPU)
+target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-implicit-fallthrough)

components/ulp/subproject/components/lp_core/Kconfig.lp_core

@@ -0,0 +1,26 @@
+# Sourced by the ULP coprocessor driver on the HP core, in
+# components/ulp/Kconfig. Not named Kconfig, which would also attach it to
+# this component and define every option twice.
+
+config ULP_ROM_PRINT_ENABLE
+    depends on ULP_COPROC_TYPE_LP_CORE && ESP_ROM_HAS_LP_ROM
+    bool
+    prompt "Enable print utilities from LP ROM"
+    default "y"
+    help
+        Set this option to enable printf functionality from LP ROM. This option
+        can help reduce the LP core binary size by not linking printf functionality
+        from RAM code.
+        Note: For LP ROM prints to work properly, make sure that the LP core boots
+        from the LP ROM.
+
+config ULP_LP_CORE_MEMPROT
+    bool "Enable LP Core memory protection (PMP)"
+    depends on ULP_COPROC_TYPE_LP_CORE && SOC_LP_CORE_HAS_PMP && !ULP_COPROC_RUN_FROM_HP_MEM
+    default n
+    help
+        Configures the LP CPU's PMP entries to enforce memory protection.
+        LP RAM is split into executable (.text) and data (.data/.bss/stack)
+        regions. Regions not explicitly permitted are inaccessible.
+        Not available when "Run LP Core from HP memory" is enabled.
+        Disable this if you need full control over PMP configuration.

components/ulp/subproject/components/lp_core/Kconfig.lp_core_debug

@@ -0,0 +1,36 @@
+# Sourced by the ULP coprocessor driver on the HP core, in
+# components/ulp/Kconfig. Not named Kconfig, which would also attach it to
+# this component and define every option twice.
+
+config ULP_PANIC_OUTPUT_ENABLE
+    depends on ULP_COPROC_TYPE_LP_CORE && SOC_ULP_LP_UART_SUPPORTED
+    bool
+    prompt "Enable panic handler which outputs over LP UART"
+    default "n"
+    help
+        Set this option to enable panic handler functionality. If this option is
+        enabled then the LP Core will output a panic dump over LP UART,
+        similar to what the main core does. Output depends on LP UART already being
+        initialized and configured.
+        Disabling this option will reduce the LP core binary size by not
+        linking in panic handler functionality.
+
+config ULP_HP_UART_CONSOLE_PRINT
+    depends on ULP_COPROC_TYPE_LP_CORE
+    bool
+    prompt "Route lp_core_printf to the console HP-UART"
+    help
+        Set this option to route lp_core_printf to the console HP-UART.
+        This allows you to easily view print outputs from the LP core, without
+        having to connect to the LP-UART. This option comes with the following
+        limitations:
+
+        1. There is no mutual exclusion between the HP-Core and the LP-Core accessing
+        the HP-UART, which means that if both cores are logging heavily the output
+        strings might get mangled together.
+        2. The HP-UART can only work while the HP-Core is running, which means that
+        if the HP-Core is in deep sleep, the LP-Core will not be able to print to the
+        console HP-UART.
+
+        Due to these limitations it is only recommended to use this option for easy debugging.
+        For more serious use-cases you should use the LP-UART.

components/ulp/subproject/components/ulp_fsm/CMakeLists.txt

@@ -0,0 +1,21 @@
+# What a ULP FSM program is built against.
+#
+# An FSM program is assembled from the application's own sources, so this
+# component carries no sources of its own: it publishes the headers the program
+# is written against and the memory layout it is linked with.
+
+idf_build_get_property(target IDF_TARGET)
+get_filename_component(ulp_dir "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+
+idf_component_register(
+    INCLUDE_DIRS "${ulp_dir}/ulp_common/include"
+                 "${ulp_dir}/ulp_fsm/include"
+                 "${ulp_dir}/ulp_fsm/include/${target}"
+    REQUIRES soc)
+
+# -D__ASSEMBLER__ keeps the SoC headers to their macro-only form.
+set(ulp_ld_flags "-D__ASSEMBLER__ -I\"${CMAKE_CURRENT_SOURCE_DIR}/ld\"")
+
+target_linker_script(${COMPONENT_LIB} INTERFACE "ld/ulp_fsm.ld.in" MEMORY
+                     FLAGS "${ulp_ld_flags}")
+target_link_options(${COMPONENT_LIB} INTERFACE "SHELL:-u entry")

components/ulp/subproject/components/ulp_riscv/CMakeLists.txt

@@ -0,0 +1,53 @@
+# The code compiled for the ULP RISC-V coprocessor.
+#
+# Sources shared with the driver stay in components/ulp and are named by path
+# from here.
+
+idf_build_get_property(target IDF_TARGET)
+get_filename_component(ulp_dir "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+
+# The ULP subproject in build system v1 adds these sources straight to the
+# executable, so a strong handler is not dropped in favour of a weak default
+# from another runtime object. WHOLE_ARCHIVE keeps that behaviour here.
+idf_component_register(
+    SRCS "ulp_riscv_vectors.S"
+         "start.S"
+         "ulp_riscv_adc.c"
+         "ulp_riscv_lock.c"
+         "ulp_riscv_uart.c"
+         "ulp_riscv_print.c"
+         "ulp_riscv_i2c.c"
+         "ulp_riscv_utils.c"
+         "ulp_riscv_touch.c"
+         "ulp_riscv_gpio.c"
+         "ulp_riscv_interrupt.c"
+    INCLUDE_DIRS "${ulp_dir}/ulp_common/include"
+                 "${ulp_dir}/ulp_riscv/include"
+                 "${ulp_dir}/ulp_riscv/shared/include"
+                 "include"
+    REQUIRES esp_common
+             esp_hal_ana_conv
+             esp_hal_gpio
+             esp_hal_i2c
+             esp_hal_touch_sens
+             esp_hw_support
+             riscv
+             soc
+    WHOLE_ARCHIVE)
+
+# -D__ASSEMBLER__ keeps the SoC headers to their macro-only form.
+set(ulp_ld_flags "-D__ASSEMBLER__ -I\"${CMAKE_CURRENT_SOURCE_DIR}/ld\"")
+
+target_linker_script(${COMPONENT_LIB} INTERFACE "ld/ulp_riscv.ld.in" MEMORY
+                     FLAGS "${ulp_ld_flags}")
+target_linker_script(${COMPONENT_LIB} INTERFACE "ld/${target}.peripherals.ld")
+
+target_link_options(${COMPONENT_LIB} INTERFACE
+    -nostartfiles
+    -Wl,--gc-sections
+    -Wl,--no-warn-rwx-segments
+    LINKER:-u,main)
+
+target_compile_definitions(${COMPONENT_LIB} PUBLIC
+    IS_ULP_COCPU
+    ULP_RISCV_REGISTER_OPS)

components/ulp/subproject/components/ulp_riscv/Kconfig.ulp_riscv

@@ -0,0 +1,20 @@
+# Sourced by the ULP coprocessor driver on the HP core, in
+# components/ulp/Kconfig. Not named Kconfig, which would also attach it to
+# this component and define every option twice.
+
+config ULP_RISCV_INTERRUPT_ENABLE
+    depends on ULP_COPROC_TYPE_RISCV
+    bool
+    prompt "Enable ULP RISC-V interrupts"
+    default "n"
+    help
+        Turn on this setting to enable interrupts on the ULP RISC-V core.
+
+config ULP_RISCV_UART_BAUDRATE
+    depends on ULP_COPROC_TYPE_RISCV
+    int
+    prompt "Baudrate used by the bitbanged ULP RISC-V UART driver"
+    default 9600
+    help
+        The accuracy of the bitbanged UART driver is limited, it is not
+        recommended to increase the value above 19200.

components/ulp/subproject/components/ulp_riscv/include/ulp_riscv_interrupt_ops.h

@@ -80,7 +80,7 @@ r_type_insn(0b0000001, 0, regnum_ ## _rs, 0b010, regnum_ ## _qd, 0b0001011)
 
 /**
  * Instruction: retirq
- * Description: This instruction copies the value of Q0 to CPU PC, and renables interrupts
+ * Description: This instruction copies the value of Q0 to CPU PC, and re-enables interrupts
  */
 #define retirq_insn() \
 r_type_insn(0b0000010, 0, 0, 0b000, 0, 0b0001011)

components/ulp/subproject/ulp_project.cmake

@@ -6,6 +6,11 @@
 # ulp_project_default, the ULP analogs of idf_project_init,
 # idf_build_executable, idf_build_binary and idf_project_default.
 
+# The components a ULP program is built against live inside this subproject, so
+# an application build does not discover them. Added before components are
+# searched for.
+list(APPEND EXTRA_COMPONENT_DIRS "${CMAKE_CURRENT_LIST_DIR}/components")
+
 include(${IDF_PATH}/tools/cmakev2/idf.cmake)
 include(${CMAKE_CURRENT_LIST_DIR}/IDFULPProjectCommon.cmake)
 
@@ -17,6 +22,21 @@ if(__ULP_BUILDV2)
     idf_build_set_property(NON_OS_BUILD 1)
 endif()
 
+# The component a ULP program of the detected architecture is built against.
+function(__ulp_arch_component out_var)
+    if(BUILD_RISCV)
+        set(component ulp_riscv)
+    elseif(BUILD_LP_CORE)
+        set(component lp_core)
+    elseif(BUILD_FSM)
+        set(component ulp_fsm)
+    else()
+        idf_die("Unable to determine the ULP type. Set ULP_TYPE to riscv, lp_core or fsm.")
+    endif()
+
+    set(${out_var} "${component}" PARENT_SCOPE)
+endfunction()
+
 # Reset the compile/link state inherited from the parent app build and select
 # ULP-specific build behavior. Idempotent within a child configure.
 function(__ulp_prepare_build)
@@ -44,11 +64,18 @@ function(__ulp_prepare_build)
         idf_build_set_property(${property} "")
     endforeach()
 
-    # Do not apply the default app component closure to ULP child projects.
-    # ULP components should contribute dependencies explicitly.
-    idf_build_set_property(__COMPONENT_REQUIRES_COMMON "")
-    idf_build_set_property(__COMMON_COMPONENT_INTERFACES "")
+    # A ULP program is built against the component for its architecture, so
+    # every component of the child gets it without naming it. Nothing else of
+    # the application component closure applies, and the interfaces are set
+    # here rather than through __init_common_components, which would also add
+    # the target's architecture component.
+    __ulp_arch_component(ulp_component)
+
+    idf_component_get_property(ulp_component_interface "${ulp_component}" COMPONENT_INTERFACE)
+    idf_build_set_property(__COMPONENT_REQUIRES_COMMON "${ulp_component}")
+    idf_build_set_property(__COMMON_COMPONENT_INTERFACES "${ulp_component_interface}")
     idf_build_set_property(__COMMON_COMPONENTS_INITIALIZED YES)
+    idf_component_include("${ulp_component}")
 
     idf_build_set_property(__ULP_BUILD_PREPARED YES)
 endfunction()

components/ulp/test_apps/lp_core/host_tests/lp_core_custom_linker_v2/main/ulp/CMakeLists.txt

@@ -2,7 +2,7 @@
 # SPDX-License-Identifier: Apache-2.0
 cmake_minimum_required(VERSION 3.22)
 
-include(${IDF_PATH}/components/ulp/cmake/ulp_project.cmake)
+include(${IDF_PATH}/components/ulp/subproject/ulp_project.cmake)
 
 project(${IDF_DEFAULT_PROJECT_NAME} C CXX ASM)
 

components/ulp/test_apps/lp_core/host_tests/lp_core_custom_linker_v2/main/ulp/main/CMakeLists.txt

@@ -1,4 +1,3 @@
 # SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
-idf_component_register(SRCS "main.c"
-                       REQUIRES ulp)
+idf_component_register(SRCS "main.c")

components/ulp/test_apps/lp_core/lp_core_basic_tests/main/lp_core/test_shared.h

@@ -22,7 +22,7 @@
  * LP UART read_bytes return-value test (HP + LP):
  * The burst must fit in the hardware RX FIFO yet typically exceed the LP UART
  * driver's default RX FIFO full threshold (LP_UART_FULL_THRESH_DEFAULT in
- * components/ulp/lp_core/lp_core/lp_core_uart.c). If either value changes,
+ * components/ulp/subproject/components/lp_core/lp_core_uart.c). If either value changes,
  * revisit this guard.
  */
 #if (SOC_LP_UART_FIFO_LEN) < 12

components/ulp/ulp_fsm/include/ulp_fsm_common.h

@@ -80,7 +80,7 @@ esp_err_t ulp_process_macros_and_load(uint32_t load_addr, const ulp_insn_t* prog
  * 7. .text section
  * 8. .data section
  *
- * Linker script in components/ulp/ld/esp32.ulp.ld produces ELF files which
+ * Linker script in components/ulp/subproject/components/ulp_fsm/ld/ulp_fsm.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

components/ulp/ulp_riscv/include/ulp_riscv.h

@@ -93,7 +93,7 @@ esp_err_t ulp_riscv_run(void);
  * Different than ULP FSM, the binary program has no special format, it is the ELF
  * file generated by RISC-V toolchain converted to binary format using objcopy.
  *
- * Linker script in components/ulp/ld/ulp_riscv.ld produces ELF files which
+ * Linker script in components/ulp/subproject/components/ulp_riscv/ld/ulp_riscv.ld produces ELF files which
  * correspond to this format. This linker script produces binaries with load_addr == 0.
  *
  * @param program_binary pointer to program binary