ESP32 ULP ISR example

ulp_isr_example_main.c

#include <stdio.h>
#include <unistd.h>
#include "soc/rtc_cntl_reg.h"
#include "esp32/ulp.h"
#include "driver/rtc_cntl.h"
#include "esp_log.h"
#include "ulp_main.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"

extern const uint8_t ulp_main_bin_start[] asm("_binary_ulp_main_bin_start");
extern const uint8_t ulp_main_bin_end[]   asm("_binary_ulp_main_bin_end");

static void ulp_isr(void* arg)
{
    SemaphoreHandle_t done = (SemaphoreHandle_t) arg;
    xSemaphoreGiveFromISR(done);
}

void app_main()
{
    esp_err_t err = ulp_load_binary(0, ulp_main_bin_start,
            (ulp_main_bin_end - ulp_main_bin_start) / sizeof(uint32_t));
    ESP_ERROR_CHECK(err);

    ulp_set_wakeup_period(0, 100);

    SemaphoreHandle_t ulp_isr_sem = xSemaphoreCreateBinary();
    assert(ulp_isr_sem);

    err = rtc_isr_register(&ulp_isr, (void*) ulp_isr_sem, RTC_CNTL_SAR_INT_ST_M);
    ESP_ERROR_CHECK(err);
    REG_SET_BIT(RTC_CNTL_INT_ENA_REG, RTC_CNTL_ULP_CP_INT_ENA_M);

    err = ulp_run((&ulp_entry - RTC_SLOW_MEM) / sizeof(uint32_t));
    ESP_ERROR_CHECK(err);

    int result = xSemaphoreTake(ulp_isr_sem, 1000 / portTICK_PERIOD_MS);
    if (result == pdPASS) {
        printf("ULP ISR triggered\n");
    } else {
        printf("ULP ISR timeout\n");
    }
}

ulp_main.S

#include "soc/rtc_cntl_reg.h"
#include "soc/rtc_io_reg.h"
#include "soc/soc_ulp.h"

	.text
	.global entry
entry:
	/* Do some stuff here */

	/* Then wake up */
	jump wake_up

wake_up:
	/* Wake up the SoC, end program */
	wake
	WRITE_RTC_FIELD(RTC_CNTL_STATE0_REG, RTC_CNTL_ULP_CP_SLP_TIMER_EN, 0)
	halt

@mickeyl Did you find another solution?

Seems to work fine these days. Espressif even added API for it in espressif/esp-idf@a67d15f#diff-62c3d8a0af115257113c79a645b4aa54908b590d97dd7473f705478b8bbd07c6

I used the suggested changes from above to make this code work on a ESP32S3 processor and did not get it to work. Does anyone have working example code they could post. I'm using C code on the ULP. I'm not sure what I'm doing wrong but any help would be appreciated.