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<title>Emulating the Badge Under Renode</title>
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<a class="url" href="https://p.xobs.io/c23/">p.xobs.io/c23</a>
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<div class="slides">
<section>
<h2>Emulating the Badge Under Renode</h2>
<h3>(Eventually)</h3>
<br />
<h3>Sean "xobs" Cross</h3>
</section>
<section>
<h2>About Me</h2>
<img data-src="img/xobs-projects.jpg">
</section>
<section>
<h2>Talk Outline</h2>
<ol>
<li>Why do this?</li>
<li>What is Renode?</li>
<li>How is it extensible?</li>
<li>What is the state of the badge?</li>
</ol>
</section>
<section>
<section>
<h2>Background Idea</h2>
<p>To be able to run the entire system in software using the same boot image as real hardware.</p>
</section>
<section>
<h2>Motivation</h2>
<ul>
<li>Test software in CI</li>
<li>To better understand the ESP32S3 hardware</li>
<li class="fragment">Because it's there</li>
</ul>
</section>
<section>
<h2>Project Started when Schematics were Released</h2>
<ul>
<li>Discovered it's an ESP32S3</li>
<ul class="fragment">
<li>Xtensa core</li>
</ul>
<li class="fragment">Found out Renode has Xtensa support</li>
<li class="fragment">How hard can it be?</li>
</ul>
</section>
</section>
<section>
<section>
<h2>What is Renode?</h2>
<img data-src="img/renode-base.png">
</section>
<section>
<h2>Renode is an Emulator</h2>
<ul>
<li>Windows</li>
<li>Mac</li>
<li>Linux</li>
<ul>
<li>CI</li>
<li>Github Actions</li>
</ul>
</ul>
</section>
<section>
<h2>Generic Whole-system Emulator</h2>
<ul>
<li>CPU cores</li>
<li>Peripherals</li>
<li>Interconnections</li>
</ul>
</section>
<section>
<h2>Whole-system Emulator</h2>
<img data-src="img/computer-layout.png">
</section>
<section>
<h2>CPU Cores</h2>
<ul>
<li>x86</li>
<li>arm</li>
<li>arm64</li>
<li>ppc</li>
<li>riscv</li>
<li>sparc</li>
<li>xtensa</li>
</ul>
</section>
<section>
<h2>Peripherals</h2>
<img data-src="img/esp32s3-peripheral-list.png">
</section>
<section>
<h2>Memory is Just a Peripheral</h2>
<ul>
<li>When you write to memory, it remembers the data</li>
<li>When you read from memory, you get the value</li>
<li>Your program is just initialised memory</li>
</ul>
</section>
<section>
<h2>Peripherals Are Just Special Memory</h2>
<ul>
<li>Writing to a memory address does a thing</li>
<li>Reading from an address gets a result</li>
<li>Interrupts are just GPIOs</li>
</ul>
</section>
<section>
<h2>Peripherals Are Just Special Memory</h2>
<img data-src="img/memory-write.png">
</section>
<section>
<h2>10% Functionality Solves 90% of Usecases</h2>
<img data-src="img/vt100-MA-4352.png">
<!-- <ul>
<li>E.g. in a serial device, baudrate, timers, and parity/stop can be ignored</li>
<li>Just "Tx", "Rx", and interrupt setup</li>
<li>Most software works just fine if you return zeroes for invalid addresses</li>
</ul> -->
</section>
<section>
<h2>Existing Peripherals in Renode</h2>
<ul>
<li>Built-in peripherals for a number of devices</li>
<ul>
<li>STM32</li>
<li>NRF52</li>
<li>IMXRT</li>
<li>LiteX</li>
</ul>
<li>See
https://github.com/renode/renode-infrastructure/tree/master/src/Emulator/Peripherals/Peripherals
for more</li>
</ul>
</section>
<section>
<h2>Creating New Peripherals</h2>
<ul>
<li>Renode is written in C#</li>
<li>Like Java, C# has an <code>eval()</code> function</li>
<li>Peripherals can be written and loaded at runtime</li>
</ul>
</section>
<section>
<h2>Networks in Renode</h2>
<ul>
<li>Built-in support for CAN, Ethernet, and Wireless</li>
<li>Also possible to add networks at runtime</li>
<li>No latency, just packets of data</li>
<ul>
<li>Different devices run at different speeds</li>
</ul>
</ul>
</section>
<section>
<h2>Other Goodies</h2>
<ul>
<li>Video output with touchscreen support</li>
<li>Python interpreter for quick hacks</li>
<li>Networked serial port</li>
<li>GDB server for each core</li>
<li>Function call logging</li>
<li>Robot framework scripting</li>
</ul>
</section>
<section>
<h2>Shortcomings</h2>
<ul>
<li>Unable to unload modules</li>
<ul>
<li>Need to restart Renode when you change a file</li>
</ul>
<li>No real audio support</li>
<ul>
<li>Support for verifying I2S, but can't play it</li>
</ul>
<li>Only x64 hosts</li>
<ul>
<li>Runs under Rosetta on Mac</li>
</ul>
<li>Documentation needs work</li>
<ul>
<li>Use the source!</li>
</ul>
</ul>
</section>
</section>
<section>
<section>
<h2>Extending Renode</h2>
</section>
<section>
<h2>First, Betrusted</h2>
<ul>
<li>FPGA with VexRiscv</li>
<li>2nd FPGA with smaller VexRiscv</li>
<li>16-bit COM bus between them</li>
<li>AES extensions</li>
<li>x25519 "ENGINE" accelerator</li>
<li>SHA accelerator</li>
<li>Battery charger and manager</li>
<li>Custom lcd, timers, and USB</li>
</ul>
</section>
<section>
<h2>Betrusted</h2>
<img data-src="img/renode-multi-system.png">
</section>
<section>
<h2>Emulating it With Renode</h2>
<ul>
<li>Can develop the OS!</li>
<li>Good enough to catch hardware bugs</li>
</ul>
</section>
<section data-transition="slide-in fade-out">
<h2>Getting Hardware to Users</h2>
<img src="img/betrusted-wycheproof-patch.png">
</section>
<section data-transition="fade-in">
<h2>Getting Hardware to Users</h2>
<img src="img/betrusted-wycheproof-patch-fix.png">
</section>
<section>
<section>
<h1>Demonstration!</h1>
</section>
</section>
</section>
<section>
<section>
<h2>Getting Started with Renode</h2>
<ol>
<li>Renode Platform Definition (<code>.repl</code>)</li>
<li>Renode Script (<code>.resc</code>)</li>
</ol>
</section>
<section>
<h2>Example project repl: </h2>
<pre><code>using "platforms/cpus/nrf52840.repl"
gpio0: // PinName in ArduinoIDE
24 -> led_red@0 // LED_RED
16 -> led_green@0 // LED_GREEN
6 -> led_blue@0 // LED_BLUE
camera: Sensors.ArduCAMMini2MPPlus @ {
spi2;
twi0 0x30
}
lsm9ds1_imu: Sensors.LSM9DS1_IMU @ twi0 0x6b
lsm9ds1_mag: Sensors.LSM9DS1_Magnetic @ twi0 0x1e
</code></pre>
</section>
<section>
<h2>Example project resc</h2>
<pre><code>using sysbus
mach create
machine LoadPlatformDescription @platforms/cpus/stm32f103.repl
machine LoadPlatformDescriptionFromString \
"button: Miscellaneous.Button @ gpioPortC 13 { IRQ -> gpioPortC@13 }"
showAnalyzer usart2
macro reset
"""
sysbus LoadELF @zephyr-stm32f103-button.elf
"""
runMacro $reset</code></pre>
</section>
<section>
<h2>Running it</h2>
<pre><code>mono64 Renode.exe project.resc</code></pre>
</section>
<section>
<h2>How to Extend Renode</h2>
<ol>
<li>Find a peripheral that does what you want</li>
<ul>
<li>You might even find a compatible peripheral!</li>
</ul>
<li>Copy it to your project</li>
<li>Change the constructor</li>
<li>Change the register set</li>
<li>Import the <code>.cs</code> file into Renode</li>
<li>Add it to your platform file</li>
</ol>
</section>
</section>
<section>
<section>
<h2>Running Badge Software in Renode</h2>
</section>
<section>
<h2>It Doesn't</h2>
</section>
<section>
<h2>Xtensa is an Uncommon Architecture</h2>
<ul>
<li>Audio DSPs</li>
<li>Possibly Intel?</li>
<li>NXP</li>
</ul>
</section>
<section>
<h2>Extensive use of Boot ROM</h2>
<ul>
<img data-src="img/memory-maps.png">
</ul>
</section>
<section>
<h2>Extensive use of Boot ROM</h2>
<ul>
<pre><code class="wrap">$ esptool.py dump_mem \
0x3ff90000 \
65536 \
irom.bin</code></pre>
</ul>
</section>
<!-- <section>
<ul>
<li>Immediately get output</li>
<li>Breaks immediately</li>
</ul>
</section> -->
<section>
<h2>Add a serial port</h2>
<code><pre>
namespace Antmicro.Renode.Peripherals.UART {
public class ESP32_UART : UARTBase, IDoubleWordPeripheral,
IKnownSize {
private readonly DoubleWordRegisterCollection registers;
public ESP32_UART(Machine machine) : base(machine) {
registers = new DoubleWordRegisterCollection(this,
new Dictionary&lt;long, DoubleWordRegister> {
{0x00, new DoubleWordRegister(this).WithValueField(0,8,
writeCallback: (_, v) => TransmitCharacter((byte)v))}
});
}</code></code>
</section>
<section>
<h2>Add a serial port</h2>
<pre><code>
{0x00, new DoubleWordRegister(this)
.WithValueField(0, 8,
writeCallback: (_, v) => TransmitCharacter((byte)v))}</code></pre>
</section>
<section>
<h2>Add a platform file</h2>
<pre><code>cpu1: CPU.Xtensa @ sysbus
cpuId: 1
cpuType: "esp32s3"
dram: Memory.MappedMemory @ sysbus 0x3FC88000
size: 0x78000
irom: Memory.MappedMemory @ sysbus 0x3FF00000
size: 0x20000
drom: Memory.MappedMemory @ sysbus 0x40000000
size: 0x60000
iram: Memory.MappedMemory @ sysbus 0x40370000
size: 0x70000
uart0: UART.ESP32_UART @ sysbus 0x60000000
</code></pre>
</section>
<section>
<img data-src="img/esp32s3-uart.png">
</section>
<section>
<h2>SVD Files Are Your Friend</h2>
<!-- <ul>
<li>Your chip probably comes with a SVD file</li>
<li>This gives a map of RAM and peripherals</li>
<li>Renode can parse this and use it for logging / defaults</li>
</ul> -->
<img data-src="img/svd-files.png">
</section>
<section>
<h2>Load SVD file</h2>
<pre><code>sysbus:
init:
ApplySVD @esp32s3.svd</code></pre>
</section>
<section>
<h2>Load SVD file</h2>
<pre><code style="word-wrap: break-word;">
sysbus: Read from an unimplemented register SYSTEM:SYSCLK_CONF
(0x600C0060), returning a value from SVD: 0x1. (3)
sysbus: Read from an unimplemented register SYSTEM:PERIP_CLK_EN0
(0x600C0018), returning a value from SVD: 0xF9C1E06F.
sysbus: Write of value 0xF9C1E06F to an unimplemented register
SYSTEM:PERIP_CLK_EN0 (0x600C0018) generated from SVD.
sysbus: Read from an unimplemented register SYSTEM:PERIP_RST_EN0
(0x600C0020), returning a value from SVD: 0x0.
sysbus: Write of value 0x0 to an unimplemented register SYSTEM:PERIP_RST_EN0
0x600C0020) generated from SVD.
sysbus: Read from an unimplemented register SYSTEM:PERIP_RST_EN0
(0x600C0020), returning a value from SVD: 0x0.
sysbus: Write of value 0x4 to an unimplemented register SYSTEM:PERIP_RST_EN0 (0x600C0020) generated from SVD.
</code></pre>
</section>
<section>
<h2>Add Peripherals</h2>
<ol>
<li>See what's failing</li>
<li>Implement peripheral</li>
<li>Repeat</li>
</ol>
</section>
<section>
<h2>Slowly Advance</h2>
<img data-src="img/esp32s3-more-boot.png">
</section>
<section>
<h2>Debugging with GDB</h2>
<img data-src="img/gdb-with-elf.png">
</section>
<section>
<h2>Logging Function Calls</h2>
<pre><code>cpu1: Entering function image_load at 0x403CE7D4
cpu1: Entering function process_segments (entry) at 0x403CE474
cpu1: Entering function process_segments at 0x403CE477
cpu1: Entering function process_segments at 0x403CE4AF
cpu1: Entering function process_segments at 0x403CE4B5
cpu1: Entering function process_segments at 0x403CE74D
cpu1: Entering function process_segments at 0x403CE4F4
cpu1: Entering function image_load at 0x403CE7E4
cpu1: Entering function image_load at 0x403CE7EB
cpu1: Entering function image_load at 0x403CE7EF
cpu1: CPU abort [PC=0x403CE7F2]: reading from external register not yet supported.</code></pre>
</section>
<section>
<h2>What's Left?</h2>
<ul>
<li>SPI Controller</li>
<li>Interrupt Controller</li>
<li>I2C Controller</li>
<li>Touch Controller</li>
<li>Display</li>
</ul>
</section>
<section>
<h2>Displays</h2>
<ul>
<li>Implement <code>ISpiDevice</code></li>
<li>Subclass AutoRepaintingVideo</li>
<li>Implement <code>Repaint()</code></li>
</ul>
</section>
<section>
<h2>Touch Controller</h2>
<ul>
<li>Possibly interact with the Display controller</li>
<li>Implement <code>II2CPeripheral</code></li>
</ul>
</section>
<section>
<h2>Audio is Hard</h2>
<ul>
<li>Existing I2S peripherals just pattern-match audio</li>
</ul>
</section>
</section>
<section>
<h2>Getting involved</h2>
<ul>
<li>Try Renode for your projects!</li>
<li>Add CI tests for your firmware!</li>
<li>Explore binaries for unknown targets!</li>
</ul>
<h2 class="fragment">Thank you</h2>
<h3 class="fragment">Questions?</h3>
</section>
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