586 lines
17 KiB
HTML
586 lines
17 KiB
HTML
<!doctype html>
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<html lang="en">
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<head>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
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<title>Emulating the Badge Under Renode</title>
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<link rel="stylesheet" href="dist/reset.css">
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<link rel="stylesheet" href="dist/reveal.css">
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<link rel="stylesheet" href="dist/theme/fossasia2023.css">
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<!-- Theme used for syntax highlighted code -->
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<link rel="stylesheet" href="plugin/highlight/zenburn.css">
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</head>
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<body>
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<div class="reveal">
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<div class="footer">
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<a class="url" href="https://p.xobs.io/c23/">p.xobs.io/c23</a>
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</div>
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<div class="slides">
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<section>
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<h2>Emulating the Badge Under Renode</h2>
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<h3>(Eventually)</h3>
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<br />
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<h3>Sean "xobs" Cross</h3>
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</section>
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<section>
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<h2>About Me</h2>
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<img data-src="img/xobs-projects.jpg">
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</section>
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<section>
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<h2>Talk Outline</h2>
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<ol>
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<li>Why do this?</li>
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<li>What is Renode?</li>
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<li>How is it extensible?</li>
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<li>What is the state of the badge?</li>
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</ol>
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</section>
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<section>
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<section>
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<h2>Background Idea</h2>
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<p>To be able to run the entire system in software using the same boot image as real hardware.</p>
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</section>
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<section>
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<h2>Motivation</h2>
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<ul>
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<li>Test software in CI</li>
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<li>To better understand the ESP32S3 hardware</li>
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<li class="fragment">Because it's there</li>
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</ul>
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</section>
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<section>
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<h2>Project Started when Schematics were Released</h2>
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<ul>
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<li>Discovered it's an ESP32S3</li>
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<ul class="fragment">
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<li>Xtensa core</li>
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</ul>
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<li class="fragment">Found out Renode has Xtensa support</li>
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<li class="fragment">How hard can it be?</li>
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</ul>
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</section>
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</section>
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<section>
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<section>
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<h2>What is Renode?</h2>
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<img data-src="img/renode-base.png">
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</section>
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<section>
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<h2>Renode is an Emulator</h2>
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<ul>
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<li>Windows</li>
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<li>Mac</li>
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<li>Linux</li>
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<ul>
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<li>CI</li>
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<li>Github Actions</li>
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</ul>
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</ul>
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</section>
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<section>
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<h2>Generic Whole-system Emulator</h2>
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<ul>
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<li>CPU cores</li>
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<li>Peripherals</li>
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<li>Interconnections</li>
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</ul>
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</section>
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<section>
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<h2>Whole-system Emulator</h2>
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<img data-src="img/computer-layout.png">
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</section>
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<section>
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<h2>CPU Cores</h2>
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<ul>
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<li>x86</li>
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<li>arm</li>
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<li>arm64</li>
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<li>ppc</li>
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<li>riscv</li>
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<li>sparc</li>
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<li>xtensa</li>
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</ul>
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</section>
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<section>
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<h2>Peripherals</h2>
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<img data-src="img/esp32s3-peripheral-list.png">
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</section>
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<section>
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<h2>Memory is Just a Peripheral</h2>
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<ul>
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<li>When you write to memory, it remembers the data</li>
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<li>When you read from memory, you get the value</li>
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<li>Your program is just initialised memory</li>
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</ul>
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</section>
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<section>
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<h2>Peripherals Are Just Special Memory</h2>
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<ul>
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<li>Writing to a memory address does a thing</li>
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<li>Reading from an address gets a result</li>
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<li>Interrupts are just GPIOs</li>
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</ul>
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</section>
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<section>
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<h2>Peripherals Are Just Special Memory</h2>
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<img data-src="img/memory-write.png">
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</section>
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<section>
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<h2>10% Functionality Solves 90% of Usecases</h2>
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<img data-src="img/vt100-MA-4352.png">
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<!-- <ul>
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<li>E.g. in a serial device, baudrate, timers, and parity/stop can be ignored</li>
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<li>Just "Tx", "Rx", and interrupt setup</li>
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<li>Most software works just fine if you return zeroes for invalid addresses</li>
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</ul> -->
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</section>
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<section>
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<h2>Existing Peripherals in Renode</h2>
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<ul>
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<li>Built-in peripherals for a number of devices</li>
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<ul>
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<li>STM32</li>
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<li>NRF52</li>
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<li>IMXRT</li>
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<li>LiteX</li>
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</ul>
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<li>See
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https://github.com/renode/renode-infrastructure/tree/master/src/Emulator/Peripherals/Peripherals
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for more</li>
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</ul>
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</section>
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<section>
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<h2>Creating New Peripherals</h2>
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<ul>
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<li>Renode is written in C#</li>
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<li>Like Java, C# has an <code>eval()</code> function</li>
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<li>Peripherals can be written and loaded at runtime</li>
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</ul>
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</section>
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<section>
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<h2>Networks in Renode</h2>
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<ul>
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<li>Built-in support for CAN, Ethernet, and Wireless</li>
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<li>Also possible to add networks at runtime</li>
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<li>No latency, just packets of data</li>
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<ul>
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<li>Different devices run at different speeds</li>
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</ul>
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</ul>
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</section>
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<section>
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<h2>Other Goodies</h2>
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<ul>
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<li>Video output with touchscreen support</li>
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<li>Python interpreter for quick hacks</li>
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<li>Networked serial port</li>
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<li>GDB server for each core</li>
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<li>Function call logging</li>
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<li>Robot framework scripting</li>
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</ul>
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</section>
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<section>
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<h2>Shortcomings</h2>
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<ul>
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<li>Unable to unload modules</li>
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<ul>
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<li>Need to restart Renode when you change a file</li>
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</ul>
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<li>No real audio support</li>
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<ul>
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<li>Support for verifying I2S, but can't play it</li>
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</ul>
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<li>Only x64 hosts</li>
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<ul>
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<li>Runs under Rosetta on Mac</li>
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</ul>
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<li>Documentation needs work</li>
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<ul>
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<li>Use the source!</li>
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</ul>
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</ul>
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</section>
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</section>
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<section>
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<section>
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<h2>Extending Renode</h2>
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</section>
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<section>
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<h2>First, Betrusted</h2>
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<ul>
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<li>FPGA with VexRiscv</li>
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<li>2nd FPGA with smaller VexRiscv</li>
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<li>16-bit COM bus between them</li>
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<li>AES extensions</li>
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<li>x25519 "ENGINE" accelerator</li>
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<li>SHA accelerator</li>
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<li>Battery charger and manager</li>
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<li>Custom lcd, timers, and USB</li>
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</ul>
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</section>
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<section>
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<h2>Betrusted</h2>
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<img data-src="img/renode-multi-system.png">
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</section>
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<section>
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<h2>Emulating it With Renode</h2>
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<ul>
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<li>Can develop the OS!</li>
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<li>Good enough to catch hardware bugs</li>
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</ul>
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</section>
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<section data-transition="slide-in fade-out">
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<h2>Getting Hardware to Users</h2>
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<img src="img/betrusted-wycheproof-patch.png">
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</section>
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<section data-transition="fade-in">
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<h2>Getting Hardware to Users</h2>
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<img src="img/betrusted-wycheproof-patch-fix.png">
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</section>
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<section>
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<section>
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<h1>Demonstration!</h1>
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</section>
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</section>
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</section>
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<section>
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<section>
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<h2>Getting Started with Renode</h2>
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<ol>
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<li>Renode Platform Definition (<code>.repl</code>)</li>
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<li>Renode Script (<code>.resc</code>)</li>
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</ol>
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</section>
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<section>
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<h2>Example project repl: </h2>
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<pre><code>using "platforms/cpus/nrf52840.repl"
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gpio0: // PinName in ArduinoIDE
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24 -> led_red@0 // LED_RED
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16 -> led_green@0 // LED_GREEN
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6 -> led_blue@0 // LED_BLUE
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camera: Sensors.ArduCAMMini2MPPlus @ {
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spi2;
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twi0 0x30
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}
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lsm9ds1_imu: Sensors.LSM9DS1_IMU @ twi0 0x6b
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lsm9ds1_mag: Sensors.LSM9DS1_Magnetic @ twi0 0x1e
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</code></pre>
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</section>
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<section>
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<h2>Example project resc</h2>
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<pre><code>using sysbus
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mach create
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machine LoadPlatformDescription @platforms/cpus/stm32f103.repl
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machine LoadPlatformDescriptionFromString \
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"button: Miscellaneous.Button @ gpioPortC 13 { IRQ -> gpioPortC@13 }"
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showAnalyzer usart2
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macro reset
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"""
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sysbus LoadELF @zephyr-stm32f103-button.elf
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"""
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runMacro $reset</code></pre>
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</section>
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<section>
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<h2>Running it</h2>
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<pre><code>mono64 Renode.exe project.resc</code></pre>
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</section>
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<section>
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<h2>How to Extend Renode</h2>
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<ol>
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<li>Find a peripheral that does what you want</li>
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<ul>
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<li>You might even find a compatible peripheral!</li>
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</ul>
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<li>Copy it to your project</li>
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<li>Change the constructor</li>
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<li>Change the register set</li>
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<li>Import the <code>.cs</code> file into Renode</li>
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<li>Add it to your platform file</li>
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</ol>
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</section>
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</section>
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<section>
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<section>
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<h2>Running Badge Software in Renode</h2>
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</section>
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<section>
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<h2>It Doesn't</h2>
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</section>
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<section>
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<h2>Xtensa is an Uncommon Architecture</h2>
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<ul>
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<li>Audio DSPs</li>
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<li>Possibly Intel?</li>
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<li>NXP</li>
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</ul>
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</section>
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<section>
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<h2>Extensive use of Boot ROM</h2>
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<ul>
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<img data-src="img/memory-maps.png">
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</ul>
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</section>
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<section>
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<h2>Extensive use of Boot ROM</h2>
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<ul>
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<pre><code class="wrap">$ esptool.py dump_mem \
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0x3ff90000 \
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65536 \
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irom.bin</code></pre>
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</ul>
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</section>
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<!-- <section>
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<ul>
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<li>Immediately get output</li>
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<li>Breaks immediately</li>
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</ul>
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</section> -->
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<section>
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<h2>Add a serial port</h2>
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<code><pre>
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namespace Antmicro.Renode.Peripherals.UART {
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public class ESP32_UART : UARTBase, IDoubleWordPeripheral,
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IKnownSize {
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private readonly DoubleWordRegisterCollection registers;
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public ESP32_UART(Machine machine) : base(machine) {
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registers = new DoubleWordRegisterCollection(this,
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new Dictionary<long, DoubleWordRegister> {
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{0x00, new DoubleWordRegister(this).WithValueField(0,8,
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writeCallback: (_, v) => TransmitCharacter((byte)v))}
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});
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}</code></code>
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</section>
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<section>
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<h2>Add a serial port</h2>
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<pre><code>
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{0x00, new DoubleWordRegister(this)
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.WithValueField(0, 8,
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writeCallback: (_, v) => TransmitCharacter((byte)v))}</code></pre>
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</section>
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<section>
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<h2>Add a platform file</h2>
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<pre><code>cpu1: CPU.Xtensa @ sysbus
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cpuId: 1
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cpuType: "esp32s3"
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dram: Memory.MappedMemory @ sysbus 0x3FC88000
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size: 0x78000
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irom: Memory.MappedMemory @ sysbus 0x3FF00000
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size: 0x20000
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drom: Memory.MappedMemory @ sysbus 0x40000000
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size: 0x60000
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iram: Memory.MappedMemory @ sysbus 0x40370000
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size: 0x70000
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uart0: UART.ESP32_UART @ sysbus 0x60000000
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</code></pre>
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</section>
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<section>
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<img data-src="img/esp32s3-uart.png">
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</section>
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<section>
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<h2>SVD Files Are Your Friend</h2>
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<!-- <ul>
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<li>Your chip probably comes with a SVD file</li>
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<li>This gives a map of RAM and peripherals</li>
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<li>Renode can parse this and use it for logging / defaults</li>
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</ul> -->
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<img data-src="img/svd-files.png">
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</section>
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<section>
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<h2>Load SVD file</h2>
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<pre><code>sysbus:
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init:
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ApplySVD @esp32s3.svd</code></pre>
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</section>
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<section>
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<h2>Load SVD file</h2>
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<pre><code style="word-wrap: break-word;">
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sysbus: Read from an unimplemented register SYSTEM:SYSCLK_CONF
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(0x600C0060), returning a value from SVD: 0x1. (3)
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sysbus: Read from an unimplemented register SYSTEM:PERIP_CLK_EN0
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(0x600C0018), returning a value from SVD: 0xF9C1E06F.
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sysbus: Write of value 0xF9C1E06F to an unimplemented register
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SYSTEM:PERIP_CLK_EN0 (0x600C0018) generated from SVD.
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sysbus: Read from an unimplemented register SYSTEM:PERIP_RST_EN0
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(0x600C0020), returning a value from SVD: 0x0.
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sysbus: Write of value 0x0 to an unimplemented register SYSTEM:PERIP_RST_EN0
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0x600C0020) generated from SVD.
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sysbus: Read from an unimplemented register SYSTEM:PERIP_RST_EN0
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(0x600C0020), returning a value from SVD: 0x0.
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sysbus: Write of value 0x4 to an unimplemented register SYSTEM:PERIP_RST_EN0 (0x600C0020) generated from SVD.
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</code></pre>
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</section>
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<section>
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<h2>Add Peripherals</h2>
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<ol>
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<li>See what's failing</li>
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<li>Implement peripheral</li>
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<li>Repeat</li>
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</ol>
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</section>
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<section>
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<h2>Slowly Advance</h2>
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<img data-src="img/esp32s3-more-boot.png">
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</section>
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<section>
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<h2>Debugging with GDB</h2>
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<img data-src="img/gdb-with-elf.png">
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</section>
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<section>
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<h2>Logging Function Calls</h2>
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<pre><code>cpu1: Entering function image_load at 0x403CE7D4
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cpu1: Entering function process_segments (entry) at 0x403CE474
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cpu1: Entering function process_segments at 0x403CE477
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cpu1: Entering function process_segments at 0x403CE4AF
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cpu1: Entering function process_segments at 0x403CE4B5
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cpu1: Entering function process_segments at 0x403CE74D
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cpu1: Entering function process_segments at 0x403CE4F4
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cpu1: Entering function image_load at 0x403CE7E4
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cpu1: Entering function image_load at 0x403CE7EB
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cpu1: Entering function image_load at 0x403CE7EF
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cpu1: CPU abort [PC=0x403CE7F2]: reading from external register not yet supported.</code></pre>
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</section>
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<section>
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<h2>What's Left?</h2>
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<ul>
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<li>SPI Controller</li>
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<li>Interrupt Controller</li>
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<li>I2C Controller</li>
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<li>Touch Controller</li>
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<li>Display</li>
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</ul>
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</section>
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<section>
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<h2>Displays</h2>
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<ul>
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<li>Implement <code>ISpiDevice</code></li>
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<li>Subclass AutoRepaintingVideo</li>
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<li>Implement <code>Repaint()</code></li>
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</ul>
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</section>
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<section>
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<h2>Touch Controller</h2>
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<ul>
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<li>Possibly interact with the Display controller</li>
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<li>Implement <code>II2CPeripheral</code></li>
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</ul>
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</section>
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<section>
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<h2>Audio is Hard</h2>
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<ul>
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<li>Existing I2S peripherals just pattern-match audio</li>
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</ul>
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</section>
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</section>
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<section>
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<h2>Getting involved</h2>
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<ul>
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<li>Try Renode for your projects!</li>
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<li>Add CI tests for your firmware!</li>
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<li>Explore binaries for unknown targets!</li>
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</ul>
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<h2 class="fragment">Thank you</h2>
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<h3 class="fragment">Questions?</h3>
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</section>
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</div>
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</div>
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<script src="dist/reveal.js"></script>
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<script src="plugin/notes/notes.js"></script>
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<script src="plugin/zoom/zoom.js"></script>
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<script src="plugin/markdown/markdown.js"></script>
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<script src="plugin/highlight/highlight.js"></script>
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<script>
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/** This used to be a part of Reveal.js, but was removed at some point */
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function getQueryHash() {
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function deserialize(value) {
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if (typeof value === 'string') {
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if (value === 'null') return null;
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else if (value === 'true') return true;
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else if (value === 'false') return false;
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else if (value.match(/^-?[\d\.]+$/)) return parseFloat(value);
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}
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return value;
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}
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let query = {};
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location.search.replace(/[A-Z0-9]+?=([\w\.%-]*)/gi, a => {
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query[a.split('=').shift()] = a.split('=').pop();
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});
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// Basic deserialization
|
|
for (let i in query) {
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let value = query[i];
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query[i] = deserialize(unescape(value));
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}
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|
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// Do not accept new dependencies via query config to avoid
|
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// the potential of malicious script injection
|
|
if (typeof query['dependencies'] !== 'undefined') delete query['dependencies'];
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return query;
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}
|
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var presenter = !!getQueryHash().s;
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var stream = !!getQueryHash().stream;
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|
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// More info about initialization & config:
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|
// - https://revealjs.com/initialization/
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// - https://revealjs.com/config/
|
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reveal_dependencies = [
|
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{ src: 'https://reveal-multiplex.glitch.me/socket.io/socket.io.js', async: true },
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];
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if (presenter) {
|
|
reveal_dependencies.push({ src: 'https://reveal-multiplex.glitch.me/master.js', async: true },);
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} else {
|
|
reveal_dependencies.push({ src: 'https://reveal-multiplex.glitch.me/client.js', async: true });
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}
|
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Reveal.initialize({
|
|
hash: true,
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|
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controls: presenter ? false : (stream ? false : true),
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progress: true,
|
|
history: true,
|
|
center: true,
|
|
controlsTutorial: presenter ? false : (stream ? false : true),
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|
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slideNumber: presenter ? null : (stream ? null : 'c/t'),
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|
|
// The "normal" size of the presentation, aspect ratio will be preserved
|
|
// when the presentation is scaled to fit different resolutions. Can be
|
|
// specified using percentage units.
|
|
width: 1280,
|
|
height: 840,
|
|
|
|
// Factor of the display size that should remain empty around the content
|
|
margin: 0.1,
|
|
|
|
multiplex: {
|
|
// Example values. To generate your own, see the socket.io server instructions.
|
|
secret: getQueryHash().s || null,
|
|
id: '863f0948d18284f3',
|
|
url: 'https://p.xobs.io/'
|
|
},
|
|
|
|
|
|
// Bounds for smallest/largest possible scale to apply to content
|
|
minScale: 0.02,
|
|
maxScale: 5.5,
|
|
|
|
defaultTiming: 41,
|
|
|
|
transition: 'slide', // none/fade/slide/convex/concave/zoom
|
|
|
|
// Don't forget to add the dependencies
|
|
dependencies: reveal_dependencies,
|
|
|
|
// Learn about plugins: https://revealjs.com/plugins/
|
|
plugins: [RevealMarkdown, RevealHighlight, RevealZoom, RevealNotes]
|
|
});
|
|
</script>
|
|
</body>
|
|
|
|
</html> |