fossasia-22-renode/index.html

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<title>Renode: Easy CI for your Weird Hardware</title>
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<!--
* Emulators are useful tools
- PC emulator (e.g. Docker on Mac, WSL on Linux)
- NES emulator -- fun and games, realtime output
- Also have debugging emulators
- Renode
* Renode Stack
- CPU cores written in C
- arm, i386, ppc, riscv, sparc, xtensa
- Windows, Mac, Linux
- Peripherals and UI written in C#
- Extensible via Python and C#
- Write once. Run anywhere. Using C# to define new peripherals
* Three major users
- Designers of new boards
- Reverse engineering exsisting hardware
- Silicon designers
* Designers of new boards
- One or more chips
- How are they connected?
- What weird hardware exists?
* Concurrent emulation of multiple devices
- Can connect multiple devices, e.g. via UART, GPIO, SPI, Ethernet, CAN...
- All devices are emulated using the same time source
- Helps to debug timing differences with different processors on a board
* Board definition format
- Easily define memory layout
- Easily move blocks around
- Only define what's necessary
- You don't need to be perfect, just good enough!
* Can read SVD files
* Hardware has Similarities
- Picture of existing register sets
- There are only so many combinations
- Rip. Mix. Burn. Many chips are just copies of one another.
* Tests in CI
* Reverse engineering existing hardware
* If it's a supported architecture, it's easy to run code
* LoadBinary and set PC
* Can skip much of the boot ROM
* Attach GDB
* Reproducible makes it easy to test theories
* Developing new Silicon blocks
* Betrusted hardware
- Create a new design in LiteX / Verilog
- Document the design
- Create a model
- Timing isn't as critical
-->
<body>
<div class="reveal">
<div class="slides">
<section>
<section>
<h2>Renode</h2>
<p>I find it a useful tool. Maybe you will, too!
</section>
<section>
<h2>About Me: I Do Weird Hardware</h2>
<ul>
<li>Simmel: Contact Tracing with Audio</li>
<li>Chibitronics: Programming Stickers with Audio</li>
<li>Novena: Open Source Laptop</li>
<li>Senoko: Open Source Power Board for Novena</li>
</ul>
</section>
<section>
<h2>Hardware with Embedded Software</h2>
<ul>
<li>Software needs to be written</li>
<li class="fragment">Software needs to be <strong>tested</strong></li>
<li class="fragment">Software needs to be <i>debugged</i></li>
</ul>
</section>
<section>
<h2>About Renode</h2>
<ul>
<li>Whole-System Emulator</li>
<li>Supports concurrent emulation</li>
<li>Extensible with C# and Python</li>
<li>Windows, Mac, Linux</li>
<li>MIT Licensed</li>
</ul>
</section>
<section>
<h2>About This Talk</h2>
<ul>
<li>Overview of Emulators</li>
<li>Oevrview of Weird Hardware</li>
<li>Cool things you can do</li>
</ul>
</section>
<section>
<h2>Who will find this interesting?</h2>
<ul>
<li>Creators: Those making new boards or hardware</li>
<li>Integrators: Running CI on firmware files</li>
<li>Reverse Engineers: Understanding new hardware and firmware</li>
</ul>
</section>
<section>
<h2>Creators: Making New Things!</h2>
<ul>
<li>Reusing an existing platform</li>
<li>Reusing an existing microcontroller</li>
<li>New microcontroller fron existing family</li>
</ul>
</section>
<section>
<h2>Integrators: Making Sure Nothing Broke!</h2>
<ul>
<li>Hardware testing incompatible with cloud</li>
<ul>
<li>...it sure is effective, though</li>
</ul>
<li>Hardware crunch makes it difficult to get hardware</li>
<li>Downloading software is much cheaper than shipping</li>
<li>Can run tests on every code push</li>
</ul>
</section>
<section>
<h2>Reverse Engineers: What Is This Blob Doing?</h2>
<ul>
<li>Staring at code flow is enlightening, but time-consuming</li>
<li>What is it doing and how does it get there?</li>
<li>How can we make it do $x?</li>
</ul>
</section>
</section>
<section>
<section data-transition="fade-out">
<h2>What is an Emulator?</h2>
<img class="fragment" src="media/bbs-example.png">
</section>
<section data-transition="fade">
<h2>What is an Emulator?</h2>
<img src="media/DEC_VT100_terminal_cropped.jpg">
</section>
<section data-transition="fade-in slide-out">
<h2>What is an Emulator?</h2>
<img src="media/bbs-example.png">
</section>
<section data-transition="slide-in fade-out">
<h2>Whole-System Emulator</h2>
<img src="media/fceux-smb.png">
<!--
<ul>
<li>Wii Virtual Console</li>
<li>VirtualBox</li>
<li>Parallels</li>
</ul>
-->
</section>
<section data-transition="fade-in">
<h2>Whole-System Emulator</h2>
<img src="media/fceux-smb-debug.png">
<!--
<ul>
<li>Wii Virtual Console</li>
<li>VirtualBox</li>
<li>Parallels</li>
</ul>
-->
</section>
<section>
<h2>Transparent Emulator</h2>
<ul>
<li>WSL2/Docker</li>
<li>qemu on Linux</li>
<li>Rosetta on Mac</li>
</ul>
</section>
<section>
<h2>Renode Is Many of These</h2>
<ul>
<li>Console: Able to present an interactive environment</li>
<li>Transparent: Can run in CI via Robot commands</li>
<li>Debugger: Has a GDB server built in</li>
</ul>
</section>
</section>
<section>
<section data-transition="fade-out">
<h2>What is a Computer?</h2>
<img class="fragment" src="media/bluenrg-block-diagram.png">
</section>
<section data-transition="fade">
<h2>What is a Computer?</h2>
<ul>
<li>A system of devices</li>
<li>One or more CPU</li>
<li>One or more buses</li>
<li>One or more blocks of memory</li>
<li>Some I/O</li>
</ul>
</section>
<section data-transition="fade-out">
<h2>What is a Computer?</h2>
<img src="media/bluenrg-block-diagram.png">
</section>
<section data-transition="fade">
<h2>What is a Computer?</h2>
<img src="media/bluenrg-block-diagram-no-extra-bits.png">
</section>
<section data-transition="fade">
<h2>What is a Computer?</h2>
<img src="media/bluenrg-block-diagram-cpu.png">
</section>
<section data-transition="fade">
<h2>What is a Computer?</h2>
<img src="media/bluenrg-block-diagram-memories.png">
</section>
<section data-transition="fade-in">
<h2>What is a Computer?</h2>
<img src="media/bluenrg-block-diagram-peripherals.png">
</section>
<section>
<h2>What is a Computer?</h2>
<img src="media/bluenrg-peripherals.png">
</section>
<section>
<h2>What is a Computer?</h2>
<img src="media/bluenrg-memory-map.png">
</section>
<section>
<h2>What is a Computer?</h2>
<img src="media/conceptual-diagram.png">
</section>
<section>
<h2>Defining a Computer in Renode</h2>
<pre><code data-trim>
flash: Memory.MappedMemory @ sysbus 0x00000000
size: 0x00008000
sram: Memory.MappedMemory @ sysbus 0x20000000
size: 0x00001000
nvic: IRQControllers.NVIC @ sysbus 0xE000E000
IRQ -> cpu@0
cpu: CPU.CortexM @ sysbus
nvic: nvic
cpuType: "cortex-m0+"
PerformanceInMips: 24
</code></pre>
</section>
</section>
<section>
<h2>That's Nice, but What About...</h2>
<ol>
<li>Loading firmware?</li>
<li>Adding peripherals?</li>
</ol>
</section>
<section>
<section>
<h2>What is "Firmware"?</h2>
<blockquote class="fragment strike">Firmware is a series of instructions executed by the CPU in
order to accomplish a task</blockquote>
<blockquote class="fragment">Firmware is Memory</blockquote>
</section>
<section>
<h2>Loading Firmware in Renode</h2>
<pre><code data-trim>
sysbus LoadELF @firmware.elf
</code></pre>
<pre class="fragment"><code data-trim>
sysbus LoadBinary @rom.bin 0x20000000
</code></pre>
<pre class="fragment"><code data-trim>
sysbus LoadSymbolsFrom @rom.elf
</code></pre>
</section>
<section>
<h2>How does Renode Interact With $VENDOR_TOOL?</h2>
<ul>
<li>Hopefully your vendor tool produces ELF files</li>
<li class="fragment">At the end of the day, it's all bytes. Just use <code>LoadBinary</code>!
</li>
</ul>
</section>
<section>
<h2>What About Boot ROMs?</h2>
<ol>
<li class="fragment strike semi-fade-out" data-fragment-index="1">Initialize peripherals</li>
<li class="fragment strike semi-fade-out" data-fragment-index="1">Check for boot override</li>
<li class="fragment strike semi-fade-out" data-fragment-index="1">Check for low-power state</li>
<li class="fragment strike semi-fade-out" data-fragment-index="1">Load firmware into RAM</li>
<li class="fragment strike semi-fade-out" data-fragment-index="1">Validate firmware</li>
<li>Jump to loaded program</li>
</ol>
<pre class="fragment"><code data-trim>
sysbus.cpu VectorTableOffset 0x20000000
sysbus.cpu PC 0x20000c00
</code></pre>
</section>
</section>
<section>
<section>
<h2>What about New Peripherals?</h2>
</section>
<section>
<h2>It's All About Small Victories</h2>
<ul>
<li>Serial ports are super rewarding</li>
<li>They're also usually simple!</li>
<li>They are easy to script</li>
</ul>
</section>
<section data-transition="fade-out">
<h2>What is a Register?</h2>
<img src="media/pl011-bluenrg.png">
<img class="fragment" src="media/pl011-cc2538-cropped.png">
</section>
<section data-transition="fade">
<h2>What is a Register?</h2>
<img src="media/pl011-bcm2835-cropped.png">
</section>
<section data-transition="fade-in">
<h2>What is a Register?</h2>
<img src="media/pl011-arm.png">
</section>
<section>
<h2>Reuse an Existing Block!</h2>
<pre data-id="code-animation"><code data-trim data-line-numbers="|10-12">
flash: Memory.MappedMemory @ sysbus 0x00000000
size: 0x00008000
sram: Memory.MappedMemory @ sysbus 0x20000000
size: 0x00001000
nvic: IRQControllers.NVIC @ sysbus 0xE000E000
IRQ -> cpu@0
// 👇 Add a UART with IRQ #10 at address 0x40300000
uart: UART.PL011 @ sysbus 0x40300000
-> nvic@10
cpu: CPU.CortexM @ sysbus
nvic: nvic
cpuType: "cortex-m0+"
PerformanceInMips: 24
</code></pre>
</section>
<section>
<h2>Output Success!</h2>
<img src="media/bluenrg-renode-uart.png">
</section>
<section>
<h2>Always Check for Block Reuse</h2>
Blocks are frequently reused across designs, and can save you from having to reimplement
everything from scratch!
</section>
<section>
<h2>Steps to Set Up a Serial Port</h2>
<ol>
<li class="fragment strike semi-fade-out" data-fragment-index="1">Enable peripheral</li>
<li class="fragment strike semi-fade-out" data-fragment-index="1">Set up clock</li>
<li class="fragment strike semi-fade-out" data-fragment-index="1">Mux GPIOs</li>
<li class="fragment strike semi-fade-out" data-fragment-index="1">Calculate baud rate</li>
<li>Write to UART TX register</li>
</ol>
</section>
<section>
<h2>Steps to Set Up a Serial Port</h2>
<ul>
<li>Interrupt Support</li>
<ul>
<li>Handled as a GPIO within the peripheral</li>
</ul>
<li>DMA</li>
<ul>
<li>Handled as a different peripheral</li>
</ul>
</ul>
</section>
<section>
<h2>Example Serial Port</h2>
<pre class="code-animation"><code class="cs" data-trim data-line-numbers="|132-140|118-126|125|20-33">
//
// Copyright (c) 2010-2018 Antmicro
//
// This file is licensed under the MIT License.
// Full license text is available in 'licenses/MIT.txt'.
//
using System.Collections.Generic;
using Antmicro.Renode.Peripherals.Bus;
using Antmicro.Renode.Core.Structure.Registers;
using Antmicro.Renode.Core;
using Antmicro.Renode.Logging;
namespace Antmicro.Renode.Peripherals.UART
{
public class LiteX_UART : UARTBase, IDoubleWordPeripheral, IBytePeripheral, IKnownSize
{
public LiteX_UART(Machine machine) : base(machine)
{
IRQ = new GPIO();
var registersMap = new Dictionary<long, DoubleWordRegister>
{
{(long)Registers.RxTx, new DoubleWordRegister(this)
.WithValueField(0, 8,
writeCallback: (_, value) =>
this.TransmitCharacter((byte)value),
valueProviderCallback: _ => {
if(!TryGetCharacter(out var character))
{
this.Log(LogLevel.Warning, "Empty Rx FIFO.");
}
return character;
})
},
{(long)Registers.TxFull, new DoubleWordRegister(this)
.WithFlag(0, FieldMode.Read) //tx is never full
},
{(long)Registers.RxEmpty, new DoubleWordRegister(this)
.WithFlag(0, FieldMode.Read, valueProviderCallback: _ => Count == 0)
},
{(long)Registers.EventPending, new DoubleWordRegister(this)
// `txEventPending` implements `WriteOneToClear` semantics to avoid fake warnings
// `txEventPending` is generated on the falling edge of TxFull; in our case it means never
.WithFlag(0, FieldMode.Read | FieldMode.WriteOneToClear, valueProviderCallback: _ => false, name: "txEventPending")
.WithFlag(1, out rxEventPending, FieldMode.Read | FieldMode.WriteOneToClear, name: "rxEventPending")
.WithWriteCallback((_, __) => UpdateInterrupts())
},
{(long)Registers.EventEnable, new DoubleWordRegister(this)
.WithFlag(0, name: "txEventEnabled")
.WithFlag(1, out rxEventEnabled)
.WithWriteCallback((_, __) => UpdateInterrupts())
},
};
registers = new DoubleWordRegisterCollection(this, registersMap);
}
public uint ReadDoubleWord(long offset)
{
return registers.Read(offset);
}
public byte ReadByte(long offset)
{
if(offset % 4 != 0)
{
// in the current configuration, only the lowest byte
// contains a meaningful data
return 0;
}
return (byte)ReadDoubleWord(offset);
}
public override void Reset()
{
base.Reset();
registers.Reset();
UpdateInterrupts();
}
public void WriteDoubleWord(long offset, uint value)
{
registers.Write(offset, value);
}
public void WriteByte(long offset, byte value)
{
if(offset % 4 != 0)
{
// in the current configuration, only the lowest byte
// contains a meaningful data
return;
}
WriteDoubleWord(offset, value);
}
public long Size => 0x100;
public GPIO IRQ { get; private set; }
public override Bits StopBits => Bits.One;
public override Parity ParityBit => Parity.None;
public override uint BaudRate => 115200;
protected override void CharWritten()
{
UpdateInterrupts();
}
protected override void QueueEmptied()
{
UpdateInterrupts();
}
private void UpdateInterrupts()
{
// rxEventPending is latched
rxEventPending.Value = (Count != 0);
// tx fifo is never full, so `txEventPending` is always false
var eventPending = (rxEventEnabled.Value && rxEventPending.Value);
IRQ.Set(eventPending);
}
private IFlagRegisterField rxEventEnabled;
private IFlagRegisterField rxEventPending;
private readonly DoubleWordRegisterCollection registers;
private enum Registers : long
{
RxTx = 0x0,
TxFull = 0x04,
RxEmpty = 0x08,
EventStatus = 0x0c,
EventPending = 0x10,
EventEnable = 0x14,
}
}
}
</code></pre>
</section>
<section>
<h2>Steps to Set Up a Serial Port</h2>
<img src="media/renode-xous-kernel-uart.png">
</section>
<section>
<h2>What about Missing Definitions?</h2>
<ul>
<li>Most registers are unused</li>
<ul>
<li>Start/Stop bits</li>
<li>One-wire mode</li>
<li>Infrared mode</li>
</ul>
<li class="fragment">Most writes can be ignored</li>
</ul>
</section>
<section data-transition="fade-out">
<h2>Advantages of Emulation</h2>
<img src="media/betrusted-soc-uart-mux.png">
</section>
<section data-transition="fade-in">
<h2>Advantages of Emulation</h2>
<img src="media/renode-xous-double-uart-tiled.png">
</section>
</section>
<!--
<section>
<section>
<h2>Example of Weird Hardware</h2>
<ul>
<li>NRF52840</li>
<li>LM74 Temperature Sensor</li>
</ul>
</section>
<section>
<h2>Example of Weird Hardware</h2>
<ul>
<li>NRF52833</li>
<li>LM74 Temperature Sensor</li>
</ul>
</section>
<section>
<h2>Example of Weird Hardware</h2>
<ul>
<li>BlueNRG1</li>
<li>LM74 Temperature Sensor</li>
</ul>
</section>
<section>
<h2>Example of Weird Hardware</h2>
<ul>
<li>RISC-V</li>
<li>FPGA-based framebuffer</li>
<li>Initial graphical demo in 1 hour</li>
</ul>
</section>
</section>
<section>
<section>
<h2>What makes hardware "Weird"?</h2>
<ul>
<li>Unusual CPU architecture</li>
<li>Different model of chip than commonly found</li>
<li>Additional hardware</li>
<li>More CPUs per board</li>
</ul>
</section>
<section>
<h2>Unusual CPU architecture</h2>
Sorry, can't help
</section>
<section>
<h2>Different model CPU</h2>
<ul>
<li>Maybe it's just a variant</li>
<li>Perhaps memory regions were shuffled</li>
<li>Does it use the same hardware block as someone else?</li>
</ul>
</section>
<section>
<h2>New hardware version</h2>
<ul>
<li>Do you use the new, specialized features?</li>
<li>Lots of UARTs support Infrared. Do you need that?</li>
</ul>
</section>
<section>
<h2>Completely new hardware</h2>
<ul>
<li>Time to break out C#</li>
</ul>
</section>
</section> -->
<section>
<section>
<h2>Robot Framework: Running Tests in CI</h2>
<pre class="code-animation"><code class="robot" data-trim data-line-numbers="|1-6|8-18|20-26|28-40">
*** Settings ***
Suite Setup Setup
Suite Teardown Teardown
Test Setup Reset Emulation
Test Teardown Test Teardown
Resource ${RENODEKEYWORDS}
*** Variables ***
${UART} sysbus.uart0
${URI} @https://dl.antmicro.com/projects/renode
${LIS2DS12}= SEPARATOR=
... """ ${\n}
... using "platforms/cpus/nrf52840.repl" ${\n}
... ${\n}
... lis2ds12: Sensors.LIS2DS12 @ twi1 0x1c ${\n}
... ${SPACE*4}IRQ -> gpio0@28 ${\n}
... """
*** Keywords ***
Create Machine
Execute Command mach create
Execute Command machine
... LoadPlatformDescriptionFromString ${LIS2DS12}
Execute Command sysbus LoadELF
... ${URI}/nrf52840--zephyr_lis2dh.elf-s_747800-163b7e7cc986d4b1115f06b5f3df44ed0defc1fa
*** Test Cases ***
Should Read Acceleration
Create Machine
Create Terminal Tester ${UART}
Execute Command sysbus.twi1.lis2ds12 AccelerationX 10
Execute Command sysbus.twi1.lis2ds12 AccelerationY 5
Execute Command sysbus.twi1.lis2ds12 AccelerationZ -5
Start Emulation
Wait For Line On Uart
... x 9.997213 , y 4.997410 , z -4.999803
</code></pre>
</section>
</section>
<section>
<section>
<h2>Renode for Reverse Engineering</h2>
</section>
<section>
<h2>SVD: Standard Chip Documentation</h2>
<pre class="code-animation"><code class="xml" data-trim data-line-numbers="|3-9|25-87|27-31|39-57|43|46-47|48-56">
<?xml version='1.0' encoding='utf-8'?>
<device xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" schemaVersion="1.1" xsi:noNamespaceSchemaLocation="CMSIS-SVD_Schema_1_1_draft.xsd">
<vendor>STMicroelectronics</vendor>
<vendorID>ST</vendorID>
<name>BlueNRG2</name>
<series>BlueNRG1</series>
<version>1.0.0</version>
<description>ARM 32-bit Cortex-M0 Microcontroller based device, CPU clock up to 32MHz</description>
<licenseText>License</licenseText>
<cpu>
<name>CM0</name>
<revision>r0p0</revision>
<endian>little</endian>
<mpuPresent>false</mpuPresent>
<fpuPresent>false</fpuPresent>
<nvicPrioBits>2</nvicPrioBits>
<vendorSystickConfig>false</vendorSystickConfig>
</cpu>
<addressUnitBits>8</addressUnitBits>
<width>32</width>
<size>32</size>
<access>read-write</access>
<resetValue>0x00000000</resetValue>
<resetMask>0xFFFFFFFF</resetMask>
<peripherals>
<peripheral>
<name>RNG</name>
<version>1.0</version>
<description>RNG</description>
<groupName>RNG</groupName>
<baseAddress>0xB0000000</baseAddress>
<size>32</size>
<access>read-write</access>
<addressBlock>
<offset>0</offset>
<size>0x1000</size>
<usage>registers</usage>
</addressBlock>
<registers>
<register>
<name>CR</name>
<description>RNG configuration register</description>
<addressOffset>0x00</addressOffset>
<size>32</size>
<access>read-write</access>
<resetValue>0x00000000</resetValue>
<resetMask>0x0000FFFF</resetMask>
<fields>
<field>
<name>DIS</name>
<description>Set the state of the random number generator.&lt;ul&gt;&lt;li&gt;0: RNG is enable.&lt;/li&gt;&lt;li&gt;1: RNG is disabled. The internal free-running oscillators are put in power-down mode and the RNG clock is stopped at the input of the block.&lt;/li&gt;&lt;/ul&gt;</description>
<bitOffset>2</bitOffset>
<bitWidth>1</bitWidth>
<access>read-write</access>
</field>
</fields>
</register>
<register>
<name>SR</name>
<description>RNG status register</description>
<addressOffset>0x04</addressOffset>
<size>32</size>
<access>read-only</access>
<resetValue>0x00000000</resetValue>
<resetMask>0x0000FFFF</resetMask>
<fields>
<field>
<name>RDY</name>
<description>New random value ready.&lt;ul&gt;&lt;li&gt;0: The RNG_VAL register value is not yet valid. If performing a read access to VAL, the host will be put on hold (by wait-states insertion on the AHB bus) until a random value is available.&lt;/li&gt;&lt;li&gt;1: The VAL register contains a valid random number.&lt;/li&gt;&lt;/ul&gt;This bit remains at 0 when the RNG is disabled (RNGDIS bit = 1b in CR)</description>
<bitOffset>0</bitOffset>
<bitWidth>1</bitWidth>
<access>read-only</access>
</field>
</fields>
</register>
<register>
<name>VAL</name>
<description>RNG 16 bit random value</description>
<addressOffset>0x08</addressOffset>
<size>32</size>
<access>read-only</access>
<resetValue>0x00000000</resetValue>
<resetMask>0x0000FFFF</resetMask>
</register>
</registers>
</peripheral>
</peripherals>
</device>
</code></pre>
</section>
<section>
<h2>SVD: Using with Renode</h2>
<pre class="code-animation"><code data-trim data-line-numbers="|1-6|8-18|20-26|28-40">
sysbus ApplySVD @BlueNRG2.svd
</code></pre>
<img class="fragment" src="media/bluenrg-renode-svd.png">
</section>
<section>
<h2>Logging Memory Accesses</h2>
<img src="media/renode-betrusted-log.png">
</section>
<section>
<h2>Debugging with GDB</h2>
<img src="media/renode-start-gdb.png">
<img class="fragment" src="media/renode-connect-gdb.png">
</section>
<section>
<h2>Creating ELF Files</h2>
<img src="media/ghidra-decompile.png">
</section>
</section>
<section>
<h2>Multi-System Emulation</h2>
<img src="media/renode-multi-system.png">
</section>
<section>
<h2>Multi-System Emulation</h2>
<img src="media/betrusted-ec-com-1.png">
</section>
<section>
</section>
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