611 lines
17 KiB
HTML
611 lines
17 KiB
HTML
<!doctype html>
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<html>
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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>Renode: Easy CI for your Weird Hardware</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/black.css">
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<!-- Theme used for syntax highlighted code -->
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<link rel="stylesheet" href="plugin/highlight/monokai.css">
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</head>
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<!--
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* Emulators are useful tools
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- PC emulator (e.g. Docker on Mac, WSL on Linux)
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- NES emulator -- fun and games, realtime output
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- Also have debugging emulators
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- Renode
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* Renode Stack
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- CPU cores written in C
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- arm, i386, ppc, riscv, sparc, xtensa
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- Windows, Mac, Linux
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- Peripherals and UI written in C#
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- Extensible via Python and C#
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- Write once. Run anywhere. Using C# to define new peripherals
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* Three major users
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- Designers of new boards
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- Reverse engineering exsisting hardware
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- Silicon designers
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* Designers of new boards
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- One or more chips
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- How are they connected?
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- What weird hardware exists?
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* Concurrent emulation of multiple devices
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- Can connect multiple devices, e.g. via UART, GPIO, SPI, Ethernet, CAN...
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- All devices are emulated using the same time source
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- Helps to debug timing differences with different processors on a board
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* Board definition format
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- Easily define memory layout
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- Easily move blocks around
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- Only define what's necessary
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- You don't need to be perfect, just good enough!
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* Can read SVD files
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* Hardware has Similarities
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- Picture of existing register sets
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- There are only so many combinations
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- Rip. Mix. Burn. Many chips are just copies of one another.
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* Tests in CI
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* Reverse engineering existing hardware
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* If it's a supported architecture, it's easy to run code
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* LoadBinary and set PC
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* Can skip much of the boot ROM
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* Attach GDB
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* Reproducible makes it easy to test theories
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* Developing new Silicon blocks
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* Betrusted hardware
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- Create a new design in LiteX / Verilog
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- Document the design
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- Create a model
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- Timing isn't as critical
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-->
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<body>
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<div class="reveal">
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<div class="slides">
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<section>
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<section>
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<h2>Renode</h2>
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<p>I find it a useful tool. Maybe you will, too!
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</section>
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<section>
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<h2>About Me: I Do Weird Hardware</h2>
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<ul>
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<li>Simmel: Contact Tracing with Audio</li>
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<li>Chibitronics: Programming Stickers with Audio</li>
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<li>Novena: Open Source Laptop</li>
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<li>Senoko: Open Source Power Board for Novena</li>
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</ul>
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</section>
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<section>
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<h2>Hardware with Embedded Software</h2>
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<ul>
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<li>Software needs to be written</li>
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<li class="fragment">Software needs to be <strong>tested</strong></li>
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<li class="fragment">Software needs to be <i>debugged</i></li>
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</ul>
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</section>
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<section>
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<h2>About Renode</h2>
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<ul>
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<li>Whole-System Emulator</li>
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<li>Supports concurrent emulation</li>
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<li>Extensible with C# and Python</li>
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<li>Windows, Mac, Linux</li>
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<li>MIT Licensed</li>
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</ul>
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</section>
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<section>
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<h2>About This Talk</h2>
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<ul>
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<li>Overview of Emulators</li>
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<li>Oevrview of Weird Hardware</li>
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<li>Cool things you can do</li>
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</ul>
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</section>
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<section>
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<h2>Who will find this interesting?</h2>
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<ul>
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<li>Creators: Those making new boards or hardware</li>
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<li>Integrators: Running CI on firmware files</li>
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<li>Reverse Engineers: Understanding new hardware and firmware</li>
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</ul>
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</section>
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<section>
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<h2>Creators: Making New Things!</h2>
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<ul>
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<li>Reusing an existing platform</li>
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<li>Reusing an existing microcontroller</li>
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<li>New microcontroller fron existing family</li>
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</ul>
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</section>
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<section>
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<h2>Integrators: Making Sure Nothing Broke!</h2>
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<ul>
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<li>Hardware testing incompatible with cloud</li>
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<ul>
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<li>...it sure is effective, though</li>
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</ul>
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<li>Hardware crunch makes it difficult to get hardware</li>
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<li>Downloading software is much cheaper than shipping</li>
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<li>Can run tests on every code push</li>
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</ul>
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</section>
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<section>
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<h2>Reverse Engineers: What Is This Blob Doing?</h2>
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<ul>
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<li>Staring at code flow is enlightening, but time-consuming</li>
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<li>What is it doing and how does it get there?</li>
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<li>How can we make it do $x?</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 data-transition="fade-out">
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<h2>What is an Emulator?</h2>
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<img class="fragment" src="media/bbs-example.png">
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</section>
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<section data-transition="fade">
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<h2>What is an Emulator?</h2>
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<img src="media/DEC_VT100_terminal_cropped.jpg">
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</section>
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<section data-transition="fade-in">
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<h2>What is an Emulator?</h2>
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<img src="media/bbs-example.png">
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</section>
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<section>
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<h2>Whole-System Emulator</h2>
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<img src="media/fceux-smb.png">
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<!--
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<ul>
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<li>Wii Virtual Console</li>
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<li>VirtualBox</li>
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<li>Parallels</li>
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</ul>
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-->
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</section>
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<section>
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<h2>Whole-System Emulator</h2>
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<img src="media/fceux-smb-debug.png">
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<!--
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<ul>
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<li>Wii Virtual Console</li>
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<li>VirtualBox</li>
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<li>Parallels</li>
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</ul>
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-->
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</section>
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<section>
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<h2>Transparent Emulator</h2>
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<ul>
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<li>WSL2/Docker</li>
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<li>qemu on Linux</li>
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<li>Rosetta on Mac</li>
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</ul>
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</section>
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<section>
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<h2>Renode Is Many of These</h2>
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<ul>
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<li>Console: Able to present an interactive environment</li>
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<li>Transparent: Can run in CI via Robot commands</li>
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<li>Debugger: Has a GDB server built in</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 data-transition="fade-out">
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<h2>What is a Computer?</h2>
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<img class="fragment" src="media/bluenrg-block-diagram.png">
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</section>
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<section data-transition="fade">
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<h2>What is a Computer?</h2>
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<ul>
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<li>A system of devices</li>
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<li>One or more CPU</li>
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<li>One or more buses</li>
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<li>One or more blocks of memory</li>
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<li>Some I/O</li>
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</ul>
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</section>
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<section data-transition="fade-out">
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<h2>What is a Computer?</h2>
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<img class="fragment" src="media/bluenrg-block-diagram.png">
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</section>
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<section data-transition="fade">
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<h2>What is a Computer?</h2>
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<img src="media/bluenrg-block-diagram-no-extra-bits.png">
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</section>
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<section data-transition="fade">
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<h2>What is a Computer?</h2>
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<img src="media/bluenrg-block-diagram-cpu.png">
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</section>
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<section data-transition="fade">
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<h2>What is a Computer?</h2>
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<img src="media/bluenrg-block-diagram-memories.png">
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</section>
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<section data-transition="fade-in">
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<h2>What is a Computer?</h2>
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<img src="media/bluenrg-block-diagram-peripherals.png">
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</section>
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<section>
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<h2>What is a Computer?</h2>
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<img src="media/bluenrg-peripherals.png">
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</section>
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<section>
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<h2>What is a Computer?</h2>
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<img src="media/bluenrg-memory-map.png">
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</section>
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<section>
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<h2>What is a Computer?</h2>
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<img src="media/conceptual-diagram.png">
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</section>
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<section>
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<h2>Defining a Computer in Renode</h2>
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<pre><code data-trim>
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flash: Memory.MappedMemory @ sysbus 0x00000000
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size: 0x00008000
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sram: Memory.MappedMemory @ sysbus 0x20000000
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size: 0x00001000
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nvic: IRQControllers.NVIC @ sysbus 0xE000E000
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IRQ -> cpu@0
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cpu: CPU.CortexM @ sysbus
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nvic: nvic
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cpuType: "cortex-m0+"
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PerformanceInMips: 24
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</code></pre>
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</section>
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</section>
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<section>
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<h2>That's Nice, but What About...</h2>
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<ol>
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<li>Loading firmware?</li>
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<li>Adding peripherals?</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>What is "Firmware"?</h2>
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<blockquote class="fragment strike">Firmware is a series of instructions executed by the CPU in
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order to accomplish a task</blockquote>
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<blockquote class="fragment">Firmware is Memory</blockquote>
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</section>
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<section>
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<h2>Loading Firmware in Renode</h2>
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<pre><code data-trim>
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sysbus LoadELF @firmware.elf
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</code></pre>
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<pre class="fragment"><code data-trim>
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sysbus LoadBinary @rom.bin 0x20000000
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</code></pre>
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<pre class="fragment"><code data-trim>
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sysbus LoadSymbolsFrom @rom.elf
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</code></pre>
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</section>
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<section>
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<h2>How does Renode Interact With $VENDOR_TOOL?</h2>
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<ul>
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<li>Hopefully your vendor tool produces ELF files</li>
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<li class="fragment">At the end of the day, it's all bytes. Just use <code>LoadBinary</code>!
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</li>
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</ul>
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</section>
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<section>
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<h2>What About Boot ROMs?</h2>
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<ol>
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<li class="fragment strike semi-fade-out" data-fragment-index="1">Initialize peripherals</li>
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<li class="fragment strike semi-fade-out" data-fragment-index="1">Check for boot override</li>
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<li class="fragment strike semi-fade-out" data-fragment-index="1">Check for low-power state</li>
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<li class="fragment strike semi-fade-out" data-fragment-index="1">Load firmware into RAM</li>
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<li class="fragment strike semi-fade-out" data-fragment-index="1">Validate firmware</li>
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<li>Jump to loaded program</li>
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</ol>
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<pre class="fragment"><code data-trim>
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sysbus.cpu VectorTableOffset 0x20000000
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sysbus.cpu PC 0x20000c00
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</code></pre>
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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 about New Peripherals?</h2>
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</section>
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<section>
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<h2>It's All About Small Victories</h2>
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<ul>
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<li>Serial ports are super rewarding</li>
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<li>They're also usually simple!</li>
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<li>They are easy to script</li>
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</ul>
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</section>
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<section>
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<h2>Reusing an Existing Port</h2>
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</section>
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<section>
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<h2>Steps to Set Up a Serial Port</h2>
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<ol>
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<li class="fragment strike semi-fade-out" data-fragment-index="1">Enable peripheral</li>
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<li class="fragment strike semi-fade-out" data-fragment-index="1">Set up clock</li>
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<li class="fragment strike semi-fade-out" data-fragment-index="1">Mux GPIOs</li>
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<li class="fragment strike semi-fade-out" data-fragment-index="1">Calculate baud rate</li>
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<li>Write to UART TX register</li>
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</ol>
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</section>
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<section>
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<h2>Steps to Set Up a Serial Port</h2>
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<img src="media/renode-xous-kernel-uart.png">
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</section>
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<section>
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<h2>Steps to Set Up a Serial Port</h2>
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<ul>
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<li>Interrupt Support</li>
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<li>DMA</li>
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</ul>
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</section>
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<section>
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<h2>Example Serial Port</h2>
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<pre><code class="cs" data-trim>
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{(long)Registers.RxTx, new DoubleWordRegister(this)
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.WithValueField(0, 8,
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writeCallback: (_, value) => {
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this.TransmitCharacter((byte)value);
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},
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valueProviderCallback: _ => {
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if(!TryGetCharacter(out var character))
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{
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this.Log(LogLevel.Warning, "Empty Rx FIFO.");
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}
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return character;
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})
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},
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</code></pre>
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</section>
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<section>
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<h2>What about Missing Definitions?</h2>
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<ul>
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<li>Most registers are unused</li>
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<li>Most writes can be ignored</li>
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</ul>
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</section>
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<section data-transition="fade-out">
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<h2>Advantages of Emulation</h2>
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<img src="media/betrusted-soc-uart-mux.png">
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</section>
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<section data-transition="fade-in">
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<h2>Advantages of Emulation</h2>
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<img src="media/renode-xous-double-uart-tiled.png">
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</section>
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</section>
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<!--
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<section>
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<section>
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<h2>Example of Weird Hardware</h2>
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<ul>
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<li>NRF52840</li>
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<li>LM74 Temperature Sensor</li>
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</ul>
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</section>
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<section>
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<h2>Example of Weird Hardware</h2>
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<ul>
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<li>NRF52833</li>
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<li>LM74 Temperature Sensor</li>
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</ul>
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</section>
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<section>
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<h2>Example of Weird Hardware</h2>
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<ul>
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<li>BlueNRG1</li>
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<li>LM74 Temperature Sensor</li>
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</ul>
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</section>
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<section>
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<h2>Example of Weird Hardware</h2>
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<ul>
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<li>RISC-V</li>
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<li>FPGA-based framebuffer</li>
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<li>Initial graphical demo in 1 hour</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 makes hardware "Weird"?</h2>
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<ul>
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<li>Unusual CPU architecture</li>
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<li>Different model of chip than commonly found</li>
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<li>Additional hardware</li>
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<li>More CPUs per board</li>
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</ul>
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</section>
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<section>
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<h2>Unusual CPU architecture</h2>
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Sorry, can't help
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</section>
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<section>
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<h2>Different model CPU</h2>
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<ul>
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<li>Maybe it's just a variant</li>
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<li>Perhaps memory regions were shuffled</li>
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<li>Does it use the same hardware block as someone else?</li>
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</ul>
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</section>
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<section>
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<h2>New hardware version</h2>
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<ul>
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<li>Do you use the new, specialized features?</li>
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<li>Lots of UARTs support Infrared. Do you need that?</li>
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</ul>
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</section>
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<section>
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<h2>Completely new hardware</h2>
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<ul>
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<li>Time to break out C#</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>Robot Framework: Running Tests in CI</h2>
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<pre><code class="hljs" data-trim>
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*** Test Cases ***
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Should Read Acceleration
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Create Machine
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Create Terminal Tester ${UART}
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Execute Command sysbus.twi1.lis2ds12 AccelerationX 10
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Execute Command sysbus.twi1.lis2ds12 AccelerationY 5
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Execute Command sysbus.twi1.lis2ds12 AccelerationZ -5
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Start Emulation
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Wait For Line On Uart x 9.997213 , y 4.997410 , z -4.999803
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</code></pre>
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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>SVD Files</h2>
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</section>
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<section>
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<h2>Logging Memory Accesses</h2>
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</section>
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<section>
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<h2>Debugging with GDB</h2>
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</section>
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<section>
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<h2>Software Assumes Hardware Works</h2>
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<ul>
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<li>Rarely checks for sane ranges (why would you?)</li>
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<li>TOC-TOU</li>
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</ul>
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</section>
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<section>
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<h2>Incremental Changes</h2>
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<ul>
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<li>Small changes are very rewrding</li>
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<li>Device will work with only partial implementation</li>
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</ul>
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</section>
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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 type="text/javascript" src="js/robot.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
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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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// Do not accept new dependencies via query config to avoid
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// the potential of malicious script injection
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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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// 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.initialize({
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hash: true,
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controls: presenter ? false : true,
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progress: true,
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history: true,
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center: true,
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controlsTutorial: presenter ? false : true,
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slideNumber: presenter ? null : 'c/t',
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// The "normal" size of the presentation, aspect ratio will be preserved
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// when the presentation is scaled to fit different resolutions. Can be
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// specified using percentage units.
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width: 960,
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height: 700,
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// Factor of the display size that should remain empty around the content
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margin: 0.1,
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multiplex: {
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// Example values. To generate your own, see the socket.io server instructions.
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secret: getQueryHash().s || null,
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id: '160c0567ef5ca18f',
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url: 'https://p.xobs.io/'
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},
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// Bounds for smallest/largest possible scale to apply to content
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minScale: 0.02,
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maxScale: 5.5,
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transition: 'slide', // none/fade/slide/convex/concave/zoom
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highlight: {
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beforeHighlight: hljs => hljs.registerLanguage('robot', window.hljsDefineRobot)
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},
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// Don't forget to add the dependencies
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dependencies: [
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{ src: 'https://reveal-multiplex.glitch.me/socket.io/socket.io.js', async: true },
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{ src: 'https://reveal-multiplex.glitch.me/client.js', async: true }
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],
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// Learn about plugins: https://revealjs.com/plugins/
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plugins: [RevealMarkdown, RevealHighlight, RevealZoom]
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});
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</script>
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</body>
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</html> |