new simulated board: nrf52_bsim #9988

aescolar · 2018-09-14T15:29:09Z

new simulated board: nrf52_bsim
Added a new simulated board, which models the NRF52832 SOC.

Its main use is for workstation testing and simulation of
the BLE stack and any application which relies mostly on it.

It uses BabbleSim (http://Babblesim.github.io) for the radio
simulation.
And the NRF52 HW models hosted in that same GitHub organization:
https://github.com/BabbleSim/ext_NRF52_hw_models

For speed it uses the POSIX arch to (not) emulate the CPU.
It uses Vanilla Zephyr, with a couple of configuration differences:

It uses (like other POSIX arch boards) the system libC
It does not use the nrfx hosted by Zehpyr in ext/, but the one
provided by the HW models.
Otherwise it relies in the same drivers as the real NRF52 boards.

Quick hands on:

Assuming you want to have BabbleSim in ${HOME}/playground/bsim

mkdir -p ${HOME}/playground/bsim && cd ${HOME}/playground/bsim
# You need android's repo ( https://source.android.com/setup/develop/repo ) 
# Nordic guys: You need ssh access to GitHub.. (if you can't, do "repo init -u https://github.com/BabbleSim/manifest.git -m zephyr_ci.xml -b master")
repo init -u git@github.com:BabbleSim/manifest.git -m everything.xml -b master
repo sync
make everything -j 8
# patiently wait 1min

Now, you just go to Zephyr (pick this branch), and before compiling or running sanitycheck you set

export BSIM_OUT_PATH=${HOME}/playground/bsim/
export BSIM_COMPONENTS_PATH=${HOME}/playground/bsim/components/

You are good to go. Compile whatever you want targeting nrf52_bsim
The resulting exe can just be run stand alone without options (and you get a warning about not connecting to the BabbleSim phy)

If you want to see BLE activity (a bit more fun) you can either build each by hand and copy it out to the bsim/bin directory given them a reasonable name, or use a silly Makefile I left in bsim/components/ext_zephyr_app_builder/.
Assuming the second:

export BOARD=nrf52_bsim
export ZEPHYR_BASE=<wherever you have Zephyr>
cd ~/playground/bsim/components/ext_zephyr_app_builder/
make APP=samples/bluetooth/central_hr install
make APP=samples/bluetooth/peripheral install

And you run them:

cd ~/playground/bsim/bin/
./bs_nrf52_bsim_samples_bluetooth_peripheral -s=Hola -d=0 &
./bs_nrf52_bsim_samples_bluetooth_central_hr -s=Hola -d=1 &
./bs_2G4_phy_v1 -s=Hola -D=2 -sim_length=10e6 &

You should get something like so:

d_00: @00:00:00.000000  ***** Booting Zephyr OS v1.9.0-7263-g0affa09 *****
d_00: @00:00:00.000000  [bt] [INF] hci_vs_init: HW Platform: Nordic Semiconductor (0x0002)
d_00: @00:00:00.000000  [bt] [INF] hci_vs_init: HW Variant: nRF52x (0x0002)
d_00: @00:00:00.000000  [bt] [INF] hci_vs_init: Firmware: Standard Bluetooth controller (0x00) Version 1.13 Build 99
d_00: @00:00:00.000000  [bt] [WRN] bt_setup_id_addr: No static addresses stored in controller
d_01: @00:00:00.000000  ***** Booting Zephyr OS v1.9.0-7263-g0affa09 *****
d_00: @00:00:00.002528  [bt] [INF] bt_dev_show_info: Identity: e0:3b:58:29:c3:12 (random)
d_00: @00:00:00.002528  [bt] [INF] bt_dev_show_info: HCI: version 5.0 (0x09) revision 0x0000, manufacturer 0x05f1
d_00: @00:00:00.002528  [bt] [INF] bt_dev_show_info: LMP: version 5.0 (0x09) subver 0xffff
d_01: @00:00:00.000000  [bt] [INF] hci_vs_init: HW Platform: Nordic Semiconductor (0x0002)
d_01: @00:00:00.000000  [bt] [INF] hci_vs_init: HW Variant: nRF52x (0x0002)
d_01: @00:00:00.000000  [bt] [INF] hci_vs_init: Firmware: Standard Bluetooth controller (0x00) Version 1.13 Build 99
d_00: @00:00:00.004448  [bt] [WRN] irk_init: Using temporary IRK
d_00: @00:00:00.004448  Bluetooth initialized
d_01: @00:00:00.000000  [bt] [WRN] bt_setup_id_addr: No static addresses stored in controller
d_00: @00:00:00.005048  Advertising successfully started
d_01: @00:00:00.002528  [bt] [INF] bt_dev_show_info: Identity: cf:71:44:b1:06:6e (random)
d_01: @00:00:00.002528  [bt] [INF] bt_dev_show_info: HCI: version 5.0 (0x09) revision 0x0000, manufacturer 0x05f1
d_01: @00:00:00.002528  [bt] [INF] bt_dev_show_info: LMP: version 5.0 (0x09) subver 0xffff
d_01: @00:00:00.002528  Bluetooth initialized
d_01: @00:00:00.003488  Scanning successfully started
d_01: @00:00:00.007009  [DEVICE]: 7a:2c:95:7a:2c:95 (random), AD evt type 0, AD data len 29, RSSI -35
d_01: @00:00:00.007009  [AD]: 1 data_len 1
d_01: @00:00:00.007009  [AD]: 3 data_len 6
d_01: @00:00:00.115382  Connected: 7a:2c:95:7a:2c:95 (random)
d_00: @00:00:00.115884  Connected
d_01: @00:00:00.118849  [ATTRIBUTE] handle 10
d_01: @00:00:00.168728  [ATTRIBUTE] handle 11
d_01: @00:00:00.218848  [ATTRIBUTE] handle 13
d_01: @00:00:00.218848  [SUBSCRIBED]
d_01: @00:00:01.017424  [NOTIFICATION] data 0x080a34ab length 2
d_01: @00:00:02.017424  [NOTIFICATION] data 0x080a34ab length 2
[..]
d_01: @00:00:08.067424  [NOTIFICATION] data 0x080a34ab length 2
d_01: @00:00:09.117424  [NOTIFICATION] data 0x080a34ab length 2

Now you can go wild and run either (or both) in gdb, valgrind or whatever you fancy.

aescolar · 2018-09-15T08:49:11Z

@dbkinder : The documentation cannot be built yet, I need to fix the kconfig of this board
But if you are ok with starting the review with only the rst files I'd be happy to get your feedback.
The documentation builds now.

aescolar · 2018-09-17T06:54:47Z

@nashif : If we run coverage in both native_posix and this board, we have too many tests with coverage and they spill to the 2nd CI instance (at least in this run with 7 instances). As we only collect coverage data from the 1st instance, that would lead to the coverage reports jumping up and down.

aescolar · 2018-09-17T11:50:10Z

The coverage results are here: https://codecov.io/gh/zephyrproject-rtos/zephyr/pull/9988

aescolar · 2018-10-04T16:39:31Z

recheck

ulfalizer

Kconfig parts look fine.

aescolar · 2018-10-05T18:22:12Z

recheck

aescolar · 2018-10-07T15:59:28Z

From my point of view this is ready to merge. So feel free to press the button.
I just made this new board not default to avoid adding too much extra load to the CI runs.

nashif · 2018-10-07T20:49:00Z

soc/Kconfig

@@ -11,3 +11,19 @@ osource "$(SOC_DIR)/$(ARCH)/Kconfig"
 osource "$(SOC_DIR)/$(ARCH)/*/Kconfig"

 endmenu
+
+# The helper symbols below are put here due to an unusual setup: The simulated


Need a better spot for this, we should not have soc specific kconfigs in a general file such as soc/Kconfig.
Also, I would do "select SOC_COMPATIBLE_NRF" in the SOC_FAMIL_NRF config instead of this.

Also, I would do "select SOC_COMPATIBLE_NRF" in the SOC_FAMIL_NRF config instead of this.

Ok.

Need a better spot for this, we should not have soc specific kconfigs in a general file such as soc/Kconfig.

Do you have a better place in mind? (please consider this comment from Ulf: #9988 (comment) )

ok, can't think of a better solution now, will revisit.

nashif · 2018-10-07T20:50:14Z

subsys/bluetooth/controller/CMakeLists.txt

  hal/nrf5/cntr.c
  hal/nrf5/ecb.c
  hal/nrf5/radio/radio.c
  hal/nrf5/mayfly.c
  hal/nrf5/ticker.c
  )

+


extra new line

.shippable.yml

nashif · 2018-10-07T20:54:58Z

.shippable.yml

@@ -34,6 +34,16 @@ build:
        if [ "$IS_PULL_REQUEST" = "true" ]; then
          git rebase origin/${PULL_REQUEST_BASE_BRANCH};
        fi
+      - >
+         export NRF_HW_MODELS_VERSION=`cat boards/posix/nrf52_bsim/hw_models_version`;


better define this under global section

I don't think we can have this guy defined before the rebase just above.
But I moved it into its own line to make it more visible.

nashif · 2018-10-07T20:55:08Z

.shippable.yml

+      - >
+         export NRF_HW_MODELS_VERSION=`cat boards/posix/nrf52_bsim/hw_models_version`;
+         pushd . ;
+         export BSIM_OUT_PATH=/opt/bsim/ ;


nashif · 2018-10-07T20:55:18Z

.shippable.yml

+         export NRF_HW_MODELS_VERSION=`cat boards/posix/nrf52_bsim/hw_models_version`;
+         pushd . ;
+         export BSIM_OUT_PATH=/opt/bsim/ ;
+         export BSIM_COMPONENTS_PATH=${BSIM_OUT_PATH}/components/;


aescolar · 2018-10-12T16:23:02Z

recheck

These tests rely on compiling with one of the provided C libraries which are not compiled for any of the POSIX ARCH boards => balcklist based on the arch and not on the board Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

posix_flush_stdout() must be provided by any board using CONFIG_NATIVE_POSIX_CONSOLE, not just by those using CONFIG_NATIVE_POSIX_STDOUT_CONSOLE Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

Simulated NRF boards based on the POSIX ARCH cannot directly use the current SOC_*NRF options as these pull options from the ARM CPU and other peripherals. This commit adds a new set of hidden SOC_COMPATIBLE_* options to be selected both by the real SOCs and the simulated ones. In this manner we can have the common code depend on the SOC_COMPATIBLE* options instead of the current ones where neccessary. Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com> (f) arm kconfig

Depend on the new SOC_COMPATIBLE_NRF symbol instead of the SOC_FAMILY_NRF symbol. This allows the driver to be used from the bsim simulated board Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

Simplify the Kconfig dependency for the nrf timer driver. CLOCK_CONTROL_NRF5 depends on the SOC_FAMILY_NRF already. Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

The simulator symbol was renamed. Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

Depend on the new SOC_COMPATIBLE_NRF symbol instead of the SOC_FAMILY_NRF symbol. This allows the driver to be used from the bsim simulated board Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

To allow the BLE stack to be used both in the real nRF platforms and simulated ones, change the used macros in the code to the COMPATIBLE ones. Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

Added a new simulated board, which models the NRF52832 SOC. Its main use is for workstation testing and simulation of the BLE stack and any application which relies mostly on it. It uses BabbleSim (http://Babblesim.github.io) for the radio simulation. And the NRF52 HW models hosted in that same GitHub organization: https://github.com/BabbleSim/ext_NRF52_hw_models For speed it uses the POSIX arch to (not) emulate the CPU. It uses Vanilla Zephyr, with a couple of configuration differences: * It uses (like other POSIX arch boards) the system libC * It does not use the nrfx hosted by Zehpyr in ext/, but the one provided by the HW models. Otherwise it relies in the same drivers as the real NRF52 boards. Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

To ensure we can always go back in time, let's explicitly list the NRF52 HW models version which should be used with each version of the nrf52_bsim board Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

To be able to collect all coverage reports from the "native" applications in the first CI instance, let's also place the nrf52_bsim testcases first. The order now is: unit_testing native_posix *_bsim anything else Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

Use the docker image which has BabbleSim precompiled Fetch the NRF52 hardware models required by the nrf52_bsim board and compile them. Collect the coverage report from the nrf52_bsim board Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

aescolar added the DNM This PR should not be merged (Do Not Merge) label Sep 14, 2018

aescolar requested review from nashif, jhedberg, Vudentz, cvinayak and carlescufi September 14, 2018 15:29

aescolar requested a review from dbkinder as a code owner September 14, 2018 15:29

aescolar force-pushed the nrf52_bsim1 branch from 0affa09 to aa5822e Compare September 14, 2018 15:29

aescolar removed the request for review from dbkinder September 14, 2018 15:35

aescolar force-pushed the nrf52_bsim1 branch from aa5822e to 2387b48 Compare September 15, 2018 08:47

aescolar requested a review from dbkinder September 15, 2018 08:47

aescolar force-pushed the nrf52_bsim1 branch 3 times, most recently from 8d90325 to 323bacc Compare September 16, 2018 17:13

aescolar requested review from sjanc and andrewboie as code owners September 16, 2018 18:01

aescolar force-pushed the nrf52_bsim1 branch 7 times, most recently from 15cb04c to 2f42c57 Compare September 16, 2018 19:57

aescolar force-pushed the nrf52_bsim1 branch from 2f42c57 to 8f7dd43 Compare September 17, 2018 08:10

aescolar added Enhancement Changes/Updates/Additions to existing features area: Bluetooth labels Sep 17, 2018

carlescufi requested a review from ioannisg September 17, 2018 15:09

ulfalizer approved these changes Oct 4, 2018

View reviewed changes

aescolar force-pushed the nrf52_bsim1 branch 2 times, most recently from 5c2a5b9 to 040b090 Compare October 5, 2018 17:45

aescolar changed the title ~~[DNM] new simulated board: nrf52_bsim~~ new simulated board: nrf52_bsim Oct 5, 2018

aescolar removed the DNM This PR should not be merged (Do Not Merge) label Oct 5, 2018

aescolar force-pushed the nrf52_bsim1 branch from 040b090 to e32c4fc Compare October 7, 2018 15:31

nashif requested changes Oct 7, 2018

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aescolar force-pushed the nrf52_bsim1 branch 2 times, most recently from 16c1046 to 0a3be6b Compare October 12, 2018 13:59

aescolar added 8 commits October 15, 2018 09:50

tests: lib: mem_alloc: Blacklist all POSIX arch boards

6c1ebd3

These tests rely on compiling with one of the provided C libraries which are not compiled for any of the POSIX ARCH boards => balcklist based on the arch and not on the board Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

drivers: console: native: header fix

e330b75

posix_flush_stdout() must be provided by any board using CONFIG_NATIVE_POSIX_CONSOLE, not just by those using CONFIG_NATIVE_POSIX_STDOUT_CONSOLE Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

clock_control: nRF5x: use new compatible SOC symbol

004abdb

Depend on the new SOC_COMPATIBLE_NRF symbol instead of the SOC_FAMILY_NRF symbol. This allows the driver to be used from the bsim simulated board Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

drivers: timer nRF: simplify kconfig depend

0390948

Simplify the Kconfig dependency for the nrf timer driver. CLOCK_CONTROL_NRF5 depends on the SOC_FAMILY_NRF already. Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

drivers: timer nRF: use new BabbleSim config option

c8a4504

The simulator symbol was renamed. Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

drivers: entropy nRF5x : use new compatible SOC symbol

8ee57da

Depend on the new SOC_COMPATIBLE_NRF symbol instead of the SOC_FAMILY_NRF symbol. This allows the driver to be used from the bsim simulated board Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

Bluetooth: Use new nrf COMPATIBLE options

a9f5230

To allow the BLE stack to be used both in the real nRF platforms and simulated ones, change the used macros in the code to the COMPATIBLE ones. Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

aescolar force-pushed the nrf52_bsim1 branch from 0a3be6b to 58f47b2 Compare October 15, 2018 08:06

aescolar added 4 commits October 15, 2018 10:29

nrf52_bsim: Explicitly list the applicable HW models version

efbe9ba

To ensure we can always go back in time, let's explicitly list the NRF52 HW models version which should be used with each version of the nrf52_bsim board Signed-off-by: Alberto Escolar Piedras <alpi@oticon.com>

aescolar force-pushed the nrf52_bsim1 branch from 58f47b2 to c0e6643 Compare October 15, 2018 08:29

nashif approved these changes Oct 15, 2018

View reviewed changes

nashif merged commit 96b38ad into zephyrproject-rtos:master Oct 15, 2018

aescolar deleted the nrf52_bsim1 branch October 15, 2018 15:42

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new simulated board: nrf52_bsim #9988

new simulated board: nrf52_bsim #9988

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aescolar commented Oct 12, 2018

new simulated board: nrf52_bsim #9988

new simulated board: nrf52_bsim #9988

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Quick hands on:

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