Accelerate Software Readiness - Architecting a … Firmware Debug messages Linux UART Console Sensor...

Using VDKs for IP and SoC Specific

Software Bring-Up

Accelerate Software Readiness

© 2015 Synopsys, Inc. 2

Agenda

• From reference software to production

• Shift left - Virtual Prototyping & Virtualizer Development Kits (VDKs)

• Software bring-up & test – From bootcode to Android

• How to start with Synopsys

• Summary

Using VDKs for IP and SoC specific software bring up


From Reference Software to Production

Open source

reference

Benchmark winning

production SW

Still some miles to go


Android System Architecture Layers, components and ownership

Sources: https://source.android.com/devices/index.html

SoC Firmware (boot/run-time)

Flash driver UART driver PSCI

Hardware manufactures

software responsibility

Google &

AOSP Contributors

Linux Kernel ARM Port Drivers

Contributed by

ARM/Linaro

ARM System IP drivers

ARM Trusted Firmware,

uBoot/UEFI

ARM Processor Support

Processor: ARM IP SoC: Customer’s IP, DesignWare IP


Android ARM Port

ART/Dalvik

Android C/C++ Libraries

Bionic C Library

FFMPEG

OpenCORE

HAL

Reference board/VP

Display, touchscreen HAL


Android System Architecture Major application processor specific software development areas

SoC Firmware (boot/run-time)

Flash driver UART driver PSCI

Linux Kernel ARM Port Drivers

ARM System IP drivers

ARM Trusted Firmware,

uBoot/UEFI


Processor: ARM IP SoC: Customer’s IP, DesignWare IP


Android ARM Port

ART/Dalvik

Android C/C++ Libraries

Bionic C Library

FFMPEG

OpenCORE

HAL

Reference board/VP

Display, touchscreen HAL Android HAL development

Android HAL development

Linux IP driver bring up

Firmware/boot-code development

Linux kernel SoC bring up

Integration, optimization & test

Inte

gra

tion,

optim

ization &

test


Steps to Software Readiness

Optimization Custom hardware

specification

Android Custom

hardware specification

Linux Custom


Boot Custom


Reference Reference system

(Juno/ FVP)

ARM boot firmware, Linaro Linux, and

Google AOSP software references

Boot firmware

Basic single core Linux boot

SoC’s interface peripherals &

subsystem drivers

Android HAL development

HAL-Driver integration

Linux driver PM integration

Full leverage of HW capabilities

SoC clock-, voltage- and thermal IP

drivers

Runtime PM: suspend, resume,

hibernation

Overall power management

strategy

Runtime firmware (PSCI)

Multi-cluster, multi-core bring-up

CPU power & performance management (CPUFreq)

Overall (CPU/FGPU)

performance tuning

Silicon validation software

From open source reference to final software

Shift-Left !


Shift Left

Virtual Prototyping & Virtualizer Development Kits


Enable Market Entry

Source: Jose Corleto, Qualcomm, DAC 2009

Avoid delays by decoupling SW development from silicon availability


Broader Hardware & Software Scope Mobile Application Processor SoC

Main Device Software Stack

GPU firmware

PRCM Firmware

Cortex A

Cluster

Sensor

Hub

Hub Cortex M

Modem

Digital

Signal

Processing

Core

Controller

Core

RTOS

Modem Firmware

Sensor Firmware

GIC

Clock/Reset

Subsystem

GPU

Cortex M

Power Management IC

Controller

Core

On-SoC subsystem software Off-SoC chip software

UART

I2C

SCI

SPI

eMMC

USB

UFS

Ethernet PCIe

CSI DSI

HDMI

Cortex A

Cluster

MM

U 5

00

CC

I

TZ

C

Mem

Ctrl LPDDR


Incremental VDKs Immediate Impact Steps to software readiness

Validation & optimize software in context of the final RTL/hardware

Extend with custom models

Extend with readily available components

Start immediately with reference Virtualizer Development Kits (VDK)

Reference

Virtual Prototype

+ Flash memory controller IP

model(s)

+ SoC memory map

+ DesignWare & custom IP model(s)

Hybrid prototype (SoC virtual, selected

IP on FPGA)

+ Clock Management Units

Hybrid emulation

(CPU virtual)

+ Power Management IC & Thermal sensors

Silicon

+ System controller model(s)

+ CPU multi-cluster

Full SoC

Emulation

Physical Prototype Customized Virtual Prototype Out-of-the box start


Synopsys Virtualizer™ Prototyping Tools Quick recap from the introductory presentation

Virtualizer: Create VDKs VDK: Develop software

3rd party

debugger

support

Integrated into

ecosystems

Hybrid

emulation and

prototyping

Fast platform creation with

TLM Creator and Platform Creator

System tracing with

Virtual Prototype Explorer

Virtual prototype debug with

Virtual Prototype Explorer

Largest model library: ARM,

DesignWare, Automotive MCUs, …

Virtual- and

Real-world IO


From Reference to Full SoC Tailored SW Stack Reference platforms & models

System (SoC/Board) Software Bring-Up

ARM Cortex CPU software bring up

Driver Bring Up – DesignWare TLM

ARM FVPs

Synopsys VDK for ARM & DW

Synopsys Virtualizer – Full SoC virtual prototypes

Cortex®-A57 &Cortex-A53 MPCore

for ARMv8 big.LITTLE™

Base System Architecture SoC

eMMC USB UFS

PCIe Ethernet SATA

MIPI-CSI MIPI-DSI HDMI

Custom IP Clocks AudioSS

ImagingSS Power ModemSS

CCI

CCN

GIC

TZC

MMU

DP

Cortex-A

Cortex-M

Cortex-R

DMC

CoreLink TLM Library

http://www.arm.com/index.php



Virtualizer Development Kits (VDKs)

Processors

ARM™ Cortex® processors & reference platform models

DesignWare IP

Synopsys DesignWare IP subsystem models

Reference software stacks

Trusted firmware, UEFI, Linux, Android

Tools

Build, configure, debug, trace and analyze

VDK Family for ARM & DesignWare

Immediate software development start


Software Developer’s View No change of habits required, interaction with a VDK is the same as HW

Virtual Prototype

3rd party Software Debugger(s) Virtual and Real IO

Debugger Server Virtual/Real IO

http://sp-mg/sites/SLDtech-marketing/Screenshots/ubuntu_vdk_blhmp_settings.png


System-Level Software Debugging VP Explorer - Visibility beyond traditional software debugging

Explore

hardware

Filter information by persona

Break on signals,

registers

Script everything

Multi-core

debugging

Inspect

memory

map

Add your own widgets

Trace hardware

and software


Example Fujitsu S7X - ARM Techcon 2014

Source: Noriyuki Ikuma, Fujitsu, ARM TechCon 2014




Linux & Firmware

Driver Bring-Up

DesignWare IP Driver Bring Up

Synopsys IP VDKs

eMMC USB UFS

PCIe Ethernet SATA

MIPI-CSI MIPI-DSI HDMI

Cortex®-A57 &Cortex-A53 MPCore

for ARMv8 big.LITTLE™

Base System Architecture SoC


Linux Kernel Complexity

0

10

20

30

40

50

60

Linux 3.10 sources: Raw size: 573 MB, ~ 15,800,000 lines of code

Majority of the code

is drivers!

Moving target challenge:

“A stand-alone driver compiled

for a given version may no

longer compile or work on a

more recent one.”


DesignWare IP TLM – More than models

• USB

• USB 2 - OTG (On-the-Go) & Host Controller

• USB 3 & USB 3.1 – Device-, Host-, & Dual Role Controller

• Support for virtual and real world IO

• Flash controllers: Mobile Storage & UFS

– eMMC cards up to v5.0, SD cards up to v 4.0

– USF currently: v1.0, Under development: v2.0

• Ethernet

– XG-MAC, EQoS (e.g. Audio/Video bridging (AVB) for in-vehicle

infotainment (IVI)

– Virtual networks and connectivity to real network

• PCIe

– DesignWare PCIe v4.4 & Intel 82559 10GbE NIC

– SR-IOV with up to 64 VF

Ready to use VDK building-blocks (subsystems)


USB – Real World IO

• Support for up to

SuperSpeed “(USB3)

devices”

• Support for USB3

device on a remote

machine

• Linux and windows PC

support

IP VDK serves as the host, real physical device plugged into PC

ARM Linux

mount /dev/sda1 /pendrive

IP VDK

USB Host Server

USB


USB – Virtual IO

• The device represented

by the IP VDK appears

as a regular device on

the PC

• Linux and windows PC

support

IP VDK serves as the device which can be accessed from the PC

IP VDK

ARM Linux

start_device


FastTrack Debug with Synopsys TLM

– Activity and status reporting

– E.g.: Supplied frequency and voltage, operating mode, masked interrupt generating events,

internal FIFO full/empty, peripheral DMA events, reset status

– Programming error reporting

– E.g.: Control register has been reprogrammed while interrupt was enabled

– Efficiency warnings

– E.g.: Polling mode used instead of DMA mode

Understand what is going on under the hood

DesignWare MMC host controller debug messages while mounting an SD card.: 000070:2acc:i_DWC_MobileStorageHost:

000070:2acc:Card 0 Inserted, Card Detect = 0x3FFFFFFE

000070:2acc:Received ClkIn(240000000) signal

000070:2acc:Received Reset(0) signal

000076:2acc:i_DWC_MobileStorageHost:

000076:2acc:WrCMD(): Warning Card 0 Power Is Off

Save days of

debugging!

Expose key critical IP information to the software developer


Sensor Software Example

Multi-core software bring up and integration with host

device driver and sensor hub firmware


Cortex-M3 Sensor Control Subsystem Subsystem creation

Part Count Memory Interrupt

ARM® Cortex™ M3 1 -

PL055 UART 1 0x0e000000 1

PL190 Vectored IRQ 1 0x0e001000 -

PL061 GPIOs 3 0x0e002000

0x0e003000

0x0e004000

0x0e005000

2

3

4

5

PL320 Inter

processor

communication

module

1 0x1000f000 0

RAM 1 0x20000000 -

Subsystem

VDK

Integration

Subsystem Specification


Sensor HAL/driver bring-up & integration Across multiple processors

Sensor Driver

Sensor HAL

Android Runtime

read(“/sys/class/sensor/accel/x”)

Android Sensor HAL API

Sensor Firmware

Registers Interrupts

Sensor Driver API

sensors_open(&module, &device);

write(REG_CTRL, REQUEST_ACCEL_X)

Cortex-M

Cortex-A

Interrupts Registers

Mailbox Peripheral (IPCM)

Software component Hardware domain


Multi-Core Software Development

printk("-- Set IPCM PL320 Mailbox source register.\n"); IPCM_WRITE(IPCM0SOURCE,(1<<0)); printk("-- Set IPCM PL320 Mailbox interrupt mask register.\n"); IPCM_WRITE(IPCM0MSET, 0x3); printk("-- Set IPCM PL320 Mailbox destination register.\n"); IPCM_WRITE(IPCM0DSET ,(1<<2)); printk("-- Set IPCM PL320 Mailbox data 0 register to %.8x.\n",0); IPCM_WRITE(IPCM0DR0,0); printk("-- Set IPCM PL320 Mailbox data 1 register to %.8x.\n",sensor); IPCM_WRITE(IPCM0DR1,sensor); printk("-- Send IPCM PL320 Mailbox message.\n"); IPCM_WRITE(IPCM0SEND ,(1<<0)); printk("-- Waiting for acknowledge\n"); m4sensor_device_control.ack=false; interruptible_sleep_on_timeout(&m4sensor_queue, 1000 /* jiffies */); if(m4sensor_device_control.ack==0) { printk("-- Error: Timeout while waiting for acknowledge\n"); return 0; } printk("-- Acknowledge received. Command completed. Data ready.\n"); value= IPCM_READ(IPCM0DR2); printk("-- Reading sensor data from mailbox: %d\n",value);

Cortex-A Linux Device Driver – Code Excerpt

print(" Handle IPCM interrupt\n\r"); print(" Reading IPCM mailbox message\n\r"); task=IPCM_READ(IPCM0DR0); switch(task){ case 0: print(" Reading sensor from GPIO\n\r"); sensor=IPCM_READ(IPCM0DR1); value=hal_gpio_get_value_word8(sensor); print(" Writing to mailbox\n\r"); IPCM_WRITE(IPCM0DR2,value); break; …. } print(" Clearing ipcm interrupt, acknowledge\n\r"); IPCM_WRITE(IPCM0SEND ,(1<<1));

Cortex-M Firmware

Code Excerpt

Cortex-A Linux

Kernel debug

messages

Cortex-M

Firmware Debug

messages


Cortex-A Linux

Kernel debug

messages

Cortex-M Firmware

Debug messages

Linux UART Console

Sensor UART

Linux VGA Console

Unified and synchronized

logging of debug

messages from multiple

sources (UARTs, Android

Logcat etc.)

Central Virtual Prototype Tracing

Traces and logs from multiple sources in a single

database

Synchronized software

traces for Cortex-A and

Cortex-M

Peripheral access and

signal traces. Here:

shared IPCM

Sensor Driver

Sensor Firmware

HW & SW integration: HAL, Drivers & Firmware Trace based system level heterogeneous multi-core debugging

Multiple traces!

How to correlate?


Software testing


Scenario Recording and Replay Elastic user-level scenario scripts

iUART0 push ”./adb install AccelerometerPlay.apk\m”

wait iCLCD “AppInstalled.png”

iTSC press 10,100

wait iCLCD “AppLaunched.png”

trigger + 1000 ms SENSOR_SS/UART1 { push “a:0,0,9.81\n” }

# Roll device:

trigger + 1000 ms SENSOR_SS/UART1 { push “a:0,0,-9.81\n” }

Scenario test script, TCL code:

Wait for screen content


Software Testing Flow

Early test creation and debug

• Allow test developers to create tests without relying on scarce hardware resources

• Using interactive VDK seats

Continuous integration

• Allow software developers to test new developed code with a reduced set of tests before checking in the code

• Using interactive VDK seats to develop the code and regression VDK seats to run the tests

Regression testing

• Allow a QA department to run full system tests in hours instead of days

• Allow to test products that have been in the field for years for which physical labs (or prototypes) don’t exist anymore

• Using regression VDK seats for testing and interactive VDK seats for investigating failed tests


Integrate VDKs in Your Test Flows

IT infrastructure

- Able to run efficiently 100-1000 simulations in parallel

- Different execution platforms:

• Customer IT infrastructure

• Public cloud computing

• Synopsys provided HW

System Under Test (SUT)

- VDKs (+ some external connectivity)

APIs for SUT control

- Mechanism to control and exchange data

with the VDK

Test creation, management and reporting

- External 3rd party tool or infrastructure

- Adaptation required

Synopsys

provides 3rd party simulators

- Simulink, custom, …


Power Management SW Bring-Up


Reproduce/ simulate

fault scenarios due to

illegal clock & voltage

programming

Software Power Management Bring-Up Use-cases

Power manager software

Clock frequencies &

voltages (PMIC)

Power gating/ DVFS

Component utilization

Energy consumption

Temperature

Sensors

PSCI

DVFS

Runtime PM

PMIC &

Clock

Explore DVFS

strategies (governors)

Estimate & optimize

CPU run management

Identify un-necessary

power consumers

Inject temperature

stimuli for testing

Develop & test

thermal manager


Tiny Case Study: SoC Power Management USB subsystem with your specific PMIC and Clock Controller

USB

CORE Interrupt

Clock

Controller

Voltage

Controller

(PMIC)

Soc Bus

Soc Bus

I2C Bus

USB

PHY

Clk VDD

VDK for ARM &

DesignWare

(Base)

DesignWare

I2C host


Case Study: Normal OS & Driver Operation Booting and using USB for a file storage gadget


Case Study: Driver Faults from Power Bug

• Unpowered USB core • Unpowered USB PHY

Booting and using USB for a file storage gadget

Abort exception! No response!

USB

CORE Interrupt

Soc Bus

Power Domain: Core Power Domain: PHY

USB

PHY


Case Study: Root Cause Analysis with VDK

At that time:

Access to USB

CORE

USB CORE in

Power Down

State! Why?

USB PHY is powered on Ok

PMIC drives voltages:

V4 and V6

PMIC controlled by

SW: OK

VDD connectivity:

USB CORE connected to

V3 and not V4!

Need to correct USB driver to driver

V3 regulator!

Debug message:

Exception fault!


How to Get Started with Synopsys?


Complete Virtual Prototyping Solution

Platform assembly

Platform debugger &

performance profiler

Interactive & runtime

Integrated with leading 3rd

party debuggers

Scripting support

Distribute easily

Hybrid Prototyping and

Emulation support

Linux/Windows support

Tools

SystemC TLM-2.0

DesignWare models

ARC, ARM, Tensilica,

CEVA & other IP vendor

models

Customizable

Modeling tools to ease

creation of custom models

Software Models

Expert field support

Turn-key platform

development

Methodology consulting

World-wide support

Services

Shift-Left Your Software Development


Summary

• Fast growing software scope and complexity

• Software teams are pushed to the limit

• Incremental VDKs leveraging the reference VDKs, creation tools and

expertise from Synopsys enable the fastest time to quality software

• Phase software development alongside the hardware schedule

• Achieve better software and thus better products faster

Thank You


Appendix

Supplementary slides


Linaro Software Stack

For the VDK


Linaro Software Stack

Software component Firmware

boot stage

Description Version

ARM Trusted firmware BL-1

Secure world boot code

EL3/Secure

V0.4-Juno-0.5

ARM Trusted firmware

BL-2

Secure world boot code

EL1/Secure

V0.4-Juno-0.5

ARM Trusted firmware

BL3-1 Runtime firmware

EL3/Secure, SMC OS interface

V0.4-Juno-0.5

UEFI (EDK2/Tianocore) BL3-3

Normal world boot-loader

EL2/Non-secure

2014.09

Linux kernel Main operating system kernel and drivers

EL1/Non-secure

3.17.0-2014.10

Root file-system Linux distribution

EL0/Non-secure

Open embedded 2014.10

Pre-packaged with the reference VDK for ARMv8 Base

• IP VDK also provides:

• A one click scripted download and build environment for:

• All above mentioned software components

• Including host tools (such as gcc, acpi compiler, etc.)

• Saves the user from going through many Linaro README files


Power management SW bring up


Virtualizer

Platform Creator

Power Domain Modeling Subsystem assembly example with Platform Creator

USB Core

Power Domain

Clock & Voltage

Supplies

PMIC &

Clock Ctrl

Power Domain

Isolation

USB PHY

Power Domain

Memory and IRQ ports


Power consumption debugging


How to analyze power consumption bugs? Soldering skills required…

The hardware way… The Virtualizer way…

Source: How to measure SoC power, Andy Green, TI Landing Team lead, Linaro

Dynamic power analysis

Instrumentation overlay


Dynamic power analysis big.LITTLE processing – Task migration with DVFS

Frequencies

Voltages

Leakage Energy

Dynamic Energy

Power State

State Utilization

A15 active

A15 idle

A7 off

A15 off

A7 active

A7 idle

A15

1.1V/1.359Ghz A15 0.8V/755MHz A7 0.8V/140Mhz


Multi-core debugging

Bring up and integration with device driver and firmware


Vertical HW/SW integration: HAL & Drivers Interactive multi-layer, multi-core, multi-tool software debugging

Debug Sensor middleware – Cortex A

Debug Sensor driver – Cortex A

Kernel Symbols -

vmlinux Symbols libsensors.so Firmware symbols

Debug Sensor firmware– Cortex M

See article: Android hardware/software design using virtual prototypes http://www.embedded.com/design/prototyping-and-development/4399520

Virtual Prototype

Debugger Server

Accelerate Software Readiness - Architecting a … Firmware Debug messages Linux UART Console Sensor...

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Transcript of Accelerate Software Readiness - Architecting a … Firmware Debug messages Linux UART Console Sensor...