nrf_hw_models/docs/README_HW_models.md

For general information about these models refer to README.md

You will only need to continue reading if you are curious about how these models are built, or if you want to use them for some other purpose than with Zephyr's nrf52_bsim.

Requirements

The purpose of these models is to provide a good enoug HW model for BLE protocol simulations, which will focus on the SW, to be able to debug it, and run long simulations fast.
We are not interested in modelling the particularities of the HW when they are not relevant for the SW execution. Therefore many details can be simplified or omited all together.

The focus of these models is on the Zephyr BLE stack, and therefore only the peripherals which are necessary for its proper function have been modelled so far.

Regarding the time accuracy, these models will focus mostly on the radio activity accuracy. With other peripherals being overall more rough. Note that as all models are based on public specifications, all peripherals timings could, anyhow, not be better than what is described in those.
Overall these models have a time granularity of 1us.

Implementation specification

Overall these models are "event driven". There is several ways of building these kind of models, but for simplicity, speed, and to not need to rely on any kind of library or 3rd party engine, these models are built with a very nimble engine provided partly by the models themselves, and partly by the nrf52_bsim "time machine".
The reason for this division is due to the nrf52_bsim being the overall scheduler, which initializes both models and "CPU", and is in charge of when each should run.

About the event scheduling

In reality any action performed by a HW peripheral will take some amount of time.
For our purposes any HW process which takes too short for the SW to realize, will be modelled as being instantaneous in simulation time. Such processes will just be implemented as a C function (or a set of them), which will change the models status as needed.

Other processes do take a considerable amount of time, like for example sending a radio packet, or generating a random number.
Such processes will be modelled in a bit more complex way:

• The process model may use one or several "events"/timers.
• When needed these timers will be set at a point in the future where some action needs to be performed.
• Whenever that time is reached, an scheduler will call a function in that model tasked with continuing executing that task/process.

In this model, all of these events|timers types and their callbacks are known in design/compile time. Meaning, there is no dynamic registration of events types.
Normally each peripheral model will have 1 of such event timers, and it will be up to the peripheral model to schedule several subevents using only that one timer and callback if needed.

The HW models top level, NRF_HW_model_top, collects all these events and exposes only 1 timer (with 1 callback) to the overall scheduler provided by the nrf52_bsim.

Whenever a HW model updates its timer, it will call a function in the top level to update that top level timer if needed.

The overall scheduler provided by the nrf52_bsim, will advance simulated time when needed, and call into the top level HW models "event|task runner" (nrf_hw_some_timer_reached()) whenever its timer time is reached. This will in turn call whichever HW submodule task function was scheduled for this moment.

Note that several HW submodules may be scheduled to run in the same µs. In this case, they will be handled in different "delta cycles" in that same µs. , that is, in different consecutive calls to nrf_hw_some_timer_reached(). Each timer|event has a given priority, and therefore will always be called in the same order relative to other HW events which may be schedule in the same µs.
Note also, that any HW submodule may schedule a new event to be called in the same µs in which it is running. This can be done for any purpose, like for example to deffer a sideeffect of writing to a register from a SW thread into the HW models thread.

The SW registers IF

Each peripheral model which has HW registers accessible by SW, presents a structure which matches those registers' layout. This structure will be allocated somewhere in the process memory, but certainly not in the same address as in the real HW. Therefore any access to the real registers must be, in someway, corrected to access this structure instead. In Zephyr's nrf52_bsim case, this is achieved by providing a version of the macros which, in real point to the peripherals base addresses, which points to these structures.

Writing to this structure in itself will only cause that memory location to be changed. For many registers this is perfectly fine, as that is just the same that happens in the real HW (a register is changed, which later may be read by the actual HW).
But for some registers, accesing them (writing and/or reading them) causes some sideeffect, that is, something else to happen in the HW. For example, in real HW, writting a 1 to NRF_RNG->TASKS_START will start the random number generation.

For these type of registers with sideeffects, the HW models must be triggered, this is achieved by calling nrf_<periperal>_regw_sideeffects_<register name>() after the write itself. In the nrf52_bsim case, this is done in the replacement nRFx HAL function.

HW interrupts

For a HW model to raise an interrupt all it will need to do is call into the interrupt controller model function hw_irq_ctrl_set_irq(<irq_nbr>).

The interrupt controller will update its status, and if the interrupt was not masked, one delta cycle later, awake the CPU by calling posix_interrupt_raised().

In the nrf52_bsim posix_interrupt_raised() is provided by the Zephyr POSIX arch inf_clock.

Structure of the HW models:

The actual HW models of the SOC peripherals are split in one file per peripheral. The files are named NRF_<PERIPHERAL>.{c|h}.

Mostly all these models have the following functions:

Interface:

nrf_<periperal>_init()            : Initialize the model
nrf_<periperal>_cleanup()         : Free any memory used by the model
nrf_<periperal>_<TASK name>()     : Perform the actions triggered by <TASK>
nrf_<periperal>_regw_sideeffects_<register name>()
                                  : Trigger any possible sideeffect from writing
                                    to that regiter
Timer_<peripheral> &
nrf_<periperal>_timer_triggered() : Models which take time to perform their work
                                    Use a registered timer. When that timer is
                                    reached, this function is called to perform
                                    any neccessary step, including update that
                                    timer.

Internal/static:

signal_<event register name>() : Signal that <event> has just happened

The tasks, registers and event names should match the register interface specified in the linked documentation.

Integrating these models in another system

This subsection provides information you would need if you try to use these models without the nrf52_bsim wrapping logic.

Models interface towards a simulation scheduler

As described before, overall the models are "event driven": They rely on an overall scheduler triggering (calling) them in the appropriate times.

In the case of Zephyr's nrf52_bsim, this overall scheduler is provided by the nrf52_bsim "time machine". The interface the models expect from this is described in time_machine_if.h

The top level NRF_HW_model_top.c exposes one event timer: nrf_hw_next_timer_to_trigger. This timer represents, in microseconds, when the models need to perform the next action.

It is the responsability of that overall scheduler to ensure the HW models top level scheduling function (nrf_hw_some_timer_reached()) is called whenever that time is reached.

This timer may be changed after each execution of the models, or whenever a HW register is written. When the models change this timer, they will call tm_find_next_timer_to_trigger() to notify that overall scheduler of the change.

The models are initalized by calling first nrf_hw_pre_init(). Later nrf_hw_initialize() shall be called with the command line selected options.
No other HW model function can be called before these two.
nrf_hw_models_free_all() shall be called to clean up after the simulation is done: to deallocate and close any resource the models may be using.

Models interface towards a CPU model:

For details about the SW register IF please see check the "The SW registers IF" section above. For details about how interrupts are raised see "HW interrupts" above.

Thread safety

This HW models API is NOT thread safe: This means a call to one of the HW models functions cannot be done if another thread of the same process is currently also calling another of these functions. Meaning, only one function may be called at a time.
This is not going to be a problem if only one thread calls into the HW models. It won't be a problem either if by any other synchronization mechanism it is ensured only one thread calls into these HW models at a time. (this second case is how it is done in the nrf52_bsim)

Command line intercace arguments

These models command line arguments/options are described in NRF_hw_args.h

The way to describe the command line arguments follows Babblesim's libUtilv1 command line parsing convention.

You can check the nrf52_bsim wrapping code for an insight on how you can set them.