feat: new clock system

The simulator clock was previously tied to the host system time. This causes inconsistency across simulation sessions, and also meant that the internal timer accuracy was low, as the timer resolution was limited by the host OS scheduling.

This changes the simulator clock to run independently from the system clock, and increases the internal clock resolution from microseconds to nanosecond.

It also introduces a new `Simulator` class, which manages the execution of the simulated core (previously, this functionality has been part of the `RP2040` class).

.github/workflows/ci-micropython.yml

@@ -36,4 +36,4 @@ jobs:
       - name: Create SPI test filesystem
         run: python test/mklittlefs.py littlefs-spi.img test/micropython/main-spi.py
       - name: Test Micropython SPI
-        run: timeout 10 npm run test:micropython-spi -- "hello world" "h" "0123456789abcdef0123456789abcdef0123456789abcdef"
+        run: timeout 30 npm run test:micropython-spi -- "hello world" "h" "0123456789abcdef0123456789abcdef0123456789abcdef"

.github/workflows/ci-pico-sdk.yml

@@ -38,4 +38,4 @@ jobs:
       - name: Install NPM packages
         run: npm ci
       - name: Test "Hello World" example
-        run: timeout 10 npm run start:micropython -- --image ~/pico/pico-examples/build/hello_world/usb/hello_usb.uf2 --expect-text "Hello, world!"
+        run: timeout 60 npm run start:micropython -- --image ~/pico/pico-examples/build/hello_world/usb/hello_usb.uf2 --expect-text "Hello, world!"

demo/emulator-run.ts

@@ -1,22 +1,23 @@
 import * as fs from 'fs';
-import { RP2040 } from '../src/index.js';
+import { GDBTCPServer } from '../src/gdb/gdb-tcp-server.js';
+import { Simulator } from '../src/simulator.js';
 import { bootromB1 } from './bootrom.js';
 import { loadHex } from './intelhex.js';
-import { GDBTCPServer } from '../src/gdb/gdb-tcp-server.js';
 
 // Create an array with the compiled code of blink
 // Execute the instructions from this array, one by one.
 const hex = fs.readFileSync('hello_uart.hex', 'utf-8');
-const mcu = new RP2040();
+const simulator = new Simulator();
+const mcu = simulator.rp2040;
 mcu.loadBootrom(bootromB1);
 loadHex(hex, mcu.flash, 0x10000000);
 
-const gdbServer = new GDBTCPServer(mcu, 3333);
+const gdbServer = new GDBTCPServer(simulator, 3333);
 console.log(`RP2040 GDB Server ready! Listening on port ${gdbServer.port}`);
 
 mcu.uart[0].onByte = (value) => {
   process.stdout.write(new Uint8Array([value]));
 };
 
-mcu.core.PC = 0x10000000;
-mcu.execute();
+simulator.rp2040.core.PC = 0x10000000;
+simulator.execute();

demo/micropython-run.ts

@@ -1,11 +1,11 @@
-import { RP2040 } from '../src/index.js';
+import fs from 'fs';
+import minimist from 'minimist';
 import { GDBTCPServer } from '../src/gdb/gdb-tcp-server.js';
+import { Simulator } from '../src/simulator.js';
 import { USBCDC } from '../src/usb/cdc.js';
 import { ConsoleLogger, LogLevel } from '../src/utils/logging.js';
 import { bootromB1 } from './bootrom.js';
-import { loadUF2, loadMicropythonFlashImage, loadCircuitpythonFlashImage } from './load-flash.js';
-import fs from 'fs';
-import minimist from 'minimist';
+import { loadCircuitpythonFlashImage, loadMicropythonFlashImage, loadUF2 } from './load-flash.js';
 
 const args = minimist(process.argv.slice(2), {
   string: [
@@ -19,7 +19,8 @@ const args = minimist(process.argv.slice(2), {
 });
 const expectText = args['expect-text'];
 
-const mcu = new RP2040();
+const simulator = new Simulator();
+const mcu = simulator.rp2040;
 mcu.loadBootrom(bootromB1);
 mcu.logger = new ConsoleLogger(LogLevel.Error);
 
@@ -42,7 +43,7 @@ if (fs.existsSync('littlefs.img') && !args.circuitpython) {
 }
 
 if (args.gdb) {
-  const gdbServer = new GDBTCPServer(mcu, 3333);
+  const gdbServer = new GDBTCPServer(simulator, 3333);
   console.log(`RP2040 GDB Server ready! Listening on port ${gdbServer.port}`);
 }
 
@@ -89,5 +90,5 @@ process.stdin.on('data', (chunk) => {
   }
 });
 
-mcu.core.PC = 0x10000000;
-mcu.execute();
+simulator.rp2040.core.PC = 0x10000000;
+simulator.execute();

src/clock/clock.ts

@@ -1,16 +1,12 @@
-export interface IClockTimer {
-  pause(currentMicros: number): void;
-  resume(currentMicros: number): void;
+export type AlarmCallback = () => void;
+
+export interface IAlarm {
+  schedule(deltaNanos: number): void;
+  cancel(): void;
 }
 
 export interface IClock {
-  readonly micros: number;
-
-  pause(): void;
-
-  resume(): void;
-
-  createTimer(deltaMicros: number, callback: () => void): IClockTimer;
+  readonly nanos: number;
 
-  deleteTimer(timer: IClockTimer): void;
+  createAlarm(callback: AlarmCallback): IAlarm;
 }

src/clock/mock-clock.ts

@@ -1,56 +1,7 @@
-import { IClock, IClockTimer } from './clock.js';
-
-export class MockClockTimer implements IClockTimer {
-  constructor(
-    readonly micros: number,
-    readonly callback: () => void,
-  ) {}
-
-  pause() {
-    /* intentionally empty */
-  }
-
-  resume() {
-    /* intentionally empty */
-  }
-}
-
-export class MockClock implements IClock {
-  micros: number = 0;
-
-  readonly timers: MockClockTimer[] = [];
-
-  pause() {
-    /* intentionally empty */
-  }
-
-  resume() {
-    /* intentionally empty */
-  }
+import { SimulationClock } from './simulation-clock.js';
 
+export class MockClock extends SimulationClock {
   advance(deltaMicros: number) {
-    const { timers } = this;
-    const targetTime = this.micros + Math.max(deltaMicros, 0.01);
-    while (timers[0] && timers[0].micros <= targetTime) {
-      const timer = timers.shift();
-      if (timer) {
-        this.micros = timer.micros;
-        timer.callback();
-      }
-    }
-  }
-
-  createTimer(deltaMicros: number, callback: () => void) {
-    const timer = new MockClockTimer(this.micros + deltaMicros, callback);
-    this.timers.push(timer);
-    this.timers.sort((a, b) => a.micros - b.micros);
-    return timer;
-  }
-
-  deleteTimer(timer: IClockTimer) {
-    const timerIndex = this.timers.indexOf(timer as MockClockTimer);
-    if (timerIndex >= 0) {
-      this.timers.splice(timerIndex, 1);
-    }
+    this.tick(this.nanos + deltaMicros * 1000);
   }
 }

src/clock/simulation-clock.ts

@@ -0,0 +1,105 @@
+import { AlarmCallback, IAlarm, IClock } from './clock.js';
+
+type ClockEventCallback = () => void;
+
+export class ClockAlarm implements IAlarm {
+  next: ClockAlarm | null = null;
+  nanos: number = 0;
+  scheduled = false;
+
+  constructor(
+    private readonly clock: SimulationClock,
+    readonly callback: AlarmCallback,
+  ) {}
+
+  schedule(deltaNanos: number): void {
+    if (this.scheduled) {
+      this.cancel();
+    }
+    this.clock.linkAlarm(deltaNanos, this);
+  }
+
+  cancel(): void {
+    this.clock.unlinkAlarm(this);
+    this.scheduled = false;
+  }
+}
+
+export class SimulationClock implements IClock {
+  private nextAlarm: ClockAlarm | null = null;
+
+  private nanosCounter = 0;
+
+  constructor(readonly frequency = 125e6) {}
+
+  get nanos() {
+    return this.nanosCounter;
+  }
+
+  get micros() {
+    return this.nanos / 1000;
+  }
+
+  createAlarm(callback: ClockEventCallback) {
+    return new ClockAlarm(this, callback);
+  }
+
+  linkAlarm(nanos: number, alarm: ClockAlarm) {
+    alarm.nanos = this.nanos + nanos;
+    let alarmListItem = this.nextAlarm;
+    let lastItem = null;
+    while (alarmListItem && alarmListItem.nanos < nanos) {
+      lastItem = alarmListItem;
+      alarmListItem = alarmListItem.next;
+    }
+    if (lastItem) {
+      lastItem.next = alarm;
+      alarm.next = alarmListItem;
+    } else {
+      this.nextAlarm = alarm;
+      alarm.next = alarmListItem;
+    }
+    alarm.scheduled = true;
+    return alarm;
+  }
+
+  unlinkAlarm(alarm: ClockAlarm) {
+    let alarmListItem = this.nextAlarm;
+    if (!alarmListItem) {
+      return false;
+    }
+    let lastItem = null;
+    while (alarmListItem) {
+      if (alarmListItem === alarm) {
+        if (lastItem) {
+          lastItem.next = alarmListItem.next;
+        } else {
+          this.nextAlarm = alarmListItem.next;
+        }
+        return true;
+      }
+      lastItem = alarmListItem;
+      alarmListItem = alarmListItem.next;
+    }
+    return false;
+  }
+
+  tick(deltaNanos: number) {
+    const targetNanos = this.nanosCounter + deltaNanos;
+    let alarm = this.nextAlarm;
+    while (alarm && alarm.nanos <= targetNanos) {
+      this.nextAlarm = alarm.next;
+      this.nanosCounter = alarm.nanos;
+      alarm.callback();
+      alarm = this.nextAlarm;
+    }
+    this.nanosCounter = targetNanos;
+  }
+
+  get nanosToNextAlarm() {
+    if (this.nextAlarm) {
+      return this.nextAlarm.nanos - this.nanos;
+    }
+    return 0;
+  }
+}