Simulavr

A simulator for the Atmel AVR family of microcontrollers.

For simulavr version 0.1.2.5, 18 January 2004.

by Theodore A. Roth

Send bugs and comments on Simulavr to

[email protected]

c 2001, 2002, 2003, 2004 Theodore A. Roth

Copyright

Permission is granted to make and distribute verbatim copies of this manual provided the
copyright notice and this permission notice are preserved on all copies.
Permission is granted to copy and distribute modified versions of this manual under the conditions for verbatim copying, provided that the entire resulting derived work is distributed
under the terms of a permission notice identical to this one.
Permission is granted to copy and distribute translations of this manual into another language, under the above conditions for modified versions, except that this permission notice
may be stated in a translation approved by the Free Software Foundation.

Table of Contents
1

Introduction: What is simulavr? . . . . . . . . . . . . 1

Invoking Simulavr . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.1
2.2

Aliasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Using with GDB . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

3.1
3.2

GDB Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Building GDB for AVR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Display Coprocesses . . . . . . . . . . . . . . . . . . . . . . . 8

Simulavr Internals . . . . . . . . . . . . . . . . . . . . . . . . . 9

Reporting Bugs. . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Concept Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Chapter 1: Introduction: What is simulavr?

1 Introduction: What is simulavr?

Its just a model.
Monty Python
The Simulavr program is a simulator for the Atmel AVR family of microcontrollers.
Simulavr can be used either standalone or as a remote target for gdb. When used in
gdbserver mode, the simulator is used as a backend so that gdb can be used as a source
level debugger for AVR programs.
The official website for Simulavr is http://savannah.nongnu.org/projects/simulavr/.
Because it is protected by the GNU General Public License, users are free to share and
change it.
Simulavr was written by Theodore A. Roth

Chapter 2: Invoking Simulavr

2 Invoking Simulavr
The format for running the simulavr program is:
simulavr options ... [flash_image]
If the optional flash_image file is supplied, it will be loaded into the flash program
memory space of the virtual device.

2.1 Aliasing
On most systems, if the simulavr executable is renamed to the name of an available device,
it can be started without specifying the device type. The easiest way to achieve this is to
create symbolic links for all the supported devices which point to the simulavr executable.
For instance, this command will create a sym link for the at90s8515 device on a Unix system:
ln -s simulavr at90s8515
Once the links have been created, the following two commands are equivalent:
simulavr -d at90s8515 myprog.bin
at90s8515 myprog.bin

2.2 Options
simulavr supports the following options:
--help
-h
--debug
-D

Print an informative help message describing the options and available device
types, then exit.
Print assembly instruction mnemonics and program counter (PC) to output as
device program is running.

--version
-v
Print out the version number and exit.
--gdbserver
-g
Run as a gdbserver process.
--gdb-debug
-G
Print out messages for debugging the gdb remote serial protocol interface.
--port <port>
-p
Listen for gdb connection on TCP port. If not specified, a default will be used.
Run simulavr --help to see what the default is. This option is ignored if the
--gdbserver is not specified.
--device <dev>
-d
Specify device type. The device types available for use with a specific version
of simulavr can be obtained using the --list-devices option.
--eeprom-image <img>
-e
Specify an optional eeprom image file to be loaded into the devices eeprom
memory space.

Chapter 2: Invoking Simulavr

--eeprom-type <type>
-E
Specify the type of the eeprom image file. If not specified, the default is binary.
--flash-type <type>
-F
Specify the type of the flash image file. If not specified, the default is binary.
--list-devices
-L
Prints a list of supported devices to stdout and exits.
--disp-prog <prog>
-P
Specify a program to be used to display register and memory information in real
time as a child process. The display program can also be specified by setting
the SIM_DISP_PROG environment variable.
--without-xterm
-X
Dont start display coprocess program in an xterm. This is useful if the display
coprocess supplies its own window for input and output, such as a process
which uses a GUI.
--core-dump
-C
Dump a core memory image to file on exit. This isnt as useful as it sounds.
The display coprocess mechanism is much more informative.
--clock-freq <freq>
-c
Set the simulated mcu clock freqency in Hz.
--breakpoint <addr>
-B
Set a breakpoint at <addr>. Note that the break address is interpreted as a
byte address instead of a word address. This makes it easier on the user since
binutils, gcc and gdb all work in terms of byte addresses. The address can be
specified in any base (decimal, hexidecimal, octal, etc).

Chapter 3: Using with GDB

3 Using with GDB

If you want to use gdb as a source-level debugger with simulavr running as a remote target,
start simulavr with the --gdbserver or -g option. This will put simulavr into gdbserver
mode. simulavr will then act as a TCP server program on the localhost listening for a
connection from gdb.
Once simulavr has accepted a connection from gdb, the two programs communicate via
gdbs remote serial protocol (see section Protocol in Debugging with GDB).
Heres how you would start up simulavr in gdbserver mode:


$ simulavr -d at90s8515 -g

Heres a sample gdb session showing what to do on the gdb side to get gdb to talk to
simulavr:


This GDB was configured as "--host=i686-pc-linux-gnu --target=avr".

(gdb) file demo_kr.elf
Reading symbols from demo_kr.elf...done.
(gdb) target remote localhost:1212
Remote debugging using localhost:1212
0x0 in .__start_of_init__ ()
(gdb) load
Loading section .text, size 0x76 lma 0x0
Start address 0x0 , load size 118
Transfer rate: 944 bits in <1 sec, 29 bytes/write.
(gdb) break main
Breakpoint 1 at 0x6e: file demo_kr.c, line 17.
(gdb) continue
Continuing.
Breakpoint 1, main () at demo_kr.c:17
17
sbi(DDRC, (
(gdb) quit
The program is running. Exit anyway? (y or n) y

Notice that simulavr knew nothing about the program to debug when it was started. Gdb
was told which file to debug with the file command. After gdb has read in the program
and connected to simulavr, the programs instructions are downloaded into the simulator
via the load command. The load command is not necessary if simulavr already has the
program loaded into its flash memory area. It is ok to issue multiple load commands.
Also, notice that no run command was given to gdb. Gdb assumes that the simulator
has started and is ready to continue. Giving gdb the run command, will cause it to stop
the current debug session and start a new one, which is not likely to be what you want to
do.
When specifying the remote target to connect to, it is sufficient to write target remote
:1212 instead of target remote localhost:1212.

Chapter 3: Using with GDB

Hitting CTRL-c in gdb can be used to interrupt the simulator while it is processing
instructions and return control back to gdb. This is most useful when gdb is waiting for a
response from the simulator and the program running in the simulator is in an infinite loop.

Issuing a signal SIGxxx command from gdb will send the signal to the simulator via
a continue with signal packet. The simulator will process and interpret the signal, but will
not pass it on to the AVR program running in the simulator since it really makes no sense
to do so. In some circumstances, it may make sense to use the gdb signal mechanism as
a way to initiate some sort of external stimulus to be passed on to the virtual hardware
system of the simulator. Signals from gdb which are processed have the following meanings:

SIGHUP

Initiate a reset of the simulator. (Simulates a hardware reset).

3.1 GDB Hints

Since debugging an AVR program with gdb requires gdb to connect to a remote target
(either simulavr or some other debugging tool, such as avarice), a series of commands must
be issued every time gdb is started. The easiest way around this is to put the commands
into a .gdbinit file in the project directory. The following example is from a .gdbinit
which I use for many projects.

Chapter 3: Using with GDB

## Print out structures in a sane way

echo (gdb) set print pretty
set print pretty
## Use this for debugging the remote protocol. (Dont use unless
## debugging simulavr or avr-gdb)
#echo (gdb) set debug remote 1\n
#set debug remote 1
##
##
##
##

If you dont want specify the program to debug when invoking gdb,
you can tell gdb to read it in here. The file should be an elf file
compiled with debugging information (-g for C files and -gstabs for
asm files).

#echo (gdb) file myprog.elf\n

#file myprog.elf
## Connect to the remote target via a TCP socket on host:port.
echo (gdb) target remote localhost:1212\n
target remote localhost:1212
## If you are using simulavr as the remote target, this will upload
## the program into flash memory for you.
echo (gdb) load\n
load
## Set a break point at the beginning of main().
echo (gdb) break main\n
break main
## Run the program up to the first break point. Gdbs run command
## does not work when using a remote target, must use continue.
echo (gdb) continue\n
continue

As you can see, I echo every command so I can see what gdb has done when it runs the
commands in the .gdbinit file.

Chapter 3: Using with GDB

3.2 Building GDB for AVR

In order to use simulavr as a backend to gdb, you must build a special AVR version of gdb.
All gdb versions starting with gdb-5.2.1 officially support the AVR target. You can just
configure gdb with the --target=avr option. For example, you can use this procedure to
install avr-gdb in /usr/local/bin:


$
$
$
#
#

./configure --target=avr
make
su
make install
exit

Chapter 4: Display Coprocesses

4 Display Coprocesses
This chapter documents the protocol that simulavr uses to pass register and memory information to a display coprocess.
A display coprocess is a separate program started by simulavr for the sole purpose
of displaying register and memory information while an AVR program is running in the
simulator. Using a separate program and a standardized communication protocol, keeps
the simulavr code simpler and allows for a variety of display programs to be used.
When the user asks simulavr to display register and memory information during execution, simulavr will start a coprocess to perform the display work. A pipe will be opened in
simulavr into which the data will be written using the following commands:
q

Quit.

r<reg>:<val>

Set register to val.

p<val>

Set program counter to val.

i<reg>:<val>

Set io register to val.

I<reg>:<name>

Set io register name.

s<addr>,<len>:XX

Set sram addrs to values (one XX pair per addr).

e<addr>,<len>:XX

Set eeprom addrs to values (one XX pair per addr).

f<addr>,<len>:XXXX

Set flash addrs to values (one XXXX quad per addr).

n<clock_ticks>

Update the number of clock ticks.

All values are hexidecimal numbers, except for <name> which is a string.
In order for the display process to know which pipe to read the information, it must
handle either the --pfd <fd> option or check the SIM_PIPE_FD enviroment variable. The
value passed using either method will be the file descriptor number of the pipe from which
the display prgram will read the informtion.
Simulavr will start all display programs like so (sizes are decimal numbers of bytes and
sram start is just the decimal address of the first byte of sram, usually 0x60 [96] or 0x100
[256]):
<prog> --pfd <fd> <flash_size> <sram_size> <sram_start> <eeprom_size>
The user can specify the display program to use via the --disp-prog option to simulavr
or using the SIM_DISP_PROG environment variable. If both are not specified, then no display
will be used.

Chapter 5: Simulavr Internals

5 Simulavr Internals
Simulavr internals are documented using the doxygen system to automate generation of the
documentation from the source code comments. The documentation for the latest release
is always available at:
http://savannah.nongnu.org/download/simulavr/doc/internals_html/
The most up-to-date documents will most likely be those in the source code itself. If
you wish to help develop simulavr, it is highly recommended that you get the latest source
from cvs and consult the internals documents there.

Chapter 6: Reporting Bugs

10

6 Reporting Bugs
If you find a bug in simulavr, please send electronic mail to [email protected].
Include the version number, which you can find by running simulavr --version. Also
include in your message the output that simulavr produced, a simple AVR program which
reproduces the bug, and the output you expected. If you are using avr-gdb also include the
version number reported by avr-gdb --version.
If you have other questions, comments or suggestions about simulavr, contact me via
electronic mail at the above address.

Concept Index

11

Concept Index
--breakpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--clock-freq . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--core-dump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--debug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--disp-prog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--eeprom-image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--eeprom-type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--flash-type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--gdb-debug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--gdbserver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--list-devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
--without-xterm . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

G
3
3
3
2
2
3
2
2
3
2
2
2
3
2
2
3

A
aliasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
avr-gdb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

gdb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
gdb, building . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
gdb, hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
gdbserver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4
7
5
4

I
internals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
invoking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

O
options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

P
problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

R
B

running . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

bugs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

D
developing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
display protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

S
SIGHUP, from gdb. . . . . . . . . . . . . . . . . . . . . . . . . . . .
SIM_DISP_PROG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SIM_PIPE_FD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
symbolic linking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5
8
8
2