Added ADC, H-Bridge and motor models, refactored project structure

CMakeLists.txt

@@ -58,5 +58,6 @@ add_subdirectory(softfloat)
 GET_DIRECTORY_PROPERTY(SOFTFLOAT_INCLUDE_DIRS DIRECTORY softfloat DEFINITION SOFTFLOAT_INCLUDE_DIRS)
 add_subdirectory(riscv)
 add_subdirectory(riscv.sc)
+add_subdirectory(platform)
 
 message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")

etc/cmake DBT-RISE-RISCV Debug.launch

@@ -1,7 +1,15 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <launchConfiguration type="org.eclipse.ui.externaltools.ProgramLaunchConfigurationType">
+<booleanAttribute key="de.toem.impulse.launchactivateLaunch" value="false"/>
+<booleanAttribute key="de.toem.impulse.launchactivateTermination" value="false"/>
+<intAttribute key="de.toem.impulse.launchdelayLaunch" value="0"/>
+<intAttribute key="de.toem.impulse.launchlaunch" value="2"/>
+<intAttribute key="de.toem.impulse.launchmode" value="3"/>
+<stringAttribute key="de.toem.impulse.launchport" value=""/>
+<booleanAttribute key="de.toem.impulse.launchrestart" value="true"/>
+<intAttribute key="de.toem.impulse.launchterminate" value="1"/>
 <stringAttribute key="org.eclipse.ui.externaltools.ATTR_LAUNCH_CONFIGURATION_BUILD_SCOPE" value="${none}"/>
-<stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="${workspace_loc:/dbt-riscv/etc/cmake.sh}"/>
+<stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="${workspace_loc:/DBT-RISE-RISCV/etc/cmake.sh}"/>
 <stringAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS" value="-DCMAKE_BUILD_TYPE=Debug .."/>
-<stringAttribute key="org.eclipse.ui.externaltools.ATTR_WORKING_DIRECTORY" value="${workspace_loc:/dbt-riscv}"/>
+<stringAttribute key="org.eclipse.ui.externaltools.ATTR_WORKING_DIRECTORY" value="${workspace_loc:/DBT-RISE-RISCV}"/>
 </launchConfiguration>

etc/cmake.sh

@@ -1,7 +1,11 @@
 #!/bin/sh
 ##
 
+if [ -n "$1" ]; then
+	suffix=$1
+else
 	suffix=Debug
+fi
 cwd=`pwd`
 for i in $*; do	
 	if echo "$i" | grep 'CMAKE_BUILD_TYPE='; then

etc/dbt-riscv Debug hello gdb.launch

@@ -1,5 +1,13 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
+<booleanAttribute key="de.toem.impulse.launchactivateLaunch" value="false"/>
+<booleanAttribute key="de.toem.impulse.launchactivateTermination" value="false"/>
+<intAttribute key="de.toem.impulse.launchdelayLaunch" value="0"/>
+<intAttribute key="de.toem.impulse.launchlaunch" value="2"/>
+<intAttribute key="de.toem.impulse.launchmode" value="3"/>
+<stringAttribute key="de.toem.impulse.launchport" value=""/>
+<booleanAttribute key="de.toem.impulse.launchrestart" value="true"/>
+<intAttribute key="de.toem.impulse.launchterminate" value="1"/>
 <booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
 <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
 <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
@@ -19,7 +27,7 @@
 <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
 <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_ARGUMENTS" value="-v4&#10;-g10000&#10;${project_loc:hello}/hello"/>
-<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build/Debug/riscv/bin/riscv"/>
+<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build/Debug/riscv/bin/riscv-sim"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="DBT-RISE-RISCV"/>
 <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.config.gnu.exe.debug.1751741082"/>

etc/dbt-riscv Debug hello w plugin.launch

@@ -1,5 +1,13 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
+<booleanAttribute key="de.toem.impulse.launchactivateLaunch" value="false"/>
+<booleanAttribute key="de.toem.impulse.launchactivateTermination" value="false"/>
+<intAttribute key="de.toem.impulse.launchdelayLaunch" value="0"/>
+<intAttribute key="de.toem.impulse.launchlaunch" value="2"/>
+<intAttribute key="de.toem.impulse.launchmode" value="3"/>
+<stringAttribute key="de.toem.impulse.launchport" value=""/>
+<booleanAttribute key="de.toem.impulse.launchrestart" value="true"/>
+<intAttribute key="de.toem.impulse.launchterminate" value="1"/>
 <booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
 <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
 <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
@@ -19,7 +27,7 @@
 <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
 <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_ARGUMENTS" value="-v4&#10;-p ic=${workspace_loc:DBT-RISE-RISCV}/cycles.txt&#10;${project_loc:hello}/hello"/>
-<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build/Debug/riscv/bin/riscv"/>
+<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build/Debug/riscv/bin/riscv-sim"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="DBT-RISE-RISCV"/>
 <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.config.gnu.exe.debug.1751741082"/>

etc/hello Debug.launch

@@ -8,6 +8,7 @@
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDevice" value="Generic TCP/IP"/>
+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="org.eclipse.cdt.debug.gdbjtag.core.jtagdevice.genericDevice"/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadImage" value="false"/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadSymbols" value="true"/>
 <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
@@ -25,6 +26,8 @@
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForSymbols" value="true"/>
 <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useRemoteTarget" value="true"/>
 <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="riscv64-unknown-elf-gdb"/>
+<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REMOTE_TIMEOUT_ENABLED" value="false"/>
+<stringAttribute key="org.eclipse.cdt.dsf.gdb.REMOTE_TIMEOUT_VALUE" value=""/>
 <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="true"/>
 <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="0"/>
 <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>

platform/CMakeLists.txt

@@ -0,0 +1,102 @@
+cmake_minimum_required(VERSION 3.3)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/../cmake) # main (top) cmake dir
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake) # project specific cmake dir
+
+# CMake useful variables
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib") 
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")
+
+# Set the name of your project here
+project("riscv.sc")
+
+# Set the version number of your project here (format is MAJOR.MINOR.PATCHLEVEL - e.g. 1.0.0)
+set(VERSION_MAJOR "0")
+set(VERSION_MINOR "0")
+set(VERSION_PATCH "1")
+set(VERSION ${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH})
+
+include(Common)
+
+## Git (and its revision)
+find_package(Git QUIET) # if we don't find git or FindGit.cmake is not on the system we ignore it.
+## The Git module will trigger a reconfiguration for each pull that will bring a new revision on the local repository
+set (VCS_REVISION "-1")
+if(GIT_FOUND)
+    include(GetGitRevisionDescription)
+    get_git_head_revision(GIT_REFSPEC GIT_SHA1)
+    message(STATUS "GIT branch ${GIT_REFSPEC}")
+    message(STATUS "GIT revision ${GIT_SHA1}")
+    set (VCS_REVISION ${GIT_SHA1})
+endif()
+
+# This line finds the boost lib and headers. 
+set(Boost_NO_BOOST_CMAKE ON) #  Don't do a find_package in config mode before searching for a regular boost install.
+find_package(Boost COMPONENTS program_options system thread REQUIRED)
+
+find_package(LLVM REQUIRED CONFIG)
+message(STATUS "Found LLVM ${LLVM_PACKAGE_VERSION}")
+message(STATUS "Using LLVMConfig.cmake in: ${LLVM_DIR}")
+llvm_map_components_to_libnames(llvm_libs support core mcjit x86codegen x86asmparser)
+
+find_package(SystemC)
+if(SystemC_FOUND)
+    add_definitions(-DWITH_SYSTEMC)
+    include_directories(${SystemC_INCLUDE_DIRS})
+    link_directories(${SystemC_LIBRARY_DIRS})
+else(SystemC_FOUND)
+    message( FATAL_ERROR "SystemC library not found." )
+endif(SystemC_FOUND)
+
+if(CCI_FOUND)
+    include_directories(${CCI_INCLUDE_DIRS})
+    link_directories(${CCI_LIBRARY_DIRS})
+else()
+    message( FATAL_ERROR "SystemC CCI library not found." )
+endif()
+
+if(SCV_FOUND)   
+    add_definitions(-DWITH_SCV)
+    link_directories(${SCV_LIBRARY_DIRS})
+endif(SCV_FOUND)
+
+# This sets the include directory for the reference project. This is the -I flag in gcc.
+include_directories(
+    ${PROJECT_SOURCE_DIR}/incl
+    ${LLVM_INCLUDE_DIRS}
+)
+
+add_dependent_subproject(dbt-core)
+add_dependent_subproject(sc-components)
+add_dependent_subproject(riscv)
+add_dependent_subproject(riscv.sc)
+
+include_directories(
+    ${PROJECT_SOURCE_DIR}/incl
+    ${PROJECT_SOURCE_DIR}/../riscv/incl
+    ${PROJECT_SOURCE_DIR}/../external/elfio
+    ${PROJECT_SOURCE_DIR}/../external/libGIS
+    ${Boost_INCLUDE_DIRS}
+)
+
+
+# Mac needed variables (adapt for your needs - http://www.cmake.org/Wiki/CMake_RPATH_handling#Mac_OS_X_and_the_RPATH)
+set(CMAKE_MACOSX_RPATH ON)
+set(CMAKE_SKIP_BUILD_RPATH FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+add_subdirectory(src)
+
+#
+# SYSTEM PACKAGING (RPM, TGZ, ...)
+# _____________________________________________________________________________
+
+#include(CPackConfig)
+
+#
+# CMAKE PACKAGING (for other CMake projects to use this one easily)
+# _____________________________________________________________________________
+
+#include(PackageConfigurator)

platform/incl/sysc/SiFive/hifive1.h

@@ -44,7 +44,7 @@
 #include "prci.h"
 #include "spi.h"
 #include "uart.h"
-#include "core_complex.h"
+#include "sysc/core_complex.h"
 
 #include "scc/memory.h"
 #include "scc/router.h"
@@ -56,16 +56,16 @@
 
 namespace sysc {
 
-class platform : public sc_core::sc_module {
+class hifive1 : public sc_core::sc_module {
 public:
-    SC_HAS_PROCESS(platform);
+    SC_HAS_PROCESS(hifive1);
 
     sc_core::sc_vector<tlm::tlm_signal_initiator_socket<sc_dt::sc_logic>> pins_o;
     sc_core::sc_vector<tlm::tlm_signal_target_socket<sc_dt::sc_logic>>    pins_i;
 
     sc_core::sc_in<bool> erst_n;
 
-    platform(sc_core::sc_module_name nm);
+    hifive1(sc_core::sc_module_name nm);
 
 private:
     SiFive::core_complex i_core_complex;

platform/incl/sysc/sc_comm_singleton.h

@@ -34,8 +34,8 @@
 //
 ////////////////////////////////////////////////////////////////////////////////
 
-#ifndef RISCV_SC_INCL_SYSC_SC_COMM_SINGLETON_H_
+#ifndef _SYSC_SC_COMM_SINGLETON_H_
-#define RISCV_SC_INCL_SYSC_SC_COMM_SINGLETON_H_
+#define _SYSC_SC_COMM_SINGLETON_H_
 
 #include <sysc/kernel/sc_module.h>
 #include <seasocks/PageHandler.h>
@@ -110,4 +110,4 @@ private:
 
 } /* namespace sysc */
 
-#endif /* RISCV_SC_INCL_SYSC_SC_COMM_SINGLETON_H_ */
+#endif /* _SYSC_SC_COMM_SINGLETON_H_ */

platform/incl/sysc/tlm_extensions.h

@@ -5,8 +5,8 @@
  *      Author: eyck
  */
 
-#ifndef RISCV_SC_INCL_SYSC_TLM_EXTENSIONS_H_
+#ifndef _SYSC_TLM_EXTENSIONS_H_
-#define RISCV_SC_INCL_SYSC_TLM_EXTENSIONS_H_
+#define _SYSC_TLM_EXTENSIONS_H_
 
 #include "tlm/tlm_extensions.h"
 
@@ -45,4 +45,4 @@ struct tlm_signal_spi_extension : public tlm::tlm_unmanaged_extension<tlm_signal
 
 
 
-#endif /* RISCV_SC_INCL_SYSC_TLM_EXTENSIONS_H_ */
+#endif /* _SYSC_TLM_EXTENSIONS_H_ */

platform/incl/sysc/top/BLDC.h

@@ -0,0 +1,105 @@
+/*
+ * BLDC.h
+ *
+ *  Created on: 26.06.2018
+ *      Author: eyck
+ */
+
+#ifndef BLDC_H_
+#define BLDC_H_
+
+#include <boost/numeric/odeint.hpp>
+namespace odeint = boost::numeric::odeint;
+
+inline
+double norm_angle(double alpha){
+  double alpha_n = fmod(alpha, M_PI * 2);
+  if (alpha_n < 0.) alpha_n += (M_PI * 2);
+  return alpha_n;
+}
+
+
+class BLDC {
+public:
+    struct Config {
+        double inertia = 0.0005;        /* aka 'J' in kg/(m^2) */
+        double damping = 0.000089;      /* aka 'B' in Nm/(rad/s) */
+        double static_friction = 0.0;   /* in Nm */
+        //double Kv = 0.0042;             /* motor constant in RPM/V */
+        double Ke = 0.0042;             /* back emf constant in V/rad/s*/
+        double L = 0.0027;              /* Coil inductance in H */
+        double M = -0.000069;            /* Mutual coil inductance in H */
+        double R = 2.875;               /* Coil resistence in Ohm */
+        int NbPoles = 2;                /* NbPoles / 2 = Number of pole pairs (you count the permanent magnets on the rotor to get NbPoles) */
+    };
+
+    using StateVector = std::array<double, 5>;
+
+    struct State{
+        double& theta;   /* angle of the rotor */
+        double& omega;   /* angular speed of the rotor */
+        double& ia;          /* phase a current */
+        double& ib;          /* phase b current */
+        double& ic;          /* phase c current */
+        explicit State(StateVector& v):theta(v[0]), omega(v[1]), ia(v[2]), ib(v[3]), ic(v[4]){}
+        State(State&&) = delete;
+        State(const State&) = delete;
+        State& operator=(const State&) = delete;  // Copy assignment operator
+        State& operator=(const State&&) = delete;  // Move assignment operator
+        ~State(){}
+        void init(){
+            theta = ia = ib = ic = 0;
+            omega = 0.;
+        }
+    };
+
+    explicit BLDC(const Config config);
+
+    virtual ~BLDC();
+
+    void set_input(std::array<double, 3> vin){
+        this->vin=vin;
+    }
+
+    void run(double dt);
+
+    void printToStream(std::ostream&) const;
+
+    double get_current_time(){return current_time;}
+
+    std::tuple<double, double, double> get_voltages(){
+        return std::tuple<double, double, double>(
+                voltages[VA]+voltages[EA]+state.ia*config.R,
+                voltages[VB]+voltages[EB]+state.ib*config.R,
+                voltages[VC]+voltages[EC]+state.ic*config.R
+                );
+    }
+    const State& getState(){ return state;}
+
+    void setLoad(double torque){torque_load=torque;}
+protected:
+    Config config;
+    StateVector stateVector;
+    State state;
+    std::array<double, 3> vin;
+    double current_time = 0.0;
+    double torque_load=0.0;
+    double etorque=0.0, mtorque=0.0;
+    const double dt = 0.000001;
+    std::array<double, 7> voltages;
+    enum VoltageNames {EA=0, EB=1, EC=2, VA=3, VB=4, VC=5, VCENTER=6};
+    double calc_bemf_factor(const State& state, double theta );
+    void calc_back_emf(const State& state, double theta_e );
+    void calc_voltages();
+    // ODE part
+    //boost::numeric::odeint::runge_kutta4< StateVector > stepper;
+    //boost::numeric::odeint::runge_kutta_cash_karp54<StateVector > stepper;
+    //using  stepper_type = odeint::runge_kutta_dopri5<StateVector>;
+    //using  stepper_type = odeint::runge_kutta_cash_karp54< StateVector>;
+    using  stepper_type = odeint::runge_kutta_fehlberg78< StateVector>;
+    void rotor_dyn( const StateVector& x , StateVector& dxdt , const double t );
+};
+
+std::ostream& operator<<(std::ostream& os, const BLDC& bldc);
+
+#endif /* BLDC_H_ */

platform/incl/sysc/top/dcmotor.h

@@ -0,0 +1,38 @@
+/*
+ * dcmotor.h
+ *
+ *  Created on: 25.07.2018
+ *      Author: eyck
+ */
+
+#ifndef _SYSC_TOP_DCMOTOR_H_
+#define _SYSC_TOP_DCMOTOR_H_
+
+#include "BLDC.h"
+#include "scc/traceable.h"
+#include <systemc>
+
+namespace sysc {
+
+class dc_motor: public sc_core::sc_module, public scc::traceable {
+public:
+    SC_HAS_PROCESS(dc_motor);
+
+    sc_core::sc_in<double> va_i, vb_i, vc_i;
+    sc_core::sc_out<double> va_o, vb_o, vc_o;
+
+    dc_motor(const sc_core::sc_module_name& nm );
+
+    virtual ~dc_motor();
+
+    void trace(sc_core::sc_trace_file *trf) override;
+
+private:
+    void thread(void);
+    BLDC bldc_model;
+    const BLDC::State& bldc_state;
+};
+
+} /* namespace sysc */
+
+#endif /* RISCV_SC_INCL_SYSC_TOP_DCMOTOR_H_ */

platform/incl/sysc/top/h_bridge.h

@@ -0,0 +1,39 @@
+/*
+ * h_bridge.h
+ *
+ *  Created on: 25.07.2018
+ *      Author: eyck
+ */
+
+#ifndef RISCV_SC_INCL_SYSC_TOP_H_BRIDGE_H_
+#define RISCV_SC_INCL_SYSC_TOP_H_BRIDGE_H_
+
+#include "cci_configuration"
+#include <sysc/kernel/sc_module.h>
+
+namespace sysc {
+
+class h_bridge: public sc_core::sc_module {
+public:
+    SC_HAS_PROCESS(h_bridge);
+
+    sc_core::sc_in<sc_dt::sc_logic> ha_i, la_i;
+    sc_core::sc_in<sc_dt::sc_logic> hb_i, lb_i;
+    sc_core::sc_in<sc_dt::sc_logic> hc_i, lc_i;
+
+    sc_core::sc_out<double> va_o, vb_o, vc_o;
+
+    cci::cci_param<double> vcc;
+
+    h_bridge(const sc_core::sc_module_name& nm);
+
+    virtual ~h_bridge();
+private:
+    void ain_cb();
+    void bin_cb();
+    void cin_cb();
+};
+
+} /* namespace sysc */
+
+#endif /* RISCV_SC_INCL_SYSC_TOP_H_BRIDGE_H_ */

platform/incl/sysc/top/mcp3008.h

@@ -5,8 +5,8 @@
  *      Author: eyck
  */
 
-#ifndef RISCV_SC_INCL_SYSC_GENERAL_MCP3008_H_
+#ifndef _SYSC_TOP_MCP3008_H_
-#define RISCV_SC_INCL_SYSC_GENERAL_MCP3008_H_
+#define _SYSC_TOP_MCP3008_H_
 
 #include "scc/signal_target_mixin.h"
 #include "scc/signal_initiator_mixin.h"
@@ -44,4 +44,4 @@ private:
 
 } /* namespace sysc */
 
-#endif /* RISCV_SC_INCL_SYSC_GENERAL_MCP3008_H_ */
+#endif /* _SYSC_TOP_MCP3008_H_ */

platform/incl/sysc/top/system.h

@@ -8,10 +8,12 @@
 #ifndef __SYSC_GENERAL_SYSTEM_H_
 #define __SYSC_GENERAL_SYSTEM_H_
 
-#include "sysc/SiFive/platform.h"
-#include "sysc/General/terminal.h"
-#include "sysc/General/mcp3008.h"
 #include <systemc>
+#include "sysc/SiFive/hifive1.h"
+#include "mcp3008.h"
+#include "terminal.h"
+#include "h_bridge.h"
+#include "dcmotor.h"
 
 namespace sysc {
 
@@ -22,14 +24,17 @@ public:
     system(sc_core::sc_module_name nm);
     virtual ~system();
 
+
 private:
     sc_core::sc_vector<tlm::tlm_signal<sc_dt::sc_logic>> s_gpio;
     sc_core::sc_signal<bool> s_rst_n;
-    sc_core::sc_signal<double> s_vref;
+    sc_core::sc_signal<double> s_vref, s_va, s_vb, s_vc, s_vasens, s_vbsens, s_vcsens;
     sc_core::sc_vector<sc_core::sc_signal<double>> s_ana;
-    sysc::platform i_platform;
+    sysc::hifive1 i_platform;
     sysc::terminal i_terminal;
     sysc::mcp3008 i_adc;
+    sysc::h_bridge i_h_bridge;
+    sysc::dc_motor i_motor;
     void gen_por();
 };
 

platform/incl/sysc/top/terminal.h

@@ -5,8 +5,8 @@
  *      Author: eyck
  */
 
-#ifndef RISCV_SC_INCL_SYSC_GENERAL_TERMINAL_H_
+#ifndef _SYSC_TOP_TERMINAL_H_
-#define RISCV_SC_INCL_SYSC_GENERAL_TERMINAL_H_
+#define _SYSC_TOP_TERMINAL_H_
 
 #include "scc/signal_target_mixin.h"
 #include "scc/signal_initiator_mixin.h"
@@ -41,4 +41,4 @@ protected:
 };
 }
 
-#endif /* RISCV_SC_INCL_SYSC_GENERAL_TERMINAL_H_ */
+#endif /* _SYSC_TOP_TERMINAL_H_ */

platform/src/CMakeLists.txt

@@ -9,7 +9,7 @@ set(APP_HEADERS )
 set(APP_SOURCES sc_main.cpp)
 
 # Define two variables in order not to repeat ourselves.
-set(LIBRARY_NAME risc-v.sc)
+set(LIBRARY_NAME platform)
 
 ## the following setting needs to be consistent with the library
 #add_definitions(-DSC_DEFAULT_WRITER_POLICY=SC_MANY_WRITERS)
@@ -24,7 +24,7 @@ set_target_properties(${LIBRARY_NAME} PROPERTIES
 )
 
 # This is a make target, so you can do a "make riscv-sc"
-set(APPLICATION_NAME riscv.sc)
+set(APPLICATION_NAME riscv.vp)
 
 include_directories(${CONAN_INCLUDE_DIRS_SEASOCKS})
 include_directories(${SystemC_INCLUDE_DIRS})
@@ -39,7 +39,8 @@ add_executable(${APPLICATION_NAME} ${APP_SOURCES})
 # Links the target exe against the libraries
 
 target_link_libraries(${APPLICATION_NAME} ${LIBRARY_NAME})
-target_link_libraries(${APPLICATION_NAME} risc-v)
+target_link_libraries(${APPLICATION_NAME} riscv.sc)
+target_link_libraries(${APPLICATION_NAME} riscv)
 target_link_libraries(${APPLICATION_NAME} dbt-core)
 target_link_libraries(${APPLICATION_NAME} softfloat)
 target_link_libraries(${APPLICATION_NAME} sc-components)

platform/src/sc_main.cpp

@@ -37,13 +37,13 @@
 #include <boost/program_options.hpp>
 #include <iss/log_categories.h>
 #include <sstream>
-#include <sysc/General/system.h>
 #include "scc/configurer.h"
 #include "scc/report.h"
 #include "scc/scv_tr_db.h"
 #include "scc/tracer.h"
 #include <cci_utils/broker.h>
 #include <iss/jit/jit_helper.h>
+#include "../incl/sysc/top/system.h"
 
 using namespace sysc;
 namespace po = boost::program_options;
@@ -128,7 +128,7 @@ int sc_main(int argc, char *argv[]) {
     ///////////////////////////////////////////////////////////////////////////
     // instantiate top level
     ///////////////////////////////////////////////////////////////////////////
-    sysc::system i_system("i_system");
+    auto i_system = std::make_unique<sysc::system>("i_system");
     ///////////////////////////////////////////////////////////////////////////
     // set up tracing & transaction recording
     ///////////////////////////////////////////////////////////////////////////

platform/src/sysc/BLDC.cpp

@@ -0,0 +1,164 @@
+/*
+ * BLDC.cpp
+ *
+ *  Created on: 26.06.2018
+ *      Author: eyck
+ */
+
+#include "sysc/top/BLDC.h"
+
+// implementation according to Modeling of BLDC Motor with Ideal Back-EMF for Automotive Applications
+// Proceedings of the World Congress on Engineering 2011 Vol II WCE 2011, July 6 - 8, 2011, London, U.K.
+BLDC::BLDC(const Config config)
+: config(config)
+, stateVector({{0.0, 0.0, 0.0, 0.0, 0.0}})
+, state(stateVector)
+, vin({{0.0, 0.0, 0.0}})
+, voltages({{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}})
+{
+    state.init();
+}
+
+BLDC::~BLDC() {
+
+}
+
+double BLDC::calc_bemf_factor(const State& x, double theta){
+    if(theta>=0 && theta < 2./3.*M_PI){
+        return 1;
+    } else if(theta>=2./3.*M_PI && theta < M_PI){
+        return 1-6/M_PI*(theta-2./3.*M_PI);
+    } else if(theta>=M_PI && theta < 5./3. * M_PI){
+        return -1;
+    } else if(theta>=5./3. * M_PI && theta < 2. * M_PI){
+        return -1+6/M_PI*(theta-5./3.*M_PI);
+    } else {
+        fprintf(stderr, "ERROR: angle out of bounds can not calculate bemf %f\n", theta);
+        throw std::runtime_error("angle out of bounds can not calculate bemf");
+    }
+}
+
+void BLDC::calc_back_emf(const State& state, double theta_e) {
+    double max_bemf = config.Ke * state.omega;
+    voltages[EA] = max_bemf*calc_bemf_factor(state, norm_angle(theta_e));
+    voltages[EB] = max_bemf*calc_bemf_factor(state, norm_angle(theta_e + M_PI * (2. / 3.)));
+    voltages[EC] = max_bemf*calc_bemf_factor(state, norm_angle(theta_e + M_PI * (4. / 3.)));
+}
+
+
+void BLDC::calc_voltages(){
+    const double NaN = nan("");
+    /* Check which phases are excited. */
+    bool pa = isnan(vin[0])?false:true;
+    bool pb = isnan(vin[1])?false:true;
+    bool pc = isnan(vin[2])?false:true;
+
+    if (pa && pb && pc) {
+        voltages[VA] = vin[0];
+        voltages[VB] = vin[1];
+        voltages[VC] = vin[2];
+        voltages[VCENTER] = (voltages[VA] + voltages[VB] + voltages[VC] - voltages[EA] - voltages[EB] - voltages[EC]) / 3.;
+    } else if (pa && pb) {
+        voltages[VA] = vin[0];
+        voltages[VB] = vin[1];
+        voltages[VCENTER] = (voltages[VA] + voltages[VB] - voltages[EA] - voltages[EB]) / 2.;
+        voltages[VC] = voltages[EC] + voltages[VCENTER];
+    } else if (pa && pc) {
+        voltages[VA] = vin[0];
+        voltages[VC] = vin[2];
+        voltages[VCENTER] = (voltages[VA] + voltages[VC] - voltages[EA] - voltages[EC]) / 2.;
+        voltages[VB] = voltages[EB] + voltages[VCENTER];
+    } else if (pb && pc) {
+        voltages[VB] = vin[1];
+        voltages[VC] = vin[2];
+        voltages[VCENTER] = (voltages[VB] + voltages[VC] - voltages[EB] - voltages[EC]) / 2.;
+        voltages[VA] = voltages[EA] + voltages[VCENTER];
+    } else if (pa) {
+        voltages[VA] = vin[0];
+        voltages[VCENTER] = (voltages[VA] - voltages[EA]);
+        voltages[VB] = voltages[EB] + voltages[VCENTER];
+        voltages[VC] = voltages[EC] + voltages[VCENTER];
+    } else if (pb) {
+        voltages[VB] = vin[1];
+        voltages[VCENTER] = (voltages[VB] - voltages[EB]);
+        voltages[VA] = voltages[EA] + voltages[VCENTER];
+        voltages[VC] = voltages[EC] + voltages[VCENTER];
+    } else if (pc) {
+        voltages[VC] = vin[0];
+        voltages[VCENTER] = (voltages[VC] - voltages[EC]);
+        voltages[VA] = voltages[EA] + voltages[VCENTER];
+        voltages[VB] = voltages[EB] + voltages[VCENTER];
+    } else {
+        voltages[VA] = voltages[EA];
+        voltages[VB] = voltages[EB];
+        voltages[VC] = voltages[EC];
+        voltages[VCENTER] = 0;
+    }
+}
+
+void BLDC::printToStream(std::ostream& os) const {
+    os<<state.omega<<";"<<state.theta<<";"
+            <<state.ia<<";"<<state.ib<<";"<<state.ic<<";"
+            <<voltages[VA]<<";"<<voltages[VB]<<";"<<voltages[VC]<<";"
+            <<voltages[EA]<<";"<<voltages[EB]<<";"<<voltages[EC]<<";"<<voltages[VCENTER]<<";"
+            <<vin[0]<<";"<<vin[1]<<";"<<vin[2]<<";"<<etorque;
+}
+
+void BLDC::rotor_dyn(const StateVector& x_, StateVector& dxdt_, const double t) {
+    const State x(const_cast<StateVector&>(x_));
+    State dxdt(dxdt_);
+    double theta_e = state.theta * (config.NbPoles / 2.);
+    /* Calculate backemf voltages. */
+    calc_back_emf(x, theta_e);
+    /* Calculate voltages. */
+    calc_voltages();
+    /* Electromagnetic torque. */
+//    if (x.omega == 0) {
+//        printf("ERROR: input state vector omega equals 0!!!\n");
+//        throw std::runtime_error("input state vector omega equals 0");
+//    }
+    /* electrical torque */
+    //etorque = ((voltages[EA] * x.ia) + (voltages[EB] * x.ib) + (voltages[EC] * x.ic)) / x.omega;
+    // which is equivalent to:
+    etorque = config.Ke*(
+            x.ia * (calc_bemf_factor(state, norm_angle(theta_e))) +
+            x.ib * (calc_bemf_factor(state, norm_angle(theta_e + M_PI * (2. / 3.)))) +
+            x.ic * (calc_bemf_factor(state, norm_angle(theta_e + M_PI * (4. / 3.))))
+            );
+    /* Mechanical torque. */
+    mtorque = ((etorque * (config.NbPoles / 2)) - (config.damping * x.omega) - torque_load);
+
+    if ((mtorque > 0) && (mtorque <= config.static_friction)) {
+        mtorque = 0;
+    } else if (mtorque > config.static_friction) {
+        mtorque -= config.static_friction;
+    } else if ((mtorque < 0) && (mtorque >= -(config.static_friction))) {
+        mtorque = 0;
+    } else if (mtorque < -(config.static_friction)) {
+        mtorque += config.static_friction;
+    }
+    /* Position of the rotor */
+    dxdt.theta = x.omega;
+    /* Acceleration of the rotor. (omega_dot) */
+    // a=M/J with M->torque, J->Inertia, a->angular acceleration
+    dxdt.omega = mtorque / config.inertia;
+    /* Calculate dot currents. */
+    dxdt.ia = (voltages[VA] - (config.R * x.ia) - voltages[EA] - voltages[VCENTER]) / (config.L - config.M);
+    dxdt.ib = (voltages[VB] - (config.R * x.ib) - voltages[EB] - voltages[VCENTER]) / (config.L - config.M);
+    dxdt.ic = (voltages[VC] - (config.R * x.ic) - voltages[EC] - voltages[VCENTER]) / (config.L - config.M);
+}
+
+void BLDC::run(double incr) {
+    if(dt>incr) throw std::runtime_error("incr needs to be larger than dt");
+    double next_time = current_time+incr;
+    odeint::integrate_adaptive(make_controlled( 1.0e-10 , 1.0e-6 , stepper_type() ),
+            [this]( const StateVector &x , StateVector &dxdt , double t ) {this->rotor_dyn(x, dxdt,t);},
+            stateVector, current_time, next_time, dt);
+    current_time=next_time;
+    state.theta=norm_angle(state.theta);
+}
+
+std::ostream& operator <<(std::ostream& os, const BLDC& bldc) {
+    bldc.printToStream(os);
+    return os;
+}

platform/src/sysc/dcmotor.cpp

@@ -0,0 +1,69 @@
+/*
+ * dcmotor.cpp
+ *
+ *  Created on: 25.07.2018
+ *      Author: eyck
+ */
+
+#include "sysc/top/dcmotor.h"
+#include "scc/utilities.h"
+#include <future>
+
+namespace sysc {
+
+using namespace sc_core;
+
+auto get_config = []() -> BLDC::Config {
+    BLDC::Config config{};
+    config.Ke=1./4000. ,//0.01; // V/rad/s, = 1/Kv
+    config.R=0.5; // Ohm
+    config.inertia = 0.0005;
+    config.NbPoles = 2;
+    config.damping = 0.00001;
+    return config;
+};
+
+dc_motor::dc_motor(const sc_module_name& nm )
+: sc_module(nm)
+, bldc_model(get_config())
+, bldc_state(bldc_model.getState())
+{
+    bldc_model.setLoad(0.0001);
+    SC_THREAD(thread);
+}
+
+dc_motor::~dc_motor() {
+}
+
+void dc_motor::trace(sc_trace_file* trf) {
+    auto ia=bldc_state.ia;       TRACE_VAR(trf, ia);
+    auto ib=bldc_state.ib;       TRACE_VAR(trf, ib);
+    auto ic=bldc_state.ic;       TRACE_VAR(trf, ic);
+    auto theta=bldc_state.theta; TRACE_VAR(trf, theta);
+    auto omega=bldc_state.omega; TRACE_VAR(trf, omega);
+}
+
+void dc_motor::thread(void) {
+    wait(SC_ZERO_TIME);
+    std::array<double, 3> vin{0., 0., 0.};
+    const sc_time step(1, SC_US);
+    auto eval_model = [this](std::array<double, 3> vin, const sc_time step)->std::tuple<double, double, double> {
+        bldc_model.set_input(vin);
+        bldc_model.run(step.to_seconds());
+        return bldc_model.get_voltages();
+    };
+    while(true){
+        vin[0]=va_i.read();
+        vin[1]=vb_i.read();
+        vin[2]=vc_i.read();
+//        auto sim_res=std::async(std::launch::async, eval_model, vin, step);
+        wait(step);
+//        auto vout=sim_res.get();
+        auto vout = eval_model(vin, step);
+        va_o=std::get<0>(vout);
+        vb_o=std::get<1>(vout);
+        vc_o=std::get<2>(vout);
+    }
+}
+
+} /* namespace sysc */

platform/src/sysc/h_bridge.cpp

@@ -0,0 +1,47 @@
+/*
+ * h_bridge.cpp
+ *
+ *  Created on: 25.07.2018
+ *      Author: eyck
+ */
+
+#include "sysc/top/h_bridge.h"
+#include "scc/utilities.h"
+
+namespace sysc {
+using namespace sc_core;
+
+h_bridge::h_bridge(const sc_module_name& nm)
+:sc_module(nm)
+, NAMED(ha_i)
+, NAMED(la_i)
+, NAMED(hb_i)
+, NAMED(lb_i)
+, NAMED(hc_i)
+, NAMED(lc_i)
+, NAMED(va_o)
+, NAMED(vb_o)
+, NAMED(vc_o)
+, NAMED(vcc, 48.0)
+{
+    SC_METHOD(ain_cb);
+    sensitive<<ha_i<<la_i;
+    SC_METHOD(bin_cb);
+    sensitive<<hb_i<<lb_i;
+    SC_METHOD(cin_cb);
+    sensitive<<hc_i<<lc_i;
+}
+
+h_bridge::~h_bridge() {
+}
+
+void h_bridge::ain_cb() {
+}
+
+void h_bridge::bin_cb() {
+}
+
+void h_bridge::cin_cb() {
+}
+
+} /* namespace sysc */

platform/src/sysc/hifive1.cpp

@@ -34,11 +34,11 @@
 //
 ////////////////////////////////////////////////////////////////////////////////
 
-#include <sysc/SiFive/platform.h>
+#include "sysc/SiFive/hifive1.h"
 
 namespace sysc {
 
-platform::platform(sc_core::sc_module_name nm)
+hifive1::hifive1(sc_core::sc_module_name nm)
 : sc_core::sc_module(nm)
 , NAMED(pins_o, 32)
 , NAMED(pins_i, 32)

platform/src/sysc/mcp3008.cpp

@@ -5,7 +5,8 @@
  *      Author: eyck
  */
 
-#include "sysc/General/mcp3008.h"
+#include "sysc/top/mcp3008.h"
+
 #include <scc/report.h>
 #include <util/ities.h>
 

platform/src/sysc/system.cpp

@@ -5,7 +5,7 @@
  *      Author: eyck
  */
 
-#include "sysc/General/system.h"
+#include "sysc/top/system.h"
 
 using namespace sysc;
 
@@ -14,10 +14,15 @@ system::system(sc_core::sc_module_name nm)
 , NAMED(s_gpio, 32)
 , NAMED(s_rst_n)
 , NAMED(s_vref)
-, NAMED(s_ana, 8)
+, NAMED(s_va)
+, NAMED(s_vb)
+, NAMED(s_vc)
+, NAMED(s_ana, 5)
 , NAMED(i_platform)
 , NAMED(i_terminal)
 , NAMED(i_adc)
+, NAMED(i_h_bridge)
+, NAMED(i_motor)
 {
     // connect platform
     i_platform.erst_n(s_rst_n);
@@ -36,8 +41,32 @@ system::system(sc_core::sc_module_name nm)
     i_adc.miso_o(s_gpio[4].in);
     s_gpio[5].out(i_adc.sck_i);
     // adc analog inputs
-    i_adc.ch_i(s_ana);
     i_adc.vref_i(s_vref);
+    i_adc.ch_i[0](s_vasens);
+    i_adc.ch_i[1](s_vbsens);
+    i_adc.ch_i[2](s_vcsens);
+    i_adc.ch_i[3](s_ana[0]);
+    i_adc.ch_i[4](s_ana[1]);
+    i_adc.ch_i[5](s_ana[2]);
+    i_adc.ch_i[6](s_ana[3]);
+    i_adc.ch_i[7](s_ana[4]);
+
+    i_h_bridge.ha_i(s_gpio[0]);
+    i_h_bridge.la_i(s_gpio[1]);
+    i_h_bridge.hb_i(s_gpio[10]);
+    i_h_bridge.lb_i(s_gpio[11]);
+    i_h_bridge.hc_i(s_gpio[19]);
+    i_h_bridge.lc_i(s_gpio[20]);
+    i_h_bridge.va_o(s_va);
+    i_h_bridge.vb_o(s_vb);
+    i_h_bridge.vc_o(s_vc);
+
+    i_motor.va_i(s_va);
+    i_motor.vb_i(s_vb);
+    i_motor.vc_i(s_vc);
+    i_motor.va_o(s_vasens);
+    i_motor.vb_o(s_vbsens);
+    i_motor.vc_o(s_vcsens);
 
     SC_THREAD(gen_por);
 }

platform/src/sysc/terminal.cpp

@@ -5,7 +5,8 @@
  *      Author: eyck
  */
 
-#include "sysc/General/terminal.h"
+#include "sysc/top/terminal.h"
+
 #include "sysc/sc_comm_singleton.h"
 #include "sysc/tlm_extensions.h"
 #include "scc/report.h"

riscv.sc/CMakeLists.txt

@@ -86,7 +86,26 @@ set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
 set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
-add_subdirectory(src)
+# library files
+FILE(GLOB RiscVSCHeaders *.h */*.h)
+
+set(LIB_HEADERS ${RiscVSCHeaders} )
+set(LIB_SOURCES src/core_complex.cpp )
+
+# Define two variables in order not to repeat ourselves.
+set(LIBRARY_NAME riscv.sc)
+
+## the following setting needs to be consistent with the library
+#add_definitions(-DSC_DEFAULT_WRITER_POLICY=SC_MANY_WRITERS)
+
+# Define the library
+add_library(${LIBRARY_NAME} ${LIB_SOURCES})
+
+set_target_properties(${LIBRARY_NAME} PROPERTIES
+  VERSION ${VERSION}  # ${VERSION} was defined in the main CMakeLists.
+  FRAMEWORK FALSE
+  PUBLIC_HEADER "${LIB_HEADERS}" # specify the public headers
+)
 
 #
 # SYSTEM PACKAGING (RPM, TGZ, ...)

riscv.sc/src/core_complex.cpp

@@ -43,7 +43,7 @@
 #include "iss/debugger/gdb_session.h"
 #include "iss/debugger/target_adapter_if.h"
 #include "iss/debugger/encoderdecoder.h"
-#include "sysc/SiFive/core_complex.h"
+#include "sysc/core_complex.h"
 
 #ifdef WITH_SCV
 #include <scv.h>

riscv/src/CMakeLists.txt

@@ -15,7 +15,7 @@ set(APP_HEADERS )
 set(APP_SOURCES main.cpp)
 
 # Define two variables in order not to repeat ourselves.
-set(LIBRARY_NAME risc-v)
+set(LIBRARY_NAME riscv)
 
 # Define the library
 #add_library(${LIBRARY_NAME} SHARED ${LIB_SOURCES})
@@ -28,7 +28,7 @@ set_target_properties(${LIBRARY_NAME} PROPERTIES
 )
 
 # This is a make target, so you can do a "make riscv-sc"
-set(APPLICATION_NAME riscv)
+set(APPLICATION_NAME riscv-sim)
 
 add_executable(${APPLICATION_NAME} ${APP_SOURCES})
 

sc-components

@@ -1 +1 @@
-Subproject commit 57853f5df2ee573c35ef598a8a259696ae6059c0
+Subproject commit 0e5cf3fb3ac199a47f073f2bcee0abd4b3951896