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

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

@@ -0,0 +1,47 @@
+/*
+ * mcp3008.h
+ *
+ *  Created on: 17.07.2018
+ *      Author: eyck
+ */
+
+#ifndef _SYSC_TOP_MCP3008_H_
+#define _SYSC_TOP_MCP3008_H_
+
+#include "scc/signal_target_mixin.h"
+#include "scc/signal_initiator_mixin.h"
+#include "sysc/tlm_extensions.h"
+#include <tlm/tlm_signal.h>
+#include "cci_configuration"
+#include <sysc/utils/sc_vector.h>
+#include <sysc/kernel/sc_module.h>
+
+namespace sysc {
+
+class mcp3008: public sc_core::sc_module {
+public:
+    SC_HAS_PROCESS(mcp3008);
+    scc::tlm_signal_logic_in  sck_i;
+    scc::tlm_signal_logic_out miso_o;
+    scc::tlm_signal_logic_in  mosi_i;
+    scc::tlm_signal_logic_in  cs_i;
+
+    sc_core::sc_in<double> vref_i;
+    sc_core::sc_vector<sc_core::sc_in<double>> ch_i;
+
+    mcp3008(sc_core::sc_module_name nm);
+    virtual ~mcp3008();
+
+private:
+    tlm::tlm_sync_enum receive(tlm::tlm_signal_gp<sc_dt::sc_logic> &, tlm::tlm_phase &, sc_core::sc_time &);
+    void do_conversion();
+    unsigned idx, rx_bits;
+    std::array<uint8_t, 3> rx_bytes, tx_bytes;
+    sc_dt::sc_logic mosi_v, miso_v, cs_v;
+    sysc::tlm_signal_spi_extension* ext, tx_ext;
+    sc_core::sc_time last_tx_start;
+};
+
+} /* namespace sysc */
+
+#endif /* _SYSC_TOP_MCP3008_H_ */

platform/incl/sysc/top/system.h

@@ -0,0 +1,42 @@
+/*
+ * system.h
+ *
+ *  Created on: 11.07.2018
+ *      Author: eyck
+ */
+
+#ifndef __SYSC_GENERAL_SYSTEM_H_
+#define __SYSC_GENERAL_SYSTEM_H_
+
+#include <systemc>
+#include "sysc/SiFive/hifive1.h"
+#include "mcp3008.h"
+#include "terminal.h"
+#include "h_bridge.h"
+#include "dcmotor.h"
+
+namespace sysc {
+
+class system: sc_core::sc_module {
+public:
+    SC_HAS_PROCESS(system);
+
+    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, s_va, s_vb, s_vc, s_vasens, s_vbsens, s_vcsens;
+    sc_core::sc_vector<sc_core::sc_signal<double>> s_ana;
+    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();
+};
+
+}
+#endif /* __SYSC_GENERAL_SYSTEM_H_ */

platform/incl/sysc/top/terminal.h

@@ -0,0 +1,44 @@
+/*
+ * terminal.h
+ *
+ *  Created on: 07.07.2018
+ *      Author: eyck
+ */
+
+#ifndef _SYSC_TOP_TERMINAL_H_
+#define _SYSC_TOP_TERMINAL_H_
+
+#include "scc/signal_target_mixin.h"
+#include "scc/signal_initiator_mixin.h"
+#include "tlm/tlm_signal.h"
+#include "cci_configuration"
+#include <sysc/kernel/sc_module.h>
+#include <memory>
+
+namespace sysc {
+class WsHandler;
+
+class terminal: public sc_core::sc_module {
+public:
+    scc::tlm_signal_logic_out tx_o;
+    scc::tlm_signal_logic_in  rx_i;
+
+    terminal();
+
+    terminal(const sc_core::sc_module_name& nm);
+
+    virtual ~terminal();
+
+    cci::cci_param<bool> write_to_ws;
+
+protected:
+    void before_end_of_elaboration();
+    void receive(tlm::tlm_signal_gp<sc_dt::sc_logic>& gp, sc_core::sc_time& delay);
+
+    std::vector<uint8_t> queue;
+    std::shared_ptr<sysc::WsHandler> handler;
+    sc_core::sc_time last_tx_start=sc_core::SC_ZERO_TIME;
+};
+}
+
+#endif /* _SYSC_TOP_TERMINAL_H_ */