void pid_pre1(float test_angle_pid[],float test_angle)
{
test_angle_pid[1] = test_angle_pid[2];
test_angle_pid[0] = test_angle_pid[1];
test_angle_pid[2] = test_angle;
pid_data(angle_pid1,1);
angle_do1();
}
void pid_pre3(float test_angle_pid[],float test_angle)
{
test_angle_pid[1] = test_angle_pid[2];
test_angle_pid[0] = test_angle_pid[1];
test_angle_pid[2] = test_angle;
pid_data(angle_pid3,3);
angle_do3();
}
void pid_pre2(float test_angle_pid[],float test_angle)
{
test_angle_pid[1] = test_angle_pid[2];
test_angle_pid[0] = test_angle_pid[1];
test_angle_pid[2] = test_angle;
pid_data(angle_pid2,2);
angle_do2();
}
int sc_main(int, char *[])
{
// Silence the following deprecation warning:
// Info: (I804) /IEEE_Std_1666/deprecated: positional binding
// using << or , is deprecated, use () instead.
sc_report_handler::set_actions("/IEEE_Std_1666/deprecated", SC_DO_NOTHING);
// ************************ ICACHE ***********************************
// ICACHE = ram_cs
// ICACHE = ram_we
// ICACHE = addr
// ICACHE = ram_datain
// ICACHE = ram_dataout
// ICACHE = ld_valid = pid_valid
// ICACHE = ld_data = pid_data
sc_signal<bool> icache_valid("ICACHE_VALID") ;
// ************************ BIOS ***********************************
sc_signal<bool> ram_cs("RAM_CS") ;
sc_signal<bool> ram_we("RAM_WE") ;
sc_signal<unsigned > addr("Address") ;
sc_signal<unsigned > ram_datain("RAM_DATAIN") ;
sc_signal<unsigned > ram_dataout("RAM_DATAOUT") ;
sc_signal<bool> bios_valid("BIOS_VALID") ;
const int delay_cycles = 2;
// ************************ Paging ***********************************
// Paging paging_din = ram_datain
// Paging paging_csin = ram_cs
// Paging paging_wein = ram_we
// Paging logical_address = addr
sc_signal<unsigned > icache_din("ICACHE_DIN") ;
sc_signal<bool> icache_validin("ICACHE_VALIDIN") ;
sc_signal<bool> icache_stall("ICACHE_STALL") ;
sc_signal<unsigned > paging_dout("PAGING_DOUT") ;
sc_signal<bool> paging_csout("PAGING_CSOUT") ;
sc_signal<bool> paging_weout("PAGING_WEOUT") ;
sc_signal<unsigned > physical_address("PHYSICAL_ADDRESS") ;
// Paging dataout = ram_dataout
// Paging data_valid = icache_valid
// Paging stall_ifu = stall_fetch
// ************************ Fetch ***********************************
// IFU ramdata = ram_dataout
sc_signal<unsigned > branch_target_address("BRANCH_TARGET_ADDRESS") ;
sc_signal<bool> next_pc("NEXT_PC") ;
sc_signal<bool> branch_valid("BRANCH_VALID") ;
sc_signal<bool> stall_fetch("STALL_FETCH") ;
sc_signal<bool> pred_fetch("PRED_FETCH") ;
// IFU ram_valid = bios_valid
// IFU ram_cs = ram_cs
// IFU ram_we = ram_we
// IFU address = addr
// IFU smc_instrction = ram_datain
// IFU pred_branch_address = pred_branch_address
// IFU pred_branch_valid = pred_branch_valid
sc_signal<unsigned> instruction("INSTRUCTION") ;
sc_signal<bool> instruction_valid("INSTRUCTION_VALID") ;
sc_signal<unsigned > program_counter("PROGRAM_COUNTER") ;
sc_signal<bool> branch_clear("BRANCH_CLEAR") ;
sc_signal<bool> pred_fetch_valid("PRED_FETCH_VALID") ;
sc_signal<bool> reset("RESET") ;
// ************************ Branch ***********************************
// BPU: fetch_inst = instruction
// BPU: fetch_pc = program_counter
// BPU: fetch_valid = instruction_valid
// BPU: branch_inst_addr = branch_instruction_address
// BPU: branch_target_address = branch_target_address
// BPU: branch_valid = branch_valid
sc_signal<unsigned > pred_branch_address("PRED_BRANCH_ADDRESS");
sc_signal<bool> pred_branch_valid("PRED_BRANCH_VALID") ;
sc_signal<bool> pred_tellid("PRED_TELLID") ;
sc_signal<unsigned> pred_instruction("PRED_INSTRUCTION") ;
sc_signal<bool> pred_inst_valid("PRED_INST_VALID") ;
sc_signal<unsigned > pred_inst_pc("PRED_INST_PC");
// ************************ Decode ***********************************
// ID instruction = instruction
// ID instruction = instruction_valid
// ID destreg_write = out_valid
// ID destreg_write_src = destout
// ID clear_branch = branch_clear
// ID pc = program_counter
sc_signal<bool> pred_on("PRED_ON") ;
sc_signal<unsigned > branch_instruction_address("BR_INSTRUCTION_ADDRESS");
// ID alu_dataout = dout from EXEC
sc_signal<signed> dram_dataout("DRAM_DATAOUT") ;
sc_signal<bool> dram_rd_valid("DRAM_RD_VALID") ;
sc_signal<unsigned> dram_write_src("DRAM_WRITE_SRC");
// ID next_pc = next_pc
// ID branch_valid = branch_valid
// ID branch_target_address = branch_target_address
sc_signal<bool> mem_access("MEM_ACCESS") ;
sc_signal<unsigned > mem_address("MEM_ADDRESS") ;
sc_signal<int> alu_op("ALU_OP") ;
sc_signal<bool> mem_write("MEM_WRITE") ;
sc_signal<unsigned> alu_src("ALU_SRC") ;
sc_signal<bool> reg_write("REG_WRITE") ;
sc_signal<signed int> src_A("SRC_A") ;
sc_signal<signed int> src_B("SRC_B") ;
sc_signal<bool> forward_A("FORWARD_A") ;
sc_signal<bool> forward_B("FORWARD_B") ;
// ID stall_fetch = stall_fetch
sc_signal<bool> decode_valid("DECODE_VALID") ;
sc_signal<bool> float_valid("FLOAT_VALID") ;
sc_signal<bool> mmx_valid("MMX_VALID") ;
sc_signal<bool> pid_valid("PID_VALID") ;
sc_signal<signed> pid_data("PID_DATA") ;
// ************************ DCACHE ***********************************
sc_signal<signed> mmic_datain("MMIC_DATAIN") ; /* DCU: datain */
sc_signal<unsigned> mmic_statein("MMIC_STATEIN") ;/* DCU: statein */
sc_signal<bool> mmic_cs("MMIC_CS") ; /* DCU: cs */
sc_signal<bool> mmic_we("MMIC_WE") ; /* DCU: we */
sc_signal<unsigned > mmic_addr("MMIC_ADDR") ; /* DCU: addr */
sc_signal<unsigned> mmic_dest("MMIC_DEST") ; /* DCU: dest */
sc_signal<unsigned> mmic_destout("MMIC_DESTOUT") ;/* DCU: destout */
sc_signal<signed> mmic_dataout("MMIC_DATAOUT") ;/* DCU: dataout */
sc_signal<bool> mmic_out_valid("MMIC_OUT_VALID") ;/* DCU: out_valid*/
sc_signal<unsigned> mmic_stateout("MMIC_STATEOUT") ;/* DCU: stateout */
// ************************ Execute ***********************************
// EXEC in_valid = decode_valid
sc_signal<bool> in_valid("IN_VALID") ;
// EXEC opcode = alu_op
sc_signal<bool> negate("NEGATE") ;
sc_signal<int> add1("ADD1") ;
sc_signal<bool> shift_sel("SHIFT_SEL") ;
// EXEC dina = src_A
// EXEC dinb = src_B
// EXEC dest = alu_src
sc_signal<bool> c("C") ;
sc_signal<bool> v("V") ;
sc_signal<bool> z("Z") ;
sc_signal<signed> dout("DOUT") ;
sc_signal<bool> out_valid("OUTPUT_VALID") ;
sc_signal<unsigned> destout("DESTOUT") ;
// ************************ Floating point ******************************
// FPU in_valid = float_valid
// FPU opcode = alu_op
// FPU floata = src_A
// FPU floatb = src_B
// FPU dest = alu_src
sc_signal<signed> fdout("FDOUT") ;
sc_signal<bool> fout_valid("FOUT_VALID") ;
sc_signal<unsigned> fdestout("FDESTOUT") ;
// ************************ PIC *****************************************
sc_signal<bool> ireq0("IREQ0") ;
sc_signal<bool> ireq1("IREQ1") ;
sc_signal<bool> ireq2("IREQ2") ;
sc_signal<bool> ireq3("IREQ3") ;
// PIC cs = interrupt_ack
// PIC intack_cpu = interrupt_ack
sc_signal<bool> rd_wr("RD_WR") ;
sc_signal<bool> intreq("INTREQ") ;
sc_signal<unsigned> vectno("VECTNO") ;
sc_signal<bool> intack("INTACK") ;
sc_signal<bool> intack_cpu("INTACK_CPU") ;
// ************************ MMX ***********************************
// MMX mmx_valid = mmx_valid
// MMX opcode = alu_op
// MMX mmxa = src_A
// MMX mmxb = src_B
// MMX dest = dest
// MMX mmxdout = fdout
// MMX mmxout_valid = fpu_valid
// MMX mmxdestout = fpu_destout
// ************************ DSP *****************************************
sc_signal<int> dsp_in1("DPS_IN1");
sc_signal<int> dsp_out1("DSP_OUT1");
sc_signal<bool> dsp_data_valid("DSP_DATA_VALID");
sc_signal<bool> dsp_input_valid("DSP_INPUT_VALID");
sc_signal<bool> dsp_data_requested("DSP_DATA_REQUESTED");
////////////////////////////////////////////////////////////////////////////
// MAIN PROGRAM
////////////////////////////////////////////////////////////////////////////
sc_clock clk("Clock", 1, SC_NS, 0.5, 0.0, SC_NS);
printf("/////////////////////////////////////////////////////////////////////////\n");
printf("// This code is written at SYNOPSYS, Inc.\n");
printf("/////////////////////////////////////////////////////////////////////////\n");
printf("// Module : main of CPU Model\n");
printf("// Author : Martin Wang\n");
printf("// Company : SYNOPSYS, Inc.\n");
printf("// Purpose : This is a simple CPU modeling using SystemC.\n");
printf("// Instruction Set Architecure defined by Martin Wang.\n");
printf("// \n");
printf("// SystemC (TM) Copyright (c) 1988-2001 by Synopsys, Inc. \n");
printf("// \n");
printf("/////////////////////////////////////////////////////////////////////////\n");
cout << "// IN THIS MACHINE Integer is " << sizeof (int) << " bytes.\n";
cout << "// IN THIS MACHINE Floating is " << sizeof (float) << " bytes.\n";
cout << "// IN THIS MACHINE Double is " << sizeof (double) << " bytes.\n";
printf("// \n");
printf("// \n");
printf("// .,,uod8B8bou,,.\n");
printf("// ..,uod8BBBBBBBBBBBBBBBBRPFT?l!i:.\n");
printf("// ,=m8BBBBBBBBBBBBBBBRPFT?!||||||||||||||\n");
printf("// !...:!TVBBBRPFT||||||||||!!^^\"\" ||||\n");
printf("// !.......:!?|||||!!^^\"\"' ||||\n");
printf("// !.........|||| ### # # ||||\n");
printf("// !.........|||| ### # # # # ||||\n");
printf("// !.........|||| # # # # # ||||\n");
printf("// !.........|||| # # # # # ||||\n");
printf("// !.........|||| # ## # # ||||\n");
printf("// !.........|||| # # ### ||||\n");
printf("// `.........|||| # # # ,||||\n");
printf("// .;.......|||| ### _.-!!|||||\n");
printf("// .,uodWBBBBb.....|||| _.-!!|||||||||!:'\n");
printf("// !YBBBBBBBBBBBBBBb..!|||:..-!!|||||||!iof68BBBBBb....\n");
printf("// !..YBBBBBBBBBBBBBBb!!||||||||!iof68BBBBBBRPFT?!:: `.\n");
printf("// !....YBBBBBBBBBBBBBBbaaitf68BBBBBBRPFT?!::::::::: `.\n");
printf("// !......YBBBBBBBBBBBBBBBBBBBRPFT?!::::::;:!^\"`;::: `.\n");
printf("// !........YBBBBBBBBBBRPFT?!::::::::::^''...::::::; iBBbo.\n");
printf("// `..........YBRPFT?!::::::::::::::::::::::::;iof68bo. WBBBBbo.\n");
printf("// `..........:::::::::::::::::::::::;iof688888888888b. `YBBBP^'\n");
printf("// `........::88::::::::::::;iof688888888888888888888b. `\n");
printf("// `......::81:::::;iof688888888888888888888888888888b.\n");
printf("// `....:::;iof688888888888888888888888888888888899fT!\n");
printf("// `..::!8888888888888888888888888888888899fT|!^\"'\n");
printf("// `' !!988888888888888888888888899fT|!^\"'\n");
printf("// `!!8888888888888888899fT|!^\"'\n");
printf("// `!988888888899fT|!^\"'\n");
printf("// `!9899fT|!^\"'\n");
printf("// `!^\"'\n");
printf("// \n");
printf("// \n");
printf("/////////////////////////////////////////////////////////////////////////\n\n\n");
fetch IFU("FETCH_BLOCK");
IFU.init_param(delay_cycles);
IFU << ram_dataout << branch_target_address << next_pc << branch_valid
<< stall_fetch << intreq << vectno << bios_valid << icache_valid
<< pred_fetch << pred_branch_address << pred_branch_valid << ram_cs << ram_we
<< addr << ram_datain << instruction << instruction_valid << program_counter
<< intack_cpu << branch_clear << pred_fetch_valid << reset << clk;
decode IDU("DECODE_BLOCK");
IDU << reset << instruction << pred_instruction << instruction_valid
<< pred_inst_valid << out_valid << destout << dout << dram_dataout
<< dram_rd_valid << destout << fdout << fout_valid << fdestout
<< branch_clear << dsp_data_valid << program_counter << pred_on
<< branch_instruction_address << next_pc << branch_valid
<< branch_target_address << mem_access << mem_address << alu_op
<< mem_write << alu_src << reg_write << src_A << src_B << forward_A
<< forward_B << stall_fetch << decode_valid << float_valid << mmx_valid
<< pid_valid << pid_data << clk;
exec IEU("EXEC_BLOCK");
IEU << reset << decode_valid << alu_op << negate << add1 << shift_sel
<< src_A << src_B << forward_A << forward_B << alu_src << c << v << z
<< dout << out_valid << destout << clk;
floating FPU("FLOAT_BLOCK"); // order dependent
FPU << float_valid << alu_op << src_A << src_B << alu_src
<< fdout << fout_valid << fdestout << clk;
mmxu MMXU("MMX_BLOCK");
MMXU << mmx_valid << alu_op << src_A << src_B << alu_src
<< fdout << fout_valid << fdestout << clk;
bios BIOS("BIOS_BLOCK");
BIOS.init_param(delay_cycles);
BIOS.datain(ram_datain); // order independent
BIOS.cs(ram_cs);
BIOS.we(ram_we);
BIOS.addr(addr);
BIOS.dataout(ram_dataout);
BIOS.bios_valid(bios_valid);
BIOS.stall_fetch(stall_fetch);
BIOS.CLK(clk);
paging PAGING("PAGING_BLOCK");
PAGING << ram_datain << ram_cs << ram_we << addr << icache_din
<< icache_validin << icache_stall << paging_dout << paging_csout
<< paging_weout << physical_address << ram_dataout << icache_valid
<< stall_fetch << clk ;
icache ICACHE("ICACHE_BLOCK");
ICACHE.init_param(delay_cycles);
ICACHE << paging_dout << paging_csout << paging_weout
<< physical_address << pid_valid << pid_data << icache_din << icache_validin
<< icache_stall << clk;
dcache DCACHE("DCACHE_BLOCK");
DCACHE.init_param(delay_cycles);
DCACHE << mmic_datain << mmic_statein << mmic_cs << mmic_we << mmic_addr
<< mmic_dest << mmic_destout << mmic_dataout << mmic_out_valid << mmic_stateout << clk;
pic APIC("PIC_BLOCK");
APIC << ireq0 << ireq1 << ireq2 << ireq3 <<intack_cpu << rd_wr
<< intack_cpu << intreq << intack << vectno;
time_t tbuffer = time(NULL);
sc_start();
cout << "Time for simulation = " << (time(NULL) - tbuffer) << endl;
return 0; /* this is necessary */
}