upsilon/firmware/rtl/control_loop/control_loop_sim.cpp

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#include <memory>
#include <limits>
#include <cstdint>
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#include <cstring>
#include <cstdlib>
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#include <iostream>
#include <random>
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#include <unistd.h>
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// Other classes implemented (Verilator)
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#include <verilated.h>
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#include "control_loop_math_implementation.h"
#include "control_loop_cmds.h"
#include "Vcontrol_loop_sim_top.h"
using ModType = Vcontrol_loop_sim_top;
// Clock
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uint32_t main_time = 0;
double sc_time_stamp() {
return main_time;
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}
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ModType *mod;
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static void run_clock() {
for (int i = 0; i < 2; i++) {
mod->clk = !mod->clk;
mod->eval();
main_time++;
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}
}
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static void init(int argc, char **argv) {
Verilated::commandArgs(argc, argv);
Verilated::traceEverOn(true);
mod = new ModType;
mod->clk = 0;
}
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static void set_value(V val, unsigned name) {
mod->cmd = CONTROL_LOOP_WRITE_BIT | name;
mod->word_into_loop = val;
mod->start_cmd = 1;
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do { run_clock(); } while (!mod->finish_cmd);
mod->start_cmd = 0;
run_clock();
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}
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int main(int argc, char **argv) {
init(argc, argv);
mod = new ModType;
Transfer func = Transfer{150, 0, 2, 1.1, 10, -1};
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mod->clk = 0;
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// Replace CONTROL_LOOP_P with an int P and the number with char or string seed
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set_value(0b11010111000010100011110101110000101000111, CONTROL_LOOP_P);
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/* Constant values must be sized to 64 bits, or else the compiler
* will think they are 32 bit and silently mess things up
*/
// Replace CONTROL_LOOP_I with int I
set_value((V)6 << CONSTS_FRAC, CONTROL_LOOP_I);
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set_value(20, CONTROL_LOOP_DELAY);
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set_value(10000, CONTROL_LOOP_SETPT);
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set_value(1, CONTROL_LOOP_STATUS);
mod->curset = 0;
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for (int tick = 0; tick < 500000; tick++) {
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run_clock();
if (mod->request && !mod->fulfilled) {
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/* Verilator values are not sign-extended to the
* size of type, so we have to do that ourselves.
*/
V ext = sign_extend(mod->curset, 20);
V val = func.val(ext);
printf("setting: %ld, val: %ld\n", ext, val);
mod->measured_value = val;
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mod->fulfilled = 1;
} else if (mod->fulfilled && !mod->request) {
mod->fulfilled = 0;
}
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if (mod->finish_cmd) {
mod->start_cmd = 0;
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}
}
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mod->final();
delete mod;
return 0;
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}