104 lines
2.4 KiB
C++
104 lines
2.4 KiB
C++
#include <memory>
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#include <limits>
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#include <cstdint>
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#include <cstring>
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#include <cstdlib>
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#include <iostream>
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#include <random>
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#include <unistd.h>
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#include <verilated.h>
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#include "control_loop_math_implementation.h"
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#include "control_loop_cmds.h"
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#include "Vcontrol_loop_sim_top.h"
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using ModType = Vcontrol_loop_sim_top;
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uint32_t main_time = 0;
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double sc_time_stamp() {
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return main_time;
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}
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ModType *mod;
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static void run_clock() {
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for (int i = 0; i < 2; i++) {
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mod->clk = !mod->clk;
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mod->eval();
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main_time++;
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}
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}
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static void init(int argc, char **argv) {
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Verilated::commandArgs(argc, argv);
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Verilated::traceEverOn(true);
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mod = new ModType;
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mod->clk = 0;
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}
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static void set_value(V val, unsigned name) {
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mod->cmd = CONTROL_LOOP_WRITE_BIT | name;
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mod->word_into_loop = val;
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mod->start_cmd = 1;
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do { run_clock(); } while (!mod->finish_cmd);
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mod->start_cmd = 0;
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run_clock();
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}
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int main(int argc, char **argv) {
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init(argc, argv);
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mod = new ModType;
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Transfer func = Transfer{150, 0, 2, 1.1, 10, -1};
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mod->clk = 0;
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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
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* will think they are 32 bit and silently mess things up
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*/
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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);
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mod->curset = 0;
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for (int tick = 0; tick < 500000; tick++) {
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run_clock();
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if (mod->request && !mod->fulfilled) {
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/* Verilator values are not sign-extended to the
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* size of type, so we have to do that ourselves.
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*/
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V ext = sign_extend(mod->curset, 20);
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V val = func.val(ext);
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printf("setting: %ld, val: %ld\n", ext, val);
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mod->measured_value = val;
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mod->fulfilled = 1;
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} else if (mod->fulfilled && !mod->request) {
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mod->fulfilled = 0;
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}
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/* Test changing constants mid-loop. */
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if (tick == 50000) {
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mod->cmd = CONTROL_LOOP_WRITE_BIT | CONTROL_LOOP_P;
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/* 0.60 */
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mod->word_into_loop = 0b1001100110011001100110011001100110011001100;
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mod->start_cmd = 1;
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printf("adjust P\n");
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}
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if (tick == 100000) {
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mod->cmd = CONTROL_LOOP_WRITE_BIT | CONTROL_LOOP_I;
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/* 0.5 */
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mod->word_into_loop = (V)1 << (CONSTS_FRAC - 1);
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printf("adjust I\n");
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mod->start_cmd = 1;
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}
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if (mod->finish_cmd) {
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mod->start_cmd = 0;
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}
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}
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mod->final();
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delete mod;
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return 0;
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}
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