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Feat(trace): support trace core interface #3843

Merged
merged 8 commits into from
Dec 10, 2024
10 changes: 10 additions & 0 deletions src/main/scala/system/SoC.scala
Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,16 @@ trait HasSoCParameter {
val NumCores = tiles.size
val EnableILA = soc.EnableILA

// Parameters for trace extension
val TraceTraceGroupNum = tiles.head.traceParams.TraceGroupNum
val TraceCauseWidth = tiles.head.XLEN
val TraceTvalWidth = tiles.head.traceParams.IaddrWidth
val TracePrivWidth = tiles.head.traceParams.PrivWidth
val TraceIaddrWidth = tiles.head.traceParams.IaddrWidth
val TraceItypeWidth = tiles.head.traceParams.ItypeWidth
val TraceIretireWidthCompressed = log2Up(tiles.head.RenameWidth * tiles.head.CommitWidth * 2)
val TraceIlastsizeWidth = tiles.head.traceParams.IlastsizeWidth

// L3 configurations
val L3InnerBusWidth = soc.L3InnerBusWidth
val L3BlockSize = soc.L3BlockSize
Expand Down
26 changes: 26 additions & 0 deletions src/main/scala/top/Top.scala
Original file line number Diff line number Diff line change
Expand Up @@ -258,6 +258,21 @@ class XSTop()(implicit p: Parameters) extends BaseXSSoc() with HasSoCParameter
val riscv_halt = Output(Vec(NumCores, Bool()))
val riscv_critical_error = Output(Vec(NumCores, Bool()))
val riscv_rst_vec = Input(Vec(NumCores, UInt(soc.PAddrBits.W)))
val traceCoreInterface = Vec(NumCores, new Bundle {
val fromEncoder = Input(new Bundle {
val enable = Bool()
val stall = Bool()
})
val toEncoder = Output(new Bundle {
val cause = UInt(TraceCauseWidth.W)
val tval = UInt(TraceTvalWidth.W)
val priv = UInt(TracePrivWidth.W)
val iaddr = UInt((TraceTraceGroupNum * TraceIaddrWidth).W)
val itype = UInt((TraceTraceGroupNum * TraceItypeWidth).W)
val iretire = UInt((TraceTraceGroupNum * TraceIretireWidthCompressed).W)
val ilastsize = UInt((TraceTraceGroupNum * TraceIlastsizeWidth).W)
})
})
})

val reset_sync = withClockAndReset(io.clock.asClock, io.reset) { ResetGen() }
Expand Down Expand Up @@ -296,6 +311,17 @@ class XSTop()(implicit p: Parameters) extends BaseXSSoc() with HasSoCParameter
core.module.io.clintTime := misc.module.clintTime
io.riscv_halt(i) := core.module.io.cpu_halt
io.riscv_critical_error(i) := core.module.io.cpu_crtical_error
// trace Interface
val traceInterface = core.module.io.traceCoreInterface
traceInterface.fromEncoder := io.traceCoreInterface(i).fromEncoder
io.traceCoreInterface(i).toEncoder.priv := traceInterface.toEncoder.priv
io.traceCoreInterface(i).toEncoder.cause := traceInterface.toEncoder.trap.cause
io.traceCoreInterface(i).toEncoder.tval := traceInterface.toEncoder.trap.tval
io.traceCoreInterface(i).toEncoder.iaddr := VecInit(traceInterface.toEncoder.groups.map(_.bits.iaddr)).asUInt
io.traceCoreInterface(i).toEncoder.itype := VecInit(traceInterface.toEncoder.groups.map(_.bits.itype)).asUInt
io.traceCoreInterface(i).toEncoder.iretire := VecInit(traceInterface.toEncoder.groups.map(_.bits.iretire)).asUInt
io.traceCoreInterface(i).toEncoder.ilastsize := VecInit(traceInterface.toEncoder.groups.map(_.bits.ilastsize)).asUInt

core.module.io.reset_vector := io.riscv_rst_vec(i)
}

Expand Down
25 changes: 25 additions & 0 deletions src/main/scala/top/XSNoCTop.scala
Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,21 @@ class XSNoCTop()(implicit p: Parameters) extends BaseXSSoc with HasSoCParameter
val chi = new PortIO
val nodeID = Input(UInt(soc.NodeIDWidthList(issue).W))
val clintTime = Input(ValidIO(UInt(64.W)))
val traceCoreInterface = new Bundle {
val fromEncoder = Input(new Bundle {
val enable = Bool()
val stall = Bool()
})
val toEncoder = Output(new Bundle {
val cause = UInt(TraceCauseWidth.W)
val tval = UInt(TraceTvalWidth.W)
val priv = UInt(TracePrivWidth.W)
val iaddr = UInt((TraceTraceGroupNum * TraceIaddrWidth).W)
val itype = UInt((TraceTraceGroupNum * TraceItypeWidth).W)
val iretire = UInt((TraceTraceGroupNum * TraceIretireWidthCompressed).W)
val ilastsize = UInt((TraceTraceGroupNum * TraceIlastsizeWidth).W)
})
}
})
// imsic axi4lite io
val imsic_axi4lite = wrapper.u_imsic_bus_top.module.axi4lite.map(x => IO(chiselTypeOf(x)))
Expand Down Expand Up @@ -150,6 +165,16 @@ class XSNoCTop()(implicit p: Parameters) extends BaseXSSoc with HasSoCParameter
io.riscv_critical_error := core_with_l2.module.io.cpu_crtical_error
io.hartIsInReset := core_with_l2.module.io.hartIsInReset
core_with_l2.module.io.reset_vector := io.riscv_rst_vec
// trace Interface
val traceInterface = core_with_l2.module.io.traceCoreInterface
traceInterface.fromEncoder := io.traceCoreInterface.fromEncoder
io.traceCoreInterface.toEncoder.priv := traceInterface.toEncoder.priv
io.traceCoreInterface.toEncoder.cause := traceInterface.toEncoder.trap.cause
io.traceCoreInterface.toEncoder.tval := traceInterface.toEncoder.trap.tval
io.traceCoreInterface.toEncoder.iaddr := VecInit(traceInterface.toEncoder.groups.map(_.bits.iaddr)).asUInt
io.traceCoreInterface.toEncoder.itype := VecInit(traceInterface.toEncoder.groups.map(_.bits.itype)).asUInt
io.traceCoreInterface.toEncoder.iretire := VecInit(traceInterface.toEncoder.groups.map(_.bits.iretire)).asUInt
io.traceCoreInterface.toEncoder.ilastsize := VecInit(traceInterface.toEncoder.groups.map(_.bits.ilastsize)).asUInt

EnableClintAsyncBridge match {
case Some(param) =>
Expand Down
1 change: 1 addition & 0 deletions src/main/scala/xiangshan/Bundle.scala
Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ import xiangshan.frontend.AllFoldedHistories
import xiangshan.frontend.AllAheadFoldedHistoryOldestBits
import xiangshan.frontend.RASPtr
import xiangshan.backend.rob.RobBundles.RobCommitEntryBundle
import xiangshan.backend.trace._

class ValidUndirectioned[T <: Data](gen: T) extends Bundle {
val valid = Bool()
Expand Down
31 changes: 31 additions & 0 deletions src/main/scala/xiangshan/L2Top.scala
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@ import top.BusPerfMonitor
import utility._
import xiangshan.cache.mmu.TlbRequestIO
import xiangshan.backend.fu.PMPRespBundle
import xiangshan.backend.trace.{Itype, TraceCoreInterface}

class L1BusErrorUnitInfo(implicit val p: Parameters) extends Bundle with HasSoCParameter {
val ecc_error = Valid(UInt(soc.PAddrBits.W))
Expand Down Expand Up @@ -161,6 +162,10 @@ class L2TopInlined()(implicit p: Parameters) extends LazyModule
val resetInFrontend = Input(Bool())
val toTile = Output(Bool())
}
val traceCoreInterface = new Bundle{
val fromCore = Flipped(new TraceCoreInterface)
val toTile = new TraceCoreInterface
}
val debugTopDown = new Bundle() {
val robTrueCommit = Input(UInt(64.W))
val robHeadPaddr = Flipped(Valid(UInt(36.W)))
Expand All @@ -184,6 +189,32 @@ class L2TopInlined()(implicit p: Parameters) extends LazyModule
io.hartId.toCore := io.hartId.fromTile
io.cpu_halt.toTile := io.cpu_halt.fromCore
io.cpu_critical_error.toTile := io.cpu_critical_error.fromCore
// trace interface
val traceToTile = io.traceCoreInterface.toTile
val traceFromCore = io.traceCoreInterface.fromCore
traceFromCore.fromEncoder := RegNext(traceToTile.fromEncoder)
traceToTile.toEncoder.trap := RegEnable(
traceFromCore.toEncoder.trap,
traceFromCore.toEncoder.groups(0).valid && Itype.isTrap(traceFromCore.toEncoder.groups(0).bits.itype)
)
traceToTile.toEncoder.priv := RegEnable(
traceFromCore.toEncoder.priv,
traceFromCore.toEncoder.groups(0).valid
)
(0 until TraceGroupNum).foreach{ i =>
traceToTile.toEncoder.groups(i).valid := RegNext(traceFromCore.toEncoder.groups(i).valid)
traceToTile.toEncoder.groups(i).bits.iretire := RegNext(traceFromCore.toEncoder.groups(i).bits.iretire)
traceToTile.toEncoder.groups(i).bits.itype := RegNext(traceFromCore.toEncoder.groups(i).bits.itype)
traceToTile.toEncoder.groups(i).bits.ilastsize := RegEnable(
traceFromCore.toEncoder.groups(i).bits.ilastsize,
traceFromCore.toEncoder.groups(i).valid
)
traceToTile.toEncoder.groups(i).bits.iaddr := RegEnable(
traceFromCore.toEncoder.groups(i).bits.iaddr,
traceFromCore.toEncoder.groups(i).valid
)
}

dontTouch(io.hartId)
dontTouch(io.cpu_halt)
dontTouch(io.cpu_critical_error)
Expand Down
19 changes: 17 additions & 2 deletions src/main/scala/xiangshan/Parameters.scala
Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ import xiangshan.backend.fu.FuConfig._
import xiangshan.backend.issue.{IntScheduler, IssueBlockParams, MemScheduler, SchdBlockParams, SchedulerType, VfScheduler, FpScheduler}
import xiangshan.backend.regfile._
import xiangshan.backend.BackendParams
import xiangshan.backend.trace._
import xiangshan.cache.DCacheParameters
import xiangshan.cache.prefetch._
import xiangshan.frontend.{BasePredictor, BranchPredictionResp, FTB, FakePredictor, RAS, Tage, ITTage, Tage_SC, FauFTB}
Expand Down Expand Up @@ -561,7 +562,13 @@ case class XSCoreParameters

// Parameters for trace extension.
// Trace parameters is useful for XSTOP.
val TraceGroupNum = 3 // Width to Encoder
val traceParams: TraceParams = new TraceParams(
TraceGroupNum = 3,
IaddrWidth = GPAddrBitsSv48x4,
PrivWidth = 3,
ItypeWidth = 4,
IlastsizeWidth = 1,
)
}

case object DebugOptionsKey extends Field[DebugOptions]
Expand Down Expand Up @@ -907,5 +914,13 @@ trait HasXSParameter {
protected def TriggerChainMaxLength = 2

// Parameters for Trace extension
def TraceGroupNum = coreParams.TraceGroupNum
def TraceGroupNum = coreParams.traceParams.TraceGroupNum
def CauseWidth = XLEN
def TvalWidth = coreParams.traceParams.IaddrWidth
def PrivWidth = coreParams.traceParams.PrivWidth
def IaddrWidth = coreParams.traceParams.IaddrWidth
def ItypeWidth = coreParams.traceParams.ItypeWidth
def IretireWidthInPipe = log2Up(RenameWidth * 2)
def IretireWidthCompressed = log2Up(RenameWidth * CommitWidth * 2)
def IlastsizeWidth = coreParams.traceParams.IlastsizeWidth
}
5 changes: 5 additions & 0 deletions src/main/scala/xiangshan/XSCore.scala
Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ import utils._
import utility._
import xiangshan.backend._
import xiangshan.backend.fu.PMPRespBundle
import xiangshan.backend.trace.TraceCoreInterface
import xiangshan.cache.mmu._
import xiangshan.frontend._
import xiangshan.mem.L1PrefetchFuzzer
Expand Down Expand Up @@ -84,6 +85,7 @@ class XSCoreImp(outer: XSCoreBase) extends LazyModuleImp(outer)
val cpu_halt = Output(Bool())
val cpu_critical_error = Output(Bool())
val resetInFrontend = Output(Bool())
val traceCoreInterface = new TraceCoreInterface
val l2_pf_enable = Output(Bool())
val perfEvents = Input(Vec(numPCntHc * coreParams.L2NBanks + 1, new PerfEvent))
val beu_errors = Output(new XSL1BusErrors())
Expand Down Expand Up @@ -247,6 +249,9 @@ class XSCoreImp(outer: XSCoreBase) extends LazyModuleImp(outer)

memBlock.io.resetInFrontendBypass.fromFrontend := frontend.io.resetInFrontend
io.resetInFrontend := memBlock.io.resetInFrontendBypass.toL2Top
memBlock.io.traceCoreInterfaceBypass.fromBackend <> backend.io.traceCoreInterface
io.traceCoreInterface <> memBlock.io.traceCoreInterfaceBypass.toL2Top


if (debugOpts.ResetGen) {
backend.reset := memBlock.io.reset_backend
Expand Down
4 changes: 4 additions & 0 deletions src/main/scala/xiangshan/XSTile.scala
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ import top.{BusPerfMonitor, ArgParser, Generator}
import utility.{DelayN, ResetGen, TLClientsMerger, TLEdgeBuffer, TLLogger, Constantin, ChiselDB, FileRegisters}
import coupledL2.EnableCHI
import coupledL2.tl2chi.PortIO
import xiangshan.backend.trace.TraceCoreInterface

class XSTile()(implicit p: Parameters) extends LazyModule
with HasXSParameter
Expand Down Expand Up @@ -101,6 +102,7 @@ class XSTile()(implicit p: Parameters) extends LazyModule
val cpu_halt = Output(Bool())
val cpu_crtical_error = Output(Bool())
val hartIsInReset = Output(Bool())
val traceCoreInterface = new TraceCoreInterface
val debugTopDown = new Bundle {
val robHeadPaddr = Valid(UInt(PAddrBits.W))
val l3MissMatch = Input(Bool())
Expand Down Expand Up @@ -129,6 +131,8 @@ class XSTile()(implicit p: Parameters) extends LazyModule

l2top.module.io.hartIsInReset.resetInFrontend := core.module.io.resetInFrontend
io.hartIsInReset := l2top.module.io.hartIsInReset.toTile
l2top.module.io.traceCoreInterface.fromCore <> core.module.io.traceCoreInterface
io.traceCoreInterface <> l2top.module.io.traceCoreInterface.toTile

l2top.module.io.beu_errors.icache <> core.module.io.beu_errors.icache
l2top.module.io.beu_errors.dcache <> core.module.io.beu_errors.dcache
Expand Down
3 changes: 3 additions & 0 deletions src/main/scala/xiangshan/XSTileWrap.scala
Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@ import system.HasSoCParameter
import device.{IMSICAsync, MsiInfoBundle}
import coupledL2.tl2chi.{PortIO, AsyncPortIO, CHIAsyncBridgeSource}
import utility.{IntBuffer, ResetGen}
import xiangshan.backend.trace.TraceCoreInterface

// This module is used for XSNoCTop for async time domain and divide different
// voltage domain. Everything in this module should be in the core clock domain
Expand Down Expand Up @@ -61,6 +62,7 @@ class XSTileWrap()(implicit p: Parameters) extends LazyModule
val cpu_halt = Output(Bool())
val cpu_crtical_error = Output(Bool())
val hartIsInReset = Output(Bool())
val traceCoreInterface = new TraceCoreInterface
val debugTopDown = new Bundle {
val robHeadPaddr = Valid(UInt(PAddrBits.W))
val l3MissMatch = Input(Bool())
Expand Down Expand Up @@ -93,6 +95,7 @@ class XSTileWrap()(implicit p: Parameters) extends LazyModule
io.cpu_halt := tile.module.io.cpu_halt
io.cpu_crtical_error := tile.module.io.cpu_crtical_error
io.hartIsInReset := tile.module.io.hartIsInReset
io.traceCoreInterface <> tile.module.io.traceCoreInterface
io.debugTopDown <> tile.module.io.debugTopDown
tile.module.io.nodeID.foreach(_ := io.nodeID.get)

Expand Down
6 changes: 6 additions & 0 deletions src/main/scala/xiangshan/backend/Backend.scala
Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ import xiangshan.backend.fu.{FenceIO, FenceToSbuffer, FuConfig, FuType, PFEvent,
import xiangshan.backend.issue.EntryBundles._
import xiangshan.backend.issue.{CancelNetwork, Scheduler, SchedulerArithImp, SchedulerImpBase, SchedulerMemImp}
import xiangshan.backend.rob.{RobCoreTopDownIO, RobDebugRollingIO, RobLsqIO, RobPtr}
import xiangshan.backend.trace.TraceCoreInterface
import xiangshan.frontend.{FtqPtr, FtqRead, PreDecodeInfo}
import xiangshan.mem.{LqPtr, LsqEnqIO, SqPtr}

Expand Down Expand Up @@ -246,6 +247,7 @@ class BackendInlinedImp(override val wrapper: BackendInlined)(implicit p: Parame
ctrlBlock.io.fromTop.hartId := io.fromTop.hartId
ctrlBlock.io.frontend <> io.frontend
ctrlBlock.io.fromCSR.toDecode := intExuBlock.io.csrToDecode.get
ctrlBlock.io.fromCSR.traceCSR := intExuBlock.io.csrio.get.traceCSR
ctrlBlock.io.fromWB.wbData <> wbDataPath.io.toCtrlBlock.writeback
ctrlBlock.io.fromMem.stIn <> io.mem.stIn
ctrlBlock.io.fromMem.violation <> io.mem.memoryViolation
Expand Down Expand Up @@ -752,6 +754,8 @@ class BackendInlinedImp(override val wrapper: BackendInlined)(implicit p: Parame

io.toTop.cpuHalted := ctrlBlock.io.toTop.cpuHalt

io.traceCoreInterface <> ctrlBlock.io.traceCoreInterface

io.debugTopDown.fromRob := ctrlBlock.io.debugTopDown.fromRob
ctrlBlock.io.debugTopDown.fromCore := io.debugTopDown.fromCore

Expand Down Expand Up @@ -947,6 +951,8 @@ class BackendIO(implicit p: Parameters, params: BackendParams) extends XSBundle

val toTop = new BackendToTopBundle

val traceCoreInterface = new TraceCoreInterface

val fenceio = new FenceIO
// Todo: merge these bundles into BackendFrontendIO
val frontend = Flipped(new FrontendToCtrlIO)
Expand Down
2 changes: 1 addition & 1 deletion src/main/scala/xiangshan/backend/Bundles.scala
Original file line number Diff line number Diff line change
Expand Up @@ -220,7 +220,7 @@ object Bundles {
val instrSize = UInt(log2Ceil(RenameWidth + 1).W)
val dirtyFs = Bool()
val dirtyVs = Bool()
val traceBlockInPipe = new TracePipe(log2Up(RenameWidth * 2))
val traceBlockInPipe = new TracePipe(IretireWidthInPipe)

val eliminatedMove = Bool()
// Take snapshot at this CFI inst
Expand Down
43 changes: 42 additions & 1 deletion src/main/scala/xiangshan/backend/CtrlBlock.scala
Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@ import xiangshan.backend.rob.{Rob, RobCSRIO, RobCoreTopDownIO, RobDebugRollingIO
import xiangshan.frontend.{FtqPtr, FtqRead, Ftq_RF_Components}
import xiangshan.mem.{LqPtr, LsqEnqIO}
import xiangshan.backend.issue.{FpScheduler, IntScheduler, MemScheduler, VfScheduler}
import xiangshan.backend.trace._

class CtrlToFtqIO(implicit p: Parameters) extends XSBundle {
val rob_commits = Vec(CommitWidth, Valid(new RobCommitInfo))
Expand Down Expand Up @@ -72,7 +73,8 @@ class CtrlBlockImp(
"robFlush" -> 1,
"load" -> params.LduCnt,
"hybrid" -> params.HyuCnt,
"store" -> (if(EnableStorePrefetchSMS) params.StaCnt else 0)
"store" -> (if(EnableStorePrefetchSMS) params.StaCnt else 0),
"trace" -> TraceGroupNum
))

private val numPcMemReadForExu = params.numPcReadPort
Expand Down Expand Up @@ -239,6 +241,42 @@ class CtrlBlockImp(
io.memStPcRead.foreach(_.data := 0.U)
}

/**
* trace begin
*/
val trace = Module(new Trace)
trace.io.in.fromEncoder.stall := io.traceCoreInterface.fromEncoder.stall
trace.io.in.fromEncoder.enable := io.traceCoreInterface.fromEncoder.enable
trace.io.in.fromRob := rob.io.trace.traceCommitInfo
rob.io.trace.blockCommit := trace.io.out.blockRobCommit

for ((pcMemIdx, i) <- pcMemRdIndexes("trace").zipWithIndex) {
val traceValid = trace.toPcMem.blocks(i).valid
pcMem.io.ren.get(pcMemIdx) := traceValid
pcMem.io.raddr(pcMemIdx) := trace.toPcMem.blocks(i).bits.ftqIdx.get.value
trace.io.in.fromPcMem(i) := pcMem.io.rdata(pcMemIdx).getPc(RegEnable(trace.toPcMem.blocks(i).bits.ftqOffset.get, traceValid))
}

// Trap/Xret only occur in block(0).
val tracePriv = Mux(Itype.isTrapOrXret(trace.toEncoder.blocks(0).bits.tracePipe.itype),
io.fromCSR.traceCSR.lastPriv,
io.fromCSR.traceCSR.currentPriv
)
io.traceCoreInterface.toEncoder.trap.cause := io.fromCSR.traceCSR.cause.asUInt
io.traceCoreInterface.toEncoder.trap.tval := io.fromCSR.traceCSR.tval.asUInt
io.traceCoreInterface.toEncoder.priv := tracePriv
(0 until TraceGroupNum).foreach(i => {
io.traceCoreInterface.toEncoder.groups(i).valid := trace.io.out.toEncoder.blocks(i).valid
io.traceCoreInterface.toEncoder.groups(i).bits.iaddr := trace.io.out.toEncoder.blocks(i).bits.iaddr.getOrElse(0.U)
io.traceCoreInterface.toEncoder.groups(i).bits.itype := trace.io.out.toEncoder.blocks(i).bits.tracePipe.itype
io.traceCoreInterface.toEncoder.groups(i).bits.iretire := trace.io.out.toEncoder.blocks(i).bits.tracePipe.iretire
io.traceCoreInterface.toEncoder.groups(i).bits.ilastsize := trace.io.out.toEncoder.blocks(i).bits.tracePipe.ilastsize
})
/**
* trace end
*/


redirectGen.io.hartId := io.fromTop.hartId
redirectGen.io.oldestExuRedirect.valid := GatedValidRegNext(oldestExuRedirect.valid)
redirectGen.io.oldestExuRedirect.bits := RegEnable(oldestExuRedirect.bits, oldestExuRedirect.valid)
Expand Down Expand Up @@ -686,6 +724,7 @@ class CtrlBlockIO()(implicit p: Parameters, params: BackendParams) extends XSBun
val frontend = Flipped(new FrontendToCtrlIO())
val fromCSR = new Bundle{
val toDecode = Input(new CSRToDecode)
val traceCSR = Input(new TraceCSR)
}
val toIssueBlock = new Bundle {
val flush = ValidIO(new Redirect)
Expand Down Expand Up @@ -754,6 +793,8 @@ class CtrlBlockIO()(implicit p: Parameters, params: BackendParams) extends XSBun
val ratOldPest = new RatToVecExcpMod
})

val traceCoreInterface = new TraceCoreInterface

val perfInfo = Output(new Bundle{
val ctrlInfo = new Bundle {
val robFull = Bool()
Expand Down
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