Non-Linear controller

Bender.yml

@@ -135,6 +135,10 @@ sources:
       files:
         - hw/ip/spatz/src/vregfile.sv
     # Level 3
+    - hw/ip/spatz/src/fpnew_nl_pkg.sv
+    - hw/ip/spatz/src/nl_ack_predict.sv
+    - hw/ip/spatz/src/fpnew_nl_controller.sv
+    - hw/ip/spatz/src/fpnew_top_nl.sv
     - hw/ip/spatz/src/spatz_fpu_sequencer.sv
     - hw/ip/spatz/src/spatz_ipu.sv
     - hw/ip/spatz/src/spatz_vfu.sv

hw/ip/snitch/src/riscv_instr.sv

@@ -626,6 +626,15 @@ package riscv_instr;
   localparam logic [31:0] VFRSQRT7_V         = 32'b010011??????00100001?????1010111;
   localparam logic [31:0] VFREC7_V           = 32'b010011??????00101001?????1010111;
   localparam logic [31:0] VFCLASS_V          = 32'b010011??????10000001?????1010111;
+  localparam logic [31:0] VFEXPF_V           = 32'b010011??????01001001?????1010111;
+  localparam logic [31:0] VFEXPS_V           = 32'b010011??????01000001?????1010111;
+  localparam logic [31:0] VFCOSHF_V          = 32'b010011??????11001001?????1010111;
+  localparam logic [31:0] VFCOSHS_V          = 32'b010011??????11000001?????1010111;
+  localparam logic [31:0] VFTANHF_V          = 32'b010011??????11101001?????1010111;
+  localparam logic [31:0] VFTANHS_V          = 32'b010011??????11100001?????1010111;
+  localparam logic [31:0] VFSIN_V            = 32'b010011??????01101001?????1010111;
+  localparam logic [31:0] VFCOS_V            = 32'b010011??????01100001?????1010111;
+  localparam logic [31:0] VFLOG_V            = 32'b010011??????10101001?????1010111;
   localparam logic [31:0] VFWADD_VV          = 32'b110000???????????001?????1010111;
   localparam logic [31:0] VFWREDUSUM_VS      = 32'b110001???????????001?????1010111;
   localparam logic [31:0] VFWSUB_VV          = 32'b110010???????????001?????1010111;

hw/ip/snitch/src/snitch.sv

@@ -2298,6 +2298,18 @@ module snitch import snitch_pkg::*; import riscv_instr::*; #(
         end
       end
       // 0 source register and 0 destination register
+      riscv_instr::VFRSQRT7_V,
+      riscv_instr::VFREC7_V,
+      riscv_instr::VFSQRT_V,
+      riscv_instr::VFEXPF_V,
+      riscv_instr::VFEXPS_V,
+      riscv_instr::VFCOSHF_V,
+      riscv_instr::VFCOSHS_V,
+      riscv_instr::VFTANHF_V,
+      riscv_instr::VFTANHS_V,
+      riscv_instr::VFLOG_V,
+      riscv_instr::VFSIN_V,
+      riscv_instr::VFCOS_V,
       riscv_instr::VADD_VV,
       riscv_instr::VADD_VI,
       riscv_instr::VSUB_VV,

hw/ip/spatz/src/fpnew_nl_pkg.sv

@@ -0,0 +1,248 @@
+// Author: Francesco Murande <fmurande@ethz.ch>
+
+package fpnew_nl_pkg;
+import spatz_pkg::*;
+
+  // =======================================================================
+  // COSH STATES
+  // =======================================================================
+  typedef enum logic [3:0] {
+    COSH_DRAIN,
+    COSH_EXP_POS_U,   
+    COSH_EXP_NEG_U,   
+    COSH_EXP_POS_L,   
+    COSH_EXP_NEG_L,   
+    COSH_WAIT_U,      
+    COSH_SUM_U,       
+    COSH_WAIT_L,      
+    COSH_SUM_L        
+  } cosh_state_e;
+
+  // =======================================================================
+  // TANH STATES
+  // =======================================================================
+  typedef enum logic [3:0] {
+    TANH_DRAIN_L,
+    TANH_DRAIN_U,
+    TANH_X_SQUARE_U,
+    TANH_X_SQUARE_L,
+    TANH_POLY1_U,   
+    TANH_POLY1_L,   
+    TANH_POLY2_U,   
+    TANH_POLY2_L,   
+    TANH_POLY3_U,   
+    TANH_POLY3_L
+  } tanh_state_e;
+
+  // =======================================================================
+  // RSQRT STATES
+  // =======================================================================
+  typedef enum logic [3:0] {
+    RSQRT_DRAIN_L,
+    RSQRT_DRAIN_U,
+    RSQRT_X_SQUARE_U,
+    RSQRT_X_SQUARE_L,
+    RSQRT_POLY1_U,   
+    RSQRT_POLY1_L,   
+    RSQRT_NR1_U,   
+    RSQRT_NR1_L,  
+    RSQRT_NR2_U,  
+    RSQRT_NR2_L          
+  } rsqrt_state_e;
+
+  // =======================================================================
+  // REC STATES
+  // =======================================================================
+  typedef enum logic [3:0] {
+    REC_DRAIN_L,
+    REC_DRAIN_U,
+    REC_APPROX_U,
+    REC_APPROX_L,
+    REC_NR1_MUL_U,   
+    REC_NR1_MUL_L,   
+    REC_NR1_ACCUM_U,
+    REC_NR1_ACCUM_L,
+    REC_NR2_MUL_U,   
+    REC_NR2_MUL_L  
+  } rec_state_e;
+
+  // =======================================================================
+  // SIN_COS STATES
+  // =======================================================================
+  typedef enum logic [4:0] {
+    SIN_COS_DRAIN_L,
+    SIN_COS_DRAIN_U,
+    SIN_COS_POLY1_U,
+    SIN_COS_POLY1_L,
+    SIN_COS_POLY2_U,
+    SIN_COS_POLY2_L,
+    SIN_COS_POLY3_U,
+    SIN_COS_POLY3_L,
+    SIN_COS_POLY4_U,
+    SIN_COS_POLY4_L,
+    SIN_COS_POLY5_U,
+    SIN_COS_POLY5_L,
+    SIN_COS_FLOAT_CONV_U,   
+    SIN_COS_FLOAT_CONV_L,   
+    SIN_COS_INT_CONV_U,
+    SIN_COS_INT_CONV_L,
+    SIN_COS_RR_U,   
+    SIN_COS_RR_L  
+  } sin_cos_state_e;
+
+// ---- BF16 (FP16ALT) Scalar Constants ----
+  // BF16: 1 sign + 8 exp (bias=127) + 7 mantissa bits
+  localparam logic [15:0] CHEBY_A_TANH_BF16    = 16'h3CDA;  // ≈ 0.02661  (tanh poly coeff A)
+  localparam logic [15:0] CHEBY_B_TANH_BF16    = 16'hBE6A;  // ≈ -0.22852 (tanh poly coeff B)
+  localparam logic [15:0] CHEBY_C_TANH_BF16    = 16'h3F7B;  // ≈ 0.98047  (tanh poly coeff C)
+
+  localparam logic [15:0] BF16_1_POINT_5       = 16'h3FC0;
+  localparam logic [15:0] BF16_NEG_0_POINT_5   = 16'hBF00;
+  localparam logic [15:0] BF16_ONE             = 16'h3F80;
+  localparam logic [15:0] BF16_TWO             = 16'h4000;
+
+  localparam logic [15:0] PIO2_HI_BF16         = 16'h3FC9;  // ≈ π/2 = 1.5703125
+  localparam logic [15:0] COS_C2_BF16          = 16'hBEFE;  // ≈ -0.49609
+  localparam logic [15:0] SIN_S3_BF16          = 16'hBE2A;  // ≈ -0.16602
+
+  localparam logic [15:0] QUAKE_MAGIC_BF16     = 16'h5F37;
+  localparam logic [15:0] LOG_SCALE_BF16       = 16'h3BB1;  // ln(2)/2^7 ≈ 0.005402
+  localparam logic [15:0] REC_MAGIC_BF16       = 16'h7EFF;  // 2*bias*2^p - 1 = 32511
+
+  localparam logic [15:0] SCH_C_BF16           = 16'h4339;  // 2^7/ln(2) ≈ 185.0
+  localparam logic [15:0] SCH_B_BF16           = 16'h467E;  // bias*2^7 corrected ≈ 16256.0
+  localparam logic [15:0] SCH_B_COSH_BF16      = 16'h467C;  // cosh correction (same at BF16 precision)
+  localparam logic [15:0] INV_PIO2_BF16        = 16'h3F23;  // 2/π ≈ 0.63672
+  localparam logic [15:0] BF16_ZERO            = 16'h0000;
+
+  // ---- BF16 Packed Vectors (4 × BF16 = 64 bits) ----
+  localparam logic [63:0] CHEBY_A_TANH_VEC_BF16 = {4{CHEBY_A_TANH_BF16}};
+  localparam logic [63:0] CHEBY_B_TANH_VEC_BF16 = {4{CHEBY_B_TANH_BF16}};
+  localparam logic [63:0] CHEBY_C_TANH_VEC_BF16 = {4{CHEBY_C_TANH_BF16}};
+
+  localparam logic [63:0] C3_HALVES_VEC_BF16   = {4{BF16_1_POINT_5}};
+  localparam logic [63:0] C1_HALF_VEC_BF16     = {4{BF16_NEG_0_POINT_5}};
+  localparam logic [63:0] C_ONE_VEC_BF16       = {4{BF16_ONE}};
+  localparam logic [63:0] C2_VEC_BF16          = {4{BF16_TWO}};
+  localparam logic [63:0] PIO2_HI_VEC_BF16     = {4{PIO2_HI_BF16}};
+  localparam logic [63:0] COS_C2_VEC_BF16      = {4{COS_C2_BF16}};
+  localparam logic [63:0] SIN_S3_VEC_BF16      = {4{SIN_S3_BF16}};
+
+  localparam logic [63:0] LOG_SCALE_VEC_BF16   = {4{LOG_SCALE_BF16}};
+
+  localparam logic [63:0] SCH_C_VEC_BF16       = {4{SCH_C_BF16}};
+  localparam logic [63:0] SCH_B_VEC_BF16       = {4{SCH_B_BF16}};
+  localparam logic [63:0] SCH_B_COSH_VEC_BF16  = {4{SCH_B_COSH_BF16}};
+  localparam logic [63:0] INV_PIO2_VEC_BF16    = {4{INV_PIO2_BF16}};
+
+// ---- FP16 Scalar Constants ----
+  localparam logic [15:0] CHEBY_A_TANH_F16     = 16'h266C;  // ≈ 0.02652
+  localparam logic [15:0] CHEBY_B_TANH_F16     = 16'hB34E;  // ≈ -0.2066
+  localparam logic [15:0] CHEBY_C_TANH_F16     = 16'h3BD4;  // ≈ 0.9782
+
+  localparam logic [15:0] FP16_1_POINT_5       = 16'h3E00;
+  localparam logic [15:0] FP16_NEG_0_POINT_5   = 16'hB800;
+  localparam logic [15:0] FP16_ONE             = 16'h3C00;
+  localparam logic [15:0] FP16_TWO             = 16'h4000;
+
+  localparam logic [15:0] PIO2_HI_F16          = 16'h3E48;  // ≈ π/2
+  localparam logic [15:0] COS_C2_F16           = 16'hB7EF;  // ≈ -0.4967
+  localparam logic [15:0] SIN_S3_F16           = 16'hB14D;  // ≈ -0.1660
+
+  localparam logic [15:0] QUAKE_MAGIC_F16      = 16'h59BA;
+  localparam logic [15:0] LOG_SCALE_F16        = 16'h118C; // ln(2)/2^10
+  localparam logic [15:0] REC_MAGIC_F16        = 16'h77FF; // 2*bias*2^p - 1 = 30719
+
+  localparam logic [15:0] SCH_C_F16            = 16'h65c5;
+  localparam logic [15:0] SCH_B_F16            = 16'h737a;
+  localparam logic [15:0] SCH_B_COSH_F16       = 16'h72FB;  //
+  localparam logic [15:0] INV_PIO2_F16         = 16'h3918;
+  localparam logic [15:0] F16_ZERO             = 16'h0000;
+
+  // ---- FP16 Packed Vectors (4 × FP16 = 64 bits) ----
+  localparam logic [63:0] CHEBY_A_TANH_VEC_F16 = {4{CHEBY_A_TANH_F16}};
+  localparam logic [63:0] CHEBY_B_TANH_VEC_F16 = {4{CHEBY_B_TANH_F16}};
+  localparam logic [63:0] CHEBY_C_TANH_VEC_F16 = {4{CHEBY_C_TANH_F16}};
+
+  localparam logic [63:0] C3_HALVES_VEC_F16    = {4{FP16_1_POINT_5}};
+  localparam logic [63:0] C1_HALF_VEC_F16      = {4{FP16_NEG_0_POINT_5}};
+  localparam logic [63:0] C_ONE_VEC_F16        = {4{FP16_ONE}};
+  localparam logic [63:0] C2_VEC_F16           = {4{FP16_TWO}};
+  localparam logic [63:0] PIO2_HI_VEC_F16      = {4{PIO2_HI_F16}};
+  localparam logic [63:0] COS_C2_VEC_F16       = {4{COS_C2_F16}};
+  localparam logic [63:0] SIN_S3_VEC_F16       = {4{SIN_S3_F16}};
+
+  localparam logic [63:0] LOG_SCALE_VEC_F16    = {4{LOG_SCALE_F16}};
+
+  localparam logic [63:0] SCH_C_VEC_F16      = {4{SCH_C_F16}};
+  localparam logic [63:0] SCH_B_VEC_F16      = {4{SCH_B_F16}};
+  localparam logic [63:0] SCH_B_COSH_VEC_F16 = {4{SCH_B_COSH_F16}};
+  localparam logic [63:0] INV_PIO2_VEC_F16   = {4{INV_PIO2_F16}};
+
+  // =======================================================================
+  // CHEBYSHEV COEFFICIENTS (TANH)
+  // =======================================================================
+  localparam logic [31:0] CHEBY_A_TANH     = 32'h3cd981f2;
+  localparam logic [31:0] CHEBY_B_TANH     = 32'hbe69c8ac;
+  localparam logic [31:0] CHEBY_C_TANH     = 32'h3f7a84b9;
+
+  // Packed 64-bit Vectors
+  localparam logic [63:0] CHEBY_A_TANH_VEC = {2{CHEBY_A_TANH}};
+  localparam logic [63:0] CHEBY_B_TANH_VEC = {2{CHEBY_B_TANH}};
+  localparam logic [63:0] CHEBY_C_TANH_VEC = {2{CHEBY_C_TANH}};
+
+  // =======================================================================
+  // TRIGONOMETRIC & GEOMETRIC CONSTANTS
+  // =======================================================================
+  localparam logic [31:0] FP32_1_POINT_5   = 32'h3fc00000;   //  1.5f
+  localparam logic [31:0] FP32_NEG_0_POINT_5 = 32'hbf000000; // -0.5f
+  localparam logic [31:0] FP32_ONE         = 32'h3f800000;   //  1.0f
+  localparam logic [31:0] FP32_TWO         = 32'h40000000;   //  2.0f
+
+  localparam logic [31:0] PIO2_HI          = 32'h3fc90fda; //  Pi/2
+  localparam logic [31:0] COS_C2           = 32'hbefe4f76; // -0.49670f
+  localparam logic [31:0] SIN_S3           = 32'hbe2a0903; // -0.16605f
+
+  // Packed 64-bit Vectors
+  localparam logic [63:0] C3_HALVES_VEC    = {2{FP32_1_POINT_5}};
+  localparam logic [63:0] C1_HALF_VEC      = {2{FP32_NEG_0_POINT_5}};
+  localparam logic [63:0] C_ONE_VEC        = {2{FP32_ONE}};
+  localparam logic [63:0] PIO2_HI_VEC      = {2{PIO2_HI}};
+  localparam logic [63:0] COS_C2_VEC       = {2{COS_C2}};
+  localparam logic [63:0] SIN_S3_VEC       = {2{SIN_S3}};
+  localparam logic [63:0] C2_VEC           = {2{FP32_TWO}};
+
+   // =======================================================================
+
+  // =======================================================================
+  // SPECIAL FUNCTIONS (RSQRT & LOG & REC)
+  // =======================================================================
+  localparam logic [31:0] QUAKE_MAGIC      = 32'h5f375928; // RSQRT Constant
+  localparam logic [31:0] LOG_SCALE        = 32'h33b17218; // ln(2)/2^23
+  localparam logic [31:0] REC_MAGIC        = 32'h7effffff; // REC Constant
+
+  // Packed 64-bit Vectors
+  localparam logic [63:0] QUAKE_MAGIC_VEC  = {2{QUAKE_MAGIC}};
+  localparam logic [63:0] LOG_SCALE_VEC    = {2{LOG_SCALE}};
+  localparam logic [63:0] REC_MAGIC_VEC    = {2{REC_MAGIC}};
+
+  // =======================================================================
+  // MASKS
+  // =======================================================================
+  localparam logic [30:0] ABS_ONE_MASK     = 31'h3F800000; 
+
+  // Schraudolph Constants (Exp/Cosh Approximation)
+  localparam logic [31:0] SCH_C_FP32      = 32'h4B38AA3B; 
+  localparam logic [31:0] SCH_B_FP32      = 32'h4E7DE250; 
+  localparam logic [31:0] SCH_B_COSH_FP32 = 32'h4e7bdf00; 
+  localparam logic [31:0] F32_ZERO        = 32'h00000000;
+  localparam logic [31:0] INV_PIO2        = 32'h3f22f983;
+
+  // Packed Vectors
+  localparam logic [N_FU*ELEN-1:0] SCH_C_VEC       = {N_FU*2{SCH_C_FP32}};
+  localparam logic [N_FU*ELEN-1:0] SCH_B_VEC       = {N_FU*2{SCH_B_FP32}};
+  localparam logic [N_FU*ELEN-1:0] SCH_B_COSH_VEC  = {N_FU*2{SCH_B_COSH_FP32}};
+  localparam logic [N_FU*ELEN-1:0] F32_ZERO_VEC    = {N_FU*2{F32_ZERO}};
+  localparam logic [N_FU*ELEN-1:0] INV_PIO2_VEC    = {N_FU*2{INV_PIO2}};
+
+endpackage : fpnew_nl_pkg