Modeling and simulation of hardware/software systems with CD++

Modeling and simulation (M&S) methodologies can be useful in the development of hardware-in-the-loop applications. CD++ is a toolkit with support for real-time model execution that implements DEVS, a sound, formal M&S framework allowing hierarchical, modular model composition and component reuse. We present a methodology that uses CD++ to develop hybrid hardware/software systems. The technique enables incremental transition from the simulated models to the actual hardware counterparts, supports experimental frameworks to facilitate testing in a risk-free environment, encourages component reuse, and allows developing models with different levels of abstraction. CD++ can reduce cost and time-to-market of hardware-in-the-loop applications, and preserves the benefits of a formal M&S methodology like DEVS.