Joachim Schlosser: Development and Verification of fast C/C++ Simulation Models for the Star12 Microcontroller
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Five concentric circles characterize the hierarchical levels within the design process, with increasing abstraction from the inner to the outer circle. Each circle characterizes a model, explained after introducing the three domains.
With these three domains the most important properties of a system can be well specified. The domain axes intersect with the circles that show the abstraction levels. The five circles from highest to lowest level of abstraction are (outer to inner circles):
Detailed descriptions of what is going on, from what register over which line to where a data is transferred, is the contents of this level.
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A good illustration of the abstraction levels is Figure 2.2 on page 27. I personally like this taxonomy, as it shows how the word abstraction can be seen from different point of views. It is a refined model but simple enough to get an overview on one eye shot.
Keeping in mind that the Gajski-Kuhn chart was created in 1983, you can see that the ideas of [BR01] are not totally new, their achievement was more to transfer the approach of Gajski and Kuhn to the automotive sector and to determine the possibility of using modeling languages like UML for the problem.