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But at step (d) when I type s, I get the following error message:

#  ** Error: (vsim-3010)  - Module 'sopc_system_tb' does not have a `timescale directive in effect, but other modules do.#  Region: /sopc_system_tb/dut/the_master_bfm/master_bfm

Any suggestion on how to handle this error?

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The vsim command should have a '-t ps' option in its command line, so it should work. I've seen this as a warning in simulations, but not as an error, so perhaps there is an option that can be changed to suppress this error. Which version of Modelsim are you using, i.e., what do you get for vsim -version?

Note that the error is in the Altera-generated BFM code.

Cheers,

Dave