mirror of
https://github.com/NawfalMotii79/PLFM_RADAR.git
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test(opcodes): PR-I.1 — tb_system_opcodes via production FT2232H path
New TB instantiates radar_system_top with USB_MODE=1 and wires the FT2232H ports correctly (which tb_system_e2e never did — its BFM was FT601-only, so USB_MODE=1 opcode-dispatch tests were stimulating dangling ports). Uses the proven send_cmd pattern from tb_usb_protocol_v2. Coverage migrated from tb_system_e2e: - G6.1-6.6 — opcode 0x01/0x02/0x03/0x04/0x10/0x15 dispatch - G7.2/G7.4 — rapid USB cmd CDC integrity - G13.1-8 — chirps_per_elev clamp at DOPPLER_FRAME_CHIRPS=48 (PR-F-aware; was hardcoded to 32 in tb_system_e2e G13) - G14.1-13 — range_mode + CFAR opcode dispatch (0x20-0x25) Plus new PR-G coverage: - 0x17/0x18 MEDIUM ladder timing - 0x2D cfar_alpha_soft Result: 33/33 PASS in 15.7 ms sim. Resolves 10 of the 26 USB_MODE=1 failures from T-3 (the FT2232H-specific cluster). Remaining 16 in USB_MODE=1 are T-2 pipeline-timing failures, addressed in PR-I.3 (tb_system_dataflow). tb_system_e2e is not yet retired — see PR-I.4.
This commit is contained in:
Jason
481
9_Firmware/9_2_FPGA/tb/tb_system_opcodes.v
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481
9_Firmware/9_2_FPGA/tb/tb_system_opcodes.v
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@@ -0,0 +1,481 @@
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`timescale 1ns / 1ps
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`include "radar_params.vh"
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// ============================================================================
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// tb_system_opcodes.v (PR-I, replaces tb_system_e2e G6/G7.2/G7.4/G13/G14)
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//
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// Verifies host opcode dispatch through the production FT2232H USB path.
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// radar_system_top is instantiated with USB_MODE=1; ft_data / ft_rxf_n / etc.
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// are driven by a BFM modeled on tb_usb_protocol_v2's send_cmd task (the only
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// stimulus pattern proven to align with the FT2232H 4-cycle read FSM).
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//
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// Each test sends a 4-byte command (op, addr, val_hi, val_lo) and verifies
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// the corresponding dut.host_* register updates after CDC propagation.
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//
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// Sim budget: ~1 ms — opcode dispatch only, no chirp pipeline.
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// ============================================================================
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module tb_system_opcodes;
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// ----------------------------------------------------------------------------
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// Clocks
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// ----------------------------------------------------------------------------
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localparam CLK_100M_PERIOD = 10.0; // 100 MHz radar clock
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localparam CLK_120M_PERIOD = 8.333; // 120 MHz DAC clock
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localparam FT_CLK_PERIOD = 16.667; // 60 MHz FT2232H clock
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localparam ADC_DCO_PERIOD = 2.5; // 400 MHz ADC DCO
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reg clk_100m = 1'b0;
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reg clk_120m_dac = 1'b0;
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reg ft601_clk_in = 1'b0;
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reg adc_dco_p = 1'b0;
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reg adc_dco_n = 1'b1;
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always #(CLK_100M_PERIOD/2) clk_100m = ~clk_100m;
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always #(CLK_120M_PERIOD/2) clk_120m_dac = ~clk_120m_dac;
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always #(FT_CLK_PERIOD/2) ft601_clk_in = ~ft601_clk_in;
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always #(ADC_DCO_PERIOD/2) begin adc_dco_p = ~adc_dco_p; adc_dco_n = ~adc_dco_n; end
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// ----------------------------------------------------------------------------
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// DUT signals (FT2232H production path)
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// ----------------------------------------------------------------------------
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reg reset_n = 1'b0;
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// ADC quiescent (no chirp data needed for opcode tests)
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reg [7:0] adc_d_p = 8'h80;
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reg [7:0] adc_d_n = 8'h7F;
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// STM32 control — tied off
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reg stm32_new_chirp = 1'b0;
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reg stm32_new_elevation = 1'b0;
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reg stm32_new_azimuth = 1'b0;
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reg stm32_mixers_enable = 1'b0;
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reg stm32_sclk_3v3 = 1'b0;
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reg stm32_mosi_3v3 = 1'b0;
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wire stm32_miso_3v3;
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reg stm32_cs_adar1_3v3 = 1'b1, stm32_cs_adar2_3v3 = 1'b1;
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reg stm32_cs_adar3_3v3 = 1'b1, stm32_cs_adar4_3v3 = 1'b1;
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wire stm32_sclk_1v8, stm32_mosi_1v8;
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reg stm32_miso_1v8 = 1'b0;
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wire stm32_cs_adar1_1v8, stm32_cs_adar2_1v8;
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wire stm32_cs_adar3_1v8, stm32_cs_adar4_1v8;
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// DAC outputs (ignored)
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wire [7:0] dac_data;
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wire dac_clk;
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wire dac_sleep;
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// RF control (ignored)
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wire fpga_rf_switch;
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wire rx_mixer_en, tx_mixer_en;
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wire adc_pwdn;
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// ADAR (ignored)
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wire adar_tx_load_1, adar_rx_load_1;
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wire adar_tx_load_2, adar_rx_load_2;
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wire adar_tx_load_3, adar_rx_load_3;
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wire adar_tx_load_4, adar_rx_load_4;
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wire adar_tr_1, adar_tr_2, adar_tr_3, adar_tr_4;
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// FT601 ports — unused in USB_MODE=1; tie inputs and ignore outputs
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wire [31:0] ft601_data;
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wire [3:0] ft601_be;
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wire ft601_txe_n;
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wire ft601_rxf_n;
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reg ft601_txe = 1'b0;
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reg ft601_rxf = 1'b1;
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wire ft601_wr_n;
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wire ft601_rd_n;
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wire ft601_oe_n;
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wire ft601_siwu_n;
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reg [1:0] ft601_srb = 2'b00;
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reg [1:0] ft601_swb = 2'b00;
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wire ft601_clk_out;
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// FT2232H ports — DRIVEN BY THIS TB
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wire [7:0] ft_data; // bidirectional
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reg ft_rxf_n = 1'b1;
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reg ft_txe_n = 1'b0;
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wire ft_rd_n;
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wire ft_wr_n;
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wire ft_oe_n;
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wire ft_siwu;
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// TB-side bus driver: drive ft_data while sending command bytes,
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// release to high-Z otherwise (DUT may drive on writes, but opcode
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// dispatch tests don't trigger writes).
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reg [7:0] ft_data_drive = 8'h00;
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reg ft_data_drive_en = 1'b0;
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assign ft_data = ft_data_drive_en ? ft_data_drive : 8'hzz;
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pulldown pd[7:0] (ft_data);
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// Status / debug outputs (mostly ignored)
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wire [5:0] current_elevation, current_azimuth, current_chirp;
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wire new_chirp_frame;
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wire [31:0] dbg_doppler_data;
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wire dbg_doppler_valid;
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wire [`RP_DOPPLER_BIN_WIDTH-1:0] dbg_doppler_bin;
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wire [`RP_RANGE_BIN_WIDTH_MAX-1:0] dbg_range_bin;
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wire [3:0] system_status;
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wire gpio_dig5, gpio_dig6, gpio_dig7;
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// ----------------------------------------------------------------------------
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// DUT — radar_system_top with USB_MODE=1 (production FT2232H path)
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// ----------------------------------------------------------------------------
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radar_system_top #(
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.USB_MODE(1)
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) dut (
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.clk_100m(clk_100m),
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.clk_120m_dac(clk_120m_dac),
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.ft601_clk_in(ft601_clk_in),
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.reset_n(reset_n),
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.dac_data(dac_data), .dac_clk(dac_clk), .dac_sleep(dac_sleep),
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.fpga_rf_switch(fpga_rf_switch),
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.rx_mixer_en(rx_mixer_en), .tx_mixer_en(tx_mixer_en),
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.adar_tx_load_1(adar_tx_load_1), .adar_rx_load_1(adar_rx_load_1),
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.adar_tx_load_2(adar_tx_load_2), .adar_rx_load_2(adar_rx_load_2),
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.adar_tx_load_3(adar_tx_load_3), .adar_rx_load_3(adar_rx_load_3),
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.adar_tx_load_4(adar_tx_load_4), .adar_rx_load_4(adar_rx_load_4),
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.adar_tr_1(adar_tr_1), .adar_tr_2(adar_tr_2),
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.adar_tr_3(adar_tr_3), .adar_tr_4(adar_tr_4),
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.stm32_sclk_3v3(stm32_sclk_3v3),
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.stm32_mosi_3v3(stm32_mosi_3v3),
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.stm32_miso_3v3(stm32_miso_3v3),
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.stm32_cs_adar1_3v3(stm32_cs_adar1_3v3),
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.stm32_cs_adar2_3v3(stm32_cs_adar2_3v3),
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.stm32_cs_adar3_3v3(stm32_cs_adar3_3v3),
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.stm32_cs_adar4_3v3(stm32_cs_adar4_3v3),
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.stm32_sclk_1v8(stm32_sclk_1v8),
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.stm32_mosi_1v8(stm32_mosi_1v8),
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.stm32_miso_1v8(stm32_miso_1v8),
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.stm32_cs_adar1_1v8(stm32_cs_adar1_1v8),
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.stm32_cs_adar2_1v8(stm32_cs_adar2_1v8),
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.stm32_cs_adar3_1v8(stm32_cs_adar3_1v8),
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.stm32_cs_adar4_1v8(stm32_cs_adar4_1v8),
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.adc_d_p(adc_d_p), .adc_d_n(adc_d_n),
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.adc_dco_p(adc_dco_p), .adc_dco_n(adc_dco_n),
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.adc_or_p(1'b0), .adc_or_n(1'b1),
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.adc_pwdn(adc_pwdn),
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.stm32_new_chirp(stm32_new_chirp),
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.stm32_new_elevation(stm32_new_elevation),
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.stm32_new_azimuth(stm32_new_azimuth),
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.stm32_mixers_enable(stm32_mixers_enable),
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// FT601 ports — tied off / unused in USB_MODE=1
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.ft601_data(ft601_data),
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.ft601_be(ft601_be),
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.ft601_txe_n(ft601_txe_n),
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.ft601_rxf_n(ft601_rxf_n),
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.ft601_txe(ft601_txe),
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.ft601_rxf(ft601_rxf),
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.ft601_wr_n(ft601_wr_n),
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.ft601_rd_n(ft601_rd_n),
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.ft601_oe_n(ft601_oe_n),
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.ft601_siwu_n(ft601_siwu_n),
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.ft601_srb(ft601_srb),
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.ft601_swb(ft601_swb),
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.ft601_clk_out(ft601_clk_out),
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// FT2232H ports — driven by this TB
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.ft_data(ft_data),
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.ft_rxf_n(ft_rxf_n),
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.ft_txe_n(ft_txe_n),
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.ft_rd_n(ft_rd_n),
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.ft_wr_n(ft_wr_n),
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.ft_oe_n(ft_oe_n),
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.ft_siwu(ft_siwu),
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.current_elevation(current_elevation),
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.current_azimuth(current_azimuth),
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.current_chirp(current_chirp),
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.new_chirp_frame(new_chirp_frame),
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.dbg_doppler_data(dbg_doppler_data),
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.dbg_doppler_valid(dbg_doppler_valid),
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.dbg_doppler_bin(dbg_doppler_bin),
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.dbg_range_bin(dbg_range_bin),
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.system_status(system_status),
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.gpio_dig5(gpio_dig5),
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.gpio_dig6(gpio_dig6),
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.gpio_dig7(gpio_dig7)
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);
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// ----------------------------------------------------------------------------
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// BFM — proven send_cmd from tb_usb_protocol_v2 (4-cycle FT2232H read FSM)
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// ----------------------------------------------------------------------------
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task wait_clk;
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input integer n;
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integer i;
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begin
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for (i = 0; i < n; i = i + 1) @(posedge clk_100m);
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end
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endtask
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task wait_ft;
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input integer n;
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integer i;
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begin
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for (i = 0; i < n; i = i + 1) @(posedge ft601_clk_in);
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end
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endtask
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task send_cmd;
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input [7:0] op;
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input [7:0] addr;
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input [15:0] val;
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begin
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@(posedge ft601_clk_in); #1;
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ft_rxf_n = 1'b0;
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ft_data_drive = op;
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ft_data_drive_en = 1'b1;
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@(posedge ft601_clk_in); #1; // RD_IDLE -> RD_OE_ASSERT (NBA)
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@(posedge ft601_clk_in); #1; // RD_OE_ASSERT -> RD_READING
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@(posedge ft601_clk_in); #1; // RD_READING samples op
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ft_data_drive = addr;
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@(posedge ft601_clk_in); #1; // samples addr
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ft_data_drive = val[15:8];
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@(posedge ft601_clk_in); #1; // samples val_hi
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ft_data_drive = val[7:0];
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@(posedge ft601_clk_in); #1; // samples val_lo
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ft_rxf_n = 1'b1;
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ft_data_drive_en = 1'b0;
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wait_clk(40); // CDC ft_clk -> clk_100m + dispatch register
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end
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endtask
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// ----------------------------------------------------------------------------
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// Test infrastructure
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// ----------------------------------------------------------------------------
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integer pass_count = 0;
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integer fail_count = 0;
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integer test_num = 0;
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// Sticky flag for G6.6 (host_trigger_pulse is a 1-cycle self-clearing pulse).
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reg trigger_pulse_seen = 1'b0;
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always @(posedge clk_100m) begin
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if (!reset_n) trigger_pulse_seen <= 1'b0;
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else if (dut.host_trigger_pulse) trigger_pulse_seen <= 1'b1;
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end
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task check;
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input cond;
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input [80*8-1:0] msg;
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begin
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test_num = test_num + 1;
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if (cond) begin
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$display(" [PASS] %0d: %0s", test_num, msg);
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pass_count = pass_count + 1;
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end else begin
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$display(" [FAIL] %0d: %0s", test_num, msg);
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fail_count = fail_count + 1;
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end
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end
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endtask
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// ----------------------------------------------------------------------------
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// Main test sequence
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// ----------------------------------------------------------------------------
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initial begin
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$display("============================================================");
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$display(" tb_system_opcodes — opcode dispatch via FT2232H");
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$display("============================================================");
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// Reset
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reset_n = 1'b0;
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wait_clk(20);
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reset_n = 1'b1;
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wait_clk(50);
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// ====================================================================
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// GROUP 6: USB COMMAND DECODE (was tb_system_e2e G6)
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// ====================================================================
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$display("\n--- Group 6: USB Command Decode ---");
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// G6.1: Set radar mode (opcode 0x01) -> host_radar_mode[1:0]
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send_cmd(8'h01, 8'h00, 16'h0002);
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check(dut.host_radar_mode == 2'b10,
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"G6.1: 0x01 -> host_radar_mode = 2'b10 (single chirp)");
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// G6.2: Set detection threshold (0x03) -> host_detect_threshold
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send_cmd(8'h03, 8'h00, 16'h1234);
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check(dut.host_detect_threshold == 16'h1234,
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"G6.2: 0x03 -> host_detect_threshold = 0x1234");
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// G6.3: Set stream control (0x04) -> host_stream_control[2:0]
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// Bits [5:3] are reserved (forced to 000 by dispatch logic)
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send_cmd(8'h04, 8'h00, 16'h0005);
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check(dut.host_stream_control == 6'b000_101,
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"G6.3: 0x04 -> host_stream_control[2:0] = 3'b101");
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// G6.4: Long chirp cycles (0x10) -> host_long_chirp_cycles
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send_cmd(8'h10, 8'h00, 16'd2000);
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check(dut.host_long_chirp_cycles == 16'd2000,
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"G6.4: 0x10 -> host_long_chirp_cycles = 2000");
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// G6.5: chirps_per_elev (0x15). Production frame is 48 chirps; value
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// matching DOPPLER_FRAME_CHIRPS clears the mismatch flag.
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send_cmd(8'h15, 8'h00, 16'd48);
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check(dut.host_chirps_per_elev == 6'd48,
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"G6.5: 0x15 -> host_chirps_per_elev = 48");
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check(dut.chirps_mismatch_error == 1'b0,
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"G6.5b: chirps_mismatch_error clear when chirps==48");
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// G6.6: Trigger pulse (0x02) — self-clearing, latches host_trigger_pulse
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// for one clk_100m cycle. Capture via a flag set on rising edge.
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@(posedge clk_100m);
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send_cmd(8'h02, 8'h00, 16'h0000);
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// host_trigger_pulse self-clears the cycle after; we observed it via
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// a sticky flag (see below).
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check(trigger_pulse_seen == 1'b1,
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"G6.6: 0x02 trigger pulse observed");
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// ====================================================================
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// GROUP 7: USB COMMAND CDC INTEGRITY (was G7.2 / G7.4)
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// ====================================================================
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$display("\n--- Group 7: USB Command CDC Integrity ---");
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// G7.2: Three rapid USB commands; verify the last one is applied.
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send_cmd(8'h03, 8'h00, 16'hAAAA);
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send_cmd(8'h03, 8'h00, 16'hBBBB);
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send_cmd(8'h03, 8'h00, 16'hCCCC);
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check(dut.host_detect_threshold == 16'hCCCC,
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"G7.2: Last of 3 rapid USB commands applied (0xCCCC)");
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// G7.4: CDC carries value bit-exact (no corruption).
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check(dut.host_detect_threshold == 16'hCCCC,
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"G7.4: CDC-transferred detect threshold bit-exact");
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// ====================================================================
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// GROUP 13: DOPPLER/CHIRPS MISMATCH PROTECTION (PR-F: 48-chirp aware)
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// ====================================================================
|
||||
$display("\n--- Group 13: Chirps/Doppler Mismatch Protection ---");
|
||||
|
||||
// G13.1: chirps==48 (matches DOPPLER_FRAME_CHIRPS) -> mismatch clear
|
||||
send_cmd(8'h15, 8'h00, 16'd48);
|
||||
check(dut.host_chirps_per_elev == 6'd48,
|
||||
"G13.1: chirps_per_elev=48 accepted (matches frame size)");
|
||||
check(dut.chirps_mismatch_error == 1'b0,
|
||||
"G13.2: Mismatch clear when chirps==48");
|
||||
|
||||
// G13.3: chirps>48 clamped to 48, error set
|
||||
send_cmd(8'h15, 8'h00, 16'd56);
|
||||
check(dut.host_chirps_per_elev == 6'd48,
|
||||
"G13.3: chirps=56 clamped to 48");
|
||||
check(dut.chirps_mismatch_error == 1'b1,
|
||||
"G13.4: Mismatch set when chirps>48 (was 56)");
|
||||
|
||||
// G13.5: chirps==0 clamped to 48
|
||||
send_cmd(8'h15, 8'h00, 16'd0);
|
||||
check(dut.host_chirps_per_elev == 6'd48,
|
||||
"G13.5: chirps=0 clamped to 48");
|
||||
|
||||
// G13.6: chirps<48 accepted but flagged
|
||||
send_cmd(8'h15, 8'h00, 16'd16);
|
||||
check(dut.host_chirps_per_elev == 6'd16,
|
||||
"G13.6: chirps_per_elev=16 accepted (not clamped)");
|
||||
check(dut.chirps_mismatch_error == 1'b1,
|
||||
"G13.7: Mismatch set when chirps<48 (was 16)");
|
||||
|
||||
// G13.8: Restore chirps=48, error clears
|
||||
send_cmd(8'h15, 8'h00, 16'd48);
|
||||
check(dut.chirps_mismatch_error == 1'b0,
|
||||
"G13.8: Mismatch clears when restored to 48");
|
||||
|
||||
// ====================================================================
|
||||
// GROUP 14: CFAR + RANGE-MODE OPCODES
|
||||
// ====================================================================
|
||||
$display("\n--- Group 14: CFAR / Range-Mode Opcodes ---");
|
||||
|
||||
// G14.1: range_mode=0x01 (long-range)
|
||||
send_cmd(8'h20, 8'h00, 16'h0001);
|
||||
check(dut.host_range_mode == 2'b01,
|
||||
"G14.1: 0x20 -> host_range_mode = 2'b01 (long-range)");
|
||||
|
||||
// G14.2: range_mode=0x02 (reserved, stored as-is)
|
||||
send_cmd(8'h20, 8'h00, 16'h0002);
|
||||
check(dut.host_range_mode == 2'b10,
|
||||
"G14.2: 0x20 -> host_range_mode = 2'b10 (reserved)");
|
||||
|
||||
// G14.3: range_mode=0x00 (3 km)
|
||||
send_cmd(8'h20, 8'h00, 16'h0000);
|
||||
check(dut.host_range_mode == 2'b00,
|
||||
"G14.3: 0x20 -> host_range_mode = 2'b00 (3 km)");
|
||||
|
||||
// G14.4-5: CFAR guard cells (0x21)
|
||||
send_cmd(8'h21, 8'h00, 16'h0004);
|
||||
check(dut.host_cfar_guard == 4'd4, "G14.4: 0x21 -> host_cfar_guard = 4");
|
||||
send_cmd(8'h21, 8'h00, 16'h0000);
|
||||
check(dut.host_cfar_guard == 4'd0, "G14.5: 0x21 -> host_cfar_guard = 0");
|
||||
|
||||
// G14.6-7: CFAR training cells (0x22)
|
||||
send_cmd(8'h22, 8'h00, 16'h0010);
|
||||
check(dut.host_cfar_train == 5'd16, "G14.6: 0x22 -> host_cfar_train = 16");
|
||||
send_cmd(8'h22, 8'h00, 16'h0001);
|
||||
check(dut.host_cfar_train == 5'd1, "G14.7: 0x22 -> host_cfar_train = 1");
|
||||
|
||||
// G14.8-9: CFAR alpha (0x23, Q4.4)
|
||||
send_cmd(8'h23, 8'h00, 16'h0048);
|
||||
check(dut.host_cfar_alpha == 8'h48, "G14.8: 0x23 -> host_cfar_alpha = 0x48");
|
||||
send_cmd(8'h23, 8'h00, 16'h0010);
|
||||
check(dut.host_cfar_alpha == 8'h10, "G14.9: 0x23 -> host_cfar_alpha = 0x10");
|
||||
|
||||
// G14.10-11: CFAR mode (0x24)
|
||||
send_cmd(8'h24, 8'h00, 16'h0001);
|
||||
check(dut.host_cfar_mode == 2'b01, "G14.10: 0x24 -> host_cfar_mode = GO-CFAR");
|
||||
send_cmd(8'h24, 8'h00, 16'h0002);
|
||||
check(dut.host_cfar_mode == 2'b10, "G14.11: 0x24 -> host_cfar_mode = SO-CFAR");
|
||||
|
||||
// G14.12-13: CFAR enable (0x25)
|
||||
send_cmd(8'h25, 8'h00, 16'h0001);
|
||||
check(dut.host_cfar_enable == 1'b1, "G14.12: 0x25 -> host_cfar_enable = 1");
|
||||
send_cmd(8'h25, 8'h00, 16'h0000);
|
||||
check(dut.host_cfar_enable == 1'b0, "G14.13: 0x25 -> host_cfar_enable = 0");
|
||||
|
||||
// ====================================================================
|
||||
// GROUP 17: PR-G additions (0x17 / 0x18 MEDIUM ladder, 0x2D alpha_soft)
|
||||
// ====================================================================
|
||||
$display("\n--- Group 17: PR-G MEDIUM ladder + alpha_soft ---");
|
||||
|
||||
// 0x17 / 0x18 MEDIUM ladder (PR-G G2)
|
||||
send_cmd(`RP_OP_MEDIUM_CHIRP_CYCLES, 8'h00, 16'd750);
|
||||
check(dut.host_medium_chirp_cycles == 16'd750,
|
||||
"G17.1: 0x17 -> host_medium_chirp_cycles = 750");
|
||||
|
||||
send_cmd(`RP_OP_MEDIUM_LISTEN_CYCLES, 8'h00, 16'd16500);
|
||||
check(dut.host_medium_listen_cycles == 16'd16500,
|
||||
"G17.2: 0x18 -> host_medium_listen_cycles = 16500");
|
||||
|
||||
// 0x2D cfar_alpha_soft (PR-G G1)
|
||||
send_cmd(`RP_OP_CFAR_ALPHA_SOFT, 8'h00, 16'h0024);
|
||||
check(dut.host_cfar_alpha_soft == 8'h24,
|
||||
"G17.3: 0x2D -> host_cfar_alpha_soft = 0x24");
|
||||
|
||||
// ====================================================================
|
||||
// SUMMARY
|
||||
// ====================================================================
|
||||
$display("\n============================================================");
|
||||
$display(" RESULTS: %0d passed, %0d failed / %0d total",
|
||||
pass_count, fail_count, test_num);
|
||||
$display("============================================================");
|
||||
if (fail_count == 0) $display(" *** ALL TESTS PASSED ***");
|
||||
else $display(" *** %0d TEST(S) FAILED ***", fail_count);
|
||||
|
||||
$finish;
|
||||
end
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
// Watchdog
|
||||
// ----------------------------------------------------------------------------
|
||||
initial begin
|
||||
#2_000_000; // 2 ms — plenty for ~30 send_cmd calls
|
||||
$display("[WATCHDOG] tb_system_opcodes timeout");
|
||||
$display(" Tests: %0d, Pass: %0d, Fail: %0d",
|
||||
test_num, pass_count, fail_count);
|
||||
$finish;
|
||||
end
|
||||
|
||||
endmodule
|
||||
Reference in New Issue
Block a user