Merge branch '21-todo-research' into 'master'

Resolve "TODO research"

Closes #21

See merge request illeondr/CAN_FD_IP_Core!126

src/CAN_Core/core_top.vhd

@@ -903,7 +903,6 @@ begin
 
     bus_off_start          <=  bus_off_start_int;
 
-    -- Note TODO: signal for signalling the shifted bit Rate for interrupt
     br_shifted             <=  br_shifted_int;
 
     ssp_reset              <=  ssp_reset_int;

src/CAN_Core/protocolControl.vhd

@@ -2720,7 +2720,6 @@ begin
                                 PC_State            <= overload;                                 
                             else
                                 PC_State            <= sof;
-                                -- TODO: is it really necessary to enable here?
                                 crc_enable_r        <= '1';
                            end if;
                            FSM_preset          <= '1';

test/feature/arbitration_feature_tb.vhd

@@ -345,9 +345,6 @@ package body Arbitration_feature is
             read_alc(alc, ID_2, mem_bus(2));
         end if;
 
-        -- TODO: Compare ALC value with expected value where node should
-        --       have lost arbitration!
-
         ------------------------------------------------------------------------
         -- If error frame is transmitted and collision not have appeared
         ------------------------------------------------------------------------

test/lib/CANtestLib.vhd

@@ -495,6 +495,20 @@ package CANtestLib is
     constant f100_MHZ           :   natural := 10000;
 
 
+    ----------------------------------------------------------------------------
+    ----------------------------------------------------------------------------
+    -- sanity test Stuff; must be in a package
+    ----------------------------------------------------------------------------
+    ----------------------------------------------------------------------------
+    constant NODE_COUNT : natural := 4;
+    type bus_matrix_type is array(1 to NODE_COUNT, 1 to NODE_COUNT) of real;
+    type anat_t is array (integer range <>) of natural;
+    subtype anat_nc_t is anat_t (1 to NODE_COUNT);
+
+    subtype epsilon_type is anat_nc_t;
+    subtype trv_del_type is anat_nc_t;
+    subtype timing_config_t is anat_t(1 to 10);
+
 
     ----------------------------------------------------------------------------
     ----------------------------------------------------------------------------
@@ -932,6 +946,31 @@ package CANtestLib is
     );
 
 
+    ----------------------------------------------------------------------------
+    -- Print Bus timing configuration of CTU CAN FD Core.
+    -- (duration of bit phases, synchronisation jump width, baud-rate prescaler)
+    --
+    -- Arguments:
+    --  bus_timing      Bus timing structure that will be printed in simulator.
+    --  ID              Index of CTU CAN FD Core instance
+    --  mem_bus         Avalon memory bus to execute the access on.
+    ----------------------------------------------------------------------------
+    procedure CAN_print_timing(
+        constant   bus_timing     : in   bit_time_config_type
+    );
+
+
+    ----------------------------------------------------------------------------
+    -- Print Bus matrix from sanity test configuration.
+    --
+    -- Arguments:
+    --  bus_matrix      Bus Matrix to be printed.
+    ----------------------------------------------------------------------------
+    procedure CAN_print_bus_matrix(
+        constant   bus_matrix     : in   bus_matrix_type
+    );
+
+
     ----------------------------------------------------------------------------
     -- Turn on/off CTU_CAN_FD Core.
     --
@@ -1565,23 +1604,6 @@ package CANtestLib is
         signal   mem_bus        : inout Avalon_mem_type
     );
 
-
-
-    ----------------------------------------------------------------------------
-    ----------------------------------------------------------------------------
-    -- sanity test Stuff; must be in a package
-    ----------------------------------------------------------------------------
-    ----------------------------------------------------------------------------
-    constant NODE_COUNT : natural := 4;
-    type bus_matrix_type is array(1 to NODE_COUNT,1 to NODE_COUNT) of real;
-    type anat_t is array (integer range <>) of natural;
-    subtype anat_nc_t is anat_t (1 to NODE_COUNT);
-
-    subtype epsilon_type is anat_nc_t;
-    subtype trv_del_type is anat_nc_t;
-    subtype timing_config_t is anat_t(1 to 10);
-
-
     ----------------------------------------------------------------------------
     ----------------------------------------------------------------------------
     -- Component declarations
@@ -1816,7 +1838,7 @@ package body CANtestLib is
         res_n     <= '1';
         status    <= running;
         error_ctr <= 0;
-        wait for 250 ns; -- TODO: is it necessary?
+        wait for 250 ns;
     end procedure;
 
 
@@ -2345,6 +2367,67 @@ package body CANtestLib is
     end procedure;
 
 
+    procedure CAN_print_timing(
+        constant   bus_timing       : in    bit_time_config_type
+    )is
+        variable msg                :       line;
+    begin
+        write(msg, string'("Nominal Bit timing: "));
+
+        -- Baud Rate Prescaler
+        write(msg, string'("BRP: " & integer'image(bus_timing.tq_nbt) & " "));
+
+        -- Propagation segment
+        write(msg, string'("PROP: " & integer'image(bus_timing.prop_nbt) & " "));
+
+        -- Phase 1 segment
+        write(msg, string'("PH1: " & integer'image(bus_timing.ph1_nbt) & " "));
+
+        -- Phase 2 segment
+        write(msg, string'("PH2: " & integer'image(bus_timing.ph2_nbt) & " "));
+      
+        -- SJW
+        write(msg, string'("SJW: " & integer'image(bus_timing.sjw_nbt) & " "));
+
+        write(msg, string'("Data Bit timing: "));
+
+        -- Baud Rate Prescaler - FD
+        write(msg, string'("BRP: " & integer'image(bus_timing.tq_dbt) & " "));
+
+        -- Propagation segment - FD
+        write(msg, string'("PROP: " & integer'image(bus_timing.prop_dbt) & " "));
+
+        -- Phase 1 segment - FD
+        write(msg, string'("PH1: " & integer'image(bus_timing.ph1_dbt) & " "));
+
+        -- Phase 2 segment - FD
+        write(msg, string'("PH2: " & integer'image(bus_timing.ph2_dbt) & " "));
+      
+        -- SJW - FD
+        write(msg, string'("SJW: " & integer'image(bus_timing.sjw_dbt) & " "));
+
+        writeline(output, msg);
+    end procedure;
+
+
+    procedure CAN_print_bus_matrix(
+        constant   bus_matrix     : in   bus_matrix_type
+    )is
+        variable msg              :       line;
+    begin
+        write(msg, string'("Bus matrix: "));
+        writeline(output, msg);
+
+        for i in 1 to NODE_COUNT loop
+            for j in 1 to NODE_COUNT loop
+                write(msg, string'(real'image(bus_matrix(i, j)) & " "));
+            end loop;
+            writeline(output, msg);
+        end loop;
+
+    end procedure;
+
+
     procedure CAN_turn_controller(
         constant turn_on        : in    boolean;
         constant ID             : in    natural range 0 to 15;

test/lib/test_lib.tcl

@@ -118,73 +118,6 @@ proc run_simulation {} {
 	run -all
 }
 
-################################################################################
-# Obtains the test results from the simulator, by
-# extracting the value of status signals into global variables TEST_RESULT
-# and ERROR_COUNT
-################################################################################
-proc get_test_results {} {
-	global TEST_RESULT
-	global ERROR_COUNT
-	global TCOMP
-	
-	set TEST_RESULT [exa {/can_test_wrapper/status}]
-	set ERROR_COUNT [exa {/can_test_wrapper/errors}]
-}
-
-################################################################################
-# Obtains the test results from the simulator, by
-# extracting the value of status signals into global variables
-################################################################################
-proc get_test_results_feature {} {
-	global TEST_RESULT
-	global ERROR_COUNT
-	global TCOMP
-	
-	set TEST_RESULT [exa {/can_test_wrapper/status}]
-	set ERROR_COUNT [exa {/can_test_wrapper/error_ctr}]
-}
-
-################################################################################
-# Prints help into command line
-################################################################################
-proc print_help {} {	
-	puts "CANTest framework has following commands available:"
-	puts "	help			to print this help menu"
-	puts "	exit			to exit the test framework"
-	puts "	test <test> 	to run the tests"
-	puts " "
-	
-	puts "CANTest framework contains following types of tests:"
-	puts "	Unit tests"
-	puts "	Feature tests"
-	puts "	Sanity tests"
-	puts " "
-	
-	puts "Unit tests can be used via following commands:"
-	puts "	test unit <test_name>	To execute <test_name> unit test"
-	puts "	test unit all           TO execute all existing unit tests"
-	puts " "
-	
-	puts "Feature tests can be used via following commands:"
-	puts "	test feature start			To start test environment of feature test"
-	puts "	test feature run        	To start feature test execution"
-	puts "	test feature print_config   To print configuration of feature test"
-	puts " "
-	
-	puts "Sanity tests can be used via following commands:"
-	puts "	test sanity start			To start test environment of sanity test"
-	puts "	test sanity run        		To start sanity test execution"
-	puts "	test sanity start silent    To start sanity test with only basic waveform "
-	puts "								This option is recomended to save harddisk space"
-	puts "								when running long sanity simulations (e.g more than 5 hours)"
-	puts " "
-	
-	puts "Feature and sanity tests have separate configuration files (TCL) in "
-	puts "their corresponding directories. See the CAN FD IP Core documentation"
-	puts "to get the details about test configuration files"
-	puts " "
-}
 
 ################################################################################
 # Executes first TCL script it finds in given directory.
@@ -251,274 +184,6 @@ proc exec_all_TCL_from_path {path} {
 
 
 
-################################################################################
-################################################################################
-#  Feature tests routines
-################################################################################
-################################################################################
-
-################################################################################
-# Starts simulation of feature test environment
-################################################################################
-proc start_feature_FIFO {} {
-	global BASE_TEST
-	do "${BASE_TEST}/feature/feature_env_setup.tcl"
-}
-
-################################################################################
-# Runs the feature test simulation.
-# Feature config script is executed and FEATURE_FIFO is loaded.
-# In loop each config is executed and FEATURE_FIFO is sliced until all tests
-# are executed
-################################################################################
-proc run_feature_FIFO {} {
-	global FEATURE_FIFO
-	global TCOMP
-	global TEST_RESULT
-	global ERROR_COUNT
-	global BASE_TEST
-	
-	set feat_res []
-	
-	#Run the config script which sets up the feature list
-	#(ORIGINAL Feature FIFO)
-	do "${BASE_TEST}/feature/feature_config.tcl"
-	
-	#Iterate over FIFO entries
-	while { [llength $FEATURE_FIFO] > 0 } {
-		set actual [lindex $FEATURE_FIFO 0] 
-		set act_name [lindex $actual 0]
-		set act_iter [lindex $actual 1]
-		
-		#Set the testbench stimulus
-		force $TCOMP/iterations $act_iter	
-		set fmt_name [format "%20s" $act_name]
-		force $TCOMP/test_name "${fmt_name}"
-		
-		#Run the testbench and fetch results
-		run_simulation
-		get_test_results_feature
-		
-		#Erase the actual test from FIFO
-		set FEATURE_FIFO [lreplace $FEATURE_FIFO 0 0]
-		
-		#TODO: Here gather the result of the test!
-		lappend feat_res [list $act_name $act_iter $ERROR_COUNT $TEST_RESULT]
-	}
-	
-	puts "Feature test run results:"
-	foreach actual $feat_res {
-		puts $actual
-	} 
-}
-
-proc show_feature_FIFO {} {
-	global BASE_TEST
-	global FEATURE_FIFO
-	
-	do "${BASE_TEST}/feature/feature_config.tcl"
-	puts $FEATURE_FIFO
-}
-
-
-################################################################################
-################################################################################
-#  Sanity test routines
-################################################################################
-################################################################################
-
-################################################################################
-# Set the bus_matrix signal of sanity test environment
-################################################################################
-proc force_bm {a b c d e f g h i j k l m n o p} {
-	global TCOMP
-	
-	force $TCOMP/bus_matrix(1,1) $a
-	force $TCOMP/bus_matrix(1,2) $b
-	force $TCOMP/bus_matrix(1,3) $c
-	force $TCOMP/bus_matrix(1,4) $d
-	
-	force $TCOMP/bus_matrix(2,1) $e
-	force $TCOMP/bus_matrix(2,2) $f
-	force $TCOMP/bus_matrix(2,3) $g
-	force $TCOMP/bus_matrix(2,4) $h
-	
-	force $TCOMP/bus_matrix(3,1) $i
-	force $TCOMP/bus_matrix(3,2) $j
-	force $TCOMP/bus_matrix(3,3) $k
-	force $TCOMP/bus_matrix(3,4) $l
-	
-	force $TCOMP/bus_matrix(4,1) $m
-	force $TCOMP/bus_matrix(4,2) $n
-	force $TCOMP/bus_matrix(4,3) $o
-	force $TCOMP/bus_matrix(4,4) $p
-}
-
-################################################################################
-# Start sanity test simulation
-################################################################################
-proc start_sanity {} {
-	global BASE_TEST
-	do "${BASE_TEST}/sanity/sanity_env_setup.tcl"
-}
-
-################################################################################
-# Run sanity test
-# First SAN_CFG is loaded and each configuration is executed until all configs
-# are exectued.
-################################################################################
-proc run_sanity {} {
-	global SAN_CFG
-	global TCOMP
-	global TEST_RESULT
-	global ERROR_COUNT
-	global BASE_TEST
-	
-	set san_res []
-	
-	#Run the config script which sets up the list with sanity
-	# configurations
-	do "${BASE_TEST}/sanity/sanity_config.tcl"
-	
-	#Iterate over the configurations
-	while { [llength $SAN_CFG] > 0 } {
-		set actual [lindex $SAN_CFG 0]
-		
-		##################################
-		#Aliases for configuration values
-		##################################
-		set topology [lindex $actual 0]
-		
-		#Bus lengths configuration
-		set l1 [lindex $actual 1]
-		set l2 [lindex $actual 2]
-		set l3 [lindex $actual 3]
-		set l4 [lindex $actual 4]
-		set l5 [lindex $actual 5]
-		set l6 [lindex $actual 6]
-		
-		#Transciever delay
-		set del [list [lindex $actual 7] [lindex $actual 8]\
-						[lindex $actual 9] [lindex $actual 10]]
-		
-		#Oscillator tollerance
-		set osc [list [lindex $actual 11] [lindex $actual 12]\
-						[lindex $actual 13] [lindex $actual 14]]
-		
-		#Noise parameters
-		set nw_mean [lindex $actual 15]
-		set nw_var [lindex $actual 16]
-		set ng_mean [lindex $actual 17]
-		set ng_var [lindex $actual 18]
-		
-		#Bit time config
-		set brp_nbt [lindex $actual 19]
-		set brp_dbt [lindex $actual 20]
-		set prop_nbt [lindex $actual 21]
-		set ph1_nbt [lindex $actual 22]
-		set ph2_nbt [lindex $actual 23]
-		set sjw_nbt [lindex $actual 24]
-		set prop_dbt [lindex $actual 25]
-		set ph1_dbt [lindex $actual 26]
-		set ph2_dbt [lindex $actual 27]
-		set sjw_dbt [lindex $actual 28]
-		
-		#Name and iterations amount
-		set act_name [lindex $actual 29]
-		set act_iter [lindex $actual 30]
-		
-		##################################
-		# Now force the values to the test
-		##################################
-		
-		#Bus matrix based on topology
-		if { $topology == "bus"} {
-			force_bm 0 $l1 [expr "${l1}+${l2}"] [expr "${l1}+${l2}+${l3}"]\
-					$l1	0 $l2 [expr "${l2}+${l3}"]\
-					[expr "${l1}+${l2}"] $l2 0 $l3\
-					[expr "${l1}+${l2}+${l3}"] [expr "${l2}+${l3}"] $l3 0
-		} elseif { $topology == "star" } {
-			force_bm 0 [expr "${l1}+${l2}"] [expr "${l1}+${l3}"] [expr "${l1}+${l4}"]\
-					[expr "${l1}+${l2}"] 0 [expr "${l2}+${l3}"] [expr "${l2}+${l4}"]\
-					[expr "${l1}+${l3}"] [expr "${l2}+${l3}"] 0 [expr "${l3}+${l4}"]\
-					[expr "${l1}+${l4}"] [expr "${l2}+${l4}"] [expr "${l3}+${l4}"] 0
-		} elseif { $topology == "tree" } {
-			force_bm 0 [expr "${l1}+${l2}"] [expr "${l1}+${l3}+${l5}"] [expr "${l1}+${l4}+${l5}"]\
-					[expr "${l1}+${l2}"] 0 [expr "${l2}+${l3}+${l5}"] [expr "${l2}+${l4}+${l5}"]\
-					[expr "${l1}+${l3}+${l5}"] [expr "${l2}+${l3}+${l5}"] 0 [expr "${l3}+${l4}"]\
-					[expr "${l1}+${l4}+${l5}"] [expr "${l2}+${l4}+${l5}"] [expr "${l3}+${l4}"] 0
-		} elseif { $topology == "ring" } {
-			# TODO: Ring topology with fucking min functions
-		} elseif { $topology == "custom" } {
-			force_bm 0 $l1 $l2 $l3
-					$l1 0 $l4 $l5
-					$l2 $l4 0 $l6
-					$l3 $l6 $l6 0
-		} else {
-			puts "Invalid bus topology! Assuming bus topology..."
-			force_bm 0 $l1 [expr "${l1}+${l2}"] [expr "${l1}+${l2}+${l3}"]\
-					$l1	0 $l2 [expr "${l2}+${l3}"]\
-					[expr "${l1}+${l2}"] $l2 0 $l3\
-					[expr "${l1}+${l2}+${l3}"] [expr "${l2}+${l3}"] $l3 0
-		}
-		
-		#Set the testbench stimulus
-		force $TCOMP/iterations $act_iter	
-		set fmt_name [format "%-50s" $act_name]
-		force $TCOMP/i_st/test_desc "${fmt_name}"
-		
-		set fmt_topology [format "%-50s" $topology]
-		force $TCOMP/topology "${fmt_topology}"
-		
-		#Transciever delays
-		set index 0
-		foreach elem $del {
-			incr index
-			force $TCOMP/trv_del_v($index) $elem
-		}
-		
-		#Oscilator tolerances
-		set index 0
-		foreach elem $osc {
-			incr index
-			force $TCOMP/epsilon_v($index) $elem
-		}
-		
-		#Noise parameters
-		force $TCOMP/nw_mean $nw_mean
-		force $TCOMP/nw_var $nw_var
-		force $TCOMP/ng_mean $ng_mean
-		force $TCOMP/ng_var $ng_var
-		
-		#Bit time settings
-		force $TCOMP/timing_config.tq_nbt $brp_nbt
-		force $TCOMP/timing_config.tq_dbt $brp_dbt
-		force $TCOMP/timing_config.prop_nbt $prop_nbt
-		force $TCOMP/timing_config.ph1_nbt $ph1_nbt
-		force $TCOMP/timing_config.ph2_nbt $ph2_nbt
-		force $TCOMP/timing_config.sjw_nbt $sjw_nbt
-		force $TCOMP/timing_config.prop_dbt $prop_dbt
-		force $TCOMP/timing_config.ph1_dbt $ph1_dbt
-		force $TCOMP/timing_config.ph2_dbt $ph2_dbt
-		force $TCOMP/timing_config.sjw_dbt $sjw_dbt
-		
-		#Run the testbench and fetch results
-		run_simulation
-		get_test_results_feature
-		
-		#Erase the actual test from test config
-		set SAN_CFG [lreplace $SAN_CFG 0 0]
-		
-		#TODO: Here gather the result of the test!
-		lappend san_res [list $act_name "Iterations:" $act_iter "Errors:" $ERROR_COUNT "Result:" $TEST_RESULT]	
-	}
-	
-	puts "Sanity test run results:"
-	foreach actual $san_res {
-		puts $actual
-	} 
-}
-
 
 
 

test/reference/reference_env_setup.tcl

@@ -44,15 +44,8 @@ global TCOMP
 ################################################################################
 
 #Add common waves for each test entity
-#add_test_status_waves
-#add_system_waves
-
-#TODO: Will be replace by calls above. So far disabled to allow manual debug!
-add wave $TCOMP/run
-add wave $TCOMP/loop_ctr
-add wave $TCOMP/iterations
-add wave $TCOMP/errors
-add wave $TCOMP/status
+add_test_status_waves
+add_system_waves
 
 add wave -noupdate -divider -height 20 "System signals"
 add wave -label "Clock" $TCOMP/clk_sys

test/sanity/sanity_test.vhd

@@ -128,7 +128,6 @@ entity sanity_test is
 
     -- Amount of errors which appeared in the test
     signal errors           :out    natural
-    --TODO: Error log results
   );
 end entity;
 
@@ -825,8 +824,39 @@ begin
         variable step_done  : boolean  := false;
     begin
         print_test_info(iterations, log_level, error_beh, error_tol);
-        -- TODO: print sanity test params
         
+        ------------------------------------------------------------------------
+        -- Print Test configuration
+        ------------------------------------------------------------------------
+        log("Sanity test configuration:", info_l, log_level);
+        log("Clock jitters (ppm): "
+            & integer'image(epsilon_v(1)) & " " 
+            & integer'image(epsilon_v(2)) & " "
+            & integer'image(epsilon_v(3)) & " "
+            & integer'image(epsilon_v(4)) & " ",
+            info_l, log_level);
+
+        log("Transceiver delays (ns): "
+            & integer'image(trv_del_v(1)) & " " 
+            & integer'image(trv_del_v(2)) & " "
+            & integer'image(trv_del_v(3)) & " "
+            & integer'image(trv_del_v(4)) & " ",
+            info_l, log_level);
+        
+        log(" Noise width (mean): " & real'image(nw_mean) &
+            " Noise width (var): " & real'image(nw_var) &
+            " Noise gap (mean): " & real'image(ng_mean) &
+            " Noise gap (var): " & real'image(ng_var),
+            info_l, log_level);
+
+        log ("Bus topology: " & topology, info_l, log_level);
+
+        CAN_print_timing(timing_config);
+        CAN_print_bus_matrix(bus_matrix);
+
+        ------------------------------------------------------------------------
+        -- Execute test reset
+        ------------------------------------------------------------------------
         wait for 5 ns;
         do_restart_mem_if <= (OTHERS => false);
         wait for 5 ns;

test/testfw/test_sanity.py

@@ -23,8 +23,10 @@ def len_to_matrix(topology, bus_len):
               [l[1]+l[3]+l[5], l[2]+l[3]+l[5], 0.0,            l[3]+l[4]],
               [l[1]+l[4]+l[5], l[2]+l[4]+l[5], l[3]+l[4],      0.0]]
     elif topology == 'ring':
-        raise RuntimeError("Ring topology not implemented.")
-        # TODO: Ring topology with min functions
+        bm = [[0.0, min(l[1], l[2]+l[3]+l[4]), min(l[1]+l[2],l[3]+l[4]), min(l[4],l[1]+l[2]+l[3])],
+              [min(l[1], l[2]+l[3]+l[4]), 0.0, min(l[2], l[1]+l[3]+l[4]), min(l[2]+l[3],l[1]+l[4])],
+              [min(l[1]+l[2],l[3]+l[4]), min(l[2], l[1]+l[3]+l[4]), 0.0, min(l[3],l[1]+l[2]+l[4])],
+              [min(l[4],l[1]+l[2]+l[3]), min(l[2]+l[3],l[1]+l[4]), min(l[3],l[1]+l[2]+l[4]), 0.0]]
     elif topology == 'custom':
         bm = [[0.0,  l[1], l[2], l[3]],
               [l[1], 0.0,  l[4], l[5]],