Jason
49eb6169b6
- Expand ft601_be from [1:0] to [3:0] across RTL, top-level, testbenches, and XDC (uncomment be[2:3] pin assignments B21/A21) - Fix NCO XSim testbench: correct reset check (0x7FFF not 0), add pipeline warmup and sample skip for DSP48E1 quadrature test - All local regression tests pass (39/39 USB, 10/10 integration, all co-sim)
624 lines
21 KiB
Verilog
624 lines
21 KiB
Verilog
`timescale 1ns / 1ps
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/**
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* radar_system_tb.v
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*
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* Comprehensive Testbench for Radar System Top Module
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* Tests:
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* - Transmitter chirp generation
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* - Receiver signal processing
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* - USB data transfer via FT601
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* - STM32 control interface
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*/
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module radar_system_tb;
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// ============================================================================
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// PARAMETERS
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// ============================================================================
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// Clock periods
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parameter CLK_100M_PERIOD = 10.0; // 100MHz = 10ns
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parameter CLK_120M_PERIOD = 8.333; // 120MHz = 8.333ns
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parameter FT601_CLK_PERIOD = 10.0; // 100MHz = 10ns
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parameter ADC_DCO_PERIOD = 2.5; // 400MHz = 2.5ns
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// Simulation time
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parameter SIM_TIME = 500_000; // 500us simulation
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// Test parameters
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parameter NUM_CHIRPS = 64; // Number of chirps to simulate
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parameter ENABLE_DOPPLER = 1; // Enable Doppler processing
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parameter ENABLE_CFAR = 1; // Enable CFAR detection
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parameter ENABLE_USB = 1; // Enable USB interface
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// ============================================================================
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// CLOCK AND RESET SIGNALS
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// ============================================================================
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reg clk_100m;
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reg clk_120m_dac;
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reg ft601_clk_in;
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reg reset_n;
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// ADC clocks
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reg adc_dco_p;
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reg adc_dco_n;
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// ADC data
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reg [7:0] adc_data_pattern;
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reg [7:0] adc_d_p;
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reg [7:0] adc_d_n;
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// FT601 interface
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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;
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reg ft601_rxf;
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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;
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reg [1:0] ft601_swb;
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wire ft601_clk_out;
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// STM32 control signals
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reg stm32_new_chirp;
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reg stm32_new_elevation;
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reg stm32_new_azimuth;
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reg stm32_mixers_enable;
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// ADAR1000 SPI signals
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reg stm32_sclk_3v3;
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reg stm32_mosi_3v3;
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wire stm32_miso_3v3;
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reg stm32_cs_adar1_3v3;
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reg stm32_cs_adar2_3v3;
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reg stm32_cs_adar3_3v3;
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reg stm32_cs_adar4_3v3;
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wire stm32_sclk_1v8;
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wire stm32_mosi_1v8;
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reg stm32_miso_1v8;
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wire stm32_cs_adar1_1v8;
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wire stm32_cs_adar2_1v8;
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wire stm32_cs_adar3_1v8;
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wire stm32_cs_adar4_1v8;
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// DAC outputs
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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
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wire fpga_rf_switch;
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wire rx_mixer_en;
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wire tx_mixer_en;
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// ADAR1000 control
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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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// Status outputs
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wire [5:0] current_elevation;
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wire [5:0] current_azimuth;
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wire [5:0] 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 [4:0] dbg_doppler_bin;
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wire [5:0] dbg_range_bin;
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wire [3:0] system_status;
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// ============================================================================
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// CLOCK GENERATION
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// ============================================================================
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// 100MHz system clock
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initial begin
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clk_100m = 0;
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forever #(CLK_100M_PERIOD/2) clk_100m = ~clk_100m;
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end
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// 120MHz DAC clock
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initial begin
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clk_120m_dac = 0;
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forever #(CLK_120M_PERIOD/2) clk_120m_dac = ~clk_120m_dac;
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end
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// FT601 clock (100MHz)
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initial begin
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ft601_clk_in = 0;
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forever #(FT601_CLK_PERIOD/2) ft601_clk_in = ~ft601_clk_in;
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end
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// ADC DCO clock (400MHz)
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initial begin
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adc_dco_p = 0;
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adc_dco_n = 1;
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forever begin
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#(ADC_DCO_PERIOD/2) begin
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adc_dco_p = ~adc_dco_p;
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adc_dco_n = ~adc_dco_n;
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end
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end
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end
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// ============================================================================
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// RESET GENERATION
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// ============================================================================
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initial begin
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reset_n = 0;
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#100;
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reset_n = 1;
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#10;
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end
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// ============================================================================
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// FT601 INTERFACE SIMULATION
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// ============================================================================
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// FT601 FIFO status
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initial begin
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ft601_txe = 1'b0; // TX FIFO not empty (ready to write)
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ft601_rxf = 1'b1; // RX FIFO full (not ready to read)
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ft601_srb = 2'b00;
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ft601_swb = 2'b00;
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// Simulate occasional FIFO full conditions
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forever begin
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#1000;
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ft601_txe = $random % 2;
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ft601_rxf = $random % 2;
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end
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end
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// FT601 data bus monitoring
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reg [31:0] ft601_captured_data;
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reg [31:0] usb_packet_buffer [0:1023];
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integer usb_packet_count = 0;
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integer usb_byte_count = 0;
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always @(negedge ft601_wr_n) begin
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if (!ft601_wr_n) begin
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ft601_captured_data = ft601_data;
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usb_packet_buffer[usb_packet_count] = ft601_captured_data;
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usb_byte_count = usb_byte_count + 4;
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if (usb_packet_count < 100) begin
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$display("[USB @%0t] WRITE: data=0x%08h, be=%b, count=%0d",
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$time, ft601_captured_data, ft601_be, usb_packet_count);
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end
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usb_packet_count = usb_packet_count + 1;
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end
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end
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// ============================================================================
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// STM32 CONTROL SIGNAL GENERATION
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// ============================================================================
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integer chirp_num = 0;
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integer elevation_num = 0;
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integer azimuth_num = 0;
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initial begin
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// Initialize
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stm32_new_chirp = 0;
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stm32_new_elevation = 0;
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stm32_new_azimuth = 0;
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stm32_mixers_enable = 1;
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stm32_sclk_3v3 = 0;
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stm32_mosi_3v3 = 0;
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stm32_cs_adar1_3v3 = 1;
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stm32_cs_adar2_3v3 = 1;
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stm32_cs_adar3_3v3 = 1;
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stm32_cs_adar4_3v3 = 1;
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stm32_miso_1v8 = 0;
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#200;
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// Generate chirp sequence
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for (chirp_num = 0; chirp_num < NUM_CHIRPS; chirp_num = chirp_num + 1) begin
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// New chirp toggle
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stm32_new_chirp = 1;
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#20;
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stm32_new_chirp = 0;
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// Every 8 chirps, change elevation
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if ((chirp_num % 8) == 0) begin
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stm32_new_elevation = 1;
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#20;
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stm32_new_elevation = 0;
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elevation_num = elevation_num + 1;
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end
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// Every 16 chirps, change azimuth
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if ((chirp_num % 16) == 0) begin
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stm32_new_azimuth = 1;
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#20;
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stm32_new_azimuth = 0;
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azimuth_num = azimuth_num + 1;
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end
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// Wait for chirp duration
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#3000; // ~30us between chirps
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end
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// Disable mixers at the end
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#5000;
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stm32_mixers_enable = 0;
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end
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// ============================================================================
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// ADC DATA GENERATION (Simulated Radar Echo)
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// ============================================================================
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integer sample_count = 0;
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integer target_count = 0;
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reg [31:0] echo_delay [0:9];
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reg [7:0] echo_amplitude [0:9];
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reg [7:0] echo_phase [0:9];
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integer target_idx;
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initial begin
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// Initialize targets (simulated objects)
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// Format: {delay_samples, amplitude, phase_index}
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echo_delay[0] = 500; echo_amplitude[0] = 100; echo_phase[0] = 0;
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echo_delay[1] = 1200; echo_amplitude[1] = 80; echo_phase[1] = 45;
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echo_delay[2] = 2500; echo_amplitude[2] = 60; echo_phase[2] = 90;
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echo_delay[3] = 4000; echo_amplitude[3] = 40; echo_phase[3] = 135;
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echo_delay[4] = 6000; echo_amplitude[4] = 20; echo_phase[4] = 180;
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for (target_idx = 5; target_idx < 10; target_idx = target_idx + 1) begin
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echo_delay[target_idx] = 0;
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echo_amplitude[target_idx] = 0;
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echo_phase[target_idx] = 0;
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end
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adc_d_p = 8'h00;
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adc_d_n = ~8'h00;
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// Wait for reset and chirp start
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#500;
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// Generate ADC data synchronized with chirps
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forever begin
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@(posedge adc_dco_p);
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sample_count = sample_count + 1;
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// Generate echo signal when transmitter is active
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if (tx_mixer_en && fpga_rf_switch) begin
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adc_data_pattern = generate_radar_echo(sample_count);
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end else begin
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adc_data_pattern = 8'h80; // Mid-scale noise floor
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end
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// Add noise
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adc_data_pattern = adc_data_pattern + ($random % 16) - 8;
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// LVDS output
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adc_d_p = adc_data_pattern;
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adc_d_n = ~adc_data_pattern;
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end
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end
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// Function to generate radar echo based on multiple targets
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function [7:0] generate_radar_echo;
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input integer sample;
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integer t;
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integer echo_sum;
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integer chirp_phase;
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reg [7:0] result;
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begin
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echo_sum = 128; // DC offset
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for (t = 0; t < 5; t = t + 1) begin
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if (echo_delay[t] > 0 && sample > echo_delay[t]) begin
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// Simple Doppler modulation
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chirp_phase = ((sample - echo_delay[t]) * 10) % 256;
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echo_sum = echo_sum + $signed({1'b0, echo_amplitude[t]}) *
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$signed({1'b0, sin_lut[chirp_phase + echo_phase[t]]}) / 128;
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end
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end
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// Clamp to 8-bit range
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if (echo_sum > 255) echo_sum = 255;
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if (echo_sum < 0) echo_sum = 0;
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result = echo_sum[7:0];
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generate_radar_echo = result;
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end
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endfunction
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// Sine LUT for echo modulation (pre-computed, equivalent to 128 + 127*sin(2*pi*i/256))
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reg [7:0] sin_lut [0:255];
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integer lut_i;
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initial begin
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sin_lut[ 0] = 128; sin_lut[ 1] = 131; sin_lut[ 2] = 134; sin_lut[ 3] = 137;
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sin_lut[ 4] = 140; sin_lut[ 5] = 144; sin_lut[ 6] = 147; sin_lut[ 7] = 150;
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sin_lut[ 8] = 153; sin_lut[ 9] = 156; sin_lut[ 10] = 159; sin_lut[ 11] = 162;
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sin_lut[ 12] = 165; sin_lut[ 13] = 168; sin_lut[ 14] = 171; sin_lut[ 15] = 174;
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sin_lut[ 16] = 177; sin_lut[ 17] = 179; sin_lut[ 18] = 182; sin_lut[ 19] = 185;
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sin_lut[ 20] = 188; sin_lut[ 21] = 191; sin_lut[ 22] = 193; sin_lut[ 23] = 196;
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sin_lut[ 24] = 199; sin_lut[ 25] = 201; sin_lut[ 26] = 204; sin_lut[ 27] = 206;
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sin_lut[ 28] = 209; sin_lut[ 29] = 211; sin_lut[ 30] = 213; sin_lut[ 31] = 216;
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sin_lut[ 32] = 218; sin_lut[ 33] = 220; sin_lut[ 34] = 222; sin_lut[ 35] = 224;
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sin_lut[ 36] = 226; sin_lut[ 37] = 228; sin_lut[ 38] = 230; sin_lut[ 39] = 232;
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sin_lut[ 40] = 234; sin_lut[ 41] = 235; sin_lut[ 42] = 237; sin_lut[ 43] = 239;
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sin_lut[ 44] = 240; sin_lut[ 45] = 241; sin_lut[ 46] = 243; sin_lut[ 47] = 244;
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sin_lut[ 48] = 245; sin_lut[ 49] = 246; sin_lut[ 50] = 248; sin_lut[ 51] = 249;
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sin_lut[ 52] = 250; sin_lut[ 53] = 250; sin_lut[ 54] = 251; sin_lut[ 55] = 252;
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sin_lut[ 56] = 253; sin_lut[ 57] = 253; sin_lut[ 58] = 254; sin_lut[ 59] = 254;
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sin_lut[ 60] = 254; sin_lut[ 61] = 255; sin_lut[ 62] = 255; sin_lut[ 63] = 255;
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sin_lut[ 64] = 255; sin_lut[ 65] = 255; sin_lut[ 66] = 255; sin_lut[ 67] = 255;
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sin_lut[ 68] = 254; sin_lut[ 69] = 254; sin_lut[ 70] = 254; sin_lut[ 71] = 253;
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sin_lut[ 72] = 253; sin_lut[ 73] = 252; sin_lut[ 74] = 251; sin_lut[ 75] = 250;
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sin_lut[ 76] = 250; sin_lut[ 77] = 249; sin_lut[ 78] = 248; sin_lut[ 79] = 246;
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sin_lut[ 80] = 245; sin_lut[ 81] = 244; sin_lut[ 82] = 243; sin_lut[ 83] = 241;
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sin_lut[ 84] = 240; sin_lut[ 85] = 239; sin_lut[ 86] = 237; sin_lut[ 87] = 235;
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sin_lut[ 88] = 234; sin_lut[ 89] = 232; sin_lut[ 90] = 230; sin_lut[ 91] = 228;
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sin_lut[ 92] = 226; sin_lut[ 93] = 224; sin_lut[ 94] = 222; sin_lut[ 95] = 220;
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sin_lut[ 96] = 218; sin_lut[ 97] = 216; sin_lut[ 98] = 213; sin_lut[ 99] = 211;
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sin_lut[100] = 209; sin_lut[101] = 206; sin_lut[102] = 204; sin_lut[103] = 201;
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sin_lut[104] = 199; sin_lut[105] = 196; sin_lut[106] = 193; sin_lut[107] = 191;
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sin_lut[108] = 188; sin_lut[109] = 185; sin_lut[110] = 182; sin_lut[111] = 179;
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sin_lut[112] = 177; sin_lut[113] = 174; sin_lut[114] = 171; sin_lut[115] = 168;
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sin_lut[116] = 165; sin_lut[117] = 162; sin_lut[118] = 159; sin_lut[119] = 156;
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sin_lut[120] = 153; sin_lut[121] = 150; sin_lut[122] = 147; sin_lut[123] = 144;
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sin_lut[124] = 140; sin_lut[125] = 137; sin_lut[126] = 134; sin_lut[127] = 131;
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sin_lut[128] = 128; sin_lut[129] = 125; sin_lut[130] = 122; sin_lut[131] = 119;
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sin_lut[132] = 116; sin_lut[133] = 112; sin_lut[134] = 109; sin_lut[135] = 106;
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sin_lut[136] = 103; sin_lut[137] = 100; sin_lut[138] = 97; sin_lut[139] = 94;
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sin_lut[140] = 91; sin_lut[141] = 88; sin_lut[142] = 85; sin_lut[143] = 82;
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sin_lut[144] = 79; sin_lut[145] = 77; sin_lut[146] = 74; sin_lut[147] = 71;
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sin_lut[148] = 68; sin_lut[149] = 65; sin_lut[150] = 63; sin_lut[151] = 60;
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sin_lut[152] = 57; sin_lut[153] = 55; sin_lut[154] = 52; sin_lut[155] = 50;
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sin_lut[156] = 47; sin_lut[157] = 45; sin_lut[158] = 43; sin_lut[159] = 40;
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sin_lut[160] = 38; sin_lut[161] = 36; sin_lut[162] = 34; sin_lut[163] = 32;
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sin_lut[164] = 30; sin_lut[165] = 28; sin_lut[166] = 26; sin_lut[167] = 24;
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sin_lut[168] = 22; sin_lut[169] = 21; sin_lut[170] = 19; sin_lut[171] = 17;
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sin_lut[172] = 16; sin_lut[173] = 15; sin_lut[174] = 13; sin_lut[175] = 12;
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sin_lut[176] = 11; sin_lut[177] = 10; sin_lut[178] = 8; sin_lut[179] = 7;
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sin_lut[180] = 6; sin_lut[181] = 6; sin_lut[182] = 5; sin_lut[183] = 4;
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sin_lut[184] = 3; sin_lut[185] = 3; sin_lut[186] = 2; sin_lut[187] = 2;
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sin_lut[188] = 2; sin_lut[189] = 1; sin_lut[190] = 1; sin_lut[191] = 1;
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sin_lut[192] = 1; sin_lut[193] = 1; sin_lut[194] = 1; sin_lut[195] = 1;
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sin_lut[196] = 2; sin_lut[197] = 2; sin_lut[198] = 2; sin_lut[199] = 3;
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sin_lut[200] = 3; sin_lut[201] = 4; sin_lut[202] = 5; sin_lut[203] = 6;
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sin_lut[204] = 6; sin_lut[205] = 7; sin_lut[206] = 8; sin_lut[207] = 10;
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sin_lut[208] = 11; sin_lut[209] = 12; sin_lut[210] = 13; sin_lut[211] = 15;
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sin_lut[212] = 16; sin_lut[213] = 17; sin_lut[214] = 19; sin_lut[215] = 21;
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sin_lut[216] = 22; sin_lut[217] = 24; sin_lut[218] = 26; sin_lut[219] = 28;
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sin_lut[220] = 30; sin_lut[221] = 32; sin_lut[222] = 34; sin_lut[223] = 36;
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sin_lut[224] = 38; sin_lut[225] = 40; sin_lut[226] = 43; sin_lut[227] = 45;
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sin_lut[228] = 47; sin_lut[229] = 50; sin_lut[230] = 52; sin_lut[231] = 55;
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sin_lut[232] = 57; sin_lut[233] = 60; sin_lut[234] = 63; sin_lut[235] = 65;
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sin_lut[236] = 68; sin_lut[237] = 71; sin_lut[238] = 74; sin_lut[239] = 77;
|
|
sin_lut[240] = 79; sin_lut[241] = 82; sin_lut[242] = 85; sin_lut[243] = 88;
|
|
sin_lut[244] = 91; sin_lut[245] = 94; sin_lut[246] = 97; sin_lut[247] = 100;
|
|
sin_lut[248] = 103; sin_lut[249] = 106; sin_lut[250] = 109; sin_lut[251] = 112;
|
|
sin_lut[252] = 116; sin_lut[253] = 119; sin_lut[254] = 122; sin_lut[255] = 125;
|
|
end
|
|
|
|
// ============================================================================
|
|
// SPI COMMUNICATION MONITORING
|
|
// ============================================================================
|
|
|
|
always @(posedge stm32_sclk_1v8) begin
|
|
if (!stm32_cs_adar1_1v8) begin
|
|
$display("[SPI @%0t] ADAR1: MOSI=%b, MISO=%b",
|
|
$time, stm32_mosi_1v8, stm32_miso_1v8);
|
|
end
|
|
if (!stm32_cs_adar2_1v8) begin
|
|
$display("[SPI @%0t] ADAR2: MOSI=%b, MISO=%b",
|
|
$time, stm32_mosi_1v8, stm32_miso_1v8);
|
|
end
|
|
end
|
|
|
|
// ============================================================================
|
|
// DUT INSTANTIATION
|
|
// ============================================================================
|
|
|
|
radar_system_top dut (
|
|
// System Clocks
|
|
.clk_100m(clk_100m),
|
|
.clk_120m_dac(clk_120m_dac),
|
|
.ft601_clk_in(ft601_clk_in),
|
|
.reset_n(reset_n),
|
|
|
|
// Transmitter Interfaces
|
|
.dac_data(dac_data),
|
|
.dac_clk(dac_clk),
|
|
.dac_sleep(dac_sleep),
|
|
.fpga_rf_switch(fpga_rf_switch),
|
|
.rx_mixer_en(rx_mixer_en),
|
|
.tx_mixer_en(tx_mixer_en),
|
|
|
|
// ADAR1000 Control
|
|
.adar_tx_load_1(adar_tx_load_1),
|
|
.adar_rx_load_1(adar_rx_load_1),
|
|
.adar_tx_load_2(adar_tx_load_2),
|
|
.adar_rx_load_2(adar_rx_load_2),
|
|
.adar_tx_load_3(adar_tx_load_3),
|
|
.adar_rx_load_3(adar_rx_load_3),
|
|
.adar_tx_load_4(adar_tx_load_4),
|
|
.adar_rx_load_4(adar_rx_load_4),
|
|
.adar_tr_1(adar_tr_1),
|
|
.adar_tr_2(adar_tr_2),
|
|
.adar_tr_3(adar_tr_3),
|
|
.adar_tr_4(adar_tr_4),
|
|
|
|
// Level Shifter SPI
|
|
.stm32_sclk_3v3(stm32_sclk_3v3),
|
|
.stm32_mosi_3v3(stm32_mosi_3v3),
|
|
.stm32_miso_3v3(stm32_miso_3v3),
|
|
.stm32_cs_adar1_3v3(stm32_cs_adar1_3v3),
|
|
.stm32_cs_adar2_3v3(stm32_cs_adar2_3v3),
|
|
.stm32_cs_adar3_3v3(stm32_cs_adar3_3v3),
|
|
.stm32_cs_adar4_3v3(stm32_cs_adar4_3v3),
|
|
|
|
.stm32_sclk_1v8(stm32_sclk_1v8),
|
|
.stm32_mosi_1v8(stm32_mosi_1v8),
|
|
.stm32_miso_1v8(stm32_miso_1v8),
|
|
.stm32_cs_adar1_1v8(stm32_cs_adar1_1v8),
|
|
.stm32_cs_adar2_1v8(stm32_cs_adar2_1v8),
|
|
.stm32_cs_adar3_1v8(stm32_cs_adar3_1v8),
|
|
.stm32_cs_adar4_1v8(stm32_cs_adar4_1v8),
|
|
|
|
// Receiver Interfaces
|
|
.adc_d_p(adc_d_p),
|
|
.adc_d_n(adc_d_n),
|
|
.adc_dco_p(adc_dco_p),
|
|
.adc_dco_n(adc_dco_n),
|
|
.adc_pwdn(adc_pwdn),
|
|
|
|
// STM32 Control
|
|
.stm32_new_chirp(stm32_new_chirp),
|
|
.stm32_new_elevation(stm32_new_elevation),
|
|
.stm32_new_azimuth(stm32_new_azimuth),
|
|
.stm32_mixers_enable(stm32_mixers_enable),
|
|
|
|
// FT601 Interface
|
|
.ft601_data(ft601_data),
|
|
.ft601_be(ft601_be),
|
|
.ft601_txe_n(ft601_txe_n),
|
|
.ft601_rxf_n(ft601_rxf_n),
|
|
.ft601_txe(ft601_txe),
|
|
.ft601_rxf(ft601_rxf),
|
|
.ft601_wr_n(ft601_wr_n),
|
|
.ft601_rd_n(ft601_rd_n),
|
|
.ft601_oe_n(ft601_oe_n),
|
|
.ft601_siwu_n(ft601_siwu_n),
|
|
.ft601_srb(ft601_srb),
|
|
.ft601_swb(ft601_swb),
|
|
.ft601_clk_out(ft601_clk_out),
|
|
|
|
// Status Outputs
|
|
.current_elevation(current_elevation),
|
|
.current_azimuth(current_azimuth),
|
|
.current_chirp(current_chirp),
|
|
.new_chirp_frame(new_chirp_frame),
|
|
.dbg_doppler_data(dbg_doppler_data),
|
|
.dbg_doppler_valid(dbg_doppler_valid),
|
|
.dbg_doppler_bin(dbg_doppler_bin),
|
|
.dbg_range_bin(dbg_range_bin),
|
|
.system_status(system_status)
|
|
);
|
|
|
|
// ============================================================================
|
|
// MONITORING AND CHECKING
|
|
// ============================================================================
|
|
|
|
// Transmitter monitoring
|
|
always @(posedge clk_100m) begin
|
|
if (new_chirp_frame) begin
|
|
$display("[MON @%0t] New chirp frame: chirp=%0d, elev=%0d, az=%0d",
|
|
$time, current_chirp, current_elevation, current_azimuth);
|
|
end
|
|
end
|
|
|
|
// DAC output monitoring
|
|
integer p;
|
|
integer dac_sample_count = 0;
|
|
always @(posedge dac_clk) begin
|
|
if (dac_data != 8'h80) begin
|
|
dac_sample_count = dac_sample_count + 1;
|
|
if (dac_sample_count < 50) begin
|
|
$display("[DAC @%0t] data=0x%02h", $time, dac_data);
|
|
end
|
|
end
|
|
end
|
|
|
|
// Doppler output monitoring
|
|
integer doppler_count = 0;
|
|
always @(posedge clk_100m) begin
|
|
if (dbg_doppler_valid) begin
|
|
doppler_count = doppler_count + 1;
|
|
if (doppler_count < 100) begin
|
|
$display("[DOPPLER @%0t] bin=%0d, range=%0d, data=0x%08h",
|
|
$time, dbg_doppler_bin, dbg_range_bin, dbg_doppler_data);
|
|
end
|
|
end
|
|
end
|
|
|
|
// ============================================================================
|
|
// TEST COMPLETION
|
|
// ============================================================================
|
|
|
|
initial begin
|
|
#SIM_TIME;
|
|
|
|
$display("");
|
|
$display("========================================");
|
|
$display("SIMULATION COMPLETE");
|
|
$display("========================================");
|
|
$display("Total simulation time: %0t ns", $time);
|
|
$display("Chirps generated: %0d", chirp_num);
|
|
$display("USB packets sent: %0d", usb_packet_count);
|
|
$display("USB bytes sent: %0d", usb_byte_count);
|
|
$display("Doppler outputs: %0d", doppler_count);
|
|
$display("DAC samples: %0d", dac_sample_count);
|
|
$display("========================================");
|
|
|
|
// Verify USB data format
|
|
if (usb_packet_count > 0) begin
|
|
$display("");
|
|
$display("USB Packet Analysis:");
|
|
$display("First 10 packets:");
|
|
for (p = 0; p < 10 && p < usb_packet_count; p = p + 1) begin
|
|
$display(" Packet[%0d]: 0x%08h", p, usb_packet_buffer[p]);
|
|
end
|
|
end
|
|
|
|
$finish;
|
|
end
|
|
|
|
// ============================================================================
|
|
// ASSERTIONS AND CHECKS
|
|
// ============================================================================
|
|
|
|
// Check that chirp counter increments properly (procedural equivalent of SVA)
|
|
reg [5:0] prev_chirp;
|
|
always @(posedge clk_100m) begin
|
|
if (reset_n) begin
|
|
if (new_chirp_frame && (current_chirp == prev_chirp)) begin
|
|
$display("[ASSERT @%0t] WARNING: Chirp counter not incrementing", $time);
|
|
end
|
|
prev_chirp <= current_chirp;
|
|
end
|
|
end
|
|
|
|
// Check that system reset clears status (procedural equivalent of SVA)
|
|
always @(negedge reset_n) begin
|
|
#10; // Wait one clock cycle after reset assertion
|
|
if (system_status != 4'b0000) begin
|
|
$display("[ASSERT @%0t] ERROR: Reset failed to clear status (status=%b)",
|
|
$time, system_status);
|
|
end
|
|
end
|
|
|
|
// ============================================================================
|
|
// WAVEFORM DUMPING
|
|
// ============================================================================
|
|
|
|
initial begin
|
|
$dumpfile("radar_system_tb.vcd");
|
|
$dumpvars(0, radar_system_tb);
|
|
|
|
// Optional: dump specific signals for debugging
|
|
$dumpvars(1, dut.tx_inst);
|
|
$dumpvars(1, dut.rx_inst);
|
|
$dumpvars(1, dut.usb_inst);
|
|
end
|
|
|
|
endmodule
|