diff --git a/ci/ci-build.sh b/ci/ci-build.sh
index 2a6b7efed05ec7a1b9cc2969af633a888afa6010..621e455b1d030b90d438d98fd5ee8c500b7e3f7a 100644
--- a/ci/ci-build.sh
+++ b/ci/ci-build.sh
@@ -2,9 +2,13 @@
set -e
+# Quad Hardware Tests
+source /remote/Xilinx/2018.2/Vivado/2018.2/settings64.sh
+(cd quad/ip_repo && make build-tests)
+
# Quad Libraries and Boot image
-(cd quad && make deep-clean && make)
+#(cd quad && make deep-clean && make)
# Ground station
-git submodule update --init --recursive
+#git submodule update --init --recursive
#(cd groundStation && make vrpn && make) # QT is breaking things right now
diff --git a/ci/ci-test.sh b/ci/ci-test.sh
index 67e6ed1c6afc9968d791978dbdf4cfca8f9711eb..50bf206a6b2cd535792da85c7c82c293d765c3aa 100644
--- a/ci/ci-test.sh
+++ b/ci/ci-test.sh
@@ -2,5 +2,9 @@
set -e
+# Quad HW
+source /remote/Xilinx/2018.2/Vivado/2018.2/settings64.sh
+(cd quad/ip_repo && make run-tests)
+
# Quad
-(cd quad && make test)
+#(cd quad && make test)
diff --git a/quad/ip_repo/Makefile b/quad/ip_repo/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..8c1120a62e3eeabcb735581ebbb0b0c8a5f3a2c2
--- /dev/null
+++ b/quad/ip_repo/Makefile
@@ -0,0 +1,7 @@
+build-tests:
+ (cd pwm_recorder_1.0/ && make build-tests)
+ (cd pwm_signal_out_1.0/ && make build-tests)
+
+run-tests:
+ (cd pwm_recorder_1.0/ && make run-tests)
+ (cd pwm_signal_out_1.0/ && make run-tests)
\ No newline at end of file
diff --git a/quad/ip_repo/get_simulation_result.tcl b/quad/ip_repo/get_simulation_result.tcl
new file mode 100644
index 0000000000000000000000000000000000000000..26a4eea8eab648e5155d3afc0d3dc255231cd46b
--- /dev/null
+++ b/quad/ip_repo/get_simulation_result.tcl
@@ -0,0 +1,7 @@
+#!/bin/bash
+set signal [get_objects /*_tester/passing]
+set fd [open "result.log" "w"]
+run all
+puts $fd [get_value $signal]
+flush $fd
+quit
\ No newline at end of file
diff --git a/quad/ip_repo/pwm_recorder_1.0/Makefile b/quad/ip_repo/pwm_recorder_1.0/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a3981b29b189d71d9808cf315c4f59b67a395f17
--- /dev/null
+++ b/quad/ip_repo/pwm_recorder_1.0/Makefile
@@ -0,0 +1,10 @@
+build-tests:
+# The build products get removed if run in the build step.
+
+run-tests:
+ xelab --debug wave -prj kernel_test.prj -s run_kernel_test work.kernel_tester
+ xsim run_kernel_test -wdb kernel_test.wdb --t ../get_simulation_result.tcl
+ echo 1 > result.exp
+ cat result.log
+ cmp result.log result.exp
+ rm result.exp
\ No newline at end of file
diff --git a/quad/ip_repo/pwm_recorder_1.0/hdl/kernel_tester.vhd b/quad/ip_repo/pwm_recorder_1.0/hdl/kernel_tester.vhd
index a9f79d2e362ba57a57e3e6511c46a9ab2ef73e5b..aa3b53a64c1021f6ed1e8b3f1d5ce067f4df363e 100644
--- a/quad/ip_repo/pwm_recorder_1.0/hdl/kernel_tester.vhd
+++ b/quad/ip_repo/pwm_recorder_1.0/hdl/kernel_tester.vhd
@@ -53,6 +53,7 @@ architecture testbench of kernel_tester is
signal count : std_logic_vector(31 downto 0);
signal write : std_logic;
signal done : std_logic := '0';
+ signal passing : std_logic := '0';
begin
UUT: pwm_rec
@@ -67,6 +68,8 @@ begin
variable period : integer;
begin
+ passing <='1';
+
reset_n <='0';
wait for 2*CLK_HPER;
reset_n <='1';
@@ -78,7 +81,10 @@ begin
wait for period*2*CLK_HPER;
pwm <= '0';
wait until write='1';
- ASSERT count=std_logic_vector(to_unsigned(period, 32)) REPORT "Incorrect COUNT result" SEVERITY FAILURE;
+ if (count /= std_logic_vector(to_unsigned(period, 32))) then
+ REPORT "Incorrect COUNT result" SEVERITY FAILURE;
+ passing <='0';
+ end if;
period := 200;
pwm <= '0';
@@ -87,8 +93,11 @@ begin
wait for period*2*CLK_HPER;
pwm <= '0';
wait until write='1';
- ASSERT count=std_logic_vector(to_unsigned(period, 32)) REPORT "Incorrect COUNT result" SEVERITY FAILURE;
-
+ if (count /= std_logic_vector(to_unsigned(period, 32))) then
+ REPORT "Incorrect COUNT result" SEVERITY FAILURE;
+ passing <='0';
+ end if;
+
period := 300;
pwm <= '0';
wait for CLK_HPER*2*20;
@@ -96,7 +105,10 @@ begin
wait for period*2*CLK_HPER;
pwm <= '0';
wait until write='1';
- ASSERT count=std_logic_vector(to_unsigned(period, 32)) REPORT "Incorrect COUNT result" SEVERITY FAILURE;
+ if (count /= std_logic_vector(to_unsigned(period, 32))) then
+ REPORT "Incorrect COUNT result" SEVERITY FAILURE;
+ passing <='0';
+ end if;
period := 400;
pwm <= '0';
@@ -105,7 +117,10 @@ begin
wait for period*2*CLK_HPER;
pwm <= '0';
wait until write='1';
- ASSERT count=std_logic_vector(to_unsigned(period, 32)) REPORT "Incorrect COUNT result" SEVERITY FAILURE;
+ if (count /= std_logic_vector(to_unsigned(period, 32))) then
+ REPORT "Incorrect COUNT result" SEVERITY FAILURE;
+ passing <='0';
+ end if;
period := 10;
pwm <= '0';
@@ -115,7 +130,10 @@ begin
pwm <= '0';
for t in 0 to 100 loop
wait for 2*CLK_HPER;
- ASSERT write='0' REPORT "Glitch not Ignored" SEVERITY FAILURE;
+ if (write /= '0') then
+ REPORT "Glitch not Ignored" SEVERITY FAILURE;
+ passing <='0';
+ end if;
end loop;
-- Run for 45, glitch for 10, then run for 45, expect a result of 100
@@ -130,12 +148,20 @@ begin
wait for 45*2*CLK_HPER;
pwm <= '0';
wait until write='1';
- ASSERT count=std_logic_vector(to_unsigned(period, 32)) REPORT "Incorrect COUNT result" SEVERITY FAILURE;
+ if (count /= std_logic_vector(to_unsigned(period, 32))) then
+ REPORT "Incorrect COUNT result" SEVERITY FAILURE;
+ passing <='0';
+ end if;
done <='1';
+
+ if (passing = '0') then
+ -- output test faulure?
+ end if;
+
wait;
end process;
-
+
clock_proc: process
begin
clk <= '0';
diff --git a/quad/ip_repo/pwm_recorder_1.0/kernel_test.prj b/quad/ip_repo/pwm_recorder_1.0/kernel_test.prj
new file mode 100644
index 0000000000000000000000000000000000000000..82dec23a23523cf562dad93dc93f00c6a153417b
--- /dev/null
+++ b/quad/ip_repo/pwm_recorder_1.0/kernel_test.prj
@@ -0,0 +1,2 @@
+vhdl work src/pwm_rec.vhd
+vhdl work hdl/kernel_tester.vhd
diff --git a/quad/ip_repo/pwm_signal_out_1.0/Makefile b/quad/ip_repo/pwm_signal_out_1.0/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a3981b29b189d71d9808cf315c4f59b67a395f17
--- /dev/null
+++ b/quad/ip_repo/pwm_signal_out_1.0/Makefile
@@ -0,0 +1,10 @@
+build-tests:
+# The build products get removed if run in the build step.
+
+run-tests:
+ xelab --debug wave -prj kernel_test.prj -s run_kernel_test work.kernel_tester
+ xsim run_kernel_test -wdb kernel_test.wdb --t ../get_simulation_result.tcl
+ echo 1 > result.exp
+ cat result.log
+ cmp result.log result.exp
+ rm result.exp
\ No newline at end of file
diff --git a/quad/ip_repo/pwm_signal_out_1.0/component.xml b/quad/ip_repo/pwm_signal_out_1.0/component.xml
index c7a792f450b6002f66ae57ebdc1f899602050202..db7c5502aaa04b69b4320a9368c1ceb1b0af8066 100644
--- a/quad/ip_repo/pwm_signal_out_1.0/component.xml
+++ b/quad/ip_repo/pwm_signal_out_1.0/component.xml
@@ -247,7 +247,7 @@
<spirit:parameters>
<spirit:parameter>
<spirit:name>POLARITY</spirit:name>
- <spirit:value spirit:id="BUSIFPARAM_VALUE.S_AXI_ARESETN.POLARITY" spirit:choiceRef="choice_list_74b5137e">ACTIVE_LOW</spirit:value>
+ <spirit:value spirit:id="BUSIFPARAM_VALUE.S_AXI_ARESETN.POLARITY" spirit:choiceRef="choice_list_9d8b0d81">ACTIVE_LOW</spirit:value>
</spirit:parameter>
</spirit:parameters>
</spirit:busInterface>
@@ -304,7 +304,7 @@
<spirit:parameters>
<spirit:parameter>
<spirit:name>viewChecksum</spirit:name>
- <spirit:value>83cf02e9</spirit:value>
+ <spirit:value>5c86c06b</spirit:value>
</spirit:parameter>
</spirit:parameters>
</spirit:view>
@@ -320,7 +320,7 @@
<spirit:parameters>
<spirit:parameter>
<spirit:name>viewChecksum</spirit:name>
- <spirit:value>83cf02e9</spirit:value>
+ <spirit:value>e8071657</spirit:value>
</spirit:parameter>
</spirit:parameters>
</spirit:view>
@@ -366,6 +366,20 @@
</spirit:parameter>
</spirit:parameters>
</spirit:view>
+ <spirit:view>
+ <spirit:name>xilinx_testbench</spirit:name>
+ <spirit:displayName>Test Bench</spirit:displayName>
+ <spirit:envIdentifier>:vivado.xilinx.com:simulation.testbench</spirit:envIdentifier>
+ <spirit:fileSetRef>
+ <spirit:localName>xilinx_testbench_view_fileset</spirit:localName>
+ </spirit:fileSetRef>
+ <spirit:parameters>
+ <spirit:parameter>
+ <spirit:name>viewChecksum</spirit:name>
+ <spirit:value>4e801d27</spirit:value>
+ </spirit:parameter>
+ </spirit:parameters>
+ </spirit:view>
</spirit:views>
<spirit:ports>
<spirit:port>
@@ -712,7 +726,7 @@
<spirit:enumeration>32</spirit:enumeration>
</spirit:choice>
<spirit:choice>
- <spirit:name>choice_list_74b5137e</spirit:name>
+ <spirit:name>choice_list_9d8b0d81</spirit:name>
<spirit:enumeration>ACTIVE_HIGH</spirit:enumeration>
<spirit:enumeration>ACTIVE_LOW</spirit:enumeration>
</spirit:choice>
@@ -744,6 +758,10 @@
<spirit:fileType>vhdlSource</spirit:fileType>
<spirit:userFileType>CHECKSUM_45a2bd69</spirit:userFileType>
</spirit:file>
+ <spirit:file>
+ <spirit:name>../../../../const.xdc</spirit:name>
+ <spirit:userFileType>xdc</spirit:userFileType>
+ </spirit:file>
</spirit:fileSet>
<spirit:fileSet>
<spirit:name>xilinx_vhdlbehavioralsimulation_view_fileset</spirit:name>
@@ -759,6 +777,12 @@
<spirit:name>hdl/pwm_signal_out_v1_0.vhd</spirit:name>
<spirit:fileType>vhdlSource</spirit:fileType>
</spirit:file>
+ <spirit:file>
+ <spirit:name>src/kernel_tester.vhd</spirit:name>
+ <spirit:fileType>vhdlSource</spirit:fileType>
+ <spirit:userFileType>USED_IN_ipstatic</spirit:userFileType>
+ <spirit:logicalName>xil_defaultlib</spirit:logicalName>
+ </spirit:file>
</spirit:fileSet>
<spirit:fileSet>
<spirit:name>xilinx_softwaredriver_view_fileset</spirit:name>
@@ -808,6 +832,15 @@
<spirit:fileType>tclSource</spirit:fileType>
</spirit:file>
</spirit:fileSet>
+ <spirit:fileSet>
+ <spirit:name>xilinx_testbench_view_fileset</spirit:name>
+ <spirit:file>
+ <spirit:name>src/kernel_tester.vhd</spirit:name>
+ <spirit:fileType>vhdlSource</spirit:fileType>
+ <spirit:userFileType>USED_IN_simulation</spirit:userFileType>
+ <spirit:userFileType>USED_IN_synthesis</spirit:userFileType>
+ </spirit:file>
+ </spirit:fileSet>
</spirit:fileSets>
<spirit:description>Produces the pwm signal out base on a register value</spirit:description>
<spirit:parameters>
@@ -876,19 +909,19 @@
</xilinx:taxonomies>
<xilinx:displayName>pwm_signal_out_v1.0</xilinx:displayName>
<xilinx:coreRevision>2</xilinx:coreRevision>
- <xilinx:coreCreationDateTime>2017-12-09T23:09:40Z</xilinx:coreCreationDateTime>
+ <xilinx:coreCreationDateTime>2018-10-05T20:40:10Z</xilinx:coreCreationDateTime>
<xilinx:tags>
<xilinx:tag xilinx:name="user.org:user:pwm_signal_out:1.0_ARCHIVE_LOCATION">/local/ucart/MicroCART/quad/ip_repo/pwm_signal_out_1.0</xilinx:tag>
</xilinx:tags>
</xilinx:coreExtensions>
<xilinx:packagingInfo>
- <xilinx:xilinxVersion>2017.1</xilinx:xilinxVersion>
- <xilinx:checksum xilinx:scope="busInterfaces" xilinx:value="cebbc925"/>
- <xilinx:checksum xilinx:scope="memoryMaps" xilinx:value="59f5074b"/>
- <xilinx:checksum xilinx:scope="fileGroups" xilinx:value="7d50a186"/>
- <xilinx:checksum xilinx:scope="ports" xilinx:value="c99dab34"/>
- <xilinx:checksum xilinx:scope="hdlParameters" xilinx:value="1826240f"/>
- <xilinx:checksum xilinx:scope="parameters" xilinx:value="a6a514bf"/>
+ <xilinx:xilinxVersion>2018.2.1</xilinx:xilinxVersion>
+ <xilinx:checksum xilinx:scope="busInterfaces" xilinx:value="9a0bb3a5"/>
+ <xilinx:checksum xilinx:scope="memoryMaps" xilinx:value="c30980da"/>
+ <xilinx:checksum xilinx:scope="fileGroups" xilinx:value="29260a33"/>
+ <xilinx:checksum xilinx:scope="ports" xilinx:value="16b2dbf2"/>
+ <xilinx:checksum xilinx:scope="hdlParameters" xilinx:value="f9a38560"/>
+ <xilinx:checksum xilinx:scope="parameters" xilinx:value="28e39136"/>
</xilinx:packagingInfo>
</spirit:vendorExtensions>
</spirit:component>
diff --git a/quad/ip_repo/pwm_signal_out_1.0/kernel_test.prj b/quad/ip_repo/pwm_signal_out_1.0/kernel_test.prj
new file mode 100644
index 0000000000000000000000000000000000000000..033f09e410e72a21fda32a35676ec41e47126071
--- /dev/null
+++ b/quad/ip_repo/pwm_signal_out_1.0/kernel_test.prj
@@ -0,0 +1,2 @@
+vhdl work src/pwm.vhd
+vhdl work src/kernel_tester.vhd
diff --git a/quad/ip_repo/pwm_signal_out_1.0/src/kernel_tester.vhd b/quad/ip_repo/pwm_signal_out_1.0/src/kernel_tester.vhd
new file mode 100644
index 0000000000000000000000000000000000000000..67d98bfe415e94bbea31bb3f2ac4b4b48c433836
--- /dev/null
+++ b/quad/ip_repo/pwm_signal_out_1.0/src/kernel_tester.vhd
@@ -0,0 +1,120 @@
+----------------------------------------------------------------------------------
+-- Company:
+-- Engineer:
+--
+-- Create Date: 10/05/2018 02:27:32 PM
+-- Design Name:
+-- Module Name: kernel_tester - Behavioral
+-- Project Name:
+-- Target Devices:
+-- Tool Versions:
+-- Description:
+--
+-- Dependencies:
+--
+-- Revision:
+-- Revision 0.01 - File Created
+-- Additional Comments:
+--
+----------------------------------------------------------------------------------
+
+
+library IEEE;
+use IEEE.STD_LOGIC_1164.ALL;
+use IEEE.numeric_std.all;
+
+-- Uncomment the following library declaration if using
+-- arithmetic functions with Signed or Unsigned values
+--use IEEE.NUMERIC_STD.ALL;
+
+-- Uncomment the following library declaration if instantiating
+-- any Xilinx leaf cells in this code.
+--library UNISIM;
+--use UNISIM.VComponents.all;
+
+entity kernel_tester is
+-- Port ( );
+end kernel_tester;
+
+architecture Behavioral of kernel_tester is
+ component pwm IS
+ PORT(clk : IN STD_LOGIC; --system clock
+ reset_n : IN STD_LOGIC; --reset
+ pwm_per : IN STD_LOGIC_VECTOR(31 DOWNTO 0); -- Number of clock counts
+ pwm_puls : IN STD_LOGIC_VECTOR(31 DOWNTO 0); -- Number of clock counts in puls
+ pwm_out : OUT STD_LOGIC := '0');
+ END component pwm;
+
+ signal passing : std_logic;
+ signal clk : std_logic;
+ signal period : std_logic_vector(31 downto 0);
+ signal pulse : std_logic_vector(31 downto 0);
+ signal reset_n : std_logic;
+ signal generated : std_logic;
+ signal done : std_logic;
+
+ constant CLK_HPER : time := 20 us;
+begin
+ UUT: pwm
+ PORT map(clk => clk,
+ reset_n => reset_n,
+ pwm_per => period,
+ pwm_puls => pulse,
+ pwm_out => generated);
+
+ testbench: process
+ variable period_desired : integer;
+ variable pulse_desired : integer;
+ variable period_measured : time;
+ variable pulse_measured : time;
+ variable period_count : integer;
+ variable pulse_count : integer;
+ begin
+ passing <= '1';
+
+ reset_n <='0';
+ wait for 2*CLK_HPER;
+ reset_n <='1';
+
+ for period_iter in 0 to 10 loop
+ for duty in 1 to 9 loop
+ period_desired := 100*(2**period_iter);
+ pulse_desired := period_desired*duty/10;
+ period <= std_logic_vector(to_unsigned(period_desired-1, 32));
+ pulse <= std_logic_vector(to_unsigned(pulse_desired-1, 32));
+ wait until generated = '1';
+ wait until generated = '0';
+ wait until generated = '1';
+ period_measured := now;
+ pulse_measured := now;
+ wait until generated = '0';
+ pulse_measured := now-pulse_measured;
+ wait until generated = '1';
+ period_measured := now-period_measured;
+ period_count := (period_measured/CLK_HPER)/2;
+ pulse_count := (pulse_measured/CLK_HPER)/2;
+ if (period_count /= period_desired OR pulse_count /= pulse_desired) then
+ passing <= '0';
+ end if;
+ ASSERT period_count = period_desired REPORT "Period was incorrect, expected: "&integer'image(period_desired)&" actual: "&integer'image(period_count) SEVERITY ERROR;
+ ASSERT pulse_count = pulse_desired REPORT "Pulse was incorrect, expected: "&integer'image(pulse_desired)&" actual: "&integer'image(pulse_count) SEVERITY ERROR;
+ end loop;
+ end loop;
+
+
+ done <= '1';
+ wait;
+ end process testbench;
+
+ clock_gen: process
+ begin
+ if (done = '1') then
+ wait;
+ else
+ clk <= '0';
+ wait for CLK_HPER;
+ clk <= '1';
+ wait for CLK_HPER;
+ end if;
+ end process;
+end Behavioral;
diff --git a/quad/ip_repo/pwm_signal_out_1.0/src/pwm.vhd b/quad/ip_repo/pwm_signal_out_1.0/src/pwm.vhd
index 93ec9d2a5c0126c0a203ab7077a3d197224cb59e..e76fc7e634e0cafe05d64c136351b5288e5fdd5e 100644
--- a/quad/ip_repo/pwm_signal_out_1.0/src/pwm.vhd
+++ b/quad/ip_repo/pwm_signal_out_1.0/src/pwm.vhd
@@ -33,6 +33,7 @@ BEGIN
pwm_out <= '0';
counter <= std_logic_vector(unsigned(counter) + 1);
else
+ pwm_out <= '1';
counter <= X"00000000";
end if;
end if;