mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-05-08 14:51:45 +00:00
314 lines
9.3 KiB
VHDL
314 lines
9.3 KiB
VHDL
-- Testbench automatically generated online
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-- at http://vhdl.lapinoo.net
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-- Generation date : 24.2.2018 16:12:08 GMT
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library ieee;
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use ieee.std_logic_1164.all;
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use IEEE.NUMERIC_STD.ALL;
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entity communication_tb is
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end communication_tb;
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architecture tb of communication_tb is
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component communication
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port (clock : in std_logic;
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reset : in std_logic;
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left : in integer;
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right : in integer;
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front : in integer;
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zerocoder : out std_logic;
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back : in integer;
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txData : out std_logic_vector (7 downto 0);
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txStb : out std_logic;
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txAck : in std_logic;
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rxData : in std_logic_vector (7 downto 0);
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rxStb : in std_logic;
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enA : out std_logic_vector(7 downto 0);
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in1enC : out std_logic_vector(7 downto 0);
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in2 : out std_logic;
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enB : out std_logic_vector(7 downto 0);
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in3enD : out std_logic_vector(7 downto 0);
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in4 : out std_logic
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);
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end component;
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signal clock : std_logic;
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signal reset : std_logic;
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signal left : integer;
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signal right : integer;
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signal front : integer;
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signal back : integer;
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signal txData : std_logic_vector (7 downto 0);
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signal txStb : std_logic;
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signal zerocoder : std_logic;
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signal txAck : std_logic;
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signal rxData : std_logic_vector (7 downto 0);
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signal rxStb : std_logic;
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signal enA : std_logic_vector(7 downto 0);
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signal in1enC : std_logic_vector(7 downto 0);
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signal in2 : std_logic;
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signal enB : std_logic_vector(7 downto 0);
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signal in3enD : std_logic_vector(7 downto 0);
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signal in4 : std_logic;
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constant TbPeriod : time := 20 ns;
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signal TbClock : std_logic := '0';
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signal TbSimEnded : std_logic := '0';
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type multipleChar is array (0 to 15) of std_logic_vector(7 downto 0);
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begin
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dut : communication
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port map (clock => clock,
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reset => reset,
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left => left,
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right => right,
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front => front,
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back => back,
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txData => txData,
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txStb => txStb,
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zerocoder => zerocoder,
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txAck => txAck,
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rxData => rxData,
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rxStb => rxStb,
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enA => enA,
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in1enC => in1enC,
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in2 => in2,
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enB => enB,
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in3enD => in3enD,
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in4 => in4
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);
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-- Clock generation
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TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0';
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clock <= TbClock;
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stimuli : process
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variable tampon : multipleChar;
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begin
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front <= 0;
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back <= 0;
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left <= 1152;
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right <= 11614;
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txAck <= '0';
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rxData <= (others => '0');
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rxStb <= '0';
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-- Reset generation
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reset <= '1';
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wait for 100 ns;
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reset <= '0';
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wait for 100 ns;
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-- Test Ping
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report "TEST Receiving 'P'" severity note;
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rxData <= x"50";
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rxStb <= '1';
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wait for TbPeriod;
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rxStb <= '0';
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wait for 100 ns;
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assert txData = x"50" report "Not sent 'P'" severity error;
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assert txStb = '1' report "Not sending" severity error;
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wait for 100 ns;
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txAck <= '1';
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wait for TbPeriod;
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txAck <= '0';
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wait for 100 ns;
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assert txStb = '0' report "Not stopping send" severity error;
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wait for 100 ns; -- Margin
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-- Test unknown char
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report "TEST Receiving '?'" severity note;
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rxData <= x"3F";
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rxStb <= '1';
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wait for TbPeriod;
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rxStb <= '0';
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wait for 100 ns;
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assert txData = x"45" report "Not sent 'E'" severity error;
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assert txStb = '1' report "Not sending" severity error;
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wait for 100 ns;
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txAck <= '1';
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wait for TbPeriod;
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txAck <= '0';
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wait for 100 ns;
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assert txData = x"43" report "Not sent 'C'" severity error;
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assert txStb = '1' report "Not sending" severity error;
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wait for 100 ns;
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txAck <= '1';
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wait for TbPeriod;
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txAck <= '0';
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wait for 100 ns;
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assert txStb = '0' report "Not stopping send" severity error;
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wait for 100 ns; -- Margin
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-- Test queue
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report "TEST Receiving 'P' three times" severity note;
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rxData <= x"50";
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for I in 0 to 2 loop
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rxStb <= '1';
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wait for TbPeriod;
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rxStb <= '0';
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wait for 100 ns;
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end loop;
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for I in 0 to 2 loop
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wait for 100 ns;
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assert txData = x"50" report "Not sent 'P'" severity error;
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assert txStb = '1' report "Not sending" severity error;
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wait for 100 ns;
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txAck <= '1';
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wait for TbPeriod;
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txAck <= '0';
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end loop;
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wait for 100 ns;
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assert txStb = '0' report "Not stopping send" severity error;
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-- Test captor
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front <= 1152;
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back <= 11614;
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report "TEST Receiving 'C'" severity note;
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rxData <= x"43";
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rxStb <= '1';
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wait for TbPeriod;
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rxStb <= '0';
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tampon(0 to 4) := (x"43", x"80", x"04", x"5E", x"2D");
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for I in 0 to 4 loop
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wait for 100 ns;
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assert txData = tampon(I) report "Not sent correct data, got " & integer'image(to_integer(unsigned(txData))) & ", expected " & integer'image(to_integer(unsigned(tampon(I))))severity error;
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assert txStb = '1' report "Not sending" severity error;
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wait for 100 ns;
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txAck <= '1';
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wait for TbPeriod;
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txAck <= '0';
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end loop;
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wait for 100 ns;
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assert txStb = '0' report "Not stopping send" severity error;
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-- Test encoder
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report "TEST Receiving 'D'" severity note;
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rxData <= x"44";
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rxStb <= '1';
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wait for TbPeriod;
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rxStb <= '0';
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wait for TbPeriod;
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assert zerocoder = '1' report "Not reseting coder values" severity error;
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left <= 0;
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right <= 0;
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wait for TbPeriod;
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assert zerocoder = '0' report "Not stopping reseting coder values" severity error;
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tampon(0 to 4) := (x"44", x"80", x"04", x"5E", x"2D");
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for I in 0 to 4 loop
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wait for 100 ns;
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assert txData = tampon(I) report "Not sent correct data, got " & integer'image(to_integer(unsigned(txData))) & ", expected " & integer'image(to_integer(unsigned(tampon(I)))) severity error;
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assert txStb = '1' report "Not sending" severity error;
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wait for 100 ns;
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txAck <= '1';
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wait for TbPeriod;
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txAck <= '0';
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end loop;
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wait for 100 ns;
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assert txStb = '0' report "Not stopping send" severity error;
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-- Test capt trigger
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report "TEST Receiving 'c'" severity note;
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tampon(0 to 4) := (x"63", x"80", x"04", x"5E", x"2D");
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for I in 0 to 4 loop
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rxData <= tampon(I);
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rxStb <= '1';
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wait for TbPeriod;
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rxStb <= '0';
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wait for TbPeriod;
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end loop;
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wait for 100 ns;
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front <= 11614;
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back <= 11614;
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tampon(0 to 4) := (x"43", x"5E", x"2D", x"5E", x"2D");
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for I in 0 to 4 loop
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wait for 100 ns;
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assert txData = tampon(I) report "Not sent correct data, got " & integer'image(to_integer(unsigned(txData))) & ", expected " & integer'image(to_integer(unsigned(tampon(I))))severity error;
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assert txStb = '1' report "Not sending" severity error;
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wait for 100 ns;
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txAck <= '1';
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wait for TbPeriod;
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txAck <= '0';
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end loop;
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wait for 100 ns;
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-- Test PWM1
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report "TEST Receiving 'W'" severity note;
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tampon(0 to 3) := (x"57", x"CC", x"77", x"03");
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for I in 0 to 3 loop
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rxData <= tampon(I);
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rxStb <= '1';
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wait for TbPeriod;
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rxStb <= '0';
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wait for TbPeriod;
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end loop;
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assert enA = x"CC" report "ENA not at correct value" severity error;
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assert enB = x"77" report "ENB not at correct value" severity error;
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assert in1enC = x"FF" report "IN1 not at correct value" severity error;
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assert in2 = '1' report "IN1 not at correct value" severity error;
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assert in3enD = x"00" report "IN3 not at correct value" severity error;
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assert in4 = '0' report "IN4 not at correct value" severity error;
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wait for 100 ns;
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-- Test PWM2
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report "TEST Receiving 'w'" severity note;
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tampon(0 to 4) := (x"77", x"11", x"22", x"33", x"44");
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for I in 0 to 4 loop
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rxData <= tampon(I);
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rxStb <= '1';
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wait for TbPeriod;
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rxStb <= '0';
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wait for TbPeriod;
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end loop;
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assert enA = x"11" report "ENA not at correct value" severity error;
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assert in1enC = x"22" report "ENC not at correct value" severity error;
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assert enB = x"33" report "ENB not at correct value" severity error;
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assert in3enD = x"44" report "END not at correct value" severity error;
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wait for 100 ns;
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TbSimEnded <= '1';
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wait;
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end process;
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end tb;
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