def test_servos():
# Generate random consigns for servos
# respect min/max useful consigns
consigns = [intbv(randrange(12500, 62500))[16:] for i in range(9)]
# Set servo consigns one at a time
for i in range(1, 9):
yield set_servo_consign(i, consigns[i])
# Check actual duty cycles
yield join(check_servo_duty_cycle(1, consigns[1]),
check_servo_duty_cycle(2, consigns[2]),
check_servo_duty_cycle(3, consigns[3]),
check_servo_duty_cycle(4, consigns[4]),
check_servo_duty_cycle(5, consigns[5]),
check_servo_duty_cycle(6, consigns[6]),
check_servo_duty_cycle(7, consigns[7]),
check_servo_duty_cycle(8, consigns[8]))
# Regen random consigns
# respect min/max useful consigns
consigns = [intbv(randrange(12500, 62500))[16:] for i in range(9)]
# Set all servo consigns together
yield set_servos_consigns(consigns)
# Check actual duty cycles
yield join(check_servo_duty_cycle(1, consigns[1]),
check_servo_duty_cycle(2, consigns[2]),
check_servo_duty_cycle(3, consigns[3]),
check_servo_duty_cycle(4, consigns[4]),
check_servo_duty_cycle(5, consigns[5]),
check_servo_duty_cycle(6, consigns[6]),
check_servo_duty_cycle(7, consigns[7]),
check_servo_duty_cycle(8, consigns[8]))
def test_servos():
# Generate random consigns for servos
# respect min/max useful consigns
consigns = [intbv(randrange(12500, 62500))[16:] for i in range(9)]
# Set servo consigns one at a time
for i in range(1, 9):
yield set_servo_consign(i, consigns[i])
# Check actual duty cycles
yield join(check_servo_duty_cycle(1, consigns[1]),
check_servo_duty_cycle(2, consigns[2]),
check_servo_duty_cycle(3, consigns[3]),
check_servo_duty_cycle(4, consigns[4]),
check_servo_duty_cycle(5, consigns[5]),
check_servo_duty_cycle(6, consigns[6]),
check_servo_duty_cycle(7, consigns[7]),
check_servo_duty_cycle(8, consigns[8]))
# Regen random consigns
# respect min/max useful consigns
consigns = [intbv(randrange(12500, 62500))[16:] for i in range(9)]
# Set all servo consigns together
yield set_servos_consigns(consigns)
# Check actual duty cycles
yield join(check_servo_duty_cycle(1, consigns[1]),
check_servo_duty_cycle(2, consigns[2]),
check_servo_duty_cycle(3, consigns[3]),
check_servo_duty_cycle(4, consigns[4]),
check_servo_duty_cycle(5, consigns[5]),
check_servo_duty_cycle(6, consigns[6]),
check_servo_duty_cycle(7, consigns[7]),
check_servo_duty_cycle(8, consigns[8]))
def test_motors():
# Generate random speeds for motors
speeds = [intbv(randrange(-2**10, 2**10), min = -2**10, max = 2**10) for i in range(9)]
# Set motor speeds one at a time
for i in range(1, 9):
yield set_motor_speed(i, speeds[i])
# Check actual duty cycles
yield join(check_motor_duty_cycle(1, speeds[1]),
check_motor_duty_cycle(2, speeds[2]),
check_motor_duty_cycle(3, speeds[3]),
check_motor_duty_cycle(4, speeds[4]),
check_motor_duty_cycle(5, speeds[5]),
check_motor_duty_cycle(6, speeds[6]),
check_motor_duty_cycle(7, speeds[7]),
check_motor_duty_cycle(8, speeds[8]))
# Regen random speeds
speeds = [intbv(randrange(-2**10, 2**10), min = -2**10, max = 2**10) for i in range(9)]
# Set all motor speeds together
yield set_motors_speeds(speeds)
# Check actual duty cycles
yield join(check_motor_duty_cycle(1, speeds[1]),
check_motor_duty_cycle(2, speeds[2]),
check_motor_duty_cycle(3, speeds[3]),
check_motor_duty_cycle(4, speeds[4]),
check_motor_duty_cycle(5, speeds[5]),
check_motor_duty_cycle(6, speeds[6]),
check_motor_duty_cycle(7, speeds[7]),
check_motor_duty_cycle(8, speeds[8]))
def set_rc_ports(forward_steps_array, backward_steps_array):
""" Make all rc roll """
print 'roll all rc'
yield join(set_rc1_port(forward_steps_array[1], backward_steps_array[1]),
set_rc2_port(forward_steps_array[2], backward_steps_array[2]),
set_rc3_port(forward_steps_array[3], backward_steps_array[3]),
set_rc4_port(forward_steps_array[4], backward_steps_array[4]))
def testJoin():
tx = Signal(1)
rx = tx
rxData = intbv(0)
for val in testvals:
txData = intbv(val)
yield join(rs232_rx(rx, rxData), rs232_tx(tx, txData, duration=T_10200))
def LeftRightToAngleDistanceTester(self, left_val, right_val, angle_val,
distance_val):
self.assertEquals(left_val, 0)
self.assertEquals(right_val, 0)
self.assertEquals(angle_val, 0)
self.assertEquals(distance_val, 0)
def stimulus(left_rand, right_rand):
# print 'set angle to:', left_rand
left_val.next = left_rand
# print 'set distance to:', right_rand
right_val.next = right_rand
def check(left_rand, right_rand):
# print 'waiting for angle_val or distance_val'
yield angle_val, distance_val
# print 'left should be:', right_rand - left_rand
self.assertEquals(angle_val, (right_rand - left_rand) / 2)
# print 'right should be:', right_rand + left_rand
self.assertEquals(distance_val, (right_rand + left_rand) / 2)
for i in range(NR_TESTS):
left_rand = randrange(left_val.min, left_val.max)
right_rand = randrange(right_val.min, right_val.max)
yield join(stimulus(left_rand, right_rand),
check(left_rand, right_rand))
print 'DONE'
raise StopSimulation()
def AngleDistanceToLeftRightTester(self, angle_val, distance_val, left_val, right_val):
self.assertEquals(angle_val, 0)
self.assertEquals(distance_val, 0)
self.assertEquals(left_val, 0)
self.assertEquals(right_val, 0)
def stimulus(angle_rand, distance_rand):
# print 'set angle to:', angle_rand
angle_val.next = angle_rand
# print 'set distance to:', distance_rand
distance_val.next = distance_rand
def check(angle_rand, distance_rand):
# print 'waiting for left_val and right_val'
yield left_val, right_val
# print 'left should be:', distance_rand - angle_rand
self.assertEquals(left_val, distance_rand - angle_rand)
# print 'right should be:', distance_rand + angle_rand
self.assertEquals(right_val, distance_rand + angle_rand)
for i in range(NR_TESTS):
angle_rand = randrange(angle_val.min, angle_val.max)
distance_rand = randrange(distance_val.min, distance_val.max)
yield join(stimulus(angle_rand, distance_rand), check(angle_rand, distance_rand))
print 'DONE'
raise StopSimulation()
def bench(self):
clk = Signal(0)
sig1 = Signal(0)
sig2 = Signal(0)
td = 10
def gen(s, n):
for i in range(n-1):
yield delay(td)
s.next = 1
yield delay(td)
for i in range(10):
offset = now()
n0 = randrange(1, 50)
n1 = randrange(1, 50)
n2 = randrange(1, 50)
sig1.next = 0
sig2.next = 0
yield join(delay(n0*td), gen(sig1, n1), gen(sig2, n2))
assert sig1.val == 1
assert sig2.val == 1
assert now() == offset + td * max(n0, n1, n2)
raise StopSimulation("Joined concurrent generator yield")
def LeftRightToAngleDistanceTester(self, left_val, right_val, angle_val, distance_val):
self.assertEquals(left_val, 0)
self.assertEquals(right_val, 0)
self.assertEquals(angle_val, 0)
self.assertEquals(distance_val, 0)
def stimulus(left_rand, right_rand):
# print 'set angle to:', left_rand
left_val.next = left_rand
# print 'set distance to:', right_rand
right_val.next = right_rand
def check(left_rand, right_rand):
# print 'waiting for angle_val or distance_val'
yield angle_val, distance_val
# print 'left should be:', right_rand - left_rand
self.assertEquals(angle_val, (right_rand - left_rand) / 2)
# print 'right should be:', right_rand + left_rand
self.assertEquals(distance_val, (right_rand + left_rand) / 2)
for i in range(NR_TESTS):
left_rand = randrange(left_val.min, left_val.max)
right_rand = randrange(right_val.min, right_val.max)
yield join(stimulus(left_rand, right_rand), check(left_rand, right_rand))
print 'DONE'
raise StopSimulation()
def testJoin():
tx = Signal(1)
rx = tx
rxData = intbv(0)
for val in testvals:
txData = intbv(val)
yield join(rs232_rx(rx, rxData), rs232_tx(tx, txData, duration=T_10200))
def ParityError(self):
tx = Signal(intbv(0))
rx = tx
actual = intbv(0)
cfg_rx = Config(parity=ODD)
cfg_tx = Config(parity=EVEN)
data = intbv(randrange(256))
yield join(rs232_tx(tx, data, cfg_tx), rs232_rx(rx, actual, cfg_rx))
def set_rc_ports(forward_steps_array, backward_steps_array):
""" Make all rc roll """
print 'roll all rc'
yield join(
set_rc1_port(forward_steps_array[1], backward_steps_array[1]),
set_rc2_port(forward_steps_array[2], backward_steps_array[2]),
set_rc3_port(forward_steps_array[3], backward_steps_array[3]),
set_rc4_port(forward_steps_array[4], backward_steps_array[4]))
def ParityError(self):
tx = Signal(intbv(0))
rx = tx
actual = intbv(0)
cfg_rx = Config(parity=ODD)
cfg_tx = Config(parity=EVEN)
data = intbv(randrange(256))
yield join(rs232_tx(tx, data, cfg_tx), rs232_rx(rx, actual, cfg_rx))
def oddParity(self):
tx = Signal(intbv(0))
rx = tx
actual = intbv(0)
cfg = Config(parity=ODD)
for i in range(256):
data = intbv(i)
yield join(rs232_tx(tx, data, cfg), rs232_rx(rx, actual, cfg))
self.assertEqual(data, actual)
def oddParity(self):
tx = Signal(intbv(0))
rx = tx
actual = intbv(0)
cfg = Config(parity=ODD)
for i in range(256):
data = intbv(i)
yield join(rs232_tx(tx, data, cfg), rs232_rx(rx, actual, cfg))
self.assertEqual(data, actual)
def sevenBitsEvenParity(self):
tx = Signal(intbv(0))
rx = tx
actual = intbv(0)
cfg = Config(parity=EVEN, n_bits=7)
cfg_rx = Config(parity=EVEN, n_bits=7)
for i in range(256):
data = intbv(i)
yield join(rs232_tx(tx, data, cfg), rs232_rx(rx, actual, cfg_rx))
self.assertEqual(data, actual)
def sevenBitsEvenParity(self):
tx = Signal(intbv(0))
rx = tx
actual = intbv(0)
cfg = Config(parity=EVEN, n_bits=7)
cfg_rx = Config(parity=EVEN, n_bits=7)
for i in range(256):
data = intbv(i)
yield join(rs232_tx(tx, data, cfg), rs232_rx(rx, actual, cfg_rx))
self.assertEqual(data, actual)
def bench(self, tx_baud_rate):
tx = Signal(intbv(0))
rx = tx
actual = intbv(0)
cfg_tx = Config(baud_rate=tx_baud_rate)
cfg_rx = Config()
for i in range(256):
data = intbv(i)
yield join(rs232_tx(tx, data, cfg_tx), rs232_rx(rx, actual, cfg_rx))
if not data == actual:
raise Error
def read_adc_channel(number):
master_to_slave = get_read_adc_channel_command(number)
slave_to_master = intbv(0)
channel = intbv(0)[3:]
values = [intbv(randrange(2**10))[10:] for i in range(8)]
yield join(fake_mcp3008(channel, values), spi_transfer(master_to_slave, slave_to_master))
self.assertEquals(channel, number)
self.assertEquals(slave_to_master[16:], values[number])
print 'done'
def bench(self, tx_baud_rate):
tx = Signal(intbv(0))
rx = tx
actual = intbv(0)
cfg_tx = Config(baud_rate=tx_baud_rate)
cfg_rx = Config()
for i in range(256):
data = intbv(i)
yield join(rs232_tx(tx, data, cfg_tx), rs232_rx(rx, actual, cfg_rx))
if not data == actual:
raise Error
def read_adc_channel(number):
master_to_slave = get_read_adc_channel_command(number)
slave_to_master = intbv(0)
channel = intbv(0)[3:]
values = [intbv(randrange(2**10))[10:] for i in range(8)]
yield join(fake_mcp3008(channel, values),
spi_transfer(master_to_slave, slave_to_master))
self.assertEquals(channel, number)
self.assertEquals(slave_to_master[16:], values[number])
print 'done'
def stimulus():
nonlocal memory
enable.next = True
stop_sim.next = False
yield clk.posedge
yield join(mm2s_done, s2mm_done)
for idx in range(100):
if memory.storage[idx] != memory.storage[idx+100]:
raise Exception(
"Datamover testbench failed, mismatch in memory... aborting...")
print("Datamover testbench passed")
stop_sim.next = True
yield clk.posedge
def test_motors():
# Generate random speeds for motors
speeds = [
intbv(randrange(-2**10, 2**10), min=-2**10, max=2**10)
for i in range(9)
]
# Set motor speeds one at a time
for i in range(1, 9):
yield set_motor_speed(i, speeds[i])
# Check actual duty cycles
yield join(check_motor_duty_cycle(1, speeds[1]),
check_motor_duty_cycle(2, speeds[2]),
check_motor_duty_cycle(3, speeds[3]),
check_motor_duty_cycle(4, speeds[4]),
check_motor_duty_cycle(5, speeds[5]),
check_motor_duty_cycle(6, speeds[6]),
check_motor_duty_cycle(7, speeds[7]),
check_motor_duty_cycle(8, speeds[8]))
# Regen random speeds
speeds = [
intbv(randrange(-2**10, 2**10), min=-2**10, max=2**10)
for i in range(9)
]
# Set all motor speeds together
yield set_motors_speeds(speeds)
# Check actual duty cycles
yield join(check_motor_duty_cycle(1, speeds[1]),
check_motor_duty_cycle(2, speeds[2]),
check_motor_duty_cycle(3, speeds[3]),
check_motor_duty_cycle(4, speeds[4]),
check_motor_duty_cycle(5, speeds[5]),
check_motor_duty_cycle(6, speeds[6]),
check_motor_duty_cycle(7, speeds[7]),
check_motor_duty_cycle(8, speeds[8]))
def RXTester(self, miso, mosi, sclk, ss_n,
txdata, txrdy, rxdata, rxrdy,
rst_n, n):
def check():
yield rxrdy
print 'master sent:', hex(self.master_to_slave)
print 'slave read:', hex(rxdata)
self.assertEqual(rxdata, self.master_to_slave)
for i in range(NR_TESTS):
print "\nmaster write test"
self.master_to_slave = intbv(randrange(2**n))[n:]
self.slave_to_master = intbv(0)[n:]
yield join(spi_transfer(miso, mosi, sclk, ss_n, self.master_to_slave, self.slave_to_master), check())
def gen():
yield join(delay(10), delay(20))
def response():
yield join(a, b.posedge, b.negedge, a)
assert now() == 15
def response():
yield join(a, a.negedge, c.posedge)
assert now() == 15
def response():
yield join(a, delay(20)), b, join(c, d)
assert now() == 10
def response():
yield join(a, b), join(c, d)
assert now() == 10
def stimulus():
a = Signal(0)
yield join(delay(10), delay(20)), delay(5)
assert now() == 5
yield a
raise AssertionError("Incorrect run") # should not get here
def response():
yield join(a, b), join(c, d)
self.assertEqual(now(), 10)
def response():
yield join(a, b, c, d)
assert now() == 20
def response():
yield join(a, delay(30)), join(c, d)
self.assertEqual(now(), 20)
def response():
yield join(a), b, join(c, d)
assert now() == 5
def response():
yield join(a, a.negedge, c.posedge)
self.assertEqual(now(), 15)
def response():
yield join(a, delay(30)), join(c, d)
assert now() == 20
def response():
yield join(a, a)
self.assertEqual(now(), 5)
def response():
yield join(a, a)
assert now() == 5
def response():
yield join(a, b.posedge, b.negedge, a)
self.assertEqual(now(), 15)
def response():
yield join(a), b, join(c, d)
self.assertEqual(now(), 5)
def wait_for_clk_period():
yield join(clk.posedge, clk.negedge)