change constants, bring back automated control loop tests, validate

firmware/Makefile

@@ -11,6 +11,8 @@ csr.json build/digilent_arty/digilent_arty.bit: soc.py
 clean:
 	rm -rf build csr.json overlay.config overlay.dts pin_io.h arty.dts arty.dtb
 	cd rtl && make clean
+test:
+	cd rtl && make test
 
 arty.dts: csr.json
 	litex_json2dts_linux csr.json > arty.dts

firmware/rtl/Makefile

@@ -1,5 +1,7 @@
-all: make_base make_spi make_control_loop make_waveform
+all: make_base make_spi make_control_loop
 
+test:
+	cd control_loop && make test
 make_base:
 	cd base && make codegen
 make_spi:

firmware/rtl/control_loop/Makefile

@@ -14,8 +14,8 @@ CONSTS_FRAC=43
 E_WID=21
 
 test: obj_dir/Vcontrol_loop_sim_top obj_dir/Vcontrol_loop_math
-	# obj_dir/Vcontrol_loop_math
+	obj_dir/Vcontrol_loop_math
-
+	obj_dir/Vcontrol_loop_sim_top
 obj_dir/Vcontrol_loop_math.mk: control_loop_math_sim.cpp ${COMMON} \
                                ${control_loop_math_verilog}
 	verilator --cc --exe -Wall --trace --trace-fst \

firmware/rtl/control_loop/control_loop.v.m4

@@ -168,9 +168,7 @@ control_loop_math #(
 	.CONSTS_SIZ(CONSTS_SIZ),
 	.ADC_WID(ADC_WID),
 	.DAC_WID(DAC_DATA_WID),
-	.CYCLE_COUNT_WID(CYCLE_COUNT_WID),
+	.CYCLE_COUNT_WID(CYCLE_COUNT_WID)
-	.SEC_PER_CYCLE('b10101011110011000),
-	.ADC_TO_DAC({32'b01000001100, 32'b01001001101110100101111000110101})
 ) math (
 	.clk(clk),
 	.rst_L(rst_L),
@@ -252,7 +250,7 @@ end
  * the main loop is clearing the dirty bit.
  */
 
-wire write_control = state == CYCLE_START || !running;
+wire write_control = state == WAIT_ON_DAC || !running;
 reg dirty_bit = 0;
 
 always @ (posedge clk) begin

firmware/rtl/control_loop/control_loop_math.v.m4

@@ -32,10 +32,17 @@ m4_define(M4_CONSTS_WID, (CONSTS_WHOLE + CONSTS_FRAC))
 
 	parameter ADC_WID = 18,
 	parameter [M4_CONSTS_WID-1:0] SEC_PER_CYCLE = 'b10101011110011000,
-	/* The conversion between the ADC bit (20/2**18) and DAC bit (20.48/2**20)
+	/* To calculate this value:
-	 * is 0.256.
+	 * Load doc/fixedpoint.py
+	 * run bin(string_to_fixed_point(str((ADC_RANGE/2**ADC_WID)/(DAC_RANGE/2**DAC_WID)), CONSTS_FRAC))
+	 * This value is the value to put below.
+	 * This value uses ADC_RANGE=20.48, DAC_RANGE=30
+	 * The ranges are the range of values REPRESENTABLE by the ADC and DAC,
+	 * not the values you expect to get!
 	 */
-	parameter [M4_CONSTS_WID-1:0] ADC_TO_DAC = 64'b0100000110001001001101110100101111000110101,
+	parameter [M4_CONSTS_WID-1:0] ADC_TO_DAC =
+/* 64'b0100000110001001001101110100101111000110101, */
+64'b0101110111000000000000000000000000000000000,
 	parameter CYCLE_COUNT_WID = 18,
 	parameter DAC_WID = 20
 m4_define(M4_E_WID, (DAC_WID + 1))

firmware/rtl/control_loop/control_loop_math_sim.cpp

@@ -25,13 +25,14 @@ static void init(int argc, char **argv) {
 	Verilated::traceEverOn(true);
 	mod = new ModType;
 	mod->clk = 0;
+	mod->rst_L = 1;
 }
 
 #define MASK(n) ((1 << (n)) - 1)
 using V = int64_t;
 
 constexpr V per100 = 0b010101011110011000;
-constexpr V adc_to_dac = 0b0100000110001001001101110100101111000110101;
+constexpr V adc_to_dac = 0b0101110111000000000000000000000000000000000;
 
 static void calculate() {
 	/* Multiplication adds an extra CONSTS_FRAC bits to the end,

firmware/rtl/control_loop/control_loop_sim.cpp

@@ -7,14 +7,12 @@
 #include <random>
 #include <unistd.h>
 
-// Other classes implemented (Verilator)
 #include <verilated.h>
 #include "control_loop_math_implementation.h"
 #include "control_loop_cmds.h"
 #include "Vcontrol_loop_sim_top.h"
 using ModType = Vcontrol_loop_sim_top;
 
-// Clock
 uint32_t main_time = 0;
 double sc_time_stamp() {
 	return main_time;
@@ -35,6 +33,7 @@ static void init(int argc, char **argv) {
 	Verilated::traceEverOn(true);
 	mod = new ModType;
 	mod->clk = 0;
+	mod->rst_L = 1;
 }
 
 static void set_value(V val, unsigned name) {
@@ -48,125 +47,42 @@ static void set_value(V val, unsigned name) {
 }
 
 int main(int argc, char **argv) {
+	printf("sim top\n");
 	init(argc, argv);
+	Transfer func = Transfer{150, 0, 2, 1.1, 10, -1};
 
-	int Con,				// Continue option for user
+	set_value(0b11010111000010100011110101110000101000111, CONTROL_LOOP_P);
-	P = 3,					// Default P value
+	/* Constant values must be sized to 64 bits, or else the compiler
-	I = 0,					// Default I value
+	 * will think they are 32 bit and silently mess things up
- 	Delay = 20,				// Default Delay value
+	 */
-	SetPt = 10000,			// Default SetPt value
+	set_value((V)6 << CONSTS_FRAC, CONTROL_LOOP_I);
-	Status = 1,				// Default Status value
+	set_value(20, CONTROL_LOOP_DELAY);
-	Option_Picked;			// Option user picked
+	set_value(10000, CONTROL_LOOP_SETPT);
+	set_value(1, CONTROL_LOOP_STATUS);
+	mod->curset = 0;
 
-	do
+	for (int tick = 0; tick < 1000;) {
-	{
+		run_clock();
-
+		if (mod->request && !mod->fulfilled) {
-		mod = new ModType;
+			/* Verilator values are not sign-extended to the
-		Transfer func = Transfer{150, 0, 2, 1.1, 10, -1};
+			 * size of type, so we have to do that ourselves.
-
+			 */
-		mod->clk = 0;
+			V ext = sign_extend(mod->curset, 20);
-
+			V val = func.val(ext);
-		// Testing this char for P value
+			printf("setting: %ld, val: %ld\n", ext, val);
-		char Data_Change_S = '0b11010111000010100011110101110000101000111';
+			mod->measured_value = val;
-
+			mod->fulfilled = 1;
-		// Default value for P, some type of error where it won't accept any string, int | Try char next time
+		} else if (mod->fulfilled && !mod->request) {
-		set_value(0b11010111000010100011110101110000101000111, CONTROL_LOOP_P);
+			mod->fulfilled = 0;
-
+			tick++;
-		// Default value
-		set_value((V)6 << CONSTS_FRAC, CONTROL_LOOP_I);
-		set_value(Delay, CONTROL_LOOP_DELAY);
-		set_value(SetPt, CONTROL_LOOP_SETPT);
-		set_value(Status, CONTROL_LOOP_STATUS);
-
-		// Menu
-		do
-		{
-			printf("%15s\n", "Menu");
-			printf("1) Set Control loop P    Current value: %d\n", P);
-			printf("2) Set Control loop I    Current value: %d\n", I);
-			printf("3) Set Delay             Current value: %d\n", Delay);
-			printf("4) Set setpoint          Current value: %d\n", SetPt);
-			printf("5) Set status            Current value: %d\n", Status);
-			printf("6) Continue\n");
-
-			// Checks for what option user picks
-			scanf("%d", &Option_Picked);
-			
-			// Clears unix screen
-			system("clear");
-
-			switch (Option_Picked)
-			{
-			case 1:
-				// This case doesn't work for some reason? Need further time to figure it out
-				printf("Please input new Control Loop P value: ");
-				scanf("%d", &P);
-				set_value(P, CONTROL_LOOP_P);
-				break;
-			case 2:
-				printf("Please input new Control Loop I value: ");
-				scanf("%d", &I);
-				set_value(I, CONTROL_LOOP_I);
-				break;
-			case 3:
-				printf("Please input new delay value: ");
-				scanf("%d", &Delay);
-				set_value(Delay, CONTROL_LOOP_DELAY);
-				break;
-			case 4:
-				printf("Please input new setpoint value: ");
-				scanf("%d", &SetPt);
-				set_value(SetPt, CONTROL_LOOP_SETPT);
-				break;
-			case 5:
-				printf("Please input new status value: ");
-				scanf("%d", &Status);
-				set_value(Status, CONTROL_LOOP_STATUS);
-				break;
-			}
-
-		} while (Option_Picked != 6);
-
-
-
-
-		mod->curset = 0;
-
-		// Resets Con to 1 to activate for loop
-		Con = 1;
-
-		for (int tick = 0; Con == 1; tick++) {
-			run_clock();
-			if (mod->request && !mod->fulfilled) {
-				/* Verilator values are not sign-extended to the
-				* size of type, so we have to do that ourselves.
-				*/
-				V ext = sign_extend(mod->curset, 20);
-				V val = func.val(ext);
-				printf("setting: %ld, val: %ld\n", ext, val);
-				mod->measured_value = val;
-				mod->fulfilled = 1;
-			} else if (mod->fulfilled && !mod->request) {
-				mod->fulfilled = 0;
-			}
-
-			if (mod->finish_cmd) {
-				mod->start_cmd = 0;
-			}
-
-			// After 100000 ticks shows user prompt, might make tick to be changable for user.
-			if (tick % 100000 == 0 && tick != 0)
-			{
-				printf("Continue? (0 for exit, 1 for yes, 2 to return to menu)\n");
-				scanf("%d", &Con);
-			}
 		}
-		// Clears unix screen
-		system("clear");
 
-		mod->final();
+		if (mod->finish_cmd) {
-		delete mod;
+			mod->start_cmd = 0;
-	} while (Con == 2);
+		}
+	}
 
+	mod->final();
+	delete mod;
 	return 0;
 }

firmware/rtl/control_loop/control_loop_sim_interactive.cpp

@@ -0,0 +1,172 @@
+#include <memory>
+#include <limits>
+#include <cstdint>
+#include <cstring>
+#include <cstdlib>
+#include <iostream>
+#include <random>
+#include <unistd.h>
+
+// Other classes implemented (Verilator)
+#include <verilated.h>
+#include "control_loop_math_implementation.h"
+#include "control_loop_cmds.h"
+#include "Vcontrol_loop_sim_top.h"
+using ModType = Vcontrol_loop_sim_top;
+
+// Clock
+uint32_t main_time = 0;
+double sc_time_stamp() {
+	return main_time;
+}
+
+ModType *mod;
+
+static void run_clock() {
+	for (int i = 0; i < 2; i++) {
+		mod->clk = !mod->clk;
+		mod->eval();
+		main_time++;
+	}
+}
+
+static void init(int argc, char **argv) {
+	Verilated::commandArgs(argc, argv);
+	Verilated::traceEverOn(true);
+	mod = new ModType;
+	mod->clk = 0;
+}
+
+static void set_value(V val, unsigned name) {
+	mod->cmd = CONTROL_LOOP_WRITE_BIT | name;
+	mod->word_into_loop = val;
+	mod->start_cmd = 1;
+
+	do { run_clock(); } while (!mod->finish_cmd);
+	mod->start_cmd = 0;
+	run_clock();
+}
+
+int main(int argc, char **argv) {
+	init(argc, argv);
+
+	int Con,				// Continue option for user
+	P = 3,					// Default P value
+	I = 0,					// Default I value
+ 	Delay = 20,				// Default Delay value
+	SetPt = 10000,			// Default SetPt value
+	Status = 1,				// Default Status value
+	Option_Picked;			// Option user picked
+	
+	do
+	{
+
+		mod = new ModType;
+		Transfer func = Transfer{150, 0, 2, 1.1, 10, -1};
+
+		mod->clk = 0;
+
+		// Testing this char for P value
+		char Data_Change_S = '0b11010111000010100011110101110000101000111';
+
+		// Default value for P, some type of error where it won't accept any string, int | Try char next time
+		set_value(0b11010111000010100011110101110000101000111, CONTROL_LOOP_P);
+
+		// Default value
+		set_value((V)6 << CONSTS_FRAC, CONTROL_LOOP_I);
+		set_value(Delay, CONTROL_LOOP_DELAY);
+		set_value(SetPt, CONTROL_LOOP_SETPT);
+		set_value(Status, CONTROL_LOOP_STATUS);
+
+		// Menu
+		do
+		{
+			printf("%15s\n", "Menu");
+			printf("1) Set Control loop P    Current value: %d\n", P);
+			printf("2) Set Control loop I    Current value: %d\n", I);
+			printf("3) Set Delay             Current value: %d\n", Delay);
+			printf("4) Set setpoint          Current value: %d\n", SetPt);
+			printf("5) Set status            Current value: %d\n", Status);
+			printf("6) Continue\n");
+
+			// Checks for what option user picks
+			scanf("%d", &Option_Picked);
+			
+			// Clears unix screen
+			system("clear");
+
+			switch (Option_Picked)
+			{
+			case 1:
+				// This case doesn't work for some reason? Need further time to figure it out
+				printf("Please input new Control Loop P value: ");
+				scanf("%d", &P);
+				set_value(P, CONTROL_LOOP_P);
+				break;
+			case 2:
+				printf("Please input new Control Loop I value: ");
+				scanf("%d", &I);
+				set_value(I, CONTROL_LOOP_I);
+				break;
+			case 3:
+				printf("Please input new delay value: ");
+				scanf("%d", &Delay);
+				set_value(Delay, CONTROL_LOOP_DELAY);
+				break;
+			case 4:
+				printf("Please input new setpoint value: ");
+				scanf("%d", &SetPt);
+				set_value(SetPt, CONTROL_LOOP_SETPT);
+				break;
+			case 5:
+				printf("Please input new status value: ");
+				scanf("%d", &Status);
+				set_value(Status, CONTROL_LOOP_STATUS);
+				break;
+			}
+
+		} while (Option_Picked != 6);
+
+
+
+
+		mod->curset = 0;
+
+		// Resets Con to 1 to activate for loop
+		Con = 1;
+
+		for (int tick = 0; Con == 1; tick++) {
+			run_clock();
+			if (mod->request && !mod->fulfilled) {
+				/* Verilator values are not sign-extended to the
+				* size of type, so we have to do that ourselves.
+				*/
+				V ext = sign_extend(mod->curset, 20);
+				V val = func.val(ext);
+				printf("setting: %ld, val: %ld\n", ext, val);
+				mod->measured_value = val;
+				mod->fulfilled = 1;
+			} else if (mod->fulfilled && !mod->request) {
+				mod->fulfilled = 0;
+			}
+
+			if (mod->finish_cmd) {
+				mod->start_cmd = 0;
+			}
+
+			// After 100000 ticks shows user prompt, might make tick to be changable for user.
+			if (tick % 100000 == 0 && tick != 0)
+			{
+				printf("Continue? (0 for exit, 1 for yes, 2 to return to menu)\n");
+				scanf("%d", &Con);
+			}
+		}
+		// Clears unix screen
+		system("clear");
+
+		mod->final();
+		delete mod;
+	} while (Con == 2);
+	
+	return 0;
+}