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//////////////////////////////////////////////////////////////////////
////                                                              ////
////  can_testbench.v                                             ////
////                                                              ////
////                                                              ////
////  This file is part of the CAN Protocol Controller            ////
////  http://www.opencores.org/projects/can/                      ////
////                                                              ////
////                                                              ////
////  Author(s):                                                  ////
////       Igor Mohor                                             ////
////       igorm@opencores.org                                    ////
////                                                              ////
////                                                              ////
////  All additional information is available in the README.txt   ////
////  file.                                                       ////
////                                                              ////
//////////////////////////////////////////////////////////////////////
////                                                              ////
//// Copyright (C) 2002, 2003 Authors                             ////
////                                                              ////
//// This source file may be used and distributed without         ////
//// restriction provided that this copyright statement is not    ////
//// removed from the file and that any derivative work contains  ////
//// the original copyright notice and the associated disclaimer. ////
////                                                              ////
//// This source file is free software; you can redistribute it   ////
//// and/or modify it under the terms of the GNU Lesser General   ////
//// Public License as published by the Free Software Foundation; ////
//// either version 2.1 of the License, or (at your option) any   ////
//// later version.                                               ////
////                                                              ////
//// This source is distributed in the hope that it will be       ////
//// useful, but WITHOUT ANY WARRANTY; without even the implied   ////
//// warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      ////
//// PURPOSE.  See the GNU Lesser General Public License for more ////
//// details.                                                     ////
////                                                              ////
//// You should have received a copy of the GNU Lesser General    ////
//// Public License along with this source; if not, download it   ////
//// from http://www.opencores.org/lgpl.shtml                     ////
////                                                              ////
//// The CAN protocol is developed by Robert Bosch GmbH and       ////
//// protected by patents. Anybody who wants to implement this    ////
//// CAN IP core on silicon has to obtain a CAN protocol license  ////
//// from Bosch.                                                  ////
////                                                              ////
//////////////////////////////////////////////////////////////////////
//
// CVS Revision History
//
// $Log: not supported by cvs2svn $
// Revision 1.22  2003/02/11 00:57:19  mohor
// Wishbone interface added.
//
// Revision 1.21  2003/02/09 18:40:23  mohor
// Overload fixed. Hard synchronization also enabled at the last bit of
// interframe.
//
// Revision 1.20  2003/02/09 02:24:11  mohor
// Bosch license warning added. Error counters finished. Overload frames
// still need to be fixed.
//
// Revision 1.19  2003/02/04 17:24:33  mohor
// Backup.
//
// Revision 1.18  2003/02/04 14:34:45  mohor
// *** empty log message ***
//
// Revision 1.17  2003/01/31 01:13:31  mohor
// backup.
//
// Revision 1.16  2003/01/16 13:36:14  mohor
// Form error supported. When receiving messages, last bit of the end-of-frame
// does not generate form error. Receiver goes to the idle mode one bit sooner.
// (CAN specification ver 2.0, part B, page 57).
//
// Revision 1.15  2003/01/15 21:05:06  mohor
// CRC checking fixed (when bitstuff occurs at the end of a CRC sequence).
//
// Revision 1.14  2003/01/15 14:40:16  mohor
// RX state machine fixed to receive "remote request" frames correctly. No
// data bytes are written to fifo when such frames are received.
//
// Revision 1.13  2003/01/15 13:16:42  mohor
// When a frame with "remote request" is received, no data is stored to
// fifo, just the frame information (identifier, ...). Data length that
// is stored is the received data length and not the actual data length
// that is stored to fifo.
//
// Revision 1.12  2003/01/14 17:25:03  mohor
// Addresses corrected to decimal values (previously hex).
//
// Revision 1.11  2003/01/14 12:19:29  mohor
// rx_fifo is now working.
//
// Revision 1.10  2003/01/10 17:51:28  mohor
// Temporary version (backup).
//
// Revision 1.9  2003/01/09 21:54:39  mohor
// rx fifo added. Not 100 % verified, yet.
//
// Revision 1.8  2003/01/08 02:09:43  mohor
// Acceptance filter added.
//
// Revision 1.7  2002/12/28 04:13:53  mohor
// Backup version.
//
// Revision 1.6  2002/12/27 00:12:48  mohor
// Header changed, testbench improved to send a frame (crc still missing).
//
// Revision 1.5  2002/12/26 16:00:29  mohor
// Testbench define file added. Clock divider register added.
//
// Revision 1.4  2002/12/26 01:33:01  mohor
// Tripple sampling supported.
//
// Revision 1.3  2002/12/25 23:44:12  mohor
// Commented lines removed.
//
// Revision 1.2  2002/12/25 14:16:54  mohor
// Synchronization working.
//
// Revision 1.1.1.1  2002/12/20 16:39:21  mohor
// Initial
//
//
//
 
// synopsys translate_off
`include "timescale.v"
// synopsys translate_on
`include "can_defines.v"
`include "can_testbench_defines.v"
 
module can_testbench();
 
 
 
parameter Tp = 1;
parameter BRP = 2*(`CAN_TIMING0_BRP + 1);
 
 
 
reg         wb_clk_i;
reg         wb_rst_i;
reg   [7:0] wb_dat_i;
wire  [7:0] wb_dat_o;
reg         wb_cyc_i;
reg         wb_stb_i;
 
reg         wb_we_i;
reg   [7:0] wb_adr_i;
reg         clk;
reg         rx;
wire        tx;
wire        tx_oen;
wire        wb_ack_o;
 
wire        tx_3st;
wire        rx_and_tx;
 
integer     start_tb;
reg   [7:0] tmp_data;
reg         delayed_tx;
reg         tx_bypassed;
reg         wb_free;
 
 
// Instantiate can_top module
can_top i_can_top
(
  .wb_clk_i(wb_clk_i),
  .wb_rst_i(wb_rst_i),
  .wb_dat_i(wb_dat_i),
  .wb_dat_o(wb_dat_o),
  .wb_cyc_i(wb_cyc_i),
  .wb_stb_i(wb_stb_i),
  .wb_we_i(wb_we_i),
  .wb_adr_i(wb_adr_i),
  .wb_ack_o(wb_ack_o),
  .clk(clk),
  .rx(rx_and_tx),
  .tx(tx),
  .tx_oen(tx_oen)
);
 
assign tx_3st = tx_oen? 1'bz : tx;
 
 
// Generate wishbone clock signal 10 MHz
initial
begin
  wb_clk_i=0;
  forever #50 wb_clk_i = ~wb_clk_i;
end
 
 
// Generate clock signal 24 MHz
initial
begin
  clk=0;
  forever #20 clk = ~clk;
end
 
 
initial
begin
  start_tb = 0;
  wb_dat_i = 'hz;
  wb_cyc_i = 0;
  wb_stb_i = 0;
  wb_we_i = 'hz;
  wb_adr_i = 'hz;
  wb_free = 1;
  rx = 1;
  wb_rst_i = 1;
  #200 wb_rst_i = 0;
  #200 initialize_fifo;
  #200 start_tb = 1;
  tx_bypassed = 0;
end
 
 
 
 
// Generating delayed tx signal (CAN transciever delay)
always
begin
  wait (tx_3st);
  repeat (4*BRP) @ (posedge clk);   // 4 time quants delay
  #1 delayed_tx = tx_3st;
  wait (~tx_3st);
  repeat (4*BRP) @ (posedge clk);   // 4 time quants delay
  #1 delayed_tx = tx_3st;
end
 
//assign rx_and_tx = rx & delayed_tx;   FIX ME !!!
assign rx_and_tx = rx & (delayed_tx | tx_bypassed);
 
 
// Main testbench
initial
begin
  wait(start_tb);
 
  // Set bus timing register 0
  write_register(8'd6, {`CAN_TIMING0_SJW, `CAN_TIMING0_BRP});
 
  // Set bus timing register 1
  write_register(8'd7, {`CAN_TIMING1_SAM, `CAN_TIMING1_TSEG2, `CAN_TIMING1_TSEG1});
 
 
 
  // Set Clock Divider register
  write_register(8'd31, {`CAN_CLOCK_DIVIDER_MODE, 7'h0});    // Setting the normal mode (not extended)
 
  // Set Acceptance Code and Acceptance Mask registers (their address differs for basic and extended mode
  if(`CAN_CLOCK_DIVIDER_MODE)   // Extended mode
    begin
      // Set Acceptance Code and Acceptance Mask registers
      write_register(8'd16, 8'ha6); // acceptance code 0
      write_register(8'd17, 8'hb0); // acceptance code 1
      write_register(8'd18, 8'h12); // acceptance code 2
      write_register(8'd19, 8'h30); // acceptance code 3
      write_register(8'd20, 8'h0); // acceptance mask 0
      write_register(8'd21, 8'h0); // acceptance mask 1
      write_register(8'd22, 8'h00); // acceptance mask 2
      write_register(8'd23, 8'h00); // acceptance mask 3
    end
  else
    begin
      // Set Acceptance Code and Acceptance Mask registers
//      write_register(8'd4, 8'ha6); // acceptance code
      write_register(8'd4, 8'he8); // acceptance code
      write_register(8'd5, 8'h0f); // acceptance mask
    end
 
  #10;
  repeat (1000) @ (posedge clk);
 
  // Switch-off reset mode
  write_register(8'd0, {7'h0, ~(`CAN_MODE_RESET)});
 
  repeat (BRP) @ (posedge clk);   // At least BRP clocks needed before bus goes to dominant level. Otherwise 1 quant difference is possible
                                  // This difference is resynchronized later.
 
  // After exiting the reset mode
  repeat (7) send_bit(1);         // Sending EOF
  repeat (3) send_bit(1);         // Sending Interframe
 
//  test_synchronization;
 
 
 
  if(`CAN_CLOCK_DIVIDER_MODE)   // Extended mode
    begin
//      test_empty_fifo_ext;    // test currently switched off
      test_full_fifo_ext;     // test currently switched on
//      send_frame_ext;         // test currently switched off
    end
  else
    begin
//      test_empty_fifo;    // test currently switched off
//      test_full_fifo;     // test currently switched off
      send_frame;         // test currently switched on
//      manual_frame;         // test currently switched off
    end
 
 
  $display("CAN Testbench finished !");
  $stop;
end
 
 
task manual_frame;    // Testbench sends a frame
  begin
/*
    begin
 
      $display("\n\nTestbench sends a frame bit by bit");
      send_bit(0);  // SOF
      send_bit(1);  // ID
      send_bit(1);  // ID
      send_bit(1);  // ID
      send_bit(0);  // ID
      send_bit(1);  // ID
      send_bit(0);  // ID
      send_bit(0);  // ID
      send_bit(0);  // ID
      send_bit(1);  // ID
      send_bit(0);  // ID
      send_bit(1);  // ID
      send_bit(1);  // RTR
      send_bit(0);  // IDE
      send_bit(0);  // r0
      send_bit(0);  // DLC
      send_bit(1);  // DLC
      send_bit(0);  // DLC
      send_bit(0);  // DLC
      send_bit(1);  // CRC
      send_bit(0);  // CRC
      send_bit(0);  // CRC
      send_bit(0);  // CRC
      send_bit(1);  // CRC
      send_bit(0);  // CRC
      send_bit(1);  // CRC
      send_bit(1);  // CRC
      send_bit(0);  // CRC
      send_bit(1);  // CRC
      send_bit(0);  // CRC
      send_bit(1);  // CRC
      send_bit(1);  // CRC
      send_bit(0);  // CRC
      send_bit(0);  // CRC          // error
      send_bit(1);  // CRC DELIM
      send_bit(0);  // ACK
      send_bit(1);  // ACK DELIM
      send_bit(0);  // EOF        // error comes here
      send_bit(0);  // EOF        // error comes here
 
//tx_bypassed=1;
      send_bit(0);  // EOF        // error comes here
//tx_bypassed=0;
 
      send_bit(0);  // EOF        // error comes here
      send_bit(0);  // EOF        // error comes here
      send_bit(0);  // EOF        // error comes here
      send_bit(1);  // EOF        // delimiter
      send_bit(1);  // INTER      // delimiter
      send_bit(1);  // INTER      // delimiter
      send_bit(1);  // INTER      // delimiter
      send_bit(1);  // IDLE       // delimiter
      send_bit(1);  // IDLE       // delimiter
      send_bit(1);  // IDLE       // delimiter
      send_bit(0);  // IDLE       // delimiter
      send_bit(1);  // IDLE       // delimiter
      send_bit(1);  // IDLE       // delimiter
      send_bit(1);  // IDLE       // delimiter
      send_bit(1);  // IDLE       // delimiter
      send_bit(1);  // IDLE       // delimiter
      send_bit(1);  // IDLE       // delimiter
      send_bit(1);  // IDLE
      send_bit(1);  // IDLE
      send_bit(1);  // IDLE
 
    end
*/
// tx_bypassed=1;
 
 
    write_register(8'd10, 8'he8); // Writing ID[10:3] = 0xe8
    write_register(8'd11, 8'hb7); // Writing ID[2:0] = 0x5, rtr = 1, length = 7
    write_register(8'd12, 8'h00); // data byte 1
    write_register(8'd13, 8'h00); // data byte 2
    write_register(8'd14, 8'h00); // data byte 3
    write_register(8'd15, 8'h00); // data byte 4
    write_register(8'd16, 8'h00); // data byte 5
    write_register(8'd17, 8'h00); // data byte 6
    write_register(8'd18, 8'h00); // data byte 7
    write_register(8'd19, 8'h00); // data byte 8
 
    fork
      begin
        tx_request;
      end
 
      begin
        #520;
 
    repeat (16)
    begin
        send_bit(0);  // SOF
        send_bit(1);  // ID
        send_bit(1);  // ID
        send_bit(1);  // ID
        send_bit(0);  // ID
        send_bit(1);  // ID
        send_bit(0);  // ID
        send_bit(0);  // ID
        send_bit(0);  // ID
        send_bit(1);  // ID
        send_bit(0);  // ID
        send_bit(1);  // ID
        send_bit(1);  // RTR
        send_bit(0);  // IDE
        send_bit(0);  // r0
        send_bit(0);  // DLC
        send_bit(1);  // DLC
        send_bit(1);  // DLC
        send_bit(1);  // DLC
        send_bit(1);  // CRC
        send_bit(0);  // CRC
        send_bit(0);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(0);  // CRC
        send_bit(1);  // CRC
        send_bit(0);  // CRC
        send_bit(0);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC DELIM
        send_bit(1);  // ACK            ack error
        send_bit(0);  // ERROR
        send_bit(0);  // ERROR
        send_bit(0);  // ERROR
        send_bit(0);  // ERROR
        send_bit(0);  // ERROR
        send_bit(0);  // ERROR
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // INTER
        send_bit(1);  // INTER
        send_bit(1);  // INTER
    end // repeat
 
    // Node is error passive now.
    repeat (20)
    begin
        send_bit(0);  // SOF
        send_bit(1);  // ID
        send_bit(1);  // ID
        send_bit(1);  // ID
        send_bit(0);  // ID
        send_bit(1);  // ID
        send_bit(0);  // ID
        send_bit(0);  // ID
        send_bit(0);  // ID
        send_bit(1);  // ID
        send_bit(0);  // ID
        send_bit(1);  // ID
        send_bit(1);  // RTR
        send_bit(0);  // IDE
        send_bit(0);  // r0
        send_bit(0);  // DLC
        send_bit(1);  // DLC
        send_bit(1);  // DLC
        send_bit(1);  // DLC
        send_bit(1);  // CRC
        send_bit(0);  // CRC
        send_bit(0);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(0);  // CRC
        send_bit(1);  // CRC
        send_bit(0);  // CRC
        send_bit(0);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC DELIM
        send_bit(1);  // ACK            ack error
        send_bit(0);  // ERROR
        send_bit(0);  // ERROR
        send_bit(0);  // ERROR
        send_bit(0);  // ERROR
        send_bit(0);  // ERROR
        send_bit(0);  // ERROR
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // ERROR DELIM
        send_bit(1);  // INTER
        send_bit(1);  // INTER
        send_bit(1);  // INTER
        send_bit(1);  // SUSPEND
        send_bit(1);  // SUSPEND
        send_bit(1);  // SUSPEND
        send_bit(1);  // SUSPEND
        send_bit(1);  // SUSPEND
        send_bit(1);  // SUSPEND
        send_bit(1);  // SUSPEND
        send_bit(1);  // SUSPEND
   end // repeat
 
    // Node is bus-off now
    repeat (20)
    begin
        send_bit(0);  // SOF
        send_bit(1);  // ID
        send_bit(1);  // ID
        send_bit(1);  // ID
        send_bit(0);  // ID
        send_bit(1);  // ID
        send_bit(0);  // ID
        send_bit(0);  // ID
        send_bit(0);  // ID
        send_bit(1);  // ID
        send_bit(0);  // ID
        send_bit(1);  // ID
        send_bit(1);  // RTR
        send_bit(0);  // IDE
        send_bit(0);  // r0
        send_bit(0);  // DLC
        send_bit(1);  // DLC
        send_bit(1);  // DLC
        send_bit(1);  // DLC
        send_bit(1);  // CRC
        send_bit(0);  // CRC
        send_bit(0);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(0);  // CRC
        send_bit(1);  // CRC
        send_bit(0);  // CRC
        send_bit(0);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC
        send_bit(1);  // CRC DELIM
        send_bit(0);  // ACK
        send_bit(1);  // ACK DELIM
        send_bit(1);  // EOF
        send_bit(1);  // EOF
        send_bit(1);  // EOF
        send_bit(1);  // EOF
        send_bit(1);  // EOF
        send_bit(1);  // EOF
        send_bit(1);  // EOF
        send_bit(1);  // INTER
        send_bit(1);  // INTER
        send_bit(1);  // INTER
   end // repeat
 
    repeat (128 * 11)
    begin
        send_bit(1);
    end // repeat
 
 
 
 
 
      end
 
 
    join
 
    read_receive_buffer;
    release_rx_buffer;
 
 
//    #7300000;
//    tx_request;
 
    read_receive_buffer;
    release_rx_buffer;
    read_receive_buffer;
 
    #4000000;
 
  end
endtask
 
 
 
task send_frame;    // CAN IP core sends frames
  begin
 
    if(`CAN_CLOCK_DIVIDER_MODE)   // Extended mode
      begin
 
        // Writing TX frame information + identifier + data
        write_register(8'd16, 8'h12);
        write_register(8'd17, 8'h34);
        write_register(8'd18, 8'h56);
        write_register(8'd19, 8'h78);
        write_register(8'd20, 8'h9a);
        write_register(8'd21, 8'hbc);
        write_register(8'd22, 8'hde);
        write_register(8'd23, 8'hf0);
        write_register(8'd24, 8'h0f);
        write_register(8'd25, 8'hed);
        write_register(8'd26, 8'hcb);
        write_register(8'd27, 8'ha9);
        write_register(8'd28, 8'h87);
      end
    else
      begin
        write_register(8'd10, 8'hea); // Writing ID[10:3] = 0xea
        write_register(8'd11, 8'h28); // Writing ID[2:0] = 0x1, rtr = 0, length = 8
        write_register(8'd12, 8'h56); // data byte 1
        write_register(8'd13, 8'h78); // data byte 2
        write_register(8'd14, 8'h9a); // data byte 3
        write_register(8'd15, 8'hbc); // data byte 4
        write_register(8'd16, 8'hde); // data byte 5
        write_register(8'd17, 8'hf0); // data byte 6
        write_register(8'd18, 8'h0f); // data byte 7
        write_register(8'd19, 8'hed); // data byte 8
      end
 
 
    fork
      begin
        $display("\n\nStart receiving data from CAN bus");
        receive_frame(0, 0, {26'h00000e8, 3'h1}, 4'h1, 15'h30bb); // mode, rtr, id, length, crc
        receive_frame(0, 0, {26'h00000e8, 3'h1}, 4'h2, 15'h2da1); // mode, rtr, id, length, crc
        receive_frame(0, 0, {26'h00000ee, 3'h1}, 4'h0, 15'h6cea); // mode, rtr, id, length, crc
        receive_frame(0, 0, {26'h00000ee, 3'h1}, 4'h1, 15'h00c5); // mode, rtr, id, length, crc
        receive_frame(0, 0, {26'h00000ee, 3'h1}, 4'h2, 15'h7b4a); // mode, rtr, id, length, crc
 
      end
 
      begin
        tx_request;
      end
 
      begin
        // Transmitting acknowledge
        wait (can_testbench.i_can_top.i_can_bsp.tx_state & can_testbench.i_can_top.i_can_bsp.rx_ack);
        #1 rx = 0;
        wait (can_testbench.i_can_top.i_can_bsp.rx_ack_lim);
        #1 rx = 1;
      end
 
 
    join
 
    read_receive_buffer;
    release_rx_buffer;
    release_rx_buffer;
    read_receive_buffer;
    release_rx_buffer;
    read_receive_buffer;
    release_rx_buffer;
    read_receive_buffer;
    release_rx_buffer;
    read_receive_buffer;
 
    #200000;
 
    read_receive_buffer;
 
  end
endtask
 
 
 
task test_empty_fifo;
  begin
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h3, 15'h7bcb); // mode, rtr, id, length, crc
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h7, 15'h085c); // mode, rtr, id, length, crc
 
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h8, 15'h57a0); // mode, rtr, id, length, crc
 
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
  end
endtask
 
 
 
task test_empty_fifo_ext;
  begin
    receive_frame(1, 0, 29'h14d60246, 4'h3, 15'h5262); // mode, rtr, id, length, crc
    receive_frame(1, 0, 29'h14d60246, 4'h7, 15'h1730); // mode, rtr, id, length, crc
 
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    receive_frame(1, 0, 29'h14d60246, 4'h8, 15'h2f7a); // mode, rtr, id, length, crc
 
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
  end
endtask
 
 
 
task test_full_fifo;
  begin
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h0, 15'h4edd); // mode, rtr, id, length, crc
    read_receive_buffer;
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h1, 15'h1ccf); // mode, rtr, id, length, crc
    read_receive_buffer;
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h2, 15'h73f4); // mode, rtr, id, length, crc
    fifo_info;
    read_receive_buffer;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h3, 15'h7bcb); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h4, 15'h37da); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h5, 15'h7e15); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h6, 15'h39cf); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h7, 15'h085c); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h8, 15'h57a0); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h8, 15'h57a0); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h8, 15'h57a0); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h8, 15'h57a0); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h8, 15'h57a0); // mode, rtr, id, length, crc
    fifo_info;
    read_overrun_info(0, 15);
 
    release_rx_buffer;
    release_rx_buffer;
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
    receive_frame(0, 0, {26'h0000008, 3'h1}, 4'h8, 15'h57a0); // mode, rtr, id, length, crc
    fifo_info;
    read_overrun_info(0, 15);
    $display("\n\n");
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
  end
endtask
 
 
 
task test_full_fifo_ext;
  begin
    release_rx_buffer;
    $display("\n\n");
    read_receive_buffer;
    fifo_info;
 
    receive_frame(1, 0, 29'h14d60246, 4'h0, 15'h6f54); // mode, rtr, id, length, crc
    read_receive_buffer;
    fifo_info;
    receive_frame(1, 0, 29'h14d60246, 4'h1, 15'h6d38); // mode, rtr, id, length, crc
    read_receive_buffer;
    fifo_info;
    receive_frame(1, 0, 29'h14d60246, 4'h2, 15'h053e); // mode, rtr, id, length, crc
    fifo_info;
    read_receive_buffer;
    receive_frame(1, 0, 29'h14d60246, 4'h3, 15'h5262); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(1, 0, 29'h14d60246, 4'h4, 15'h4bba); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(1, 0, 29'h14d60246, 4'h5, 15'h4d7d); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(1, 0, 29'h14d60246, 4'h6, 15'h6f40); // mode, rtr, id, length, crc
    fifo_info;
    receive_frame(1, 0, 29'h14d60246, 4'h7, 15'h1730); // mode, rtr, id, length, crc
    fifo_info;
    read_overrun_info(0, 10);
 
    release_rx_buffer;
    release_rx_buffer;
    fifo_info;
    receive_frame(1, 0, 29'h14d60246, 4'h8, 15'h2f7a); // mode, rtr, id, length, crc
    fifo_info;
    read_overrun_info(0, 15);
    $display("\n\n");
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
    release_rx_buffer;
    read_receive_buffer;
    fifo_info;
 
  end
endtask
 
 
 
task initialize_fifo;
  integer i;
  begin
    for (i=0; i<32; i=i+1)
      begin
        can_testbench.i_can_top.i_can_bsp.i_can_fifo.length_info[i] = 0;
        can_testbench.i_can_top.i_can_bsp.i_can_fifo.overrun_info[i] = 0;
      end
 
    for (i=0; i<64; i=i+1)
      begin
        can_testbench.i_can_top.i_can_bsp.i_can_fifo.fifo[i] = 0;
      end
 
    $display("(%0t) Fifo initialized", $time);
  end
endtask
 
 
task read_overrun_info;
  input [4:0] start_addr;
  input [4:0] end_addr;
  integer i;
  begin
    for (i=start_addr; i<=end_addr; i=i+1)
      begin
        $display("len[0x%0x]=0x%0x", i, can_testbench.i_can_top.i_can_bsp.i_can_fifo.length_info[i]);
        $display("overrun[0x%0x]=0x%0x\n", i, can_testbench.i_can_top.i_can_bsp.i_can_fifo.overrun_info[i]);
      end
  end
endtask
 
 
task fifo_info;   // Displaying how many packets and how many bytes are in fifo. Not working when wr_info_pointer is smaller than rd_info_pointer.
  begin
      $display("(%0t) Currently %0d bytes in fifo (%0d packets)", $time, can_testbench.i_can_top.i_can_bsp.i_can_fifo.fifo_cnt,
      (can_testbench.i_can_top.i_can_bsp.i_can_fifo.wr_info_pointer - can_testbench.i_can_top.i_can_bsp.i_can_fifo.rd_info_pointer));
end
endtask
 
 
task read_register;
  input [7:0] reg_addr;
 
  begin
    wait (wb_free);
    wb_free = 0;
    @ (posedge wb_clk_i);
    #1;
    wb_adr_i = reg_addr;
    wb_cyc_i = 1;
    wb_stb_i = 1;
    wb_we_i = 0;
    wait (wb_ack_o);
    $display("(%0t) Reading register [%0d] = 0x%0x", $time, wb_adr_i, wb_dat_o);
    @ (posedge wb_clk_i);
    #1;
    wb_adr_i = 'hz;
    wb_cyc_i = 0;
    wb_stb_i = 0;
    wb_we_i = 'hz;
    wb_free = 1;
  end
endtask
 
 
task write_register;
  input [7:0] reg_addr;
  input [7:0] reg_data;
 
  begin
    wait (wb_free);
    wb_free = 0;
    @ (posedge wb_clk_i);
    #1;
    wb_adr_i = reg_addr;
    wb_dat_i = reg_data;
    wb_cyc_i = 1;
    wb_stb_i = 1;
    wb_we_i = 1;
    wait (wb_ack_o);
    @ (posedge wb_clk_i);
    #1;
    wb_adr_i = 'hz;
    wb_dat_i = 'hz;
    wb_cyc_i = 0;
    wb_stb_i = 0;
    wb_we_i = 'hz;
    wb_free = 1;
  end
endtask
 
 
task read_receive_buffer;
  integer i;
  begin
    if(`CAN_CLOCK_DIVIDER_MODE)   // Extended mode
      begin
        for (i=8'd16; i<=8'd28; i=i+1)
          read_register(i);
        if (can_testbench.i_can_top.i_can_bsp.i_can_fifo.overrun_info[can_testbench.i_can_top.i_can_bsp.i_can_fifo.rd_info_pointer])
          $display("\nWARNING: This packet was received with overrun.");
      end
    else
      begin
        for (i=8'd20; i<=8'd29; i=i+1)
          read_register(i);
        if (can_testbench.i_can_top.i_can_bsp.i_can_fifo.overrun_info[can_testbench.i_can_top.i_can_bsp.i_can_fifo.rd_info_pointer])
          $display("\nWARNING: This packet was received with overrun.");
      end
  end
endtask
 
 
task release_rx_buffer;
  begin
    write_register(8'd1, 8'h4);
    $display("(%0t) Rx buffer released.", $time);
  end
endtask
 
 
task tx_request;
  begin
    write_register(8'd1, 8'h1);
    $display("(%0t) Tx requested.", $time);
  end
endtask
 
 
task tx_abort;
  begin
    write_register(8'd1, 8'h2);
    $display("(%0t) Tx abort requested.", $time);
  end
endtask
 
 
task test_synchronization;
  begin
    // Hard synchronization
    #1 rx=0;
    repeat (2*BRP) @ (posedge clk);
    repeat (8*BRP) @ (posedge clk);
    #1 rx=1;
    repeat (10*BRP) @ (posedge clk);
 
    // Resynchronization on time
    #1 rx=0;
    repeat (10*BRP) @ (posedge clk);
    #1 rx=1;
    repeat (10*BRP) @ (posedge clk);
 
    // Resynchronization late
    repeat (BRP) @ (posedge clk);
    repeat (BRP) @ (posedge clk);
    #1 rx=0;
    repeat (10*BRP) @ (posedge clk);
    #1 rx=1;
 
    // Resynchronization early
    repeat (8*BRP) @ (posedge clk);   // two frames too early
    #1 rx=0;
    repeat (10*BRP) @ (posedge clk);
    #1 rx=1;
    repeat (10*BRP) @ (posedge clk);
  end
endtask
 
 
task send_bit;
  input bit;
  integer cnt;
  begin
    #1 rx=bit;
    repeat ((`CAN_TIMING1_TSEG1 + `CAN_TIMING1_TSEG2 + 3)*BRP) @ (posedge clk);
  end
endtask
 
 
task receive_frame;           // CAN IP core receives frames
  input mode;
  input remote_trans_req;
  input [28:0] id;
  input  [3:0] length;
  input [14:0] crc;
 
  reg [117:0] data;
  reg         previous_bit;
  reg         stuff;
  reg         tmp;
  reg         arbitration_lost;
  integer     pointer;
  integer     cnt;
  integer     total_bits;
  integer     stuff_cnt;
 
  begin
 
    stuff_cnt = 1;
    stuff = 0;
 
    if(mode)          // Extended format
      data = {id[28:18], 1'b1, 1'b1, id[17:0], remote_trans_req, 2'h0, length};
    else              // Standard format
      data = {id[10:0], remote_trans_req, 1'b0, 1'b0, length};
 
    if (~remote_trans_req)
      begin
        if(length)    // Send data if length is > 0
          begin
            for (cnt=1; cnt<=(2*length); cnt=cnt+1)  // data   (we are sending nibbles)
              data = {data[113:0], cnt[3:0]};
          end
      end
 
    // Adding CRC
    data = {data[104:0], crc[14:0]};
 
 
    // Calculating pointer that points to the bit that will be send
    if (remote_trans_req)
      begin
        if(mode)          // Extended format
          pointer = 52;
        else              // Standard format
          pointer = 32;
      end
    else
      begin
        if(mode)          // Extended format
          pointer = 52 + 8 * length;
        else              // Standard format
          pointer = 32 + 8 * length;
      end
 
    // This is how many bits we need to shift
    total_bits = pointer;
 
    // Waiting until previous msg is finished before sending another one
    if (arbitration_lost)           //  Arbitration lost. Another node is transmitting. We have to wait until it is finished.
      wait ( (~can_testbench.i_can_top.i_can_bsp.error_frame) &
             (~can_testbench.i_can_top.i_can_bsp.rx_inter   ) &
             (~can_testbench.i_can_top.i_can_bsp.tx_state   )
           );
    else                            // We were transmitter of the previous frame. No need to wait for another node to finish transmission.
      wait ( (~can_testbench.i_can_top.i_can_bsp.error_frame) &
             (~can_testbench.i_can_top.i_can_bsp.rx_inter   )
           );
    arbitration_lost = 0;
 
    send_bit(0);                        // SOF
    previous_bit = 0;
 
    fork
 
    begin
      for (cnt=0; cnt<=total_bits; cnt=cnt+1)
        begin
          if (stuff_cnt == 5)
            begin
              stuff_cnt = 1;
              total_bits = total_bits + 1;
              stuff = 1;
              tmp = ~data[pointer+1];
              send_bit(~data[pointer+1]);
              previous_bit = ~data[pointer+1];
            end
          else
            begin
              if (data[pointer] == previous_bit)
                stuff_cnt <= stuff_cnt + 1;
              else
                stuff_cnt <= 1;
 
              stuff = 0;
              tmp = data[pointer];
              send_bit(data[pointer]);
              previous_bit = data[pointer];
              pointer = pointer - 1;
            end
          if (arbitration_lost)
            cnt=total_bits+1;         // Exit the for loop
        end
 
        // Nothing send after the data (just recessive bit)
        repeat (13) send_bit(1);         // CRC delimiter + ack + ack delimiter + EOF + intermission= 1 + 1 + 1 + 7 + 3
    end
 
    begin
      while (mode ? (cnt<32) : (cnt<12))
        begin
          #1 wait (can_testbench.i_can_top.sample_point);
          if (mode)
            begin
              if (cnt<32 & tmp & (~rx_and_tx))
                begin
                  arbitration_lost = 1;
                  rx = 1;       // Only recessive is send from now on.
                end
            end
          else
            begin
              if (cnt<12 & tmp & (~rx_and_tx))
                begin
                  arbitration_lost = 1;
                  rx = 1;       // Only recessive is send from now on.
                end
            end
        end
    end
 
    join
 
  end
endtask
 
 
 
// State machine monitor (btl)
always @ (posedge clk)
begin
  if(can_testbench.i_can_top.i_can_btl.go_sync & can_testbench.i_can_top.i_can_btl.go_seg1 | can_testbench.i_can_top.i_can_btl.go_sync & can_testbench.i_can_top.i_can_btl.go_seg2 |
     can_testbench.i_can_top.i_can_btl.go_seg1 & can_testbench.i_can_top.i_can_btl.go_seg2)
    begin
      $display("(%0t) ERROR multiple go_sync, go_seg1 or go_seg2 occurance\n\n", $time);
      #1000;
      $stop;
    end
 
  if(can_testbench.i_can_top.i_can_btl.sync & can_testbench.i_can_top.i_can_btl.seg1 | can_testbench.i_can_top.i_can_btl.sync & can_testbench.i_can_top.i_can_btl.seg2 |
     can_testbench.i_can_top.i_can_btl.seg1 & can_testbench.i_can_top.i_can_btl.seg2)
    begin
      $display("(%0t) ERROR multiple sync, seg1 or seg2 occurance\n\n", $time);
      #1000;
      $stop;
    end
end
 
/* stuff_error monitor (bsp)
always @ (posedge clk)
begin
  if(can_testbench.i_can_top.i_can_bsp.stuff_error)
    begin
      $display("\n\n(%0t) Stuff error occured in can_bsp.v file\n\n", $time);
      $stop;                                      After everything is finished add another condition (something like & (~idle)) and enable stop
    end
end
*/
 
//
// CRC monitor (used until proper CRC generation is used in testbench
always @ (posedge clk)
begin
  if (can_testbench.i_can_top.i_can_bsp.rx_ack       &
      can_testbench.i_can_top.i_can_bsp.sample_point &
      can_testbench.i_can_top.i_can_bsp.crc_err
     )
    $display("(*E) (%0t) ERROR: CRC error (Calculated crc = 0x%0x, crc_in = 0x%0x)", $time, can_testbench.i_can_top.i_can_bsp.calculated_crc, can_testbench.i_can_top.i_can_bsp.crc_in);
end
 
 
 
 
 
/*
// overrun monitor
always @ (posedge clk)
begin
  if (can_testbench.i_can_top.i_can_bsp.i_can_fifo.wr & can_testbench.i_can_top.i_can_bsp.i_can_fifo.fifo_full)
    $display("(%0t)overrun", $time);
end
*/
 
 
// form error monitor
always @ (posedge clk)
begin
  if (can_testbench.i_can_top.i_can_bsp.form_err)
    $display("(*E) (%0t) ERROR: form_error", $time);
end
 
 
 
// acknowledge error monitor
always @ (posedge clk)
begin
  if (can_testbench.i_can_top.i_can_bsp.ack_err)
    $display("(*E) (%0t) ERROR: acknowledge_error", $time);
end
 
 
endmodule
 

Line No.	Rev	Author	Line
1	2	mohor	`//////////////////////////////////////////////////////////////////////`
2			`//// ////`
3			`//// can_testbench.v ////`
4			`//// ////`
5			`//// ////`
6	9	mohor	`//// This file is part of the CAN Protocol Controller ////`
7	2	mohor	`//// http://www.opencores.org/projects/can/ ////`
8			`//// ////`
9			`//// ////`
10			`//// Author(s): ////`
11			`//// Igor Mohor ////`
12			`//// igorm@opencores.org ////`
13			`//// ////`
14			`//// ////`
15	9	mohor	`//// All additional information is available in the README.txt ////`
16	2	mohor	`//// file. ////`
17			`//// ////`
18			`//////////////////////////////////////////////////////////////////////`
19			`//// ////`
20	9	mohor	`//// Copyright (C) 2002, 2003 Authors ////`
21	2	mohor	`//// ////`
22			`//// This source file may be used and distributed without ////`
23			`//// restriction provided that this copyright statement is not ////`
24			`//// removed from the file and that any derivative work contains ////`
25			`//// the original copyright notice and the associated disclaimer. ////`
26			`//// ////`
27			`//// This source file is free software; you can redistribute it ////`
28			`//// and/or modify it under the terms of the GNU Lesser General ////`
29			`//// Public License as published by the Free Software Foundation; ////`
30			`//// either version 2.1 of the License, or (at your option) any ////`
31			`//// later version. ////`
32			`//// ////`
33			`//// This source is distributed in the hope that it will be ////`
34			`//// useful, but WITHOUT ANY WARRANTY; without even the implied ////`
35			`//// warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR ////`
36			`//// PURPOSE. See the GNU Lesser General Public License for more ////`
37			`//// details. ////`
38			`//// ////`
39			`//// You should have received a copy of the GNU Lesser General ////`
40			`//// Public License along with this source; if not, download it ////`
41			`//// from http://www.opencores.org/lgpl.shtml ////`
42			`//// ////`
43	28	mohor	`//// The CAN protocol is developed by Robert Bosch GmbH and ////`
44			`//// protected by patents. Anybody who wants to implement this ////`
45			`//// CAN IP core on silicon has to obtain a CAN protocol license ////`
46			`//// from Bosch. ////`
47			`//// ////`
48	2	mohor	`//////////////////////////////////////////////////////////////////////`
49			`//`
50			`// CVS Revision History`
51			`//`
52			`// $Log: not supported by cvs2svn $`
53	34	mohor	`// Revision 1.22 2003/02/11 00:57:19 mohor`
54			`// Wishbone interface added.`
55			`//`
56	31	mohor	`// Revision 1.21 2003/02/09 18:40:23 mohor`
57			`// Overload fixed. Hard synchronization also enabled at the last bit of`
58			`// interframe.`
59			`//`
60	29	mohor	`// Revision 1.20 2003/02/09 02:24:11 mohor`
61			`// Bosch license warning added. Error counters finished. Overload frames`
62			`// still need to be fixed.`
63			`//`
64	28	mohor	`// Revision 1.19 2003/02/04 17:24:33 mohor`
65			`// Backup.`
66			`//`
67	26	mohor	`// Revision 1.18 2003/02/04 14:34:45 mohor`
68			`// * empty log message *`
69			`//`
70	25	mohor	`// Revision 1.17 2003/01/31 01:13:31 mohor`
71			`// backup.`
72			`//`
73	24	mohor	`// Revision 1.16 2003/01/16 13:36:14 mohor`
74			`// Form error supported. When receiving messages, last bit of the end-of-frame`
75			`// does not generate form error. Receiver goes to the idle mode one bit sooner.`
76			`// (CAN specification ver 2.0, part B, page 57).`
77			`//`
78	22	mohor	`// Revision 1.15 2003/01/15 21:05:06 mohor`
79			`// CRC checking fixed (when bitstuff occurs at the end of a CRC sequence).`
80			`//`
81	20	mohor	`// Revision 1.14 2003/01/15 14:40:16 mohor`
82	31	mohor	`// RX state machine fixed to receive "remote request" frames correctly. No`
83			`// data bytes are written to fifo when such frames are received.`
84	20	mohor	`//`
85	19	mohor	`// Revision 1.13 2003/01/15 13:16:42 mohor`
86	31	mohor	`// When a frame with "remote request" is received, no data is stored to`
87			`// fifo, just the frame information (identifier, ...). Data length that`
88			`// is stored is the received data length and not the actual data length`
89			`// that is stored to fifo.`
90	19	mohor	`//`
91	18	mohor	`// Revision 1.12 2003/01/14 17:25:03 mohor`
92			`// Addresses corrected to decimal values (previously hex).`
93			`//`
94	17	mohor	`// Revision 1.11 2003/01/14 12:19:29 mohor`
95			`// rx_fifo is now working.`
96			`//`
97	16	mohor	`// Revision 1.10 2003/01/10 17:51:28 mohor`
98			`// Temporary version (backup).`
99			`//`
100	15	mohor	`// Revision 1.9 2003/01/09 21:54:39 mohor`
101			`// rx fifo added. Not 100 % verified, yet.`
102			`//`
103	14	mohor	`// Revision 1.8 2003/01/08 02:09:43 mohor`
104			`// Acceptance filter added.`
105			`//`
106	11	mohor	`// Revision 1.7 2002/12/28 04:13:53 mohor`
107			`// Backup version.`
108			`//`
109	10	mohor	`// Revision 1.6 2002/12/27 00:12:48 mohor`
110			`// Header changed, testbench improved to send a frame (crc still missing).`
111			`//`
112	9	mohor	`// Revision 1.5 2002/12/26 16:00:29 mohor`
113			`// Testbench define file added. Clock divider register added.`
114			`//`
115	8	mohor	`// Revision 1.4 2002/12/26 01:33:01 mohor`
116			`// Tripple sampling supported.`
117			`//`
118	7	mohor	`// Revision 1.3 2002/12/25 23:44:12 mohor`
119			`// Commented lines removed.`
120			`//`
121	6	mohor	`// Revision 1.2 2002/12/25 14:16:54 mohor`
122			`// Synchronization working.`
123			`//`
124	5	mohor	`// Revision 1.1.1.1 2002/12/20 16:39:21 mohor`
125			`// Initial`
126	2	mohor	`//`
127			`//`
128	5	mohor	`//`
129	2	mohor
130			`// synopsys translate_off`
131			`include "timescale.v"
132			`// synopsys translate_on`
133			`include "can_defines.v"
134	8	mohor	`include "can_testbench_defines.v"
135	2	mohor
136			`module can_testbench();`
137
138
139
140			`parameter Tp = 1;`
141	8	mohor	parameter BRP = 2*(`CAN_TIMING0_BRP + 1);
142	2	mohor
143
144
145	31	mohor	`reg wb_clk_i;`
146			`reg wb_rst_i;`
147			`reg [7:0] wb_dat_i;`
148			`wire [7:0] wb_dat_o;`
149			`reg wb_cyc_i;`
150			`reg wb_stb_i;`
151
152			`reg wb_we_i;`
153			`reg [7:0] wb_adr_i;`
154	2	mohor	`reg clk;`
155			`reg rx;`
156	24	mohor	`wire tx;`
157	28	mohor	`wire tx_oen;`
158	31	mohor	`wire wb_ack_o;`
159
160	28	mohor	`wire tx_3st;`
161	24	mohor	`wire rx_and_tx;`
162
163	2	mohor	`integer start_tb;`
164	14	mohor	`reg [7:0] tmp_data;`
165	24	mohor	`reg delayed_tx;`
166	28	mohor	`reg tx_bypassed;`
167	34	mohor	`reg wb_free;`
168	2	mohor
169	24	mohor
170	11	mohor	`// Instantiate can_top module`
171	2	mohor	`can_top i_can_top`
172			`(`
173	31	mohor	`.wb_clk_i(wb_clk_i),`
174			`.wb_rst_i(wb_rst_i),`
175			`.wb_dat_i(wb_dat_i),`
176			`.wb_dat_o(wb_dat_o),`
177			`.wb_cyc_i(wb_cyc_i),`
178			`.wb_stb_i(wb_stb_i),`
179			`.wb_we_i(wb_we_i),`
180			`.wb_adr_i(wb_adr_i),`
181			`.wb_ack_o(wb_ack_o),`
182	2	mohor	`.clk(clk),`
183	24	mohor	`.rx(rx_and_tx),`
184	28	mohor	`.tx(tx),`
185			`.tx_oen(tx_oen)`
186	2	mohor	`);`
187
188	28	mohor	`assign tx_3st = tx_oen? 1'bz : tx;`
189	2	mohor
190	24	mohor
191	31	mohor	`// Generate wishbone clock signal 10 MHz`
192			`initial`
193			`begin`
194			`wb_clk_i=0;`
195			`forever #50 wb_clk_i = ~wb_clk_i;`
196			`end`
197
198
199	2	mohor	`// Generate clock signal 24 MHz`
200			`initial`
201			`begin`
202			`clk=0;`
203			`forever #20 clk = ~clk;`
204			`end`
205
206	31	mohor
207	2	mohor	`initial`
208			`begin`
209			`start_tb = 0;`
210	31	mohor	`wb_dat_i = 'hz;`
211			`wb_cyc_i = 0;`
212			`wb_stb_i = 0;`
213			`wb_we_i = 'hz;`
214			`wb_adr_i = 'hz;`
215	34	mohor	`wb_free = 1;`
216	2	mohor	`rx = 1;`
217	31	mohor	`wb_rst_i = 1;`
218			`#200 wb_rst_i = 0;`
219	16	mohor	`#200 initialize_fifo;`
220	2	mohor	`#200 start_tb = 1;`
221	28	mohor	`tx_bypassed = 0;`
222	2	mohor	`end`
223
224
225	28	mohor
226
227	24	mohor	`// Generating delayed tx signal (CAN transciever delay)`
228			`always`
229			`begin`
230	28	mohor	`wait (tx_3st);`
231	24	mohor	`repeat (4*BRP) @ (posedge clk); // 4 time quants delay`
232	28	mohor	`#1 delayed_tx = tx_3st;`
233			`wait (~tx_3st);`
234	24	mohor	`repeat (4*BRP) @ (posedge clk); // 4 time quants delay`
235	28	mohor	`#1 delayed_tx = tx_3st;`
236	24	mohor	`end`
237
238	28	mohor	`//assign rx_and_tx = rx & delayed_tx; FIX ME !!!`
239			`assign rx_and_tx = rx & (delayed_tx \| tx_bypassed);`
240	24	mohor
241
242	2	mohor	`// Main testbench`
243			`initial`
244			`begin`
245			`wait(start_tb);`
246
247	11	mohor	`// Set bus timing register 0`
248	17	mohor	write_register(8'd6, {`CAN_TIMING0_SJW, `CAN_TIMING0_BRP});
249	8	mohor
250	11	mohor	`// Set bus timing register 1`
251	17	mohor	write_register(8'd7, {`CAN_TIMING1_SAM, `CAN_TIMING1_TSEG2, `CAN_TIMING1_TSEG1});
252	11	mohor
253	14	mohor
254
255	11	mohor	`// Set Clock Divider register`
256	17	mohor	write_register(8'd31, {`CAN_CLOCK_DIVIDER_MODE, 7'h0}); // Setting the normal mode (not extended)
257	16	mohor
258	11	mohor	`// Set Acceptance Code and Acceptance Mask registers (their address differs for basic and extended mode`
259			if(`CAN_CLOCK_DIVIDER_MODE) // Extended mode
260			`begin`
261			`// Set Acceptance Code and Acceptance Mask registers`
262	17	mohor	`write_register(8'd16, 8'ha6); // acceptance code 0`
263			`write_register(8'd17, 8'hb0); // acceptance code 1`
264			`write_register(8'd18, 8'h12); // acceptance code 2`
265	20	mohor	`write_register(8'd19, 8'h30); // acceptance code 3`
266	17	mohor	`write_register(8'd20, 8'h0); // acceptance mask 0`
267			`write_register(8'd21, 8'h0); // acceptance mask 1`
268	20	mohor	`write_register(8'd22, 8'h00); // acceptance mask 2`
269			`write_register(8'd23, 8'h00); // acceptance mask 3`
270	11	mohor	`end`
271			`else`
272			`begin`
273			`// Set Acceptance Code and Acceptance Mask registers`
274	17	mohor	`// write_register(8'd4, 8'ha6); // acceptance code`
275	34	mohor	`write_register(8'd4, 8'he8); // acceptance code`
276	25	mohor	`write_register(8'd5, 8'h0f); // acceptance mask`
277	11	mohor	`end`
278	2	mohor
279			`#10;`
280			`repeat (1000) @ (posedge clk);`
281
282	11	mohor	`// Switch-off reset mode`
283	17	mohor	write_register(8'd0, {7'h0, ~(`CAN_MODE_RESET)});
284	10	mohor
285			`repeat (BRP) @ (posedge clk); // At least BRP clocks needed before bus goes to dominant level. Otherwise 1 quant difference is possible`
286			`// This difference is resynchronized later.`
287	24	mohor
288			`// After exiting the reset mode`
289	11	mohor	`repeat (7) send_bit(1); // Sending EOF`
290	24	mohor	`repeat (3) send_bit(1); // Sending Interframe`
291	10	mohor
292	9	mohor	`// test_synchronization;`
293	10	mohor
294
295
296	11	mohor	if(`CAN_CLOCK_DIVIDER_MODE) // Extended mode
297			`begin`
298	20	mohor	`// test_empty_fifo_ext; // test currently switched off`
299			`test_full_fifo_ext; // test currently switched on`
300			`// send_frame_ext; // test currently switched off`
301	11	mohor	`end`
302			`else`
303			`begin`
304	18	mohor	`// test_empty_fifo; // test currently switched off`
305	34	mohor	`// test_full_fifo; // test currently switched off`
306			`send_frame; // test currently switched on`
307	31	mohor	`// manual_frame; // test currently switched off`
308	16	mohor	`end`
309	15	mohor
310
311	16	mohor	`$display("CAN Testbench finished !");`
312			`$stop;`
313			`end`
314	5	mohor
315	14	mohor
316	28	mohor	`task manual_frame; // Testbench sends a frame`
317			`begin`
318	29	mohor	`/*`
319			`begin`
320	14	mohor
321	28	mohor	`$display("\n\nTestbench sends a frame bit by bit");`
322			`send_bit(0); // SOF`
323			`send_bit(1); // ID`
324			`send_bit(1); // ID`
325			`send_bit(1); // ID`
326			`send_bit(0); // ID`
327			`send_bit(1); // ID`
328			`send_bit(0); // ID`
329			`send_bit(0); // ID`
330			`send_bit(0); // ID`
331			`send_bit(1); // ID`
332			`send_bit(0); // ID`
333			`send_bit(1); // ID`
334			`send_bit(1); // RTR`
335			`send_bit(0); // IDE`
336			`send_bit(0); // r0`
337			`send_bit(0); // DLC`
338			`send_bit(1); // DLC`
339			`send_bit(0); // DLC`
340			`send_bit(0); // DLC`
341			`send_bit(1); // CRC`
342			`send_bit(0); // CRC`
343			`send_bit(0); // CRC`
344			`send_bit(0); // CRC`
345			`send_bit(1); // CRC`
346			`send_bit(0); // CRC`
347			`send_bit(1); // CRC`
348			`send_bit(1); // CRC`
349			`send_bit(0); // CRC`
350			`send_bit(1); // CRC`
351			`send_bit(0); // CRC`
352			`send_bit(1); // CRC`
353			`send_bit(1); // CRC`
354			`send_bit(0); // CRC`
355			`send_bit(0); // CRC // error`
356			`send_bit(1); // CRC DELIM`
357			`send_bit(0); // ACK`
358			`send_bit(1); // ACK DELIM`
359			`send_bit(0); // EOF // error comes here`
360			`send_bit(0); // EOF // error comes here`
361
362			`//tx_bypassed=1;`
363			`send_bit(0); // EOF // error comes here`
364			`//tx_bypassed=0;`
365
366			`send_bit(0); // EOF // error comes here`
367			`send_bit(0); // EOF // error comes here`
368			`send_bit(0); // EOF // error comes here`
369			`send_bit(1); // EOF // delimiter`
370			`send_bit(1); // INTER // delimiter`
371			`send_bit(1); // INTER // delimiter`
372			`send_bit(1); // INTER // delimiter`
373			`send_bit(1); // IDLE // delimiter`
374			`send_bit(1); // IDLE // delimiter`
375			`send_bit(1); // IDLE // delimiter`
376			`send_bit(0); // IDLE // delimiter`
377			`send_bit(1); // IDLE // delimiter`
378			`send_bit(1); // IDLE // delimiter`
379			`send_bit(1); // IDLE // delimiter`
380			`send_bit(1); // IDLE // delimiter`
381			`send_bit(1); // IDLE // delimiter`
382			`send_bit(1); // IDLE // delimiter`
383			`send_bit(1); // IDLE`
384			`send_bit(1); // IDLE`
385			`send_bit(1); // IDLE`
386
387			`end`
388	29	mohor	`*/`
389	28	mohor	`// tx_bypassed=1;`
390
391
392	29	mohor	`write_register(8'd10, 8'he8); // Writing ID[10:3] = 0xe8`
393			`write_register(8'd11, 8'hb7); // Writing ID[2:0] = 0x5, rtr = 1, length = 7`
394			`write_register(8'd12, 8'h00); // data byte 1`
395			`write_register(8'd13, 8'h00); // data byte 2`
396			`write_register(8'd14, 8'h00); // data byte 3`
397			`write_register(8'd15, 8'h00); // data byte 4`
398			`write_register(8'd16, 8'h00); // data byte 5`
399			`write_register(8'd17, 8'h00); // data byte 6`
400			`write_register(8'd18, 8'h00); // data byte 7`
401			`write_register(8'd19, 8'h00); // data byte 8`
402
403	28	mohor	`fork`
404			`begin`
405			`tx_request;`
406			`end`
407
408			`begin`
409			`#520;`
410	31	mohor
411			`repeat (16)`
412			`begin`
413	28	mohor	`send_bit(0); // SOF`
414			`send_bit(1); // ID`
415			`send_bit(1); // ID`
416			`send_bit(1); // ID`
417			`send_bit(0); // ID`
418			`send_bit(1); // ID`
419			`send_bit(0); // ID`
420			`send_bit(0); // ID`
421			`send_bit(0); // ID`
422			`send_bit(1); // ID`
423			`send_bit(0); // ID`
424			`send_bit(1); // ID`
425			`send_bit(1); // RTR`
426			`send_bit(0); // IDE`
427			`send_bit(0); // r0`
428			`send_bit(0); // DLC`
429			`send_bit(1); // DLC`
430			`send_bit(1); // DLC`
431			`send_bit(1); // DLC`
432			`send_bit(1); // CRC`
433			`send_bit(0); // CRC`
434			`send_bit(0); // CRC`
435			`send_bit(1); // CRC`
436			`send_bit(1); // CRC`
437			`send_bit(1); // CRC`
438			`send_bit(0); // CRC`
439			`send_bit(1); // CRC`
440			`send_bit(0); // CRC`
441			`send_bit(0); // CRC`
442			`send_bit(1); // CRC`
443			`send_bit(1); // CRC`
444			`send_bit(1); // CRC`
445			`send_bit(1); // CRC`
446			`send_bit(1); // CRC`
447			`send_bit(1); // CRC DELIM`
448	31	mohor	`send_bit(1); // ACK ack error`
449			`send_bit(0); // ERROR`
450			`send_bit(0); // ERROR`
451			`send_bit(0); // ERROR`
452			`send_bit(0); // ERROR`
453			`send_bit(0); // ERROR`
454			`send_bit(0); // ERROR`
455			`send_bit(1); // ERROR DELIM`
456			`send_bit(1); // ERROR DELIM`
457			`send_bit(1); // ERROR DELIM`
458			`send_bit(1); // ERROR DELIM`
459			`send_bit(1); // ERROR DELIM`
460			`send_bit(1); // ERROR DELIM`
461			`send_bit(1); // ERROR DELIM`
462			`send_bit(1); // ERROR DELIM`
463			`send_bit(1); // INTER`
464			`send_bit(1); // INTER`
465			`send_bit(1); // INTER`
466			`end // repeat`
467
468	34	mohor	`// Node is error passive now.`
469	31	mohor	`repeat (20)`
470			`begin`
471			`send_bit(0); // SOF`
472			`send_bit(1); // ID`
473			`send_bit(1); // ID`
474			`send_bit(1); // ID`
475			`send_bit(0); // ID`
476			`send_bit(1); // ID`
477			`send_bit(0); // ID`
478			`send_bit(0); // ID`
479			`send_bit(0); // ID`
480			`send_bit(1); // ID`
481			`send_bit(0); // ID`
482			`send_bit(1); // ID`
483			`send_bit(1); // RTR`
484			`send_bit(0); // IDE`
485			`send_bit(0); // r0`
486			`send_bit(0); // DLC`
487			`send_bit(1); // DLC`
488			`send_bit(1); // DLC`
489			`send_bit(1); // DLC`
490			`send_bit(1); // CRC`
491			`send_bit(0); // CRC`
492			`send_bit(0); // CRC`
493			`send_bit(1); // CRC`
494			`send_bit(1); // CRC`
495			`send_bit(1); // CRC`
496			`send_bit(0); // CRC`
497			`send_bit(1); // CRC`
498			`send_bit(0); // CRC`
499			`send_bit(0); // CRC`
500			`send_bit(1); // CRC`

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