CAN通信控制程序的仿真与测试

2018-12-25 16:44:08 2493 CAN通信 CAN

0 CAN 总线通信控制器的仿真程序，需要模拟数据的发送和接收。下面是测试程序的部分代码： //连接 can_top 模块 can_top i_can_top ( .cs_can_i(cs_can), .clk_i(clk), .rx_i(rx_and_tx), .tx_o(tx), .irq_on(irq), .clkout_o(clkout) ); //产生 24 MHz 时钟 initial begin clk=0; forever #21 clk = ~clk; end //初始化 initial begin start_tb = 0; cs_can = 0; rx = 1; extended_mode = 0; tx_bypassed = 0; rst_i = 1'b0; ale_i = 1'b0; rd_i = 1'b0; wr_i = 1'b0; port_0_o = 8'h0; port_0_en = 0; port_free = 1; rst_i = 1; #200 rst_i = 0; #200 start_tb = 1; end //产生延迟的 tx 信号(CAN 发送器延迟) always begin wait (tx); repeat (4BRP) @ (posedge clk); // 4 time quants delay #1 delayed_tx = tx; wait (~tx); repeat (4BRP) @ (posedge clk); // 4 time quants delay #1 delayed_tx = tx; end assign rx_and_tx = rx & (delayed_tx \| tx_bypassed); // When this signal is on, tx is notlooped back to the rx. //主程序 initial begin wait(start_tb); //设置总线时序寄存器 write_register(8'd6, {`CAN_TIMING0_SJW, `CAN_TIMING0_BRP}); write_register(8'd7, {`CAN_TIMING1_SAM, `CAN_TIMING1_TSEG2, `CAN_TIMING1_TSEG1}); // 设置时钟分频寄存器 extended_mode = 1'b0; write_register(8'd31, {extended_mode, 3'h0, 1'b0, 3'h0}); // Setting the normal mode (notextended) //设置接收代码和接收寄存器 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 write_register(8'd4, 8'he8); // acceptance code write_register(8'd5, 8'h0f); // acceptance mask #10; repeat (1000) @ (posedge clk); //开关复位模式 write_register(8'd0, {7'h0, ~(`CAN_MODE_RESET)}); repeat (BRP) @ (posedge clk); // 在复位后设置总线空闲 repeat (11) send_bit(1); test_full_fifo; // test currently switched on send_frame; // test currently switched off bus_off_test; // test currently switched off forced_bus_off; // test currently switched off send_frame_basic; // test currently switched off send_frame_extended; // test currently switched off self_reception_request; // test currently switched off manual_frame_basic; // test currently switched off manual_frame_ext; // test currently switched off $display("CAN Testbench finished !"); $stop; end 复制代码在测试过程中通过多个任务来分别验证程序的各个功能模块。下面的程序用于验证强制关闭总线任务： //强制关闭总线任务 task forced_bus_off; // Forcing bus-off by writinf to tx_err_cnt register begin //切换到复位模式 write_register(8'd0, {7'h0, `CAN_MODE_RESET}); // 设置时钟分频寄存器 write_register(8'd31, {1'b1, 7'h0}); // Setting the extended mode (not normal) // 写数据到寄存器中 write_register(8'd15, 255); // 切换复位模式 write_register(8'd0, {7'h0, ~(`CAN_MODE_RESET)}); #2500000; // 切换复位模式 write_register(8'd0, {7'h0, `CAN_MODE_RESET}); // 写数据到寄存器中 write_register(8'd15, 245); //关闭复位模式 write_register(8'd0, {7'h0, ~(`CAN_MODE_RESET)}); #1000000; end endtask // forced_bus_off 复制代码下面的程序验证如何发送一个基本格式的帧数据： //发送一个基本格式的帧 task manual_frame_basic; begin // 切换到复位模式 write_register(8'd0, {7'h0, (`CAN_MODE_RESET)}); //设置寄存器 write_register(8'd4, 8'h28); // acceptance code write_register(8'd5, 8'hff); // acceptance mask repeat (100) @ (posedge clk); // 切换复位模式 write_register(8'd0, {7'h0, ~(`CAN_MODE_RESET)}); // 模块复位后设置总线空闲 repeat (11) send_bit(1); write_register(8'd10, 8'h55); // Writing ID[10:3] = 0x55 write_register(8'd11, 8'h57); // Writing ID[2:0] = 0x2, 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 tx_bypassed = 1; // When this signal is on, tx is not looped back to the rx. fork begin self_reception_request_command; end begin #2200; repeat (1) //开始发送数据 begin send_bit(0); // 帧起始 send_bit(0); // ID send_bit(1); // ID send_bit(0); // ID send_bit(1); // ID send_bit(0); // ID send_bit(1); // ID send_bit(0); // ID send_bit(1); // ID send_bit(0); // ID send_bit(1); // ID send_bit(0); // 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(1); // CRC send_bit(0); // CRC stuff send_bit(0); // CRC 6 send_bit(0); // CRC send_bit(0); // CRC send_bit(0); // CRC send_bit(1); // CRC stuff send_bit(0); // CRC 0 send_bit(0); // CRC send_bit(1); // CRC send_bit(0); // CRC send_bit(1); // CRC 5 send_bit(1); // CRC send_bit(0); // CRC send_bit(1); // CRC send_bit(1); // CRC b 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 end join //从接收缓冲中读取数据 read_receive_buffer; release_rx_buffer_command; read_receive_buffer; release_rx_buffer_command; read_receive_buffer; #4000000; end endtask // manual_frame_basic 复制代码 0
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