1e284767cd
- Remove xfft_32.v, tb_xfft_32.v, and fft_twiddle_32.mem (dead code since PR #33 moved Doppler to dual 16-pt FFT architecture) - Update run_regression.sh: xfft_16 in PROD_RTL, remove xfft_32 from EXTRA_RTL and all compile commands - Update tb_fft_engine.v to test with N=16 / fft_twiddle_16.mem - Update validate_mem_files.py: validate fft_twiddle_16.mem instead of 32 - Update testbenches and golden data from main_cleanup branch to match dual-16 architecture (tb_doppler_cosim, tb_doppler_realdata, tb_fullchain_realdata, tb_fullchain_mti_cfar_realdata, tb_system_e2e, radar_receiver_final, golden_doppler.mem) - Update CONTRIBUTING.md with full regression test instructions covering FPGA, MCU, GUI, co-simulation, and formal verification Regression: 23/23 FPGA, 20/20 MCU, 57/58 GUI, 56/56 mem validation, all co-sim scenarios PASS.
527 lines
16 KiB
Verilog
527 lines
16 KiB
Verilog
`timescale 1ns / 1ps
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/**
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* tb_fft_engine.v
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*
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* Testbench for the synthesizable FFT engine.
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* Tests with N=16 (matching the dual-16 Doppler architecture).
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*
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* Test Groups:
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* 1. Impulse response: FFT of delta[0] should be all 1s
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* 2. DC input: FFT of all-1s should be delta at bin 0
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* 3. Single tone: FFT of cos(2*pi*k/N) should peak at bin k
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* 4. Roundtrip: FFT then IFFT should recover original
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* 5. Linearity: FFT(a+b) ~= FFT(a) + FFT(b)
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*
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* Convention: standard check task with pass/fail tracking.
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*/
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module tb_fft_engine;
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// ============================================================================
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// PARAMETERS — test with 16-pt to match dual-FFT Doppler architecture
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// ============================================================================
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localparam N = 16;
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localparam LOG2N = 4;
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localparam DATA_W = 16;
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localparam INT_W = 32;
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localparam TW_W = 16;
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localparam CLK_PERIOD = 10;
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// ============================================================================
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// SIGNALS
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// ============================================================================
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reg clk, reset_n;
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reg start, inverse;
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reg signed [DATA_W-1:0] din_re, din_im;
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reg din_valid;
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wire signed [DATA_W-1:0] dout_re, dout_im;
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wire dout_valid, busy, done_sig;
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// ============================================================================
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// DUT
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// ============================================================================
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fft_engine #(
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.N(N),
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.LOG2N(LOG2N),
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.DATA_W(DATA_W),
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.INTERNAL_W(INT_W),
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.TWIDDLE_W(TW_W),
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.TWIDDLE_FILE("fft_twiddle_16.mem")
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) dut (
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.clk(clk),
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.reset_n(reset_n),
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.start(start),
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.inverse(inverse),
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.din_re(din_re),
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.din_im(din_im),
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.din_valid(din_valid),
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.dout_re(dout_re),
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.dout_im(dout_im),
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.dout_valid(dout_valid),
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.busy(busy),
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.done(done_sig)
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);
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// ============================================================================
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// CLOCK
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// ============================================================================
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initial clk = 0;
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always #(CLK_PERIOD/2) clk = ~clk;
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// ============================================================================
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// PASS/FAIL TRACKING
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// ============================================================================
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integer pass_count, fail_count;
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task check;
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input cond;
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input [512*8-1:0] label;
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begin
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if (cond) begin
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$display(" [PASS] %0s", label);
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pass_count = pass_count + 1;
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end else begin
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$display(" [FAIL] %0s", label);
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fail_count = fail_count + 1;
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end
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end
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endtask
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// ============================================================================
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// STORAGE FOR CAPTURED OUTPUTS
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// ============================================================================
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reg signed [DATA_W-1:0] out_re [0:N-1];
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reg signed [DATA_W-1:0] out_im [0:N-1];
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integer out_idx;
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// Second set for roundtrip
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reg signed [DATA_W-1:0] out2_re [0:N-1];
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reg signed [DATA_W-1:0] out2_im [0:N-1];
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// Input storage for roundtrip comparison
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reg signed [DATA_W-1:0] in_re [0:N-1];
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reg signed [DATA_W-1:0] in_im [0:N-1];
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// ============================================================================
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// HELPER TASKS
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// ============================================================================
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// Reset
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task do_reset;
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begin
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reset_n = 0;
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start = 0;
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inverse = 0;
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din_re = 0;
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din_im = 0;
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din_valid = 0;
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repeat(5) @(posedge clk); #1;
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reset_n = 1;
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repeat(2) @(posedge clk); #1;
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end
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endtask
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// Run FFT: load N samples from in_re/in_im arrays, capture output to out_re/out_im
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task run_fft;
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input inv;
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integer i;
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begin
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inverse = inv;
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@(posedge clk); #1;
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start = 1;
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@(posedge clk); #1;
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start = 0;
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// Feed N samples
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for (i = 0; i < N; i = i + 1) begin
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din_re = in_re[i];
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din_im = in_im[i];
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din_valid = 1;
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@(posedge clk); #1;
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end
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din_valid = 0;
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din_re = 0;
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din_im = 0;
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// Wait for output and capture
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out_idx = 0;
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while (out_idx < N) begin
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@(posedge clk); #1;
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if (dout_valid) begin
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out_re[out_idx] = dout_re;
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out_im[out_idx] = dout_im;
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out_idx = out_idx + 1;
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end
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end
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// Wait for done
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@(posedge clk); #1;
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end
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endtask
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// Run FFT and capture to out2 arrays
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task run_fft_to_out2;
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input inv;
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integer i;
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begin
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inverse = inv;
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@(posedge clk); #1;
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start = 1;
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@(posedge clk); #1;
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start = 0;
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for (i = 0; i < N; i = i + 1) begin
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din_re = in_re[i];
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din_im = in_im[i];
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din_valid = 1;
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@(posedge clk); #1;
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end
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din_valid = 0;
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din_re = 0;
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din_im = 0;
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out_idx = 0;
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while (out_idx < N) begin
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@(posedge clk); #1;
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if (dout_valid) begin
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out2_re[out_idx] = dout_re;
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out2_im[out_idx] = dout_im;
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out_idx = out_idx + 1;
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end
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end
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@(posedge clk); #1;
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end
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endtask
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// ============================================================================
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// VCD + CSV
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// ============================================================================
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initial begin
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$dumpfile("tb_fft_engine.vcd");
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$dumpvars(0, tb_fft_engine);
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end
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// ============================================================================
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// MAIN TEST
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// ============================================================================
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integer i, j;
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integer max_mag_bin;
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reg signed [31:0] max_mag;
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reg signed [31:0] mag;
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reg signed [31:0] err;
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integer max_err;
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integer total_energy_in, total_energy_out;
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// For tone generation
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real angle;
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reg signed [DATA_W-1:0] cos_val;
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initial begin
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pass_count = 0;
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fail_count = 0;
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$display("============================================================");
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$display(" FFT Engine Testbench — N=%0d", N);
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$display("============================================================");
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do_reset;
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// ================================================================
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// TEST GROUP 1: Impulse Response
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// FFT(delta[0]) should give all bins = 1 (in_re[0]=1, rest=0)
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// Since input is Q15-ish (16-bit signed), use amplitude = 1000
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// FFT of impulse with amplitude A: all bins = A
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// ================================================================
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$display("");
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$display("--- Test Group 1: Impulse Response ---");
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for (i = 0; i < N; i = i + 1) begin
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in_re[i] = (i == 0) ? 16'sd1000 : 16'sd0;
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in_im[i] = 16'sd0;
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end
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run_fft(0); // Forward FFT
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// All bins should have re ~= 1000, im ~= 0
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max_err = 0;
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for (i = 0; i < N; i = i + 1) begin
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err = out_re[i] - 1000;
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if (err < 0) err = -err;
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if (err > max_err) max_err = err;
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err = out_im[i];
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if (err < 0) err = -err;
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if (err > max_err) max_err = err;
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end
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$display(" Impulse FFT max error from expected: %0d", max_err);
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check(max_err < 10, "Impulse FFT: all bins ~= input amplitude");
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check(out_re[0] == 1000 || (out_re[0] >= 998 && out_re[0] <= 1002),
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"Impulse FFT: bin 0 real ~= 1000");
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// ================================================================
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// TEST GROUP 2: DC Input
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// FFT of constant value A across all N samples:
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// bin 0 = A*N, all other bins = 0
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// Use amplitude 100 so bin 0 = 100*32 = 3200
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// ================================================================
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$display("");
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$display("--- Test Group 2: DC Input ---");
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for (i = 0; i < N; i = i + 1) begin
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in_re[i] = 16'sd100;
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in_im[i] = 16'sd0;
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end
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run_fft(0);
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$display(" DC FFT bin[0] = %0d + j%0d (expect %0d + j0)", out_re[0], out_im[0], 100*N);
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// Q15 twiddle rounding over N butterflies can cause ~1% error
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check(out_re[0] >= (100*N - 50) && out_re[0] <= (100*N + 50),
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"DC FFT: bin 0 real ~= A*N (1.5% tol)");
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max_err = 0;
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for (i = 1; i < N; i = i + 1) begin
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mag = out_re[i] * out_re[i] + out_im[i] * out_im[i];
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if (out_re[i] > max_err || -out_re[i] > max_err)
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max_err = (out_re[i] > 0) ? out_re[i] : -out_re[i];
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if (out_im[i] > max_err || -out_im[i] > max_err)
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max_err = (out_im[i] > 0) ? out_im[i] : -out_im[i];
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end
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$display(" DC FFT max non-DC bin magnitude: %0d", max_err);
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check(max_err < 20, "DC FFT: non-DC bins ~= 0 (Q15 rounding tol)");
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// ================================================================
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// TEST GROUP 3: Single Tone (cosine at bin 4)
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// cos(2*pi*4*n/32) -> peaks at bins 4 and N-4=28
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// Amplitude 1000 -> each peak = 1000*N/2 = 16000
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// ================================================================
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$display("");
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$display("--- Test Group 3: Single Tone (bin 4) ---");
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for (i = 0; i < N; i = i + 1) begin
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// cos(2*pi*4*i/32) in Q15-ish
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angle = 6.28318530718 * 4.0 * i / 32.0;
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cos_val = $rtoi($cos(angle) * 1000.0);
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in_re[i] = cos_val;
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in_im[i] = 16'sd0;
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end
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run_fft(0);
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// Find peak bin
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max_mag = 0;
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max_mag_bin = 0;
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for (i = 0; i < N; i = i + 1) begin
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mag = out_re[i] * out_re[i] + out_im[i] * out_im[i];
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if (mag > max_mag) begin
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max_mag = mag;
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max_mag_bin = i;
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end
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end
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$display(" Tone FFT peak bin: %0d (expect 4)", max_mag_bin);
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$display(" Tone FFT bin[4] = %0d + j%0d", out_re[4], out_im[4]);
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$display(" Tone FFT bin[28] = %0d + j%0d", out_re[28], out_im[28]);
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check(max_mag_bin == 4 || max_mag_bin == 28,
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"Tone FFT: peak at bin 4 or 28");
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// Bin 4 and 28 should have magnitude ~= N/2 * 1000 = 16000
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mag = out_re[4] * out_re[4] + out_im[4] * out_im[4];
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check(mag > 15000*15000 && mag < 17000*17000,
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"Tone FFT: bin 4 magnitude ~= 16000");
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// ================================================================
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// TEST GROUP 4: Roundtrip (FFT then IFFT = identity)
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// Load random-ish data, FFT, IFFT, compare to original
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// ================================================================
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$display("");
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$display("--- Test Group 4: Roundtrip (FFT->IFFT) ---");
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// Use a simple deterministic pattern
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for (i = 0; i < N; i = i + 1) begin
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in_re[i] = (i * 137 + 42) % 2001 - 1000; // [-1000, 1000]
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in_im[i] = (i * 251 + 17) % 2001 - 1000;
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end
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// Forward FFT
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run_fft(0);
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// Copy FFT output as input for IFFT
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for (i = 0; i < N; i = i + 1) begin
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in_re[i] = out_re[i];
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in_im[i] = out_im[i];
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end
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// Save original input for comparison
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// (we need to recompute since in_re was overwritten)
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// Actually let's redo: store originals first
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// We'll do it properly with separate storage
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// Re-do: load original pattern
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for (i = 0; i < N; i = i + 1) begin
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out2_re[i] = (i * 137 + 42) % 2001 - 1000;
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out2_im[i] = (i * 251 + 17) % 2001 - 1000;
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end
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// Now in_re/in_im has FFT output. Run IFFT.
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run_fft(1);
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// out_re/out_im should match original (out2_re/out2_im) within tolerance
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max_err = 0;
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for (i = 0; i < N; i = i + 1) begin
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err = out_re[i] - out2_re[i];
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if (err < 0) err = -err;
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if (err > max_err) max_err = err;
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err = out_im[i] - out2_im[i];
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if (err < 0) err = -err;
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if (err > max_err) max_err = err;
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end
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$display(" Roundtrip max error: %0d", max_err);
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check(max_err < 20, "Roundtrip: FFT->IFFT recovers original (err < 20)");
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check(max_err < 5, "Roundtrip: FFT->IFFT tight tolerance (err < 5)");
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// Print first few samples for debugging
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$display(" Sample comparison (idx: original vs recovered):");
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for (i = 0; i < 8; i = i + 1) begin
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$display(" [%0d] re: %0d vs %0d, im: %0d vs %0d",
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i, out2_re[i], out_re[i], out2_im[i], out_im[i]);
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end
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// ================================================================
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// TEST GROUP 5: IFFT of impulse
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// IFFT(delta[0]) = 1/N for all bins -> should be ~1 for amplitude N
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// Input: bin[0] = N (=32), rest = 0
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// IFFT output: all samples = 1
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// ================================================================
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$display("");
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$display("--- Test Group 5: IFFT of Impulse ---");
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for (i = 0; i < N; i = i + 1) begin
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in_re[i] = (i == 0) ? N : 16'sd0;
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in_im[i] = 16'sd0;
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end
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run_fft(1); // Inverse FFT
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max_err = 0;
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for (i = 0; i < N; i = i + 1) begin
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err = out_re[i] - 1;
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if (err < 0) err = -err;
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if (err > max_err) max_err = err;
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err = out_im[i];
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if (err < 0) err = -err;
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if (err > max_err) max_err = err;
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end
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$display(" IFFT impulse max error: %0d", max_err);
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check(max_err < 2, "IFFT impulse: all samples ~= 1");
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// ================================================================
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// TEST GROUP 6: Parseval's theorem (energy conservation)
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// Sum |x[n]|^2 should equal (1/N) * Sum |X[k]|^2
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// We compare N * sum_time vs sum_freq
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// ================================================================
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$display("");
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$display("--- Test Group 6: Parseval's Theorem ---");
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for (i = 0; i < N; i = i + 1) begin
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in_re[i] = (i * 137 + 42) % 2001 - 1000;
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in_im[i] = (i * 251 + 17) % 2001 - 1000;
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end
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// Compute time-domain energy
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total_energy_in = 0;
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for (i = 0; i < N; i = i + 1) begin
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total_energy_in = total_energy_in + in_re[i] * in_re[i] + in_im[i] * in_im[i];
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end
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run_fft(0);
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// Compute frequency-domain energy
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total_energy_out = 0;
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for (i = 0; i < N; i = i + 1) begin
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total_energy_out = total_energy_out + out_re[i] * out_re[i] + out_im[i] * out_im[i];
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end
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// Parseval: sum_time = (1/N) * sum_freq => N * sum_time = sum_freq
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$display(" Time energy * N = %0d", total_energy_in * N);
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$display(" Freq energy = %0d", total_energy_out);
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// Allow some tolerance for fixed-point rounding
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err = total_energy_in * N - total_energy_out;
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if (err < 0) err = -err;
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$display(" Parseval error = %0d", err);
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// Relative error
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if (total_energy_in * N > 0) begin
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$display(" Parseval rel error = %0d%%", (err * 100) / (total_energy_in * N));
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check((err * 100) / (total_energy_in * N) < 5,
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"Parseval: energy conserved within 5%");
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end
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// ================================================================
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// TEST GROUP 7: Pure imaginary input
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// FFT of j*sin(2*pi*2*n/N) -> peaks at bins 2 and N-2
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// ================================================================
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$display("");
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$display("--- Test Group 7: Pure Imaginary Tone (bin 2) ---");
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for (i = 0; i < N; i = i + 1) begin
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in_re[i] = 16'sd0;
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angle = 6.28318530718 * 2.0 * i / 32.0;
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in_im[i] = $rtoi($sin(angle) * 1000.0);
|
|
end
|
|
|
|
run_fft(0);
|
|
|
|
// Find peak
|
|
max_mag = 0;
|
|
max_mag_bin = 0;
|
|
for (i = 0; i < N; i = i + 1) begin
|
|
mag = out_re[i] * out_re[i] + out_im[i] * out_im[i];
|
|
if (mag > max_mag) begin
|
|
max_mag = mag;
|
|
max_mag_bin = i;
|
|
end
|
|
end
|
|
$display(" Imag tone peak bin: %0d (expect 2 or 30)", max_mag_bin);
|
|
check(max_mag_bin == 2 || max_mag_bin == 30,
|
|
"Imag tone: peak at bin 2 or 30");
|
|
|
|
// ================================================================
|
|
// TEST GROUP 8: Zero input
|
|
// ================================================================
|
|
$display("");
|
|
$display("--- Test Group 8: Zero Input ---");
|
|
|
|
for (i = 0; i < N; i = i + 1) begin
|
|
in_re[i] = 16'sd0;
|
|
in_im[i] = 16'sd0;
|
|
end
|
|
|
|
run_fft(0);
|
|
|
|
max_err = 0;
|
|
for (i = 0; i < N; i = i + 1) begin
|
|
err = out_re[i];
|
|
if (err < 0) err = -err;
|
|
if (err > max_err) max_err = err;
|
|
err = out_im[i];
|
|
if (err < 0) err = -err;
|
|
if (err > max_err) max_err = err;
|
|
end
|
|
check(max_err == 0, "Zero input: all output bins = 0");
|
|
|
|
// ================================================================
|
|
// SUMMARY
|
|
// ================================================================
|
|
$display("");
|
|
$display("============================================================");
|
|
$display(" RESULTS: %0d/%0d passed", pass_count, pass_count + fail_count);
|
|
if (fail_count == 0)
|
|
$display(" ALL TESTS PASSED");
|
|
else
|
|
$display(" SOME TESTS FAILED");
|
|
$display("============================================================");
|
|
|
|
$finish;
|
|
end
|
|
|
|
endmodule
|