Merge FPGA repository back into UHD repository

The FPGA codebase was removed from the UHD repository in 2014 to reduce
the size of the repository. However, over the last half-decade, the
split between the repositories has proven more burdensome than it has
been helpful. By merging the FPGA code back, it will be possible to
create atomic commits that touch both FPGA and UHD codebases. Continuous
integration testing is also simplified by merging the repositories,
because it was previously difficult to automatically derive the correct
UHD branch when testing a feature branch on the FPGA repository.

This commit also updates the license files and paths therein.

We are therefore merging the repositories again. Future development for
FPGA code will happen in the same repository as the UHD host code and
MPM code.

== Original Codebase and Rebasing ==

The original FPGA repository will be hosted for the foreseeable future
at its original local location: https://github.com/EttusResearch/fpga/

It can be used for bisecting, reference, and a more detailed history.

The final commit from said repository to be merged here is
05003794e2da61cabf64dd278c45685a7abad7ec. This commit is tagged as
v4.0.0.0-pre-uhd-merge.

If you have changes in the FPGA repository that you want to rebase onto
the UHD repository, simply run the following commands:

- Create a directory to store patches (this should be an empty
  directory):

    mkdir ~/patches

- Now make sure that your FPGA codebase is based on the same state as
  the code that was merged:

    cd src/fpga # Or wherever your FPGA code is stored
    git rebase v4.0.0.0-pre-uhd-merge

  Note: The rebase command may look slightly different depending on what
  exactly you're trying to rebase.

- Create a patch set for your changes versus v4.0.0.0-pre-uhd-merge:

    git format-patch v4.0.0.0-pre-uhd-merge -o ~/patches

  Note: Make sure that only patches are stored in your output directory.
  It should otherwise be empty. Make sure that you picked the correct
  range of commits, and only commits you wanted to rebase were exported
  as patch files.

- Go to the UHD repository and apply the patches:

    cd src/uhd # Or wherever your UHD repository is stored
    git am --directory fpga ~/patches/*
    rm -rf ~/patches # This is for cleanup

== Contributors ==

The following people have contributed mainly to these files (this list
is not complete):

Co-authored-by: Alex Williams <alex.williams@ni.com>
Co-authored-by: Andrej Rode <andrej.rode@ettus.com>
Co-authored-by: Ashish Chaudhari <ashish@ettus.com>
Co-authored-by: Ben Hilburn <ben.hilburn@ettus.com>
Co-authored-by: Ciro Nishiguchi <ciro.nishiguchi@ni.com>
Co-authored-by: Daniel Jepson <daniel.jepson@ni.com>
Co-authored-by: Derek Kozel <derek.kozel@ettus.com>
Co-authored-by: EJ Kreinar <ej@he360.com>
Co-authored-by: Humberto Jimenez <humberto.jimenez@ni.com>
Co-authored-by: Ian Buckley <ian.buckley@gmail.com>
Co-authored-by: Jörg Hofrichter <joerg.hofrichter@ni.com>
Co-authored-by: Jon Kiser <jon.kiser@ni.com>
Co-authored-by: Josh Blum <josh@joshknows.com>
Co-authored-by: Jonathon Pendlum <jonathan.pendlum@ettus.com>
Co-authored-by: Martin Braun <martin.braun@ettus.com>
Co-authored-by: Matt Ettus <matt@ettus.com>
Co-authored-by: Michael West <michael.west@ettus.com>
Co-authored-by: Moritz Fischer <moritz.fischer@ettus.com>
Co-authored-by: Nick Foster <nick@ettus.com>
Co-authored-by: Nicolas Cuervo <nicolas.cuervo@ettus.com>
Co-authored-by: Paul Butler <paul.butler@ni.com>
Co-authored-by: Paul David <paul.david@ettus.com>
Co-authored-by: Ryan Marlow <ryan.marlow@ettus.com>
Co-authored-by: Sugandha Gupta <sugandha.gupta@ettus.com>
Co-authored-by: Sylvain Munaut <tnt@246tNt.com>
Co-authored-by: Trung Tran <trung.tran@ettus.com>
Co-authored-by: Vidush Vishwanath <vidush.vishwanath@ettus.com>
Co-authored-by: Wade Fife <wade.fife@ettus.com>

1 files changed, 471 insertions, 0 deletions

diff --git a/fpga/docs/usrp3/sim/writing_testbenches.md b/fpga/docs/usrp3/sim/writing_testbenches.md
new file mode 100644
index 000000000..cfbbcdbce
--- /dev/null
+++ b/fpga/docs/usrp3/sim/writing_testbenches.md
@@ -0,0 +1,471 @@
+# Writing a Testbench
+
+Writing a unit test or system level test is easy with the Vivado makefile infrastructure! 
+Most of the overhead of building and running a testbench is handled by the build tools. 
+Even recurring tasks like reporting and monitoring are implemented by framework libraries.
+
+Each executable FPGA unit test must have the following components:
+
+1. A Makefile
+2. A Testbench top-level module
+
+## Testbench Makefile
+
+The Testbench Makefile tell the build tools what to build, where to build it, dependency information and runtime information.
+The build infrastructure will handle the how-to part for each supported simulation tool.
+
+Here is a sample Makefile (you are encouraged to use this as a starting point)
+
+    #
+    # Copyright 2015 Ettus Research LLC
+    #
+    
+    #-------------------------------------------------
+    # Top-of-Makefile
+    #-------------------------------------------------
+    # Define BASE_DIR to point to the "top" dir
+    BASE_DIR = $(abspath ../../..)
+    # Include viv_sim_preample after defining BASE_DIR
+    include $(BASE_DIR)/../tools/make/viv_sim_preamble.mak
+    
+    #-------------------------------------------------
+    # Design Specific
+    #-------------------------------------------------
+    # Define part using PART_ID (<device>/<package>/<speedgrade>)
+    ARCH = kintex7
+    PART_ID = xc7k410t/ffg900/-2
+    
+    # Include makefiles and sources for the DUT and its dependencies
+    include $(BASE_DIR)/../lib/fifo/Makefile.srcs
+    include $(BASE_DIR)/../lib/axi/Makefile.srcs
+    include $(BASE_DIR)/../lib/control/Makefile.srcs
+    
+    DESIGN_SRCS = $(abspath \
+    $(FIFO_SRCS) \
+    $(AXI_SRCS) \
+    $(CONTROL_LIB_SRCS) \
+    )
+    
+    #-------------------------------------------------
+    # IP Specific
+    #-------------------------------------------------
+    # If simulation contains IP, define the IP_DIR and point
+    # it to the base level IP directory
+    IP_DIR = ../../ip
+    
+    # Include makefiles and sources for all IP components
+    # *after* defining the IP_DIR
+    include $(IP_DIR)/ddr3_32bit/Makefile.inc
+    include $(IP_DIR)/axi_intercon_2x64_128/Makefile.inc
+    include $(IP_DIR)/fifo_short_2clk/Makefile.inc
+    include $(IP_DIR)/fifo_4k_2clk/Makefile.inc
+    include $(IP_DIR)/axi4_bram_1kx64/Makefile.inc
+    
+    DESIGN_SRCS += $(abspath \
+    $(IP_DDR3_32BIT_SRCS) \
+    $(IP_AXI_INTERCON_2X64_128_SRCS) \
+    $(IP_FIFO_4K_2CLK_SRCS) \
+    $(IP_FIFO_SHORT_2CLK_SRCS) \
+    $(IP_AXI4_BRAM_1KX64_SRCS) \
+    )
+    
+    #-------------------------------------------------
+    # Testbench Specific
+    #-------------------------------------------------
+    include $(BASE_DIR)/../sim/general/Makefile.srcs
+    include $(BASE_DIR)/../sim/axi/Makefile.srcs
+    
+    # Define only one toplevel module
+    SIM_TOP = dram_fifo_tb
+    # Simulation runtime in microseconds
+    SIM_RUNTIME_US = 80
+    
+    SIM_SRCS = \
+    $(abspath dram_fifo_tb.sv) \
+    $(abspath axis_dram_fifo_single.sv) \
+    $(IP_DDR3_32BIT_SIM_OUTS) \
+    $(SIM_GENERAL_SRCS) \
+    $(SIM_AXI_SRCS)
+    
+    #-------------------------------------------------
+    # Bottom-of-Makefile
+    #-------------------------------------------------
+    # Include all simulator specific makefiles here
+    # Each should define a unique target to simulate
+    # e.g. xsim, vsim, etc and a common "clean" target
+    include $(BASE_DIR)/../tools/make/viv_simulator.mak
+
+You will notice that the Makefile has 5 distinct sections.
+
+### Section 1: Boilerplate
+
+    #-------------------------------------------------
+    # Top-of-Makefile
+    #-------------------------------------------------
+    # Define BASE_DIR to point to the "top" dir
+    BASE_DIR = $(abspath ../../..)
+    # Include viv_sim_preample after defining BASE_DIR
+    include $(BASE_DIR)/../tools/make/viv_sim_preamble.mak
+
+Before declaring any variables or using any recipes, the following must be done (in order):
+
+- Define `BASE_DIR` to tell the build system where the `<repo>/usrp3/top` directory is relative to the
+  current testbench directory.
+- Include `viv_sim_preamble.mak` to initialize boilerplate variables and functions
+
+### Section 2: Design Specific
+
+    #-------------------------------------------------
+    # Design Specific
+    #-------------------------------------------------
+    # Define part using PART_ID (<device>/<package>/<speedgrade>)
+    ARCH = kintex7
+    PART_ID = xc7k410t/ffg900/-2
+    
+    # Include makefiles and sources for the DUT and its dependencies
+    include $(BASE_DIR)/../lib/fifo/Makefile.srcs
+    include $(BASE_DIR)/../lib/axi/Makefile.srcs
+    include $(BASE_DIR)/../lib/control/Makefile.srcs
+    
+    DESIGN_SRCS = $(abspath \
+    $(FIFO_SRCS) \
+    $(AXI_SRCS) \
+    $(CONTROL_LIB_SRCS) \
+    )
+
+This section contains pointers to sources and other variables for the DUT to function. In the 
+example above, we are including all sources from the lib/fifo, lib/axi, lib/control directories.
+
+The following makefile variables are special and must be defined:
+
+- `ARCH`: The architecture targeted for the simulation.
+- `PART_ID`: The exact part targeted for the simulation. Format: `<device>/<package>/<speedgrade>` 
+- `DESIGN_SRCS`: Space-separated paths to the DUT and all of its dependencies.
+
+### Section 3: IP Specific
+
+    #-------------------------------------------------
+    # IP Specific
+    #-------------------------------------------------
+    # If simulation contains IP, define the IP_DIR and point
+    # it to the base level IP directory
+    IP_DIR = ../../ip
+    
+    # Include makefiles and sources for all IP components
+    # *after* defining the IP_DIR
+    include $(IP_DIR)/ddr3_32bit/Makefile.inc
+    include $(IP_DIR)/axi_intercon_2x64_128/Makefile.inc
+    include $(IP_DIR)/fifo_short_2clk/Makefile.inc
+    include $(IP_DIR)/fifo_4k_2clk/Makefile.inc
+    include $(IP_DIR)/axi4_bram_1kx64/Makefile.inc
+    
+    DESIGN_SRCS += $(abspath \
+    $(IP_DDR3_32BIT_SRCS) \
+    $(IP_AXI_INTERCON_2X64_128_SRCS) \
+    $(IP_FIFO_4K_2CLK_SRCS) \
+    $(IP_FIFO_SHORT_2CLK_SRCS) \
+    $(IP_AXI4_BRAM_1KX64_SRCS) \
+    )
+
+If the DUT depends on any Xilinx IP then this section is required. It tell the tools
+which IP cores need to be built in order to run the simulation. The IP specific Makefile
+includes handle the "how" part of building IP. As long as the correct Mafefile is included
+and the IP XCI sources are added to `DESIGN_SRCS`, the IP intermediates will be built correctly.
+
+The `IP_DIR` variable must be defined to point to the base ip directory that contains XCI sources. 
+
+### Section 4: Testbench Specific
+
+    #-------------------------------------------------
+    # Testbench Specific
+    #-------------------------------------------------
+    include $(BASE_DIR)/../sim/general/Makefile.srcs
+    include $(BASE_DIR)/../sim/axi/Makefile.srcs
+    
+    # Define only one toplevel module
+    SIM_TOP = dram_fifo_tb
+    # Simulation runtime in microseconds
+    SIM_RUNTIME_US = 80
+    
+    SIM_SRCS = \
+    $(abspath dram_fifo_tb.sv) \
+    $(abspath axis_dram_fifo_single.sv) \
+    $(IP_DDR3_32BIT_SIM_OUTS) \
+    $(SIM_GENERAL_SRCS) \
+    $(SIM_AXI_SRCS)
+
+This section contains all sources and parameters for the actual testbench. Any simulation
+dependency makefiles can be included here.
+
+The following variables must be defined:
+
+- `SIM_TOP`: The toplevel module name for the simulation project
+- `SIM_RUNTIME_US`: The maximum runtime of the simulation in microseconds. At this time $finish will be called to terminate the testbench.
+- `SIM_SRCS`: This is similar to DESIGN_SRCS except that that should contain a path to `SIM_TOP` and all of its dependencies.
+
+### Section 5: Tool Support
+
+    #-------------------------------------------------
+    # Bottom-of-Makefile
+    #-------------------------------------------------
+    # Include all simulator specific makefiles here
+    # Each should define a unique target to simulate
+    # e.g. xsim, vsim, etc and a common "clean" target
+    include $(BASE_DIR)/../tools/make/viv_simulator.mak
+
+Now that the Makefile knows all the basic information about the testbench, include tool-specific
+makefiles to implement simulation targets. Currently the following simulator makefiles exits:
+
+- ``<repo>/tools/make/viv_simulator.mak``
+
+Please refer to the next section for more information about targets
+
+
+## Testbench Top Level
+
+The top-level module will instantiate the DUT and implement self-checking behavior. 
+Test benches could be written in any language (SystemVerilog, Verilog, VHDL) but 
+to take advantage of our repository of simulation libraries, it is recommended that SystemVerilog be used.
+
+Here is a sample SystemVerilog top module (you are encouraged to use this as a starting point)
+
+    //
+    // Copyright 2015 Ettus Research LLC
+    //
+    
+    `timescale 1ns/1ps
+    `define NS_PER_TICK     1
+    `define NUM_TEST_CASES  3
+    
+    `include "sim_clks_rsts.vh"
+    `include "sim_exec_report.vh"
+    `include "sim_cvita_lib.sv"
+    
+    module example_fifo_tb();
+      `TEST_BENCH_INIT("example_fifo_tb",`NUM_TEST_CASES,`NS_PER_TICK)
+    
+      // Define all clocks and resets
+      `DEFINE_CLK(bus_clk, 1000/166.6667, 50) //166MHz bus_clk
+      `DEFINE_RESET(bus_rst, 0, 100)          //100ns for GSR to deassert
+    
+      cvita_stream_t chdr_i (.clk(bus_clk));
+      cvita_stream_t chdr_o (.clk(bus_clk));
+    
+      // Initialize DUT
+      axi_fifo #(.WIDTH(65), .SIZE(24)) dut_single (
+        .clk(bus_clk),
+        .reset(bus_rst),
+        .clear(1'b0),
+        
+        .i_tdata({chdr_i.axis.tlast, chdr_i.axis.tdata}),
+        .i_tvalid(chdr_i.axis.tvalid),
+        .i_tready(chdr_i.axis.tready),
+      
+        .o_tdata({chdr_o.axis.tlast, chdr_o.axis.tdata}),
+        .o_tvalid(chdr_o.axis.tvalid),
+        .o_tready(chdr_o.axis.tready),
+        
+        .space(),
+        .occupied()
+      );
+    
+      //Testbench variables
+      cvita_hdr_t   header, header_out;
+      cvita_stats_t stats;
+
+      //------------------------------------------
+      //Main thread for testbench execution
+      //------------------------------------------
+      initial begin : tb_main
+    
+        `TEST_CASE_START("Wait for reset");
+        while (bus_rst) @(posedge bus_clk);
+        `TEST_CASE_DONE((~bus_rst));
+        
+        repeat (200) @(posedge bus_clk);
+    
+        header = '{
+          pkt_type:DATA, has_time:0, eob:0, seqno:12'h666,
+          length:0, sid:$random, timestamp:64'h0};
+    
+        `TEST_CASE_START("Fill up empty FIFO then drain (short packet)");
+          chdr_o.axis.tready = 0;
+          chdr_i.push_ramp_pkt(16, 64'd0, 64'h100, header);
+          chdr_o.axis.tready = 1;
+          chdr_o.wait_for_pkt_get_info(header_out, stats);
+          `ASSERT_ERROR(stats.count==16,            "Bad packet: Length mismatch");
+          `ASSERT_ERROR(header.sid==header_out.sid, "Bad packet: Wrong SID");
+          `ASSERT_ERROR(chdr_i.axis.tready,         "Bus not ready");
+        `TEST_CASE_DONE(1);
+
+        header = '{
+          pkt_type:DATA, has_time:1, eob:0, seqno:12'h666, 
+          length:0, sid:$random, timestamp:64'h0};
+    
+        `TEST_CASE_START("Concurrent read and write (single packet)");
+          chdr_o.axis.tready = 1;
+          fork
+              begin
+                chdr_i.push_ramp_pkt(20, 64'd0, 64'h100, header);
+              end
+              begin
+                chdr_o.wait_for_pkt_get_info(header_out, stats);
+              end
+          join
+        `ASSERT_ERROR(stats.count==20,      "Bad packet: Length mismatch");
+        `TEST_CASE_DONE(1);
+      end
+    endmodule
+
+
+Each testbench should have the following basic components:
+
+### Timescale Defines and Includes
+
+    `timescale 1ns/1ps
+    `define NS_PER_TICK     1
+    `define NUM_TEST_CASES  3
+    
+    `include "sim_clks_rsts.vh"
+    `include "sim_exec_report.vh"
+    `include "sim_cvita_lib.sv"
+
+In addition to the timescale, the infrastructure needs to know the number of 
+nanoseconds per simulator tick. This can be a floating point number.
+
+
+In addition to the timescale, you may include any Verilog/SystemVerilog headers here.
+
+### Main Module Definition
+
+    `include "sim_exec_report.vh"
+
+    module example_fifo_tb();
+      `TEST_BENCH_INIT("example_fifo_tb",`NUM_TEST_CASES,`NS_PER_TICK)
+
+      ...
+
+      //------------------------------------------
+      //Main thread for testbench execution
+      //------------------------------------------
+      initial begin : tb_main
+
+        ...
+
+      end
+    endmodule
+
+The name of the main module must match the ``SIM_TOP`` variable value in the Makefile.
+To register this module with the framework, the ``TEST_BENCH_INIT`` macro must be called.
+This macro is defined in ``<repo>/usrp3/sim/general/sim_exec_report.vh``.
+
+``TEST_BENCH_INIT``:
+
+    // Initializes state for a test bench.
+    // This macro *must be* called within the testbench module but 
+    // outside the primary initial block
+    // Its sets up boilerplate code for:
+    // - Logging to console
+    // - Test execution tracking
+    // - Gathering test results
+    // - Bounding execution time based on the SIM_RUNTIME_US vdef
+    //
+    // Usage: `TEST_BENCH_INIT(test_name,min_tc_run_count,ns_per_tick)
+    // where
+    //  - tb_name:          Name of the testbench. (Only used during reporting)
+    //  - min_tc_run_count: Number of test cases in testbench. (Used to detect stalls and inf-loops)
+    //  - ns_per_tick:      The time_unit_base from the timescale declaration
+
+The testbench must also have at least one initial block that consists tests cases (covered later). 
+For the sake of convention it should be called ``tb_main``. *All test cases must live in ``tb_main``*. You may
+have other initial block but they must not call macros from ``sim_exec_report.vh`` because the code
+there is not thread-safe.
+
+### Test Cases
+
+A test case in this context is defined as an independent entity that validates an aspect of the DUT behavior
+and which is independent from other test cases i.e. the result of one test case should ideally not affect others.
+
+
+Test cases are wrapped in the ``TEST_CASE_START`` and ``TEST_CASE_DONE`` macros:
+
+    `TEST_CASE_START("Fill up empty FIFO then drain (short packet)");
+      chdr_o.axis.tready = 0;
+      chdr_i.push_ramp_pkt(16, 64'd0, 64'h100, header);
+      chdr_o.axis.tready = 1;
+      chdr_o.wait_for_pkt_get_info(header_out, stats);
+      `ASSERT_ERROR(stats.count==16,            "Bad packet: Length mismatch");
+      `ASSERT_ERROR(header.sid==header_out.sid, "Bad packet: Wrong SID");
+      `ASSERT_ERROR(chdr_i.axis.tready,         "Bus not ready");
+    `TEST_CASE_DONE(1);
+
+Here are the signatures of the two macros:
+
+``TEST_CASE_START``:
+
+    // Indicates the start of a test case
+    // This macro *must be* called inside the primary initial block
+    //
+    // Usage: `TEST_CASE_START(test_name)
+    // where
+    //  - test_name:        The name of the test.
+    //
+
+``TEST_CASE_DONE``:
+
+    // Indicates the end of a test case
+    // This macro *must be* called inside the primary initial block
+    // The pass/fail status of test case is determined based on the
+    // the user specified outcome and the number of fatal or error
+    // ASSERTs triggered in the test case.
+    //
+    // Usage: `TEST_CASE_DONE(test_result)
+    // where
+    //  - test_result:  User specified outcome
+    //
+
+In addition to the test case status, it is also possible to have asserts within
+a test case. We have wrappers for the different kinds of SystemVerilog asserts
+that additionally fail the test case in case the assert fails. An assert triggered
+in a test case will not affect the outcome of another (except for a fatal assert which
+halts the simulator). Supported assert macros:
+
+    // Wrapper around a an assert.
+    // ASSERT_FATAL throws an error assertion and halts the simulator
+    // if cond is not satisfied
+    //
+    // Usage: `ASSERT_FATAL(cond,msg)
+    // where
+    //  - cond: Condition for the assert
+    //  - msg:  Message for the assert
+    //
+    
+    
+    // Wrapper around a an assert.
+    // ASSERT_ERROR throws an error assertion and fails the test case
+    // if cond is not satisfied. The simulator will *not* halt
+    //
+    // Usage: `ASSERT_ERROR(cond,msg)
+    // where
+    //  - cond: Condition for the assert
+    //  - msg:  Message for the assert
+    //
+    
+    
+    // Wrapper around a an assert.
+    // ASSERT_WARNING throws an warning assertion but does not fail the
+    // test case if cond is not satisfied. The simulator will *not* halt
+    //
+    // Usage: `ASSERT_WARNING(cond,msg)
+    // where
+    //  - cond: Condition for the assert
+    //  - msg:  Message for the assert
+    //
+
+### Optional Libraries
+
+It is encouraged to use (and create) reusable libraries in product specific 
+test benches. Libraries can provide macros, modules, tasks and functions for
+ease-of-use with particular protocols and subsystems.
+
+The \ref md_usrp3_sim_writing_testbenches page has more information.