Examples of using cocotb for functional verification of VHDL designs with GHDL.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 

12 KiB

title subtitle author date
Using Python for Verification of Digital Systems QZ 2021 [Torsten Mei├čner torsten.meissner@secunet.com] February 2022

Overview

  • Introduction

  • Functional Verification

  • Co-Simulation

  • Cocotb

  • Python Packages

  • Live Demo

  • Summary

Introduction

FPGA-Workflow

  1. Specification
  2. Design entry
  3. Verification
  4. Synthesis
  5. Device Mapping
  6. Place & Route
  7. Static Timing Analysis
  8. Programming file generation

Introduction

Design Entry

  1. Schematic Entry
  2. Hardware Description Languages (RTL)
  • (System)Verilog
  • VHDL
  1. High level languages
  • System C
  • Bluespec
  • Chisel
  • nmigen

Functional Verification

  1. Functional Verification
  • Simulation
  • Emulation
  1. Formal Verification
  • Property checking
  • Equivalence checking
  1. Lab Tests
  • Target platform
  • Logic Analyzer
  • Oscilloscope

Functional Verification

Simulation

  • Executing of design description in a simulator
  • Test benches as infrastructure (HDL, C, etc.)
  • Reference models (HDL, C, etc.)
  • Directed & Random tests
  • Code & functional Coverage
  • Assertion Based Verification (PSL, SVA)
  • Verification Frameworks (UVM, OSVVM, vUnit, etc.)
  • Co-Simulation

HDL Simulation

Co-Simulation

  • Simulation with access to/from external program code
  • Linked per shared library

HDL Programming Interfaces

  • VHDL Procedural Interface (VHPI)
  • Verilog Procedural Interface (VPI)
  • Proprietary interfaces (FLI)
  • Access data in VHDL models in the simulator

Features

  • Static VHDL Design Data (Traverse hierarchy etc.)
  • Dynamic VHDL Objects (R/W values of VHDL objects)
  • Interaction and control (Callbacks as comm. mechanism between simulator user code)
  • Foreign model instantiation and intercommunication

Co-Simulation with SW reference Model

HDL testbench controls program flow

Cocotb

  • COroutine based COsimulation TestBench environment
  • Verifying HDL designs with Python
  • HDL normally only used for design, not the testbench
  • Simulator only used to execute DUT RTL description
  • Supports many simulators (Free & proprietary)
  • Free & open-source, active community

  • High-level, multi-paradigm language
  • Writing Python is fast - very productive language.
  • Easy interfacing to other languages from Python
  • Huge library of existing code to re-use
  • Interpreted - tests can be edited and re-run w/o recompiling the design
  • Popular - far more engineers know Python than Verilog / VHDL
  • Working and reliable packet manager (PyPI)

Cocotb Co-Simulation

Python testbench controls program flow

Cocotb Design Interaction

Accessing Design

  • dut as handle to toplevel instantiation
  • Access to toplevel and other signals with dot-notation
# Reference to toplevel clock input
clk = dut.clk_i
# Reference to signal in sub-unit
cpu_pc = dut.cpu.regfile.pc

Read / Write Values from Signals

  • Via handle's value property
  • Direct R/W access through the hierarchy
# Via value property
valid = dut.valid_i.value
if valid.value == 0:
    valid.value = 1
# Direct access through hierarchy
if dut.reset_i.value == 1:
    dut.cpu.regfile.pc.value = 0

Cocotb concurrent & sequential execution

async: Mark Functions & Methods as Coroutines

async def reset(signal, time,):
    signal.value = 0
    # Block execution, wait for simulator time advances by 100 ns
    await Timer(time, units='ns')  # cocotb built-in class
    signal.value = 1

await: Wait for other Coroutines or Simulator

  • Block on another coroutines execution
  • Pass control of execution back to simulator, allowing simulation time to advance
print("Hold reset")
await reset(dut.reset_i)
print("Released reset")

Cocotb concurrent execution

start()

  1. Schedules the new coroutine to be executed concurrently
  2. Yields control to allow the new task (& any other pending tasks) to run
  3. Resumes the calling task
await cocotb.start(reset(dut.reset_i, 100)

await Timer(90, units='ns')
print(f"Reset is still active: {dut.reset_i.value}")
await Timer(15, units='ns')
print(f"Reset has gone inactive: {dut.reset_i.value}")

start_soon():

  • Schedules the new coroutine for future execution, after the calling task yields control
clock = Clock(dut.clk_i, 10, units="ns")  # Create a clock, cocotb built-in class
cocotb.start_soon(clock.start())          # Start the clock concurrently

Cocotb test functions

@cocotb.test() Decorator

  • Mark a callable which returns a coroutine as a test
  • Provides a test timeout
  • Allows to mark tests as skipped or expecting errors or failures
  • Tests are evaluated in the order of their definition in a test module
@cocotb.test()
async def test_aes_init(dut):
    """ Test AES initialization """
...
@cocotb.test()
async def test_aes_enc(dut):
    """ Test AES encryption """
...
# This test is skipped from execution
@cocotb.test(skip=True)
async def test_aes_enc(dut):
    """ Test AES encryption """

Cocotb Triggers

  • Indicate when cocotb scheduler should resume coroutine execution
  • Triggers should be awaited by coroutines
    • Cause execution of the current coroutine to pause
    • Execution of paused coroutine will resumes when trigger fires
  • Triggers for simulator events, task synchronization etc.
# Wait for 100 ns
await Timer(100, units='ns')

# Wait for rising clock edge
await RisingEdge(dut.clk_i)

# Wait for 10 clock cycles
await ClockCycles(dut.clk_i, 10)

# Fires when first trigger in fires & returns its result
t1 = Timer(10, units='ns')
t2 = Timer(15, units='ns')
t_ret = await First(t1, t2)  # returns after 10 ns simulation time

Cocotb Example: Verifying a UART transmitter

Cocotb Example: Verifying a UART transmitter

Cocotb Example: Verifying a UART transmitter

Valid-Accept Driver Model

async def send(self, data, sync=True):
    if sync:
        await self._clkedge

    self._valid.value = 1

    if isinstance(self._data, list):
        for i in range(len(self._data)):
            self._data[i].value = data[i]

    else:
        self._data.value = data

    while True:
        await ReadOnly()
        if self._accept.value:
            break
        await self._clkedge
    await self._clkedge

    self._valid.value = 0

Cocotb Example: Verifying a UART transmitter

UART Receiver Model

async def receive(self):
    # Wait for frame start
    await FallingEdge(self._txrx)

    # Consume start bit
    await self._get_start_bit()

    # Receive data bits
    self._rec = 0
    for x in range(self._bits):
        await self._wait_cycle()
        await ReadOnly()
        self._rec |= bool(self._txrx.value.integer) << x

    if self._par:
        # Consume parity bit
        await self._get_parity_bit()

    # Consume stop bit
    await self._get_stop_bit()

    return self._rec

Cocotb Example: Verifying a UART transmitter

Test function

@cocotb.test()
async def test_uarttx(dut):

    # Instantiate VAI driver & UART receiver
    vai_driver = VaiDriver(dut.clk_i, dut.data_i, dut.valid_i, dut.accept_o)
    uart_receiver = UartReceiver(dut.tx_o, dut.clk_i, 10, 8, True);

    # Drive input defaults (setimmediatevalue to avoid x asserts)
    dut.data_i.setimmediatevalue(0)
    dut.valid_i.setimmediatevalue(0)

    cocotb.start_soon(Clock(dut.clk_i, 10, units="ns").start())  # Start the clock
    await reset(dut.reset_n_i, 100)  # Block until reset() has completed

    # Test 10 UART transmissions
    for i in range(256):
        await RisingEdge(dut.clk_i)
        await vai_driver.send(i)
        rec = await uart_receiver.receive();
        assert rec == i, "UART sent data was incorrect on the {}th cycle".format(i)

Cocotb Example: Verifying a UART transmitter

loading VPI module '/usr/local/lib/python3.9/dist-packages/cocotb/libs/libcocotbvpi_ghdl.so'
     -.--ns INFO     cocotb.gpi ../gpi/GpiCommon.cpp:99 in gpi_print_registered_impl VPI registered
VPI module loaded!
     0.00ns INFO     Running on GHDL version 2.0.0-dev (v1.0.0-974-g0e46300c) [Dunoon edition]
     0.00ns INFO     Running tests with cocotb v1.7.0.dev0 from /usr/local/lib/python3.9/...
     0.00ns INFO     Seeding Python random module with 1644512771
     0.00ns INFO     Found test tb_uarttx.test_uarttx
     0.00ns INFO     running test_uarttx (1/1)
                       First simple test
     0.00ns INFO     Valid-accept driver
     0.00ns INFO       cocotbext-vai version 0.0.1
     0.00ns INFO       Copyright (c) 2022 Torsten Meissner
     0.00ns INFO     UART receiver
     0.00ns INFO       cocotbext-uart version 0.0.1
     0.00ns INFO       Copyright (c) 2022 Torsten Meissner
   100.00ns INFO     Released reset
   110.00ns INFO     Send data:    0xb6
                     ...
 11160.00ns INFO     Received data: 0xd8
 11160.00ns INFO     test_uarttx passed
 11160.00ns INFO     **********************************************************************
                     ** TEST                          STATUS  SIM TIME (ns)  REAL TIME (s) 
                     **********************************************************************
                     ** tb_uarttx.test_uarttx          PASS       11160.00           0.21  
                     **********************************************************************
                     ** TESTS=1 PASS=1 FAIL=0 SKIP=0              11160.00           0.22  
                     **********************************************************************

Python Packages

  • Reusable packages for cocotb testbenches
  • Bus protocols, reference models etc.
  • Verification libraries
    • pyuvm
    • cocotb-coverage
    • uvm-python
  • Depending on cocotb

Python generic

  • Generic Python packages useful for verification
    • pyvsc
    • pyucis
  • Whole Python ecosystem
  • Not depending on cocotb

Python Packages: pyvsc

Python library for Verification Stimulus and Coverage

  • Random verification-stimulus generation
  • Functional coverage collection
  • Implemented in pure Python
  • Uses Boolector SMT-solver for solving user-defined constraints
@vsc.randobj
class my_cr():
    def __init__(self):
        self.a = vsc.rand_bit_t(8)
        self.b = vsc.rand_bit_t(8)

     @vsc.constraint
     def ab_c(self):
         self.a != 0
         self.a <= self.b
         self.b in vsc.rangelist(1,2,4,8)

Live Demo

UART transmitter & receiver

  • Simple tests using self written Python models for VAI & UART

Wishbone slave with local SRAM interface

  • Using cocotbext-wishbone package from PyPI

AES128 en- and decryption

  • Using pyvsc for constrained random & functional coverage
  • Using Pycrypto for AES reference

Summary

  • Easy to use
  • Good documentation
  • In active development with regular releases
  • Free and open-source
  • Allows Python SW-developers to verify digital systems
  • Supports all major simulators used by FPGA teams

Presentation's code examples

References

Extras: Accessing signals

dut.signal.value = 1

  • Value is stored by the Scheduler
  • All stored values are written at the same time at the end of the current simulator time step

.setimmediatevalue()

  • Value is assigned to this simulation object immediately

Access to elements of indexable objects (arrays etc.)

dut.some_array[0].value = 1
  • Bit order depends on the HDL object (to or downto)

Extras: Accessing signals

Reading synchronous signals

  • Returns after clock changes, but no sympathetic signals changed yet
  • Sampling any signal here returns values settled during previous clock cycle
  • Equivalent to registered processes in HDLs

ReadOnly()

  • Triggers in the postpone phase
  • All signals have settled
  • No more updates may occur on the clock edge event
  • Sampling any signal here returns values settled in current clock cycle

Extras: Accessing signals