minor code fixes to make it simulate with iverilog

.project

@@ -8,4 +8,11 @@
 	</buildSpec>
 	<natures>
 	</natures>
+	<linkedResources>
+		<link>
+			<name>ise_logs/ISEPartgen.log</name>
+			<type>1</type>
+			<location>/home/andrey/git/x353/ise_logs/ISEPartgen-20150725173339957.log</location>
+		</link>
+	</linkedResources>
 </projectDescription>

control/camsync.v

@@ -246,8 +246,8 @@ module camsync       (sclk, // @negedge
       if (set_period) rep_en <= !high_zero;
     end
 
-    MSRL16 i_start_pclk16   (.Q(start_pclk16),   .A('hf), .CLK(pclk), .D(start_pclk[2]));
-    MSRL16 i_strigger1_dly16(.Q(trigger1_dly16), .A('hf), .CLK(pclk), .D(trigger1));
+    MSRL16 i_start_pclk16   (.Q(start_pclk16),   .A(4'hf), .CLK(pclk), .D(start_pclk[2]));
+    MSRL16 i_strigger1_dly16(.Q(trigger1_dly16), .A(4'hf), .CLK(pclk), .D(trigger1));
 
 //! synchronize start from sclk to pclk    
 //! Generating repetition (period should be exactly N, not N+/-1) and output pulse

ddr/ddr.v

@@ -225,7 +225,7 @@ module ddr (Dq, Dqs, Addr, Ba, Clk, Clk_n, Cke, Cs_n, Ras_n, Cas_n, We_n, Dm);
     assign    Dq  = Dq_out;
 
     // Debug message
-    wire      Debug = 1'b1;
+//    wire      Debug = 1'b1;
 
     // Timing Check
     time      MRD_chk;

extras/imu_logger.v

@@ -311,6 +311,7 @@ imu_timestamps i_imu_timestamps (
                         .ts_ackn(timestamp_ackn[3:0]), // timestamp for this channel is stored
                         .ra({channel[1:0],timestamp_sel[1:0]}),   // read address (2 MSBs - channel number, 2 LSBs - usec_low, (usec_high ORed with channel <<24), sec_low, sec_high
                         .dout(timestamps_rdata[15:0]));// output data
+wire [0:0] debug_state_unused;
 rs232_rcv i_rs232_rcv (.xclk(xclk),           // half frequency (80 MHz nominal)
                        .bitHalfPeriod(bitHalfPeriod[15:0]),  // half of the serial bit duration, in xclk cycles
                        .ser_di(ser_di),              // rs232 (ttl) serial data in
@@ -322,7 +323,7 @@ rs232_rcv i_rs232_rcv (.xclk(xclk),           // half frequency (80 MHz nominal)
                        .ser_do(ser_do),         // serial data out(@posedge xclk) LSB first!
                        .ser_do_stb(ser_do_stb),    // output data strobe (@posedge xclk), first cycle after ser_do becomes valid
 //                       .debug(debug_state[4:0]),
-                       .debug(debug_state[15:12]),
+                       .debug({debug_state_unused,debug_state[15:12]}),
                        .bit_dur_cntr(debug_state[31:16]),
                        .bit_cntr(debug_state[11:7])
                        );

memctrl353/descrproc353.v

@@ -497,16 +497,18 @@ myRAM_WxD_D #( .DATA_WIDTH(22),.DATA_DEPTH(2))
    reg   [15:0]   linAddr;
 //   wire  [15:0]   linAddr;      //replacing with latches to ease timing
    wire  [15:0]   linAddr_input;
-//   assign linAddr_input[15:0] = (padlen[4:0]*{descr_dyn[19:10],mode?4'b0:descr_dyn[9:6]}) +{descr_dyn[19:10],mode?4'b0:descr_dyn[9:6]}; // Result MSB not used    
+   wire [4:0] descr_stat_inc=descr_stat[8:4]+1;    
    assign linAddr_input[15:0] = padlen[4:0]*{descr_dyn[19:10],mode?4'b0:descr_dyn[9:6]};
 
     
     always @ (negedge clk) if (stepsEn[1]) begin      // address should be 1
+//memctrl353/descrproc353.v:504: error: Concatenation operand "((descr_dyn['sd4:'sd0])==(descr_stat['sd13:'sd9]))?((descr_stat['sd8:'sd4])+('sd1)):(5'd0)" has indefinite width.    
+//      seq_par[5:0] <= mode?({1'b0,descr_stat[13:9]}+((descr_stat[8:4]==5'h1f)?2'h2:2'h1)): //fixed bug with pages where number of hor. tiles is multiple of 0x10
+//                           ({1'b0,(descr_dyn[4:0]==descr_stat[13:9])?(descr_stat[8:4]+1):5'b0});
       seq_par[5:0] <= mode?({1'b0,descr_stat[13:9]}+((descr_stat[8:4]==5'h1f)?2'h2:2'h1)): //fixed bug with pages where number of hor. tiles is multiple of 0x10
-                           ({1'b0,(descr_dyn[4:0]==descr_stat[13:9])?(descr_stat[8:4]+1):5'b0});
+                           ({1'b0,(descr_dyn[4:0]==descr_stat[13:9])?(descr_stat_inc):5'b0});
       sa[7:3] <= mode?descr_dyn[4:0]:5'b0;
       linAddr[15:0]   <= linAddr_input[15:0];
-//      linAddr[15:0]   <= (padlen[4:0]*{descr_dyn[19:10],mode?4'b0:descr_dyn[9:6]})+{descr_dyn[19:10],mode?4'b0:descr_dyn[9:6]}; // Result MSB not used
       nxtTL <= nxtTLw;
       tileX[ 9:0] <= nxtTLw?  10'b0 : (descr_dyn[9:0]+1);   // bits [9:5] are garbage if (mode==0)
 

sensor/lens_flat.v

@@ -174,14 +174,14 @@ module lens_flat (sclk,      /// system clock @negedge
 //      .A(FXY[17]?18'h1ffff:FXY[17:0]),    // 18-bit multiplier input
       .A((FXY[18]==FXY[17])?FXY[17:0]:(FXY[18]?18'h20000:18'h1ffff)),    // 18-bit multiplier input
       .B({1'b0,scales[~color[1:0]]}),    // 18-bit multiplier input
-      .BCIN(0), // 18-bit cascade input
+      .BCIN(18'b0), // 18-bit cascade input
       .CEA(lens_corr_out[0]), // Clock enable input for the A port
       .CEB(lens_corr_out[0]), // Clock enable input for the B port
       .CEP(lens_corr_out[1]), // Clock enable input for the P port
       .CLK(pclk), // Clock input
-      .RSTA(0), // Synchronous reset input for the A port
-      .RSTB(0), // Synchronous reset input for the B port
-      .RSTP(0)  // Synchronous reset input for the P port
+      .RSTA(1'b0), // Synchronous reset input for the A port
+      .RSTB(1'b0), // Synchronous reset input for the B port
+      .RSTP(1'b0)  // Synchronous reset input for the P port
    );
 
 
@@ -195,14 +195,14 @@ module lens_flat (sclk,      /// system clock @negedge
       .P(mult_second_res[35:0]),    // 36-bit multiplier output
       .A(pix_zero[17:0]),    // 18-bit multiplier input
       .B(mult_first_scaled[17:0]),    // 18-bit multiplier input - always positive
-      .BCIN(0), // 18-bit cascade input
+      .BCIN(18'b0), // 18-bit cascade input
       .CEA(lens_corr_out[2]), // Clock enable input for the A port
       .CEB(lens_corr_out[0]), // Clock enable input for the B port
       .CEP(lens_corr_out[3]), // Clock enable input for the P port
       .CLK(pclk), // Clock input
-      .RSTA(0), // Synchronous reset input for the A port
-      .RSTB(0), // Synchronous reset input for the B port
-      .RSTP(0)  // Synchronous reset input for the P port
+      .RSTA(1'b0), // Synchronous reset input for the A port
+      .RSTB(1'b0), // Synchronous reset input for the B port
+      .RSTP(1'b0)  // Synchronous reset input for the P port
    );
 
 
@@ -216,7 +216,7 @@ lens_flat_line #(.F_WIDTH(19), /// number of bits in the output result (signed)
            .first(fstart), /// initialize running parameters from the inputs (first column). Should be at least 1-cycle gap between "first" and first "next"
            .next(newline), /// calcualte next pixel
            .F0(C[18:0]),   /// value of the output in the first column (before saturation), 18 bit, unsigned
-           .ERR0(0),       /// initial value of the running error (-2.0<err<+2.0), scaled by 2^22, so 24 bits
+           .ERR0(24'b0),       /// initial value of the running error (-2.0<err<+2.0), scaled by 2^22, so 24 bits
            .A0(AY[18:0]),  /// Ay
            .B0(BY[20:0]),  /// By,  signed
            .F(FY[18:0]),

sensor/sensor_phase353.v

@@ -72,10 +72,11 @@ NET "hact_length*" TIG;
 */
 
   parameter MIN_VACT_PERIOD=130; // 3-130, to increase maximal value (130) - chnge counter width
-
-  parameter IS_SIMUL=0;
-//synthesis translate_off
+`ifdef IVERILOG
   parameter IS_SIMUL=1;
+`else
+  parameter IS_SIMUL=0;
+`endif  
 //synthesis translate_on
 
   input         cclk;       // command clock (posedge, invert on input if needed)

x353.v

@@ -533,23 +533,23 @@ wire       sensor_trigger; // signal to start CMOS sensor in sync mode
 wire       confirmFrame2Compressor; // pulse to start reading a new frame to buffer for compressor (generated at start of each frame by the compressor)
                                     // mcontr will stop to read to channel FIFO at the end of frame, wait for confirmation
 `ifdef debug_compressor
-wire [31:0] printk_compressor;
+    wire [31:0] printk_compressor;
 `endif
 //ia
 
 `ifdef debug_stuffer
-wire [7:0]  testwire;
+    wire [7:0]  testwire;
 //wire [31:0] printk;
-wire [3:0]  tst_stuf_etrax;
-reg  [3:0]  tst_cmd_cntr;
-reg         tst_rdy_after_eot;
+    wire [3:0]  tst_stuf_etrax;
+    reg  [3:0]  tst_cmd_cntr;
+    reg         tst_rdy_after_eot;
 //         ,.test1( test_fifo[3:0])
   //       ,.test2( test_dma_wcntr[3:0])
-wire dma0_enabled; // just for debug
-wire dma1_enabled; // just for debug
+    wire dma0_enabled; // just for debug
+    wire dma1_enabled; // just for debug
 `endif
 `ifdef debug_dma_count
-  wire [31:0] printk;
+    wire [31:0] printk;
 `endif
 /*
 //xfer_over_irq

x353_1.tf

@@ -4,15 +4,15 @@
 //`define PF
 //compressor waits for sensor
 `define TEST_ABORT
-`define SYNC_COMPRESS
-//TODO: when TEST_INSUFFICIENT_DATA, i_color_proc does not generate last0, because all_ready==0 when bcntr==0,
-// i.e. override ignore/ready from noMoreData until last0
+`define SYNC_COMPRESS
+//TODO: when TEST_INSUFFICIENT_DATA, i_color_proc does not generate last0, because all_ready==0 when bcntr==0,
+// i.e. override ignore/ready from noMoreData until last0
 
 //`define TEST_INSUFFICIENT_DATA
 `define TRIGGERED_MODE
 `define CONTINUOUS_COMPRESSION
 //`define TOO_HIGH_FPS
-`define ALL_SLOW_FPS
+`define ALL_SLOW_FPS
 `define TEST_NO_WAIT_FRAME_SYNC
 //`define TRY_SLOW_FPS
 /// Enable flushing unfinished frame if there is no data in the memory (end of frame)
@@ -25,9 +25,9 @@
 //`define FORCE_INTERNAL_TIMESTAMP // always use internal TS, ignore incoming
 
 
-`define TEST_BAD_FRAME //abbreviate one frame
-
-`define TEST_IMU
+`define TEST_BAD_FRAME //abbreviate one frame
+
+`define TEST_IMU
 
 module testbench353();
   parameter SYNC_BIT_LENGTH=8-1; /// 7 pixel clock pulses
@@ -40,6 +40,13 @@ module testbench353();
   parameter CLK1_PER = 10.4;     //96MHz
   parameter CLK3_PER = 83.33;   //12MHz
   parameter CPU_PER=10.4;
+`ifdef IVERILOG              
+     initial   $display("IVERILOG is defined");
+    `include "IVERILOG_INCLUDE.v"
+`else
+    initial $display("IVERILOG is not defined");
+    parameter lxtname = "x353_1.lxt";
+`endif
 
 `ifdef SYNC_COMPRESS
   parameter DEPEND=1'b1;
@@ -84,12 +91,12 @@ module testbench353();
  wire [23:0] TRIG_PERIOD;
  assign FRAME_COMPRESS_CYCLES=(WOI_WIDTH &'h3fff0) * (WOI_HEIGHT &'h3fff0) * CYCLES_PER_PIXEL + FPGA_XTRA_CYCLES;
  assign FRAME_COMPRESS_CYCLES_INPUT=(FRAME_COMPRESS_CYCLES*CLK0_PER)/CLK1_PER;
-`ifdef ALL_SLOW_FPS
+`ifdef ALL_SLOW_FPS
      assign TRIG_PERIOD =  2* FRAME_COMPRESS_CYCLES_INPUT; /// twice slower than maximal compressor can do
 `else
   `ifdef TOO_HIGH_FPS
      assign TRIG_PERIOD =   VIRTUAL_WIDTH * (VIRTUAL_HEIGHT + TRIG_LINES + VBLANK); /// maximal sensor can do
-  `else
+  `else
      assign TRIG_PERIOD =   FRAME_COMPRESS_CYCLES_INPUT; /// maximal compressor can do
 //   parameter TRIG_PERIOD=     1.5*(VIRTUAL_WIDTH * (VIRTUAL_HEIGHT + TRIG_LINES + VBLANK)); ///TODO: Improve (calculate)
   `endif
@@ -114,25 +121,25 @@ module testbench353();
  parameter X313_WA_IOPINS=        'h70;    // bits [31:24] - enable channels (channel 0 -software, enabled at FPGA init)
  parameter X313_WA_IOPINS_EN_TRIG_OUT= 'h0c000000;
  parameter X313_WA_IOPINS_DIS_TRIG_OUT='h08000000;
-
+
  parameter X313_WA_IOPINS_EN_IMU_OUT= 'hc0000000;
  parameter X313_WA_IOPINS_DIS_IMU_OUT='h80000000;
-
+
  parameter X313_WA_IMU_DATA= 'h7e;
  parameter X313_WA_IMU_CTRL= 'h7f;
-
- parameter X313_RA_IMU_DATA= 'h7e; // read fifo word, advance pointer (32 reads w/o ready check)
+
+ parameter X313_RA_IMU_DATA= 'h7e; // read fifo word, advance pointer (32 reads w/o ready check)
  parameter X313_RA_IMU_STATUS= 'h7f; // LSB==ready
- parameter IMU_PERIOD= 'h800; // normal period
- parameter IMU_AUTO_PERIOD= 'hffff0000; // period defined by IMU ready
- 
+ parameter IMU_PERIOD= 'h800; // normal period
+ parameter IMU_AUTO_PERIOD= 'hffff0000; // period defined by IMU ready
+ 
  parameter IMU_BIT_DURATION= 'h3; // actual F(scl) will be F(xclk)/2/(IMU_BIT_DURATION+1)
-
- parameter IMU_READY_PERIOD=100000; //100usec
- parameter IMU_NREADY_DURATION=10000; //10usec
- 
-
-
+
+ parameter IMU_READY_PERIOD=100000; //100usec
+ parameter IMU_NREADY_DURATION=10000; //10usec
+ 
+
+
  parameter IMU_GPS_BIT_PERIOD='h20; // serial communication duration of a bit (in system clocks)
 // use start of trigger as a timestamp (in async mode to prevent timestamp jitter)
 // parameter X313_WA_DCR1_EARLYTRIGEN='hc; //OBSOLETE!
@@ -221,74 +228,74 @@ module testbench353();
 
 reg TEST_CPU_WR_OK;
 reg TEST_CPU_RD_OK;
-reg SERIAL_BIT = 1'b1;
-reg GPS1SEC    = 1'b0;
-reg ODOMETER_PULSE= 1'b0;
-integer SERIAL_DATA_FD;
-reg IMU_DATA_READY;
-/*
- parameter IMU_READY_PERIOD=100000; //100usec
- parameter IMU_NREADY_DURATION=10000; //10usec
-
-*/
-`ifdef TEST_IMU
-//wire [11:0] EXT; // bidirectional
+reg SERIAL_BIT = 1'b1;
+reg GPS1SEC    = 1'b0;
+reg ODOMETER_PULSE= 1'b0;
+integer SERIAL_DATA_FD;
+reg IMU_DATA_READY;
+/*
+ parameter IMU_READY_PERIOD=100000; //100usec
+ parameter IMU_NREADY_DURATION=10000; //10usec
+
+*/
+`ifdef TEST_IMU
+//wire [11:0] EXT; // bidirectional
       wire IMU_SCL=EXT[0];
       wire IMU_SDA=EXT[1];
       wire IMU_MOSI=EXT[2];
-      wire IMU_MISO=EXT[3];
-      reg  IMU_EN;
-      wire IMU_ACTIVE;
-      wire IMU_NMOSI=!IMU_MOSI;
-      wire [5:1] IMU_TAPS;
-      reg        IMU_LATE_ACKN;
-      reg        IMU_SCLK;
-      reg        IMU_MOSI_REVA;
-      reg        IMU_103695REVA;
-      wire       IMU_MOSI_OUT;
-      wire       IMU_SCLK_OUT;
-
-      assign IMU_MOSI_OUT=IMU_103695REVA?IMU_MOSI_REVA:IMU_MOSI;
-      assign IMU_SCLK_OUT=IMU_103695REVA?(IMU_SCLK):IMU_SCL;
-      always @ (posedge IMU_SDA) begin
-        IMU_EN<=IMU_MOSI;
+      wire IMU_MISO=EXT[3];
+      reg  IMU_EN;
+      wire IMU_ACTIVE;
+      wire IMU_NMOSI=!IMU_MOSI;
+      wire [5:1] IMU_TAPS;
+      reg        IMU_LATE_ACKN;
+      reg        IMU_SCLK;
+      reg        IMU_MOSI_REVA;
+      reg        IMU_103695REVA;
+      wire       IMU_MOSI_OUT;
+      wire       IMU_SCLK_OUT;
+
+      assign IMU_MOSI_OUT=IMU_103695REVA?IMU_MOSI_REVA:IMU_MOSI;
+      assign IMU_SCLK_OUT=IMU_103695REVA?(IMU_SCLK):IMU_SCL;
+      always @ (posedge IMU_SDA) begin
+        IMU_EN<=IMU_MOSI;
       end
-      wire IMU_CS=IMU_103695REVA?!IMU_ACTIVE:!(IMU_EN &&IMU_SDA);
-      reg        IMU_MOSI_D;
-      always @ (posedge IMU_SCLK_OUT) begin
-//        IMU_MOSI_D<=IMU_MOSI;
-        IMU_MOSI_D<=IMU_MOSI_OUT;
+      wire IMU_CS=IMU_103695REVA?!IMU_ACTIVE:!(IMU_EN &&IMU_SDA);
+      reg        IMU_MOSI_D;
+      always @ (posedge IMU_SCLK_OUT) begin
+//        IMU_MOSI_D<=IMU_MOSI;
+        IMU_MOSI_D<=IMU_MOSI_OUT;
       end
-      reg [15:0] IMU_LOOPBACK;
-      always @ (negedge IMU_SCLK_OUT) begin
-        if (!IMU_CS) IMU_LOOPBACK[15:0]<={IMU_LOOPBACK[14:0],IMU_MOSI_D};
+      reg [15:0] IMU_LOOPBACK;
+      always @ (negedge IMU_SCLK_OUT) begin
+        if (!IMU_CS) IMU_LOOPBACK[15:0]<={IMU_LOOPBACK[14:0],IMU_MOSI_D};
       end
-      assign EXT[3]=IMU_CS?IMU_DATA_READY:IMU_LOOPBACK[15];
-      PULLUP  i_IMU_SDA   (.O(IMU_SDA));
-      PULLUP  i_IMU_SCL   (.O(IMU_SCL));
-      
-      initial begin
-        SERIAL_DATA_FD=$fopen("gps_data.dat","r"); 
-      end
-      
-      always begin
+      assign EXT[3]=IMU_CS?IMU_DATA_READY:IMU_LOOPBACK[15];
+      PULLUP  i_IMU_SDA   (.O(IMU_SDA));
+      PULLUP  i_IMU_SCL   (.O(IMU_SCL));
+      
+      initial begin
+        SERIAL_DATA_FD=$fopen("gps_data.dat","r"); 
+      end
+      
+      always begin
        #(IMU_READY_PERIOD-IMU_NREADY_DURATION) IMU_DATA_READY=1'b0;
        #(IMU_NREADY_DURATION)                  IMU_DATA_READY=1'b1;
-      end
-      assign EXT[4]=SERIAL_BIT;
-      assign EXT[5]=GPS1SEC;
-      assign EXT[6]=ODOMETER_PULSE;
-      oneshot i_oneshot  (.trigger(IMU_NMOSI),
-                          .out(IMU_ACTIVE));
-                          
-      dly5taps i_dly5taps (.dly_in(IMU_NMOSI),
-                           .dly_out(IMU_TAPS[5:1]));
-      always @ (negedge IMU_ACTIVE or posedge IMU_TAPS[5])    if (!IMU_ACTIVE)    IMU_LATE_ACKN<= 1'b0; else IMU_LATE_ACKN<= 1'b1;
-      always @ (negedge IMU_LATE_ACKN or posedge IMU_TAPS[4]) if (!IMU_LATE_ACKN) IMU_SCLK<= 1'b1;      else IMU_SCLK<= ~IMU_SCLK;
-      always @ (negedge IMU_SCLK)  IMU_MOSI_REVA<= IMU_NMOSI;
-
-
-`endif
+      end
+      assign EXT[4]=SERIAL_BIT;
+      assign EXT[5]=GPS1SEC;
+      assign EXT[6]=ODOMETER_PULSE;
+      oneshot i_oneshot  (.trigger(IMU_NMOSI),
+                          .out(IMU_ACTIVE));
+                          
+      dly5taps i_dly5taps (.dly_in(IMU_NMOSI),
+                           .dly_out(IMU_TAPS[5:1]));
+      always @ (negedge IMU_ACTIVE or posedge IMU_TAPS[5])    if (!IMU_ACTIVE)    IMU_LATE_ACKN<= 1'b0; else IMU_LATE_ACKN<= 1'b1;
+      always @ (negedge IMU_LATE_ACKN or posedge IMU_TAPS[4]) if (!IMU_LATE_ACKN) IMU_SCLK<= 1'b1;      else IMU_SCLK<= ~IMU_SCLK;
+      always @ (negedge IMU_SCLK)  IMU_MOSI_REVA<= IMU_NMOSI;
+
+
+`endif
 
 // Inputs
     wire [11:0] PXD;
@@ -552,7 +559,8 @@ defparam i_sensor12bits.trigdly = TRIG_LINES;   // delay between trigger input a
 
 
         initial begin
-    $dumpfile("x353.lxt");
+//    $dumpfile("x353.lxt");
+    $dumpfile(lxtname);
     $dumpvars(0,testbench353);
             TTRIG = 1;
             CLK3 = 0;
@@ -577,41 +585,41 @@ defparam i_sensor12bits.trigdly = TRIG_LINES;   // delay between trigger input a
             BUS[7:0]    =8'h0;
             BUS_EN[7:0] =8'h0;
             BUS_RQ[7:0] =8'h0;
-            FOCUS_MODE = 2'h0;
+            FOCUS_MODE = 2'h0;
             IMU_103695REVA = 1'b0;
 `ifdef LATE_DMA
 `else
      dma_en(0,1);
-`endif
-// temporary for IMU testing
-//   #200000;
+`endif
+// temporary for IMU testing
+//   #200000;
 //   $finish;            
-
+
 #250000;
-     dma_en(0,1);
-     
-      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
-      cpu_wr(X313_WA_IMU_DATA,     'h4c0000); // set debug_config to 4'h3
-
-      cpu_wr(X313_WA_IMU_CTRL,            1); // select period register
-      cpu_wr(X313_WA_IMU_DATA, IMU_BIT_DURATION | 16'h1000); // set bit counter and stall of 16 sclk half-periods
-
-
-      wait (IMU_CS); // wait IMU inactive
-      IMU_103695REVA = 1'b1; // switch to revision "A"
-      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
-      cpu_wr(X313_WA_IMU_DATA,     'h5c0000); // set debug_config to 4'h7
-      
-      cpu_wr(X313_WA_IMU_CTRL,            0); // select period register
-      cpu_wr(X313_WA_IMU_DATA,   IMU_AUTO_PERIOD); // set period defined by IMU
-
-
+     dma_en(0,1);
      
-#480000;
-//#480000;
+      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
+      cpu_wr(X313_WA_IMU_DATA,     'h4c0000); // set debug_config to 4'h3
+
+      cpu_wr(X313_WA_IMU_CTRL,            1); // select period register
+      cpu_wr(X313_WA_IMU_DATA, IMU_BIT_DURATION | 16'h1000); // set bit counter and stall of 16 sclk half-periods
+
+
+      wait (IMU_CS); // wait IMU inactive
+      IMU_103695REVA <= 1'b1; // switch to revision "A"
+      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
+      cpu_wr(X313_WA_IMU_DATA,     'h5c0000); // set debug_config to 4'h7
+      
+      cpu_wr(X313_WA_IMU_CTRL,            0); // select period register
+      cpu_wr(X313_WA_IMU_DATA,   IMU_AUTO_PERIOD); // set period defined by IMU
+
+
+     
+#480000;
+//#480000;
 $finish;
-`ifdef TEST_IMU
-  
+`ifdef TEST_IMU
+  
       cpu_rd(X313_RA_IMU_STATUS);     $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd(X313_RA_IMU_STATUS);     $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
@@ -630,7 +638,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-      cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
+      cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -649,8 +657,8 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-      
-
+      
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -668,7 +676,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -686,7 +694,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -704,7 +712,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -722,7 +730,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -740,7 +748,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -758,39 +766,40 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
-
- `endif  
-   
-   
-   $finish;         
+
+
+ `endif  
+   
+   
+   $finish;            
 
 //#250000;
 //     dma_en(0,1);
 //#480000;
-     dma_en(0,1);
-     
-      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
-      cpu_wr(X313_WA_IMU_DATA,     'h4c0000); // set debug_config to 4'h3
-
-      cpu_wr(X313_WA_IMU_CTRL,            1); // select period register
-      cpu_wr(X313_WA_IMU_DATA, IMU_BIT_DURATION | 16'h1000); // set bit counter and stall of 16 sclk half-periods
-
-
-      wait (IMU_CS); // wait IMU inactive
-      IMU_103695REVA = 1'b1; // switch to revision "A"
-      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
-      cpu_wr(X313_WA_IMU_DATA,     'h5c0000); // set debug_config to 4'h7
-      
-      cpu_wr(X313_WA_IMU_CTRL,            0); // select period register
-      cpu_wr(X313_WA_IMU_DATA,   IMU_AUTO_PERIOD); // set period defined by IMU
-
-
+
+     dma_en(0,1);
      
-#480000;
+      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
+      cpu_wr(X313_WA_IMU_DATA,     'h4c0000); // set debug_config to 4'h3
+
+      cpu_wr(X313_WA_IMU_CTRL,            1); // select period register
+      cpu_wr(X313_WA_IMU_DATA, IMU_BIT_DURATION | 16'h1000); // set bit counter and stall of 16 sclk half-periods
+
+
+      wait (IMU_CS); // wait IMU inactive
+      IMU_103695REVA <= 1'b1; // switch to revision "A"
+      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
+      cpu_wr(X313_WA_IMU_DATA,     'h5c0000); // set debug_config to 4'h7
+      
+      cpu_wr(X313_WA_IMU_CTRL,            0); // select period register
+      cpu_wr(X313_WA_IMU_DATA,   IMU_AUTO_PERIOD); // set period defined by IMU
+
+
+     
+#480000;
 $finish;
-`ifdef TEST_IMU
-  
+`ifdef TEST_IMU
+  
       cpu_rd(X313_RA_IMU_STATUS);     $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd(X313_RA_IMU_STATUS);     $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
@@ -809,7 +818,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-      cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
+      cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -828,8 +837,8 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-      
-
+      
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -847,7 +856,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -865,7 +874,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -883,7 +892,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -901,7 +910,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -919,7 +928,7 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
+
       cpu_rd_ce1(X313_RA_IMU_STATUS); $display ("IMU_STATUS =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
@@ -937,11 +946,11 @@ $finish;
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
       cpu_rd_ce1(X313_RA_IMU_DATA);   $display ("IMU_DATA =%x",CPU_DI[31:0]);
-
-
- `endif  
-   
-   
+
+
+ `endif  
+   
+   
    $finish;            
 
 //#250000;
@@ -951,30 +960,30 @@ $finish;
 
 $finish;            
         end
-
-`ifdef TEST_IMU
-  initial begin
-    #10000;
-    while (!$feof (SERIAL_DATA_FD)) begin
-      repeat (20*IMU_BIT_DURATION) begin  wait (CLK0); wait (~CLK0);  end
-      send_serial_line;
-      send_serial_bit('h0a);
-      GPS1SEC=1'b1;
-      send_serial_line;
-      send_serial_bit('h0a);
-      GPS1SEC=1'b0;
-      send_serial_line;
-      send_serial_bit('h0a);
-      send_serial_pause;
-      send_serial_pause;
-      ODOMETER_PULSE=1'b1;
-      send_serial_pause;
-      ODOMETER_PULSE=1'b0;
+
+`ifdef TEST_IMU
+  initial begin
+    #10000;
+    while (!$feof (SERIAL_DATA_FD)) begin
+      repeat (20*IMU_BIT_DURATION) begin  wait (CLK0); wait (~CLK0);  end
+      send_serial_line;
+      send_serial_bit('h0a);
+      GPS1SEC=1'b1;
+      send_serial_line;
+      send_serial_bit('h0a);
+      GPS1SEC=1'b0;
+      send_serial_line;
+      send_serial_bit('h0a);
+      send_serial_pause;
+      send_serial_pause;
+      ODOMETER_PULSE=1'b1;
+      send_serial_pause;
+      ODOMETER_PULSE=1'b0;
 //  repeat (20) send_serial_pause;
-    end
-  end 
-`endif
-
+    end
+  end 
+`endif
+
 
 initial begin
    #250000;
@@ -1137,194 +1146,194 @@ end
    cpu_wr(X313_WA_CAMSYNCPER, SYNC_BIT_LENGTH); ///set (bit_length -1) (should be 2..255)
 
    cpu_wr(X313_WA_IOPINS,      X313_WA_IOPINS_EN_TRIG_OUT); // Enable GPIO output from camsync module
-
-`ifdef TEST_IMU
-  
-      cpu_wr(X313_WA_IOPINS,      X313_WA_IOPINS_EN_IMU_OUT); // 'hc0000000;
-/*
-  reg           we_config_imu; // bits 1:0, 2 - enable slot[1:0]
-  reg           we_config_gps; // bits 6:3, 7 - enable - {ext,inver, slot[1:0]} slot==0 - disable
-  reg           we_config_msg; // bits 12:8,13 - enable - {invert,extinp[3:0]} extinp[3:0]=='hf' - disable
-  reg           we_config_syn; // bit  14,  15 - enable  - enable logging external timestamps
-  reg           we_config_rst; // bit  16,  17 - enable - reset modules 
-*/
-
-      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
-//      cpu_wr(X313_WA_IMU_DATA,      'h3e695); // configure channels and reset // gps timestamp from 1sec input, positive
-//      cpu_wr(X313_WA_IMU_DATA,      'h3e6b5); // configure channels and reset // gps timestamp from 1sec input, negative
-//      cpu_wr(X313_WA_IMU_DATA,      'h3e6d5); // configure channels and reset // gps timestamp after pause
-//      cpu_wr(X313_WA_IMU_DATA,      'h3e6f5); // configure channels and reset  // gps timestamp at "$" start
-      cpu_wr(X313_WA_IMU_DATA,     'h43e6f5); // configure channels and reset  // gps timestamp at "$" start, reset configure_debug
-
-
-
-      cpu_wr(X313_WA_IMU_CTRL,            2); // select register number 2 (serial half-bit duration)
-      cpu_wr(X313_WA_IMU_DATA,       'h8007); // reset rs232 by 1 in MSB
-
-      cpu_wr(X313_WA_IMU_CTRL,            2); // select register number 2 (serial half-bit duration)
-      cpu_wr(X313_WA_IMU_DATA,       'h0007); // serial speed 8 cycles (period = 32 CLK0 cycles)
-      
-      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
-      cpu_wr(X313_WA_IMU_DATA,      'h20000); // remove reset
-
-
-// encode 4 sentences 
-/*
-$GPRMC,042931.0,A,4043.39929,N,11155.92706,W,000.00,283.8,250411,013.2,E*45
-$GPGGA,042931.0,4043.39929,N,11155.92706,W,1,09,0.8,1280.5,M,-13.8,M,,*5B
-$GPGSA,A,3,04,07,08,11,15,17,24,26,27,,,,1.7,0.8,1.5*36
-$GPVTG,283.8,T,270.5,M,000.00,N,0000.00,K*7F
-*/
-      cpu_wr(X313_WA_IMU_CTRL,         'h20); // format write
-// just ($GP)RMC, GGA, GSA and VTG
-      cpu_wr(X313_WA_IMU_DATA,          'h6); //
-      cpu_wr(X313_WA_IMU_DATA,          'hf); //
-      cpu_wr(X313_WA_IMU_DATA,          'he); //
-      cpu_wr(X313_WA_IMU_DATA,          'h0); //
-      cpu_wr(X313_WA_IMU_DATA,          'h9); //
-
-      cpu_wr(X313_WA_IMU_DATA,          'h7); //
-      cpu_wr(X313_WA_IMU_DATA,          'h6); //
-      cpu_wr(X313_WA_IMU_DATA,          'hb); //
-      cpu_wr(X313_WA_IMU_DATA,          'h1); //
-      cpu_wr(X313_WA_IMU_DATA,          'hc); //
-
-      cpu_wr(X313_WA_IMU_DATA,          'hf); //
-      cpu_wr(X313_WA_IMU_DATA,          'h9); //
-      cpu_wr(X313_WA_IMU_DATA,          'h8); //
-      cpu_wr(X313_WA_IMU_DATA,          'h0); //
-      cpu_wr(X313_WA_IMU_DATA,          'h0); //
-      cpu_wr(X313_WA_IMU_DATA,          'h0); //
-      
-///      cpu_wr(X313_WA_IMU_CTRL,          'h30); // first format
-//$GPRMC,042931.0,A,4043.39929,N,11155.92706,W,000.00,283.8,250411,013.2,E*45
-//0101010 000 : 'hb 'h2a 'h04 'h0
-//      cpu_wr(X313_WA_IMU_DATA,          'h0b); //number of fields including dummy comma
-      cpu_wr(X313_WA_IMU_DATA,          'h0a); // testing - made 1 shorter than actual
-      cpu_wr(X313_WA_IMU_DATA,          'h2a); //
-      cpu_wr(X313_WA_IMU_DATA,          'h04); //
-      cpu_wr(X313_WA_IMU_DATA,          'h00); //
-
-///      cpu_wr(X313_WA_IMU_CTRL,          'h34); // second format
-//$GPGGA,042931.0,4043.39929,N,11155.92706,W,1,09,0.8,1280.5,M,-13.8,M,,*5B
-//0010 1000 0101 0 : 'h0e 'h14 'h0a 'h0
-      cpu_wr(X313_WA_IMU_DATA,          'h0e); //number of fields including dummy comma
-      cpu_wr(X313_WA_IMU_DATA,          'h14); //
-      cpu_wr(X313_WA_IMU_DATA,          'h0a); //
-      cpu_wr(X313_WA_IMU_DATA,          'h00); //
-
-///      cpu_wr(X313_WA_IMU_CTRL,          'h38); // third format
-//$GPGSA,A,3,04,07,08,11,15,17,24,26,27,,,,1.7,0.8,1.5*36
-//01000000 00000000 00 : 'h11 'h01 'h00 'h0
-      cpu_wr(X313_WA_IMU_DATA,          'h11); //number of fields including dummy comma
-      cpu_wr(X313_WA_IMU_DATA,          'h01); //
-      cpu_wr(X313_WA_IMU_DATA,          'h00); //
-      cpu_wr(X313_WA_IMU_DATA,          'h00); //
-
-///      cpu_wr(X313_WA_IMU_CTRL,          'h3c); // fourth format
-//$GPVTG,283.8,T,270.5,M,000.00,N,0000.00,K*7F
-//00101010 1 : 'h08 'haa 'h00 'h0
-      cpu_wr(X313_WA_IMU_DATA,          'h08); //number of fields including dummy comma
-      cpu_wr(X313_WA_IMU_DATA,          'haa); //
-      cpu_wr(X313_WA_IMU_DATA,          'h00); //
-      cpu_wr(X313_WA_IMU_DATA,          'h00); //
-
-
+
+`ifdef TEST_IMU
+  
+      cpu_wr(X313_WA_IOPINS,      X313_WA_IOPINS_EN_IMU_OUT); // 'hc0000000;
+/*
+  reg           we_config_imu; // bits 1:0, 2 - enable slot[1:0]
+  reg           we_config_gps; // bits 6:3, 7 - enable - {ext,inver, slot[1:0]} slot==0 - disable
+  reg           we_config_msg; // bits 12:8,13 - enable - {invert,extinp[3:0]} extinp[3:0]=='hf' - disable
+  reg           we_config_syn; // bit  14,  15 - enable  - enable logging external timestamps
+  reg           we_config_rst; // bit  16,  17 - enable - reset modules 
+*/
+
+      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
+//      cpu_wr(X313_WA_IMU_DATA,      'h3e695); // configure channels and reset // gps timestamp from 1sec input, positive
+//      cpu_wr(X313_WA_IMU_DATA,      'h3e6b5); // configure channels and reset // gps timestamp from 1sec input, negative
+//      cpu_wr(X313_WA_IMU_DATA,      'h3e6d5); // configure channels and reset // gps timestamp after pause
+//      cpu_wr(X313_WA_IMU_DATA,      'h3e6f5); // configure channels and reset  // gps timestamp at "$" start
+      cpu_wr(X313_WA_IMU_DATA,     'h43e6f5); // configure channels and reset  // gps timestamp at "$" start, reset configure_debug
+
+
+
+      cpu_wr(X313_WA_IMU_CTRL,            2); // select register number 2 (serial half-bit duration)
+      cpu_wr(X313_WA_IMU_DATA,       'h8007); // reset rs232 by 1 in MSB
+
+      cpu_wr(X313_WA_IMU_CTRL,            2); // select register number 2 (serial half-bit duration)
+      cpu_wr(X313_WA_IMU_DATA,       'h0007); // serial speed 8 cycles (period = 32 CLK0 cycles)
+      
+      cpu_wr(X313_WA_IMU_CTRL,            3); // select config register
+      cpu_wr(X313_WA_IMU_DATA,      'h20000); // remove reset
+
+
+// encode 4 sentences 
+/*
+$GPRMC,042931.0,A,4043.39929,N,11155.92706,W,000.00,283.8,250411,013.2,E*45
+$GPGGA,042931.0,4043.39929,N,11155.92706,W,1,09,0.8,1280.5,M,-13.8,M,,*5B
+$GPGSA,A,3,04,07,08,11,15,17,24,26,27,,,,1.7,0.8,1.5*36
+$GPVTG,283.8,T,270.5,M,000.00,N,0000.00,K*7F
+*/
+      cpu_wr(X313_WA_IMU_CTRL,         'h20); // format write
+// just ($GP)RMC, GGA, GSA and VTG
+      cpu_wr(X313_WA_IMU_DATA,          'h6); //
+      cpu_wr(X313_WA_IMU_DATA,          'hf); //
+      cpu_wr(X313_WA_IMU_DATA,          'he); //
+      cpu_wr(X313_WA_IMU_DATA,          'h0); //
+      cpu_wr(X313_WA_IMU_DATA,          'h9); //
+
+      cpu_wr(X313_WA_IMU_DATA,          'h7); //
+      cpu_wr(X313_WA_IMU_DATA,          'h6); //
+      cpu_wr(X313_WA_IMU_DATA,          'hb); //
+      cpu_wr(X313_WA_IMU_DATA,          'h1); //
+      cpu_wr(X313_WA_IMU_DATA,          'hc); //
+
+      cpu_wr(X313_WA_IMU_DATA,          'hf); //
+      cpu_wr(X313_WA_IMU_DATA,          'h9); //
+      cpu_wr(X313_WA_IMU_DATA,          'h8); //
+      cpu_wr(X313_WA_IMU_DATA,          'h0); //
+      cpu_wr(X313_WA_IMU_DATA,          'h0); //
+      cpu_wr(X313_WA_IMU_DATA,          'h0); //
+      
+///      cpu_wr(X313_WA_IMU_CTRL,          'h30); // first format
+//$GPRMC,042931.0,A,4043.39929,N,11155.92706,W,000.00,283.8,250411,013.2,E*45
+//0101010 000 : 'hb 'h2a 'h04 'h0
+//      cpu_wr(X313_WA_IMU_DATA,          'h0b); //number of fields including dummy comma
+      cpu_wr(X313_WA_IMU_DATA,          'h0a); // testing - made 1 shorter than actual
+      cpu_wr(X313_WA_IMU_DATA,          'h2a); //
+      cpu_wr(X313_WA_IMU_DATA,          'h04); //
+      cpu_wr(X313_WA_IMU_DATA,          'h00); //
+
+///      cpu_wr(X313_WA_IMU_CTRL,          'h34); // second format
+//$GPGGA,042931.0,4043.39929,N,11155.92706,W,1,09,0.8,1280.5,M,-13.8,M,,*5B
+//0010 1000 0101 0 : 'h0e 'h14 'h0a 'h0
+      cpu_wr(X313_WA_IMU_DATA,          'h0e); //number of fields including dummy comma
+      cpu_wr(X313_WA_IMU_DATA,          'h14); //
+      cpu_wr(X313_WA_IMU_DATA,          'h0a); //
+      cpu_wr(X313_WA_IMU_DATA,          'h00); //
+
+///      cpu_wr(X313_WA_IMU_CTRL,          'h38); // third format
+//$GPGSA,A,3,04,07,08,11,15,17,24,26,27,,,,1.7,0.8,1.5*36
+//01000000 00000000 00 : 'h11 'h01 'h00 'h0
+      cpu_wr(X313_WA_IMU_DATA,          'h11); //number of fields including dummy comma
+      cpu_wr(X313_WA_IMU_DATA,          'h01); //
+      cpu_wr(X313_WA_IMU_DATA,          'h00); //
+      cpu_wr(X313_WA_IMU_DATA,          'h00); //
+
+///      cpu_wr(X313_WA_IMU_CTRL,          'h3c); // fourth format
+//$GPVTG,283.8,T,270.5,M,000.00,N,0000.00,K*7F
+//00101010 1 : 'h08 'haa 'h00 'h0
+      cpu_wr(X313_WA_IMU_DATA,          'h08); //number of fields including dummy comma
+      cpu_wr(X313_WA_IMU_DATA,          'haa); //
+      cpu_wr(X313_WA_IMU_DATA,          'h00); //
+      cpu_wr(X313_WA_IMU_DATA,          'h00); //
+
+
+      
+      cpu_wr(X313_WA_IMU_CTRL,            4); // select register number 4
+      cpu_wr(X313_WA_IMU_DATA,         'h10); // x gyro low
+      cpu_wr(X313_WA_IMU_DATA,         'h12); // x gyro high
+      cpu_wr(X313_WA_IMU_DATA,         'h14); //
+      cpu_wr(X313_WA_IMU_DATA,         'h16); //
+      cpu_wr(X313_WA_IMU_DATA,         'h18); //
+      cpu_wr(X313_WA_IMU_DATA,         'h1a); //
+      cpu_wr(X313_WA_IMU_DATA,         'h1c); // x accel low
+      cpu_wr(X313_WA_IMU_DATA,         'h1e); //
+      cpu_wr(X313_WA_IMU_DATA,         'h20); //
+      cpu_wr(X313_WA_IMU_DATA,         'h22); //
+      cpu_wr(X313_WA_IMU_DATA,         'h24); //
+      cpu_wr(X313_WA_IMU_DATA,         'h26); // z accel high
+      
+      cpu_wr(X313_WA_IMU_DATA,         'h40); // x delta ang low
+      cpu_wr(X313_WA_IMU_DATA,         'h42); // x delta ang high
+      cpu_wr(X313_WA_IMU_DATA,         'h44); //
+      cpu_wr(X313_WA_IMU_DATA,         'h46); //
+      cpu_wr(X313_WA_IMU_DATA,         'h48); //
+      cpu_wr(X313_WA_IMU_DATA,         'h4a); //
+      cpu_wr(X313_WA_IMU_DATA,         'h4c); // x delta vel low
+      cpu_wr(X313_WA_IMU_DATA,         'h4e); //
+      cpu_wr(X313_WA_IMU_DATA,         'h50); //
+      cpu_wr(X313_WA_IMU_DATA,         'h52); //
+      cpu_wr(X313_WA_IMU_DATA,         'h54); //
+      cpu_wr(X313_WA_IMU_DATA,         'h56); // z delta vel high
       
-      cpu_wr(X313_WA_IMU_CTRL,            4); // select register number 4
-      cpu_wr(X313_WA_IMU_DATA,         'h10); // x gyro low
-      cpu_wr(X313_WA_IMU_DATA,         'h12); // x gyro high
-      cpu_wr(X313_WA_IMU_DATA,         'h14); //
-      cpu_wr(X313_WA_IMU_DATA,         'h16); //
-      cpu_wr(X313_WA_IMU_DATA,         'h18); //
-      cpu_wr(X313_WA_IMU_DATA,         'h1a); //
-      cpu_wr(X313_WA_IMU_DATA,         'h1c); // x accel low
-      cpu_wr(X313_WA_IMU_DATA,         'h1e); //
-      cpu_wr(X313_WA_IMU_DATA,         'h20); //
-      cpu_wr(X313_WA_IMU_DATA,         'h22); //
-      cpu_wr(X313_WA_IMU_DATA,         'h24); //
-      cpu_wr(X313_WA_IMU_DATA,         'h26); // z accel high
-      
-      cpu_wr(X313_WA_IMU_DATA,         'h40); // x delta ang low
-      cpu_wr(X313_WA_IMU_DATA,         'h42); // x delta ang high
-      cpu_wr(X313_WA_IMU_DATA,         'h44); //
-      cpu_wr(X313_WA_IMU_DATA,         'h46); //
-      cpu_wr(X313_WA_IMU_DATA,         'h48); //
-      cpu_wr(X313_WA_IMU_DATA,         'h4a); //
-      cpu_wr(X313_WA_IMU_DATA,         'h4c); // x delta vel low
-      cpu_wr(X313_WA_IMU_DATA,         'h4e); //
-      cpu_wr(X313_WA_IMU_DATA,         'h50); //
-      cpu_wr(X313_WA_IMU_DATA,         'h52); //
-      cpu_wr(X313_WA_IMU_DATA,         'h54); //
-      cpu_wr(X313_WA_IMU_DATA,         'h56); // z delta vel high
-      
-      cpu_wr(X313_WA_IMU_DATA,         'h0e); // temperature
-      cpu_wr(X313_WA_IMU_DATA,         'h70); // time m/s
-      cpu_wr(X313_WA_IMU_DATA,         'h72); // time d/h
-      cpu_wr(X313_WA_IMU_DATA,         'h74); // time y/m
-
-      cpu_wr(X313_WA_IMU_CTRL,            0); // select period register
-      cpu_wr(X313_WA_IMU_DATA,            0); // reset IMU
-      cpu_wr(X313_WA_IMU_DATA,            0); // reset bit counter
-      
-      #1000;
-      cpu_wr(X313_WA_IMU_CTRL,            1); // select period register
-      cpu_wr(X313_WA_IMU_DATA, IMU_BIT_DURATION); // set bit counter (clock frequency divider)
-
-      cpu_wr(X313_WA_IMU_CTRL,            0); // select period register
-      cpu_wr(X313_WA_IMU_DATA,   IMU_PERIOD); // set period
-      
-// set "odometer" message
-      cpu_wr(X313_WA_IMU_CTRL,         'h40); // select start of message
-      cpu_wr(X313_WA_IMU_DATA,         'h01234567); // Message first 4 bytes
-      cpu_wr(X313_WA_IMU_DATA,         'h12345678); //next
-      cpu_wr(X313_WA_IMU_DATA,         'h23456789); //next
-      cpu_wr(X313_WA_IMU_DATA,         'h3456789a); //next
-      cpu_wr(X313_WA_IMU_DATA,         'h456789ab); //next
-      cpu_wr(X313_WA_IMU_DATA,         'h56789abc); //next
-      cpu_wr(X313_WA_IMU_DATA,         'h6789abcd); //next
-      cpu_wr(X313_WA_IMU_DATA,         'h789abcde); //next
-      cpu_wr(X313_WA_IMU_DATA,         'h89abcdef); //next
-      cpu_wr(X313_WA_IMU_DATA,         'h9abcdef0); //next
-      cpu_wr(X313_WA_IMU_DATA,         'habcdef01); //next
-      cpu_wr(X313_WA_IMU_DATA,         'hbcdef012); //next
-      cpu_wr(X313_WA_IMU_DATA,         'hcdef0123); //next
-      cpu_wr(X313_WA_IMU_DATA,         'hdef01234); //next
-// extra 8 bytes - will not be logged
-      cpu_wr(X313_WA_IMU_DATA,         'hef012345); //next
-      cpu_wr(X313_WA_IMU_DATA,         'hf0123456); //next
-      
-//   cpu_wr(1,32'h00000);   // disable and reset dma
-//   cpu_wr(1,32'h20000);   // enable DMA channel 1
-   cpu_wr(1,32'h00024);   // disable and reset dma (both channels)
-   cpu_wr(1,32'h00028);   // enable DMA channel 1
-//      cpu_wr(X313_WA_IMU_DATA,            1); // set period
-      
-/*
+      cpu_wr(X313_WA_IMU_DATA,         'h0e); // temperature
+      cpu_wr(X313_WA_IMU_DATA,         'h70); // time m/s
+      cpu_wr(X313_WA_IMU_DATA,         'h72); // time d/h
+      cpu_wr(X313_WA_IMU_DATA,         'h74); // time y/m
+
+      cpu_wr(X313_WA_IMU_CTRL,            0); // select period register
+      cpu_wr(X313_WA_IMU_DATA,            0); // reset IMU
+      cpu_wr(X313_WA_IMU_DATA,            0); // reset bit counter
+      
+      #1000;
+      cpu_wr(X313_WA_IMU_CTRL,            1); // select period register
+      cpu_wr(X313_WA_IMU_DATA, IMU_BIT_DURATION); // set bit counter (clock frequency divider)
+
+      cpu_wr(X313_WA_IMU_CTRL,            0); // select period register
+      cpu_wr(X313_WA_IMU_DATA,   IMU_PERIOD); // set period
+      
+// set "odometer" message
+      cpu_wr(X313_WA_IMU_CTRL,         'h40); // select start of message
+      cpu_wr(X313_WA_IMU_DATA,         'h01234567); // Message first 4 bytes
+      cpu_wr(X313_WA_IMU_DATA,         'h12345678); //next
+      cpu_wr(X313_WA_IMU_DATA,         'h23456789); //next
+      cpu_wr(X313_WA_IMU_DATA,         'h3456789a); //next
+      cpu_wr(X313_WA_IMU_DATA,         'h456789ab); //next
+      cpu_wr(X313_WA_IMU_DATA,         'h56789abc); //next
+      cpu_wr(X313_WA_IMU_DATA,         'h6789abcd); //next
+      cpu_wr(X313_WA_IMU_DATA,         'h789abcde); //next
+      cpu_wr(X313_WA_IMU_DATA,         'h89abcdef); //next
+      cpu_wr(X313_WA_IMU_DATA,         'h9abcdef0); //next
+      cpu_wr(X313_WA_IMU_DATA,         'habcdef01); //next
+      cpu_wr(X313_WA_IMU_DATA,         'hbcdef012); //next
+      cpu_wr(X313_WA_IMU_DATA,         'hcdef0123); //next
+      cpu_wr(X313_WA_IMU_DATA,         'hdef01234); //next
+// extra 8 bytes - will not be logged
+      cpu_wr(X313_WA_IMU_DATA,         'hef012345); //next
+      cpu_wr(X313_WA_IMU_DATA,         'hf0123456); //next
+      
+//   cpu_wr(1,32'h00000);   // disable and reset dma
+//   cpu_wr(1,32'h20000);   // enable DMA channel 1
+   cpu_wr(1,32'h00024);   // disable and reset dma (both channels)
+   cpu_wr(1,32'h00028);   // enable DMA channel 1
+//      cpu_wr(X313_WA_IMU_DATA,            1); // set period
+      
+/*
  parameter X313_WA_IMU_DATA= 'h7e;
  parameter X313_WA_IMU_CTRL= 'h7f;
-
- parameter X313_RA_IMU_DATA= 'h7e; // read fifo word, advance pointer (32 reads w/o ready check)
+
+ parameter X313_RA_IMU_DATA= 'h7e; // read fifo word, advance pointer (32 reads w/o ready check)
  parameter X313_RA_IMU_STATUS= 'h7f; // LSB==ready
-
-*/
-       cpu_rd_ce1(1);
-       cpu_rd_ce1(1);
-       cpu_rd_ce1(1);
-       cpu_rd_ce1(1);
-       cpu_rd_ce1(1);
-       cpu_rd_ce1(1);
-       cpu_rd_ce1(1);
-       cpu_rd_ce1(1);
-       cpu_rd_ce1(1);
-       cpu_rd_ce1(1);
-       cpu_rd_ce1(1);
+
+*/
+       cpu_rd_ce1(1);
+       cpu_rd_ce1(1);
+       cpu_rd_ce1(1);
+       cpu_rd_ce1(1);
+       cpu_rd_ce1(1);
+       cpu_rd_ce1(1);
+       cpu_rd_ce1(1);
+       cpu_rd_ce1(1);
+       cpu_rd_ce1(1);
+       cpu_rd_ce1(1);
+       cpu_rd_ce1(1);
 `endif
 
-      program_quantization;
+      program_quantization;
       program_huffman;
       program_curves;
-      program_focus_filt;
+      program_focus_filt;
       program_coring;
 // lower 3 bits of left/right/top/bottom will be ignored. Window includes borders
 // left[11:0], right[11:0], top[11:0], bottom[11:0], full_width[11:0], power, filter_sel[3:0];
@@ -1578,8 +1587,8 @@ $GPVTG,283.8,T,270.5,M,000.00,N,0000.00,K*7F
 //   cpu_wr(1,  32'h70000);   // jpeg, dma enable - both channels !!
 
 //   cpu_wr('h62,'h0d00000f);
-//   cpu_wr('h62,'h01070000); // dma?
-   cpu_wr('h62,'h0100002d); // dma enable, both channels
+//   cpu_wr('h62,'h01070000); // dma?
+   cpu_wr('h62,'h0100002d); // dma enable, both channels
 
 $display ("saturation=2");
 //   cpu_wr(9,  32'h16c0120);   // saturation=2
@@ -1745,8 +1754,8 @@ task program_compressor;
   program_compressor ('h65,0,0,0, 2, 1,0,3); //focus mode 0 - sub dc, repetitive, mode  5 (jp46),    shift 0 quality=100?
   program_compressor ('h66,0,0,0, 2, 1,1,3); //focus mode 0 - sub dc, repetitive, mode  2 (jp46),   shift 0 quality=70?
 `endif
-
-`ifdef TEST_NO_WAIT_FRAME_SYNC
+
+`ifdef TEST_NO_WAIT_FRAME_SYNC
    cpu_wr('h66,'h1a000002); // disable waiting for frame sync, leave waiting for dma fifo empty
 `endif
 
@@ -1785,7 +1794,7 @@ task program_compressor;
       read256_ch3;
 
 `endif
-///TODO: There is a mixture of several test below, clean them up
+///TODO: There is a mixture of several test below, clean them up
 `ifdef TRY_SLOW_FPS
     wait (i_x353.i2c_frame_no[2:0]==7);
     cpu_wr('h63,(X313_WA_CAMSYNCPER<<24) | 2*FRAME_COMPRESS_CYCLES_INPUT ); /// twice slower than frame compression
@@ -1795,7 +1804,7 @@ task program_compressor;
 
 `endif
 
-/*
+/*
 //   cpu_wr('h68,'h1a00800f); // ASAP enable waiting for frame sync, enable waiting for dma fifo empty, reset circuitry
 
    cpu_wr(X313_WA_DCR1,        OUTPUTTS); // enables/disbles sending out timestamps with trigger pulse
@@ -2302,7 +2311,7 @@ task program_quantization;
     end
   end
 endtask
-
+
 task program_coring;
 // coring tables data
   reg   [15:0]   coring_data[0:1023];
@@ -2316,8 +2325,8 @@ task program_coring;
     end
   end
 endtask
-
-
+
+
 
 task program_focus_filt;
 // focus quality filter data 
@@ -2478,84 +2487,84 @@ task program_compressor;
   end
 endtask
 
-task send_serial_bit;
-  input [7:0] data_byte;
+task send_serial_bit;
+  input [7:0] data_byte;
   reg   [7:0] d;
-  begin
-    d <= data_byte;
-    wait (CLK0); wait (~CLK0); 
-// SERIAL_BIT should be 1 here
-// Send start bit    
-    SERIAL_BIT <= 1'b0;
+  begin
+    d <= data_byte;
+    wait (CLK0); wait (~CLK0); 
+// SERIAL_BIT should be 1 here
+// Send start bit    
+    SERIAL_BIT <= 1'b0;
     repeat (IMU_GPS_BIT_PERIOD) begin  wait (CLK0); wait (~CLK0);  end
-// Send 8 data bits, LSB first    
-    repeat (8) begin
-      SERIAL_BIT <= d[0];
-      #1 d[7:0] <= {1'b0,d[7:1]};
+// Send 8 data bits, LSB first    
+    repeat (8) begin
+      SERIAL_BIT <= d[0];
+      #1 d[7:0] <= {1'b0,d[7:1]};
       repeat (IMU_GPS_BIT_PERIOD) begin  wait (CLK0); wait (~CLK0);  end
     end
-// Send stop bit    
-    SERIAL_BIT <= 1'b1;
+// Send stop bit    
+    SERIAL_BIT <= 1'b1;
     repeat (IMU_GPS_BIT_PERIOD) begin  wait (CLK0); wait (~CLK0);  end
-  end
+  end
 endtask  
-
-task send_serial_pause;
-  begin
-    wait (CLK0); wait (~CLK0); 
-    SERIAL_BIT <= 1'b1;
-    repeat (16) begin
-      repeat (IMU_GPS_BIT_PERIOD) begin  wait (CLK0); wait (~CLK0);  end
+
+task send_serial_pause;
+  begin
+    wait (CLK0); wait (~CLK0); 
+    SERIAL_BIT <= 1'b1;
+    repeat (16) begin
+      repeat (IMU_GPS_BIT_PERIOD) begin  wait (CLK0); wait (~CLK0);  end
     end  
-  end
+  end
 endtask  
-
-//        SERIAL_DATA_FD=$fopen("gps_data.dat","r"); 
-
-task send_serial_line;
-  integer char;
-  begin
-    char=0;
-    while (!$feof (SERIAL_DATA_FD) && (char != 'h0a)) begin
-      char=$fgetc(SERIAL_DATA_FD);
-      send_serial_bit(char);
-    end
-  end  
-endtask
-
+
+//        SERIAL_DATA_FD=$fopen("gps_data.dat","r"); 
+
+task send_serial_line;
+  integer char;
+  begin
+    char=0;
+    while (!$feof (SERIAL_DATA_FD) && (char != 'h0a)) begin
+      char=$fgetc(SERIAL_DATA_FD);
+      send_serial_bit(char);
+    end
+  end  
+endtask
+
 
 
 endmodule
-
-module oneshot(trigger,
-               out);
-  input  trigger;
-  output out;
-  reg    out;
-  event  start;
-  parameter duration=4000;
-  initial out= 0;
-  always @ (posedge trigger) begin
-    disable timeout;
-    #0 -> start;
-  end
-  always @start
-    begin : timeout
-      out = 1;
-      # duration out = 0;
-    end
+
+module oneshot(trigger,
+               out);
+  input  trigger;
+  output out;
+  reg    out;
+  event  start;
+  parameter duration=4000;
+  initial out= 0;
+  always @ (posedge trigger) begin
+    disable timeout;
+    #0 -> start;
+  end
+  always @start
+    begin : timeout
+      out = 1;
+      # duration out = 0;
+    end
 endmodule
 
-module dly5taps (dly_in,
-                dly_out);
-  input        dly_in;
-  output [5:1] dly_out;
-  reg    [5:1] dly_out;
-  parameter dly=6; // delay per tap, ns
-
-  always @ (dly_in)     # dly dly_out[1] <= dly_in;
-  always @ (dly_out[1]) # dly dly_out[2] <= dly_out[1];
-  always @ (dly_out[2]) # dly dly_out[3] <= dly_out[2];
-  always @ (dly_out[3]) # dly dly_out[4] <= dly_out[3];
-  always @ (dly_out[4]) # dly dly_out[5] <= dly_out[4];
+module dly5taps (dly_in,
+                dly_out);
+  input        dly_in;
+  output [5:1] dly_out;
+  reg    [5:1] dly_out;
+  parameter dly=6; // delay per tap, ns
+
+  always @ (dly_in)     # dly dly_out[1] <= dly_in;
+  always @ (dly_out[1]) # dly dly_out[2] <= dly_out[1];
+  always @ (dly_out[2]) # dly dly_out[3] <= dly_out[2];
+  always @ (dly_out[3]) # dly dly_out[4] <= dly_out[3];
+  always @ (dly_out[4]) # dly dly_out[5] <= dly_out[4];
 endmodule