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In the paper, a method for test controller synthesis based on testability analysis results is presented. The proposed method enables to create a finite state machine with output, which can control all enable, address and clock inputs of elements in the circuit during the test application process. Proposed testability analysis method is efficient for RT level pipelined data-path circuit. Close coupling of testability analysis and test controller synthesis saves the test cost in terms of area overhead, test time and fault coverage. All processes are described formally.