diff --git a/fw/project/lcmxo2/sc64.ldf b/fw/project/lcmxo2/sc64.ldf
index f3198e8..20dcae1 100644
--- a/fw/project/lcmxo2/sc64.ldf
+++ b/fw/project/lcmxo2/sc64.ldf
@@ -3,6 +3,9 @@
     <Options/>
     <Implementation title="impl1" dir="impl1" description="impl1" synthesis="synplify" default_strategy="release">
         <Options VerilogStandard="System Verilog" def_top="top" top="top"/>
+        <Source name="../../rtl/memory/dma_scb.sv" type="Verilog" type_short="Verilog">
+            <Options VerilogStandard="System Verilog"/>
+        </Source>
         <Source name="../../rtl/memory/mem_bus.sv" type="Verilog" type_short="Verilog">
             <Options VerilogStandard="System Verilog"/>
         </Source>
diff --git a/fw/project/lcmxo2/sc64.lpf b/fw/project/lcmxo2/sc64.lpf
index 6feb8ab..2d61e26 100644
--- a/fw/project/lcmxo2/sc64.lpf
+++ b/fw/project/lcmxo2/sc64.lpf
@@ -214,7 +214,7 @@ LOCATE COMP "usb_miso" SITE "10" ;
 LOCATE COMP "usb_pwrsav" SITE "2" ;
 SYSCONFIG SDM_PORT=DISABLE I2C_PORT=ENABLE ;
 VOLTAGE 3.300 V;
-FREQUENCY NET "clk" 100.000000 MHz PAR_ADJ 10.000000 ;
+FREQUENCY NET "clk" 100.000000 MHz PAR_ADJ 20.000000 ;
 BLOCK PATH TO PORT "mcu_int" ;
 BLOCK PATH TO PORT "n64_irq" ;
 BLOCK PATH FROM PORT "usb_pwrsav" ;
diff --git a/fw/rtl/memory/dma_scb.sv b/fw/rtl/memory/dma_scb.sv
new file mode 100644
index 0000000..da8d709
--- /dev/null
+++ b/fw/rtl/memory/dma_scb.sv
@@ -0,0 +1,31 @@
+interface dma_scb ();
+
+    logic start;
+    logic stop;
+    logic busy;
+    logic direction;
+    logic byte_swap;
+    logic [26:0] starting_address;
+    logic [26:0] transfer_length;
+
+    modport controller (
+        output start,
+        output stop,
+        input busy,
+        output direction,
+        output byte_swap,
+        output starting_address,
+        output transfer_length
+    );
+
+    modport dma (
+        input start,
+        input stop,
+        output busy,
+        input direction,
+        input byte_swap,
+        input starting_address,
+        input transfer_length
+    );
+
+endinterface
diff --git a/fw/rtl/memory/memory_dma.sv b/fw/rtl/memory/memory_dma.sv
index bfd15d6..6c17173 100644
--- a/fw/rtl/memory/memory_dma.sv
+++ b/fw/rtl/memory/memory_dma.sv
@@ -1,36 +1,3 @@
-interface dma_scb ();
-
-    logic start;
-    logic stop;
-    logic busy;
-    logic direction;
-    logic byte_swap;
-    logic [26:0] starting_address;
-    logic [26:0] transfer_length;
-
-    modport controller (
-        output start,
-        output stop,
-        input busy,
-        output direction,
-        output byte_swap,
-        output starting_address,
-        output transfer_length
-    );
-
-    modport dma (
-        input start,
-        input stop,
-        output busy,
-        input direction,
-        input byte_swap,
-        input starting_address,
-        input transfer_length
-    );
-
-endinterface
-
-
 module memory_dma (
     input clk,
     input reset,
@@ -41,6 +8,228 @@ module memory_dma (
     mem_bus.controller mem_bus
 );
 
+    // logic stop_requested;
+    // logic dma_done;
+
+    // always_ff @(posedge clk) begin
+    //     if (reset) begin
+    //         dma_scb.busy <= 1'b0;
+    //         stop_requested <= 1'b0;
+    //     end else begin
+    //         if (dma_scb.start) begin
+    //             dma_scb.busy <= 1'b1;
+    //         end
+
+    //         if (dma_scb.busy && dma_scb.stop) begin
+    //             stop_requested <= 1'b1;
+    //         end
+
+    //         if (dma_done) begin
+    //             dma_scb.busy <= 1'b0;
+    //             stop_requested <= 1'b0;
+    //         end
+    //     end
+    // end
+
+    // logic unaligned_start;
+    // logic unaligned_end;
+
+    // always_ff @(posedge clk) begin
+    //     if (dma_scb.start) begin
+    //         unaligned_start <= dma_scb.starting_address[0];
+    //         // unaligned_end <= ;
+    //     end
+    // end
+
+    // logic [26:0] bytes_remaining;
+
+    // always_ff @(posedge clk) begin
+    //     bytes_remaining <= bytes_remaining - 27'd1;
+    //     if (dma_scb.start) begin
+    //         bytes_remaining <= dma_scb.transfer_length;
+    //     end
+    // end
+
+
+
+
+    // logic mem_transfer_request;
+    // logic mem_wdata_buffer_ready;
+    // logic mem_rdata_buffer_ready;
+    // logic [15:0] mem_wdata_buffer;
+    // logic [15:0] mem_rdata_buffer;
+    // logic [1:0] mem_wdata_buffer_valid_bytes;
+    // logic mem_rdata_buffer_valid;
+
+    // always_comb begin
+    //     mem_transfer_request = (
+    //         !mem_bus.request || mem_bus.ack
+    //     ) && (
+    //         mem_wdata_buffer_ready || mem_rdata_buffer_ready
+    //     );
+    // end
+
+    // always_ff @(posedge clk) begin
+    //     if (dma_scb.start) begin
+    //         mem_bus.write <= dma_scb.direction;
+    //         mem_bus.address <= {dma_scb.starting_address[26:1], 1'b0};
+    //         mem_rdata_buffer_valid <= 1'b0;
+    //     end
+
+    //     if (mem_bus.ack) begin
+    //         mem_bus.request <= 1'b0;
+    //         mem_bus.address <= mem_bus.address + 27'd2;
+    //         mem_rdata_buffer <= mem_bus.rdata;
+    //         mem_rdata_buffer_valid <= 1'b1;
+    //     end
+
+    //     if (reset) begin
+    //         mem_bus.request <= 1'b0;
+    //     end else if (mem_transfer_request) begin
+    //         mem_bus.request <= 1'b1;
+    //         mem_bus.wmask <= mem_wdata_buffer_valid_bytes;
+    //     end
+
+    //     if (!mem_bus.request || mem_bus.ack) begin
+    //         if (mem_wdata_buffer_ready) begin
+    //             if (dma_scb.byte_swap) begin
+    //                 mem_bus.wdata[15:8] <= mem_wdata_buffer[7:0];
+    //                 mem_bus.wdata[7:0] <= mem_wdata_buffer[15:8];
+    //             end else begin
+    //                 mem_bus.wdata <= mem_wdata_buffer;
+    //             end
+    //         end
+    //     end
+    // end
+
+
+
+
+
+
+
+
+    // // always_ff @(posedge clk) begin
+    // //     mem_wdata_buffer_ready <= dma_scb.busy;
+    // //     mem_wdata_buffer_valid_bytes <= 2'b10;
+    // // end
+
+
+
+
+
+
+    // logic [1:0] rx_fifo_bytes_available;
+    // logic [1:0] tx_fifo_bytes_available;
+
+    // always_comb begin
+    //     rx_fifo_bytes_available = 2'd2;
+    //     if (fifo_bus.rx_almost_empty) begin
+    //         rx_fifo_bytes_available = 2'd1;
+    //     end
+    //     if (fifo_bus.rx_empty) begin
+    //         rx_fifo_bytes_available = 2'd0;
+    //     end
+
+    //     tx_fifo_bytes_available = 2'd2;
+    //     if (fifo_bus.tx_almost_full) begin
+    //         tx_fifo_bytes_available = 2'd1;
+    //     end
+    //     if (fifo_bus.tx_full) begin
+    //         tx_fifo_bytes_available = 2'd0;
+    //     end
+    // end
+
+    // always_ff @(posedge clk) begin
+    //     if (dma_scb.busy) begin
+    //         if (!dma_scb.direction) begin
+    //             // RX FIFO handling
+    //         end
+    //     end
+    // end
+
+    // always_ff @(posedge clk) begin
+    //     if (dma_scb.busy) begin
+    //         if (dma_scb.direction) begin
+    //             // TX FIFO handling
+    //         end
+    //     end
+    // end
+
+
+
+//XDDDAWDWD
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+    // always_ff @(posedge clk) begin
+    //     dma_done <= 1'b0;
+
+    //     if (dma_scb.busy && bytes_remaining == 27'd0) begin
+    //         // dma_done <= 1'b1;
+    //     end
+    // end
+
+
+
+
+
+    // typedef enum bit [1:0] {
+
+    // } e_rx_fifo_state;
+
+    // typedef enum bit [1:0] {
+
+    // } e_tx_fifo_state;
+
+    // typedef enum bit [1:0] {
+    //     MEM_BUS_IDLE = 2'b00,
+    //     MEM_BUS_WAIT = 2'b01,
+    //     MEM_BUS_TRANSFERRING = 2'b10,
+    // } e_mem_bus_state;
+
+    // e_mem_bus_state mem_bus_state;
+    // e_mem_bus_state next_mem_bus_state;
+
+    // always_ff @(posedge clk) begin
+    //     mem_bus_state <= next_mem_bus_state;
+    //     if (reset) begin
+    //         mem_bus_state <= MEM_BUS_IDLE;
+    //     end
+    // end
+
+    // always_comb begin
+    //     next_mem_bus_state = mem_bus_state;
+
+    //     case (mem_bus_state)
+    //         MEM_BUS_IDLE: begin
+    //             if (dma_scb.start) begin
+    //                 next_mem_bus_state = MEM_BUS_WAIT;
+    //             end
+    //         end
+
+    //         MEM_BUS_WAIT: begin
+    //             i
+    //         end
+
+    //         MEM_BUS_TRANSFERRING: begin
+
+    //         end
+    //     endcase
+    // end
+
+
     // DMA start/stop control
 
     logic dma_start;
@@ -260,7 +449,7 @@ module memory_dma (
         end
 
         if (mem_bus.ack) begin
-            mem_bus.address <= mem_bus.address + 2'd2;
+            mem_bus.address <= mem_bus.address + 27'd2;
         end
     end
 
diff --git a/fw/rtl/memory/memory_sdram.sv b/fw/rtl/memory/memory_sdram.sv
index fce983a..cbd0ffd 100644
--- a/fw/rtl/memory/memory_sdram.sv
+++ b/fw/rtl/memory/memory_sdram.sv
@@ -14,29 +14,36 @@ module memory_sdram (
     inout [15:0] sdram_dq
 );
 
-    localparam [2:0] CAS_LATENCY = 3'd2;
+    // in Hz
+    localparam real FREQUENCY = 100_000_000.0;
 
-    localparam real T_INIT      = 100_000.0;
-    localparam real T_RC        = 60.0;
-    localparam real T_RP        = 15.0;
-    localparam real T_RCD       = 15.0;
-    localparam real T_MRD       = 14.0;
-    localparam real T_REF       = 7_800.0;
+    // in clocks
+    localparam bit [2:0] CAS_LATENCY = 3'd2;
 
-    localparam real T_CLK       = (1.0 / 100_000_000) * 1_000_000_000.0;
-    localparam int C_INIT       = int'((T_INIT + T_CLK - 1) / T_CLK);
-    localparam int C_RC         = int'((T_RC + T_CLK - 1) / T_CLK);
-    localparam int C_RP         = int'((T_RP + T_CLK - 1) / T_CLK);
-    localparam int C_RCD        = int'((T_RCD + T_CLK - 1) / T_CLK);
-    localparam int C_MRD        = int'((T_MRD + T_CLK - 1) / T_CLK);
-    localparam int C_REF        = int'((T_REF + T_CLK - 1) / T_CLK);
+    // in nanoseconds
+    localparam real T_INIT = 100_000.0;
+    localparam real T_RC = 60.0;
+    localparam real T_RP = 15.0;
+    localparam real T_RCD = 15.0;
+    localparam real T_MRD = 14.0;
+    localparam real T_REF = 7_812.5;
 
-    localparam INIT_PRECHARGE   = 4'd0;
-    localparam INIT_REFRESH_1   = C_RP;
-    localparam INIT_REFRESH_2   = C_RP + C_RC;
-    localparam INIT_MODE_REG    = C_RP + (2 * C_RC);
-    localparam INIT_DONE        = C_RP + (2 * C_RC) + C_MRD;
+    localparam real T_CLK = (1.0 / FREQUENCY) * 1_000_000_000.0;
 
+    const bit [13:0] C_INIT = 14'(int'($ceil(T_INIT / T_CLK)));
+    const bit [4:0] C_RC = 5'(int'($ceil(T_RC / T_CLK)));
+    const bit [4:0] C_RP = 5'(int'($ceil(T_RP / T_CLK)));
+    const bit [4:0] C_RCD = 5'(int'($ceil(T_RCD / T_CLK)));
+    const bit [4:0] C_MRD = 5'(int'($ceil(T_MRD / T_CLK)));
+    const bit [13:0] C_REF = 14'(int'($ceil(T_REF / T_CLK)));
+
+    const bit [4:0] INIT_PRECHARGE = 5'd0;
+    const bit [4:0] INIT_REFRESH_1 = INIT_PRECHARGE + C_RP;
+    const bit [4:0] INIT_REFRESH_2 = INIT_REFRESH_1 + C_RC;
+    const bit [4:0] INIT_MODE_REG = INIT_REFRESH_2 + C_RC;
+    const bit [4:0] INIT_DONE = INIT_MODE_REG + C_MRD;
+
+    // /CS, /RAS, /CAS, /WE
     typedef enum bit [3:0] {
         CMD_DESL    = 4'b1111,
         CMD_NOP     = 4'b0111,
@@ -58,13 +65,10 @@ module memory_sdram (
 
     always_ff @(posedge clk) begin
         {sdram_cs, sdram_ras, sdram_cas, sdram_we} <= 4'(sdram_next_cmd);
-
         {sdram_ba, sdram_a} <= 15'd0;
         sdram_dqm <= 2'b00;
-
         sdram_dq_input <= sdram_dq;
         sdram_dq_output <= mem_bus.wdata;
-    
         sdram_dq_output_enable <= 1'b0;
 
         case (sdram_next_cmd)
@@ -76,19 +80,31 @@ module memory_sdram (
 
             CMD_ACT: begin
                 {sdram_ba, sdram_a} <= mem_bus.address[25:11];
-                sdram_dqm <= 2'b00;
                 current_active_bank_row <= mem_bus.address[25:11];
             end
 
             CMD_PRE: begin
-                {sdram_ba, sdram_a} <= {2'b00, 2'b00, 1'b1, 10'd0};
-                sdram_dqm <= 2'b00;
+                {sdram_ba, sdram_a} <= {
+                    2'b00,          // [BA1:BA0] Don't care
+                    2'b00,          // [A12:A11] Don't care
+                    1'b1,           // [A10] Precharge all banks
+                    10'd0           // [A9:A0] Don't care
+                };
             end
 
             CMD_MRS: begin
-                {sdram_ba, sdram_a} <= {2'b00, 1'b0, 1'b0, 2'b00, CAS_LATENCY, 1'b0, 3'b000};
-                sdram_dqm <= 2'b00;
+                {sdram_ba, sdram_a} <= {
+                    2'b00,          // [BA1:BA0] Reserved = 0
+                    3'b00,          // [A12:A10] Reserved = 0
+                    1'b0,           // [A9] Write Burst Mode = Programmed Burst Length
+                    2'b00,          // [A8:A7] Operating Mode = Standard Operation
+                    CAS_LATENCY,    // [A6:A4] Latency Mode = 2
+                    1'b0,           // [A3] Burst Type = Sequential
+                    3'b000          // [A2:A0] Burst Length = 1
+                };
             end
+
+            default: begin end
         endcase
     end
 
@@ -121,35 +137,38 @@ module memory_sdram (
         end
     end
 
-    logic [13:0] powerup_coutner;
-    logic powerup_done;
+    logic [13:0] refresh_counter;
     logic [4:0] wait_counter;
-    logic [9:0] refresh_counter;
+    logic powerup_done;
     logic pending_refresh;
 
     always_ff @(posedge clk) begin
-        if (reset) begin
-            powerup_coutner <= 14'd0;
-            powerup_done <= 1'b0;
-        end else if (powerup_coutner < C_INIT) begin
-            powerup_coutner <= powerup_coutner + 1'd1;
-        end else begin
+        refresh_counter <= refresh_counter + 1'd1;
+
+        if (refresh_counter == C_INIT) begin
+            refresh_counter <= 14'd0;
             powerup_done <= 1'b1;
         end
 
-        if (reset || state != next_state) begin
-            wait_counter <= 5'd0;
-        end else begin
-            wait_counter <= wait_counter + 1'd1;
+        if (powerup_done && refresh_counter == C_REF - 14'd1) begin
+            refresh_counter <= 14'd0;
+            pending_refresh <= 1'b1;
         end
 
         if (sdram_next_cmd == CMD_REF) begin
-            refresh_counter <= 10'd0;
             pending_refresh <= 1'b0;
-        end else if (refresh_counter < C_REF) begin
-            refresh_counter <= refresh_counter + 1'd1;
-        end else begin
-            pending_refresh <= 1'b1;
+        end
+
+        if (reset) begin
+            refresh_counter <= 14'd0;
+            powerup_done <= 1'b0;
+            pending_refresh <= 1'b0;
+        end
+
+        wait_counter <= wait_counter + 1'd1;
+
+        if (state != next_state) begin
+            wait_counter <= 5'd0;
         end
     end
 
@@ -157,6 +176,7 @@ module memory_sdram (
 
     always_ff @(posedge clk) begin
         mem_bus.ack <= 1'b0;
+
         read_cmd_ack_delay <= {sdram_next_cmd == CMD_READ, read_cmd_ack_delay[(CAS_LATENCY):1]};
 
         if (sdram_next_cmd == CMD_WRITE || read_cmd_ack_delay[0]) begin
@@ -202,7 +222,7 @@ module memory_sdram (
             end
 
             S_ACTIVATING: begin
-                if (wait_counter == C_RCD) begin
+                if (wait_counter == C_RCD - 5'd2) begin
                     next_state = S_ACTIVE;
                 end
             end
@@ -229,18 +249,13 @@ module memory_sdram (
             end
 
             S_PRECHARGE: begin
-                if (wait_counter == C_RP) begin
-                    if (pending_refresh) begin
-                        next_state = S_REFRESH;
-                        sdram_next_cmd = CMD_REF;
-                    end else begin
-                        next_state = S_IDLE;
-                    end
+                if (wait_counter == C_RP - 5'd2) begin
+                    next_state = S_IDLE;
                 end
             end
 
             S_REFRESH: begin
-                if (wait_counter == C_RC) begin
+                if (wait_counter == C_RC - 5'd2) begin
                     next_state = S_IDLE;
                 end
             end
diff --git a/fw/tests/.gitignore b/fw/tests/.gitignore
new file mode 100644
index 0000000..4fc31cd
--- /dev/null
+++ b/fw/tests/.gitignore
@@ -0,0 +1,2 @@
+/build
+*.vcd
diff --git a/fw/tests/Makefile b/fw/tests/Makefile
new file mode 100644
index 0000000..0c17476
--- /dev/null
+++ b/fw/tests/Makefile
@@ -0,0 +1,33 @@
+RTL_DIR = ../rtl
+MOCKS_DIR = mocks
+BUILD_DIR = build
+SRC_DIRS = \
+	$(RTL_DIR)/fifo \
+	$(RTL_DIR)/mcu \
+	$(RTL_DIR)/memory \
+	$(RTL_DIR)/n64 \
+	$(RTL_DIR)/sd \
+	$(RTL_DIR)/serv \
+	$(RTL_DIR)/usb \
+	$(RTL_DIR)/vendor \
+	$(RTL_DIR) \
+	$(MOCKS_DIR)
+
+INC_DIRS = $(addprefix -I, $(SRC_DIRS))
+TEST_FILES = $(shell find "./" -not -path "$(BUILD_DIR)/*" -type f -name "*_tb.sv")
+TESTS = $(addprefix $(BUILD_DIR)/, $(basename $(TEST_FILES)))
+
+VERILATOR_FLAGS = --binary --trace --timescale 10ns/1ns -j --quiet $(INC_DIRS)
+
+$(BUILD_DIR)/%: %.sv
+	@echo "[VERILATOR] $<"
+	@mkdir -p $@.obj
+	@verilator $(VERILATOR_FLAGS) -Mdir $@.obj $< > /dev/null
+	@$@.obj/V$(notdir $@)
+
+tests: $(TESTS)
+
+clean:
+	@rm -rf ./$(BUILD_DIR)
+
+.PHONY: tests
diff --git a/fw/tests/memory/memory_dma_tb.sv b/fw/tests/memory/memory_dma_tb.sv
new file mode 100644
index 0000000..359c54b
--- /dev/null
+++ b/fw/tests/memory/memory_dma_tb.sv
@@ -0,0 +1,126 @@
+module memory_dma_tb;
+
+    logic clk;
+    logic reset;
+
+    dma_scb dma_scb ();
+    fifo_bus fifo_bus ();
+    mem_bus mem_bus ();
+
+    logic start;
+    logic stop;
+    logic direction;
+    logic byte_swap;
+    logic [26:0] starting_address;
+    logic [26:0] transfer_length;
+
+    logic flush;
+    logic rx_fill_enabled;
+    logic tx_drain_enabled;
+
+    memory_dma memory_dma (
+        .clk(clk),
+        .reset(reset),
+
+        .dma_scb(dma_scb),
+        .fifo_bus(fifo_bus),
+        .mem_bus(mem_bus)
+    );
+
+    dma_controller_mock dma_controller_mock (
+        .clk(clk),
+        .reset(reset),
+
+        .dma_scb(dma_scb),
+
+        .start(start),
+        .stop(stop),
+        .direction(direction),
+        .byte_swap(byte_swap),
+        .starting_address(starting_address),
+        .transfer_length(transfer_length)
+    );
+
+    fifo_bus_mock #(
+        .DEPTH(16),
+        .FILL_RATE(16),
+        .DRAIN_RATE(16)
+    ) fifo_bus_mock (
+        .clk(clk),
+        .reset(reset),
+
+        .fifo_bus(fifo_bus),
+
+        .flush(flush),
+
+        .rx_fill_enabled(rx_fill_enabled),
+        .tx_drain_enabled(tx_drain_enabled)
+    );
+
+    memory_sdram_mock memory_sdram_mock (
+        .clk(clk),
+        .reset(reset),
+
+        .mem_bus(mem_bus)
+    );
+
+    initial begin
+        clk = 1'b0;
+        forever begin
+            clk = ~clk; #0.5;
+        end
+    end
+
+    initial begin
+        reset = 1'b0;
+        #10;
+        reset = 1'b1;
+        #10;
+        reset = 1'b0;
+    end
+
+    initial begin
+        $dumpfile("traces/memory_dma_tb.vcd");
+
+        #10000;
+
+        $dumpvars();
+
+        #100;
+        start = 1'b1;
+        direction = 1'b0;
+        byte_swap = 1'b0;
+        starting_address = 27'hFFF0;
+        transfer_length = 27'd32;
+        #1;
+        start = 1'b0;
+
+        #9;
+        tx_drain_enabled = 1'b1;
+
+        #490;
+        stop = 1'b1;
+        #1;
+        stop = 1'b0;
+
+        #99;
+
+        start = 1'b1;
+        direction = 1'b1;
+        #1;
+        start = 1'b0;
+
+        #9;
+        rx_fill_enabled = 1'b1;
+
+        #490;
+        stop = 1'b1;
+        #1;
+        stop = 1'b0;
+
+        #99;
+
+        $finish;
+    end
+
+endmodule
diff --git a/fw/tests/mocks/dma_controller_mock.sv b/fw/tests/mocks/dma_controller_mock.sv
new file mode 100644
index 0000000..d1d3b54
--- /dev/null
+++ b/fw/tests/mocks/dma_controller_mock.sv
@@ -0,0 +1,39 @@
+module dma_controller_mock (
+    input clk,
+    input reset,
+
+    dma_scb.controller dma_scb,
+
+    input start,
+    input stop,
+    input direction,
+    input byte_swap,
+    input [26:0] starting_address,
+    input [26:0] transfer_length
+);
+
+    always_ff @(posedge clk) begin
+        dma_scb.start <= 1'b0;
+        dma_scb.stop <= 1'b0;
+
+        if (reset) begin
+            dma_scb.direction <= 1'b0;
+            dma_scb.byte_swap <= 1'b0;
+            dma_scb.starting_address <= 27'd0;
+            dma_scb.transfer_length <= 27'd0;
+        end else begin
+            if (start) begin
+                dma_scb.start <= 1'b1;
+                dma_scb.direction <= direction;
+                dma_scb.byte_swap <= byte_swap;
+                dma_scb.starting_address <= starting_address;
+                dma_scb.transfer_length <= transfer_length;
+            end
+
+            if (stop) begin
+                dma_scb.stop <= 1'b1;
+            end
+        end
+    end
+
+endmodule
diff --git a/fw/tests/mocks/fifo_bus_mock.sv b/fw/tests/mocks/fifo_bus_mock.sv
new file mode 100644
index 0000000..17828de
--- /dev/null
+++ b/fw/tests/mocks/fifo_bus_mock.sv
@@ -0,0 +1,172 @@
+module fifo_bus_mock #(
+    parameter int DEPTH = 1024,
+    parameter int FILL_RATE = 3,
+    parameter int DRAIN_RATE = 3
+) (
+    input clk,
+    input reset,
+
+    fifo_bus.fifo fifo_bus,
+
+    input flush,
+
+    input rx_fill_enabled,
+    input tx_drain_enabled
+);
+
+    localparam int PTR_BITS = $clog2(DEPTH);
+
+    // RX FIFO mock
+
+    logic [7:0] rx_fifo_mem [0:(DEPTH - 1)];
+    logic [(PTR_BITS - 1):0] rx_fifo_rptr;
+    logic [(PTR_BITS - 1):0] rx_fifo_wptr;
+    logic [PTR_BITS:0] rx_available;
+    logic rx_fifo_full;
+    logic rx_fifo_almost_full;
+    logic rx_write;
+    logic [7:0] rx_wdata;
+
+    always_comb begin
+        rx_fifo_full = rx_available >= (PTR_BITS + 1)'(DEPTH);
+        rx_fifo_almost_full = rx_available >= (PTR_BITS + 1)'(DEPTH - 1);
+        fifo_bus.rx_empty = rx_available == (PTR_BITS + 1)'('d0);
+        fifo_bus.rx_almost_empty = rx_available <= (PTR_BITS + 1)'('d1);
+    end
+
+    always_ff @(posedge clk) begin
+        if (fifo_bus.rx_read) begin
+            fifo_bus.rx_rdata <= rx_fifo_mem[rx_fifo_rptr];
+            rx_fifo_rptr <= rx_fifo_rptr + PTR_BITS'('d1);
+            rx_available <= rx_available - (PTR_BITS + 1)'('d1);
+        end
+        if (rx_write) begin
+            rx_fifo_mem[rx_fifo_wptr] <= rx_wdata;
+            rx_fifo_wptr <= rx_fifo_wptr + PTR_BITS'('d1);
+            rx_available <= rx_available + (PTR_BITS + 1)'('d1);
+        end
+        if (fifo_bus.rx_read && rx_write) begin
+            rx_available <= rx_available;
+        end
+        if (reset || flush) begin
+            rx_available <= (PTR_BITS + 1)'('d0);
+            rx_fifo_rptr <= PTR_BITS'('d0);
+            rx_fifo_wptr <= PTR_BITS'('d0);
+        end
+    end
+
+    localparam int FILL_BITS = $clog2(FILL_RATE);
+    logic [FILL_BITS:0] fill_counter;
+    logic rx_fill;
+
+    always_ff @(posedge clk) begin
+        rx_fill <= rx_fill_enabled;
+    end
+
+    generate;
+        if (FILL_RATE == 0) begin
+            always_comb begin
+                rx_write = rx_fill && !rx_fifo_full;
+            end
+        end else begin
+            always_comb begin
+                rx_write = rx_fill && !rx_fifo_full && (fill_counter == (FILL_BITS + 1)'(FILL_RATE));
+            end
+            always_ff @(posedge clk) begin
+                if (fill_counter < (FILL_BITS + 1)'(FILL_RATE)) begin
+                    fill_counter <= fill_counter + (FILL_BITS + 1)'('d1);
+                end
+                if (reset) begin
+                    fill_counter <= (FILL_BITS + 1)'('d0);
+                end else begin
+                    if (rx_write) begin
+                        fill_counter <= (FILL_BITS + 1)'('d0);
+                    end
+                end
+            end
+        end
+    endgenerate
+
+    always_ff @(posedge clk) begin
+        if (reset) begin
+            rx_wdata <= 8'h01;
+        end else begin
+            if (rx_write) begin
+                rx_wdata <= rx_wdata + 8'h01;
+            end
+        end
+    end
+
+
+    // TX FIFO mock
+
+    logic [7:0] tx_fifo_mem [0:(DEPTH - 1)];
+    logic [(PTR_BITS - 1):0] tx_fifo_rptr;
+    logic [(PTR_BITS - 1):0] tx_fifo_wptr;
+    logic [PTR_BITS:0] tx_available;
+    logic tx_fifo_empty;
+    logic tx_fifo_almost_empty;
+    logic tx_read;
+    logic [7:0] tx_rdata;
+
+    always_comb begin
+        tx_fifo_empty = tx_available == (PTR_BITS + 1)'('d0);
+        tx_fifo_almost_empty = tx_available <= (PTR_BITS + 1)'('d1);
+        fifo_bus.tx_full = tx_available >= (PTR_BITS + 1)'(DEPTH);
+        fifo_bus.tx_almost_full = tx_available >= (PTR_BITS + 1)'(DEPTH - 1);
+    end
+
+    always_ff @(posedge clk) begin
+        if (fifo_bus.tx_write) begin
+            tx_fifo_mem[tx_fifo_wptr] <= fifo_bus.tx_wdata;
+            tx_fifo_wptr <= tx_fifo_wptr + PTR_BITS'('d1);
+            tx_available <= tx_available + (PTR_BITS + 1)'('d1);
+        end
+        if (tx_read) begin
+            tx_rdata <= tx_fifo_mem[tx_fifo_rptr];
+            tx_fifo_rptr <= tx_fifo_rptr + PTR_BITS'('d1);
+            tx_available <= tx_available - (PTR_BITS + 1)'('d1);
+        end
+        if (fifo_bus.tx_write && tx_read) begin
+            tx_available <= tx_available;
+        end
+        if (reset || flush) begin
+            tx_available <= (PTR_BITS + 1)'('d0);
+            tx_fifo_rptr <= PTR_BITS'('d0);
+            tx_fifo_wptr <= PTR_BITS'('d0);
+        end
+    end
+
+    localparam int DRAIN_BITS = $clog2(DRAIN_RATE);
+    logic [DRAIN_BITS:0] drain_counter;
+    logic tx_drain;
+
+    always_ff @(posedge clk) begin
+        tx_drain <= tx_drain_enabled;
+    end
+
+    generate;
+        if (DRAIN_RATE == 0) begin
+            always_comb begin
+                tx_read = tx_drain && !tx_fifo_empty;
+            end
+        end else begin
+            always_comb begin
+                tx_read = tx_drain && !tx_fifo_empty && (drain_counter == (DRAIN_BITS + 1)'(DRAIN_RATE));
+            end
+            always_ff @(posedge clk) begin
+                if (drain_counter < (DRAIN_BITS + 1)'(DRAIN_RATE)) begin
+                    drain_counter <= drain_counter + (DRAIN_BITS + 1)'('d1);
+                end
+                if (reset) begin
+                    drain_counter <= (DRAIN_BITS + 1)'('d0);
+                end else begin
+                    if (tx_read) begin
+                        drain_counter <= (DRAIN_BITS + 1)'('d0);
+                    end
+                end
+            end
+        end
+    endgenerate
+
+endmodule
diff --git a/fw/tests/mocks/memory_sdram_mock.sv b/fw/tests/mocks/memory_sdram_mock.sv
new file mode 100644
index 0000000..f24a61d
--- /dev/null
+++ b/fw/tests/mocks/memory_sdram_mock.sv
@@ -0,0 +1,70 @@
+module memory_sdram_mock (
+    input clk,
+    input reset,
+
+    mem_bus.memory mem_bus
+);
+
+    logic sdram_cs;
+    logic sdram_ras;
+    logic sdram_cas;
+    logic sdram_we;
+    logic [1:0] sdram_ba;
+    logic [12:0] sdram_a;
+    logic [1:0] sdram_dqm;
+    logic [15:0] sdram_dq;
+
+    memory_sdram memory_sdram_inst (
+        .clk(clk),
+        .reset(reset),
+
+        .mem_bus(mem_bus),
+
+        .sdram_cs(sdram_cs),
+        .sdram_ras(sdram_ras),
+        .sdram_cas(sdram_cas),
+        .sdram_we(sdram_we),
+        .sdram_ba(sdram_ba),
+        .sdram_a(sdram_a),
+        .sdram_dqm(sdram_dqm),
+        .sdram_dq(sdram_dq)
+    );
+
+    logic [1:0] cas_delay;
+    logic [15:0] data_from_sdram;
+    logic [15:0] data_to_sdram;
+    logic [15:0] sdram_dq_driven;
+
+    assign sdram_dq = sdram_dq_driven;
+
+    initial begin
+        cas_delay = 2'b00;
+        data_from_sdram = 16'h0102;
+        data_to_sdram = 16'hFFFF;
+    end
+
+    always_ff @(posedge clk) begin
+        cas_delay <= {cas_delay[0], 1'b0};
+
+        if ({sdram_cs, sdram_ras, sdram_cas, sdram_we} == 4'b0101) begin
+            cas_delay[0] <= 1'b1;
+        end
+
+        if (cas_delay[1]) begin
+            data_from_sdram <= data_from_sdram + 16'h0202;
+        end
+
+        if ({sdram_cs, sdram_ras, sdram_cas, sdram_we} == 4'b0100) begin
+            if (!sdram_dqm[0]) data_to_sdram[7:0] <= sdram_dq[7:0];
+            if (!sdram_dqm[1]) data_to_sdram[15:8] <= sdram_dq[15:8];
+        end
+    end
+
+    always_comb begin
+        sdram_dq_driven = 16'hXXXX;
+        if (cas_delay[1]) begin
+            sdram_dq_driven = data_from_sdram;
+        end
+    end
+
+endmodule
diff --git a/fw/tests/traces/.gitkeep b/fw/tests/traces/.gitkeep
new file mode 100644
index 0000000..e69de29
diff --git a/sw/controller/src/usb.c b/sw/controller/src/usb.c
index 3287b98..212c0d2 100644
--- a/sw/controller/src/usb.c
+++ b/sw/controller/src/usb.c
@@ -201,6 +201,9 @@ static bool usb_dma_ready (void) {
 }
 
 static bool usb_validate_address_length (uint32_t address, uint32_t length, bool exclude_bootloader) {
+    if (length == 0) {
+        return true;
+    }
     if ((address >= MEMORY_LENGTH) || (length > MEMORY_LENGTH)) {
         return true;
     }