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fix(doppler): PR-M.2 — Dolph-Chebyshev 60 dB window replaces Hamming-ish LUT

Browse Source 
T-6 drift cosim (PR-M.1, c30be89) surfaced a 740-LSB / 2.3 % spec-vs-
implementation gap in the Doppler window: doppler_processor.v lines
99..114 and fpga_model.HAMMING_WINDOW were documented as sym Hamming
N=16 (0.54 - 0.46*cos(2*pi*n/15)) but contained values that didn't
match any standard window family. Existing Doppler cosim passed bit-
exactly because both the RTL and the Python twin shared the identical
non-canonical values.

Quantifying the trade with scipy.signal across 11 candidates, the
production LUT actually had peak sidelobes of -33 dB (vs canonical
sym Hamming -40 dB) — the hand-tweaks made it 6.6 dB worse than the
formula it claimed to be. Rather than just fix the LUT to canonical
Hamming, picked Dolph-Chebyshev 60 dB equiripple as a deliberate
upgrade for counter-UAS Doppler where MTI-residual clutter leakage
into adjacent Doppler bins is the dominant false-alarm source.

Window comparison (N=16, Q15):

  Window           PSL(dB)  MLW(bins)  ENBW   CG(dB)  In-bin SNR loss
  Old "Hamming"    -33.2    1.38       1.45   -5.84    1.61 dB
  Canonical Hamm   -39.8    1.35       1.43   -5.83    1.54 dB
  Dolph-Cheby 60   -60.0    1.48       1.55   -6.48    1.91 dB  <-
  Kaiser β=8       -57.9    1.69       1.78   -7.77    2.50 dB
  Blackman         -93.7    1.75       1.84   -8.10    2.66 dB

Cheby-60 buys 27 dB of sidelobe rejection over the old LUT for 0.30 dB
worse in-bin SNR and 7 % wider main lobe — a strict win for cluttered
counter-UAS environments. Hardware impact: zero. The window is a
16-entry Q15 ROM; same reg width, same DSP multiply, same FFT pipeline,
same timing, same area. Only the initial-block hex literals change.

Changes:
  * doppler_processor.v lines 114..129: 14 of 16 hex literals replaced
    with chebwin(16, at=60) Q15 values; comment block updated
  * tb/cosim/fpga_model.py: HAMMING_WINDOW renamed to DOPPLER_WINDOW_COEFF,
    values replaced; class comments updated
  * tb/cosim/fpga_reference.py: hamming_16_ideal() renamed to
    doppler_window_ideal(), uses scipy.signal.windows.chebwin
  * tb/cosim/compare_independent.py: import + label updates
  * tb/cosim/gen_doppler_golden.py: docstring header
  * tb/cosim/doppler_golden_py_*.{csv,hex} (3 scenarios): regenerated
  * tb/cosim/real_data/hex/{doppler,fullchain}_doppler_ref_{i,q}.hex:
    regenerated via gen_realdata_hex.py

Drift cosim now 13/13 PASS — DOPPLER_WINDOW_COEFF matches its
analytical Cheby-60 ideal bytewise (0 LSB drift). Full regression
42 passed / 0 failed of 42 — bit-exact cosim still passes (RTL ≡
Python twin since both got the new LUT).
This commit is contained in:
Jason
2026-05-01 17:55:43 +05:45
parent c30be89dbe
commit 36234fe0e3
15 changed files with 20806 additions and 20811 deletions
Download Patch File Download Diff File Expand all files Collapse all files
9_Firmware/9_2_FPGA/doppler_processor.v
+25 -24
View File
@@ -26,8 +26,13 @@
// bin from the SHORT vs MEDIUM vs LONG sub-frame to resolve velocity.
//
// WINDOW:
// 16-point Hamming window (Q15), symmetric. Computed as:
// w[n] = 0.54 - 0.46 * cos(2*pi*n/15), n=0..15
// 16-point Dolph-Chebyshev, 60 dB equiripple sidelobes (PR-M).
// Chosen for counter-UAS Doppler processing where strong clutter
// residual from MTI can leak into adjacent Doppler bins via window
// sidelobes; -60 dB rejection beats sym Hamming (-40 dB) by 20 dB at
// a 0.37 dB in-bin SNR cost and ~10 % wider main lobe.
// Coefficients: scipy.signal.windows.chebwin(16, at=60, sym=True) in
// Q15 (round(w * 32767)). Mirrored in fpga_model.WINDOW_COEFF.
// ============================================================================
`include "radar_params.vh"
@@ -46,7 +51,7 @@ module doppler_processor_optimized #(
parameter RANGE_BINS = `RP_MAX_OUTPUT_BINS, // 512 (50T) / 4096 (200T)
parameter CHIRPS_PER_FRAME = `RP_CHIRPS_PER_FRAME, // 48 (PR-F); legacy TBs override to 32
parameter CHIRPS_PER_SUBFRAME = `RP_CHIRPS_PER_SUBFRAME, // 16
parameter WINDOW_TYPE = 0, // 0=Hamming, 1=Rectangular
parameter WINDOW_TYPE = 0, // 0=Dolph-Chebyshev 60 dB, 1=Rectangular
parameter DATA_WIDTH = `RP_DATA_WIDTH // 16
)(
input wire clk,
@@ -85,33 +90,29 @@ module doppler_processor_optimized #(
localparam NUM_SUBFRAMES = CHIRPS_PER_FRAME / CHIRPS_PER_SUBFRAME;
// ==============================================
// Window Coefficients — 16-point Hamming (Q15)
// Window Coefficients — 16-pt Dolph-Chebyshev 60 dB (Q15, sym)
// ==============================================
// w[n] = 0.54 - 0.46 * cos(2*pi*n/15), n=0..15
// Symmetric: w[n] = w[15-n]
reg [DATA_WIDTH-1:0] window_coeff [0:15];
integer w;
initial begin
if (WINDOW_TYPE == 0) begin
// 16-point Hamming window, Q15 format
// Computed: round(32767 * (0.54 - 0.46*cos(2*pi*n/15)))
window_coeff[0] = 16'h0A3D; // 0.0800 * 32767 = 2621
window_coeff[1] = 16'h0E5C; // 0.1116 * 32767 = 3676
window_coeff[2] = 16'h1B6D; // 0.2138 * 32767 = 7021
window_coeff[3] = 16'h3088; // 0.3790 * 32767 = 12424
window_coeff[4] = 16'h4B33; // 0.5868 * 32767 = 19251
window_coeff[5] = 16'h6573; // 0.7930 * 32767 = 25971
window_coeff[6] = 16'h7642; // 0.9245 * 32767 = 30274
window_coeff[7] = 16'h7F62; // 0.9932 * 32767 = 32610
window_coeff[8] = 16'h7F62; // symmetric
window_coeff[9] = 16'h7642;
window_coeff[10] = 16'h6573;
window_coeff[11] = 16'h4B33;
window_coeff[12] = 16'h3088;
window_coeff[13] = 16'h1B6D;
window_coeff[14] = 16'h0E5C;
window_coeff[15] = 16'h0A3D;
window_coeff[0] = 16'h0315; // 789 (edge)
window_coeff[1] = 16'h0A1A; // 2586
window_coeff[2] = 16'h1757; // 5975
window_coeff[3] = 16'h2B35; // 11061
window_coeff[4] = 16'h440C; // 17420
window_coeff[5] = 16'h5DF2; // 24050
window_coeff[6] = 16'h739E; // 29598
window_coeff[7] = 16'h7FFF; // 32767 (peak)
window_coeff[8] = 16'h7FFF; // 32767 symmetric: w[n] = w[15-n]
window_coeff[9] = 16'h739E;
window_coeff[10] = 16'h5DF2;
window_coeff[11] = 16'h440C;
window_coeff[12] = 16'h2B35;
window_coeff[13] = 16'h1757;
window_coeff[14] = 16'h0A1A;
window_coeff[15] = 16'h0315;
end else begin
for (w = 0; w < 16; w = w + 1) begin
window_coeff[w] = 16'h7FFF;
9_Firmware/9_2_FPGA/tb/cosim/compare_independent.py
+10 -20
View File
@@ -16,7 +16,7 @@ Strategy (from highest-value to lowest):
to its analytical Q15 value. A single corrupted entry fails here.
* NCO_SINE_LUT (64 entries, sin(pi*k/128) Q15)
* Twiddle ROMs (.mem files) for N=16, N=2048
* HAMMING_WINDOW (16 entries, sym Hamming N=16 Q15)
* DOPPLER_WINDOW_COEFF (16 entries, Dolph-Chebyshev 60 dB Q15)
2. End-to-end peak-position invariants — feed canonical inputs
through both twin and reference; the peak bin/index must match.
@@ -43,7 +43,7 @@ sys.path.insert(0, str(THIS_DIR))
import fpga_reference as ref # noqa: E402
from fpga_model import ( # noqa: E402
HAMMING_WINDOW,
DOPPLER_WINDOW_COEFF,
NCO,
DopplerProcessor,
FFTEngine,
@@ -59,7 +59,7 @@ from fpga_model import ( # noqa: E402
TOL_NCO_LUT_LSB = 1 # NCO_SINE_LUT: tightest possible
TOL_TWIDDLE_LSB = 1 # twiddle ROMs: same — quarter-wave Q15 cosine
TOL_HAMMING_LSB = 4 # 4 LSB ≈ 1.2e-4 rounding budget on Q15 round
TOL_WINDOW_LSB = 4 # 4 LSB ≈ 1.2e-4 rounding budget on Q15 round
TOL_NCO_MAG_REL = 0.04 # quarter-wave LUT artifact at quadrant edges
TOL_FFT_ROUNDTRIP_LSB = 60 # 11 stages × Q15 noise on 2048-pt; empirical
@@ -156,29 +156,19 @@ def check_twiddle_rom(result: CheckResult, n: int, mem_filename: str):
)
def check_hamming_lut(result: CheckResult):
print("\n--- HAMMING_WINDOW bytewise check ---")
win_lut = np.array(HAMMING_WINDOW, dtype=np.int64)
win_ref = np.round(ref.hamming_16_ideal()).astype(np.int64)
def check_doppler_window_lut(result: CheckResult):
print("\n--- DOPPLER_WINDOW_COEFF bytewise check ---")
win_lut = np.array(DOPPLER_WINDOW_COEFF, dtype=np.int64)
win_ref = np.round(ref.doppler_window_ideal()).astype(np.int64)
diff = np.abs(win_lut - win_ref)
max_dev = int(diff.max())
worst_idx = int(np.argmax(diff))
bad = [(int(i), int(win_lut[i]), int(win_ref[i]), int(diff[i]))
for i in range(16) if diff[i] > TOL_HAMMING_LSB]
result.check(
max_dev <= TOL_HAMMING_LSB,
f"HAMMING_WINDOW: all 16 entries match 0.54-0.46*cos(2pi*n/15) Q15 (tol {TOL_HAMMING_LSB} LSB)",
max_dev <= TOL_WINDOW_LSB,
f"DOPPLER_WINDOW_COEFF: all 16 entries match Dolph-Chebyshev 60 dB Q15 (tol {TOL_WINDOW_LSB} LSB)",
f"max |LUT - ideal| = {max_dev} LSB at n={worst_idx} "
f"(LUT={int(win_lut[worst_idx])}, ideal={int(win_ref[worst_idx])})"
)
if bad:
result.info(
"HAMMING_WINDOW drift detected — both fpga_model.py and "
"doppler_processor.v contain values that diverge from the "
"documented formula. Resolution: either update the comments to "
"reflect the actual values, or regen the LUTs to match the "
"formula and re-bless the affected goldens."
)
# =============================================================================
@@ -400,7 +390,7 @@ def main():
check_nco_lut(result)
check_twiddle_rom(result, n=16, mem_filename="fft_twiddle_16.mem")
check_twiddle_rom(result, n=2048, mem_filename="fft_twiddle_2048.mem")
check_hamming_lut(result)
check_doppler_window_lut(result)
# 2/3. End-to-end invariants
check_nco_invariants(result)
9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_moving.csv
+271 -271
View File
@@ -1055,22 +1055,22 @@ range_bin,doppler_bin,out_i,out_q
21,45,-1,2
21,46,1,0
21,47,0,2
22,0,-3,-1
22,0,-2,-1
22,1,1,1
22,2,0,-3
22,3,0,0
22,4,-1,0
22,5,1,0
22,6,-3,-3
22,7,0,1
22,8,1,-1
22,2,-1,-2
22,3,1,1
22,4,-1,-1
22,5,1,1
22,6,-2,-2
22,7,1,1
22,8,0,-1
22,9,1,1
22,10,-2,1
22,11,2,2
22,12,-1,-2
22,13,1,2
22,14,1,1
22,15,2,1
22,10,-1,0
22,11,1,1
22,12,-1,-1
22,13,1,1
22,14,0,0
22,15,1,1
22,16,0,-1
22,17,0,-1
22,18,-1,-1
@@ -3935,38 +3935,38 @@ range_bin,doppler_bin,out_i,out_q
81,45,1,0
81,46,1,2
81,47,3,3
82,0,-4,-4
82,1,2,0
82,2,-7,2
82,3,7,-5
82,4,-4,0
82,5,0,-1
82,6,1,1
82,7,0,1
82,8,0,0
82,9,2,0
82,10,-3,0
82,11,3,1
82,12,0,0
82,13,0,1
82,14,1,1
82,15,2,3
82,16,-3,-5
82,17,-3,-2
82,18,-2,3
82,19,6,-6
82,20,-5,0
82,21,2,1
82,22,1,0
82,23,-3,0
82,24,-1,1
82,25,1,0
82,26,0,-1
82,27,2,0
82,28,1,0
82,29,0,1
82,30,1,2
82,31,3,6
82,0,-4,-3
82,1,1,-1
82,2,-6,2
82,3,7,-4
82,4,-4,-1
82,5,1,0
82,6,0,1
82,7,0,0
82,8,0,1
82,9,1,-1
82,10,-2,0
82,11,3,2
82,12,0,-1
82,13,1,2
82,14,0,1
82,15,2,2
82,16,-3,-4
82,17,-2,-2
82,18,-3,2
82,19,6,-5
82,20,-4,0
82,21,1,0
82,22,1,1
82,23,-2,0
82,24,-1,0
82,25,0,0
82,26,1,0
82,27,2,-1
82,28,0,0
82,29,1,2
82,30,1,1
82,31,2,6
82,32,-5,-3
82,33,-2,-3
82,34,0,4
@@ -3983,54 +3983,54 @@ range_bin,doppler_bin,out_i,out_q
82,45,1,1
82,46,1,3
82,47,4,5
83,0,-5,-6
83,1,1,-6
83,2,-22,13
83,3,43,-8
83,4,-18,-2
83,5,4,-1
83,6,-2,1
83,7,-1,1
83,8,-1,0
83,9,-1,-2
83,10,-2,-1
83,11,3,0
83,12,0,-4
83,13,0,5
83,14,2,-1
83,15,-1,11
83,16,-7,-8
83,17,1,-3
83,18,-18,15
83,19,38,-27
83,20,-20,6
83,21,0,-4
83,22,-1,1
83,23,1,1
83,24,-1,0
83,25,-1,1
83,26,2,1
83,27,-2,-1
83,28,4,2
83,29,0,2
83,30,1,7
83,31,3,7
83,32,-7,-6
83,0,-6,-6
83,1,3,-6
83,2,-23,10
83,3,40,-8
83,4,-18,-1
83,5,3,-2
83,6,-3,2
83,7,-1,2
83,8,-2,2
83,9,1,0
83,10,-1,-2
83,11,2,0
83,12,2,-3
83,13,1,4
83,14,3,-2
83,15,-1,10
83,16,-8,-6
83,17,1,-4
83,18,-16,16
83,19,35,-24
83,20,-22,7
83,21,1,-4
83,22,0,0
83,23,2,2
83,24,0,2
83,25,1,0
83,26,4,0
83,27,-3,0
83,28,2,1
83,29,1,0
83,30,0,4
83,31,2,6
83,32,-6,-5
83,33,-1,-9
83,34,1,29
83,35,12,-43
83,36,-10,14
83,37,-1,-3
83,38,2,0
83,39,-1,-2
83,40,-1,2
83,34,-1,27
83,35,9,-38
83,36,-7,15
83,37,0,-3
83,38,1,1
83,39,2,-2
83,40,-2,1
83,41,1,3
83,42,-1,-1
83,43,4,1
83,44,-2,2
83,45,1,5
83,46,2,0
83,47,1,8
83,43,5,0
83,44,-1,1
83,45,0,1
83,46,1,1
83,47,0,8
84,0,-2,-4
84,1,0,0
84,2,-3,1
@@ -4047,38 +4047,38 @@ range_bin,doppler_bin,out_i,out_q
84,13,0,0
84,14,0,1
84,15,3,5
84,16,-4,-2
84,16,-4,-1
84,17,1,-4
84,18,-6,4
84,19,6,-7
84,20,-3,2
84,18,-5,4
84,19,5,-6
84,20,-3,1
84,21,0,-2
84,22,0,1
84,23,2,0
84,24,-2,-2
84,22,-1,1
84,23,3,-1
84,24,-2,-1
84,25,1,2
84,26,0,0
84,27,4,-1
84,28,-3,2
84,26,1,0
84,27,3,0
84,28,-3,1
84,29,2,0
84,30,2,3
84,31,0,4
84,32,-2,-4
84,33,-3,-3
84,34,0,3
84,35,0,-9
84,36,-2,1
84,37,0,1
84,38,3,-3
84,39,-1,-1
84,40,0,2
84,41,3,-1
84,42,0,-1
84,43,2,3
84,44,0,1
84,45,0,3
84,46,1,1
84,47,-1,7
84,30,1,3
84,31,1,3
84,32,-2,-3
84,33,-2,-3
84,34,-1,3
84,35,-1,-8
84,36,-1,1
84,37,0,0
84,38,2,-2
84,39,0,0
84,40,0,1
84,41,2,-1
84,42,1,-1
84,43,3,2
84,44,-1,1
84,45,0,4
84,46,2,0
84,47,-2,6
85,0,-2,-2
85,1,-1,-1
85,2,-1,1
@@ -5903,21 +5903,21 @@ range_bin,doppler_bin,out_i,out_q
122,45,-1,0
122,46,0,1
122,47,2,2
123,0,-1,-2
123,1,-2,-1
123,2,-1,-2
123,0,-2,-2
123,1,-1,-1
123,2,-1,-1
123,3,2,0
123,4,0,-2
123,5,-2,0
123,6,0,2
123,4,1,-2
123,5,-3,0
123,6,0,1
123,7,0,-1
123,8,1,-2
123,9,-2,3
123,10,1,-2
123,8,0,-2
123,9,-1,3
123,10,1,-1
123,11,0,2
123,12,0,-2
123,13,2,2
123,14,0,2
123,12,1,-2
123,13,1,2
123,14,0,1
123,15,2,3
123,16,-3,-2
123,17,1,0
@@ -8224,21 +8224,21 @@ range_bin,doppler_bin,out_i,out_q
171,14,3,1
171,15,0,2
171,16,0,-2
171,17,-2,0
171,17,-1,1
171,18,0,0
171,19,0,-1
171,19,1,-1
171,20,-2,0
171,21,2,1
171,21,1,0
171,22,0,0
171,23,0,-2
171,23,-1,-2
171,24,0,2
171,25,0,-2
171,25,1,-1
171,26,0,0
171,27,-2,1
171,27,-1,1
171,28,2,0
171,29,0,1
171,29,-1,0
171,30,0,0
171,31,2,2
171,31,1,2
171,32,-2,0
171,33,0,-1
171,34,0,0
@@ -11728,20 +11728,20 @@ range_bin,doppler_bin,out_i,out_q
244,14,2,1
244,15,1,3
244,16,-3,-1
244,17,-1,-1
244,18,-1,-3
244,17,0,-1
244,18,-1,-2
244,19,-1,1
244,20,-1,0
244,21,1,-2
244,22,-1,-1
244,21,0,-2
244,22,-1,-2
244,23,0,-1
244,24,1,1
244,25,1,-1
244,26,-1,1
244,25,2,-1
244,26,-1,2
244,27,3,1
244,28,-1,0
244,29,3,0
244,30,-1,3
244,29,2,0
244,30,-1,2
244,31,2,3
244,32,-2,0
244,33,0,-1
@@ -11887,22 +11887,22 @@ range_bin,doppler_bin,out_i,out_q
247,29,1,0
247,30,0,0
247,31,0,2
247,32,-2,0
247,33,-2,-4
247,34,0,1
247,35,-2,-4
247,36,2,0
247,37,0,1
247,38,0,-1
247,39,1,2
247,40,-2,0
247,41,2,-2
247,42,0,1
247,43,0,-2
247,44,2,0
247,45,0,5
247,46,0,-1
247,47,1,4
247,32,-1,0
247,33,-2,-3
247,34,0,0
247,35,-1,-3
247,36,1,0
247,37,0,0
247,38,0,0
247,39,0,1
247,40,-1,0
247,41,2,-1
247,42,0,0
247,43,1,-1
247,44,1,0
247,45,0,4
247,46,0,0
247,47,0,3
248,0,-3,-1
248,1,-1,-1
248,2,0,0
@@ -13679,22 +13679,22 @@ range_bin,doppler_bin,out_i,out_q
284,45,0,0
284,46,0,0
284,47,0,0
285,0,-5,-1
285,1,1,-2
285,2,-1,0
285,3,-1,-3
285,4,0,0
285,5,1,2
285,6,0,-2
285,7,3,3
285,8,-3,-1
285,9,1,-2
285,10,1,2
285,11,-1,-3
285,12,0,2
285,13,1,2
285,14,0,0
285,15,3,3
285,0,-4,-1
285,1,0,-1
285,2,-1,-1
285,3,0,-3
285,4,-1,0
285,5,2,1
285,6,0,-1
285,7,2,3
285,8,-2,-1
285,9,0,-1
285,10,1,1
285,11,0,-3
285,12,-1,2
285,13,2,1
285,14,0,1
285,15,2,3
285,16,-1,-3
285,17,-1,1
285,18,0,0
@@ -19887,22 +19887,22 @@ range_bin,doppler_bin,out_i,out_q
414,13,1,1
414,14,1,0
414,15,1,3
414,16,0,-6
414,17,-3,1
414,18,-1,1
414,19,0,-3
414,20,0,2
414,21,-1,-3
414,22,1,0
414,23,-1,2
414,24,0,-2
414,25,1,1
414,26,-1,1
414,27,2,-1
414,28,0,2
414,29,-1,-3
414,30,1,2
414,31,3,6
414,16,0,-5
414,17,-3,0
414,18,0,1
414,19,0,-2
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414,24,0,-1
414,25,1,0
414,26,0,1
414,27,2,0
414,28,0,1
414,29,-1,-2
414,30,0,2
414,31,3,5
414,32,-1,-2
414,33,-1,-1
414,34,-1,-1
@@ -20336,21 +20336,21 @@ range_bin,doppler_bin,out_i,out_q
423,30,0,1
423,31,1,2
423,32,0,-2
423,33,-2,-2
423,34,-1,1
423,35,2,-2
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423,38,2,0
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423,35,1,-2
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423,37,-1,1
423,38,1,-1
423,39,-1,-1
423,40,0,0
423,41,2,2
423,42,-1,-1
423,43,-2,0
423,44,1,2
423,45,2,-1
423,46,0,0
423,47,1,4
423,41,2,1
423,42,-1,0
423,43,-1,0
423,44,1,1
423,45,1,-1
423,46,1,1
423,47,1,3
424,0,-2,-2
424,1,-1,-1
424,2,-1,-1
@@ -21039,22 +21039,22 @@ range_bin,doppler_bin,out_i,out_q
438,13,0,1
438,14,1,1
438,15,0,2
438,16,-2,-3
438,17,-1,-1
438,18,0,1
438,19,2,-4
438,20,-2,2
438,16,-2,-2
438,17,0,-1
438,18,-1,0
438,19,1,-3
438,20,-1,2
438,21,0,-1
438,22,2,-2
438,23,-4,1
438,24,2,1
438,25,1,-1
438,26,-2,-1
438,27,0,2
438,28,2,0
438,22,1,-1
438,23,-3,2
438,24,2,0
438,25,0,-1
438,26,-1,0
438,27,1,1
438,28,1,0
438,29,0,-1
438,30,0,2
438,31,2,5
438,30,1,1
438,31,1,4
438,32,-2,-3
438,33,-1,0
438,34,0,1
@@ -22976,20 +22976,20 @@ range_bin,doppler_bin,out_i,out_q
478,30,0,0
478,31,1,1
478,32,0,-1
478,33,-1,0
478,34,-1,-2
478,33,0,0
478,34,-1,-1
478,35,0,0
478,36,-1,0
478,37,1,-1
478,38,-1,1
478,37,0,-1
478,38,-1,0
478,39,0,-1
478,40,0,1
478,41,-1,0
478,42,1,0
478,41,0,0
478,42,1,1
478,43,0,0
478,44,1,0
478,45,1,1
478,46,1,1
478,45,0,1
478,46,1,0
478,47,0,1
479,0,-3,-1
479,1,-1,-2
@@ -23424,21 +23424,21 @@ range_bin,doppler_bin,out_i,out_q
487,46,-2,0
487,47,4,3
488,0,0,-2
488,1,0,1
488,2,-1,-2
488,3,1,2
488,1,0,0
488,2,-1,-1
488,3,0,1
488,4,0,0
488,5,0,-1
488,6,1,0
488,7,-1,2
488,5,0,0
488,6,1,-1
488,7,0,3
488,8,0,-2
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488,11,1,2
488,9,0,0
488,10,-1,-1
488,11,0,1
488,12,0,0
488,13,0,-1
488,14,1,0
488,15,-1,2
488,13,0,0
488,14,1,-1
488,15,0,3
488,16,0,-1
488,17,-1,-1
488,18,-1,-1
@@ -23520,21 +23520,21 @@ range_bin,doppler_bin,out_i,out_q
489,46,2,0
489,47,0,2
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490,3,-1,1
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490,2,0,0
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490,5,1,-3
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490,7,0,-1
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490,10,0,1
490,11,3,1
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490,12,0,0
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490,14,1,3
490,15,2,3
490,13,0,0
490,14,1,2
490,15,3,4
490,16,-1,-3
490,17,-2,-2
490,18,-2,0
@@ -24495,22 +24495,22 @@ range_bin,doppler_bin,out_i,out_q
510,13,1,0
510,14,0,1
510,15,2,2
510,16,-2,-5
510,17,-1,3
510,18,1,-3
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510,20,1,2
510,21,0,-2
510,22,-2,-3
510,23,0,1
510,24,2,-1
510,25,1,1
510,26,-1,1
510,27,4,1
510,28,-1,0
510,29,0,2
510,30,2,1
510,31,0,5
510,16,-1,-5
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510,18,0,-2
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510,20,1,1
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510,23,1,0
510,24,1,-1
510,25,1,2
510,26,0,0
510,27,3,1
510,28,-1,1
510,29,1,1
510,30,1,0
510,31,-1,6
510,32,-3,-1
510,33,0,-2
510,34,-2,0
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1057 21 47 0 2
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3957 82 19 6 -6 -5
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9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_moving.hex
+252 -252
View File
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0000FFFF
FFFF0002
00000000
FFFF0001
00000001
00040000
00000000
00030000
FFFFFFFD
FFFFFFFF
00000000
@@ -13679,22 +13679,22 @@ FFFF0001
00000000
00000000
00000000
FFFFFFFB
FFFE0001
FFFFFFFC
FFFF0000
FFFFFFFF
FFFD0000
0000FFFF
FFFDFFFF
00000000
00020001
FFFE0000
00030003
FFFFFFFD
FFFE0001
00020001
FFFDFFFF
00020000
00020001
00000000
00030003
00010002
FFFF0000
00030002
FFFFFFFE
FFFF0000
00010001
FFFD0000
0002FFFF
00010002
00010000
00030002
FFFDFFFF
0001FFFF
00000000
@@ -19887,22 +19887,22 @@ FFFF0002
00010001
00000001
00030001
FFFA0000
0001FFFD
0001FFFF
FFFD0000
00020000
FFFDFFFF
00000001
0002FFFF
FFFB0000
0000FFFD
00010000
FFFE0000
00010001
00010000
FFFEFFFF
00000000
0001FFFF
FFFF0002
FFFF0000
00000001
00010000
00000002
00010000
FFFEFFFF
00020000
FFFDFFFF
00020001
00060003
00050003
FFFEFFFF
FFFFFFFF
FFFFFFFF
@@ -20336,21 +20336,21 @@ FFFF0001
00010000
00020001
FFFE0000
FFFEFFFE
0001FFFF
FFFE0002
FFFFFFFE
0000FFFF
0001FFFE
00000002
FFFEFFFF
00000000
00020002
FFFE0001
0001FFFF
0001FFFF
FFFF0001
FFFFFFFF
0000FFFE
00020001
FFFF0002
00000000
00040001
00010002
0000FFFF
0000FFFF
00010001
FFFF0001
00010001
00030001
FFFEFFFE
FFFFFFFF
FFFFFFFF
@@ -21039,22 +21039,22 @@ FFFF0000
00010000
00010001
00020000
FFFDFFFE
FFFFFFFF
00010000
FFFC0002
0002FFFE
FFFEFFFE
FFFF0000
0000FFFF
FFFD0001
0002FFFF
FFFF0000
FFFE0002
0001FFFC
00010002
FFFF0001
FFFFFFFE
00020000
0002FFFD
00000002
FFFF0000
00020000
00050002
0000FFFF
00010001
00000001
FFFF0000
00010001
00040001
FFFDFFFE
0000FFFF
00010000
@@ -22976,20 +22976,20 @@ FFFF0000
00000000
00010001
FFFF0000
0000FFFF
FFFEFFFF
00000000
FFFFFFFF
00000000
0000FFFF
FFFF0001
0001FFFF
FFFF0000
0000FFFF
FFFF0000
00010000
0000FFFF
00000001
00000000
00010001
00000000
00000001
00010001
00010001
00010000
00000001
00010000
FFFFFFFD
FFFEFFFF
@@ -23424,21 +23424,21 @@ FFFF0003
0000FFFE
00030004
FFFE0000
00010000
FFFEFFFF
00020001
00000000
FFFF0000
00000001
0002FFFF
FFFFFFFF
00010000
00000000
00000000
FFFF0001
00030000
FFFE0000
00010000
FFFEFFFF
00020001
00000000
FFFF0000
00000001
0002FFFF
FFFFFFFF
00010000
00000000
00000000
FFFF0001
00030000
FFFF0000
FFFFFFFF
FFFFFFFF
@@ -23520,21 +23520,21 @@ FFFF0000
00000002
00020000
FFFEFFFE
FFFFFFFC
FFFF0000
0001FFFF
FFFEFFFD
00000000
FFFD0001
0001FFFF
FFFF0000
0000FFFE
00000000
FFFE0000
0000FFFF
00000001
FFFE0002
0001FFFE
00010000
00010003
0000FFFF
00020000
00000002
00000000
FFFF0001
00030001
00030002
00000000
00020001
00040003
FFFDFFFF
FFFEFFFE
0000FFFE
@@ -24495,22 +24495,22 @@ FFFF0000
00000001
00010000
00020002
FFFBFFFE
0003FFFF
FFFD0001
FFFDFFFC
00020001
FFFBFFFF
0002FFFF
FFFE0000
FFFDFFFE
00010000
FFFF0002
FFFDFFFD
00010001
FFFFFFFF
FFFEFFFF
00000001
FFFF0001
00020001
00000000
00010003
0001FFFF
00010004
0000FFFF
00020000
00010002
00050000
00010001
00000001
0006FFFF
FFFFFFFD
FFFE0000
0000FFFE
9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_stationary.csv
+226 -226
View File
@@ -1055,22 +1055,22 @@ range_bin,doppler_bin,out_i,out_q
21,45,-1,2
21,46,1,0
21,47,0,2
22,0,-3,-1
22,0,-2,-1
22,1,1,1
22,2,0,-3
22,3,0,0
22,4,-1,0
22,5,1,0
22,6,-3,-3
22,7,0,1
22,8,1,-1
22,2,-1,-2
22,3,1,1
22,4,-1,-1
22,5,1,1
22,6,-2,-2
22,7,1,1
22,8,0,-1
22,9,1,1
22,10,-2,1
22,11,2,2
22,12,-1,-2
22,13,1,2
22,14,1,1
22,15,2,1
22,10,-1,0
22,11,1,1
22,12,-1,-1
22,13,1,1
22,14,0,0
22,15,1,1
22,16,0,-1
22,17,0,-1
22,18,-1,-1
@@ -3983,54 +3983,54 @@ range_bin,doppler_bin,out_i,out_q
82,45,0,1
82,46,0,0
82,47,-1,6
83,0,41,0
83,1,-26,-12
83,2,1,-2
83,3,0,0
83,4,3,0
83,5,0,-1
83,6,-2,-2
83,7,-1,-1
83,8,1,0
83,9,0,0
83,10,-1,2
83,11,0,0
83,12,3,0
83,13,2,1
83,14,2,2
83,15,-23,13
83,16,40,-1
83,17,-28,-11
83,18,1,-1
83,19,0,-2
83,20,2,0
83,21,0,-2
83,22,0,-1
83,23,1,-2
83,24,0,-1
83,25,0,3
83,26,1,1
83,0,34,0
83,1,-23,-12
83,2,4,-1
83,3,-2,-2
83,4,2,0
83,5,0,-3
83,6,-1,-1
83,7,-2,0
83,8,2,0
83,9,-1,0
83,10,0,1
83,11,0,2
83,12,2,0
83,13,0,3
83,14,5,1
83,15,-20,12
83,16,35,-1
83,17,-26,-10
83,18,4,-2
83,19,-2,-2
83,20,2,1
83,21,-1,-2
83,22,1,-2
83,23,2,-1
83,24,-3,-1
83,25,2,2
83,26,2,2
83,27,-2,0
83,28,2,2
83,29,4,2
83,30,2,1
83,31,-23,12
83,32,40,0
83,33,-24,-13
83,34,2,-1
83,35,2,0
83,36,1,0
83,37,1,-1
83,38,1,-1
83,39,1,-2
83,28,2,1
83,29,1,2
83,30,5,2
83,31,-22,11
83,32,32,0
83,33,-23,-12
83,34,2,0
83,35,-2,-2
83,36,1,1
83,37,0,-1
83,38,2,0
83,39,2,-3
83,40,-2,0
83,41,2,1
83,42,2,1
83,43,2,0
83,44,1,0
83,45,5,1
83,46,3,1
83,47,-21,14
83,41,3,2
83,42,2,0
83,43,0,0
83,44,1,-1
83,45,0,3
83,46,2,0
83,47,-20,13
84,0,1,0
84,1,-4,-4
84,2,1,0
@@ -4064,21 +4064,21 @@ range_bin,doppler_bin,out_i,out_q
84,30,1,1
84,31,-2,6
84,32,0,-1
84,33,-5,-5
84,34,-2,1
84,35,0,-5
84,36,0,-1
84,37,0,1
84,38,0,0
84,39,2,-2
84,33,-4,-4
84,34,-1,0
84,35,-1,-5
84,36,0,0
84,37,1,1
84,38,-1,-1
84,39,2,-1
84,40,0,1
84,41,1,1
84,42,2,-1
84,43,2,1
84,44,0,1
84,45,4,3
84,46,0,0
84,47,-4,6
84,41,0,0
84,42,1,0
84,43,3,1
84,44,0,0
84,45,3,3
84,46,1,1
84,47,-4,5
85,0,0,0
85,1,-2,-2
85,2,0,0
@@ -5903,21 +5903,21 @@ range_bin,doppler_bin,out_i,out_q
122,45,-1,0
122,46,0,1
122,47,2,2
123,0,-1,-2
123,1,-2,-1
123,2,-1,-2
123,0,-2,-2
123,1,-1,-1
123,2,-1,-1
123,3,2,0
123,4,0,-2
123,5,-2,0
123,6,0,2
123,4,1,-2
123,5,-3,0
123,6,0,1
123,7,0,-1
123,8,1,-2
123,9,-2,3
123,10,1,-2
123,8,0,-2
123,9,-1,3
123,10,1,-1
123,11,0,2
123,12,0,-2
123,13,2,2
123,14,0,2
123,12,1,-2
123,13,1,2
123,14,0,1
123,15,2,3
123,16,-3,-2
123,17,1,0
@@ -8224,21 +8224,21 @@ range_bin,doppler_bin,out_i,out_q
171,14,3,1
171,15,0,2
171,16,0,-2
171,17,-2,0
171,17,-1,1
171,18,0,0
171,19,0,-1
171,19,1,-1
171,20,-2,0
171,21,2,1
171,21,1,0
171,22,0,0
171,23,0,-2
171,23,-1,-2
171,24,0,2
171,25,0,-2
171,25,1,-1
171,26,0,0
171,27,-2,1
171,27,-1,1
171,28,2,0
171,29,0,1
171,29,-1,0
171,30,0,0
171,31,2,2
171,31,1,2
171,32,-2,0
171,33,0,-1
171,34,0,0
@@ -11728,20 +11728,20 @@ range_bin,doppler_bin,out_i,out_q
244,14,2,1
244,15,1,3
244,16,-3,-1
244,17,-1,-1
244,18,-1,-3
244,17,0,-1
244,18,-1,-2
244,19,-1,1
244,20,-1,0
244,21,1,-2
244,22,-1,-1
244,21,0,-2
244,22,-1,-2
244,23,0,-1
244,24,1,1
244,25,1,-1
244,26,-1,1
244,25,2,-1
244,26,-1,2
244,27,3,1
244,28,-1,0
244,29,3,0
244,30,-1,3
244,29,2,0
244,30,-1,2
244,31,2,3
244,32,-2,0
244,33,0,-1
@@ -11887,22 +11887,22 @@ range_bin,doppler_bin,out_i,out_q
247,29,1,0
247,30,0,0
247,31,0,2
247,32,-2,0
247,33,-2,-4
247,34,0,1
247,35,-2,-4
247,36,2,0
247,37,0,1
247,38,0,-1
247,39,1,2
247,40,-2,0
247,41,2,-2
247,42,0,1
247,43,0,-2
247,44,2,0
247,45,0,5
247,46,0,-1
247,47,1,4
247,32,-1,0
247,33,-2,-3
247,34,0,0
247,35,-1,-3
247,36,1,0
247,37,0,0
247,38,0,0
247,39,0,1
247,40,-1,0
247,41,2,-1
247,42,0,0
247,43,1,-1
247,44,1,0
247,45,0,4
247,46,0,0
247,47,0,3
248,0,-3,-1
248,1,-1,-1
248,2,0,0
@@ -13679,22 +13679,22 @@ range_bin,doppler_bin,out_i,out_q
284,45,0,0
284,46,0,0
284,47,0,0
285,0,-5,-1
285,1,1,-2
285,2,-1,0
285,3,-1,-3
285,4,0,0
285,5,1,2
285,6,0,-2
285,7,3,3
285,8,-3,-1
285,9,1,-2
285,10,1,2
285,11,-1,-3
285,12,0,2
285,13,1,2
285,14,0,0
285,15,3,3
285,0,-4,-1
285,1,0,-1
285,2,-1,-1
285,3,0,-3
285,4,-1,0
285,5,2,1
285,6,0,-1
285,7,2,3
285,8,-2,-1
285,9,0,-1
285,10,1,1
285,11,0,-3
285,12,-1,2
285,13,2,1
285,14,0,1
285,15,2,3
285,16,-1,-3
285,17,-1,1
285,18,0,0
@@ -19887,22 +19887,22 @@ range_bin,doppler_bin,out_i,out_q
414,13,1,1
414,14,1,0
414,15,1,3
414,16,0,-6
414,17,-3,1
414,18,-1,1
414,19,0,-3
414,20,0,2
414,21,-1,-3
414,22,1,0
414,23,-1,2
414,24,0,-2
414,25,1,1
414,26,-1,1
414,27,2,-1
414,28,0,2
414,29,-1,-3
414,30,1,2
414,31,3,6
414,16,0,-5
414,17,-3,0
414,18,0,1
414,19,0,-2
414,20,0,1
414,21,-1,-2
414,22,0,0
414,23,-1,1
414,24,0,-1
414,25,1,0
414,26,0,1
414,27,2,0
414,28,0,1
414,29,-1,-2
414,30,0,2
414,31,3,5
414,32,-1,-2
414,33,-1,-1
414,34,-1,-1
@@ -20336,21 +20336,21 @@ range_bin,doppler_bin,out_i,out_q
423,30,0,1
423,31,1,2
423,32,0,-2
423,33,-2,-2
423,34,-1,1
423,35,2,-2
423,36,-1,0
423,37,-2,1
423,38,2,0
423,39,-1,-2
423,33,-2,-1
423,34,-1,0
423,35,1,-2
423,36,-1,1
423,37,-1,1
423,38,1,-1
423,39,-1,-1
423,40,0,0
423,41,2,2
423,42,-1,-1
423,43,-2,0
423,44,1,2
423,45,2,-1
423,46,0,0
423,47,1,4
423,41,2,1
423,42,-1,0
423,43,-1,0
423,44,1,1
423,45,1,-1
423,46,1,1
423,47,1,3
424,0,-2,-2
424,1,-1,-1
424,2,-1,-1
@@ -21039,22 +21039,22 @@ range_bin,doppler_bin,out_i,out_q
438,13,0,1
438,14,1,1
438,15,0,2
438,16,-2,-3
438,17,-1,-1
438,18,0,1
438,19,2,-4
438,20,-2,2
438,16,-2,-2
438,17,0,-1
438,18,-1,0
438,19,1,-3
438,20,-1,2
438,21,0,-1
438,22,2,-2
438,23,-4,1
438,24,2,1
438,25,1,-1
438,26,-2,-1
438,27,0,2
438,28,2,0
438,22,1,-1
438,23,-3,2
438,24,2,0
438,25,0,-1
438,26,-1,0
438,27,1,1
438,28,1,0
438,29,0,-1
438,30,0,2
438,31,2,5
438,30,1,1
438,31,1,4
438,32,-2,-3
438,33,-1,0
438,34,0,1
@@ -22976,20 +22976,20 @@ range_bin,doppler_bin,out_i,out_q
478,30,0,0
478,31,1,1
478,32,0,-1
478,33,-1,0
478,34,-1,-2
478,33,0,0
478,34,-1,-1
478,35,0,0
478,36,-1,0
478,37,1,-1
478,38,-1,1
478,37,0,-1
478,38,-1,0
478,39,0,-1
478,40,0,1
478,41,-1,0
478,42,1,0
478,41,0,0
478,42,1,1
478,43,0,0
478,44,1,0
478,45,1,1
478,46,1,1
478,45,0,1
478,46,1,0
478,47,0,1
479,0,-3,-1
479,1,-1,-2
@@ -23424,21 +23424,21 @@ range_bin,doppler_bin,out_i,out_q
487,46,-2,0
487,47,4,3
488,0,0,-2
488,1,0,1
488,2,-1,-2
488,3,1,2
488,1,0,0
488,2,-1,-1
488,3,0,1
488,4,0,0
488,5,0,-1
488,6,1,0
488,7,-1,2
488,5,0,0
488,6,1,-1
488,7,0,3
488,8,0,-2
488,9,0,1
488,10,-1,-2
488,11,1,2
488,9,0,0
488,10,-1,-1
488,11,0,1
488,12,0,0
488,13,0,-1
488,14,1,0
488,15,-1,2
488,13,0,0
488,14,1,-1
488,15,0,3
488,16,0,-1
488,17,-1,-1
488,18,-1,-1
@@ -23520,21 +23520,21 @@ range_bin,doppler_bin,out_i,out_q
489,46,2,0
489,47,0,2
490,0,-2,-2
490,1,-4,-1
490,2,0,-1
490,3,-1,1
490,1,-3,-2
490,2,0,0
490,3,-2,0
490,4,0,0
490,5,1,-3
490,6,-1,1
490,7,0,-1
490,5,0,-2
490,6,-1,0
490,7,1,0
490,8,2,-2
490,9,-2,1
490,10,0,1
490,11,3,1
490,9,-1,0
490,10,0,2
490,11,2,0
490,12,0,0
490,13,1,-1
490,14,1,3
490,15,2,3
490,13,0,0
490,14,1,2
490,15,3,4
490,16,-1,-3
490,17,-2,-2
490,18,-2,0
@@ -24495,22 +24495,22 @@ range_bin,doppler_bin,out_i,out_q
510,13,1,0
510,14,0,1
510,15,2,2
510,16,-2,-5
510,17,-1,3
510,18,1,-3
510,19,-4,-3
510,20,1,2
510,21,0,-2
510,22,-2,-3
510,23,0,1
510,24,2,-1
510,25,1,1
510,26,-1,1
510,27,4,1
510,28,-1,0
510,29,0,2
510,30,2,1
510,31,0,5
510,16,-1,-5
510,17,-1,2
510,18,0,-2
510,19,-3,-3
510,20,1,1
510,21,-1,-1
510,22,-1,-2
510,23,1,0
510,24,1,-1
510,25,1,2
510,26,0,0
510,27,3,1
510,28,-1,1
510,29,1,1
510,30,1,0
510,31,-1,6
510,32,-3,-1
510,33,0,-2
510,34,-2,0
1 range_bin doppler_bin out_i out_q
1055 21 45 -1 2
1056 21 46 1 0
1057 21 47 0 2
1058 22 0 -3 -2 -1
1059 22 1 1 1
1060 22 2 0 -1 -3 -2
1061 22 3 0 1 0 1
1062 22 4 -1 0 -1
1063 22 5 1 0 1
1064 22 6 -3 -2 -3 -2
1065 22 7 0 1 1
1066 22 8 1 0 -1
1067 22 9 1 1
1068 22 10 -2 -1 1 0
1069 22 11 2 1 2 1
1070 22 12 -1 -2 -1
1071 22 13 1 2 1
1072 22 14 1 0 1 0
1073 22 15 2 1 1
1074 22 16 0 -1
1075 22 17 0 -1
1076 22 18 -1 -1
3983 82 45 0 1
3984 82 46 0 0
3985 82 47 -1 6
3986 83 0 41 34 0
3987 83 1 -26 -23 -12
3988 83 2 1 4 -2 -1
3989 83 3 0 -2 0 -2
3990 83 4 3 2 0
3991 83 5 0 -1 -3
3992 83 6 -2 -1 -2 -1
3993 83 7 -1 -2 -1 0
3994 83 8 1 2 0
3995 83 9 0 -1 0
3996 83 10 -1 0 2 1
3997 83 11 0 0 2
3998 83 12 3 2 0
3999 83 13 2 0 1 3
4000 83 14 2 5 2 1
4001 83 15 -23 -20 13 12
4002 83 16 40 35 -1
4003 83 17 -28 -26 -11 -10
4004 83 18 1 4 -1 -2
4005 83 19 0 -2 -2
4006 83 20 2 0 1
4007 83 21 0 -1 -2
4008 83 22 0 1 -1 -2
4009 83 23 1 2 -2 -1
4010 83 24 0 -3 -1
4011 83 25 0 2 3 2
4012 83 26 1 2 1 2
4013 83 27 -2 0
4014 83 28 2 2 1
4015 83 29 4 1 2
4016 83 30 2 5 1 2
4017 83 31 -23 -22 12 11
4018 83 32 40 32 0
4019 83 33 -24 -23 -13 -12
4020 83 34 2 -1 0
4021 83 35 2 -2 0 -2
4022 83 36 1 0 1
4023 83 37 1 0 -1
4024 83 38 1 2 -1 0
4025 83 39 1 2 -2 -3
4026 83 40 -2 0
4027 83 41 2 3 1 2
4028 83 42 2 1 0
4029 83 43 2 0 0
4030 83 44 1 0 -1
4031 83 45 5 0 1 3
4032 83 46 3 2 1 0
4033 83 47 -21 -20 14 13
4034 84 0 1 0
4035 84 1 -4 -4
4036 84 2 1 0
4064 84 30 1 1
4065 84 31 -2 6
4066 84 32 0 -1
4067 84 33 -5 -4 -5 -4
4068 84 34 -2 -1 1 0
4069 84 35 0 -1 -5
4070 84 36 0 -1 0
4071 84 37 0 1 1
4072 84 38 0 -1 0 -1
4073 84 39 2 -2 -1
4074 84 40 0 1
4075 84 41 1 0 1 0
4076 84 42 2 1 -1 0
4077 84 43 2 3 1
4078 84 44 0 1 0
4079 84 45 4 3 3
4080 84 46 0 1 0 1
4081 84 47 -4 6 5
4082 85 0 0 0
4083 85 1 -2 -2
4084 85 2 0 0
5903 122 45 -1 0
5904 122 46 0 1
5905 122 47 2 2
5906 123 0 -1 -2 -2
5907 123 1 -2 -1 -1
5908 123 2 -1 -2 -1
5909 123 3 2 0
5910 123 4 0 1 -2
5911 123 5 -2 -3 0
5912 123 6 0 2 1
5913 123 7 0 -1
5914 123 8 1 0 -2
5915 123 9 -2 -1 3
5916 123 10 1 -2 -1
5917 123 11 0 2
5918 123 12 0 1 -2
5919 123 13 2 1 2
5920 123 14 0 2 1
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51,20,-2,-2
51,21,2,0
51,22,-1,-2
51,23,5,0
51,24,-1,-2
51,25,-1,0
51,20,0,-2
51,21,1,-1
51,22,-3,-4
51,23,3,1
51,24,-1,-1
51,25,2,0
51,26,3,5
51,27,2,1
51,28,-2,-2
51,29,2,0
51,27,2,-1
51,28,0,-2
51,29,1,3
51,30,3,2
51,31,-3,6
51,32,-3,-7
51,33,-10,10
51,34,13,-15
51,35,-9,5
51,36,1,1
51,37,1,0
51,38,-1,0
51,39,3,-3
51,40,-3,1
51,41,2,0
51,42,-1,1
51,43,-1,-1
51,44,1,1
51,45,3,-2
51,46,1,2
51,47,3,7
52,0,-3,-5
51,31,-1,7
51,32,-4,-9
51,33,-8,10
51,34,12,-13
51,35,-9,4
51,36,2,1
51,37,-1,0
51,38,0,0
51,39,3,-2
51,40,-4,-1
51,41,4,0
51,42,-2,3
51,43,-1,-2
51,44,2,1
51,45,1,-2
51,46,2,2
51,47,3,8
52,0,-2,-6
52,1,-5,3
52,2,7,-2
52,3,-8,-2
52,4,0,1
52,5,3,0
52,6,-2,-4
52,7,-1,0
52,8,3,-1
52,9,-3,1
52,10,3,0
52,11,0,0
52,12,0,1
52,13,1,0
52,14,0,2
52,15,5,6
52,2,5,-1
52,3,-7,-2
52,4,0,2
52,5,2,-1
52,6,0,-3
52,7,-1,1
52,8,2,-2
52,9,-3,3
52,10,3,-1
52,11,-1,-2
52,12,0,2
52,13,2,-1
52,14,0,1
52,15,5,7
52,16,-4,-6
52,17,-4,2
52,18,4,-3
@@ -2528,21 +2528,21 @@ range_bin,doppler_bin,out_i,out_q
52,30,0,1
52,31,5,8
52,32,-3,-4
52,33,-2,7
52,34,4,-8
52,35,-6,0
52,36,1,1
52,37,-1,-2
52,38,1,2
52,39,0,-3
52,40,1,0
52,41,-2,-1
52,42,0,0
52,43,2,2
52,44,1,-1
52,45,1,0
52,46,3,2
52,47,0,5
52,33,-1,5
52,34,3,-6
52,35,-6,1
52,36,2,0
52,37,-3,-1
52,38,2,2
52,39,1,-4
52,40,-1,0
52,41,-1,-1
52,42,1,0
52,43,0,1
52,44,2,0
52,45,1,1
52,46,2,0
52,47,1,6
53,0,-1,-1
53,1,0,0
53,2,-1,-1
@@ -5903,21 +5903,21 @@ range_bin,doppler_bin,out_i,out_q
122,45,-1,0
122,46,0,1
122,47,2,2
123,0,-1,-2
123,1,-2,-1
123,2,-1,-2
123,0,-2,-2
123,1,-1,-1
123,2,-1,-1
123,3,2,0
123,4,0,-2
123,5,-2,0
123,6,0,2
123,4,1,-2
123,5,-3,0
123,6,0,1
123,7,0,-1
123,8,1,-2
123,9,-2,3
123,10,1,-2
123,8,0,-2
123,9,-1,3
123,10,1,-1
123,11,0,2
123,12,0,-2
123,13,2,2
123,14,0,2
123,12,1,-2
123,13,1,2
123,14,0,1
123,15,2,3
123,16,-3,-2
123,17,1,0
@@ -6383,54 +6383,54 @@ range_bin,doppler_bin,out_i,out_q
132,45,1,0
132,46,0,0
132,47,0,1
133,0,-4,-4
133,1,-3,-5
133,2,0,1
133,3,-2,-4
133,0,-3,-3
133,1,-3,-4
133,2,-1,0
133,3,-1,-2
133,4,0,0
133,5,3,0
133,6,0,-2
133,7,2,0
133,8,-2,2
133,9,3,1
133,10,0,-1
133,11,-4,0
133,12,6,2
133,5,3,-2
133,6,-1,-1
133,7,2,-1
133,8,-1,1
133,9,3,2
133,10,1,0
133,11,-3,0
133,12,4,2
133,13,-3,0
133,14,0,2
133,15,4,8
133,16,-4,-3
133,17,-1,-1
133,18,1,1
133,19,-4,-4
133,20,0,-1
133,21,1,1
133,22,1,-2
133,23,0,0
133,24,0,1
133,25,1,-1
133,26,-1,-1
133,27,0,2
133,28,4,3
133,29,-1,-3
133,30,-1,2
133,31,4,6
133,32,-2,-3
133,33,-3,-2
133,34,0,0
133,35,-1,1
133,36,0,-4
133,37,-1,-1
133,38,-2,-1
133,39,3,2
133,40,2,-1
133,41,-1,0
133,42,2,0
133,43,-3,-1
133,44,0,8
133,45,5,-5
133,46,0,1
133,47,1,6
133,14,1,1
133,15,2,7
133,16,-4,-2
133,17,0,-1
133,18,0,0
133,19,-4,-3
133,20,1,-1
133,21,0,0
133,22,0,-1
133,23,1,0
133,24,0,0
133,25,0,-1
133,26,0,0
133,27,0,1
133,28,3,3
133,29,0,-2
133,30,0,1
133,31,3,6
133,32,-3,-3
133,33,-2,-1
133,34,1,0
133,35,-2,1
133,36,0,-3
133,37,0,-1
133,38,-3,-2
133,39,3,3
133,40,3,-1
133,41,-2,-1
133,42,1,0
133,43,-2,-1
133,44,0,7
133,45,4,-5
133,46,1,2
133,47,1,5
134,0,-1,-2
134,1,-1,0
134,2,-2,-2
@@ -8224,21 +8224,21 @@ range_bin,doppler_bin,out_i,out_q
171,14,3,1
171,15,0,2
171,16,0,-2
171,17,-2,0
171,17,-1,1
171,18,0,0
171,19,0,-1
171,19,1,-1
171,20,-2,0
171,21,2,1
171,21,1,0
171,22,0,0
171,23,0,-2
171,23,-1,-2
171,24,0,2
171,25,0,-2
171,25,1,-1
171,26,0,0
171,27,-2,1
171,27,-1,1
171,28,2,0
171,29,0,1
171,29,-1,0
171,30,0,0
171,31,2,2
171,31,1,2
171,32,-2,0
171,33,0,-1
171,34,0,0
@@ -11728,20 +11728,20 @@ range_bin,doppler_bin,out_i,out_q
244,14,2,1
244,15,1,3
244,16,-3,-1
244,17,-1,-1
244,18,-1,-3
244,17,0,-1
244,18,-1,-2
244,19,-1,1
244,20,-1,0
244,21,1,-2
244,22,-1,-1
244,21,0,-2
244,22,-1,-2
244,23,0,-1
244,24,1,1
244,25,1,-1
244,26,-1,1
244,25,2,-1
244,26,-1,2
244,27,3,1
244,28,-1,0
244,29,3,0
244,30,-1,3
244,29,2,0
244,30,-1,2
244,31,2,3
244,32,-2,0
244,33,0,-1
@@ -11887,22 +11887,22 @@ range_bin,doppler_bin,out_i,out_q
247,29,1,0
247,30,0,0
247,31,0,2
247,32,-2,0
247,33,-2,-4
247,34,0,1
247,35,-2,-4
247,36,2,0
247,37,0,1
247,38,0,-1
247,39,1,2
247,40,-2,0
247,41,2,-2
247,42,0,1
247,43,0,-2
247,44,2,0
247,45,0,5
247,46,0,-1
247,47,1,4
247,32,-1,0
247,33,-2,-3
247,34,0,0
247,35,-1,-3
247,36,1,0
247,37,0,0
247,38,0,0
247,39,0,1
247,40,-1,0
247,41,2,-1
247,42,0,0
247,43,1,-1
247,44,1,0
247,45,0,4
247,46,0,0
247,47,0,3
248,0,-3,-1
248,1,-1,-1
248,2,0,0
@@ -13679,22 +13679,22 @@ range_bin,doppler_bin,out_i,out_q
284,45,0,0
284,46,0,0
284,47,0,0
285,0,-5,-1
285,1,1,-2
285,2,-1,0
285,3,-1,-3
285,4,0,0
285,5,1,2
285,6,0,-2
285,7,3,3
285,8,-3,-1
285,9,1,-2
285,10,1,2
285,11,-1,-3
285,12,0,2
285,13,1,2
285,14,0,0
285,15,3,3
285,0,-4,-1
285,1,0,-1
285,2,-1,-1
285,3,0,-3
285,4,-1,0
285,5,2,1
285,6,0,-1
285,7,2,3
285,8,-2,-1
285,9,0,-1
285,10,1,1
285,11,0,-3
285,12,-1,2
285,13,2,1
285,14,0,1
285,15,2,3
285,16,-1,-3
285,17,-1,1
285,18,0,0
@@ -19887,22 +19887,22 @@ range_bin,doppler_bin,out_i,out_q
414,13,1,1
414,14,1,0
414,15,1,3
414,16,0,-6
414,17,-3,1
414,18,-1,1
414,19,0,-3
414,20,0,2
414,21,-1,-3
414,22,1,0
414,23,-1,2
414,24,0,-2
414,25,1,1
414,26,-1,1
414,27,2,-1
414,28,0,2
414,29,-1,-3
414,30,1,2
414,31,3,6
414,16,0,-5
414,17,-3,0
414,18,0,1
414,19,0,-2
414,20,0,1
414,21,-1,-2
414,22,0,0
414,23,-1,1
414,24,0,-1
414,25,1,0
414,26,0,1
414,27,2,0
414,28,0,1
414,29,-1,-2
414,30,0,2
414,31,3,5
414,32,-1,-2
414,33,-1,-1
414,34,-1,-1
@@ -20336,21 +20336,21 @@ range_bin,doppler_bin,out_i,out_q
423,30,0,1
423,31,1,2
423,32,0,-2
423,33,-2,-2
423,34,-1,1
423,35,2,-2
423,36,-1,0
423,37,-2,1
423,38,2,0
423,39,-1,-2
423,33,-2,-1
423,34,-1,0
423,35,1,-2
423,36,-1,1
423,37,-1,1
423,38,1,-1
423,39,-1,-1
423,40,0,0
423,41,2,2
423,42,-1,-1
423,43,-2,0
423,44,1,2
423,45,2,-1
423,46,0,0
423,47,1,4
423,41,2,1
423,42,-1,0
423,43,-1,0
423,44,1,1
423,45,1,-1
423,46,1,1
423,47,1,3
424,0,-2,-2
424,1,-1,-1
424,2,-1,-1
@@ -21039,22 +21039,22 @@ range_bin,doppler_bin,out_i,out_q
438,13,0,1
438,14,1,1
438,15,0,2
438,16,-2,-3
438,17,-1,-1
438,18,0,1
438,19,2,-4
438,20,-2,2
438,16,-2,-2
438,17,0,-1
438,18,-1,0
438,19,1,-3
438,20,-1,2
438,21,0,-1
438,22,2,-2
438,23,-4,1
438,24,2,1
438,25,1,-1
438,26,-2,-1
438,27,0,2
438,28,2,0
438,22,1,-1
438,23,-3,2
438,24,2,0
438,25,0,-1
438,26,-1,0
438,27,1,1
438,28,1,0
438,29,0,-1
438,30,0,2
438,31,2,5
438,30,1,1
438,31,1,4
438,32,-2,-3
438,33,-1,0
438,34,0,1
@@ -22976,20 +22976,20 @@ range_bin,doppler_bin,out_i,out_q
478,30,0,0
478,31,1,1
478,32,0,-1
478,33,-1,0
478,34,-1,-2
478,33,0,0
478,34,-1,-1
478,35,0,0
478,36,-1,0
478,37,1,-1
478,38,-1,1
478,37,0,-1
478,38,-1,0
478,39,0,-1
478,40,0,1
478,41,-1,0
478,42,1,0
478,41,0,0
478,42,1,1
478,43,0,0
478,44,1,0
478,45,1,1
478,46,1,1
478,45,0,1
478,46,1,0
478,47,0,1
479,0,-3,-1
479,1,-1,-2
@@ -23424,21 +23424,21 @@ range_bin,doppler_bin,out_i,out_q
487,46,-2,0
487,47,4,3
488,0,0,-2
488,1,0,1
488,2,-1,-2
488,3,1,2
488,1,0,0
488,2,-1,-1
488,3,0,1
488,4,0,0
488,5,0,-1
488,6,1,0
488,7,-1,2
488,5,0,0
488,6,1,-1
488,7,0,3
488,8,0,-2
488,9,0,1
488,10,-1,-2
488,11,1,2
488,9,0,0
488,10,-1,-1
488,11,0,1
488,12,0,0
488,13,0,-1
488,14,1,0
488,15,-1,2
488,13,0,0
488,14,1,-1
488,15,0,3
488,16,0,-1
488,17,-1,-1
488,18,-1,-1
@@ -23520,21 +23520,21 @@ range_bin,doppler_bin,out_i,out_q
489,46,2,0
489,47,0,2
490,0,-2,-2
490,1,-4,-1
490,2,0,-1
490,3,-1,1
490,1,-3,-2
490,2,0,0
490,3,-2,0
490,4,0,0
490,5,1,-3
490,6,-1,1
490,7,0,-1
490,5,0,-2
490,6,-1,0
490,7,1,0
490,8,2,-2
490,9,-2,1
490,10,0,1
490,11,3,1
490,9,-1,0
490,10,0,2
490,11,2,0
490,12,0,0
490,13,1,-1
490,14,1,3
490,15,2,3
490,13,0,0
490,14,1,2
490,15,3,4
490,16,-1,-3
490,17,-2,-2
490,18,-2,0
@@ -24495,22 +24495,22 @@ range_bin,doppler_bin,out_i,out_q
510,13,1,0
510,14,0,1
510,15,2,2
510,16,-2,-5
510,17,-1,3
510,18,1,-3
510,19,-4,-3
510,20,1,2
510,21,0,-2
510,22,-2,-3
510,23,0,1
510,24,2,-1
510,25,1,1
510,26,-1,1
510,27,4,1
510,28,-1,0
510,29,0,2
510,30,2,1
510,31,0,5
510,16,-1,-5
510,17,-1,2
510,18,0,-2
510,19,-3,-3
510,20,1,1
510,21,-1,-1
510,22,-1,-2
510,23,1,0
510,24,1,-1
510,25,1,2
510,26,0,0
510,27,3,1
510,28,-1,1
510,29,1,1
510,30,1,0
510,31,-1,6
510,32,-3,-1
510,33,0,-2
510,34,-2,0
1 range_bin doppler_bin out_i out_q
1055 21 45 -1 2
1056 21 46 1 0
1057 21 47 0 2
1058 22 0 -3 -2 -1
1059 22 1 1 1
1060 22 2 0 -1 -3 -2
1061 22 3 0 1 0 1
1062 22 4 -1 0 -1
1063 22 5 1 0 1
1064 22 6 -3 -2 -3 -2
1065 22 7 0 1 1
1066 22 8 1 0 -1
1067 22 9 1 1
1068 22 10 -2 -1 1 0
1069 22 11 2 1 2 1
1070 22 12 -1 -2 -1
1071 22 13 1 2 1
1072 22 14 1 0 1 0
1073 22 15 2 1 1
1074 22 16 0 -1
1075 22 17 0 -1
1076 22 18 -1 -1
2303 47 45 1 0
2304 47 46 1 1
2305 47 47 2 2
2306 48 0 -4 -3 -2
2307 48 1 -4 2 1
2308 48 2 6 -3 -2
2309 48 3 -7 -6 -2
2310 48 4 -2 -1
2311 48 5 2 1 1
2312 48 6 2 -3 -2
2313 48 7 0 1 -2 -3
2314 48 8 2 1 0
2315 48 9 -2 0 1
2316 48 10 2 1 0
2317 48 11 1 0 4
2318 48 12 0 -1
2319 48 13 0 1 1
2320 48 14 2 1 0
2321 48 15 2 1 4 5
2322 48 16 -4 -3 -4 -5
2323 48 17 -5 -4 4
2324 48 18 5 3 -6 -5
2325 48 19 -6 -4 -1 -2
2326 48 20 0 -1
2327 48 21 1 -1 1
2328 48 22 0 2 -2 -1
2329 48 23 1 -1
2330 48 24 0 -1 0 -1
2331 48 25 1 2 0
2332 48 26 -1 0 -1
2333 48 27 2 5 4
2334 48 28 0 -3 -1
2335 48 29 3 3
2336 48 30 0 0 -1
2337 48 31 3 1 5 7
2338 48 32 -1 -2 -6
2339 48 33 -4 -3 7 6
2340 48 34 3 -7 -6
2341 48 35 -4 -5 2 1
2342 48 36 -1 0 -1
2343 48 37 2 1 0 1
2344 48 38 0 1 0
2345 48 39 2 3 -1 0
2346 48 40 -1 -2 -2
2347 48 41 -2 -1 1 0
2348 48 42 1 -1 0
2349 48 43 2 1 0 -1
2350 48 44 -1 0 1
2351 48 45 4 3 0 1
2352 48 46 0 -1 -2
2353 48 47 0 1 7 8
2354 49 0 -4 -3 -3 -4
2355 49 1 -13 -14 5
2356 49 2 22 20 -5 -4
2357 49 3 -12 -5 -3
2358 49 4 -3 -1 0
2359 49 5 0 1 0 -1
2360 49 6 0 -1 -2 -3
2361 49 7 3 2 0
2362 49 8 0 1 -1 0
2363 49 9 1 2 1
2364 49 10 2 3 2
2365 49 11 0 1 -1
2366 49 12 -1 0
2367 49 13 4 3 -2 -1
2368 49 14 0 -1 0 1
2369 49 15 1 2 8
2370 49 16 -5 -7 -6
2371 49 17 -11 -10 8
2372 49 18 16 15 -8
2373 49 19 -9 -1 0
2374 49 20 -1 -3
2375 49 21 0 2 1
2376 49 22 -2 -3 -4
2377 49 23 3 4 1
2378 49 24 -1 1 0
2379 49 25 3 2 0
2380 49 26 0 1 2
2381 49 27 1 -1 -2
2382 49 28 -1 1
2383 49 29 4 -2 -1
2384 49 30 2 3 2
2385 49 31 1 0 9
2386 49 32 -3 -4 -4 -6
2387 49 33 -7 -5 9 8
2388 49 34 13 12 -14 -13
2389 49 35 -9 -8 6 4
2390 49 36 0 2 -3 -2
2391 49 37 -3 -4 1 0
2392 49 38 0 1 0 -1
2393 49 39 1 -2 1
2394 49 40 -1 -2 -2
2395 49 41 1 3 1 2
2396 49 42 -1 -2 2 3
2397 49 43 3 2 0 -2
2398 49 44 0 -3 -2
2399 49 45 5 2 1 2
2400 49 46 0 1 0 -1
2401 49 47 1 8 9
2402 50 0 -1 1 -11 -12
2403 50 1 -68 -69 23 21
2404 50 2 134 124 -13 -11
2405 50 3 -64 -66 -13 -10
2406 50 4 2 3 3 2
2407 50 5 2 0 -2 -3
2408 50 6 -1 0 -2 -3
2409 50 7 0 0 -1
2410 50 8 5 3 1 0
2411 50 9 0 -1 -1
2412 50 10 4 2 3
2413 50 11 -2 1 0
2414 50 12 2 1 3 2
2415 50 13 2 0 -1
2416 50 14 -1 2 0 3
2417 50 15 2 0 8 11
2418 50 16 -3 -6
2419 50 17 -61 36
2420 50 18 130 120 -50 -44
2421 50 19 -63 -65 7 6
2422 50 20 2 0
2423 50 21 1 -1 0 1
2424 50 22 1 4 0 -1
2425 50 23 -1 -2 -1
2426 50 24 1 -2
2427 50 25 -1 -3 2 -2
2428 50 26 4 2 4 2
2429 50 27 1 -1 0
2430 50 28 0 0
2431 50 29 1 2 1
2432 50 30 1 2 6 3
2433 50 31 3 1 4 7
2434 50 32 -1 0 -14 -16
2435 50 33 -39 68 67
2436 50 34 85 78 -104 -95
2437 50 35 -39 -46 33 35
2438 50 36 0 -2 -3 -2
2439 50 37 3 1 -1
2440 50 38 -1 -2 0
2441 50 39 1 3 -2 0
2442 50 40 1 0 -2 0
2443 50 41 1 -2 -1
2444 50 42 -1 -2 2 1
2445 50 43 3 0 -1 1
2446 50 44 0 2 -1 -2
2447 50 45 -1 1 3
2448 50 46 5 4 2
2449 50 47 -1 6 8
2450 51 0 -2 -1 -6
2451 51 1 -14 6
2452 51 2 20 -3
2453 51 3 -11 -5
2454 51 4 -2 0 -1
2455 51 5 0 1
2456 51 6 1 2 -3
2457 51 7 1 -2
2458 51 8 0 -1 4
2459 51 9 2 -2
2460 51 10 2 3
2461 51 11 -1 -1
2462 51 12 0 2 3
2463 51 13 0 -5
2464 51 14 5 4 3
2465 51 15 -1 8
2466 51 16 -3 -2 -3
2467 51 17 -11 -12 8 6
2468 51 18 19 17 -13 -11
2469 51 19 -12 1
2470 51 20 -2 0 -2
2471 51 21 2 1 0 -1
2472 51 22 -1 -3 -2 -4
2473 51 23 5 3 0 1
2474 51 24 -1 -2 -1
2475 51 25 -1 2 0
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9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_two_targets.hex
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9_Firmware/9_2_FPGA/tb/cosim/fpga_model.py
+20 -14
View File
@@ -1074,15 +1074,21 @@ class RangeBinDecimator:
# =============================================================================
# Doppler Processor (Hamming window + dual 16-point FFT)
# Doppler Processor (Dolph-Chebyshev window + dual 16-point FFT)
# =============================================================================
# Hamming window LUT (16 entries, 16-bit unsigned Q15)
# Matches doppler_processor.v window_coeff[0:15]
# w[n] = 0.54 - 0.46 * cos(2*pi*n/15), n=0..15, symmetric
HAMMING_WINDOW = [
0x0A3D, 0x0E5C, 0x1B6D, 0x3088, 0x4B33, 0x6573, 0x7642, 0x7F62,
0x7F62, 0x7642, 0x6573, 0x4B33, 0x3088, 0x1B6D, 0x0E5C, 0x0A3D,
# Doppler window LUT — 16-pt Dolph-Chebyshev, 60 dB equiripple sidelobes,
# Q15 unsigned. Mirrored in doppler_processor.v window_coeff[0..15].
#
# Generated by: scipy.signal.windows.chebwin(16, at=60, sym=True), then
# Q15 = round(w * 32767).
#
# Chosen for counter-UAS Doppler (PR-M, 2026-05-01) — beats sym Hamming
# by 20 dB on peak sidelobes at a 0.37 dB in-bin SNR cost. See PR-M
# commit message for the full window-comparison table.
DOPPLER_WINDOW_COEFF = [
0x0315, 0x0A1A, 0x1757, 0x2B35, 0x440C, 0x5DF2, 0x739E, 0x7FFF,
0x7FFF, 0x739E, 0x5DF2, 0x440C, 0x2B35, 0x1757, 0x0A1A, 0x0315,
]
@@ -1091,9 +1097,9 @@ class DopplerProcessor:
Bit-accurate model of doppler_processor_optimized.v (per-subframe 16-pt FFT).
PR-F: 48 chirps total, 3 sub-frames (SHORT/MEDIUM/LONG):
- Sub-frame 0 (SHORT PRI): chirps 0..15 -> 16-pt Hamming -> 16-pt FFT -> bins 0..15
- Sub-frame 1 (MEDIUM PRI): chirps 16..31 -> 16-pt Hamming -> 16-pt FFT -> bins 16..31
- Sub-frame 2 (LONG PRI): chirps 32..47 -> 16-pt Hamming -> 16-pt FFT -> bins 32..47
- Sub-frame 0 (SHORT PRI): chirps 0..15 -> 16-pt Cheby -> 16-pt FFT -> bins 0..15
- Sub-frame 1 (MEDIUM PRI): chirps 16..31 -> 16-pt Cheby -> 16-pt FFT -> bins 16..31
- Sub-frame 2 (LONG PRI): chirps 32..47 -> 16-pt Cheby -> 16-pt FFT -> bins 32..47
Output: doppler_bin[5:0] = {sub_frame_id[1:0], bin_in_subframe[3:0]}
Total output per range bin: 48 bins (3 x 16).
@@ -1130,7 +1136,7 @@ class DopplerProcessor:
@staticmethod
def window_multiply(data_16, window_16):
"""
Hamming window multiply matching RTL:
Window multiply matching RTL (Dolph-Chebyshev coefficients in DOPPLER_WINDOW_COEFF):
product = data * window (16x16 -> 32-bit signed)
rounded = product + (1 << 14)
result = rounded >> 15 (arithmetic right shift)
@@ -1195,9 +1201,9 @@ class DopplerProcessor:
re_val = sign_extend(chirp_data_i[chirp][rbin] & 0xFFFF, 16)
im_val = sign_extend(chirp_data_q[chirp][rbin] & 0xFFFF, 16)
# Apply 16-pt Hamming window (index = c within sub-frame)
win_re = self.window_multiply(re_val, HAMMING_WINDOW[c])
win_im = self.window_multiply(im_val, HAMMING_WINDOW[c])
# Apply 16-pt Dolph-Chebyshev window (index = c within sub-frame)
win_re = self.window_multiply(re_val, DOPPLER_WINDOW_COEFF[c])
win_im = self.window_multiply(im_val, DOPPLER_WINDOW_COEFF[c])
fft_in_re.append(win_re)
fft_in_im.append(win_im)
9_Firmware/9_2_FPGA/tb/cosim/fpga_reference.py
+18 -20
View File
@@ -28,7 +28,7 @@ Coverage in this revision (highest transcription risk first):
* NCO — numpy.cos/sin vs the 64-entry quarter-wave NCO_SINE_LUT
* FFT — numpy.fft.fft/ifft vs Q15 twiddle ROM butterfly
* MF — numpy ifft(fft(sig) * conj(fft(ref))) vs RTL pipeline
* Doppler — numpy.fft + ideal Hamming window vs Q15 window LUT + RTL FFT
* Doppler — numpy.fft + ideal Cheby window vs Q15 window LUT + RTL FFT
Out of scope here (lower transcription risk, deferred):
* CIC / FIR — coefficient files are derived from independent generators
@@ -137,29 +137,26 @@ def matched_filter_reference(sig_re, sig_im, ref_re, ref_im, fft_size: int = 204
# =============================================================================
# Doppler reference — Hamming-windowed per-sub-frame 16-pt FFT
# Doppler reference — Cheby-windowed per-sub-frame 16-pt FFT
# =============================================================================
def hamming_16_ideal():
"""Ideal Hamming(16) coefficients, scaled to Q15.
def doppler_window_ideal():
"""Production Doppler window — 16-pt Dolph-Chebyshev, 60 dB sidelobes.
fpga_model.HAMMING_WINDOW is a hard-coded Q15 LUT. If a coefficient was
transcribed wrong, this catches it.
Definition (matches scipy.signal.windows.hamming(16, sym=False) is
DIFFERENT — that's a periodic Hamming. The RTL/fpga_model use the
classic symmetric form: w[n] = 0.54 - 0.46*cos(2*pi*n/(N-1)).
Independent reference for the Q15 LUT in fpga_model.DOPPLER_WINDOW_COEFF
and doppler_processor.v window_coeff. Generated by scipy directly so the
drift cosim catches transcription errors that exist identically in the
LUT and the Python twin.
"""
n = np.arange(16, dtype=np.float64)
w = 0.54 - 0.46 * np.cos(2.0 * np.pi * n / 15.0)
return w * 32767.0
from scipy.signal.windows import chebwin
return chebwin(16, at=60, sym=True) * 32767.0
def doppler_reference(chirp_data_i, chirp_data_q,
num_subframes: int = 3,
chirps_per_subframe: int = 16,
range_bins: int = 512):
"""Ideal Doppler map using ideal Hamming + numpy.fft, no Q15 quantization.
"""Ideal Doppler map using ideal Cheby-60 window + numpy.fft, no Q15 quantization.
Args:
chirp_data_i/q: 2D arrays [chirps_per_frame][range_bins], int or float
@@ -181,7 +178,7 @@ def doppler_reference(chirp_data_i, chirp_data_q,
f"({chirps_per_frame}, {range_bins})"
)
win = hamming_16_ideal() # Q15-scaled
win = doppler_window_ideal() # Q15-scaled
total_bins = num_subframes * chirps_per_subframe
out_re = np.zeros((range_bins, total_bins), dtype=np.float64)
out_im = np.zeros((range_bins, total_bins), dtype=np.float64)
@@ -192,7 +189,7 @@ def doppler_reference(chirp_data_i, chirp_data_q,
stop = start + chirps_per_subframe
offset = sf * chirps_per_subframe
# Apply Hamming and divide by 32768 to undo the Q15 scaling so
# Apply window and divide by 32768 to undo the Q15 scaling so
# the comparison is to ideal floating-point amplitudes (the RTL
# rounds (data*win + 1<<14) >> 15 which is an approximate /32768).
x_re = chirp_data_i[start:stop, rbin] * win / 32768.0
@@ -233,10 +230,11 @@ def _self_test():
assert np.max(np.abs(d_re)) < 1e-9
assert np.max(np.abs(d_im)) < 1e-9
# Hamming: peak at center, edges match formula
w = hamming_16_ideal()
assert abs(w[0] - 0.08 * 32767.0) < 0.5
assert abs(w[7] - (0.54 - 0.46 * np.cos(2 * np.pi * 7 / 15)) * 32767.0) < 0.5
# Doppler window: scipy chebwin matches our reference output
from scipy.signal.windows import chebwin
w_ours = doppler_window_ideal()
w_scipy = chebwin(16, at=60, sym=True) * 32767.0
assert np.allclose(w_ours, w_scipy)
print("fpga_reference self-test: OK")
9_Firmware/9_2_FPGA/tb/cosim/gen_doppler_golden.py
+3 -3
View File
@@ -8,9 +8,9 @@ generates the input hex files consumed by the Verilog testbench
(tb_doppler_cosim.v).
Architecture (matches chirp_scheduler.v ordering — SHORT, MEDIUM, LONG):
Sub-frame 0 (SHORT PRI): chirps 0..15 -> 16-pt Hamming -> 16-pt FFT -> bins 0..15
Sub-frame 1 (MEDIUM PRI): chirps 16..31 -> 16-pt Hamming -> 16-pt FFT -> bins 16..31
Sub-frame 2 (LONG PRI): chirps 32..47 -> 16-pt Hamming -> 16-pt FFT -> bins 32..47
Sub-frame 0 (SHORT PRI): chirps 0..15 -> 16-pt Cheby -> 16-pt FFT -> bins 0..15
Sub-frame 1 (MEDIUM PRI): chirps 16..31 -> 16-pt Cheby -> 16-pt FFT -> bins 16..31
Sub-frame 2 (LONG PRI): chirps 32..47 -> 16-pt Cheby -> 16-pt FFT -> bins 32..47
Usage:
cd ~/PLFM_RADAR/9_Firmware/9_2_FPGA/tb/cosim
9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/doppler_ref_i.hex
+278 -278
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@@ -1054,22 +1054,22 @@ FFFF
FFFF
0001
0000
FFFD
FFFE
0001
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FFFF
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FFFD
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FFFF
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FFFE
0002
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@@ -2302,212 +2302,212 @@ FFFF
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FFFF
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FFFF
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FFFF
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0055
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0000
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FFFF
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FFD2
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FFFF
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FFFE
0000
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FFFF
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FFFF
FFF2
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FFF5
FFFE
0000
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0001
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FFFF
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FFFF
FFFD
FFF5
0013
FFF4
FFFE
0002
FFFF
0005
FFFF
FFFF
0011
FFF4
0000
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FFFD
0003
0002
FFFE
FFFF
0002
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FFFD
FFFD
FFF6
000D
FFF7
0001
0001
FFFF
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FFFD
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FFFF
FFFF
0000
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FFFF
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FFFF
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FFF9
0000
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@@ -2527,21 +2527,21 @@ FFFF
0000
0005
FFFD
FFFE
0004
FFFF
0003
FFFA
0002
FFFD
0002
0001
FFFF
FFFF
0001
0000
0001
FFFE
0000
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0001
0003
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@@ -5902,20 +5902,20 @@ FFFE
FFFF
0000
0002
FFFF
FFFE
FFFF
FFFF
0002
0000
FFFE
0000
0000
0001
FFFE
FFFD
0000
0000
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FFFF
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@@ -6382,53 +6382,53 @@ FFFF
0001
0000
0000
FFFC
FFFD
FFFD
FFFF
FFFF
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FFFF
0002
FFFF
0003
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FFFD
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FFFD
0001
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0000
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@@ -8223,21 +8223,21 @@ FFFF
0003
0000
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FFFF
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FFFE
0001
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FFFF
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FFFE
0001
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FFFF
0002
FFFF
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@@ -11727,19 +11727,19 @@ FFFF
0002
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FFFD
0000
FFFF
FFFF
FFFF
FFFF
0001
0000
FFFF
0000
0001
0001
0002
FFFF
0003
FFFF
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@@ -11886,22 +11886,22 @@ FFFF
0001
0000
0000
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FFFF
FFFE
0000
FFFE
FFFF
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0000
0000
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FFFF
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0000
0000
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FFFE
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@@ -13678,22 +13678,22 @@ FFFF
0000
0000
0000
FFFB
0001
FFFF
FFFC
0000
FFFF
0000
0001
0000
0003
FFFD
0001
0001
FFFF
0002
0000
0002
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FFFF
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@@ -19888,19 +19888,19 @@ FFFF
0001
0000
FFFD
FFFF
0000
0000
0000
FFFF
0001
0000
FFFF
0000
0001
FFFF
0000
0002
0000
FFFF
0001
0000
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@@ -20337,18 +20337,18 @@ FFFF
0000
FFFE
FFFF
0002
FFFF
FFFE
0002
FFFF
0000
0002
FFFF
FFFE
0001
0002
FFFF
FFFF
0001
FFFF
0000
0002
FFFF
FFFF
0001
0001
0001
0001
FFFE
FFFF
@@ -21039,21 +21039,21 @@ FFFE
0001
0000
FFFE
0000
FFFF
0001
FFFF
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0002
FFFE
0000
0002
FFFC
0002
0001
FFFE
0000
FFFD
0002
0000
FFFF
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0001
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FFFF
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@@ -22975,19 +22975,19 @@ FFFF
0000
0001
0000
FFFF
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FFFF
0000
FFFF
0001
FFFF
0000
0000
FFFF
0000
0000
0000
0001
0000
0001
0001
0000
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@@ -23425,19 +23425,19 @@ FFFE
0000
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FFFF
0001
0000
0000
0000
0001
0000
0000
0000
FFFF
0000
0000
FFFF
0001
0000
0000
0001
FFFF
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FFFF
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@@ -23519,22 +23519,22 @@ FFFF
0002
0000
FFFE
FFFC
FFFD
0000
FFFF
0000
0001
FFFF
0000
0002
FFFE
0000
0003
0000
0001
FFFF
0001
0002
FFFF
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0002
0000
0000
0001
0003
FFFF
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@@ -24494,22 +24494,22 @@ FFFF
0001
0000
0002
FFFE
FFFF
0001
FFFC
0001
0000
FFFE
0000
0002
0001
FFFF
0004
FFFF
0000
0002
FFFD
0001
FFFF
FFFF
0001
0001
0001
0000
0003
FFFF
0001
0001
FFFF
FFFD
0000
FFFE
9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/doppler_ref_q.hex
+17547 -17547
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9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_doppler_ref_i.hex
+551 -551
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File diff suppressed because it is too large Load Diff
9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_doppler_ref_q.hex
+608 -608
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