mirror of
https://github.com/NawfalMotii79/PLFM_RADAR.git
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chirp-v2 PR-G: header/body consistency + runtime MEDIUM ladder
G1.5 (FSM trim): doppler section emits NUM_RANGE_BINS*NUM_DOPPLER_BINS cells (49152 B) and detect emits packed valid bytes (6144 B), matching the 9-byte header advertisement. Replaces flat counters with nested range x doppler indices in usb_data_interface_ft2232h.v. Saves ~18.4 kB per frame on the wire. G2 (runtime MEDIUM ladder): adds opcodes 0x17/0x18 for medium chirp/ listen cycles with RP_DEF_MEDIUM_* defaults. Plumbed through radar_system_top -> radar_receiver_final -> chirp_scheduler. SHORT/LONG were already runtime-tunable; MEDIUM was hardcoded. TBs: tb_usb_protocol_v2 adds TEST 4 (full-frame egress byte count = 56330) and TEST 5 (MEDIUM opcode round-trip) - 27/27 PASS. tb_ft2232h_frame_drop updated for new section sizes - 10/10 PASS. Full regression: 37/41 with 4 pre-existing failures (T-2..T-5, tracked in PR-Tests-1 / PR-I). Stash test confirmed pre-PR-G HEAD has identical failures - PR-G introduces zero new test regressions.
This commit is contained in:
Jason
@@ -16,10 +16,9 @@
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// 3. Multiple drops while stalled → drop count saturates at 127
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// 4. Stalled + recovery → drop count stable, frame_pending clears post-drain
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//
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// Stimulus uses `stream_control = 6'b001_000` (mag_only=1, no sections enabled)
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// so the WR FSM goes HDR (8B) → FOOTER (1B) → DONE in 9 ft_clk cycles. This
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// gives a fast, deterministic per-frame transfer time. AUDIT-C9 sim assertion
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// is satisfied (mag_only=1, sparse_det=0).
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// Stimulus uses `stream_control = 6'b000_000` (PR-G v2: no inert flags, no
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// sections enabled) so the WR FSM goes HDR (9B) → FOOTER (1B) → DONE in 10
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// ft_clk cycles. This gives a fast, deterministic per-frame transfer time.
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//
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// PASS criteria:
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// - frame_drop_count matches expected value after each scenario
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@@ -42,11 +41,13 @@ module tb_ft2232h_frame_drop;
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reg [15:0] doppler_real = 16'd0;
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reg [15:0] doppler_imag = 16'd0;
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reg doppler_valid = 1'b0;
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reg cfar_detection = 1'b0;
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// PR-G: 2-bit class (was 1-bit cfar_detection)
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reg [`RP_DETECT_CLASS_WIDTH-1:0] cfar_detect_class = `RP_DETECT_NONE;
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reg cfar_valid = 1'b0;
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reg [`RP_RANGE_BIN_WIDTH_MAX-1:0] range_bin_in = 0;
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reg [4:0] doppler_bin_in = 5'd0;
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// PR-F: doppler_bin widened to RP_DOPPLER_BIN_WIDTH (6 bits)
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reg [`RP_DOPPLER_BIN_WIDTH-1:0] doppler_bin_in = {`RP_DOPPLER_BIN_WIDTH{1'b0}};
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reg frame_complete = 1'b0;
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// FT2232H interface (ft_clk domain)
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@@ -64,14 +65,14 @@ module tb_ft2232h_frame_drop;
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wire [7:0] cmd_addr;
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wire [15:0] cmd_value;
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// mag_only=1, sparse_det=0, all sections disabled (skip range/doppler/cfar)
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// → WR FSM: HDR → FOOTER → DONE = fast deterministic drain
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reg [5:0] stream_control = 6'b001_000;
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// PR-G: stream bits [2:0] all off → WR FSM: HDR → FOOTER → DONE
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// = fast deterministic drain. Bits [5:3] are reserved=0 in v2.
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reg [5:0] stream_control = 6'b000_000;
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// Status inputs (irrelevant for this test)
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reg status_request = 1'b0;
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reg [15:0] status_cfar_threshold = 16'd0;
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reg [5:0] status_stream_ctrl = 6'b001_000;
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reg [5:0] status_stream_ctrl = 6'b000_000;
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reg [1:0] status_radar_mode = 2'd0;
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reg [15:0] status_long_chirp = 16'd0;
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reg [15:0] status_long_listen = 16'd0;
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@@ -104,7 +105,7 @@ module tb_ft2232h_frame_drop;
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.doppler_real(doppler_real),
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.doppler_imag(doppler_imag),
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.doppler_valid(doppler_valid),
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.cfar_detection(cfar_detection),
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.cfar_detect_class(cfar_detect_class), // PR-G: 2-bit class
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.cfar_valid(cfar_valid),
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.range_bin_in(range_bin_in),
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.doppler_bin_in(doppler_bin_in),
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@@ -144,7 +145,11 @@ module tb_ft2232h_frame_drop;
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.status_agc_enable(status_agc_enable),
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// AUDIT-S10: control-fault flags tied off (frame-drop TB scope)
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.status_range_decim_watchdog(1'b0),
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.status_ddc_cic_fir_overrun(1'b0)
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.status_ddc_cic_fir_overrun(1'b0),
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// PR-G: 2-tier CFAR telemetry tied off
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.status_cfar_alpha_soft(8'h18), // RP_DEF_CFAR_ALPHA_SOFT
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.status_detect_threshold_soft(17'd0),
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.status_detect_count_cand(16'd0)
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);
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task pulse_frame_complete;
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@@ -200,10 +205,10 @@ module tb_ft2232h_frame_drop;
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$display("\n[TEST 1] Single frame, USB ready -> no drops");
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ft_txe_n = 1'b0;
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pulse_frame_complete();
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// Wait for frame to drain through WR_FSM. With mag_only mode and
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// stream_control[2:0]=000, FSM goes HDR (8B) -> FOOTER (1B) -> DONE.
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// Each byte = 1 ft_clk cycle. Plus CDC latency. Allow ~50 ft_clk
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// = ~833 ns = ~83 clk cycles. Be generous: wait 200 clk cycles.
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// Wait for frame to drain through WR_FSM. PR-G v2: stream_control[2:0]=000,
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// FSM goes HDR (9B) -> FOOTER (1B) -> DONE = 10 ft_clk cycles. Plus CDC
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// latency. Allow ~50 ft_clk = ~833 ns = ~83 clk cycles. Be generous:
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// wait 200 clk cycles.
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wait_cycles(200);
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check(1, "drop_count", 0, u_dut.frame_drop_count);
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check(1, "frame_pending_cleared", 0, u_dut.frame_pending);
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@@ -0,0 +1,357 @@
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`timescale 1ns / 1ps
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`include "radar_params.vh"
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// ============================================================================
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// tb_usb_protocol_v2.v
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//
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// PR-G focused round-trip verification for usb_data_interface_ft2232h.v:
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// 1. Opcode 0x2D (host_cfar_alpha_soft) write path — verify cmd_value
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// reaches the cmd_* outputs of the read FSM with the right byte order.
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// 2. Bulk frame header v2 — verify byte0=0xAA, byte1=0x02 (version),
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// byte2=stream flags, bytes3-8=frame_num/range/doppler counts.
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// 3. Status packet length — verify 30 bytes (was 26 in v1) and that
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// status_words[6] carries detect_count_cand/detect_threshold_soft.
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// 4. PR-G FSM trim — full-frame header/body length consistency. With all
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// streams enabled, total emitted bytes must equal 9 (hdr) + range×2 +
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// range×doppler×2 (doppler) + range×doppler×2/8 (detect) + 1 (footer).
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// Catches future header-vs-body drift and confirms padding is skipped.
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// 5. PR-G G2 — MEDIUM ladder timing opcodes (0x17, 0x18) round-trip via
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// cmd_opcode/cmd_value (the host_medium_*_cycles registers live in
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// radar_system_top, exercised at integration level by tb_system_e2e).
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// ============================================================================
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module tb_usb_protocol_v2;
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localparam CLK_PER = 10.0; // 100 MHz
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localparam FT_CLK_PER = 16.667; // 60 MHz
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reg clk = 1'b0;
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reg ft_clk = 1'b0;
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reg reset_n = 1'b0;
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reg ft_reset_n = 1'b0;
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// Radar inputs (clk domain)
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reg [31:0] range_profile = 32'd0;
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reg range_valid = 1'b0;
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reg [15:0] doppler_real = 16'd0;
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reg [15:0] doppler_imag = 16'd0;
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reg doppler_valid = 1'b0;
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reg [`RP_DETECT_CLASS_WIDTH-1:0] cfar_detect_class = `RP_DETECT_NONE;
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reg cfar_valid = 1'b0;
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reg [`RP_RANGE_BIN_WIDTH_MAX-1:0] range_bin_in = 0;
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reg [`RP_DOPPLER_BIN_WIDTH-1:0] doppler_bin_in = 0;
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reg frame_complete = 1'b0;
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// FT2232H interface
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wire [7:0] ft_data;
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reg ft_rxf_n = 1'b1;
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reg ft_txe_n = 1'b0;
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wire ft_rd_n;
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wire ft_wr_n;
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wire ft_oe_n;
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wire ft_siwu;
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// Bidirectional data: tristate driver from TB for read path
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reg [7:0] ft_data_drive = 8'd0;
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reg ft_data_drive_en = 1'b0;
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assign ft_data = ft_data_drive_en ? ft_data_drive : 8'hzz;
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pulldown pd[7:0] (ft_data);
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wire [31:0] cmd_data;
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wire cmd_valid;
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wire [7:0] cmd_opcode;
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wire [7:0] cmd_addr;
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wire [15:0] cmd_value;
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// PR-G v2: enable all 3 streams (range|doppler|cfar). Bits [5:3] reserved=0.
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reg [5:0] stream_control = 6'b000_111;
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reg [5:0] status_stream_ctrl = 6'b000_111;
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// Status inputs (mostly tied off; PR-G additions below)
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reg status_request = 1'b0;
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reg [15:0] status_cfar_threshold = 16'h1234;
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reg [1:0] status_radar_mode = 2'd0;
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reg [15:0] status_long_chirp = 16'd0;
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reg [15:0] status_long_listen = 16'd0;
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reg [15:0] status_guard = 16'd0;
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reg [15:0] status_short_chirp = 16'd0;
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reg [15:0] status_short_listen = 16'd0;
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reg [5:0] status_chirps_per_elev = 6'd0;
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reg [1:0] status_range_mode = 2'd0;
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reg status_chirps_mismatch = 1'b0;
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reg [4:0] status_self_test_flags = 5'd0;
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reg [7:0] status_self_test_detail = 8'd0;
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reg status_self_test_busy = 1'b0;
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reg [3:0] status_agc_current_gain = 4'd0;
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reg [7:0] status_agc_peak_magnitude = 8'd0;
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reg [7:0] status_agc_saturation_count = 8'd0;
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reg status_agc_enable = 1'b0;
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reg status_range_decim_watchdog = 1'b0;
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reg status_ddc_cic_fir_overrun = 1'b0;
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// PR-G new
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reg [7:0] status_cfar_alpha_soft = `RP_DEF_CFAR_ALPHA_SOFT; // 0x18
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reg [16:0] status_detect_threshold_soft = 17'h00ABC;
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reg [15:0] status_detect_count_cand = 16'd42;
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integer pass = 0;
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integer fail = 0;
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always #(CLK_PER/2) clk = ~clk;
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always #(FT_CLK_PER/2) ft_clk = ~ft_clk;
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usb_data_interface_ft2232h u_dut (
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.clk(clk),
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.reset_n(reset_n),
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.ft_reset_n(ft_reset_n),
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.range_profile(range_profile),
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.range_valid(range_valid),
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.doppler_real(doppler_real),
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.doppler_imag(doppler_imag),
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.doppler_valid(doppler_valid),
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.cfar_detect_class(cfar_detect_class),
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.cfar_valid(cfar_valid),
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.range_bin_in(range_bin_in),
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.doppler_bin_in(doppler_bin_in),
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.frame_complete(frame_complete),
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.ft_data(ft_data),
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.ft_rxf_n(ft_rxf_n),
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.ft_txe_n(ft_txe_n),
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.ft_rd_n(ft_rd_n),
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.ft_wr_n(ft_wr_n),
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.ft_oe_n(ft_oe_n),
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.ft_siwu(ft_siwu),
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.ft_clk(ft_clk),
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.cmd_data(cmd_data),
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.cmd_valid(cmd_valid),
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.cmd_opcode(cmd_opcode),
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.cmd_addr(cmd_addr),
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.cmd_value(cmd_value),
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.stream_control(stream_control),
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.status_request(status_request),
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.status_cfar_threshold(status_cfar_threshold),
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.status_stream_ctrl(status_stream_ctrl),
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.status_radar_mode(status_radar_mode),
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.status_long_chirp(status_long_chirp),
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.status_long_listen(status_long_listen),
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.status_guard(status_guard),
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.status_short_chirp(status_short_chirp),
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.status_short_listen(status_short_listen),
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.status_chirps_per_elev(status_chirps_per_elev),
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.status_range_mode(status_range_mode),
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.status_chirps_mismatch(status_chirps_mismatch),
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.status_self_test_flags(status_self_test_flags),
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.status_self_test_detail(status_self_test_detail),
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.status_self_test_busy(status_self_test_busy),
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.status_agc_current_gain(status_agc_current_gain),
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.status_agc_peak_magnitude(status_agc_peak_magnitude),
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.status_agc_saturation_count(status_agc_saturation_count),
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.status_agc_enable(status_agc_enable),
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.status_range_decim_watchdog(status_range_decim_watchdog),
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.status_ddc_cic_fir_overrun(status_ddc_cic_fir_overrun),
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.status_cfar_alpha_soft(status_cfar_alpha_soft),
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.status_detect_threshold_soft(status_detect_threshold_soft),
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.status_detect_count_cand(status_detect_count_cand)
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);
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// Capture egress bytes. egress_count counts ALL emitted bytes (used by
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// TEST 4 to verify total frame length). egress_bytes only buffers the
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// first 36 (header + a few status bytes — enough for TESTS 2, 3, 4 to
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// index byte-level checks).
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reg [7:0] egress_bytes [0:35];
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integer egress_count = 0;
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always @(posedge ft_clk) begin
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if (!ft_wr_n && !ft_txe_n) begin
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if (egress_count < 36)
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egress_bytes[egress_count] <= ft_data;
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egress_count <= egress_count + 1;
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end
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end
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task check_b;
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input [127:0] tag;
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input cond;
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begin
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if (cond) begin
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$display("[PASS] %0s", tag);
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pass = pass + 1;
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end else begin
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$display("[FAIL] %0s", tag);
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fail = fail + 1;
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end
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end
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endtask
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task wait_clk;
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input integer n;
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integer i;
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begin
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for (i = 0; i < n; i = i + 1) @(posedge clk);
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end
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endtask
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// 4-byte command bus driver (host → FPGA, ft_clk domain).
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// Read FSM: RD_IDLE (edge 1: see rxf_n, schedule transition) → RD_OE_ASSERT
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// (edge 2: schedule RD_READING) → RD_READING (edges 3,4,5,6: each samples
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// ft_data via NBA). Byte N must be on the bus at edge (N+2) of the sequence.
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task send_cmd;
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input [7:0] op;
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input [7:0] addr;
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input [15:0] val;
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begin
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@(posedge ft_clk); #1; // Edge 0
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ft_rxf_n = 1'b0;
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ft_data_drive = op;
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ft_data_drive_en = 1'b1;
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@(posedge ft_clk); #1; // Edge 1: RD_IDLE → RD_OE_ASSERT (NBA)
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@(posedge ft_clk); #1; // Edge 2: RD_OE_ASSERT → RD_READING (NBA)
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@(posedge ft_clk); #1; // Edge 3: RD_READING samples op (1st)
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ft_data_drive = addr;
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@(posedge ft_clk); #1; // Edge 4: samples addr (2nd)
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ft_data_drive = val[15:8];
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@(posedge ft_clk); #1; // Edge 5: samples val_hi (3rd)
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ft_data_drive = val[7:0];
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@(posedge ft_clk); #1; // Edge 6: samples val_lo (4th, transitions out)
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ft_rxf_n = 1'b1;
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ft_data_drive_en = 1'b0;
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wait_clk(20); // CDC propagation to clk domain
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end
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endtask
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initial begin
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$display("\n========== tb_usb_protocol_v2 ==========");
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// Reset
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reset_n = 1'b0;
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ft_reset_n = 1'b0;
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wait_clk(10);
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reset_n = 1'b1;
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ft_reset_n = 1'b1;
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wait_clk(20);
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// -------------------------------------------------------------
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// TEST 1: Opcode 0x2D (host_cfar_alpha_soft) round trip
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// -------------------------------------------------------------
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$display("\n[TEST 1] Opcode 0x2D (cfar_alpha_soft) round trip");
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send_cmd(`RP_OP_CFAR_ALPHA_SOFT, 8'h00, 16'h0024); // 0x24 in Q4.4 = 2.25
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check_b("T1.1: cmd_opcode=0x2D", cmd_opcode == 8'h2D);
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check_b("T1.2: cmd_value lower 8b=0x24", cmd_value[7:0] == 8'h24);
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// -------------------------------------------------------------
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// TEST 2: Frame header v2 — 9 bytes, byte1=0x02
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// -------------------------------------------------------------
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$display("\n[TEST 2] Frame header v2 emission");
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// Disable all stream sections (HDR -> FOOTER fast drain)
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stream_control = 6'b000_000;
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wait_clk(50); // Let CDC propagate
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egress_count = 0;
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@(posedge clk);
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frame_complete = 1'b1;
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@(posedge clk);
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frame_complete = 1'b0;
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// Wait for full frame drain (10 bytes = 10 ft_clk + slack)
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wait_clk(150);
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check_b("T2.1: byte0 = 0xAA", egress_bytes[0] == 8'hAA);
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check_b("T2.2: byte1 = 0x02 (ver)", egress_bytes[1] == `RP_USB_PROTOCOL_VERSION);
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check_b("T2.3: byte2 = stream flags=0", egress_bytes[2] == 8'h00);
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// Byte 3-4 = frame_number snapshot. snapshot latches OLD frame_number
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// at frame_complete (NBA), so first frame emitted carries fn=0.
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check_b("T2.4: byte3 = fn[15:8]=0", egress_bytes[3] == 8'h00);
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check_b("T2.5: byte4 = fn[7:0]=0", egress_bytes[4] == 8'h00);
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check_b("T2.6: byte5/6 = range_bins=512",
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{egress_bytes[5], egress_bytes[6]} == 16'd512);
|
||||
check_b("T2.7: byte7/8 = doppler_bins=48",
|
||||
{egress_bytes[7], egress_bytes[8]} == 16'd48);
|
||||
check_b("T2.8: byte9 = footer 0x55", egress_bytes[9] == 8'h55);
|
||||
|
||||
// -------------------------------------------------------------
|
||||
// TEST 3: Status packet length = 30 bytes; word[6] carries telemetry
|
||||
// -------------------------------------------------------------
|
||||
$display("\n[TEST 3] Status packet length 30B + word[6] PR-G fields");
|
||||
egress_count = 0;
|
||||
@(posedge clk);
|
||||
status_request = 1'b1;
|
||||
@(posedge clk);
|
||||
status_request = 1'b0;
|
||||
wait_clk(300); // Wait for status drain
|
||||
check_b("T3.1: byte0 = 0xBB (status header)", egress_bytes[0] == 8'hBB);
|
||||
check_b("T3.2: byte29 = 0x55 (footer)", egress_bytes[29] == 8'h55);
|
||||
check_b("T3.3: status_words[6] count_cand[15:8]=0", egress_bytes[25] == 8'h00);
|
||||
check_b("T3.4: status_words[6] count_cand[7:0]=42", egress_bytes[26] == 8'd42);
|
||||
check_b("T3.5: status_words[6] thr_soft[15:8]=0x0A", egress_bytes[27] == 8'h0A);
|
||||
check_b("T3.6: status_words[6] thr_soft[7:0]=0xBC", egress_bytes[28] == 8'hBC);
|
||||
// alpha_soft (0x18) packed into word[4][9:2] → byte at index 19,20
|
||||
// word[4] = {gain[3:0], peak[7:0], sat[7:0], en, mismatch, alpha_soft[7:0], range_mode[1:0]}
|
||||
// bits[9:2] = alpha_soft. byte[19] = word[4][15:8], byte[20] = word[4][7:0]
|
||||
// alpha_soft sits in byte[20][7:2] | byte[19][1:0] — let's just check mid bytes are non-zero
|
||||
// when alpha_soft=0x18 (b0001_1000): bits[9:2] of word[4] = 8'h18, so:
|
||||
// word[4][7:0] = {alpha_soft[7:0], range_mode[1:0]} = {8'h18, 2'b00} = 8'h60
|
||||
check_b("T3.7: status_words[4][7:0] = alpha_soft<<2 = 0x60 (alpha=0x18)",
|
||||
egress_bytes[20] == 8'h60);
|
||||
|
||||
// -------------------------------------------------------------
|
||||
// TEST 4: full-frame header/body length consistency (PR-G trim)
|
||||
// -------------------------------------------------------------
|
||||
$display("\n[TEST 4] Full-frame header/body length consistency (PR-G trim)");
|
||||
// Re-enable all 3 streams so HDR + range + doppler + detect + footer
|
||||
// are all emitted. We don't fill BRAMs — only the byte count matters.
|
||||
stream_control = 6'b000_111;
|
||||
wait_clk(50); // CDC propagate
|
||||
egress_count = 0;
|
||||
@(posedge clk);
|
||||
frame_complete = 1'b1;
|
||||
@(posedge clk);
|
||||
frame_complete = 1'b0;
|
||||
// Worst-case drain: 9 + 1024 + 49152 + 6144 + 1 = 56330 bytes.
|
||||
// Each doppler byte takes ~1 ft_clk (MSB then LSB, both at 60 MHz).
|
||||
// Detect = 1 byte/ft_clk. Plus FSM transitions, so allow ~70k ft_clk.
|
||||
wait_clk(120_000); // ~1.2 ms in clk-domain (covers 60 MHz drain)
|
||||
check_b("T4.1: egress_count == expected total",
|
||||
egress_count == (`RP_FRAME_HDR_BYTES
|
||||
+ `RP_NUM_RANGE_BINS * 2
|
||||
+ `RP_NUM_RANGE_BINS * `RP_NUM_DOPPLER_BINS * 2
|
||||
+ (`RP_NUM_RANGE_BINS * `RP_NUM_DOPPLER_BINS * 2) / 8
|
||||
+ 1));
|
||||
check_b("T4.2: header byte0 = 0xAA (frame still framed correctly)",
|
||||
egress_bytes[0] == 8'hAA);
|
||||
check_b("T4.3: header byte1 = protocol version 0x02",
|
||||
egress_bytes[1] == `RP_USB_PROTOCOL_VERSION);
|
||||
check_b("T4.4: header byte5/6 = range_bins=512",
|
||||
{egress_bytes[5], egress_bytes[6]} == 16'd512);
|
||||
check_b("T4.5: header byte7/8 = doppler_bins=48",
|
||||
{egress_bytes[7], egress_bytes[8]} == 16'd48);
|
||||
// Sanity: doppler section must NOT be the old 65536-byte padded size.
|
||||
// Old (pre-trim) total was 9 + 1024 + 65536 + 8192 + 1 = 74762.
|
||||
// New (post-trim) total = 56330. Catch if FSM regresses to padded.
|
||||
check_b("T4.6: emitted bytes < pre-trim padded total (74762)",
|
||||
egress_count < 74762);
|
||||
$display(" egress_count = %0d (expected 56330)", egress_count);
|
||||
|
||||
// -------------------------------------------------------------
|
||||
// TEST 5: MEDIUM ladder timing opcodes (PR-G G2) — round-trip via cmd bus
|
||||
// -------------------------------------------------------------
|
||||
$display("\n[TEST 5] MEDIUM ladder timing opcodes (0x17, 0x18)");
|
||||
send_cmd(`RP_OP_MEDIUM_CHIRP_CYCLES, 8'h00, 16'd750);
|
||||
check_b("T5.1: cmd_opcode=0x17 (MEDIUM_CHIRP_CYCLES)", cmd_opcode == 8'h17);
|
||||
check_b("T5.2: cmd_value=750", cmd_value == 16'd750);
|
||||
|
||||
send_cmd(`RP_OP_MEDIUM_LISTEN_CYCLES, 8'h00, 16'd16500);
|
||||
check_b("T5.3: cmd_opcode=0x18 (MEDIUM_LISTEN_CYCLES)", cmd_opcode == 8'h18);
|
||||
check_b("T5.4: cmd_value=16500", cmd_value == 16'd16500);
|
||||
|
||||
// -------------------------------------------------------------
|
||||
// Done
|
||||
// -------------------------------------------------------------
|
||||
$display("\n-----------------------------------------------------------");
|
||||
$display("RESULTS: %0d PASS, %0d FAIL", pass, fail);
|
||||
$display("-----------------------------------------------------------");
|
||||
if (fail == 0) $display("[OVERALL PASS]"); else $display("[OVERALL FAIL]");
|
||||
$finish;
|
||||
end
|
||||
|
||||
// Watchdog
|
||||
initial begin
|
||||
#20_000_000;
|
||||
$display("[TIMEOUT] tb_usb_protocol_v2 watchdog");
|
||||
$finish;
|
||||
end
|
||||
|
||||
endmodule
|
||||
Reference in New Issue
Block a user