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test(fpga): PR-Q.2 — align cosim T_PRI_MEDIUM 175->161 us + regen goldens

Browse Source 
Mirror the PR-Q.1 PRI stagger (MEDIUM 175 us -> 161 us) into the cosim
scenario generator and regenerate all 12 affected golden hex/csv files.
Without this, the Doppler co-sim TBs would diverge from the RTL on every
MEDIUM sub-frame bin.

- tb/cosim/radar_scene.py: T_PRI_MEDIUM = 161e-6
- tb/cosim/gen_doppler_golden.py: comment update for MEDIUM bin map
- 12 regenerated hex/csv files (doppler + real_data + fullchain_realdata)

Regression: 42/0/1 (PR-Q.1 baseline preserved; T-6 SKIP is scipy-missing).
This commit is contained in:
Jason
2026-05-02 14:33:23 +05:45
parent 049f7b5d14
commit 7ed4d5d405
14 changed files with 49218 additions and 49218 deletions
Download Patch File Download Diff File Expand all files Collapse all files
9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_moving.csv
+7 -7
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@@ -4001,15 +4001,15 @@ range_bin,doppler_bin,out_i,out_q
83,15,0,0
83,16,0,0
83,17,0,0
83,18,-1,1
83,19,2,-2
83,20,-2,0
83,18,0,1
83,19,0,-2
83,20,0,0
83,21,0,0
83,22,0,0
83,23,0,0
83,24,0,0
83,25,0,0
83,26,1,0
83,26,0,1
83,27,0,0
83,28,0,0
83,29,0,0
@@ -4017,15 +4017,15 @@ range_bin,doppler_bin,out_i,out_q
83,31,0,0
83,32,0,0
83,33,0,0
83,34,0,1
83,35,0,-2
83,34,1,0
83,35,-2,-1
83,36,0,0
83,37,0,0
83,38,0,0
83,39,0,0
83,40,0,0
83,41,0,0
83,42,0,1
83,42,1,0
83,43,0,0
83,44,0,0
83,45,0,0
1 range_bin doppler_bin out_i out_q
4001 83 15 0 0
4002 83 16 0 0
4003 83 17 0 0
4004 83 18 -1 0 1
4005 83 19 2 0 -2
4006 83 20 -2 0 0
4007 83 21 0 0
4008 83 22 0 0
4009 83 23 0 0
4010 83 24 0 0
4011 83 25 0 0
4012 83 26 1 0 0 1
4013 83 27 0 0
4014 83 28 0 0
4015 83 29 0 0
4017 83 31 0 0
4018 83 32 0 0
4019 83 33 0 0
4020 83 34 0 1 1 0
4021 83 35 0 -2 -2 -1
4022 83 36 0 0
4023 83 37 0 0
4024 83 38 0 0
4025 83 39 0 0
4026 83 40 0 0
4027 83 41 0 0
4028 83 42 0 1 1 0
4029 83 43 0 0
4030 83 44 0 0
4031 83 45 0 0
9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_moving.hex
+16 -16
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@@ -4001,22 +4001,6 @@ FFFF0002
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@@ -4033,6 +4017,22 @@ FFFE0000
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9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_two_targets.csv
+21 -21
View File
@@ -2369,7 +2369,7 @@ range_bin,doppler_bin,out_i,out_q
49,15,0,0
49,16,0,0
49,17,0,0
49,18,0,0
49,18,0,-1
49,19,0,0
49,20,0,0
49,21,0,0
@@ -2377,7 +2377,7 @@ range_bin,doppler_bin,out_i,out_q
49,23,0,0
49,24,0,0
49,25,0,0
49,26,0,0
49,26,0,1
49,27,0,0
49,28,0,0
49,29,0,0
@@ -2385,7 +2385,7 @@ range_bin,doppler_bin,out_i,out_q
49,31,0,0
49,32,0,0
49,33,0,0
49,34,0,-1
49,34,-1,-2
49,35,0,0
49,36,0,0
49,37,0,0
@@ -2393,7 +2393,7 @@ range_bin,doppler_bin,out_i,out_q
49,39,0,0
49,40,0,0
49,41,0,0
49,42,0,1
49,42,1,0
49,43,0,0
49,44,0,0
49,45,0,0
@@ -2415,38 +2415,38 @@ range_bin,doppler_bin,out_i,out_q
50,13,0,0
50,14,0,0
50,15,0,1
50,16,0,0
50,17,-4,2
50,18,8,-2
50,19,-4,0
50,16,0,-1
50,17,-4,4
50,18,5,-6
50,19,-2,2
50,20,0,0
50,21,0,0
50,22,0,0
50,23,0,-1
50,24,0,0
50,23,0,0
50,24,0,-1
50,25,0,0
50,26,0,0
50,27,0,0
50,28,0,0
50,29,0,0
50,30,0,0
50,31,0,1
50,31,0,0
50,32,0,-1
50,33,-2,4
50,34,4,-6
50,35,-3,2
50,33,2,4
50,34,-2,-8
50,35,0,2
50,36,0,0
50,37,0,0
50,38,0,0
50,39,0,0
50,40,0,-1
50,40,0,0
50,41,0,0
50,42,0,0
50,43,1,0
50,43,0,0
50,44,0,0
50,45,0,0
50,46,0,0
50,47,0,1
50,47,0,0
51,0,0,0
51,1,-2,0
51,2,1,0
@@ -2465,7 +2465,7 @@ range_bin,doppler_bin,out_i,out_q
51,15,0,0
51,16,0,0
51,17,0,0
51,18,2,-1
51,18,0,-2
51,19,0,0
51,20,0,0
51,21,0,0
@@ -2473,7 +2473,7 @@ range_bin,doppler_bin,out_i,out_q
51,23,0,0
51,24,0,0
51,25,0,0
51,26,0,1
51,26,0,0
51,27,0,0
51,28,0,0
51,29,0,0
@@ -2481,7 +2481,7 @@ range_bin,doppler_bin,out_i,out_q
51,31,0,0
51,32,0,0
51,33,0,0
51,34,0,-1
51,34,0,-2
51,35,0,0
51,36,0,0
51,37,0,0
@@ -2489,7 +2489,7 @@ range_bin,doppler_bin,out_i,out_q
51,39,0,0
51,40,0,0
51,41,0,0
51,42,0,1
51,42,0,0
51,43,0,0
51,44,0,0
51,45,0,0
1 range_bin doppler_bin out_i out_q
2369 49 15 0 0
2370 49 16 0 0
2371 49 17 0 0
2372 49 18 0 0 -1
2373 49 19 0 0
2374 49 20 0 0
2375 49 21 0 0
2377 49 23 0 0
2378 49 24 0 0
2379 49 25 0 0
2380 49 26 0 0 1
2381 49 27 0 0
2382 49 28 0 0
2383 49 29 0 0
2385 49 31 0 0
2386 49 32 0 0
2387 49 33 0 0
2388 49 34 0 -1 -1 -2
2389 49 35 0 0
2390 49 36 0 0
2391 49 37 0 0
2393 49 39 0 0
2394 49 40 0 0
2395 49 41 0 0
2396 49 42 0 1 1 0
2397 49 43 0 0
2398 49 44 0 0
2399 49 45 0 0
2415 50 13 0 0
2416 50 14 0 0
2417 50 15 0 1
2418 50 16 0 0 -1
2419 50 17 -4 2 4
2420 50 18 8 5 -2 -6
2421 50 19 -4 -2 0 2
2422 50 20 0 0
2423 50 21 0 0
2424 50 22 0 0
2425 50 23 0 -1 0
2426 50 24 0 0 -1
2427 50 25 0 0
2428 50 26 0 0
2429 50 27 0 0
2430 50 28 0 0
2431 50 29 0 0
2432 50 30 0 0
2433 50 31 0 1 0
2434 50 32 0 -1
2435 50 33 -2 2 4
2436 50 34 4 -2 -6 -8
2437 50 35 -3 0 2
2438 50 36 0 0
2439 50 37 0 0
2440 50 38 0 0
2441 50 39 0 0
2442 50 40 0 -1 0
2443 50 41 0 0
2444 50 42 0 0
2445 50 43 1 0 0
2446 50 44 0 0
2447 50 45 0 0
2448 50 46 0 0
2449 50 47 0 1 0
2450 51 0 0 0
2451 51 1 -2 0
2452 51 2 1 0
2465 51 15 0 0
2466 51 16 0 0
2467 51 17 0 0
2468 51 18 2 0 -1 -2
2469 51 19 0 0
2470 51 20 0 0
2471 51 21 0 0
2473 51 23 0 0
2474 51 24 0 0
2475 51 25 0 0
2476 51 26 0 1 0
2477 51 27 0 0
2478 51 28 0 0
2479 51 29 0 0
2481 51 31 0 0
2482 51 32 0 0
2483 51 33 0 0
2484 51 34 0 -1 -2
2485 51 35 0 0
2486 51 36 0 0
2487 51 37 0 0
2489 51 39 0 0
2490 51 40 0 0
2491 51 41 0 0
2492 51 42 0 1 0
2493 51 43 0 0
2494 51 44 0 0
2495 51 45 0 0
9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_two_targets.hex
+32 -32
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@@ -2369,22 +2369,6 @@ FFFF0002
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@@ -2400,6 +2384,22 @@ FFFF0000
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@@ -2415,10 +2415,11 @@ FFFFFFFC
00000000
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@@ -2430,23 +2431,22 @@ FFFF0000
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@@ -2465,7 +2465,7 @@ FFFF0000
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@@ -2473,7 +2473,6 @@ FFFF0002
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@@ -2481,7 +2480,9 @@ FFFF0002
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@@ -2489,7 +2490,6 @@ FFFF0000
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9_Firmware/9_2_FPGA/tb/cosim/doppler_input_moving.hex
+5041 -5041
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File diff suppressed because it is too large Load Diff
9_Firmware/9_2_FPGA/tb/cosim/doppler_input_two_targets.hex
+13925 -13925
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File diff suppressed because it is too large Load Diff
9_Firmware/9_2_FPGA/tb/cosim/gen_doppler_golden.py
+1 -1
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@@ -92,7 +92,7 @@ def make_scenario_moving():
"""Single target with moderate Doppler shift."""
# v = 15 m/s -> fd = 2*v*fc/c ~= 1050 Hz
# SHORT PRI 175 us: bin = fd * 16 * 175e-6 ~= 2.94 -> sf0 bin ~3
# MEDIUM PRI 175 us: bin = fd * 16 * 175e-6 ~= 2.94 -> sf1 bin 16+3 = 19
# MEDIUM PRI 161 us: bin = fd * 16 * 161e-6 ~= 2.71 -> sf1 bin 16+3 = 19 (PR-Q)
# LONG PRI 167 us: bin = fd * 16 * 167e-6 ~= 2.81 -> sf2 bin 32+3 = 35
targets = [Target(range_m=500, velocity_mps=15.0, rcs_dbsm=20.0)]
return targets, "Single moving target v=15m/s (~1050Hz Doppler, sf0~3 sf1~19 sf2~35)"
9_Firmware/9_2_FPGA/tb/cosim/radar_scene.py
+1 -1
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@@ -61,7 +61,7 @@ T_SHORT_CHIRP = 0.5e-6 # 0.5 us short chirp
T_LISTEN_LONG = 137e-6 # 137 us listening window
T_PRI_LONG = 167e-6 # 30 us chirp + 137 us listen (sub-frame 2: LONG)
T_PRI_SHORT = 175e-6 # 1 us chirp + 174 us listen (sub-frame 0: SHORT)
T_PRI_MEDIUM = 175e-6 # 5 us chirp + 170 us listen (sub-frame 1: MEDIUM)
T_PRI_MEDIUM = 161e-6 # 5 us chirp + 156 us listen (sub-frame 1: MEDIUM, PR-Q stagger)
N_SAMPLES_LISTEN = int(T_LISTEN_LONG * FS_ADC) # 54800 samples
# Processing chain
9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/doppler_input_realdata.hex
+13925 -13925
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File diff suppressed because it is too large Load Diff
9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/doppler_ref_i.hex
+36 -36
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@@ -2384,6 +2384,7 @@
0000
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FFFF
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@@ -2391,8 +2392,7 @@
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@@ -2416,24 +2416,8 @@ FFFC
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@@ -2441,23 +2425,6 @@ FFFD
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@@ -2465,6 +2432,39 @@ FFFE
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9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/doppler_ref_q.hex
+53 -53
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@@ -2368,22 +2368,6 @@ FFFF
0000
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@@ -2399,28 +2383,24 @@ FFFF
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@@ -2428,6 +2408,10 @@ FFFF
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@@ -2445,26 +2429,11 @@ FFFF
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@@ -2472,7 +2441,6 @@ FFFF
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@@ -2480,7 +2448,6 @@ FFFF
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@@ -2488,7 +2455,40 @@ FFFF
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9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_doppler_ref_i.hex
+19 -19
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@@ -2368,8 +2368,6 @@
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@@ -2386,6 +2384,7 @@
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@@ -2393,6 +2392,7 @@
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@@ -2415,24 +2415,23 @@ FFFC
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@@ -24574,3 +24573,4 @@ FFFE
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9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_doppler_ref_q.hex
+19 -19
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@@ -2384,7 +2384,7 @@ FFFF
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@@ -2414,30 +2414,31 @@ FFFF
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@@ -2445,7 +2446,6 @@ FFFA
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9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_range_input.hex
+16122 -16122
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File diff suppressed because it is too large Load Diff