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

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).

9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_moving.csv

@@ -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
+83,18,0,1
-83,19,2,-2
+83,19,0,-2
-83,20,-2,0
+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
+83,34,1,0
-83,35,0,-2
+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

9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_moving.hex

@@ -4001,22 +4001,6 @@ FFFF0002
 00000000
 00000000
 00000000
-0001FFFF
-FFFE0002
-0000FFFE
-00000000
-00000000
-00000000
-00000000
-00000000
-00000001
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
 00010000
 FFFE0000
 00000000
@@ -4033,6 +4017,22 @@ FFFE0000
 00000000
 00000000
 00000000
+00000001
+FFFFFFFE
+00000000
+00000000
+00000000
+00000000
+00000000
+00000000
+00000001
+00000000
+00000000
+00000000
+00000000
+00000000
+00000000
+00000000
 00000000
 00000000
 00000000

9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_two_targets.csv

@@ -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
+50,16,0,-1
-50,17,-4,2
+50,17,-4,4
-50,18,8,-2
+50,18,5,-6
-50,19,-4,0
+50,19,-2,2
 50,20,0,0
 50,21,0,0
 50,22,0,0
-50,23,0,-1
+50,23,0,0
-50,24,0,0
+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
+50,33,2,4
-50,34,4,-6
+50,34,-2,-8
-50,35,-3,2
+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

9_Firmware/9_2_FPGA/tb/cosim/doppler_golden_py_two_targets.hex

@@ -2369,22 +2369,6 @@ FFFF0002
 00000000
 00000000
 00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
-00000000
 FFFF0000
 00000000
 00000000
@@ -2400,6 +2384,22 @@ FFFF0000
 00000000
 00000000
 00000000
+00000000
+FFFEFFFF
+00000000
+00000000
+00000000
+00000000
+00000000
+00000000
+00000000
+00000001
+00000000
+00000000
+00000000
+00000000
+00000000
+00000000
 0001FFFC
 FFFF0008
 FFFFFFFC
@@ -2415,10 +2415,11 @@ FFFFFFFC
 00000000
 00000000
 00010000
+FFFF0000
+0004FFFC
+FFFA0005
+0002FFFE
 00000000
-0002FFFC
-FFFE0008
-0000FFFC
 00000000
 00000000
 00000000
@@ -2430,23 +2431,22 @@ FFFF0000
 00000000
 00000000
 00000000
-00010000
 FFFF0000
-0004FFFE
+00040002
-FFFA0004
+FFF8FFFE
-0002FFFD
+00020000
+00000000
+00000000
+00000000
+00000000
+00000000
 00000000
 00000000
 00000000
 00000000
-FFFF0000
-00000000
-00000000
-00000001
 00000000
 00000000
 00000000
-00010000
 00000000
 0000FFFE
 00000001
@@ -2465,7 +2465,7 @@ FFFF0000
 00000000
 00000000
 00000000
-FFFF0002
+FFFE0000
 00000000
 00000000
 00000000
@@ -2473,7 +2473,6 @@ FFFF0002
 00000000
 00000000
 00000000
-00010000
 00000000
 00000000
 00000000
@@ -2481,7 +2480,9 @@ FFFF0002
 00000000
 00000000
 00000000
-FFFF0000
+00000000
+FFFE0000
+00000000
 00000000
 00000000
 00000000
@@ -2489,7 +2490,6 @@ FFFF0000
 00000000
 00000000
 00000000
-00010000
 00000000
 00000000
 00000000

9_Firmware/9_2_FPGA/tb/cosim/gen_doppler_golden.py

@@ -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

@@ -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_ref_i.hex

@@ -2384,6 +2384,7 @@
 0000
 0000
 0000
+FFFF
 0000
 0000
 0000
@@ -2391,8 +2392,7 @@
 0000
 0000
 0000
-0000
+0001
-0000
 0000
 0000
 0000
@@ -2416,24 +2416,8 @@ FFFC
 0000
 0000
 FFFC
-0008
+0005
-FFFC
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
 FFFE
-0004
-FFFD
 0000
 0000
 0000
@@ -2441,23 +2425,6 @@ FFFD
 0000
 0000
 0000
-0001
-0000
-0000
-0000
-0000
-0000
-FFFE
-0001
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0001
-0000
 0000
 0000
 0000
@@ -2465,6 +2432,39 @@ FFFE
 0000
 0000
 0002
+FFFE
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+FFFE
+0001
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0001
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
 0000
 0000
 0000

9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/doppler_ref_q.hex

@@ -2368,22 +2368,6 @@ FFFF
 0000
 0000
 0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
 FFFF
 0000
 0000
@@ -2399,28 +2383,24 @@ FFFF
 0000
 0000
 0000
-0001
-FFFF
-FFFF
 0000
-0000
-0000
-0000
-0000
-0000
-0001
-0000
-0000
-0000
-0000
-0001
-0000
-0002
 FFFE
 0000
 0000
 0000
 0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0001
+FFFF
 FFFF
 0000
 0000
@@ -2428,6 +2408,10 @@ FFFF
 0000
 0000
 0000
+0001
+0000
+0000
+0000
 0000
 0001
 FFFF
@@ -2445,26 +2429,11 @@ FFFF
 0000
 0000
 0000
-0001
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
 0000
 FFFF
+0004
+FFF8
+0002
 0000
 0000
 0000
@@ -2472,7 +2441,6 @@ FFFF
 0000
 0000
 0000
-0001
 0000
 0000
 0000
@@ -2480,7 +2448,6 @@ FFFF
 0000
 0000
 0000
-FFFF
 0000
 0000
 0000
@@ -2488,7 +2455,40 @@ FFFF
 0000
 0000
 0000
-0001
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+FFFE
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+FFFE
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
 0000
 0000
 0000

9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_doppler_ref_i.hex

@@ -2368,8 +2368,6 @@
 0000
 0000
 0000
-0002
-0000
 0000
 0000
 0000
@@ -2386,6 +2384,7 @@
 0000
 0000
 0000
+FFFF
 0000
 0000
 0000
@@ -2393,6 +2392,7 @@
 0000
 0000
 0000
+0001
 0000
 0000
 0000
@@ -2415,24 +2415,23 @@ FFFC
 0000
 0000
 0000
-FFFC
-0008
-FFFC
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
-0000
 FFFE
-0004
+0005
+FFFE
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+0002
 FFFE
 0000
 0000
@@ -24574,3 +24573,4 @@ FFFE
 0000
 0000
 0000
+0000

9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_doppler_ref_q.hex

@@ -2384,7 +2384,7 @@ FFFF
 0000
 0000
 0000
-0000
+FFFE
 0000
 0000
 0000
@@ -2414,30 +2414,31 @@ FFFF
 0000
 0001
 0000
-0000
-0002
-FFFE
-0000
-0000
-0000
 FFFF
-0000
+0005
-0000
-0000
-0000
-0000
-0000
-0000
-0001
-0001
-FFFE
-0004
 FFFA
 0002
 0000
 0000
 0000
 0000
+FFFF
+0000
+0000
+0000
+0000
+0000
+0000
+0000
+FFFF
+0004
+FFF8
+0002
+0000
+0000
+0000
+0000
+0000
 0000
 0000
 0000
@@ -2445,7 +2446,6 @@ FFFA
 0000
 0000
 0000
-0001
 0000
 0000
 0000