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fix(fpga): pre-bringup RTL hardening + test-suite hardening

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RTL (P0 pre-bringup findings R-1/R-2/R-3/R-5/R-6):

- mti_canceller: add use_long_chirp input and waveform-boundary mute
  so the long->short transition in mode 01 no longer subtracts across
  heterogeneous waveforms (R-1). Prev buffer is overwritten in-flight
  at the boundary so the next same-waveform chirp subtracts cleanly.
- ad9484_interface_400m: 2FF sync of mmcm_locked into the 400 MHz
  domain before gating reset_n_gated (R-6).
- cic_decimator_4x_enhanced: correct max_fanout narrative (R-3).
- ad9484_interface_400m: strip stale pblock comment, note 3.0 ns
  max_delay instead (R-2).
- mti_canceller / doppler_processor: 200T-20km WARNING banners
  flagging the broken 4096-bin path (R-5). 9-bit BRAM address aliases
  silently until rewritten.
- adc_clk_mmcm.xdc: relax set_max_delay from 2.700 -> 3.000 ns,
  closes WNS with headroom on 50T build.
- radar_receiver_final: wire use_long_chirp into mti_inst.

Architecture-bump finalization (2048-pt range FFT, 512 range bins,
32 Doppler bins -> 16384 output cells per frame):

- tb/cosim/radar_scene.py: FFT_SIZE 1024 -> 2048, RANGE_BINS 64 -> 512.
- tb/gen_mf_golden_ref.py: N 1024 -> 2048.
- Regenerate all affected hex goldens (MF cases 1-4, Doppler inputs
  + py goldens, receiver integration golden_doppler.mem 2048 -> 16384).
- tb_radar_receiver_final: widen range_bin_out 6 -> 9 bits, bump
  GOLDEN_ENTRIES 2048 -> 16384, expand bitmaps/arrays to 512 bins,
  update all check messages and thresholds.
- tb_mti_canceller, tb_fullchain_mti_cfar_realdata: tie/pass
  use_long_chirp so compile still works after RTL port add.

Test-suite hardening (coverage audit findings):

- tb_mti_canceller T12: 10 new assertions exercising R-1 waveform-
  boundary mute across a long/long/short/short/long sequence. Catches
  a regression that re-enables subtraction across the boundary.
- tb_fir_lowpass: replace tautological check(1'b1, ...) on coefficient
  symmetry with a real hierarchical check coeff[k]===coeff[31-k];
  replace always-pass overflow check with a well-driven (not X/Z)
  assertion on filter_overflow.
- tb_matched_filter_processing_chain: replace three always-pass peak-
  bin placeholders with peak-to-mean-|out| > 2x ratio checks (catches
  flat/zero output that the old tautologies silently accepted).
- tb_cdc_modules M2: replace always-pass narrow-pulse check with a
  well-defined-output assertion on the synchronizer.
- tb_nco_400m: replace always-pass freq-switch check with a swing +
  no-X assertion across 200 post-switch samples.
- tb_system_e2e G12.1: replace check(1, ...) with test_num > 20 so
  it catches a stalled TB that skipped prior groups.
- tb_multiseg_cosim TEST 4: replace always-pass placeholder with a
  bitmap that asserts segment_request visited all 4 values.
- tb_mf_chain_synth and tb_fullchain_mti_cfar_realdata: add DEPRECATED
  headers plus \$fatal guards (ifndef ALLOW_STALE_*) so they cannot
  be silently re-enabled in CI with stale 1024-bin goldens against
  current 2048-pt RTL.

Regression: 32 passed, 0 failed. MTI TB grew 30 -> 39 checks;
receiver integration grew 17 -> 18 checks with 16384/16384 golden
match at tolerance +/- 2 LSB.
This commit is contained in:
Jason
2026-04-22 13:23:38 +05:45
parent c668652ba8
commit 8865e9a0ef
54 changed files with 204966 additions and 35813 deletions
Download Patch File Download Diff File Expand all files Collapse all files
9_Firmware/9_2_FPGA/mti_canceller.v
+65 -17
View File
@@ -43,6 +43,19 @@
`include "radar_params.vh"
// ----------------------------------------------------------------------------
// !!! 200T 20 km MODE BROKEN — FIX BEFORE 200T BRING-UP !!!
// The prev-chirp BRAM buffer is sized to NUM_RANGE_BINS (512) and the
// range_bin_in port is 9 bits (`RP_RANGE_BIN_BITS). In 20 km mode the
// upstream range_bin_decimator emits `RP_OUTPUT_RANGE_BINS_20KM = 4096
// bins per chirp (8 segments × 512 decimated bins), which aliases into
// the 9-bit address space and collapses bins 512..4095 onto bins 0..511.
// On XC7A50T this is latent (SUPPORT_LONG_RANGE undefined → 3 km only),
// but on XC7A200T with SUPPORT_LONG_RANGE the 20 km data path will
// silently corrupt every range cell above 3 km.
// Fix before 200T bring-up: scale NUM_RANGE_BINS/range_bin width with
// `RP_MAX_OUTPUT_BINS, or gate MTI off entirely in 20 km mode.
// ----------------------------------------------------------------------------
module mti_canceller #(
parameter NUM_RANGE_BINS = `RP_NUM_RANGE_BINS, // 512
parameter DATA_WIDTH = `RP_DATA_WIDTH // 16
@@ -65,6 +78,14 @@ module mti_canceller #(
// ========== CONFIGURATION ==========
input wire mti_enable, // 1=MTI active, 0=pass-through
// Current chirp's waveform selector (from radar_mode_controller). Used
// to mute MTI output across the long↔short chirp boundary in range
// mode 01 (long-range interleave) — without this, the first chirp of
// a new waveform subtracts the previous waveform's range profile,
// injecting a per-range-bin impulse into slow-time sample 0 of the
// new Doppler sub-frame that spreads across all Doppler bins.
input wire use_long_chirp,
// ========== STATUS ==========
output reg mti_first_chirp, // 1 during first chirp (output muted)
@@ -92,20 +113,23 @@ reg signed [DATA_WIDTH-1:0] range_i_d1, range_q_d1;
reg range_valid_d1;
reg [`RP_RANGE_BIN_BITS-1:0] range_bin_d1;
reg mti_enable_d1;
reg use_long_chirp_d1;
always @(posedge clk or negedge reset_n) begin
if (!reset_n) begin
range_i_d1 <= {DATA_WIDTH{1'b0}};
range_q_d1 <= {DATA_WIDTH{1'b0}};
range_valid_d1 <= 1'b0;
range_bin_d1 <= {`RP_RANGE_BIN_BITS{1'b0}};
mti_enable_d1 <= 1'b0;
range_i_d1 <= {DATA_WIDTH{1'b0}};
range_q_d1 <= {DATA_WIDTH{1'b0}};
range_valid_d1 <= 1'b0;
range_bin_d1 <= {`RP_RANGE_BIN_BITS{1'b0}};
mti_enable_d1 <= 1'b0;
use_long_chirp_d1 <= 1'b0;
end else begin
range_i_d1 <= range_i_in;
range_q_d1 <= range_q_in;
range_valid_d1 <= range_valid_in;
range_bin_d1 <= range_bin_in;
mti_enable_d1 <= mti_enable;
range_i_d1 <= range_i_in;
range_q_d1 <= range_q_in;
range_valid_d1 <= range_valid_in;
range_bin_d1 <= range_bin_in;
mti_enable_d1 <= mti_enable;
use_long_chirp_d1 <= use_long_chirp;
end
end
@@ -139,6 +163,14 @@ end
// Track whether we have valid previous data
reg has_previous;
// Waveform of the chirp whose profile currently lives in prev_i/prev_q.
// Latched at end-of-chirp when we mark has_previous=1. Compared against
// the incoming chirp's waveform at its first bin (range_bin_d1 == 0) to
// detect a long↔short transition and re-mute.
reg prev_chirp_was_long;
wire waveform_changed = has_previous
&& (use_long_chirp_d1 != prev_chirp_was_long);
// ============================================================================
// MTI PROCESSING (operates on d1 pipeline stage + BRAM read data)
// ============================================================================
@@ -182,6 +214,7 @@ always @(posedge clk or negedge reset_n) begin
range_bin_out <= {`RP_RANGE_BIN_BITS{1'b0}};
has_previous <= 1'b0;
mti_first_chirp <= 1'b1;
prev_chirp_was_long <= 1'b0;
mti_saturation_count <= 8'd0;
end else begin
// Count saturated MTI-active samples (F-6.3). Clamp at 0xFF.
@@ -206,24 +239,39 @@ always @(posedge clk or negedge reset_n) begin
// Reset first-chirp state when MTI is disabled
has_previous <= 1'b0;
mti_first_chirp <= 1'b1;
end else if (!has_previous) begin
// First chirp after enable: mute output (no subtraction possible).
// Still emit valid=1 with zero data so Doppler processor gets
// the expected number of samples per frame.
end else if (!has_previous || waveform_changed) begin
// No valid previous chirp to subtract from — either the very
// first chirp after reset/enable, or the long↔short boundary
// in range_mode=01 where the prev buffer holds a different
// waveform's profile. Mute output (emit zeros with valid=1
// so Doppler still sees the expected chirp count), overwrite
// prev_i/prev_q as this chirp streams through the write port,
// then re-arm at end-of-chirp with the CURRENT waveform tag.
range_i_out <= {DATA_WIDTH{1'b0}};
range_q_out <= {DATA_WIDTH{1'b0}};
range_valid_out <= 1'b1;
mti_first_chirp <= 1'b1;
// After last range bin of first chirp, mark previous as valid
// After last range bin of this chirp, the prev buffer now
// holds a full copy of THIS chirp's profile — arm for the
// next chirp and remember which waveform was written.
if (range_bin_d1 == NUM_RANGE_BINS - 1) begin
has_previous <= 1'b1;
mti_first_chirp <= 1'b0;
has_previous <= 1'b1;
mti_first_chirp <= 1'b0;
prev_chirp_was_long <= use_long_chirp_d1;
end
end else begin
// Normal MTI: subtract previous from current
range_i_out <= diff_i_sat;
range_q_out <= diff_q_sat;
range_valid_out <= 1'b1;
// Refresh the waveform tag at end-of-chirp so the compare
// on the next chirp stays correct (same-waveform runs are
// the common case and the tag must track them).
if (range_bin_d1 == NUM_RANGE_BINS - 1) begin
prev_chirp_was_long <= use_long_chirp_d1;
end
end
end
end