7 Commits

Author	SHA1	Message	Date
Jason	8e8f3e60c4	chirp-v2 PR-D: chirp_scheduler replaces radar_mode_controller; MF/MTI wave_sel-native ... Single 100 MHz scheduler emits wave_sel[1:0] and chirp_pulse natively. Modes 00 (STM32 pass-through), 01 (auto-scan over SHORT/MEDIUM/LONG sub-frames), 10 (single-chirp debug), 11 (track dwell with watchdog scan-fallback after RP_DEF_TRACK_WATCHDOG_FRAMES=5 idle frames). Sub-frame mask lets ops drop a waveform without recompiling. Drops the receiver_final wave_sel shim added in PR-C: wave_sel comes straight from the scheduler; chirp_pulse replaces the old mc_new_chirp toggle + XOR edge converter. matched_filter_multi_segment and mti_canceller take wave_sel[1:0] and chirp_pulse directly — no parallel paths. multi_segment also bumped: SHORT_CHIRP_SAMPLES 50 -> 100 (V2 1 us SHORT) and MEDIUM_CHIRP_SAMPLES = 500 (5 us). LONG path unchanged. Dead mc_new_elevation/azimuth XOR converters removed. Deletes radar_mode_controller.v, formal/fv_radar_mode_controller.v, and tb/tb_radar_mode_controller.v. Build manifests (run_regression.sh, scripts/200t/build_200t.tcl) updated. Receiver_final pins medium/track/ subframe_enable inputs to RP_DEF_* defaults until PR-G plumbs USB opcodes. Verification: - tb_rxb_fullchain_latency: peak |I|+|Q|=24033 at bin 0, ~80x peak/mean (up from PR-C's 15115 since matched filter now uses full 100 SHORT samples) - tb_mti_canceller: 43/43 PASS with new wave_sel[1:0] input - tb_radar_receiver_final: 8/8 PASS, ALL TESTS PASSED - tb_system_e2e: 34/49 PASS - identical to pre-PR-D baseline (15 failures are pre-existing matched-filter cycle-budget skips); G8.2/G8.3 chirp_scheduler probes PASS - tb_multiseg_cosim: 16/32 - same as pre-PR-D baseline	2026-04-30 20:52:32 +05:45
Jason	89dc9156c7	fix(fpga): RX-F — MTI exits mute on chirp boundary, not just last bin ... mti_canceller previously armed has_previous and refreshed prev_chirp_was_long only when range_bin_d1 == NUM_RANGE_BINS - 1. range_bin_decimator can early-terminate a chirp before reaching the last bin (overflow guard at range_bin_decimator.v:306, watchdog at :314), so on every such chirp MTI never armed and stayed muted forever on every subsequent chirp until reset. Detect chirp boundary internally using bin-0 arrival after at least one non-zero bin in the prior chirp. effective_has_previous lifts has_previous=1 the cycle chirp_boundary fires so the new chirp's bin-0 is subtracted (read-before-write on prev[0] correctly returns the previous chirp's bin-0). prev_chirp_was_long now updates on every range_valid_d1 (no-op within a chirp; OLD value still visible at the chirp_boundary cycle for the waveform_changed compare). Pass-through clears saw_nonzero_bin_in_chirp so the first MTI-enabled chirp after a pass-through run is correctly muted. No port changes. tb_mti_canceller T13 added: feed a 32/64-bin partial chirp followed by a full chirp, verify the second chirp is NOT muted (would fail without the fix). MTI Canceller goes from 40 -> 43 checks, all passing. Local regression: 32/34 PASS (same as baseline; the two failing tests are pre-existing RX-NEW-3 FFT throughput).	2026-04-23 19:58:08 +05:45
Jason	9d1eb4b11c	fix(radar): RX chain corrections, GUI bin alignment, MCU boot ordering ... FPGA — RX chain matched_filter_multi_segment.v: drop the gratuitous /4 scaling on DDC sign-extended input (was ddc_i[17:2] + ddc_i[1]); use ddc_i[15:0] directly. fft_engine has INTERNAL_W=32 with saturating 16-bit output, so full 16-bit input is safe. Restores ~12 dB of MF input dynamic range. radar_receiver_final.v: remove latency_buffer (count-N-pulses-then- prime FIFO that left frame 1 with all-zero ref). Replaced with a single-FF alignment register on ref_i/ref_q that matches the 1-FF stage multi_segment ST_PROCESSING uses on adc_data. Verified by tb/tb_rxb_fullchain_latency.v — autocorrelation peak at bin 0 with peak/mean ~88x. doppler_processor.v / mti_canceller.v / cfar_ca.v / range_bin_decimator.v / radar_receiver_final.v / radar_system_top.v / usb_data_interface_ft2232h.v: switch port and parameter widths from RP_NUM_RANGE_BINS / RP_RANGE_BIN_BITS (always 512 / 9-bit) to RP_MAX_OUTPUT_BINS / RP_RANGE_BIN_WIDTH_MAX (auto-scales: 50T 512 / 9-bit, 200T 4096 / 12-bit). Unblocks 200T 20 km mode at the RX module boundary; USB wire-protocol extension still pending. radar_receiver_final.v: doppler_frame_done_prev reset value 0 -> 1 to prevent false done pulse on cycle 1 when level signal is HIGH at reset. matched_filter_processing_chain.v: delete the broken `ifdef SIMULATION inline behavioural FFT (482 lines removed). It produced wrong-bin peaks and 100-1000x weak magnitudes. Chain now uses production fft_engine.v + frequency_matched_filter.v in both iverilog and Vivado. Iverilog tests are ~38x slower per chain pass but produce correct results. Misleading "OK with Xilinx IP" comments at three test sites updated since the FFT is in-house, not an IP placeholder. FPGA — testbenches tb/tb_rxb_latency_measure.v (new): measures chain internal pipeline depth (~2057 cycles, chirp-agnostic). tb/tb_rxb_fullchain_latency.v (new): full-chain autocorrelation verification — drives ddc with the same chirp samples the loader serves as ref, finds peak position and peak/mean. tb/tb_matched_filter_processing_chain.v: wait timeouts bumped 50000 -> 500000 cycles to accommodate production FFT pipeline. MCU main.cpp checkSystemHealthStatus: latch system_emergency_state on the error_count > 10 path so the SAFE-MODE blink loop in main() actually engages (was bypassed because predicate was false). main.cpp: move FPGA reset BEFORE the if(PowerAmplifier) block so adar_tr_x is driven LOW (RX commanded externally) before PA Vdd reaches 22 V. Old reset block at the original location removed. main.cpp MX_GPIO_Init: add GPIO_PIN_12 (FPGA reset) to the explicit WritePin(LOW) list so the safe initial state is no longer implicit. main.cpp checkSystemHealth: rate-limit ADAR1000 verifyDeviceCommunication (HAL_Delay 1ms x 4 devices = 4 ms blocking SPI burst per main-loop iteration) from every-loop to every 2 s. readTemperature stays per-loop so over-temp detection latency is unchanged. USBHandler.cpp processSettingsData: dispatch threshold bumped 74 -> 82 (matches parser minimum); buffer drained after parse attempt (slide remaining bytes left) so a false END find no longer sticks the buffer until 256-byte overflow. GUI radar_protocol.py: NUM_RANGE_BINS 64 -> 512 (matches FPGA RP_NUM_RANGE_BINS); NUM_CELLS 2048 -> 16384. radar_protocol.py _ingest_sample: honor FPGA frame_start bit for resync after a USB drop; capture range_profile[rbin] once per range bin at dbin == 0 (FPGA emits the same range_i/range_q for all 32 Doppler cells of a given range bin; previous accumulator inflated the profile 32x). v7/models.py RadarSettings: range_resolution 24 -> 6 m (matches c/(2*100MHz)*4); max_distance and coverage_radius 1536 -> 3072 m; map_size 2000 -> 4000. v7/models.py WaveformConfig: n_range_bins 64 -> 512, fft_size 1024 -> 2048, decimation_factor 16 -> 4. GUI_V65_Tk.py: _RANGE_PER_BIN math and stale "~24 m / ~1536 m" comments updated. test_v7.py: assertion values updated to match new defaults. Tests test_ddc_cosim_fuzz.py: remove unused os/tempfile imports, wrap three long lines for ruff E501 compliance.	2026-04-23 05:56:52 +05:45
Jason	8865e9a0ef	fix(fpga): pre-bringup RTL hardening + test-suite hardening ... 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.	2026-04-22 13:23:38 +05:45
Jason	5f3002a4d1	merge(wave2): manual resolution of 6 shared files — fft-2048 × p0 audit ... Hand-merged files modified on both fix/pre-bringup-audit-p0 and feat/fft-2048-upgrade. Wave 1 (commit 60e49c7) took 20 files from fft verbatim; this wave resolves the overlap. - run_regression.sh: 3-way merge. Adopts fft's ${RECEIVER_RTL[@]} array refactor and drops the self-blessing golden pair from p0. Skip count bumped to 5. - usb_data_interface.v (FT601/200T): p0 FSM + clock-loss watchdog kept wholesale; widened stream_control 3 -> 6 bits to carry fft's extended mode bits through the CDC sync chain and the 0xFF status word. - mti_canceller.v: fft's BRAM-inferred 512-range-bin implementation as the base, with p0's F-6.3 saturation counter grafted onto the d1 pipeline stage. Overflow detection uses the top-two-bits disagreement on diff_{i,q}_full (DATA_WIDTH+1 signed). - radar_receiver_final.v: fft's 2048-pt / 512-bin structure + p0 diagnostic plumbing (ADC overrange sticky+CDC, DDC diagnostics, tx_frame_start edge detector replacing chirp_counter frame sync, mti_saturation_count, range_decim_watchdog). - radar_system_top.v: clean 3-way merge, orthogonal regions (+38 / -27). - usb_data_interface_ft2232h.v (FT2232H/50T): fft's per-frame bulk BRAM rewrite kept wholesale. Ported two p0 items that are orthogonal to the write FSM: * ft_clk-loss watchdog (heartbeat + 2FF ASYNC_REG sync + 16-bit timeout) ORed into a 2FF sync'd ft_effective_reset_n for the FSM. * rd_cmd_complete flag so RD_DEASSERT can distinguish a legitimate 3-byte completion from an ft_rxf_n abort that also zeros rd_byte_cnt. Deliberately NOT taken from 2401f5f: cic_decimator_4x_enhanced.v and ddc_400m.v reset-strategy changes. Those conflict with p0's shipped registered-sync-reset + max_fanout=25 distribution, which is already timing-clean on the production build.	2026-04-21 02:12:04 +05:45
Jason	3f47d1ef71	fix(pre-bringup): resolve P0 + quick-win P1 findings from 2026-04-19 audit ... Addresses findings from docs/DEVELOP_AUDIT_2026-04-19.md: P0 source-level: - F-4.3 ADAR1000_Manager::adarSetTxPhase now writes REG_LOAD_WORKING with LD_WRK_REGS_LDTX_OVERRIDE (0x02) instead of 0x01. Previous value toggled the LDRX latch on a TX-phase write, so host TX phase updates never reached the working registers. - F-6.1 DDC mixer_saturation / filter_overflow / diagnostics were deleted at the receiver boundary. Now plumbed to new outputs on radar_receiver_final (ddc_overflow_any, ddc_saturation_count) and aggregated into gpio_dig5 in radar_system_top. Added mark_debug attributes for ILA visibility. Test/debug inputs tied low explicitly. - F-0.8 adc_clk_mmcm.xdc set_clock_uncertainty: removed invalid -add flag (Vivado silently rejected it, applying zero guardband). Now uses absolute 0.150 ns which covers 53 ps jitter + ~100 ps PVT margin. P1: - F-4.2 adarSetBit / adarResetBit reject broadcast=ON — the RMW sampled a single device but wrote to all four, clobbering the other three's state. - F-4.4 initializeSingleDevice returns false and leaves initialized=false when scratchpad verification fails; previously marked the device initialized anyway so downstream PA enable could drive a dead bus. - F-6.2 FIR I/Q filter_overflow ports, previously unconnected, now OR'd into the module-level filter_overflow output. - F-6.3 mti_canceller exposes 8-bit saturation counter. Saturation was previously invisible and produces spurious Doppler harmonics. Verification: - 27/27 iverilog testbenches pass - 228/228 pytest pass (cross-layer contract + cosim) - MCU unit tests 51/51 + 24/24 pass - Remote Vivado 2025.2 build: bitstream writes; 400 MHz mixer pipeline now shows WNS -0.109 ns which MATCHES the audit's F-0.9 prediction that the design only closed because F-0.8's guardband was silently dropped. ft_clkout F-0.9 remains a show-stopper (requires MRCC pin move), tracked separately. Not addressed in this PR (larger scope, follow-up tickets): F-0.4, F-0.5, F-0.6, F-0.7, F-0.9, F-1.1, F-1.2, F-2.2, F-3.2, F-4.1, F-4.7, F-6.4, F-6.5.	2026-04-20 13:48:36 +05:45
Jason	ed629e7559	Integrate MTI canceller and DC notch filter for ground clutter removal ... MTI canceller (2-pulse, H(z)=1-z^{-1}) between range decimator and Doppler processor. Subtracts previous chirp from current, nulling DC Doppler (stationary clutter). Pass-through when host_mti_enable=0. DC notch filter (post-Doppler, pre-CFAR) zeros bins within +/-host_dc_notch_width of DC. Complements MTI for residual clutter. New host registers: 0x26 (mti_enable), 0x27 (dc_notch_width). Both default to 0 (disabled) - fully backward-compatible. Verification: 23/23 regression, 29/29 MTI standalone, 3/3 real-data co-sim (5137/5137 exact match) all PASS.	2026-03-20 16:39:17 +02:00