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https://github.com/NawfalMotii79/PLFM_RADAR.git
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abde60dd7ee4b5d8c674bd89c333044241c0ec99
436 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Jason
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abde60dd7e |
docs(cfar): PR-M.4 — note Doppler-window dependency on CFAR alpha
The CFAR threshold (alpha) lives in a Q4.4 host register and is loaded
from RP_DEF_CFAR_ALPHA / _SOFT at boot (3.0 / 1.5 in Q4.4). With PR-M.2
swapping the Doppler window from a non-canonical "Hamming-ish" LUT
(PSL=-33 dB) to Dolph-Chebyshev 60 dB (PSL=-60 dB), training-cell
contamination from off-Doppler sidelobes drops by 27 dB and the
effective Pfa at the shipped alpha drops accordingly.
This commit is documentation only — defaults are not changed pre-HW.
Two operating-point options for HW bring-up:
(a) Hold alpha — get higher Pd at lower Pfa as a free win.
(b) Lower alpha — recover original Pfa, get even higher Pd.
Recommended bring-up procedure recorded in cfar_ca.v header:
1. Collect noise-only frames (no targets in dwell).
2. Measure empirical Pfa at shipped alpha=3.0 / 1.5.
3. If Pfa < 0.5 x design target, lower alpha; otherwise hold.
Opcodes 0x23 (RP_OP_CFAR_ALPHA) and 0x2D (RP_OP_CFAR_ALPHA_SOFT) let
the host adjust at runtime without firmware change.
Files:
* cfar_ca.v — adds "Doppler-window dependency" block to the header
after the existing "Threshold computation" block.
* radar_params.vh — adds a note above RP_DEF_CFAR_ALPHA pointing at
cfar_ca.v for the rationale.
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Jason
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db6b220f92 |
ci(fpga): PR-M.3 — wire T-6 drift cosim into regression + CI deps
Adds the T-6 independent reference drift cosim (PR-M.1,
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Jason
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36234fe0e3 |
fix(doppler): PR-M.2 — Dolph-Chebyshev 60 dB window replaces Hamming-ish LUT
T-6 drift cosim (PR-M.1,
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Jason
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c30be89dbe |
test(cosim): PR-M.1 — independent fpga_reference.py + drift cosim (T-6)
Adds tb/cosim/fpga_reference.py: numpy/scipy implementation of NCO,
FFT, matched filter, and Doppler. Unlike fpga_model.py — which is a
bit-exact PORT of the RTL (same NCO_SINE_LUT, same twiddle .mem files,
same Q15 quantization) — this reference computes the algorithm from
analytical formulas with no LUT or quantization. It is the third leg
of the cosim triangle so transcription bugs that exist identically in
both the Python twin AND the RTL no longer hide.
Adds tb/cosim/compare_independent.py: runs canonical stimulus through
both twin and reference and reports drift. Bytewise LUT spot-checks
(NCO_SINE_LUT, fft_twiddle_16.mem, fft_twiddle_2048.mem,
HAMMING_WINDOW) plus end-to-end peak/roundtrip invariants for NCO,
FFT-2048, MF, Doppler.
Findings (12/13 drift checks pass):
* NCO_SINE_LUT, fft_twiddle_16.mem, fft_twiddle_2048.mem all match
their analytical Q15 values bytewise (max dev = 0 LSB) — the two
biggest hand-transcribed LUTs are clean.
* HAMMING_WINDOW [FAIL] — max 740 LSB drift from documented formula
0.54-0.46*cos(2*pi*n/15) at n=5 (LUT=25971, ideal=25231). The
same wrong values appear in fpga_model.HAMMING_WINDOW and
doppler_processor.v lines 99-114; both share the drift, which is
why every existing Doppler cosim has been passing bit-exactly. To
resolve: either regen the LUTs to match the documented formula
and re-bless Doppler goldens, or update the comments to describe
the actual values (no clean closed-form match yet identified).
Not wired into run_regression.sh in this commit so the drift gating
decision (fix vs document) can be made deliberately.
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Jason
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ad37f88cd3 |
test(fft): PR-L — fix tb_fft_engine N=32→16 dropdown bugs (T-4)
The TB hard-coded /32.0 in cosine/sine angle math and read out_re[28] /
out_re[30] which don't exist for N=16, so 3/12 checks failed (Test 3
single-tone, Test 7 imag-tone). Pure TB math error — fft_engine.v is
correct (proven by every production MF/Doppler cosim passing bit-exact).
Test 3: /32.0 → /N, peak expected = N/2*1000 = 8000 (not 16000),
conjugate read at bin N-4=12 (not 28).
Test 7: /32.0 → /N, conjugate peak at bin N-2=14 (not 30).
Result: 12/12 PASS at N=16 with bin 4 = 7997 ≈ 8000.
Closes T-4. Final regression: 42 passed / 0 failed of 42 — first
all-green since PR-Tests-1 exposed hidden failures.
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Jason
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7660d5dff4 |
fix(rx): PR-J.2 — pre-collect chirp + slide segments (LONG hang)
matched_filter_multi_segment.v ingestion model rewritten to capture the
full chirp into a single 4096-deep input BRAM during ST_COLLECT_DATA,
then slide non-destructive segment windows over the stable buffer:
segment N reads buffer[N*SEGMENT_ADVANCE .. N*SEGMENT_ADVANCE+2047]
segment_offset advances by SEGMENT_ADVANCE in ST_NEXT_SEGMENT.
Replaces the original overlap-save scheme, which assumed the input ddc
stream stayed live across segment processing. That contract breaks
because chain processing (~70 us at production xfft_2048 timing,
~1.7 ms in the iverilog batched fallback) outlasts the LONG chirp
duration (30 us). Segment-1 input samples (chirp samples 2048..2999)
arrived during segment 0's ST_PROCESSING / ST_WAIT_FFT and were
silently dropped, so segment 1 hung forever in ST_COLLECT_DATA waiting
for ddc_valid that never came. PR-J.1 (
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Jason
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8b6f2ec8ec |
test(diagnostic): PR-J.1 — tb_mf_long_chirp localises LONG-chirp hang
Standalone diagnostic TB that drives a single chirp (SHORT/MEDIUM/LONG
selectable via +WAVE=N plusarg) through the production matched_filter
stack — chirp_reference_rom -> matched_filter_multi_segment ->
matched_filter_processing_chain (xfft_2048 + frequency_matched_filter)
— and logs every state transition of:
ms_state, ch_state, mem_request/mem_ready, segment_request,
current_segment, pc_valid, ms_status
Used to localise the LONG-chirp hang surfaced by tb_system_dataflow.
Findings (this run, iverilog SIMULATION fallback path):
SHORT (1 segment, 100 samples): PASS, 168 k cycles, 2048 pc_valid.
MEDIUM (1 segment, 500 samples): PASS, 168 k cycles, 2048 pc_valid.
LONG (2 segments, 3000 samples):
segment 0: COMPLETES — chain 0->1..10->0, 2048 pc_valid pulses,
ms_state walks ST_OUTPUT (6) -> ST_NEXT_SEGMENT (7) ->
ST_OVERLAP_COPY (8) -> ST_COLLECT_DATA (1) with
curr_seg = 1.
segment 1: HANGS in ST_COLLECT_DATA forever.
Root cause (not a test artefact, real RTL gap):
matched_filter_multi_segment.v ST_COLLECT_DATA increments
chirp_samples_collected and buffer_write_ptr only when ddc_valid is
high in that state. After ST_OVERLAP_COPY copies the 128 tail samples
of segment 0 into buffer[0..127], the FSM re-enters ST_COLLECT_DATA
and waits for buffer_write_ptr to reach 2048 (or
chirp_samples_collected >= LONG_CHIRP_SAMPLES = 3000) — both gated
on fresh ddc_valid pulses.
But the LONG chirp's tail samples (2048..2999 of the 3000-sample
ramp) arrived ~30 us into the chirp, while ms_state was stuck in
ST_PROCESSING / ST_WAIT_FFT / ST_OUTPUT processing segment 0. The
module has no side-channel ingestion, so those samples are dropped;
segment 1 never gets the data it needs and ST_COLLECT_DATA blocks
indefinitely.
Even on production xfft_2048 timing (~2200 cycles per FFT pass,
~7 k cycles per chain pass), segment 0 processing (~70 us) outlasts
the 30 us chirp duration. The bug is structural, not iverilog-only.
PR-J.2 will fix this. Three candidate approaches, in order of
implementation cost:
C) Defer segment processing until chirp is fully collected — small
FSM tweak; adds latency.
A) Extend the input BRAM to 4096 entries to hold the full LONG
chirp; segments slide over a stable buffer post-collection. ~1
extra BRAM, simplest data-flow.
B) Parallel ingestion FSM + ping-pong buffer that decouples capture
from processing. Keeps segment 0 latency optimal but is the most
RTL surface change.
This TB stays out of run_regression.sh until PR-J.2 lands the fix —
LONG would deterministically FAIL today.
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Jason
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237e74ceba |
test(realdata): PR-K — synthetic regen of doppler/fullchain realdata fixtures
Replaces the legacy ADI CN0566 .npy capture flow with a synthetic radar
scene generated by tb/cosim/real_data/gen_realdata_hex.py via the
existing radar_scene + fpga_model bit-accurate Python models.
Dimensions now match production radar_params.vh:
RP_FFT_SIZE=2048, RP_DECIMATION_FACTOR=4, RP_NUM_RANGE_BINS=512,
CHIRPS_PER_FRAME=48, NUM_DOPPLER_BINS=48 (3 sub-frames x 16-pt FFT).
Previously both TBs were pinned to legacy 32-chirp / 2-subframe / 1024->64
DECIM=16 dimensions. range_bin_decimator.v's 2-bit comparisons against
DECIMATION_FACTOR/2 only behave correctly for small DECIM, so the old
DECIM=16 path no longer worked even though the TBs compiled — that is
why Full-Chain Real-Data was reporting pass=0/fail=3.
Changes:
tb/cosim/real_data/gen_realdata_hex.py (new) - synthesises 6 fixture
files from a 2-target scene via DopplerProcessor (3-subframe) and
RangeBinDecimator (peak, 2048->512). Reproducible (fixed seed 42).
tb/cosim/real_data/golden_reference.py (deleted, 1436 lines) - the
legacy generator depended on out-of-tree ADI .npy captures and
modelled only the 2-subframe / 32-chirp path.
tb/cosim/real_data/hex/ - 43 orphan artifacts deleted (CFAR / MTI /
notched / detection / range-FFT debug dumps that nothing in the
active TB or regression was loading); 6 fixtures regenerated at
production dimensions:
doppler_input_realdata.hex 24576 packed lines (was 2048)
doppler_ref_{i,q}.hex 24576 lines each (was 2048)
fullchain_range_input.hex 98304 packed lines (was 32768)
fullchain_doppler_ref_{i,q}.hex 24576 lines each (was 2048)
tb/tb_doppler_realdata.v - CHIRPS 32->48, RANGE_BINS 64->512,
DOPPLER_FFT 32->48, MAX_CYCLES bumped.
tb/tb_fullchain_realdata.v - same + INPUT_BINS 1024->2048,
DECIM_FACTOR 16->4, fixed
decim_bin_index width to
RP_RANGE_BIN_WIDTH_MAX, fixed
start_bin width 10->11.
run_regression.sh - "Doppler Real-Data" label updated
(no longer "ADI CN0566"); both
realdata tests get explicit
--timeout values (300 / 600 s).
Standalone results:
tb_doppler_realdata - 24584/24584 PASS (3.36 s sim, ~50 s wall)
tb_fullchain_realdata - 24585/24585 PASS (4.10 s sim, ~5 min wall)
Full regression now: 41 passed / 1 failed (only remaining FAIL is
FFT Engine, pre-existing pre-PR-K regex-reveal — unrelated).
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Jason
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81d6f210cb |
test(integration): PR-I.4 — wire new TBs into regression, retire tb_system_e2e
run_regression.sh replaces "System E2E (tb_system_e2e)" + "System E2E USB_MODE=1 (FT2232H)" with the three PR-I subsuites (tb_system_opcodes, tb_system_mechanics, tb_system_dataflow). SKIP count for --quick mode bumped 5 -> 6 to match. "System Top USB_MODE=1 (FT2232H)" via radar_system_tb.v is kept as a structural smoke test. Dataflow gets --timeout=600 (vs 300 default). Its 18 ms sim takes ~430-450 s wall on this host; the 300 s default killed it at ~12.4 ms, before the test logic block ran, yielding UNKNOWN. With 600 s, the TB finishes cleanly and G2.2/G4.1/G4.2 all pass (3/3). The matched_filter_multi_segment ST_WAIT_FFT hang documented in the TB header still affects deeper coverage (G4.4 doppler, G5.x USB egress, G9.x reset recovery), which remain deferred to PR-J. tb_system_e2e.v removed (1294 lines) — coverage is fully replaced by the focused subsuites; its USB_MODE=1 BFM was structurally broken (wired only the FT601 ports, leaving the FT2232H DUT ports dangling), which is why a USB_MODE=1 variant could "pass" without exercising the production FT2232H path. tb_usb_protocol_v2.v comment updated to point at tb_system_opcodes for opcode-dispatch integration coverage. |
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Jason
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f4fbee5dac |
test(dataflow): PR-I.3 — tb_system_dataflow shallow integration probe
Shallow probe verifying that auto-scan kicks the production pipeline end-of-TX-side cleanly: chirp_scheduler emits new_chirp_frame, the range pipeline (DDC + matched filter + range decimator) emits multi-bin range profiles. Recovers G2.2 (new_chirp_frame pulse), G4.1 (range_valid pulse), G4.2 (>=100 range bins) — three of T-2's sixteen hidden failures. Sim runs ~18 ms simulated (about 60-90 s wall on iverilog) — covers one full 48-chirp frame TX time. Watchdog at 25 ms. Deferred to PR-J: G4.4 doppler_valid pulse, G5.1-5.4 USB egress, G9.x reset recovery. Real finding: matched_filter_multi_segment hangs in ST_WAIT_FFT under continuous auto-scan — the inner FFT chain (xfft_2048 + frequency_matched_filter) does not assert fft_done in SIMULATION mode after the first chirp's segment completes. tb_mf_cosim still exercises the inner block in isolation (passes); the multi-segment wrapper has no dedicated TB (T-9). The hang is a production-chain integration bug, not a test infrastructure issue. This TB is NOT yet wired into run_regression.sh — that lands in PR-I.4 along with retiring tb_system_e2e. |
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Jason
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dc52dfcb47 |
test(mechanics): PR-I.2 — tb_system_mechanics for chirp/RF/safety/CDC
New TB carving G1 (reset & init), G2 (TX chain — minus G2.2 which lives
in dataflow), G3 (safety architecture), G7.1 (rapid chirp toggle CDC),
and G7.3 (TX chirp counter CDC) out of tb_system_e2e into a fast,
focused subsuite. radar_system_top instantiated with USB_MODE=1
(production FT2232H path).
These tests don't need 48-chirp Doppler accumulation, so the sim
budget is ~80 us of stimulus + observation. Watchdog at 1.5 ms.
15/15 PASS. Pairs with tb_system_opcodes (commit
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Jason
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413a01e2fa |
test(opcodes): PR-I.1 — tb_system_opcodes via production FT2232H path
New TB instantiates radar_system_top with USB_MODE=1 and wires the FT2232H ports correctly (which tb_system_e2e never did — its BFM was FT601-only, so USB_MODE=1 opcode-dispatch tests were stimulating dangling ports). Uses the proven send_cmd pattern from tb_usb_protocol_v2. Coverage migrated from tb_system_e2e: - G6.1-6.6 — opcode 0x01/0x02/0x03/0x04/0x10/0x15 dispatch - G7.2/G7.4 — rapid USB cmd CDC integrity - G13.1-8 — chirps_per_elev clamp at DOPPLER_FRAME_CHIRPS=48 (PR-F-aware; was hardcoded to 32 in tb_system_e2e G13) - G14.1-13 — range_mode + CFAR opcode dispatch (0x20-0x25) Plus new PR-G coverage: - 0x17/0x18 MEDIUM ladder timing - 0x2D cfar_alpha_soft Result: 33/33 PASS in 15.7 ms sim. Resolves 10 of the 26 USB_MODE=1 failures from T-3 (the FT2232H-specific cluster). Remaining 16 in USB_MODE=1 are T-2 pipeline-timing failures, addressed in PR-I.3 (tb_system_dataflow). tb_system_e2e is not yet retired — see PR-I.4. |
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Jason
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b7a841a32c |
test(cosim): T-7 strict MF thresholds + T-8 doppler 32->48 (3 sub-frames)
T-7 (compare_mf.py): replace "energy ratio 0.001-1000" cargo-cult bounds with strict Parseval/correlation gates — energy 0.95-1.05, mag_corr >= 0.95, peak_overlap_10 >= 0.90, corr_i/corr_q >= 0.90. All four MF cosim scenarios still pass (energy=1.000 mag_corr=1.000 peak=1.000) but the script now bites on any drift instead of rubber-stamping. T-8 (doppler cosim 32->48): bump cosim/TBs/Python model to production 3-subframe / 48-bin config (PR-F). DopplerProcessor parameterised over NUM_SUBFRAMES (default 3, legacy 2 still callable). radar_scene now uses SHORT/MEDIUM/LONG slow-time matching chirp_scheduler.v. Goldens regenerated; tb_doppler_cosim drops the legacy CHIRPS_PER_FRAME=32 override; all 3 doppler scenarios pass bit-exact (energy=1.0000 peak_agree=1.000 mag_corr=1.000) at production config. tb_doppler_realdata kept on the legacy override — its goldens are bit-exact ADI CN0566 captures (32 chirps x 64 range bins) and the 3-subframe regen needs new hardware captures + golden_reference.py rewrite, deferred to PR-I. Full regression: 37/41 (same 4 pre-existing T-2..T-5 failures, no new regressions). |
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Jason
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58792d0e7d |
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. |
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Jason
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65f1e02766 |
fix(regression): allow leading whitespace in [PASS]/[FAIL] anchors
Three regex sites (run_test, run_mf_cosim, run_doppler_cosim) anchored at column 0 with `^\[PASS|^\[FAIL`, but most TBs emit ` [PASS]` / ` [FAIL]` from `task check;` formatting. Anchors silently matched zero markers, the fallback "did anything reach $finish" path reported PASS, and 48 real failures across tb_system_e2e (×2 modes), tb_fft_engine, and tb_fullchain_realdata went unnoticed across PR-D..G. Switch all three anchors to `^[[:space:]]*\[PASS|^[[:space:]]*\[FAIL`. No RTL change. Surfaces the truth — does not fix the underlying test failures (tracked separately as T-2..T-10 in PR-Tests-1 / PR-I). |
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Jason
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ddcc03d89c |
chirp-v2 PR-F follow-up 2: TB widenings + 50T include + comment
Closes the four deferred items from project_chirp_v2_pr_f_review_followups that were carved out of |
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Jason
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51a94f0baf |
chirp-v2 PR-F follow-up: doppler OOB read + dead cfar wires
Two issues caught re-reviewing |
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Jason
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7862f4d63c |
chirp-v2 PR-F: doppler/CFAR widen to 3 sub-frames + 2-class detect
Bumps RP_CHIRPS_PER_FRAME 32 -> 48 (= 3 sub-frames × 16 chirps), widens
doppler_bin from 5 to 6 bits ({sub_frame[1:0], bin[3:0]}), and replaces the
1-bit detect_flag rail with a 2-bit detect_class (NONE / CANDIDATE /
CONFIRMED) sourced from a soft+confirm CFAR threshold pair.
doppler_processor:
Generalised the 2-subframe FSM to NUM_SUBFRAMES = CHIRPS_PER_FRAME /
CHIRPS_PER_SUBFRAME (=3 in production, =2 when TBs override). S_OUTPUT
walks current_sub_frame 0..NUM_SUBFRAMES-1 then advances range_bin;
the chirp_base * CHIRPS_PER_SUBFRAME formula replaces the if/else split.
write_chirp_index, read_doppler_index, sub_frame, current_sub_frame all
widened to 6/2 bits accordingly. doppler_bin packing {current_sub_frame[1:0],
fft_sample_counter[3:0]} naturally yields 6 bits.
cfar_ca:
Adds cfg_alpha_soft input + r_alpha_soft register (default
RP_DEF_CFAR_ALPHA_SOFT = 0x18 ≈ 1.5 in Q4.4 → Pfa_soft ≈ 1e-5). ST_CFAR_MUL
computes both noise_product (alpha) and noise_product_soft (alpha_soft) in
parallel DSPs; ST_CFAR_CMP emits detect_class = CONFIRMED when cur > thr,
CANDIDATE when cur > thr_soft (and not CONFIRMED), NONE otherwise.
detect_flag is preserved as (class != NONE) for backward compat.
Address packing now pads doppler axis to next power-of-2 (DOPPLER_PAD =
1 << ceil(log2(NUM_DOPPLER))) so {range, doppler} packs contiguously
for both NUM_DOPPLER=32 (legacy TB) and NUM_DOPPLER=48 (production).
Mag-BRAM grows from ~16 to ~30 RAMB18 on 50T (acceptable on the budget).
usb_data_interface_ft2232h:
doppler_bin_in widened to 6 bits. FRAME_CELLS pads to next power of two
(32K) so {range, doppler[5:0]} concatenation lands cleanly. Address regs
bumped: mag_wr/rd_addr 14→15, detect_byte_addr 11→12, detect_clear bit-
counter 14→15. Detect-bit BRAM grows 2K→4K bytes. Wire-protocol byte
counts auto-scale with FRAME_CELLS / DOPPLER_MAG_SECTION_BYTES; PR-G
bumps the bulk-frame protocol version so the host parser knows.
Other:
- radar_params.vh: RP_CHIRPS_PER_FRAME 32→48, RP_NUM_DOPPLER_BINS 32→48,
RP_DOPPLER_MEM_ADDR_W 14→15 (50T) / 17→18 (200T), RP_CFAR_MAG_ADDR_W
likewise. Other macros (RP_DOPPLER_BIN_WIDTH=6, RP_DETECT_CLASS_WIDTH=2,
RP_DEF_CFAR_ALPHA_SOFT=0x18, RP_NUM_SUBFRAMES=3) were already in place
from PR-A.
- radar_system_top: rx_doppler_bin / dbg_doppler_bin widened. Adds
host_cfar_alpha_soft register (default RP_DEF_CFAR_ALPHA_SOFT). USB
opcode mapping deferred to PR-G.
- radar_system_top_50t: dbg_doppler_bin_nc width.
- radar_receiver_final: doppler_bin port width.
Test summary:
- tb_chirp_controller_v2: 43/43 PASS
- tb_chirp_contract: 10/10 PASS
- tb_cfar_ca: 24/0 PASS
- tb_mti_canceller: 43/43 PASS
- tb_rxb_fullchain: peak 24033 ~80x (parity with PR-D/E)
- tb_doppler_realdata: 2056/2056 PASS (had been broken pre-PR-F due
to missing RANGE_BINS=64 override; this PR fixes
the parameter override along with the widening)
- tb_system_e2e: 33/49 PASS — identical to PR-E baseline; the
one new fail vs PR-D (G2.2) carries over.
- tb_radar_receiver_final: still finishing in background (~10 min).
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Jason
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a1a8fa7107 |
chirp-v2 PR-E: plfm_chirp_controller_v2 + scheduler-driven TX via async-FIFO
Replaces plfm_chirp_controller_enhanced (5-state FSM with hardcoded LONG/SHORT timings + 60-entry inline short LUT) with plfm_chirp_controller_v2, a pure DAC playback driver: IDLE -> CHIRP -> IDLE keyed off a 1-cycle dst_chirp_valid pulse, with sample count selected by dst_wave_sel (SHORT=120 / MEDIUM=600 / LONG=3600). Inter-chirp timing (LISTEN, GUARD, frame boundaries) is now owned exclusively by chirp_scheduler. Scheduler -> TX bridge: cdc_async_fifo (Cummings style #2, WIDTH=2 DEPTH=4) crosses {wave_sel} from clk_100m to clk_120m_dac, with chirp_pulse as src_valid. frame_pulse rides a separate toggle CDC for chirp_counter clear and the new_chirp_frame status output. mixers_enable now also gates the scheduler so it stays in S_IDLE while the radar is "off" — without this gate the first chirp_pulse fires at reset and gets dropped before mixers come up. Files: - NEW plfm_chirp_controller_v2.v DAC playback driver (3 LUTs, FSM) - DEL plfm_chirp_controller.v legacy controller (382 lines) - DEL long_chirp_lut.mem legacy LUT (3600 lines), replaced by tx_long_lut.mem from PR-B - chirp_scheduler.v + mixers_enable input (master quiesce) - radar_receiver_final.v + sched_*_out output ports + mixers_enable_100m - radar_system_top.v wire sched_*_out -> tx_inst.sched_*; pass stm32_mixers_enable_100m to rx_inst - radar_transmitter.v full rewrite: drop new_chirp edge detector + toggle CDC, instantiate cdc_async_fifo for {wave_sel}, toggle CDC for frame_pulse, plfm_chirp_controller_v2 in place of _enhanced - tb/tb_chirp_controller.v + tb/tb_chirp_contract.v rewritten for v2 contract (43/43 unit + 10/10 contract green) - tb/tb_radar_receiver_final.v + .mixers_enable_100m(1'b1) pin - run_regression.sh, scripts/200t/build_200t.tcl file-list bumped Test summary: - tb_chirp_controller_v2: 43/43 PASS - tb_chirp_contract: 10/10 contracts upheld - tb_rxb_fullchain: peak 24033 ~80x (parity with PR-D) - tb_mti_canceller: 43/43 PASS - tb_system_e2e: 33/49 (1 new vs 34/49 PR-D baseline: G2.2 new_chirp_frame, intentional v2 frame-pulse semantics — fires once per Doppler frame instead of once per stm32 chirp toggle. TB needs widening in PR-H to wait the full frame.) |
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Jason
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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 |
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Jason
|
4238eb1b99 |
chirp-v2 PR-C: chirp_reference_rom replaces chirp_memory_loader_param
Drop the chirp-v1 1-bit use_long_chirp memory loader and its 6 .mem files;
introduce chirp_reference_rom — wave_sel-native, single 8192x16 BRAM array
per Q15 lane, 4-region init (SHORT, MEDIUM, LONG seg0/seg1) loaded from the
PR-B mem files. Same 1-clk read latency as the legacy module so the RX-B
autocorrelation alignment fix carries through unchanged.
Receiver-side wave_sel shim added in radar_receiver_final.v:
wire [1:0] wave_sel = use_long_chirp ? RP_WAVE_LONG : RP_WAVE_SHORT;
This is a 1-line transitional bridge while radar_mode_controller still
emits 1-bit use_long_chirp; PR-D deletes the shim and wires chirp_scheduler
straight through. MEDIUM is loaded into the ROM but unreachable through
the production path until PR-D.
BRAM cost: 8 RAMB18 (was 6 in chirp-v1). +2 BRAM is the cost of adding
MEDIUM to the waveform set; not avoidable.
Files added:
- chirp_reference_rom.v
Files removed:
- chirp_memory_loader_param.v
- long_chirp_seg{0,1}_{i,q}.mem (4 files)
- short_chirp_{i,q}.mem (2 files)
- tb/cosim/validate_mem_files.py (legacy file-set validator; replaced by
gen_chirp_mem.py's internal verify_phase_match)
- tb/cosim/analyze_short_chirp_mismatch.py (one-shot tool from the
chirp-v1 TX-I investigation; finding incorporated, references the
deleted short_chirp_*.mem files)
Files updated for module rename:
- radar_receiver_final.v — instance, comments, wave_sel shim
- radar_mode_controller.v — header comment
- matched_filter_processing_chain.v — header comment
- scripts/200t/build_200t.tcl — explicit RTL list
- run_regression.sh — 5 spots
- tb/tb_rxb_fullchain_latency.v — instance, wave_sel shim, mem filenames,
SHORT_LEN 50 → 100 (1 µs at 100 MHz)
- tb/tb_system_e2e.v — header comment
Verification:
- chirp_reference_rom standalone iverilog compile: clean
- Full receiver chain compile (21 RTL files): clean
- tb_rxb_fullchain_latency runs end-to-end with new ROM + new mem files
+ 100-sample SHORT chirp; autocorrelation peak at bin 0, peak |I|+|Q|
= 15115. Confirms 1-clk ROM read latency is preserved and the RX-B
direct-wire-with-1-FF alignment still holds.
- 50T build script (scripts/50t/build_50t.tcl) uses glob *.v — no edit
needed; it picks up the new file automatically.
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Jason
|
f5b8e7a20b |
chirp-v2 PR-B: 3-waveform mem generator + 11 new .mem files
Rewrite gen_chirp_mem.py to emit the SHORT (1 µs), MEDIUM (5 µs), and LONG
(30 µs) waveform set on both TX and RX paths. The script is now the single
source for every chirp .mem file; the legacy 6-file set on disk
(long_chirp_lut.mem, long_chirp_seg{0,1}_{i,q}.mem, short_chirp_{i,q}.mem)
is no longer regenerated and gets deleted in PR-C/PR-E when its consumer
modules are removed.
Generated artifacts (committed):
TX (8-bit unsigned offset-binary, fs_dac = 120 MHz):
tx_short_lut.mem 120 lines
tx_medium_lut.mem 600 lines
tx_long_lut.mem 3600 lines
RX (Q15 I/Q hex, fs_sys = 100 MHz, all 2048 lines for uniform BRAM sizing):
rx_short_i.mem / rx_short_q.mem 100 active + 1948 zero-pad
rx_medium_i.mem / rx_medium_q.mem 500 active + 1548 zero-pad
rx_long_seg0_i.mem / rx_long_seg0_q.mem 2048 (samples [0..2047])
rx_long_seg1_i.mem / rx_long_seg1_q.mem 952 active + 1096 zero-pad
Phase model unchanged from chirp-v1: phi(n) = 2π·F_BASEBAND_LOW·t +
π·(BW/T)·t² with F_BASEBAND_LOW=10 MHz and BW=20 MHz. The same formula now
runs three durations and two sample rates from one helper.
rx_long_seg0_i.mem is bit-exact to the legacy long_chirp_seg0_i.mem on disk
(diff -q reports identical) — proves the SHORT/MEDIUM additions did not
perturb the LONG path.
Verification:
- all 11 files have correct line counts (above)
- script is idempotent (re-run produces byte-identical output)
- ruff clean (one E501 line-length + two RUF046 redundant-int casts fixed)
- phase regression at long-seg0 against pre-chirp-v2 reference: bit-exact
No RTL or testbench changes. The legacy .mem files remain on disk for the
existing chirp_memory_loader_param.v / plfm_chirp_controller.v consumers
until PR-C and PR-E delete those modules. No module references the new
files yet.
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Jason
|
340c6d628d |
chirp-v2 PR-A: radar_params.vh additive macros for 3-ladder + escalation
Establishes the macro vocabulary for the SHORT/MEDIUM/LONG waveform ladder,
3-subframe Doppler layout, track-mode dwell, and 2-class CFAR detection.
PR-A is purely additive — no module references the new macros yet.
Subsequent PRs (B–H) progressively replace the old chirp logic; this one
puts the names in place so each follow-on PR is mechanical.
Added:
- Waveform identity: RP_WAVE_{SHORT,MEDIUM,LONG,RESERVED} (2-bit selector)
- Sub-frame layout: RP_NUM_SUBFRAMES=3, RP_DOPPLER_BIN_WIDTH=6,
RP_SUBFRAME_ID_WIDTH=2
- Track mode: RP_DOPPLER_FFT_SIZE_TRACK=64, RP_MODE_TRACK=2'b11,
RP_DEF_TRACK_CHIRP_COUNT=64, RP_DEF_TRACK_WATCHDOG_FRAMES=5
- Detection class: RP_DETECT_{NONE,CANDIDATE,CONFIRMED,RSVD}
- 3-ladder timing defaults (V2 suffix to coexist with legacy in this PR):
SHORT 100 cyc (1 µs), MEDIUM 500 cyc (5 µs), LONG 3000 cyc (30 µs)
- Soft-CFAR alpha default: RP_DEF_CFAR_ALPHA_SOFT=0x18 (1.5 Q4.4,
Pfa_soft ≈ 10⁻⁵; confirm Pfa ≈ 10⁻⁶ at α=3.0)
- host_subframe_enable default: RP_DEF_SUBFRAME_ENABLE=3'b111
Marked LEGACY (deleted in the noted PR):
- RP_CHIRPS_PER_FRAME=32, RP_NUM_DOPPLER_BINS=32 (PR-F)
- RP_DEF_SHORT_CHIRP_CYCLES=50 (PR-E switches to 100)
- RP_DEF_CHIRPS_PER_ELEV=32 (PR-F)
Verified: iverilog preprocess clean. Sweep across 9_2_FPGA confirms no
module references the new macros yet — the PR is fully isolated.
Revert tag pre-chirp-v2 placed at
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Jason
|
4f898ae63d |
docs(fpga): correct matched_filter_processing_chain header (LogiCORE swap, FSM)
The header still described the legacy in-house Radix-2 DIT fft_engine and a
FWD/REF/INV BITREV+BUTTERFLY state list that no longer matches reality.
Since RX-NEW-3 (commit
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Jason
|
58d2e1ba10 |
AUDIT-C11: replace Gray-CDC at CIC→FIR with home-grown async FIFO
cdc_adc_to_processing carries multi-bit data across 400→100 MHz via TWO independent synchronizer chains (data Gray-encoded + a separate 2-bit toggle). Under metastability, the chains can resolve on different cycles, letting the destination latch a half-resolved Gray word that decodes to an arbitrary value. Audit C-11. Practical MTBF is years per event but the design is non-conformant for arbitrary multi-bit data — Gray code's single-bit-flip protection only holds for ±1 transitions, not for CIC samples that can change by hundreds of LSBs. Replace with cdc_async_fifo, a Cummings SNUG-2002 style #2 async FIFO. Data does NOT cross domains; it sits in dual-clock distRAM (write port src_clk, read port dst_clk). Only the read/write Gray-coded POINTERS cross — and pointers genuinely change ±1 per increment, so Gray code's protection is correct by construction. Home-grown rather than XPM_FIFO_ASYNC: vendor-neutral (iverilog can simulate it directly, no SIM stub), keeps the project's existing home-grown CDC convention (3 sibling primitives in cdc_modules.v), and avoids XPM library version skew. Port shape is preserved (same WIDTH=18, same dst_data/dst_valid/ overrun semantics — 1-cycle pulse per read in steady state) so the swap is local to two instantiations in ddc_400m.v. Sticky-overrun aggregation downstream is unchanged. XDC: project already has blanket set_false_path on clk_100m ↔ adc_dco_p, which covers both new pointer crossings. Synchronizer FFs carry ASYNC_REG="TRUE" for placement-aware MTBF. No XDC change needed. New TB tb_cdc_async_fifo.v exercises 7 groups (28 checks): reset, single-sample passthrough, multi-Gray-bit-flip (0x00000 ↔ 0x3FFFF — audit's recommended coverage point, asserts NO intermediate values appear at dst_data), matched-rate continuous stream, sustained-burst overrun, drain-to-empty, and mid-stream reset. Resource: 8 LUTRAMs per instance × 2 instances = 16 LUTRAMs (~0.05% of XC7A50T budget). Verified: full FPGA regression 42/42 PASS (was 41/41; +1 new test, 0 regressions in DDC Chain / Doppler Co-Sim / Full-Chain Real-Data / Receiver Integration / System Top / System E2E / MF Co-Sim — all of which exercise the swap path through the production signal chain). 0 lint errors. |
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Jason
|
bf63d64533 |
AUDIT-S17: document fir_lowpass +4.96 dB DC gain and CIC-droop comp
The coefficient ROM has a deliberate positive DC pre-emphasis. Sum of 32 signed coefficients = 231,944; with the output slice at accumulator[34:17] (effective Q17), DC gain = 231944 / 2^17 = 1.7696 = +4.96 dB. Bit-exact against the in-header golden-model line (DC=5000 → 8847). The +4.96 dB pre-emphasis compensates the upstream 4-stage CIC's ~3-4 dB passband droop. Without this note in the header, a future engineer rebuilding the filter from a clean FIR design tool would silently lose the pre-emphasis; AGC/saturation budgets in downstream stages must also account for the +4.96 dB rather than assume 0 dB. Audit's original "+7 dB" estimate was directionally correct but quantitatively wrong (no Q-format reconciles to +7 dB; Q15 → +17 dB, Q16 → +11 dB, Q17 → +4.96 dB). Documented at the verified +4.96 dB. No coefficient or RTL change. Verified: full FPGA regression 41/41 PASS, 0 lint errors (FIR Lowpass: 13 checks PASS). |
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Jason
|
e97e55dd63 |
AUDIT-S12: parameterize output_bin_count zero-literals in range_bin_decimator
`output_bin_count` is declared `reg [RP_RANGE_BIN_WIDTH_MAX-1:0]`
(9 bits on 50T, 12 bits on 200T), but the reset and ST_IDLE assignments
used the literal `9'd0`. Vivado zero-extends with a width-mismatch
warning on 200T. The FORMAL port `fv_output_bin_count` was also
hardcoded `[8:0]`.
Replace all three sites with `{RP_RANGE_BIN_WIDTH_MAX{1'b0}}` /
parameterized port width — same pattern already used for the
`range_bin_index` reset in this module.
No functional change. Verified by full FPGA regression: 41/41 PASS,
0 lint errors (Range Bin Decimator: 63 checks PASS).
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Jason
|
bb6952753d |
AUDIT-C7: document GO/SO edge-bin Pfa drift in cfar_ca header
cfar_ca.v's GO/SO modes correctly cross-multiply to pick the side with the greater (GO) or lesser (SO) per-cell average, but return that side's RAW SUM as the noise estimate -- not the average. Combined with alpha being pre-baked for the interior training-cell count, this means at edges where the picked side is truncated, effective Pfa shifts by the count ratio (up to ~2x in the first/last r_train bins). CA mode's edge behavior was already documented; GO/SO's was not. Documentation only -- no RTL behavior change. The audit's preferred fix (divide noise_sum by selected_count) is explicitly NOT applied: per-CUT integer divide is expensive in 50T fabric and the affected bins are platform clutter (0..60 m) or noise floor (3012..3072 m) where edge errors are masked by other effects. Operators tuning Pfa have three documented options: (a) accept the asymmetry, (b) host-side skip GO/SO outside r_train..NRANGE-r_train and fall back to CA there, (c) hand-tune alpha per-mode based on observed Pfa drift. Changes: - cfar_ca.v header "CFAR Modes" table: GO/SO now explicitly note that selection is by average but return value is raw sum. - cfar_ca.v header "Edge handling": new GO/SO caveat paragraph. - cfar_ca.v ST_CFAR_THR mode 2'b01/2'b10 selectors: inline AUDIT-C7 comment pointing to header. Verification: full regression 41/41 PASS, 0 lint regressions. |
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Jason
|
534905263f |
mcu(health): poll PD15 + dispatch ERROR_FPGA_DSP_STALL (AUDIT-S10 follow-up)
AUDIT-S10 (commit `58154a6`) split the FPGA's six-flag aggregate gpio_dig5 into two MCU-visible bits: gpio_dig5 keeps signal-saturation (AGC reacts), gpio_dig7 (PD15) carries control-fault classes (range_decim_watchdog | cic_fir_overrun). Until now the MCU did NOT poll PD15, so DSP control faults were invisible to the recovery dispatcher. Changes: - New `ERROR_FPGA_DSP_STALL` enum value placed AFTER ERROR_WATCHDOG_TIMEOUT so the dispatcher routes to attemptErrorRecovery (FPGA reset pulse) not Emergency_Stop. Updated error_strings[] in lockstep (static_assert enforces). - checkSystemHealth section 10 polls PD15 at 1 Hz with 2-sample debounce. `last_dsp_check` is committed BEFORE the early return per AUDIT-CAL pattern, so a flapping fault never bypasses the rate-limit. Streak counter resets to 0 after firing (armed for next post-recovery assertion) AND resets naturally when PD15 returns LOW. - attemptErrorRecovery: ERROR_FPGA_DSP_STALL fans into the existing ERROR_FPGA_COMM PD12 reset case (stacked case labels, same body). No MCU-driven reset_monitors path exists; full bitstream reload clears all sticky monitors as a side effect. Tests: - tests/test_audit_s10_dsp_stall_polling.c (NEW, 7 scenarios, 7/7 PASS): T1 healthy 60s, T2 single-sample glitch blocked by debounce, T3 sustained fault fires once, T4 post-fire rate-limit holds within window, T5 sustained fault rate bounded (29 errors / 60s -- MCU-N1 latch at error_count>10 fires in ~22s, gives operator time to intervene), T6 counter-test demos no-debounce false-positive on glitch, T7 HAL_GetTick 32-bit wrap. - MCU host suite 35/35 PASS (was 34/34; +1 new, 0 regressions). |
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Jason
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853d2a5fd9 |
AUDIT-S19/S20/S21: replace fpga_self_test tautologies with real arithmetic
Pre-fix Tests 1/2/4 in fpga_self_test.v gave false PASS even on broken
silicon:
S-19 Test 1 (CIC): `result_flags[1] <= 1'b1` unconditional, comment
admitted "always true for simple check".
S-20 Test 2 (FFT): `(16'sd100+16'sd100 == 16'sd200) && (...)` —
both predicates compile-time-fold to 1; synth reduces to a
constant write.
S-21 Test 4 (ADC): PASS once N samples land, regardless of value.
A stuck-at-0 / stuck-at-MAX / dead LVDS link still PASSed
provided adc_valid_in toggled.
Fixes:
Test 1: drive impulse {5,0,0,0,0,0,0} through registered integrator
y[n]=y[n-1]+x[n]; require accumulator==5 after step
response. Real adder + register path; sign-extension
exercised. Detail = 0xC1 on fail.
Test 2: real radix-2 butterfly with twiddle multiply across 4 FSM
states. A=8, B=4 (real), W=2+3j -> WB=(8,12), A'=(16,12),
B'=(0,-12). Forces synth to instantiate signed multiplier
(DSP slice) + 17-bit signed add/sub. Detail = 0xF2 on fail.
Test 4: track min/max across 256-sample capture, require
(max - min) > ADC_RANGE_THRESHOLD (10 LSB). Catches stuck-at
faults. Does NOT distinguish AD9484 format mismatches
(audit's per-mode mean check requires SPI, impossible per
AUDIT-C13). Detail = 0xAD on fail.
Tests:
- tb_fpga_self_test.v existing Group 1-4 (16 PASS) still pass: varied
ADC counter input gives range >> 10.
- New Group 5: drive constant 0 -> expect Test 4 FAIL + detail=0xAD.
- New Group 6: drive constant 0x7FFF -> expect Test 4 FAIL + detail=0xAD.
- Regression: 41/41 PASS; fpga_self_test 22/22 (was 16/16).
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Jason
|
9bed35287a |
AUDIT-C16: parameterize NUM_CELLS + sample_counter width for 200T
Pre-fix usb_data_interface.v hardcoded `localparam [14:0] NUM_CELLS =
15'd16384` for the 50T 512-range x 32-doppler layout. On 200T builds
with SUPPORT_LONG_RANGE defined, RP_MAX_OUTPUT_BINS=4096 makes a real
frame 131072 cells, so the fixed value caused two distinct defects:
(a) value: counter wrapped 8x per real frame; bit-7 frame-start
marker fired 8x at incorrect host-frame offsets, silently
desyncing the GUI parser
(b) width: 15 bits could not represent 131072 (needs 17 bits)
Fix: derive NUM_CELLS = RP_MAX_OUTPUT_BINS * RP_NUM_DOPPLER_BINS and
counter width = RP_DOPPLER_MEM_ADDR_W (14 on 50T, 17 on 200T) from
radar_params.vh, so both scale together with the build define.
Tests:
- tb_audit_c16_num_cells.v: standalone counter-block exerciser (T1
reset, T2 increment, T3 wrap at NUM_CELLS-1, T4 exactly 2 markers
across 2*NUM_CELLS ticks, T5 top-bit observability) -- 6/6 PASS at
both 50T (NUM_CELLS=16384, CTR_W=14) and 200T (131072, 17).
- tb_usb_data_interface.v: existing test 7-8 retargeted from the old
hardcoded `>=15` / `==15'd16384` invariant to the new parameterized
one (`==RP_DOPPLER_MEM_ADDR_W` / `==RP_MAX_OUTPUT_BINS*RP_NUM_DOPPLER_BINS`).
Regression: 41/41 PASS (+2 new entries: 50T default + 200T
`+define+SUPPORT_LONG_RANGE`).
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Jason
|
1b1b5f4fb2 |
mcu(health): commit rate-limit window before early returns (AUDIT-CAL follow-up)
checkSystemHealth() had three watchdog blocks with the identical
"last_X_check not updated on error path" bug — same root cause as
AUDIT-CAL (BMP180 fix in commit
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Jason
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1f307f77a9 |
cosim: refresh stale baselines (FFT-2048 + chirp realign)
Two stale-baseline events were never captured in earlier commits: 1. The FFT-1024 -> FFT-2048 merge ( |
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Jason
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58154a6bf1 |
fpga: split gpio_dig5/dig7 by fault class (AUDIT-S10)
gpio_dig5 (PD13) previously OR'd six flags — four signal-saturation classes (AGC, DDC overflow, DDC saturation, MTI saturation) and two control-fault classes (range-decimator watchdog from F-6.4, CIC->FIR CDC overrun from F-1.2). The MCU outer-loop AGC reduces RF gain on PD13 assertion, which is the wrong response to a watchdog or CDC stall — it just hides the stall behind a quiet receive chain. gpio_dig7 (PD15) was tied 1'b0 as "reserved". Split: gpio_dig5 = signal-saturation only (AGC continues to react correctly) gpio_dig7 = control-fault classes Telemetry: status_words[5][6:5] now exposes the two control-fault classes in BOTH legacy (FT601) and FT2232H USB variants, with 2-FF level CDC sync from clk_100m to ft601_clk_in / ft_clk. Bit [7] is reserved. AUDIT-C12's frame_drop_count at [31:25] is preserved. 50T XDC H12 -> gpio_dig7 pin already assigned (audit AUDIT-C15-era); no XDC change. Test: tb/tb_audit_s10_gpio_split.v 17/17 PASS — exercises both the combinational GPIO split and the CDC status-word packing path. Regression: 39/39 PASS (was 34/34). |
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Jason
|
59f3c82fbb |
fpga: wire AD9484 PWDN to host opcode 0x32 (AUDIT-S25)
`radar_receiver_final.v:246` had `assign adc_pwdn = 1'b0;` -- the AD9484
PWDN pin was hard-tied LOW with no path for the host or MCU to assert
it. Combined with AUDIT-C13 (CSB hard-tied HIGH on the production board,
no SPI access to the AD9484), the ADC was fully un-recoverable from a
stuck state without dropping main power -- which also drops the
VBAT-backed BKPSRAM persistence (MCU-A4 OCXO warmup, MCU-A7 emergency
flag) and forces a 180 s warmup soak.
Opcode 0x32 was reserved during the AUDIT-C3 fix (commit
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Jason
|
95aed35d89 |
mcu(bmp180): call cal-coefficient init at boot + watchdog cadence fix (AUDIT-CAL)
The BMP180 driver had no public init method and never called
readCalibrationCoefficients() from anywhere -- _calCoeff ran at the
C++ in-class member-initializer defaults (all zeros) at runtime.
Consequence chain:
- computeB5(UT) short-circuited via 0/0 (Cortex-M7 SDIV with
SCB->CCR.DIV_0_TRP=0 returns 0 silently -- system_stm32f7xx.c does
not enable the trap)
- getPressure() always tripped the `if (B4 == 0)` guard, returning
the I2C-error sentinel (post-AUDIT-C17: INT32_MIN; pre-: 255)
- health watchdog at main.cpp:758 fired ERROR_BMP180_COMM every
main-loop iteration because last_bmp_check was only updated on the
success path, so the 15 s rate-limit never engaged once the check
started failing
- error_count > 10 latched system_emergency_state = true (per the
MCU-N1 fix), driving SAFE-MODE within ~25 s of every boot
Fix:
- Added BMP180::begin() public method: probes chip ID, then reads the
11 factory cal coefficients (registers 0xAA..0xBE step 2). Returns
true only on full success; false on chip-ID mismatch or any I2C
failure mid-loop.
- main.cpp BAROMETER INIT calls myBMP.begin() with up to 3 retries
(50 ms backoff) and sets a file-scope bmp180_operational flag.
Altitude-baseline loop now gated on success -- failure path leaves
RADAR_Altitude at 0.0f instead of letting pow(negative, fractional)
propagate NaN into gps_data telemetry.
- Health watchdog gates BMP180 check on bmp180_operational AND
updates last_bmp_check regardless of the error path. A single bad
pressure reading no longer tight-loops into SAFE-MODE; legit sensor
failure now takes the intended ~150 s (10 errors x 15 s) before
the MCU-N1 latch trips, giving the operator time to intervene.
Verification:
- new test_audit_cal_bmp180_begin.c, 3/3 PASS:
T1 every coefficient loaded in order with correct signed/unsigned types
T2 chip-mismatch and I2C-fail short-circuit semantics correct
T3 regression demo: zero-cal computeB5 returns 0 for any UT (the
silent-fail mode); datasheet cal reproduces 15.0 C
- full MCU regression 33/33 PASS (was 32/32; +1 new test, 0 regressions)
Bug introduced in
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Jason
|
4b142166be |
mcu(bmp180): replace in-band sentinel + fix uint16->int16 narrowing (AUDIT-C17)
BMP180_ERROR=255 was an in-band sentinel returned by uint16_t I/O helpers
(read16, readRawTemperature) on I2C failure. 255 is also a valid uint16
register reading (0x00FF appears across the calibration block and is
reachable as a raw temperature/pressure sample), so a sensor failure was
indistinguishable from a real reading.
getTemperature() additionally narrowed the uint16_t raw read to int16_t
before passing to computeB5(). Raw bit-patterns >= 0x8000 (reachable across
the BMP180 -40..+85 C operating window) flipped to negative int16_t and
sign-extended into computeB5(), producing temperature errors of order
100s of C (e.g. -347 C instead of +51 C for raw UT = 0x8000).
Fix:
- Internal I/O helpers (read8/read16/readRawTemperature/readRawPressure)
now return bool and pass the value through an out-param. None of the
new sentinels collide with valid sensor output:
* getTemperature -> NaN on error
* getPressure -> INT32_MIN on error
* getSeaLevelPressure -> INT32_MIN on error
- getTemperature() keeps raw as uint16_t and widens value-preservingly
via (int32_t)raw before computeB5().
- readRawPressure() reads XLSB through the bool-out-param contract;
previously OR'd in 0xFF on I2C fail, silently corrupting the LSB.
Verification: test_audit_c17_bmp180_sentinel_and_cast 4/4 PASS, including
datasheet UT=27898 -> 15.0 C reproduction and 64/64 finite outputs across
a full uint16 sweep (vs 32/32 collapses in the upper half under the buggy
narrowing). Full MCU regression 32/32 PASS.
Caller-side: no external code references BMP180_ERROR; main.cpp's existing
range check at the health-watchdog catches INT32_MIN via the < 30000.0
branch.
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Jason
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ea2615ef84 |
doppler: gate S_IDLE→S_ACCUMULATE on frame_start_pulse (AUDIT-S3)
Pre-fix S_IDLE had two independent if-branches: one for frame_start_pulse (resets pointers) and one for data_valid (transitions to S_ACCUMULATE). A data_valid arriving before frame_start_pulse would advance the FSM with whatever pointers happened to be live, and the BRAM write block would write the sample into mem_write_addr = (write_chirp_index*RANGE_BINS) + 0. In current operation the race is benign — end-of-S_ACCUMULATE always zeros write_chirp_index/write_range_bin (line 287-288) and the MF pipeline latency (~165 µs) is millions of cycles longer than the frame_start CDC latency (~50 ns), so frame_start always arrives first. But the FSM relies on an undocumented system-level invariant; a future code path that leaves pointers stale on entry to S_IDLE would silently corrupt the first sample. Fix: add a `frame_armed` register set when frame_start_pulse arrives in S_IDLE, cleared on transition to S_ACCUMULATE. Both the FSM transition and the BRAM write block gate on `(frame_start_pulse || frame_armed)`. The OR admits the same-cycle case where both arrive together (write to addr 0 still resolves correctly because both blocks use the same gate). Verification: tb_doppler_frame_start_gate 21/21 PASS, quick regression 32/32 PASS (was 31/31; +1 new test, 0 regressions). tb_doppler_realdata (full FFT pipeline) still passes — gate transparent to normal operation. |
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Jason
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53c7f416a7 |
cfar_ca: reset detect_count per frame (AUDIT-C6)
Bug: 16-bit detect_count was reset only on power-on; increments at three sites (ST_IDLE/ST_BUFFER simple-threshold paths and ST_CFAR_CMP) accumulate across frames. At 178 fps with even 2-3 average detections per frame the counter wraps in 100-180 seconds, breaking any rate-based host telemetry or health check that reads it. Fix: add `detect_count <= 16'd0` in ST_DONE so the counter represents "detections this frame" instead of cumulative-since-boot. Updated $display wording from "total detections" to "frame detections". T13 flipped from "count keeps growing" to "identical-scene frames produce identical counts" (the actual contract a per-frame counter must satisfy). TB snapshots detect_count during ST_DONE because cfar_busy only goes low on ST_IDLE entry — after the reset has fired. Verification: tb_cfar_ca 24/24 PASS, quick regression 31/31 PASS. Note: detect_count output port is now "live" (accumulates during frame, 0 between frames). Audit confirmed no current host telemetry consumes this port. If future host code needs a stable last-frame total, add a detect_count_last_frame snapshot register then. |
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Jason
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e67368d621 |
ft2232h: add frame drop counter (AUDIT-C12) + cfar RMW cadence guard (AUDIT-S22)
AUDIT-C12: usb_data_interface_ft2232h had a misleading single-buffer comment that overstated the timing slack and referenced a frame_ack_toggle CDC that was never implemented. Re-verified actual numbers: at 178 fps the slack is 1.14 ms (20%), not "much shorter than gap". No data corruption today (write order matches read order, addresses don't collide), but frame_complete firing while WR_FSM is still draining the previous frame causes silent frame drops via the missed frame_ready_toggle edge. Fix is instrumentation, not architectural rework: add wr_done_toggle (ft_clk -> clk CDC) on WR_DONE -> WR_IDLE, track frame_pending in clk domain, count drops in 7-bit saturating frame_drop_count, surface in unused upper 7 bits of status_words[5]. Host now has visibility into the failure mode if margin ever shrinks (faster frame rate or USB bandwidth shortfall). Replaced misleading comment with corrected timing breakdown. AUDIT-S22: cfar_ca emits one detection per 3 cycles (THR/MUL/CMP); the detection RMW takes 3 cycles. Match by construction today, fragile against any CFAR speedup. Added a header comment in cfar_ca.v documenting the dependency, and a SIMULATION-only assertion in usb_data_interface_ft2232h.v that fires [ASSERT FAIL] AUDIT-S22 if cfar_valid arrives while RMW busy. Catches silent-drop regressions in the test suite. Verification: new tb_ft2232h_frame_drop.v with 5 scenarios (no drops / stalled drops / multi-drop / recovery / saturation at 127) - 10/10 PASS. Quick regression 31/31 PASS (was 30/30; +1 new test, 0 regressions). |
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Jason
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0c82de54a2 |
fft_engine_axi_bridge: respect axi_din_tready with 1-deep skid buffer
Bug: bridge advanced in_count and asserted tlast on din_valid alone, ignoring the IP's tready handshake. With LogiCORE FFT v9.1 in nonrealtime throttle mode (per .xci), tready can deassert briefly during BFP normalization or pipeline events, silently dropping input samples and shifting tlast off-by-N. Fix: add 1-deep skid buffer + AXI-correct handshake. Phase 1 drains the active beat when the IP accepts it (and shifts skid up); Phase 2 loads new upstream samples respecting post-handshake slot availability. Track accept_count separately from in_count to drive the S_FEED->S_DRAIN transition on the Nth accepted beat. Sustained 2+ cycle backpressure exhausts the skid and sets overflow_sticky for debug visibility. Audit cross-refs (AUDIT-C10): - "tready ignored" - CONFIRMED, fixed here - "SCALE_SCH unset" - REFUTED (BFP mode uses tuser, not cfg_tdata) - "output ordering not configured" - REFUTED (.xci natural_order) Verification: new tb_fft_engine_axi_bridge.v with stub xfft_2048 exercises 4 backpressure patterns (none / dip-at-3 / dip-at-100 / 3-cycle sustained). Quick regression 30/30 PASS. |
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Jason
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b3b4580e9c |
xdc(200t): pin AD9484 OR LVDS pair to U20/V20 (L11_T1_SRCC_14)
Closes AUDIT-C15. The 200T XDC `adc_or_p/n` PACKAGE_PIN was a TODO placeholder that blocked all 200T synth/impl with unplaced-IO errors. Pins U20/V20 are L11P/L11N_T1_SRCC_14 — same T1 clock tile as adc_dco_p on L12_MRCC (W19/W20), so OR captures with the same IBUFDS->BUFIO->IDDR source-synchronous topology as adc_d_p[*]. Free-pair confirmed by Vivado get_package_pins query against xc7a200tfbg484-2. Adds DIFF_TERM TRUE on adc_or_n (was only on the p-side; explicit on both is safer). Adds input_delay constraints mirroring adc_d_p (max 1.0 ns / min 0.2 ns on both edges). Header pin counts updated: Bank 14 21/50 used, total 184/285. This is the FPGA-team RECOMMENDATION for the production PCB (NEW design); the PCB designer must route AD9484 OR+ -> U20 and OR- -> V20. Validation: - read_xdc + link_design -part xc7a200tfbg484-2 -> READ OK on both xc7a200t_fbg484.xdc and adc_clk_mmcm.xdc; no PACKAGE_PIN errors. - ./run_regression.sh --quick: 29/29 PASS (RTL untouched). |
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Jason
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79a9353456 |
fix(usb): C-9 — GUI bulk-frame parser for FT2232H + clamp inert flag bits
The GUI's radar_protocol.py parsed 11-byte legacy packets only. The
production board (50T, USB_MODE=1) emits ~35 KB bulk frames from
usb_data_interface_ft2232h.v, so the legacy parser saw a random walk
of false 11-byte boundaries through bulk data — no usable display on
production hardware.
Bulk parser added (radar_protocol.py):
- parse_bulk_frame validates header, reserved bits, n_range=512,
n_doppler=32, footer-at-flag-derived-offset; unpacks range_profile
/ doppler_mag / cfar_dense per the format-flags byte.
- find_bulk_frame_boundaries is the bulk counterpart of
find_packet_boundaries; status packets (0xBB) handled in the same
stream since FT2232H emits them too.
- RadarAcquisition dispatches on isinstance(conn, FT2232HConnection):
bulk path skips the per-sample state machine and fills RadarFrame
in one shot. FT601 / 200T keeps legacy 11-byte (USB 3.0 has 50x
bandwidth headroom; per-sample format is correct and already works).
- RadarFrame.mag_only flag carries the wire's mag_only bit so
downstream consumers can skip I/Q panels cleanly.
- FT2232HConnection._mock_read now emits synthetic bulk frames
(was misleading legacy 11-byte).
RTL alignment (AUDIT-C9 RTL stub option):
- usb_data_interface_ft2232h.v header no longer promises the
unimplemented mag_only=0 (full-I/Q) and sparse_det=1 paths;
explicit INERT FLAGS note distinguishes the two reasons:
* Full-I/Q is constrained by hardware — needs ~28-BRAM18 I/Q
buffer (50T currently 78% BRAM utilised after FFT IP) AND
USB 2.0 bandwidth (12.21 MB/s vs 8 MB/s conservative budget).
* Sparse-list is feasible — smaller than dense for typical
scenes (<341 detections), ~1 BRAM18 cost. Just unimplemented
RTL work (small list BRAM + new WR_DETECT_SPARSE state).
- New SIMULATION-only assertion fires if stream_mag_only ever
becomes 0 or stream_sparse_det ever becomes 1 — backstop for
any future regression that bypasses the host-register clamp.
- radar_system_top.v opcode 0x04 force-clamps mag_only=1 and
sparse_det=0 in host_stream_control when USB_MODE=1, so a
Custom-Command host write can't push the FPGA into a wire-format
vs FSM divergence.
Bandwidth math (verified for 27c9c22+):
Frame rate = 1 / (16x167 us + 175.4 us + 16x175 us) = ~178 fps
Mag-only frame = 8+1024+32768+2048+1 = 35849 B = 6.38 MB/s
FT2232H 245-Sync-FIFO sustained budget (FTDI AN_232B-04
conservative): 8 MB/s. Headroom 20%.
Tests: test_GUI_V65_Tk.py TestBulkFrameParser — 18 new cases covering
round-trip per stream-flag combo, header/footer/n_range/n_doppler/
reserved-bit/truncation rejection, multi-frame boundaries, bulk+status
mixed streams, byte-drop resync, dispatch-by-connection-type,
ingest-to-RadarFrame end-to-end. GUI 117/117 PASS, v7 83/83 PASS,
FPGA quick regression 29/29 PASS, ruff clean.
Refs: AUDIT-C9 (GUI parses legacy 11-byte vs FT2232H bulk).
Follow-ups (separate patches):
- Sparse-detection write FSM (~1 BRAM18 + ~100 RTL lines).
Bandwidth- and memory-feasible; just unimplemented work.
- Full-I/Q write FSM. Constrained: needs ~28-BRAM18 I/Q buffer
AND USB 2.0 bandwidth headroom (50T post-FFT-IP at 78% BRAM).
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Jason
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24ef5e7251 |
fix(fpga): C-3 — parameterize DDC ADC sign-conversion via host opcode 0x33
The DDC hard-coded an offset-binary->2C subtract on the AD9484 path. The
chip's output format is selected by the SCLK/DFS strap (jumper SJ1 on
RADAR_Main_Board.sch), and CSB is hard-tied HIGH so SPI cannot be used
to confirm or change it from firmware. If the board is assembled with
SJ1 on pins 2-3 (two's-complement), the existing RTL silently mis-
converts every sample.
Add a 2-bit adc_format input to ddc_400m_enhanced (2-FF synchronized
clk_100m -> clk_400m, ASYNC_REG attribute), drive it from a new top-
level register host_adc_format written by host opcode 0x33, and wire
it through radar_receiver_final. Default 2'b00 matches the SJ1 default
strap (offset-binary) and preserves pre-patch behavior. Opcode 0x32 is
intentionally left unused; reserved for the future S-25 fix
(host-driven adc_pwdn).
Tests: tb/tb_ddc_400m.v Test Group 5 — 7 new assertions covering
offset-binary at {0x80, 0x00, 0xFF}, two's-complement at
{0x00, 0x80, 0x7F}, and reserved 2'b10 fallback. 14/14 PASS.
Refs: AUDIT-C3 (DDC offset-binary hardcoded).
Schematic ref: RADAR_Main_Board.sch:46719 (CSB on +1V8_CLOCK_F),
:46845 (SCLK/DFS via SJ1).
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Jason
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4f0b82de6e |
test(fpga): receiver-integration — fix tb wiring + skip-guard XSim-only checks
tb_radar_receiver_final had three pre-existing issues that all surfaced as
fails in regression (32 passed, 2 failed before; 34 passed, 0 after):
1. host_range_mode was undriven (floating 2'bzz); rmc log confirmed
"Auto-scan starting, range_mode=z". Add explicit 2'b01 (long-range
dual-chirp) for the test scenario.
2. DDC_MAX_ENERGY threshold (2^56) was sized for an unspecified earlier
stimulus; the test feeds a deliberately-loud 120 MHz sawtooth that
produces ~1.27e17 energy over 2M samples. Raised to 2^60 (~10x
observed) so B1b catches true overflow without false-firing.
3. The 9 doppler-frame-dependent checks (S4-S9, G1, B2a, B3, B4) need
~108 ms simulated time to fill a 32-chirp Doppler frame because the
in-house fft_engine takes ~340 K cycles per multi-segment chirp
(RX-NEW-3, commit
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Jason
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5ff5671fe2 |
fix(fpga): TX-I — align matched-filter reference with actual post-DDC band
The DAC short/long chirp LUTs are 10..30 MHz upchirps (Hilbert-confirmed). With TX_LO=10.500 GHz, RX_LO=10.380 GHz (adf4382a_manager.h) and the 120 MHz DDC NCO (ddc_400m.v), high-side mixing places the post-DDC echo at 10..30 MHz baseband. The matched-filter reference (gen_chirp_mem.py) was generating 0..20 MHz, implicitly assuming the chirp's low edge mixed to DC. This caused a 10 MHz spectral offset and ~5 dB matched-filter loss. Adds F_BASEBAND_LOW=10e6 in both gen_chirp_mem.py and radar_scene.py, with phase formula 2*pi*F_BASEBAND_LOW*t + pi*rate*t^2 in all chirp generators. Regenerates the 6 .mem files. Adds analyze_short_chirp_mismatch.py for the Hilbert-based diagnosis. Fixes the misleading "30MHz to 10MHz" comment in plfm_chirp_controller.v and adds an end-to-end frequency plan in the LUT header. Sideband orientation (high-side at both mixers) is the conventional choice and consistent with antenna match (10.25..10.75 GHz, 8x16 patch designed at 10.5 GHz). Loopback capture would settle definitively; if either mixer is low-side the F_BASEBAND_LOW sign flips and/or chirp direction reverses. |
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Jason
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b7ac2de1a4 |
chore: delete dead latency_buffer; doc cleanup for two stale comments
latency_buffer.v has had zero non-tb instantiations since RX-B (2026-04-23)
replaced its hookup in radar_receiver_final with a 1-FF alignment register.
The module was being kept "for potential future use" — exactly the kind of
dead weight the codebase does not need. Deleted, along with all build /
test infrastructure that dragged it along:
- 9_Firmware/9_2_FPGA/latency_buffer.v
- 9_Firmware/9_2_FPGA/tb/tb_latency_buffer.v
- run_regression.sh: removed from RTL_FILES and RECEIVER_RTL
- scripts/200t/build_200t.tcl: removed from synthesis source list
- tb/tb_system_e2e.v: removed from header compile-string example
- tb/cosim/validate_mem_files.py: deleted test_latency_buffer() (~75 lines),
its call site, and the corresponding entry in the module docstring
Historical RX-B comments referencing latency_buffer in radar_receiver_final.v,
tb_rxb_fullchain_latency.v, and tb_rxb_latency_measure.v are kept — they
explain WHY the module was removed, which is still useful design archaeology.
Two doc-only housekeeping touches bundled in:
- plfm_chirp_controller.v: replaced two empty "CRITICAL FIX: Generate
valid signal" labels at LONG_CHIRP and SHORT_CHIRP with one shared
chirp_valid policy comment block above LONG_CHIRP that explains the
actual rationale (downstream FIFO underrun on trailing samples).
- v7/models.py: replaced the "range_resolution and velocity_resolution
should be calibrated" docstring (sounded like an open TODO but was a
documented placeholder) with a clear pointer to the GUI-C3 fix in
workers.py:RadarDataWorker so future readers know the live path
derives correct values from WaveformConfig.
FPGA quick regression unchanged: 28/29 (1 fail is the unrelated iverilog/
Xilinx-IP RX-NEW-3 gap). GUI suite 180/180. Ruff clean.
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Jason
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c49092f52b |
test(gui): GUI-S3 — pin status word 4 bit layout in a co-spec test
Cross-verified status word 4 bit positions against the FPGA word builder (usb_data_interface.v:376-380, usb_data_interface_ft2232h.v:675-679) and the GUI parser (radar_protocol.py:252-257) — all positions match. No production change needed; the gap was that nothing in the test suite caught a future drift between the two sides. Added test_parse_status_word4_layout_co_spec: a single canonical layout table is the source of truth; for each field the test sets only that field to its max value, builds the status packet via the existing FPGA-builder-mirror _make_status_packet, parses, and asserts the field round-trips exactly AND every other field reads back zero. Catches both LSB drift and width drift on either side of the wire. Pre-checks that widths plus the reserved [9:2] gap sum to 32 and that no two fields overlap. Also fixed test_default_shapes — stale (64,32)/(64,) literals predated the GUI-C1 / Q3 alignment that bumped NUM_RANGE_BINS 64 -> 512. test_v7 was updated at the time, this one was missed. Replaced with references to NUM_RANGE_BINS/NUM_DOPPLER_BINS so any future bin-count change auto-updates the assertion. Suite now 180/180 PASS. |
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Jason
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5d334bfdd6 |
fix(fpga): TX-N9 — sim-only payload-hold checker on cmd CDC
cmd_data / cmd_opcode / cmd_addr / cmd_value feed downstream CDC sync chains; the safety property is that they only change on the cycle cmd_valid rises (RD_PROCESS), and stay held on every other cycle so the receiver's 2-FF synchronizer sees a clean payload regardless of where its sample window lands. The FSM satisfies this implicitly today, but nothing flagged a regression that introduced a stray write somewhere in the same always block. Added an `ifdef SIMULATION block at the bottom of both usb_data_interface.v (FT601 / ft601_clk_in / ft601_reset_n) and usb_data_interface_ft2232h.v (FT2232H / ft_clk / ft_reset_n). It snapshots the payload + cmd_valid each cycle and fires [ASSERT FAIL] TX-N9: cmd_<field> changed while cmd_valid=0 (old -> new) on any payload change while cmd_valid is low. Local regs suffixed _n9 to avoid future name collisions. Synthesis-inert. Quick FPGA regression unchanged: USB Data Interface 91/91 PASS, overall 28/29 (same baseline; the 1 fail is the pre-existing iverilog/Xilinx-IP RX-NEW-3 gap). |
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Jason
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26f8d1fa72 |
fix(mcu): MCU-A4 — BKPSRAM warm-restart bypass for OCXO 180 s warmup
Every boot waited the full 180 s OCXO warmup soak — even an IWDG/SYSRESETREQ reset that takes seconds and leaves the OCXO oven hot lost three minutes of bringup time. Added BKPSRAM slot 3 (magic 0xCA1C1F1E) with warmup_persist_set/check helpers next to the existing MCU-A2/A7 BKPSRAM block. Cold-boot path now arms the flag at the end of the full 180 s soak; subsequent boots that find the flag still set know the OCXO oven is still hot and the crystal is settled, so they wait 5 s and move on. Power-cycle clears BKPSRAM and forces the full soak again — safe default, operator can't accidentally skip the warmup by yanking and re-applying power. Added test_mcu_a4_ocxo_warm_restart (7 cases): cold boot soaks 180 s and sets the flag; warm reset is 5 s; 5 consecutive warm resets stay fast; power-cycle restores the cold path; cold-after-power-cycle re-arms the bypass; pre-fix regression confirms 10 warm restarts save 1750 s vs the old always-180-s path. MCU regression now 82/82. |