Closeout pass for the G-series 3-ladder chirp + adaptive-escalation work.
Cleanup, watchdog/fallback, lint, full regression — final sign-off.
Cleanup + watchdog/fallback: already wired during earlier audit waves
(track watchdog in chirp_scheduler RP_DEF_TRACK_WATCHDOG_FRAMES, RESERVED
fallback in plfm_chirp_controller_v2, range-decim watchdog in
radar_system_top with gpio_dig7 surfacing, F-3.* MCU error path).
Verified — no residual TODO/FIXME in production RTL or MCU.
Regression infra: tb/cosim/compare_independent.py SKIP-detection bug —
importlib.util.find_spec("scipy.signal") raises ModuleNotFoundError when
the parent scipy package is itself absent (instead of returning None as
the surrounding logic assumed). Wrap in try/except so the regression
runner gets the intended rc=2 SKIP marker rather than a crash that masks
the rest of the script.
Lint sweep: ruff full-repo → 0 errors. Two changes:
- pyproject.toml broadens 5_Simulations/Antenna/**.py exemption from
just T20+ERA to the full set of script-ergonomics rules
(RUF001/002/003 Greek µ/λ/π/θ in physical-units strings, E501 long
matplotlib/numpy lines, RUF005/015/046, E70x one-line setup, B007
tuple-unpack loop vars, B905, BLE001 diag try/except, C401, RET504,
SIM118, PERF40x, ARG001, E402). These are sim/analysis scripts, not
production code — keep substantive bug rules (F unused, B core
bugbears) but drop stylistic noise.
- Auto-fix sweep: 31x F541 (f-string-no-placeholder), 3x F401 (unused
sys import), 2x F841 (dead leftover ref_pat / phases_quant in
array_factor_adar1000_aeris10.py).
.gitignore: cover 9_Firmware/9_2_FPGA/tb/cosim/mf_chain_autocorr.csv
(matched_filter cosim writes here now; was already covered for tb/ but
not tb/cosim/).
Regression baseline (radar_venv):
FPGA : 42/43 — 1 pre-existing T-6 drift cosim fail surfaced by the
SKIP fix above. Three sub-checks now red because PR-O moved
xFFT/MF chain to LogiCORE v9.1 *Scaled* mode (1/2 per stage,
1/2^11 total for N=2048) but compare_independent.py's invariants
(FFT-impulse uniform-spectrum, MF peak-at-injected-delay, MF
peak/median ≥ 5) were written assuming UNSCALED FFT. Not
introduced by this PR — was hidden by the SKIP-detection crash.
Defer to PR-M.4: redesign T-6 invariants (or input amplitudes)
to match scaled-mode arithmetic.
MCU : 34/34 binary suites pass.
GUI : test_v7 150/150 pass.
uv.lock: scipy resolution catch-up (declared in pyproject dev group all
along; lock just hadn't been refreshed after pyproject edits landed).
Bench-side checks: none — this PR is repo hygiene, no firmware/RTL
behaviour change.
cosim_dir revival:
- gen_realdata_hex.py: also emit decimated_range_{i,q}.npy (48x512)
and doppler_map_{i,q}.npy (512x48) at production dimensions; the
same Python pipeline that produces the RTL .hex stimuli now writes
the .npy intermediates v7.replay COSIM_DIR loads. Replaces the
workflow lost when golden_reference.py was deleted in e8b495c
- test_v7.py: update test_get_frame_cosim shape from pre-PR-O.6
(64,32) to (NUM_RANGE_BINS, NUM_DOPPLER_BINS)
- check in 4 .npy reference files (~400 KB, deterministic SCENE_SEED=42)
Ruff lint cleanup (was 66 errors; now 0):
- pyproject.toml: ignore T20 in tb/cosim/**.py (CLI tools)
- compare_independent.py: drop redundant int() casts (RUF046),
swap try/except scipy import for importlib.util.find_spec,
remove dead duplicate np import, ASCII-ize comment unicode,
wrap E501 format strings
- fpga_reference.py: drop unused fs arg from nco_reference,
collapse if/else to ternary, mark _out_im unused
- v7/processing.py: ASCII-ize x in docstring, collapse if-branches
- {dashboard,software_fpga,workers,radar_protocol}.py: wrap E501
- test_v7.py: ASCII-ize comment unicode, _alias renames where unused
Result: test_v7 100/100 (0 skips on radar_venv, was 9 graceful
skips); 5 cosim_dir orphan tests now active and passing.
Adds the T-6 independent reference drift cosim (PR-M.1, c30be89) as a
gated regression check so any future hand-edit drift in NCO_SINE_LUT,
fft_twiddle_*.mem, or DOPPLER_WINDOW_COEFF surfaces on every run.
run_regression.sh: new "Independent Reference Drift (T-6)" check after
the RX-B autocorrelation block in Phase 3. Plain `python3` (no path
sniffing). Distinguishes three states from the script's exit code +
markers:
rc=0, PASS markers -> PASS (counts toward `passed`)
rc=2, no markers -> SKIP (counts toward `skipped`)
rc!=0, FAIL markers -> FAIL (gates the regression)
compare_independent.py: detects missing numpy/scipy at startup and exits
with code 2 plus a [SKIP] marker pointing at `uv sync --group dev`.
Without that, an environment without scipy crashed mid-script and the
regression captured a partial 3-of-13 PASS count.
pyproject.toml: scipy>=1.13 added to the dev dependency group (used by
fpga_reference.doppler_window_ideal() for analytical Cheby ground truth).
.github/workflows/ci-tests.yml: fpga-regression now installs Python
3.12, sets up uv, runs `uv sync --group dev`, and activates the
resulting .venv before bash run_regression.sh. Without the activate
line the runner's system python3 (no scipy) would resolve first and
the drift check would [SKIP] in CI.
Verified locally:
with venv: Drift PASS (13 checks), Tests: 43 passed / 0 / 0
no scipy: Drift SKIP (msg points at install cmd), 42p / 0f / 1s
A new SCENARIO_FUZZ branch in tb_ddc_cosim.v accepts +hex / +csv / +tag
plusargs so an external runner can pick stimulus and output paths per
iteration. The three path registers are widened to 4 kbit each so long
temp-directory paths (e.g. /private/var/folders/...) do not overflow
the MSB and emerge truncated — a real failure mode caught while writing
this runner.
test_ddc_cosim_fuzz.py is a pytest-driven fuzz harness:
- Generates a random plausible radar scene per seed (1-4 targets with
random range/velocity/RCS/phase, random noise level 0.5-6.0 LSB
stddev) via radar_scene.generate_adc_samples, fully deterministic.
- Compiles tb_ddc_cosim.v once per session (module-scope fixture),
then runs vvp per seed.
- Asserts sample-count bounds consistent with 4x CIC decimation,
signed-18 range on every baseband I/Q word, and non-zero output
(catches silent pipeline stalls).
- Ships with two tiers: test_ddc_fuzz_fast (8 seeds, default CI) and
test_ddc_fuzz_full (100 seeds, opt-in via -m slow) matching the
audit ask.
Registers the "slow" marker in pyproject.toml for the 100-seed opt-in.
Resolve all 374 ruff errors across 36 Python files (E501, E702, E722,
E741, F821, F841, invalid-syntax) bringing `ruff check .` to zero
errors repo-wide with line-length=100.
Rewrite CI workflow to use uv for dependency management, whole-repo
`ruff check .`, py_compile syntax gate, and merged python-tests job.
Add pyproject.toml with ruff config and uv dependency groups.
CI structure proposed by hcm444.
Jason