Audit P-1 (2026-05-02): _frame_queue, _acquisition, and frame counters
were stranded inside set_waveform() due to indentation drift. The
dashboard constructs RadarDataWorker and calls .start() directly
without ever calling set_waveform, so live FT2232H acquisition crashes
with AttributeError on first frame access in run().
Move the init block back into __init__; set_waveform now only sets
self._waveform. Add TestRadarDataWorkerInit covering both:
- attrs present after bare __init__ (no set_waveform required)
- set_waveform does not reset runtime counters
Test result: test_v7 102/102 PASS in radar_venv (was 100/100 + 2 new).
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.
Restore SoftwareFPGA's process_chirps() pipeline by porting the missing
chain stages (MTI canceller, DC notch, CFAR, threshold detection) plus
thin wrappers (range FFT, decimator, Doppler FFT) to fpga_model.py and
swapping software_fpga.py's import target from the deleted
golden_reference.py to fpga_model.
History: golden_reference.py was deleted in e8b495c (the "dead golden
code cleanup") but software_fpga.py kept importing from it. The
ImportError was swallowed at v7/__init__.py:49-52 so package load
succeeded, but every direct `from v7.software_fpga import SoftwareFPGA`
hit the import-time failure — masking 21 broken tests as
"ModuleNotFoundError" instead of surfacing the real issue.
This was actively breaking the GUI replay-from-raw-IQ feature
(dashboard.py:1334-1347, 1577 + GUI_V65_Tk.py:271-300, 1106-1129):
opening a .npy SDR capture instantiates SoftwareFPGA + ReplayEngine;
the dashboard's opcode dual-dispatch routes spinbox changes to the
SoftwareFPGA setters so re-processing reflects live param tweaks.
With the import broken since April, that path silently dies.
fpga_model.py:
- New top-level constants: FFT_SIZE=2048, NUM_RANGE_BINS=512 (from
RangeBinDecimator.OUTPUT_BINS), DOPPLER_CHIRPS=48,
DOPPLER_TOTAL_BINS=48 (track current production: PR-O.6 / PR-F).
- run_range_fft(iq_i, iq_q, twiddle_file): N inferred from input
length; works for legacy 1024-pt and production 2048-pt callers.
- run_range_bin_decimator(range_i, range_q, mode): per-frame wrapper
over RangeBinDecimator.decimate (4x decim -> 512 bins).
- run_mti_canceller(decim_i, decim_q, enable): 2-pulse canceller,
ported verbatim from golden_reference @ commit 237e74c~1.
- run_doppler_fft(mti_i, mti_q): num_subframes inferred from chirp
count; RANGE_BINS overridden per input shape so legacy
2-sub-frame (32-chirp) and production 3-sub-frame (48-chirp)
callers both work.
- run_dc_notch(doppler_i, doppler_q, width): per-bin DC notch,
generalised to any sub-frame count.
- run_cfar_ca(...): CA / GO / SO modes with bit-accurate alpha-q44
threshold + 17-bit saturation, ported from golden_reference.
- run_detection(doppler_i, doppler_q, threshold): |I|+|Q| L1 magnitude
threshold detection.
software_fpga.py:
- _GOLDEN_REF_DIR (cosim/real_data/) -> _FPGA_COSIM_DIR (cosim/)
- `from golden_reference import (...)` -> `from fpga_model import (...)`
- TWIDDLE_1024 -> TWIDDLE_2048 (production 2048-pt range FFT).
- Stage 1 comment: "Range bin decimation (1024 -> 64)" ->
"(production 2048 -> 512)".
- Stage 1 twiddle path picks fft_twiddle_2048.mem only when
n_samples=2048 matches; otherwise None to fall back to math-
generated twiddles for legacy callers.
- Module docstring updated to reflect post-cleanup history.
test_v7.py — modernise three tests to current production dimensions:
- test_process_chirps_returns_radar_frame: pad input to 2048 samples;
assertions reference NUM_RANGE_BINS / NUM_DOPPLER_BINS from
radar_protocol; n_dop derived from input chirp count.
- test_cfar_enable_changes_detections: 48 chirps x 2048 samples;
output (NUM_RANGE_BINS, NUM_DOPPLER_BINS). No longer skips on
cosim absence — uses synthetic input.
- test_get_frame_raw_iq_synthetic: (2, 48, 2048) raw IQ;
(NUM_RANGE_BINS, NUM_DOPPLER_BINS) output.
- test_cosim_dir: also skip when doppler_map_*.npy absent (matches
_cosim_available pattern in TestSoftwareFPGASignalChain).
Local: test_v7 100/0/0 (9 graceful skips: optional deps + missing
cosim .npy data), test_GUI_V65_Tk 117/0/2. Down from 21 ERRORs.
Refactor v7.WaveformConfig from single-PRI to PR-Q's 3-PRI staggered
ladder (SHORT 175 us / MEDIUM 161 us / LONG 167 us) and update the
host-side bulk-frame parser dimension to match the FPGA's 48-bin
Doppler output (RP_NUM_DOPPLER_BINS = 48). The parser was rejecting
every production frame with n_doppler != 32, masking the PR-F widening
end-to-end.
WaveformConfig:
- pri_short_s/pri_medium_s/pri_long_s replace single pri_s
- n_doppler_bins 32 -> 48; new num_subframes=3
- Per-subframe velocity_resolution_{short,medium,long}_mps
- Per-subframe max_velocity_{short,medium,long}_mps
- extended_max_velocity_mps_crt(K=6) for 3-PRI alias-resolution ceiling
- Drop pri_s, velocity_resolution_mps, max_velocity_mps (no aliases)
Other:
- radar_protocol.NUM_DOPPLER_BINS 32 -> 48 (NUM_CELLS auto 16384 -> 24576;
BULK_FRAME_MAX_SIZE flows from NUM_CELLS, no other edits needed)
- v7/dashboard.py constant + stale "(64x32)" title replaced with f-string
- v7/processing.py 32-bin fallback -> 48
- v7/workers.py: derive doppler_center from frame.shape; LONG-PRI v_res
used as conservative single-PRI placeholder until PR-Q.5 lands the
CRT extractor (markers in place at both call sites)
- test_v7.py: TestWaveformConfig rewritten (8 tests, per-subframe + CRT
extension); TestExtractTargetsFromFrame center 16 -> 24
Local tests:
TestWaveformConfig 8/8 PASS
TestExtractTargetsFromFrame 6/6 PASS
test_GUI_V65_Tk 117/0/2 PASS
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.
- Bandwidth 500 MHz -> 20 MHz, sample rate 4 MHz -> 100 MHz (DDC output)
- Range formula: deramped FMCW -> matched-filter c/(2*Fs)*decimation
- Velocity formula: use PRI (167 us) and chirps_per_subframe (16)
- Carrier frequency: 10.525 GHz -> 10.5 GHz per radar_scene.py
- Range per bin: 4.8 m -> 24 m, max range: 307 m -> 1536 m
- Fix simulator target spawn range to match new coverage (50-1400 m)
- Remove dead BANDWIDTH constant, add SAMPLE_RATE to V65 Tk
- All 174 tests pass, ruff clean
Add SoftwareFPGA class that imports golden_reference functions to
replicate the FPGA pipeline in software, enabling bit-accurate replay
of raw IQ, FPGA co-sim, and HDF5 recordings through the same
dashboard path as live data.
New modules: software_fpga.py, replay.py (ReplayEngine + 3 loaders)
Enhanced: WaveformConfig model, extract_targets_from_frame() in
processing, ReplayWorker with thread-safe playback controls,
dashboard replay UI with transport controls and dual-dispatch
FPGA parameter routing.
Removed: ReplayConnection (from radar_protocol, hardware, dashboard,
tests) — replaced by the unified replay architecture.
150/150 tests pass, ruff clean.
Bug #1 — Range calibration for Raw IQ Replay:
- Add WaveformConfig dataclass (models.py) with FMCW waveform params
(fs, BW, T_chirp, fc) and methods to compute range/velocity resolution
- Add waveform parameter spinboxes to playback controls (dashboard.py)
- Auto-parse waveform params from ADI phaser filename convention
- Create replay-specific RadarSettings with correct calibration instead
of using FPGA defaults (781.25 m/bin → 0.334 m/bin for ADI phaser)
- Add 4 unit tests validating WaveformConfig math
Bug #2 — Demo + radar mutual exclusion:
- _start_demo() now refuses if radar is running (_running=True)
- _start_radar() stops demo first if _demo_mode is active
- Demo buttons disabled while radar/replay is running, re-enabled on stop
Bug #3 — Refactor adi_agc_analysis.py:
- Remove 60+ lines of duplicated AGC functions (signed_to_encoding,
encoding_to_signed, clamp_gain, apply_gain_shift)
- Import from v7.agc_sim canonical implementation
- Rewrite simulate_agc() to use process_agc_frame() in a loop
- Rewrite process_frame_rd() to use quantize_iq() from agc_sim
v7/__init__.py: wrap workers/map_widget/dashboard imports in try/except
so CI runners without PyQt6 can still test models, processing, hardware.
test_v7.py: skip TestPolarToGeographic when PyQt6 unavailable, split
TestV7Init.test_key_exports into core vs PyQt6-dependent assertions.
Jason