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NawfalMotii79-PLFM_RADAR/9_Firmware/9_2_FPGA/chirp_scheduler.v
T
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

441 lines
18 KiB
Verilog
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`timescale 1ns / 1ps
`include "radar_params.vh"
/**
* chirp_scheduler.v (chirp-v2 PR-D, replaces radar_mode_controller.v)
*
* Single source of truth for waveform identity and inter-chirp timing on the
* RX side. Drives `wave_sel[1:0]` and `chirp_pulse` natively; downstream
* modules (chirp_reference_rom, matched_filter_multi_segment, mti_canceller)
* consume those without 1-bit shims.
*
* Operating modes (host_radar_mode, opcode 0x01):
* 2'b00 STM32 pass-through STM32 owns chirp timing; we follow stm32_*
* toggles and announce the wave_sel that matches
* the current sub-frame index.
* 2'b01 Auto-scan Internal FSM cycles SHORT, MEDIUM, LONG sub-
* frames in order (host_subframe_enable masks
* individual waveforms out without recompiling).
* Each sub-frame fires `host_chirps_per_subframe`
* chirps at the per-waveform timing.
* 2'b10 Single-chirp debug One chirp per host_trigger pulse, waveform
* from host_debug_wave_sel.
* 2'b11 Track Host-cued dwell on one beam + one waveform
* for host_track_chirp_count chirps. A watchdog
* falls back to mode 01 after
* RP_DEF_TRACK_WATCHDOG_FRAMES idle frames so a
* USB-yank does not silently drop coverage.
*
* Pulse outputs (chirp_pulse, subframe_pulse, frame_pulse) are 1-cycle
* positive pulses, not toggles. The legacy mc_new_*-style toggles are gone.
*
* Clock domain: clk (100 MHz), async-low reset.
*/
module chirp_scheduler (
input wire clk,
input wire reset_n,
// Top-level mode and 3-bit sub-frame enable mask (LONG|MEDIUM|SHORT)
input wire [1:0] host_mode,
input wire [2:0] host_subframe_enable,
// 3-ladder timing (100 MHz cycles). host_*_listen sums with host_guard
// to define the inter-chirp PRI. Each waveform has independent chirp/
// listen so SHORT can run faster while LONG covers full eclipse.
input wire [15:0] host_short_chirp_cycles,
input wire [15:0] host_short_listen_cycles,
input wire [15:0] host_medium_chirp_cycles,
input wire [15:0] host_medium_listen_cycles,
input wire [15:0] host_long_chirp_cycles,
input wire [15:0] host_long_listen_cycles,
input wire [15:0] host_guard_cycles,
// Frame structure (chirps per Doppler sub-frame, default 16)
input wire [5:0] host_chirps_per_subframe,
// Single-chirp debug (mode 10)
input wire host_trigger,
input wire [1:0] host_debug_wave_sel,
// Track mode (mode 11)
input wire host_track_request,
input wire [1:0] host_track_wave_sel,
input wire [8:0] host_track_chirp_count,
input wire [5:0] host_track_beam_az,
input wire [5:0] host_track_beam_el,
// STM32 pass-through (mode 00) toggle inputs (CDC-synced upstream)
input wire stm32_new_chirp,
input wire stm32_new_subframe,
input wire stm32_new_frame,
// ====== Outputs ======
output reg [1:0] wave_sel, // canonical waveform identity
output reg chirp_pulse, // 1-cycle pulse: chirp begins this clk
output reg subframe_pulse, // 1-cycle pulse: sub-frame complete
output reg frame_pulse, // 1-cycle pulse: frame complete
output reg [5:0] chirp_counter, // chirp index inside current frame
output reg [1:0] subframe_id, // 0=SHORT, 1=MEDIUM, 2=LONG
// Currently selected timing for the in-flight chirp (PR-E TX async FIFO)
output wire [15:0] cfg_chirp_cycles,
output wire [15:0] cfg_listen_cycles,
output wire [15:0] cfg_guard_cycles,
// Track-mode beam pointer (latched on host_track_request rising edge)
output reg track_mode_active,
output reg [5:0] track_beam_az,
output reg [5:0] track_beam_el
);
// ============================================================================
// Edge / pulse detection on async inputs
// ============================================================================
reg trigger_prev;
reg track_request_prev;
reg stm32_new_chirp_prev;
reg stm32_new_subframe_prev;
reg stm32_new_frame_prev;
wire trigger_pulse = host_trigger & ~trigger_prev;
wire track_request_pulse = host_track_request & ~track_request_prev;
wire stm32_chirp_edge = stm32_new_chirp ^ stm32_new_chirp_prev;
wire stm32_subframe_edge = stm32_new_subframe ^ stm32_new_subframe_prev;
wire stm32_frame_edge = stm32_new_frame ^ stm32_new_frame_prev;
always @(posedge clk or negedge reset_n) begin
if (!reset_n) begin
trigger_prev <= 1'b0;
track_request_prev <= 1'b0;
stm32_new_chirp_prev <= 1'b0;
stm32_new_subframe_prev <= 1'b0;
stm32_new_frame_prev <= 1'b0;
end else begin
trigger_prev <= host_trigger;
track_request_prev <= host_track_request;
stm32_new_chirp_prev <= stm32_new_chirp;
stm32_new_subframe_prev <= stm32_new_subframe;
stm32_new_frame_prev <= stm32_new_frame;
end
end
// ============================================================================
// Sub-frame helpers — pure functions of (subframe, mask)
// ============================================================================
function [1:0] first_enabled_subframe;
input [2:0] mask;
begin
if (mask[0]) first_enabled_subframe = 2'd0; // SHORT
else if (mask[1]) first_enabled_subframe = 2'd1; // MEDIUM
else if (mask[2]) first_enabled_subframe = 2'd2; // LONG
else first_enabled_subframe = 2'd0; // mask=000 fallback
end
endfunction
function [1:0] next_enabled_subframe;
input [1:0] cur;
input [2:0] mask;
reg [1:0] try0, try1, try2;
begin
// Walk forward from cur+1, wrapping at 3, find first enabled bit.
try0 = (cur == 2'd2) ? 2'd0 : (cur + 2'd1);
try1 = (try0 == 2'd2) ? 2'd0 : (try0 + 2'd1);
try2 = (try1 == 2'd2) ? 2'd0 : (try1 + 2'd1);
if (mask[try0]) next_enabled_subframe = try0;
else if (mask[try1]) next_enabled_subframe = try1;
else if (mask[try2]) next_enabled_subframe = try2;
else next_enabled_subframe = cur; // mask=000 fallback
end
endfunction
function [1:0] subframe_to_wave;
input [1:0] sf;
begin
case (sf)
2'd0: subframe_to_wave = `RP_WAVE_SHORT;
2'd1: subframe_to_wave = `RP_WAVE_MEDIUM;
2'd2: subframe_to_wave = `RP_WAVE_LONG;
default: subframe_to_wave = `RP_WAVE_SHORT;
endcase
end
endfunction
// ============================================================================
// Track watchdog — count frames since last host_track_request rising edge.
// effective_mode collapses to scan once the watchdog expires so a USB stall
// does not silently freeze coverage on one beam.
// ============================================================================
reg [7:0] track_idle_frames;
wire watchdog_expired = (track_idle_frames >= `RP_DEF_TRACK_WATCHDOG_FRAMES);
wire [1:0] effective_mode = (host_mode == `RP_MODE_TRACK && watchdog_expired)
? `RP_MODE_AUTO_3KM
: host_mode;
always @(posedge clk or negedge reset_n) begin
if (!reset_n) begin
track_idle_frames <= 8'd0;
end else if (track_request_pulse) begin
track_idle_frames <= 8'd0;
end else if (frame_pulse && track_idle_frames != 8'hFF) begin
track_idle_frames <= track_idle_frames + 8'd1;
end
end
// Latch beam pointer at the start of every track dwell.
always @(posedge clk or negedge reset_n) begin
if (!reset_n) begin
track_beam_az <= 6'd0;
track_beam_el <= 6'd0;
end else if (track_request_pulse) begin
track_beam_az <= host_track_beam_az;
track_beam_el <= host_track_beam_el;
end
end
// ============================================================================
// Output mux for selected timing — wave_sel drives chirp/listen window length.
// guard is shared across waveforms.
// ============================================================================
reg [15:0] sel_chirp_cycles;
reg [15:0] sel_listen_cycles;
always @(*) begin
case (wave_sel)
`RP_WAVE_SHORT: begin
sel_chirp_cycles = host_short_chirp_cycles;
sel_listen_cycles = host_short_listen_cycles;
end
`RP_WAVE_MEDIUM: begin
sel_chirp_cycles = host_medium_chirp_cycles;
sel_listen_cycles = host_medium_listen_cycles;
end
`RP_WAVE_LONG: begin
sel_chirp_cycles = host_long_chirp_cycles;
sel_listen_cycles = host_long_listen_cycles;
end
default: begin
sel_chirp_cycles = host_short_chirp_cycles;
sel_listen_cycles = host_short_listen_cycles;
end
endcase
end
assign cfg_chirp_cycles = sel_chirp_cycles;
assign cfg_listen_cycles = sel_listen_cycles;
assign cfg_guard_cycles = host_guard_cycles;
// ============================================================================
// Main FSM
// ============================================================================
localparam S_IDLE = 3'd0;
localparam S_CHIRP = 3'd1;
localparam S_LISTEN = 3'd2;
localparam S_GUARD = 3'd3;
localparam S_ADVANCE = 3'd4;
reg [2:0] state;
reg [16:0] timer; // 17 bits cover LONG+listen+guard worst case
reg [5:0] track_remaining; // saturated copy of host_track_chirp_count
// Pre-computed wires used inside the FSM advance logic so non-blocking
// updates to subframe_id / wave_sel see the correct next value in the same
// clock edge as the bookkeeping update.
wire [1:0] first_sf = first_enabled_subframe(host_subframe_enable);
wire [1:0] next_sf = next_enabled_subframe(subframe_id, host_subframe_enable);
always @(posedge clk or negedge reset_n) begin
if (!reset_n) begin
state <= S_IDLE;
timer <= 17'd0;
wave_sel <= `RP_WAVE_SHORT;
chirp_pulse <= 1'b0;
subframe_pulse <= 1'b0;
frame_pulse <= 1'b0;
chirp_counter <= 6'd0;
subframe_id <= 2'd0;
track_mode_active <= 1'b0;
track_remaining <= 6'd0;
end else begin
// Pulses default low — set high for one cycle on relevant transitions.
chirp_pulse <= 1'b0;
subframe_pulse <= 1'b0;
frame_pulse <= 1'b0;
case (effective_mode)
// --------------------------------------------------------------------
// MODE 00 — STM32 pass-through. STM32 owns chirp timing; we walk
// sub-frames in step with stm32_chirp_edge so wave_sel always matches
// the chirp the firmware just fired.
// --------------------------------------------------------------------
`RP_MODE_STM32_PASSTHROUGH: begin
state <= S_IDLE;
timer <= 17'd0;
track_mode_active <= 1'b0;
if (stm32_chirp_edge) begin
chirp_pulse <= 1'b1;
if (chirp_counter < host_chirps_per_subframe - 6'd1) begin
chirp_counter <= chirp_counter + 6'd1;
end else begin
chirp_counter <= 6'd0;
subframe_pulse <= 1'b1;
subframe_id <= next_sf;
wave_sel <= subframe_to_wave(next_sf);
if (next_sf == first_sf)
frame_pulse <= 1'b1;
end
end
// STM32 firmware can pulse subframe/frame toggles directly when it
// wants to force-advance (e.g. abort current sub-frame). These
// override the chirp-driven walk above.
if (stm32_subframe_edge) subframe_pulse <= 1'b1;
if (stm32_frame_edge) frame_pulse <= 1'b1;
end
// --------------------------------------------------------------------
// MODE 01 — Auto-scan over enabled sub-frames.
// --------------------------------------------------------------------
`RP_MODE_AUTO_3KM: begin
track_mode_active <= 1'b0;
case (state)
S_IDLE: begin
timer <= 17'd0;
chirp_counter <= 6'd0;
subframe_id <= first_sf;
wave_sel <= subframe_to_wave(first_sf);
chirp_pulse <= 1'b1;
state <= S_CHIRP;
end
S_CHIRP: begin
if (timer + 17'd1 >= {1'b0, sel_chirp_cycles}) begin
timer <= 17'd0;
state <= S_LISTEN;
end else timer <= timer + 17'd1;
end
S_LISTEN: begin
if (timer + 17'd1 >= {1'b0, sel_listen_cycles}) begin
timer <= 17'd0;
state <= S_GUARD;
end else timer <= timer + 17'd1;
end
S_GUARD: begin
if (timer + 17'd1 >= {1'b0, host_guard_cycles}) begin
timer <= 17'd0;
state <= S_ADVANCE;
end else timer <= timer + 17'd1;
end
S_ADVANCE: begin
if (chirp_counter < host_chirps_per_subframe - 6'd1) begin
chirp_counter <= chirp_counter + 6'd1;
chirp_pulse <= 1'b1;
state <= S_CHIRP;
end else begin
chirp_counter <= 6'd0;
subframe_pulse <= 1'b1;
subframe_id <= next_sf;
wave_sel <= subframe_to_wave(next_sf);
if (next_sf == first_sf)
frame_pulse <= 1'b1;
chirp_pulse <= 1'b1;
state <= S_CHIRP;
end
end
default: state <= S_IDLE;
endcase
end
// --------------------------------------------------------------------
// MODE 10 — Single-chirp debug. One chirp per host_trigger.
// --------------------------------------------------------------------
`RP_MODE_SINGLE_DEBUG: begin
track_mode_active <= 1'b0;
case (state)
S_IDLE: begin
timer <= 17'd0;
if (trigger_pulse) begin
wave_sel <= host_debug_wave_sel;
chirp_pulse <= 1'b1;
state <= S_CHIRP;
end
end
S_CHIRP: begin
if (timer + 17'd1 >= {1'b0, sel_chirp_cycles}) begin
timer <= 17'd0;
state <= S_LISTEN;
end else timer <= timer + 17'd1;
end
S_LISTEN: begin
if (timer + 17'd1 >= {1'b0, sel_listen_cycles}) begin
timer <= 17'd0;
state <= S_IDLE;
end else timer <= timer + 17'd1;
end
default: state <= S_IDLE;
endcase
end
// --------------------------------------------------------------------
// MODE 11 — Track dwell. Watchdog fallback handled by effective_mode.
// --------------------------------------------------------------------
`RP_MODE_TRACK: begin
track_mode_active <= 1'b1;
case (state)
S_IDLE: begin
timer <= 17'd0;
if (track_request_pulse) begin
wave_sel <= host_track_wave_sel;
// chirp_counter is 6 bits; clip the dwell length to
// avoid wrapping inside a single dwell.
track_remaining <= (host_track_chirp_count > 9'd63)
? 6'd63
: host_track_chirp_count[5:0];
chirp_counter <= 6'd0;
chirp_pulse <= 1'b1;
state <= S_CHIRP;
end
end
S_CHIRP: begin
if (timer + 17'd1 >= {1'b0, sel_chirp_cycles}) begin
timer <= 17'd0;
state <= S_LISTEN;
end else timer <= timer + 17'd1;
end
S_LISTEN: begin
if (timer + 17'd1 >= {1'b0, sel_listen_cycles}) begin
timer <= 17'd0;
state <= S_GUARD;
end else timer <= timer + 17'd1;
end
S_GUARD: begin
if (timer + 17'd1 >= {1'b0, host_guard_cycles}) begin
timer <= 17'd0;
state <= S_ADVANCE;
end else timer <= timer + 17'd1;
end
S_ADVANCE: begin
if (chirp_counter < track_remaining) begin
chirp_counter <= chirp_counter + 6'd1;
chirp_pulse <= 1'b1;
state <= S_CHIRP;
end else begin
// Dwell complete = one track frame. Watchdog ticks
// here on every dwell; host re-pulsing track_request
// resets it.
frame_pulse <= 1'b1;
chirp_counter <= 6'd0;
state <= S_IDLE;
end
end
default: state <= S_IDLE;
endcase
end
endcase
end
end
endmodule
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