NawfalMotii79-PLFM_RADAR/9_Firmware/9_2_FPGA/run_regression.sh

#!/bin/bash
# ===========================================================================
# FPGA Regression Test Runner for AERIS-10 Radar
# Phase 0: Vivado-style lint (catches issues iverilog silently accepts)
# Phase 1+: Compile and run all verified iverilog testbenches
#
# Usage:  ./run_regression.sh [--quick] [--skip-lint]
#   --quick      Skip long-running integration tests (receiver golden, system TB)
#   --skip-lint  Skip Phase 0 lint checks (not recommended)
#
# Exit code: 0 if all tests pass, 1 if any fail
# ===========================================================================

set -euo pipefail

SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
cd "$SCRIPT_DIR"

QUICK=0
SKIP_LINT=0
for arg in "$@"; do
    case "$arg" in
        --quick) QUICK=1 ;;
        --skip-lint) SKIP_LINT=1 ;;
    esac
done

PASS=0
FAIL=0
SKIP=0
LINT_WARN=0
LINT_ERR=0
ERRORS=""

# Colors (if terminal supports it)
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[0;33m'
CYAN='\033[0;36m'
NC='\033[0m' # No Color

# ===========================================================================
# PHASE 0: VIVADO-STYLE LINT
# Two layers:
#   (A) iverilog -Wall full-design compile — parse for serious warnings
#   (B) Custom regex checks for patterns Vivado treats as errors
# ===========================================================================

# Production RTL file list (same as system TB minus testbench files)
# Uses ADC stub for IBUFDS/BUFIO primitives that iverilog can't parse
PROD_RTL=(
    radar_system_top.v
    radar_transmitter.v
    dac_interface_single.v
    plfm_chirp_controller_v2.v
    radar_receiver_final.v
    tb/ad9484_interface_400m_stub.v
    ddc_400m.v
    nco_400m_enhanced.v
    cic_decimator_4x_enhanced.v
    cdc_modules.v
    cdc_async_fifo.v
    fir_lowpass.v
    ddc_input_interface.v
    chirp_reference_rom.v
    matched_filter_multi_segment.v
    matched_filter_processing_chain.v
    range_bin_decimator.v
    doppler_processor.v
    xfft_16.v
    fft_engine.v
    xfft_2048.v
    fft_engine_axi_bridge.v
    frequency_matched_filter.v
    usb_data_interface.v
    usb_data_interface_ft2232h.v
    edge_detector.v
    chirp_scheduler.v
    rx_gain_control.v
    cfar_ca.v
    mti_canceller.v
    fpga_self_test.v
)

# Source-only RTL (not instantiated at top level, but should still be lint-clean)
# Note: ad9484_interface_400m.v is excluded — it uses Xilinx primitives
# (IBUFDS, BUFIO, BUFG, IDDR) that iverilog cannot compile. The production
# design uses tb/ad9484_interface_400m_stub.v for simulation instead.
EXTRA_RTL=(
)

# ---------------------------------------------------------------------------
# Shared RTL file lists for integration / system tests
# Centralised here so a new module only needs adding once.
# ---------------------------------------------------------------------------

# Receiver chain (used by golden generate/compare tests)
RECEIVER_RTL=(
    radar_receiver_final.v
    chirp_scheduler.v
    tb/ad9484_interface_400m_stub.v
    ddc_400m.v nco_400m_enhanced.v cic_decimator_4x_enhanced.v
    cdc_modules.v cdc_async_fifo.v fir_lowpass.v ddc_input_interface.v
    chirp_reference_rom.v
    matched_filter_multi_segment.v matched_filter_processing_chain.v
    range_bin_decimator.v doppler_processor.v xfft_16.v fft_engine.v
    xfft_2048.v fft_engine_axi_bridge.v
    frequency_matched_filter.v
    rx_gain_control.v mti_canceller.v
)

# Full system top (receiver chain + TX + USB + detection + self-test)
SYSTEM_RTL=(
    radar_system_top.v
    radar_transmitter.v dac_interface_single.v plfm_chirp_controller_v2.v
    "${RECEIVER_RTL[@]}"
    usb_data_interface.v usb_data_interface_ft2232h.v edge_detector.v
    cfar_ca.v fpga_self_test.v
)

# ---- Layer A: iverilog -Wall compilation ----
run_lint_iverilog() {
    local label="$1"
    shift
    local files=("$@")
    local warn_file="/tmp/iverilog_lint_$$_${label}.log"

    printf "  %-45s " "iverilog -Wall ($label)"

    if ! iverilog -g2001 -DSIMULATION -Wall -o /dev/null "${files[@]}" 2>"$warn_file"; then
        # Hard compile error — always fatal
        echo -e "${RED}COMPILE ERROR${NC}"
        while IFS= read -r line; do
            echo "    $line"
        done < "$warn_file"
        LINT_ERR=$((LINT_ERR + 1))
        rm -f "$warn_file"
        return 1
    fi

    # Parse warnings — classify as error-level or info-level
    local err_count=0
    local info_count=0
    local err_lines=""

    while IFS= read -r line; do
        # Part-select out of range — Vivado Synth 8-524 (ERROR in Vivado)
        if echo "$line" | grep -q 'Part select.*is selecting after the vector\|out of bound bits'; then
            err_count=$((err_count + 1))
            err_lines="$err_lines\n    ${RED}[VIVADO-ERR]${NC} $line"
        # Port width mismatch / connection mismatch
        elif echo "$line" | grep -q 'port.*does not match\|Port.*mismatch'; then
            err_count=$((err_count + 1))
            err_lines="$err_lines\n    ${RED}[VIVADO-ERR]${NC} $line"
        # Informational warnings (timescale, dangling ports, array sensitivity)
        elif echo "$line" | grep -q 'timescale\|dangling\|sensitive to all'; then
            info_count=$((info_count + 1))
        # Unknown warning — report but don't fail
        elif [[ -n "$line" ]]; then
            info_count=$((info_count + 1))
        fi
    done < "$warn_file"

    if [[ "$err_count" -gt 0 ]]; then
        echo -e "${RED}FAIL${NC} ($err_count Vivado-class errors, $info_count info)"
        echo -e "$err_lines"
        LINT_ERR=$((LINT_ERR + err_count))
    else
        echo -e "${GREEN}PASS${NC} ($info_count info warnings)"
    fi

    rm -f "$warn_file"
}

# ---- Layer B: Custom regex static checks ----
# Catches patterns that Vivado treats as errors/warnings but iverilog ignores
run_lint_static() {
    printf "  %-45s " "Static RTL checks"

    local err_count=0
    local warn_count=0
    local err_lines=""
    local warn_lines=""

    for f in "$@"; do
        [[ -f "$f" ]] || continue
        # Skip testbench files (tb/ directory) — only lint production RTL
        case "$f" in tb/*) continue ;; esac

        local linenum=0
        while IFS= read -r line; do
            linenum=$((linenum + 1))

            # --- CHECK 1: Part-select with literal range on reg ---
            # Pattern: identifier[N:M] where N exceeds declared width
            # (iverilog catches this, but belt-and-suspenders)

            # --- CHECK 2: case/casex/casez without default (non-full case) ---
            # Vivado SYNTH-6 / inferred latch warning
            # Heuristic: look for case/casex/casez, then check if 'default' appears
            # before the matching 'endcase'. This is approximate — full parsing
            # would need a real parser. We flag 'case' lines so the developer
            # can manually verify.
            # (Handled below as a multi-line check)

            # --- CHECK 3: Blocking assignment (=) inside always @(posedge ...) ---
            # Vivado SYNTH-5 warning for inferred latches / race conditions
            # Only flag if the always block is clocked (posedge/negedge)
            # This is a heuristic — we check for '= ' that isn't '<=', '==', '!='
            # inside an always block header containing 'posedge' or 'negedge'.
            # (Too complex for line-by-line — skip for now, handled by testbenches)

            # --- CHECK 4: Multi-driven register (assign + always on same signal) ---
            # (Would need cross-file analysis — skip for v1)

        done < "$f"
    done

    # --- Multi-line check: case without default ---
    for f in "$@"; do
        [[ -f "$f" ]] || continue
        case "$f" in tb/*) continue ;; esac

        # Find case blocks and check for default
        # Use awk to find case..endcase blocks missing 'default'
        local missing_defaults
        missing_defaults=$(awk '
            /^[[:space:]]*(case|casex|casez)[[:space:]]*\(/ {
                case_line = NR
                case_file = FILENAME
                has_default = 0
                in_case = 1
                next
            }
            in_case && /default[[:space:]]*:/ {
                has_default = 1
            }
            in_case && /endcase/ {
                if (!has_default) {
                    printf "%s:%d: case statement without default\n", FILENAME, case_line
                }
                in_case = 0
            }
        ' "$f" 2>/dev/null)

        if [[ -n "$missing_defaults" ]]; then
            while IFS= read -r hit; do
                warn_count=$((warn_count + 1))
                warn_lines="$warn_lines\n    ${YELLOW}[SYNTH-6]${NC} $hit"
            done <<< "$missing_defaults"
        fi
    done

    # CHECK 5 ($readmemh in synth code) and CHECK 6 (unused includes)
    # require multi-line ifdef tracking / cross-file analysis. Not feasible
    # with line-by-line regex. Omitted — use Vivado lint instead.

    if [[ "$err_count" -gt 0 ]]; then
        echo -e "${RED}FAIL${NC} ($err_count errors, $warn_count warnings)"
        echo -e "$err_lines"
        LINT_ERR=$((LINT_ERR + err_count))
    elif [[ "$warn_count" -gt 0 ]]; then
        echo -e "${YELLOW}WARN${NC} ($warn_count warnings)"
        echo -e "$warn_lines"
        LINT_WARN=$((LINT_WARN + warn_count))
    else
        echo -e "${GREEN}PASS${NC}"
    fi
}

# ---------------------------------------------------------------------------
# Helper: compile, run, and compare a matched-filter co-sim scenario
#   run_mf_cosim <scenario_name> <define_flag>
# ---------------------------------------------------------------------------
run_mf_cosim() {
    local name="$1"
    local define="$2"
    local vvp="tb/tb_mf_cosim_${name}.vvp"
    local scenario_lower="$name"

    printf "  %-45s " "MF Co-Sim ($name)"

    # Compile — build command as string to handle optional define
    local cmd="iverilog -g2001 -DSIMULATION"
    if [[ -n "$define" ]]; then
        cmd="$cmd $define"
    fi
    cmd="$cmd -o $vvp tb/tb_mf_cosim.v matched_filter_processing_chain.v fft_engine.v xfft_2048.v fft_engine_axi_bridge.v frequency_matched_filter.v chirp_reference_rom.v"

    if ! eval "$cmd" 2>/tmp/iverilog_err_$$; then
        echo -e "${RED}COMPILE FAIL${NC}"
        ERRORS="$ERRORS\n  MF Co-Sim ($name): compile error ($(head -1 /tmp/iverilog_err_$$))"
        FAIL=$((FAIL + 1))
        return
    fi

    # Run TB
    local output
    output=$(timeout 120 vvp "$vvp" 2>&1) || true
    rm -f "$vvp"

    # Check TB internal pass/fail (allow leading whitespace; see run_test note)
    local tb_fail
    tb_fail=$(echo "$output" | grep -Ec '^[[:space:]]*\[FAIL' || true)
    if [[ "$tb_fail" -gt 0 ]]; then
        echo -e "${RED}FAIL${NC} (TB internal failure)"
        ERRORS="$ERRORS\n  MF Co-Sim ($name): TB internal failure"
        FAIL=$((FAIL + 1))
        return
    fi

    # Run Python compare
    if command -v python3 >/dev/null 2>&1; then
        local compare_out
        local compare_rc=0
        compare_out=$(python3 tb/cosim/compare_mf.py "$scenario_lower" 2>&1) || compare_rc=$?
        if [[ "$compare_rc" -ne 0 ]]; then
            echo -e "${RED}FAIL${NC} (compare_mf.py mismatch)"
            ERRORS="$ERRORS\n  MF Co-Sim ($name): Python compare failed"
            FAIL=$((FAIL + 1))
            return
        fi
    else
        echo -e "${YELLOW}SKIP${NC} (RTL passed, python3 not found — compare skipped)"
        SKIP=$((SKIP + 1))
        return
    fi

    echo -e "${GREEN}PASS${NC} (RTL + Python compare)"
    PASS=$((PASS + 1))
}

# ---------------------------------------------------------------------------
# Helper: compile, run, and compare a Doppler co-sim scenario
#   run_doppler_cosim <scenario_name> <define_flag>
# ---------------------------------------------------------------------------
run_doppler_cosim() {
    local name="$1"
    local define="$2"
    local vvp="tb/tb_doppler_cosim_${name}.vvp"

    printf "  %-45s " "Doppler Co-Sim ($name)"

    # Compile — build command as string to handle optional define
    local cmd="iverilog -g2001 -DSIMULATION"
    if [[ -n "$define" ]]; then
        cmd="$cmd $define"
    fi
    cmd="$cmd -o $vvp tb/tb_doppler_cosim.v doppler_processor.v xfft_16.v fft_engine.v"

    if ! eval "$cmd" 2>/tmp/iverilog_err_$$; then
        echo -e "${RED}COMPILE FAIL${NC}"
        ERRORS="$ERRORS\n  Doppler Co-Sim ($name): compile error ($(head -1 /tmp/iverilog_err_$$))"
        FAIL=$((FAIL + 1))
        return
    fi

    # Run TB
    local output
    output=$(timeout 120 vvp "$vvp" 2>&1) || true
    rm -f "$vvp"

    # Check TB internal pass/fail (allow leading whitespace; see run_test note)
    local tb_fail
    tb_fail=$(echo "$output" | grep -Ec '^[[:space:]]*\[FAIL' || true)
    if [[ "$tb_fail" -gt 0 ]]; then
        echo -e "${RED}FAIL${NC} (TB internal failure)"
        ERRORS="$ERRORS\n  Doppler Co-Sim ($name): TB internal failure"
        FAIL=$((FAIL + 1))
        return
    fi

    # Run Python compare
    if command -v python3 >/dev/null 2>&1; then
        local compare_out
        local compare_rc=0
        compare_out=$(python3 tb/cosim/compare_doppler.py "$name" 2>&1) || compare_rc=$?
        if [[ "$compare_rc" -ne 0 ]]; then
            echo -e "${RED}FAIL${NC} (compare_doppler.py mismatch)"
            ERRORS="$ERRORS\n  Doppler Co-Sim ($name): Python compare failed"
            FAIL=$((FAIL + 1))
            return
        fi
    else
        echo -e "${YELLOW}SKIP${NC} (RTL passed, python3 not found — compare skipped)"
        SKIP=$((SKIP + 1))
        return
    fi

    echo -e "${GREEN}PASS${NC} (RTL + Python compare)"
    PASS=$((PASS + 1))
}

# ---------------------------------------------------------------------------
# Helper: compile and run a single testbench
#   run_test <name> <vvp_path> <iverilog_args...>
# ---------------------------------------------------------------------------
run_test() {
    # Optional: --timeout=N as first arg overrides default 120s
    local timeout_secs=120
    if [[ "$1" == --timeout=* ]]; then
        timeout_secs="${1#--timeout=}"
        shift
    fi

    local name="$1"
    local vvp="$2"
    shift 2
    local args=("$@")

    printf "  %-45s " "$name"

    # Compile
    if ! iverilog -g2001 -DSIMULATION -o "$vvp" "${args[@]}" 2>/tmp/iverilog_err_$$; then
        echo -e "${RED}COMPILE FAIL${NC}"
        ERRORS="$ERRORS\n  $name: compile error ($(head -1 /tmp/iverilog_err_$$))"
        FAIL=$((FAIL + 1))
        return
    fi

    # Run
    local output
    output=$(timeout "$timeout_secs" vvp "$vvp" 2>&1) || true

    # Count PASS/FAIL in output (testbenches use explicit [PASS]/[FAIL] markers)
    # Match `[PASS]` and `[PASS <digits>]` (and same for FAIL). Excludes
    # informational tags like `[FAIL-INFO]` (used for known unrelated bugs,
    # e.g. RX-NEW-1 fft_engine bin-shift in tb_matched_filter_processing_chain.v)
    # which would otherwise false-fire as real failures.
    # Allow leading whitespace — many TBs emit "  [PASS]" with indentation
    # (the historical anchor `^[PASS]` silently missed those, hiding 22+
    # failures across tb_system_e2e / tb_fft_engine / tb_fullchain_realdata).
    local test_pass test_fail
    test_pass=$(echo "$output" | grep -Ec '^[[:space:]]*\[PASS( [0-9]+)?\]' || true)
    test_fail=$(echo "$output" | grep -Ec '^[[:space:]]*\[FAIL( [0-9]+)?\]' || true)

    if [[ "$test_fail" -gt 0 ]]; then
        echo -e "${RED}FAIL${NC} (pass=$test_pass, fail=$test_fail)"
        ERRORS="$ERRORS\n  $name: $test_fail failure(s)"
        FAIL=$((FAIL + 1))
    elif [[ "$test_pass" -gt 0 ]]; then
        echo -e "${GREEN}PASS${NC} ($test_pass checks)"
        PASS=$((PASS + 1))
    else
        # No PASS/FAIL markers — check for clean completion
        if echo "$output" | grep -qi 'finish\|complete\|done'; then
            echo -e "${GREEN}PASS${NC} (completed)"
            PASS=$((PASS + 1))
        else
            echo -e "${YELLOW}UNKNOWN${NC} (no PASS/FAIL markers)"
            ERRORS="$ERRORS\n  $name: no pass/fail markers in output"
            FAIL=$((FAIL + 1))
        fi
    fi

    rm -f "$vvp"
}

# ===========================================================================
echo "============================================"
echo "  AERIS-10 FPGA Regression Test Suite"
echo "============================================"
echo ""
echo "Date: $(date)"
echo "iverilog: $(iverilog -V 2>&1 | head -1)"
echo ""

# ===========================================================================
# PHASE 0: LINT (Vivado-class error detection)
# ===========================================================================
if [[ "$SKIP_LINT" -eq 0 ]]; then
    echo "--- PHASE 0: LINT (Vivado-class checks) ---"

    # Layer A: iverilog -Wall on full production design
    run_lint_iverilog "production" "${PROD_RTL[@]}"

    # Layer A: standalone modules not in top-level hierarchy
    # (use ${EXTRA_RTL[@]+...} guard so empty array doesn't trip set -u)
    if [[ ${#EXTRA_RTL[@]} -gt 0 ]]; then
        for extra in "${EXTRA_RTL[@]}"; do
            if [[ -f "$extra" ]]; then
                run_lint_iverilog "$(basename "$extra" .v)" "$extra"
            fi
        done
    fi

    # Layer B: custom static regex checks
    if [[ ${#EXTRA_RTL[@]} -gt 0 ]]; then
        ALL_RTL=("${PROD_RTL[@]}" "${EXTRA_RTL[@]}")
    else
        ALL_RTL=("${PROD_RTL[@]}")
    fi
    run_lint_static "${ALL_RTL[@]}"

    echo ""
    if [[ "$LINT_ERR" -gt 0 ]]; then
        echo -e "${RED}  LINT FAILED: $LINT_ERR Vivado-class error(s) detected.${NC}"
        echo "  Fix lint errors before pushing to Vivado. Aborting regression."
        echo ""
        exit 1
    elif [[ "$LINT_WARN" -gt 0 ]]; then
        echo -e "${YELLOW}  LINT: $LINT_WARN advisory warning(s) (non-blocking)${NC}"
    else
        echo -e "${GREEN}  LINT: All checks passed${NC}"
    fi
    echo ""
else
    echo "--- PHASE 0: LINT (skipped via --skip-lint) ---"
    echo ""
fi

# ===========================================================================
# PHASE 1: UNIT TESTS — Changed Modules (HIGH PRIORITY)
# ===========================================================================
echo "--- PHASE 1: Changed Modules ---"

run_test "CIC Decimator" \
    tb/tb_cic_reg.vvp \
    tb/tb_cic_decimator.v cic_decimator_4x_enhanced.v

run_test "Chirp Controller (BRAM)" \
    tb/tb_chirp_reg.vvp \
    tb/tb_chirp_controller.v plfm_chirp_controller_v2.v

run_test "Chirp Contract" \
    tb/tb_chirp_ctr_reg.vvp \
    tb/tb_chirp_contract.v plfm_chirp_controller_v2.v

run_doppler_cosim "stationary"   ""
run_doppler_cosim "moving"       "-DSCENARIO_MOVING"
run_doppler_cosim "two_targets"  "-DSCENARIO_TWO"

run_test "Threshold Detector (detection bugs)" \
    tb/tb_threshold_detector.vvp \
    tb/tb_threshold_detector.v

run_test "RX Gain Control (digital gain)" \
    tb/tb_rx_gain_control.vvp \
    tb/tb_rx_gain_control.v rx_gain_control.v

run_test "MTI Canceller (ground clutter)" \
    tb/tb_mti_canceller.vvp \
    tb/tb_mti_canceller.v mti_canceller.v

run_test "CFAR CA Detector" \
    tb/tb_cfar_ca.vvp \
    tb/tb_cfar_ca.v cfar_ca.v

run_test "FPGA Self-Test" \
    tb/tb_fpga_self_test.vvp \
    tb/tb_fpga_self_test.v fpga_self_test.v

run_test "FFT AXI Bridge tready handshake (AUDIT-C10)" \
    tb/tb_fft_engine_axi_bridge.vvp \
    tb/tb_fft_engine_axi_bridge.v fft_engine_axi_bridge.v

run_test "FT2232H Frame Drop Counter (AUDIT-C12)" \
    tb/tb_ft2232h_frame_drop.vvp \
    tb/tb_ft2232h_frame_drop.v usb_data_interface_ft2232h.v

run_test "Doppler Frame-Start Gate (AUDIT-S3)" \
    tb/tb_doppler_frame_start_gate.vvp \
    tb/tb_doppler_frame_start_gate.v doppler_processor.v xfft_16.v fft_engine.v

run_test "ADC PWDN opcode 0x32 (AUDIT-S25)" \
    tb/tb_adc_pwdn_opcode.vvp \
    tb/tb_adc_pwdn_opcode.v

run_test "Status-word stickies CDC + DIG7 fault-OR (AUDIT-S10 + PR-AB.b Step 1)" \
    tb/tb_status_words_stickies.vvp \
    tb/tb_status_words_stickies.v

run_test "DIG6 frame-pulse stretcher (PR-AB.b)" \
    tb/tb_dig6_frame_pulse.vvp \
    tb/tb_dig6_frame_pulse.v

run_test "NUM_CELLS sizing 50T (AUDIT-C16)" \
    tb/tb_audit_c16_num_cells_50t.vvp \
    tb/tb_audit_c16_num_cells.v

run_test --timeout=120 "NUM_CELLS sizing 200T (AUDIT-C16)" \
    tb/tb_audit_c16_num_cells_200t.vvp \
    -DSUPPORT_LONG_RANGE \
    tb/tb_audit_c16_num_cells.v

echo ""

# ===========================================================================
# PHASE 2: INTEGRATION TESTS
# ===========================================================================
echo "--- PHASE 2: Integration Tests ---"

run_test "DDC Chain (NCO→CIC→FIR)" \
    tb/tb_ddc_reg.vvp \
    tb/tb_ddc_cosim.v ddc_400m.v nco_400m_enhanced.v \
    cic_decimator_4x_enhanced.v fir_lowpass.v cdc_modules.v cdc_async_fifo.v

# Real-data co-simulation: committed golden hex vs RTL (exact match required).
# These catch architecture mismatches (e.g. 32-pt → dual 16-pt Doppler FFT)
# that self-blessing golden-generate/compare tests cannot detect.
run_test --timeout=300 "Doppler Real-Data (synthetic, exact match)" \
    tb/tb_doppler_realdata.vvp \
    tb/tb_doppler_realdata.v doppler_processor.v xfft_16.v fft_engine.v

run_test --timeout=600 "Full-Chain Real-Data (decim→Doppler, exact match)" \
    tb/tb_fullchain_realdata.vvp \
    tb/tb_fullchain_realdata.v range_bin_decimator.v \
    doppler_processor.v xfft_16.v fft_engine.v

if [[ "$QUICK" -eq 0 ]]; then
    # Receiver integration (structural + bounds + pulse assertions).
    # Replaces the earlier "Receiver golden generate/compare" pair, which was
    # self-blessing (both passes ran identical RTL on identical stimulus, so
    # it passed regardless of bugs). Real co-sim coverage is now provided by
    # tb_doppler_realdata.v and tb_fullchain_realdata.v (Python goldens,
    # exact match); this integration test exercises the full RX pipeline
    # (ADC stub → DDC → MF → Decim → Doppler) and verifies that
    # doppler_frame_done is a single-cycle pulse at module boundaries.
    run_test --timeout=600 "Receiver Integration (tb_radar_receiver_final)" \
        tb/tb_rx_final_reg.vvp \
        tb/tb_radar_receiver_final.v "${RECEIVER_RTL[@]}"

    # A6 end-to-end DSP -> host test (PR-Z). Replaces the two zero-assertion
    # `radar_system_tb` smoke runs (USB_MODE=0 + USB_MODE=1) that this PR
    # supersedes. Three stages:
    #   1. gen_e2e_stimulus.py    - deterministic single-target stimulus
    #   2. gen_e2e_expected.py    - bit-exact Python golden (fpga_model)
    #   3. tb_e2e_dsp_to_host.v   - production-faithful chain
    #                                (range_decim -> mti -> doppler -> dc_notch
    #                                 -> cfar -> sync -> usb_data_interface_ft2232h)
    #   4. tb_e2e_dsp_to_host_parse.py - radar_protocol round-trip + section asserts
    printf "  %-45s " "E2E DSP-to-Host (PR-Z A6)"
    set +e
    a6_log=/tmp/a6_e2e_$$.log
    {
        python3 tb/cosim/gen_e2e_stimulus.py     && \
        python3 tb/cosim/gen_e2e_expected.py     && \
        iverilog -g2001 -DSIMULATION -o tb/tb_e2e_dsp_to_host.vvp \
            tb/tb_e2e_dsp_to_host.v mti_canceller.v doppler_processor.v \
            xfft_16.v fft_engine.v cfar_ca.v usb_data_interface_ft2232h.v \
            edge_detector.v && \
        timeout 300 vvp tb/tb_e2e_dsp_to_host.vvp && \
        python3 tb/cosim/tb_e2e_dsp_to_host_parse.py
    } > "$a6_log" 2>&1
    a6_rc=$?
    set -e
    rm -f tb/tb_e2e_dsp_to_host.vvp
    a6_tb_pass=$(grep -Ec '^[[:space:]]*\[PASS( [0-9]+)?\]' "$a6_log" || true)
    a6_tb_fail=$(grep -Ec '^[[:space:]]*\[FAIL( [0-9]+)?\]' "$a6_log" || true)
    a6_parse_overall_pass=$(grep -Ec '^\[OVERALL PASS\]' "$a6_log" || true)
    if [[ "$a6_rc" -eq 0 && "$a6_tb_fail" -eq 0 && "$a6_parse_overall_pass" -ge 1 ]]; then
        echo -e "${GREEN}PASS${NC} (TB pass=$a6_tb_pass + parse OVERALL PASS)"
        PASS=$((PASS + 1))
    else
        echo -e "${RED}FAIL${NC} (rc=$a6_rc, TB pass=$a6_tb_pass fail=$a6_tb_fail, parse=$a6_parse_overall_pass)"
        ERRORS="$ERRORS\n  E2E DSP-to-Host: rc=$a6_rc"
        echo "  ---- A6 last 30 lines of log ----"
        tail -30 "$a6_log" | sed 's/^/    /'
        FAIL=$((FAIL + 1))
    fi
    rm -f "$a6_log"

    # PR-I subsuites (replace tb_system_e2e). Each TB instantiates
    # radar_system_top with USB_MODE=1 (production FT2232H path) and
    # carves a focused slice of what the legacy tb_system_e2e tried to
    # cover all at once:
    #   tb_system_opcodes   - opcode dispatch via FT2232H send_cmd (fast)
    #   tb_system_mechanics - reset/RF/safety/CDC mechanics (fast)
    # Note: tb_system_dataflow was retired in PR-Z — its 3 liveness-only
    # asserts (chirp_frames>0, range_valid>0, range_valid>=100) are now
    # dominated by A6's stronger in-TB checks (egress-byte exact, doppler
    # bit-exact vs Python golden, cfar class). ~7 min wall reclaimed.
    run_test "System Opcodes (tb_system_opcodes)" \
        tb/tb_system_opcodes_reg.vvp \
        tb/tb_system_opcodes.v "${SYSTEM_RTL[@]}"

    run_test "System Mechanics (tb_system_mechanics)" \
        tb/tb_system_mechanics_reg.vvp \
        tb/tb_system_mechanics.v "${SYSTEM_RTL[@]}"
else
    echo "  (skipped receiver integration + e2e dsp-to-host + opcodes/mechanics — use without --quick)"
    SKIP=$((SKIP + 4))
fi

echo ""

# ===========================================================================
# PHASE 2b: MATCHED FILTER CO-SIMULATION (RTL vs Python golden reference)
# Runs tb_mf_cosim.v for 4 scenarios, then compare_mf.py validates output
# against committed Python golden CSV files. In SIMULATION mode, thresholds
# are generous (behavioral vs fixed-point twiddles differ) — validates
# state machine mechanics, output count, and energy sanity.
# ===========================================================================
echo "--- PHASE 2b: Matched Filter Co-Sim ---"

run_mf_cosim "chirp"   ""
run_mf_cosim "dc"      "-DSCENARIO_DC"
run_mf_cosim "impulse" "-DSCENARIO_IMPULSE"
run_mf_cosim "tone5"   "-DSCENARIO_TONE5"

echo ""

# ===========================================================================
# PHASE 3: UNIT TESTS — Signal Processing
# ===========================================================================
echo "--- PHASE 3: Signal Processing ---"

run_test "FFT Engine" \
    tb/tb_fft_reg.vvp \
    tb/tb_fft_engine.v fft_engine.v

run_test "NCO 400MHz" \
    tb/tb_nco_reg.vvp \
    tb/tb_nco_400m.v nco_400m_enhanced.v

run_test "FIR Lowpass" \
    tb/tb_fir_reg.vvp \
    tb/tb_fir_lowpass.v fir_lowpass.v

run_test --timeout=600 "Matched Filter Chain" \
    tb/tb_mf_reg.vvp \
    tb/tb_matched_filter_processing_chain.v matched_filter_processing_chain.v \
    fft_engine.v xfft_2048.v fft_engine_axi_bridge.v \
    chirp_reference_rom.v frequency_matched_filter.v

# RX-B regression coverage: chain pipeline depth + full-chain
# autocorrelation peak position. Both run the production fft_engine
# (no SIMULATION-only behavioural FFT exists). Long-running because
# the production FFT is BRAM-pipelined (~153k cycles per chain pass).
run_test --timeout=120 "RX-B Chain Pipeline Latency (tb_rxb_latency_measure)" \
    tb/tb_rxb_lat_reg.vvp \
    tb/tb_rxb_latency_measure.v matched_filter_processing_chain.v \
    fft_engine.v xfft_2048.v fft_engine_axi_bridge.v frequency_matched_filter.v

run_test --timeout=600 "RX-B Full-Chain Autocorrelation (tb_rxb_fullchain_latency)" \
    tb/tb_rxb_fc_reg.vvp \
    tb/tb_rxb_fullchain_latency.v matched_filter_multi_segment.v \
    matched_filter_processing_chain.v fft_engine.v xfft_2048.v \
    fft_engine_axi_bridge.v frequency_matched_filter.v \
    chirp_reference_rom.v

# ---------------------------------------------------------------------------
# T-6 independent reference drift cosim (PR-M).
# Bytewise spot-checks of NCO_SINE_LUT, fft_twiddle_{16,2048}.mem, and
# DOPPLER_WINDOW_COEFF against analytical Q15 values, plus end-to-end peak
# and roundtrip invariants for NCO / FFT / MF / Doppler. Catches the bug
# class where a transcription error exists identically in both fpga_model.py
# (RTL-mirroring twin) and the RTL — which the bit-exact cosim cannot detect
# because both sides of that comparison are computing the same wrong values.
# Pure Python (numpy + scipy), ~1 s wall, no iverilog compile.
#
# Required deps: numpy, scipy (declared in pyproject.toml dev group).
# Install with:  uv sync --group dev    (from repo root)
# CI handles this in the fpga-regression job; locally activate the
# resulting .venv (or use `uv run bash run_regression.sh`).
# If a dep is missing the script emits a [SKIP] marker and exits with
# code 2; the regression treats it as SKIP rather than FAIL so the
# missing-dep state is visible without breaking the gate.
# ---------------------------------------------------------------------------
printf "  %-46s" "Independent Reference Drift (T-6)"
set +e
drift_output=$(python3 tb/cosim/compare_independent.py 2>&1)
drift_rc=$?
set -e
drift_pass=$(echo "$drift_output" | grep -Ec '^[[:space:]]*\[PASS\]' || true)
drift_fail=$(echo "$drift_output" | grep -Ec '^[[:space:]]*\[FAIL\]' || true)
if [[ "$drift_rc" -eq 2 ]]; then
    # Script signalled missing-dep skip. Show its message body so the
    # operator knows which package to install.
    echo -e "${YELLOW}SKIP${NC} (missing python dep — see below)"
    echo "$drift_output" | sed 's/^/    /'
    SKIP=$((SKIP + 1))
elif [[ "$drift_fail" -gt 0 ]]; then
    echo -e "${RED}FAIL${NC} (pass=$drift_pass, fail=$drift_fail)"
    ERRORS="$ERRORS\n  Independent Reference Drift: $drift_fail failure(s)"
    echo "$drift_output" | sed 's/^/    /'
    FAIL=$((FAIL + 1))
elif [[ "$drift_pass" -gt 0 && "$drift_rc" -eq 0 ]]; then
    echo -e "${GREEN}PASS${NC} ($drift_pass checks)"
    PASS=$((PASS + 1))
else
    echo -e "${RED}FAIL${NC} (rc=$drift_rc, no clean PASS/FAIL markers)"
    ERRORS="$ERRORS\n  Independent Reference Drift: rc=$drift_rc"
    echo "$drift_output" | sed 's/^/    /'
    FAIL=$((FAIL + 1))
fi

echo ""

# ===========================================================================
# PHASE 4: UNIT TESTS — Infrastructure
# ===========================================================================
echo "--- PHASE 4: Infrastructure ---"

run_test "CDC Modules (3 variants)" \
    tb/tb_cdc_reg.vvp \
    tb/tb_cdc_modules.v cdc_modules.v

run_test "CDC Async FIFO (AUDIT-C11)" \
    tb/tb_cdc_async_fifo_reg.vvp \
    tb/tb_cdc_async_fifo.v cdc_async_fifo.v

run_test "Edge Detector" \
    tb/tb_edge_reg.vvp \
    tb/tb_edge_detector.v edge_detector.v

run_test "USB Data Interface" \
    tb/tb_usb_reg.vvp \
    tb/tb_usb_data_interface.v usb_data_interface.v

run_test "Range Bin Decimator" \
    tb/tb_rbd_reg.vvp \
    tb/tb_range_bin_decimator.v range_bin_decimator.v

echo ""

# ===========================================================================
# SUMMARY
# ===========================================================================
TOTAL=$((PASS + FAIL + SKIP))
echo "============================================"
echo "  RESULTS"
echo "============================================"
if [[ "$SKIP_LINT" -eq 0 ]]; then
    if [[ "$LINT_ERR" -gt 0 ]]; then
        echo -e "  Lint:  ${RED}$LINT_ERR error(s)${NC}, $LINT_WARN warning(s)"
    elif [[ "$LINT_WARN" -gt 0 ]]; then
        echo -e "  Lint:  ${GREEN}0 errors${NC}, ${YELLOW}$LINT_WARN warning(s)${NC}"
    else
        echo -e "  Lint:  ${GREEN}clean${NC}"
    fi
fi
echo "  Tests: $PASS passed, $FAIL failed, $SKIP skipped / $TOTAL total"
echo "============================================"

if [[ -n "$ERRORS" ]]; then
    echo ""
    echo "Failures:"
    echo -e "$ERRORS"
fi

echo ""

# Exit with error if any failures
if [[ "$FAIL" -gt 0 ]]; then
    exit 1
fi

exit 0