mirror of
https://github.com/NawfalMotii79/PLFM_RADAR.git
synced 2026-06-09 06:57:15 +00:00
Jason
7862f4d63c
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).
280 lines
14 KiB
Systemverilog
280 lines
14 KiB
Systemverilog
// ============================================================================
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// radar_params.vh — Single Source of Truth for AERIS-10 FPGA Parameters
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// ============================================================================
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//
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// ALL modules in the FPGA processing chain MUST `include this file instead of
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// hardcoding range bins, segment counts, chirp samples, or timing values.
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//
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// This file uses `define macros (not localparam) so it can be included at any
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// scope. Each consuming module should include this file inside its body and
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// optionally alias macros to localparams for readability.
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//
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// BOARD VARIANTS:
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// SUPPORT_LONG_RANGE = 0 (50T, USB_MODE=1) — 3 km mode only
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// SUPPORT_LONG_RANGE = 1 (200T, USB_MODE=0) — 3 km + 20 km modes
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//
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// RADAR MODES (runtime, via host_radar_mode register, opcode 0x01):
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// 2'b00 = STM32 pass-through (production — STM32 controls chirp timing)
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// 2'b01 = Auto-scan 3 km (FPGA-timed, short chirps only)
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// 2'b10 = Single-chirp debug (one long chirp per trigger)
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// 2'b11 = Reserved / idle
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//
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// RANGE MODES (runtime, via host_range_mode register, opcode 0x20):
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// 2'b00 = 3 km (default — pass-through treats all chirps as short)
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// 2'b01 = Long-range (pass-through: first half long, second half short)
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// 2'b10 = Reserved
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// 2'b11 = Reserved
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//
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// USAGE:
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// `include "radar_params.vh"
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// Then reference `RP_FFT_SIZE, `RP_NUM_RANGE_BINS, etc.
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//
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// PHYSICAL CONSTANTS (derived from hardware):
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// ADC clock: 400 MSPS
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// CIC decimation: 4x
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// Processing rate: 100 MSPS (post-DDC)
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// Range per sample: c / (2 * 100e6) = 1.5 m
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// FFT size: 2048
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// Decimation factor: 4 (2048 FFT bins -> 512 output range bins)
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// Range per dec. bin: 1.5 m * 4 = 6.0 m
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// Max range (3 km): 512 * 6.0 = 3072 m
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// Carrier frequency: 10.5 GHz
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// IF frequency: 120 MHz
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//
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// CHIRP BANDWIDTH (Phase 1 target — currently 20 MHz, planned 30 MHz):
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// Range resolution: c / (2 * BW)
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// 20 MHz -> 7.5 m
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// 30 MHz -> 5.0 m
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// NOTE: Range resolution is independent of range-per-bin. Resolution
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// determines the minimum separation between two targets; range-per-bin
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// determines the spatial sampling grid.
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// ============================================================================
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`ifndef RADAR_PARAMS_VH
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`define RADAR_PARAMS_VH
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// ============================================================================
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// BOARD VARIANT — set at synthesis time, NOT runtime
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// ============================================================================
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// Default to 50T (conservative). Override in top-level or synthesis script:
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// +define+SUPPORT_LONG_RANGE
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// or via Vivado: set_property verilog_define {SUPPORT_LONG_RANGE} [current_fileset]
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// Note: SUPPORT_LONG_RANGE is a flag define (ifdef/ifndef), not a value.
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// `ifndef SUPPORT_LONG_RANGE means 50T (no long range).
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// `ifdef SUPPORT_LONG_RANGE means 200T (long range supported).
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// ============================================================================
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// FFT AND PROCESSING CONSTANTS (fixed, both modes)
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// ============================================================================
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`define RP_FFT_SIZE 2048 // Range FFT points per segment
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`define RP_LOG2_FFT_SIZE 11 // log2(2048)
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`define RP_OVERLAP_SAMPLES 128 // Overlap between adjacent segments
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`define RP_SEGMENT_ADVANCE 1920 // FFT_SIZE - OVERLAP = 2048 - 128
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`define RP_DECIMATION_FACTOR 4 // Range bin decimation (2048 -> 512)
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`define RP_NUM_RANGE_BINS 512 // FFT_SIZE / DECIMATION_FACTOR
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`define RP_RANGE_BIN_BITS 9 // ceil(log2(512))
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`define RP_DOPPLER_FFT_SIZE 16 // Per sub-frame Doppler FFT (scan mode)
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`define RP_DOPPLER_FFT_SIZE_TRACK 64 // Track-mode dwell N (xfft_64, single waveform)
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`define RP_CHIRPS_PER_FRAME 48 // 3 sub-frames * 16 chirps = 48 (PR-F)
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`define RP_CHIRPS_PER_SUBFRAME 16 // Chirps per Doppler sub-frame
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`define RP_NUM_DOPPLER_BINS 48 // 3 sub-frames * 16 bins = 48 (PR-F)
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`define RP_DATA_WIDTH 16 // ADC/processing data width
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// 3-ladder waveform identity (replaces 1-bit use_long_chirp rail in PR-C onward)
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// `define RP_WAVE_<NAME> values are 2-bit waveform selectors carried on
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// `wave_sel[1:0]` at every chirp boundary. RESERVED is a hard error.
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`define RP_WAVE_SEL_WIDTH 2
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`define RP_WAVE_SHORT 2'b00 // 1 µs (3 km build workhorse)
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`define RP_WAVE_MEDIUM 2'b01 // 5 µs (mid-range fill, 0.75–8 km)
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`define RP_WAVE_LONG 2'b10 // 30 µs (legal but unused on 50T; 200T uses for 20 km)
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`define RP_WAVE_RESERVED 2'b11
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// Sub-frame layout. Frame = NUM_SUBFRAMES × CHIRPS_PER_SUBFRAME chirps.
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// Scan mode uses 3 sub-frames (SHORT, MEDIUM, LONG), each running its own
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// N=16 Doppler FFT. Track mode pins the frame to one waveform and runs N=64.
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`define RP_NUM_SUBFRAMES 3
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`define RP_SUBFRAME_ID_WIDTH 2 // ceil(log2(3))
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`define RP_DOPPLER_BIN_WIDTH 6 // {sub_frame[1:0], bin[3:0]}
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// Adaptive-escalation detection class (CFAR output — 2-class instead of 1-flag)
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// Replaces detect_flag (1 bit) when PR-F lands.
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`define RP_DETECT_CLASS_WIDTH 2
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`define RP_DETECT_NONE 2'b00 // below soft threshold
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`define RP_DETECT_CANDIDATE 2'b01 // above soft, below confirm — host re-cues
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`define RP_DETECT_CONFIRMED 2'b10 // above confirm threshold — track-eligible
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`define RP_DETECT_RSVD 2'b11
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// ============================================================================
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// 3 KM MODE PARAMETERS (both 50T and 200T)
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// ============================================================================
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`define RP_LONG_CHIRP_SAMPLES_3KM 3000 // 30 us at 100 MSPS
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`define RP_LONG_SEGMENTS_3KM 2 // ceil((3000-2048)/1920) + 1 = 2
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`define RP_SHORT_CHIRP_SAMPLES 50 // 0.5 us at 100 MSPS (same both modes)
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`define RP_SHORT_SEGMENTS 1 // Single segment for short chirp
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// Derived 3 km limits
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`define RP_MAX_RANGE_3KM 3072 // 512 bins * 6 m = 3072 m
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// ============================================================================
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// 20 KM MODE PARAMETERS (200T only — Phase 2)
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// ============================================================================
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`define RP_LONG_CHIRP_SAMPLES_20KM 13700 // 137 us at 100 MSPS (= listen window)
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`define RP_LONG_SEGMENTS_20KM 8 // 1 + ceil((13700-2048)/1920) = 1 + 7 = 8
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`define RP_OUTPUT_RANGE_BINS_20KM 4096 // 8 segments * 512 dec. bins each
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// Derived 20 km limits
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`define RP_MAX_RANGE_20KM 24576 // 4096 bins * 6 m = 24576 m
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// ============================================================================
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// MAX VALUES (for sizing buffers — compile-time, based on board variant)
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// ============================================================================
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`ifdef SUPPORT_LONG_RANGE
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`define RP_MAX_SEGMENTS 8
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`define RP_MAX_OUTPUT_BINS 4096
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`define RP_MAX_CHIRP_SAMPLES 13700
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`else
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`define RP_MAX_SEGMENTS 2
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`define RP_MAX_OUTPUT_BINS 512
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`define RP_MAX_CHIRP_SAMPLES 3000
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`endif
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// ============================================================================
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// BIT WIDTHS (derived from MAX values)
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// ============================================================================
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// Segment index: ceil(log2(MAX_SEGMENTS))
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// 50T: log2(2) = 1 bit (use 2 for safety)
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// 200T: log2(8) = 3 bits
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`ifdef SUPPORT_LONG_RANGE
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`define RP_SEGMENT_IDX_WIDTH 3
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`define RP_RANGE_BIN_WIDTH_MAX 12 // ceil(log2(4096))
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`define RP_DOPPLER_MEM_ADDR_W 18 // ceil(log2(4096*48)) = 18 (PR-F)
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`define RP_CFAR_MAG_ADDR_W 18 // ceil(log2(4096*48)) = 18 (PR-F)
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`else
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`define RP_SEGMENT_IDX_WIDTH 2
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`define RP_RANGE_BIN_WIDTH_MAX 9 // ceil(log2(512))
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`define RP_DOPPLER_MEM_ADDR_W 15 // ceil(log2(512*48)) = 15 (PR-F)
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`define RP_CFAR_MAG_ADDR_W 15 // ceil(log2(512*48)) = 15 (PR-F)
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`endif
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// Derived depths (for memory declarations)
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// Usage: reg [15:0] mem [0:`RP_DOPPLER_MEM_DEPTH-1];
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`define RP_DOPPLER_MEM_DEPTH (`RP_MAX_OUTPUT_BINS * `RP_CHIRPS_PER_FRAME)
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`define RP_CFAR_MAG_DEPTH (`RP_MAX_OUTPUT_BINS * `RP_NUM_DOPPLER_BINS)
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// ============================================================================
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// CHIRP TIMING DEFAULTS (100 MHz clock cycles)
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// ============================================================================
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// Reset defaults for host-configurable timing registers.
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// Match radar_mode_controller.v parameters and main.cpp STM32 defaults.
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//
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// 3-LADDER (3 km build): SHORT 1 µs, MEDIUM 5 µs, LONG 30 µs. Same listen
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// budget across waveforms (~175 µs PRI) keeps Doppler resolution uniform.
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// LONG kept on 50T as legal-but-unused so 200T spin-up doesn't need a
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// second wave through the codebase.
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`define RP_DEF_LONG_CHIRP_CYCLES 3000 // 30 us
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`define RP_DEF_LONG_LISTEN_CYCLES 13700 // 137 us
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`define RP_DEF_GUARD_CYCLES 17540 // 175.4 us
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`define RP_DEF_SHORT_CHIRP_CYCLES 50 // 0.5 us — LEGACY; PR-E switches to 100 (1 µs)
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`define RP_DEF_SHORT_LISTEN_CYCLES 17450 // 174.5 us
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`define RP_DEF_CHIRPS_PER_ELEV 32 // LEGACY; bumped to 48 in PR-F
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// 3-ladder defaults — added in PR-A, consumed by chirp_scheduler in PR-D.
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`define RP_DEF_SHORT_CHIRP_CYCLES_V2 100 // 1 µs at 100 MHz (was 0.5 µs)
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`define RP_DEF_SHORT_LISTEN_CYCLES_V2 17400 // PRI 175 µs - chirp - guard slack
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`define RP_DEF_MEDIUM_CHIRP_CYCLES 500 // 5 µs at 100 MHz
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`define RP_DEF_MEDIUM_LISTEN_CYCLES 17000 // PRI 175 µs - chirp - guard slack
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// LONG defaults reuse RP_DEF_LONG_CHIRP_CYCLES / RP_DEF_LONG_LISTEN_CYCLES
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`define RP_DEF_CHIRPS_PER_SUBFRAME 16 // 16 per sub-frame, 3 sub-frames = 48 frame
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`define RP_DEF_SUBFRAME_ENABLE 3'b111 // SHORT|MEDIUM|LONG all on by default
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`define RP_DEF_TRACK_WATCHDOG_FRAMES 8'd5 // frames without track cmd before scan-fallback
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`define RP_DEF_TRACK_CHIRP_COUNT 9'd64 // default track-mode dwell N
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`define RP_DEF_CFAR_ALPHA_SOFT 8'h18 // 1.5 in Q4.4 — soft threshold for candidates
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// (Pfa_soft ≈ 10⁻⁵; confirm Pfa ≈ 10⁻⁶ at α=3.0)
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// ============================================================================
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// BLIND ZONE CONSTANTS (informational, for comments and GUI)
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// ============================================================================
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// Long chirp blind zone: c * 30 us / 2 = 4500 m
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// Short chirp blind zone: c * 0.5 us / 2 = 75 m
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`define RP_LONG_BLIND_ZONE_M 4500
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`define RP_SHORT_BLIND_ZONE_M 75
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// ============================================================================
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// PHYSICAL CONSTANTS (integer-scaled for Verilog — use in comments/assertions)
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// ============================================================================
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// Range per ADC sample: 1.5 m (stored as 15 in units of 0.1 m)
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// Range per decimated bin: 6.0 m (stored as 60 in units of 0.1 m)
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// Processing rate: 100 MSPS
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`define RP_RANGE_PER_SAMPLE_DM 15 // 1.5 m in decimeters
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`define RP_RANGE_PER_BIN_DM 60 // 6.0 m in decimeters
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`define RP_PROCESSING_RATE_MHZ 100
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// ============================================================================
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// AGC DEFAULTS
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// ============================================================================
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`define RP_DEF_AGC_TARGET 200
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`define RP_DEF_AGC_ATTACK 1
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`define RP_DEF_AGC_DECAY 1
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`define RP_DEF_AGC_HOLDOFF 4
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// ============================================================================
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// CFAR DEFAULTS
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// ============================================================================
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`define RP_DEF_CFAR_GUARD 2
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`define RP_DEF_CFAR_TRAIN 8
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`define RP_DEF_CFAR_ALPHA 8'h30 // 3.0 in Q4.4
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`define RP_DEF_CFAR_MODE 2'b00 // CA-CFAR
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// ============================================================================
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// DETECTION DEFAULTS
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// ============================================================================
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`define RP_DEF_DETECT_THRESHOLD 10000
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// ============================================================================
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// RADAR MODE ENCODING (host_radar_mode, opcode 0x01)
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// ============================================================================
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`define RP_MODE_STM32_PASSTHROUGH 2'b00
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`define RP_MODE_AUTO_3KM 2'b01
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`define RP_MODE_SINGLE_DEBUG 2'b10
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`define RP_MODE_RESERVED 2'b11
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// ============================================================================
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// RANGE MODE ENCODING (host_range_mode, opcode 0x20)
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// ============================================================================
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`define RP_RANGE_MODE_3KM 2'b00
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`define RP_RANGE_MODE_LONG 2'b01
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`define RP_RANGE_MODE_RSVD2 2'b10
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`define RP_RANGE_MODE_RSVD3 2'b11
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// ============================================================================
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// RADAR MODE ENCODING — TRACK extension (host_radar_mode, opcode 0x01)
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// ============================================================================
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// Mode 11 ("RESERVED" until PR-D) becomes TRACK mode: scheduler dwells one
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// beam, one waveform, host_track_chirp_count chirps. Doppler runs xfft_64.
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// RP_MODE_RESERVED below is renamed in-place for clarity.
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`define RP_MODE_TRACK 2'b11
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// ============================================================================
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// STREAM CONTROL (host_stream_control, opcode 0x04, 6-bit)
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// ============================================================================
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// Bits [2:0]: Stream enable mask
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// Bit 0 = range profile stream
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// Bit 1 = doppler map stream
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// Bit 2 = cfar/detection stream
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// Bits [5:3]: Stream format control
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// Bit 3 = mag_only (0=I/Q pairs, 1=Manhattan magnitude only)
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// Bit 4 = sparse_det (0=dense detection flags, 1=sparse detection list)
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// Bit 5 = reserved (was frame_decimate, not needed with mag-only fitting)
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`define RP_STREAM_CTRL_DEFAULT 6'b001_111 // all streams, mag-only mode
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`endif // RADAR_PARAMS_VH
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