fix: align all range/carrier/velocity values to PLFM hardware + FPGA bug fixes

- Correct carrier from 10.525/10 GHz to 10.5 GHz (verified ADF4382 config) - Correct range-per-bin from 4.8/5.6/781.25 m to 24.0 m (matched-filter) - Correct velocity resolution from 1.484 to 2.67 m/s/bin (PRI-based) - Correct processing rate from 4 MSPS to 100 MSPS (post-DDC) - Correct max range from 307/5000/50000 m to 1536 m (64 bins x 24 m) - Add WaveformConfig.pri_s field (167 us PRI for velocity calculation) - Fix short chirp chirp_complete deadlock (Bug A) - Remove dead short_chirp ports, rename long_chirp to ref_chirp (Bug B) - Fix stale latency comment 2159 -> 3187 cycles (Bug C) - Create radar_params.vh as single source of truth for FPGA parameters - Lower RadarSettings.cpp map_size validation bound from 1000 to 100 - Add PLFM hardware constants to golden_reference.py - Update all GUI versions, tests, and cross-layer contracts All 244 tests passing (167 Python + 21 MCU + 29 cross-layer + 27 FPGA)
2026-04-15 10:38:59 +05:45
parent f67440ee9a
commit 02925ac34e
26 changed files with 415 additions and 4826 deletions
@@ -6,16 +6,16 @@ RadarSettings::RadarSettings() {
 }

 void RadarSettings::resetToDefaults() {
-    system_frequency = 10.0e9;    // 10 GHz
-    chirp_duration_1 = 30.0e-6;   // 30 �s
-    chirp_duration_2 = 0.5e-6;    // 0.5 �s
+    system_frequency = 10.5e9;    // 10.5 GHz (PLFM TX LO, ADF4382 config)
+    chirp_duration_1 = 30.0e-6;   // 30 µs
+    chirp_duration_2 = 0.5e-6;    // 0.5 µs
    chirps_per_position = 32;
    freq_min = 10.0e6;           // 10 MHz
    freq_max = 30.0e6;           // 30 MHz
    prf1 = 1000.0;               // 1 kHz
    prf2 = 2000.0;               // 2 kHz
-    max_distance = 50000.0;      // 50 km
-    map_size = 50000.0;          // 50 km
+    max_distance = 1536.0;       // 1536 m (64 bins × 24 m, 3 km mode)
+    map_size = 1536.0;           // 1536 m
    
    settings_valid = true;
 }
@@ -88,7 +88,7 @@ bool RadarSettings::validateSettings() {
    if (prf1 < 100 || prf1 > 10000) return false;
    if (prf2 < 100 || prf2 > 10000) return false;
    if (max_distance < 100 || max_distance > 100000) return false;
-    if (map_size < 1000 || map_size > 200000) return false;
+    if (map_size < 100 || map_size > 200000) return false;
    
    return true;
 }
@@ -18,10 +18,9 @@ module matched_filter_multi_segment (
    input wire mc_new_elevation,    // Toggle for new elevation (32)
    input wire mc_new_azimuth,      // Toggle for new azimuth (50)
    
-    input wire [15:0] long_chirp_real,
-    input wire [15:0] long_chirp_imag,
-    input wire [15:0] short_chirp_real,
-    input wire [15:0] short_chirp_imag,
+    // Reference chirp (upstream memory loader selects long/short via use_long_chirp)
+    input wire [15:0] ref_chirp_real,
+    input wire [15:0] ref_chirp_imag,
    
    // Memory system interface
    output reg [1:0] segment_request,
@@ -244,6 +243,7 @@ always @(posedge clk or negedge reset_n) begin
                    if (!use_long_chirp) begin
                        if (chirp_samples_collected >= SHORT_CHIRP_SAMPLES - 1) begin
                            state <= ST_ZERO_PAD;
+                            chirp_complete <= 1;  // Bug A fix: mark chirp done so ST_OUTPUT exits to IDLE
                            `ifdef SIMULATION
                            $display("[MULTI_SEG_FIXED] Short chirp: collected %d samples, starting zero-pad",
                                     chirp_samples_collected + 1);
@@ -500,11 +500,9 @@ matched_filter_processing_chain m_f_p_c(
    // Chirp Selection
    .chirp_counter(chirp_counter),
    
-    // Reference Chirp Memory Interfaces
-    .long_chirp_real(long_chirp_real),
-    .long_chirp_imag(long_chirp_imag),
-    .short_chirp_real(short_chirp_real),
-    .short_chirp_imag(short_chirp_imag),
+    // Reference Chirp Memory Interface (single pair — upstream selects long/short)
+    .ref_chirp_real(ref_chirp_real),
+    .ref_chirp_imag(ref_chirp_imag),
    
    // Output
    .range_profile_i(fft_pc_i),
@@ -15,7 +15,7 @@
 *   .clk, .reset_n
 *   .adc_data_i, .adc_data_q, .adc_valid      <- from input buffer
 *   .chirp_counter                              <- 6-bit frame counter
- *   .long_chirp_real/imag, .short_chirp_real/imag <- reference (time-domain)
+ *   .ref_chirp_real/imag                     <- reference (time-domain)
 *   .range_profile_i, .range_profile_q, .range_profile_valid -> output
 *   .chain_state                                -> 4-bit status
 *
@@ -48,10 +48,10 @@ module matched_filter_processing_chain (
    input wire [5:0] chirp_counter,

    // Reference chirp (time-domain, latency-aligned by upstream buffer)
-    input wire [15:0] long_chirp_real,
-    input wire [15:0] long_chirp_imag,
-    input wire [15:0] short_chirp_real,
-    input wire [15:0] short_chirp_imag,
+    // Upstream chirp_memory_loader_param selects long/short reference
+    // via use_long_chirp — this single pair carries whichever is active.
+    input wire [15:0] ref_chirp_real,
+    input wire [15:0] ref_chirp_imag,

    // Output: range profile (pulse-compressed)
    output wire signed [15:0] range_profile_i,
@@ -189,8 +189,8 @@ always @(posedge clk or negedge reset_n) begin
                // Store first sample (signal + reference)
                fwd_buf_i[0] <= $signed(adc_data_i);
                fwd_buf_q[0] <= $signed(adc_data_q);
-                ref_buf_i[0] <= $signed(long_chirp_real);
-                ref_buf_q[0] <= $signed(long_chirp_imag);
+                ref_buf_i[0] <= $signed(ref_chirp_real);
+                ref_buf_q[0] <= $signed(ref_chirp_imag);
                fwd_in_count <= 1;
                state        <= ST_FWD_FFT;
            end
@@ -205,8 +205,8 @@ always @(posedge clk or negedge reset_n) begin
                if (adc_valid && fwd_in_count < FFT_SIZE) begin
                    fwd_buf_i[fwd_in_count] <= $signed(adc_data_i);
                    fwd_buf_q[fwd_in_count] <= $signed(adc_data_q);
-                    ref_buf_i[fwd_in_count] <= $signed(long_chirp_real);
-                    ref_buf_q[fwd_in_count] <= $signed(long_chirp_imag);
+                    ref_buf_i[fwd_in_count] <= $signed(ref_chirp_real);
+                    ref_buf_q[fwd_in_count] <= $signed(ref_chirp_imag);
                    fwd_in_count <= fwd_in_count + 1;
                end

@@ -775,16 +775,16 @@ always @(posedge clk) begin : ref_bram_port
        if (adc_valid) begin
            we      = 1'b1;
            addr    = 0;
-            wdata_i = $signed(long_chirp_real);
-            wdata_q = $signed(long_chirp_imag);
+            wdata_i = $signed(ref_chirp_real);
+            wdata_q = $signed(ref_chirp_imag);
        end
    end
    ST_COLLECT: begin
        if (adc_valid && collect_count < FFT_SIZE) begin
            we      = 1'b1;
            addr    = collect_count[ADDR_BITS-1:0];
-            wdata_i = $signed(long_chirp_real);
-            wdata_q = $signed(long_chirp_imag);
+            wdata_i = $signed(ref_chirp_real);
+            wdata_q = $signed(ref_chirp_imag);
        end
    end
    ST_REF_FFT: begin
@@ -0,0 +1,200 @@
+// ============================================================================
+// radar_params.vh — Single Source of Truth for AERIS-10 FPGA Parameters
+// ============================================================================
+//
+// ALL modules in the FPGA processing chain MUST `include this file instead of
+// hardcoding range bins, segment counts, chirp samples, or timing values.
+//
+// This file uses `define macros (not localparam) so it can be included at any
+// scope. Each consuming module should include this file inside its body and
+// optionally alias macros to localparams for readability.
+//
+// BOARD VARIANTS:
+//   SUPPORT_LONG_RANGE = 0  (50T, USB_MODE=1)  — 3 km mode only, 64 range bins
+//   SUPPORT_LONG_RANGE = 1  (200T, USB_MODE=0) — 3 km + 20 km modes, up to 1024 bins
+//
+// RANGE MODES (runtime, via host_range_mode register, opcode 0x20):
+//   2'b00 = 3 km  (default on both boards)
+//   2'b01 = 20 km (200T only; clamped to 3 km on 50T)
+//   2'b10 = Reserved
+//   2'b11 = Reserved
+//
+// USAGE:
+//   `include "radar_params.vh"
+//   Then reference `RP_FFT_SIZE, `RP_MAX_OUTPUT_BINS, etc.
+//
+// PHYSICAL CONSTANTS (derived from hardware):
+//   ADC clock:           400 MSPS
+//   CIC decimation:      4x
+//   Processing rate:     100 MSPS (post-DDC)
+//   Range per sample:    c / (2 * 100e6) = 1.5 m
+//   Decimation factor:   16 (1024 FFT bins -> 64 output bins per segment)
+//   Range per dec. bin:  1.5 m * 16 = 24.0 m
+//   Carrier frequency:   10.5 GHz
+//
+// CHIRP BANDWIDTH (Phase 1 target — currently 20 MHz, planned 30 MHz):
+//   Range resolution:    c / (2 * BW)
+//     20 MHz -> 7.5 m
+//     30 MHz -> 5.0 m
+//   NOTE: Range resolution is independent of range-per-bin. Resolution
+//   determines the minimum separation between two targets; range-per-bin
+//   determines the spatial sampling grid.
+// ============================================================================
+
+`ifndef RADAR_PARAMS_VH
+`define RADAR_PARAMS_VH
+
+// ============================================================================
+// BOARD VARIANT — set at synthesis time, NOT runtime
+// ============================================================================
+// Default to 50T (conservative). Override in top-level or synthesis script:
+//   +define+SUPPORT_LONG_RANGE
+// or via Vivado: set_property verilog_define {SUPPORT_LONG_RANGE} [current_fileset]
+
+// Note: SUPPORT_LONG_RANGE is a flag define (ifdef/ifndef), not a value.
+// `ifndef SUPPORT_LONG_RANGE means 50T (no long range).
+// `ifdef SUPPORT_LONG_RANGE means 200T (long range supported).
+
+// ============================================================================
+// FFT AND PROCESSING CONSTANTS (fixed, both modes)
+// ============================================================================
+
+`define RP_FFT_SIZE             1024    // Range FFT points per segment
+`define RP_OVERLAP_SAMPLES      128     // Overlap between adjacent segments
+`define RP_SEGMENT_ADVANCE      896     // FFT_SIZE - OVERLAP = 1024 - 128
+`define RP_DECIMATION_FACTOR    16      // Range bin decimation (1024 -> 64)
+`define RP_BINS_PER_SEGMENT     64      // FFT_SIZE / DECIMATION_FACTOR
+`define RP_DOPPLER_FFT_SIZE     16      // Per sub-frame Doppler FFT
+`define RP_CHIRPS_PER_FRAME     32      // Total chirps (16 long + 16 short)
+`define RP_CHIRPS_PER_SUBFRAME  16      // Chirps per Doppler sub-frame
+`define RP_NUM_DOPPLER_BINS     32      // 2 sub-frames * 16 = 32
+`define RP_DATA_WIDTH           16      // ADC/processing data width
+
+// ============================================================================
+// 3 KM MODE PARAMETERS (both 50T and 200T)
+// ============================================================================
+
+`define RP_LONG_CHIRP_SAMPLES_3KM   3000    // 30 us at 100 MSPS
+`define RP_LONG_SEGMENTS_3KM        4       // ceil((3000-1024)/896) + 1 = 4
+`define RP_OUTPUT_RANGE_BINS_3KM    64      // Downstream pipeline expects 64 range bins (NOTE: will become 128 after 2048-pt FFT upgrade)
+`define RP_SHORT_CHIRP_SAMPLES      50      // 0.5 us at 100 MSPS (same both modes)
+`define RP_SHORT_SEGMENTS           1       // Single segment for short chirp
+
+// Derived 3 km limits
+`define RP_MAX_RANGE_3KM            1536    // 64 bins * 24 m = 1536 m
+
+// ============================================================================
+// 20 KM MODE PARAMETERS (200T only)
+// ============================================================================
+
+`define RP_LONG_CHIRP_SAMPLES_20KM  13700   // 137 us at 100 MSPS (= listen window)
+`define RP_LONG_SEGMENTS_20KM       16      // ceil((13700-1024)/896) + 1 = 16
+`define RP_OUTPUT_RANGE_BINS_20KM   1024    // 16 segments * 64 dec. bins each
+
+// Derived 20 km limits
+`define RP_MAX_RANGE_20KM           24576   // 1024 bins * 24 m = 24576 m
+
+// ============================================================================
+// MAX VALUES (for sizing buffers — compile-time, based on board variant)
+// ============================================================================
+
+`ifdef SUPPORT_LONG_RANGE
+  `define RP_MAX_SEGMENTS           16
+  `define RP_MAX_OUTPUT_BINS        1024
+  `define RP_MAX_CHIRP_SAMPLES      13700
+`else
+  `define RP_MAX_SEGMENTS           4
+  `define RP_MAX_OUTPUT_BINS        64
+  `define RP_MAX_CHIRP_SAMPLES      3000
+`endif
+
+// ============================================================================
+// BIT WIDTHS (derived from MAX values)
+// ============================================================================
+
+// Segment index: ceil(log2(MAX_SEGMENTS))
+//   50T:  log2(4)  = 2 bits
+//   200T: log2(16) = 4 bits
+`ifdef SUPPORT_LONG_RANGE
+  `define RP_SEGMENT_IDX_WIDTH      4
+  `define RP_RANGE_BIN_WIDTH        10
+  `define RP_CHIRP_MEM_ADDR_W       14      // log2(16*1024) = 14
+  `define RP_DOPPLER_MEM_ADDR_W     15      // log2(1024*32) = 15
+  `define RP_CFAR_MAG_ADDR_W        15      // log2(1024*32) = 15
+`else
+  `define RP_SEGMENT_IDX_WIDTH      2
+  `define RP_RANGE_BIN_WIDTH        6
+  `define RP_CHIRP_MEM_ADDR_W       12      // log2(4*1024) = 12
+  `define RP_DOPPLER_MEM_ADDR_W     11      // log2(64*32) = 11
+  `define RP_CFAR_MAG_ADDR_W        11      // log2(64*32) = 11
+`endif
+
+// Derived depths (for memory declarations)
+// Usage: reg [15:0] mem [0:`RP_CHIRP_MEM_DEPTH-1];
+`define RP_CHIRP_MEM_DEPTH      (`RP_MAX_SEGMENTS * `RP_FFT_SIZE)
+`define RP_DOPPLER_MEM_DEPTH    (`RP_MAX_OUTPUT_BINS * `RP_CHIRPS_PER_FRAME)
+`define RP_CFAR_MAG_DEPTH       (`RP_MAX_OUTPUT_BINS * `RP_NUM_DOPPLER_BINS)
+
+// ============================================================================
+// CHIRP TIMING DEFAULTS (100 MHz clock cycles)
+// ============================================================================
+// Reset defaults for host-configurable timing registers.
+// Match radar_mode_controller.v parameters and main.cpp STM32 defaults.
+
+`define RP_DEF_LONG_CHIRP_CYCLES    3000    // 30 us
+`define RP_DEF_LONG_LISTEN_CYCLES   13700   // 137 us
+`define RP_DEF_GUARD_CYCLES         17540   // 175.4 us
+`define RP_DEF_SHORT_CHIRP_CYCLES   50      // 0.5 us
+`define RP_DEF_SHORT_LISTEN_CYCLES  17450   // 174.5 us
+`define RP_DEF_CHIRPS_PER_ELEV      32
+
+// ============================================================================
+// BLIND ZONE CONSTANTS (informational, for comments and GUI)
+// ============================================================================
+// Long chirp blind zone:  c * 30 us / 2 = 4500 m
+// Short chirp blind zone: c * 0.5 us / 2 = 75 m
+
+`define RP_LONG_BLIND_ZONE_M        4500
+`define RP_SHORT_BLIND_ZONE_M       75
+
+// ============================================================================
+// PHYSICAL CONSTANTS (integer-scaled for Verilog — use in comments/assertions)
+// ============================================================================
+// Range per ADC sample:     1.5 m  (stored as 15 in units of 0.1 m)
+// Range per decimated bin: 24.0 m  (stored as 240 in units of 0.1 m)
+// Processing rate:         100 MSPS
+
+`define RP_RANGE_PER_SAMPLE_DM      15      // 1.5 m in decimeters
+`define RP_RANGE_PER_BIN_DM         240     // 24.0 m in decimeters
+`define RP_PROCESSING_RATE_MHZ      100
+
+// ============================================================================
+// AGC DEFAULTS
+// ============================================================================
+`define RP_DEF_AGC_TARGET           200
+`define RP_DEF_AGC_ATTACK           1
+`define RP_DEF_AGC_DECAY            1
+`define RP_DEF_AGC_HOLDOFF          4
+
+// ============================================================================
+// CFAR DEFAULTS
+// ============================================================================
+`define RP_DEF_CFAR_GUARD           2
+`define RP_DEF_CFAR_TRAIN           8
+`define RP_DEF_CFAR_ALPHA           8'h30   // 3.0 in Q4.4
+`define RP_DEF_CFAR_MODE            2'b00   // CA-CFAR
+
+// ============================================================================
+// DETECTION DEFAULTS
+// ============================================================================
+`define RP_DEF_DETECT_THRESHOLD     10000
+
+// ============================================================================
+// RANGE MODE ENCODING
+// ============================================================================
+`define RP_RANGE_MODE_3KM           2'b00
+`define RP_RANGE_MODE_20KM          2'b01
+`define RP_RANGE_MODE_RSVD2         2'b10
+`define RP_RANGE_MODE_RSVD3         2'b11
+
+`endif // RADAR_PARAMS_VH
@@ -102,9 +102,9 @@ wire [7:0] gc_saturation_count;  // Diagnostic: per-frame clipped sample counter
 wire [7:0] gc_peak_magnitude;    // Diagnostic: per-frame peak magnitude
 wire [3:0] gc_current_gain;      // Diagnostic: effective gain_shift

-// Reference signals for the processing chain
-wire [15:0] long_chirp_real, long_chirp_imag;
-wire [15:0] short_chirp_real, short_chirp_imag;
+// Reference signal for the processing chain (carries long OR short ref
+// depending on use_long_chirp — selected by chirp_memory_loader_param)
+wire [15:0] ref_chirp_real, ref_chirp_imag;

 // ========== DOPPLER PROCESSING SIGNALS ==========
 wire [31:0] range_data_32bit;
@@ -292,7 +292,8 @@ end
 // sample_addr_wire removed — was unused implicit wire (synthesis warning)

 // 4. CRITICAL: Reference Chirp Latency Buffer
-// This aligns reference data with FFT output (2159 cycle delay)
+// This aligns reference data with FFT output (3187 cycle delay)
+// TODO: verify empirically during hardware bring-up with correlation test
 wire [15:0] delayed_ref_i, delayed_ref_q;
 wire mem_ready_delayed;

@@ -308,11 +309,10 @@ latency_buffer #(
    .valid_out(mem_ready_delayed)
 );

-// Assign delayed reference signals
-assign long_chirp_real = delayed_ref_i;
-assign long_chirp_imag = delayed_ref_q;
-assign short_chirp_real = delayed_ref_i;
-assign short_chirp_imag = delayed_ref_q;
+// Assign delayed reference signals (single pair — chirp_memory_loader_param
+// selects long/short reference upstream via use_long_chirp)
+assign ref_chirp_real = delayed_ref_i;
+assign ref_chirp_imag = delayed_ref_q;

 // 5. Dual Chirp Matched Filter

@@ -336,10 +336,8 @@ matched_filter_multi_segment mf_dual (
    .mc_new_chirp(mc_new_chirp),
    .mc_new_elevation(mc_new_elevation),
    .mc_new_azimuth(mc_new_azimuth),
-	 .long_chirp_real(delayed_ref_i),      // From latency buffer
-    .long_chirp_imag(delayed_ref_q),
-    .short_chirp_real(delayed_ref_i),     // Same for short chirp
-    .short_chirp_imag(delayed_ref_q),
+	 .ref_chirp_real(delayed_ref_i),       // From latency buffer (long or short ref)
+    .ref_chirp_imag(delayed_ref_q),
    .segment_request(segment_request),
    .mem_request(mem_request),
 	 .sample_addr_out(sample_addr_from_chain),
@@ -2,8 +2,8 @@
 """
 golden_reference.py — AERIS-10 FPGA bit-accurate golden reference model

-Uses ADI CN0566 Phaser radar data (10.525 GHz X-band FMCW) to validate
-the FPGA signal processing pipeline stage by stage:
+Uses ADI CN0566 Phaser radar data (10.525 GHz, used as test stimulus only) to
+validate the FPGA signal processing pipeline stage by stage:

    ADC → DDC (NCO+mixer+CIC+FIR) → Range FFT → Doppler FFT → Detection

@@ -90,7 +90,8 @@ HAMMING_Q15 = [
    0x3088, 0x1B6D, 0x0E5C, 0x0A3D,
 ]

-# ADI dataset parameters
+# ADI dataset parameters — used ONLY for loading/requantizing ADI Phaser test data.
+# These are NOT PLFM hardware parameters. See AERIS-10 constants below.
 ADI_SAMPLE_RATE = 4e6            # 4 MSPS
 ADI_IF_FREQ = 100e3             # 100 kHz IF
 ADI_RF_FREQ = 9.9e9             # 9.9 GHz
@@ -99,9 +100,17 @@ ADI_RAMP_TIME = 300e-6          # 300 us
 ADI_NUM_CHIRPS = 256
 ADI_SAMPLES_PER_CHIRP = 1079

-# AERIS-10 parameters
-AERIS_FS = 400e6                 # 400 MHz ADC clock
-AERIS_IF = 120e6                 # 120 MHz IF
+# AERIS-10 hardware parameters (from ADF4382/AD9523/main.cpp configuration)
+AERIS_FS = 400e6                 # 400 MHz ADC clock (AD9523 OUT4)
+AERIS_IF = 120e6                 # 120 MHz IF (TX 10.5 GHz - RX 10.38 GHz)
+AERIS_FS_PROCESSING = 100e6     # Post-DDC rate (400 MSPS / 4x CIC)
+AERIS_CARRIER_HZ = 10.5e9       # TX LO (ADF4382, verified)
+AERIS_RX_LO_HZ = 10.38e9        # RX LO (ADF4382)
+AERIS_CHIRP_BW = 20e6           # Chirp bandwidth (target: 30 MHz Phase 1)
+AERIS_LONG_CHIRP_S = 30e-6      # Long chirp duration
+AERIS_PRI_S = 167e-6            # Pulse repetition interval
+AERIS_DECIMATION = 16           # Range bin decimation (1024 → 64)
+AERIS_RANGE_PER_BIN = 24.0      # Meters per decimated bin


 # ===========================================================================
@@ -421,13 +421,13 @@ def test_latency_buffer():
    #
    # For synthesis: the latency_buffer feeds ref data to the chain via
    # chirp_memory_loader_param → latency_buffer → chain.
-    # But wait — looking at radar_receiver_final.v:
+    # Looking at radar_receiver_final.v:
    #   - mem_request drives valid_in on the latency buffer
    #   - The buffer delays {ref_i, ref_q} by LATENCY valid_in cycles
-    #   - The delayed output feeds long_chirp_real/imag → chain
+    #   - The delayed output feeds ref_chirp_real/imag → chain
    #
    # The purpose: the chain in the SYNTHESIS branch reads reference data
-    # via the long_chirp_real/imag ports DURING ST_FWD_FFT (while collecting
+    # via the ref_chirp_real/imag ports DURING ST_FWD_FFT (while collecting
    # input samples). The reference data needs to arrive LATENCY cycles
    # after the first mem_request, where LATENCY accounts for:
    #   - The fft_engine pipeline latency from input to output
@@ -18,10 +18,8 @@ module tb_matched_filter_processing_chain;
    reg  [15:0] adc_data_q;
    reg         adc_valid;
    reg  [5:0]  chirp_counter;
-    reg  [15:0] long_chirp_real;
-    reg  [15:0] long_chirp_imag;
-    reg  [15:0] short_chirp_real;
-    reg  [15:0] short_chirp_imag;
+    reg  [15:0] ref_chirp_real;
+    reg  [15:0] ref_chirp_imag;
    wire signed [15:0] range_profile_i;
    wire signed [15:0] range_profile_q;
    wire        range_profile_valid;
@@ -83,10 +81,8 @@ module tb_matched_filter_processing_chain;
        .adc_data_q       (adc_data_q),
        .adc_valid        (adc_valid),
        .chirp_counter    (chirp_counter),
-        .long_chirp_real  (long_chirp_real),
-        .long_chirp_imag  (long_chirp_imag),
-        .short_chirp_real (short_chirp_real),
-        .short_chirp_imag (short_chirp_imag),
+        .ref_chirp_real  (ref_chirp_real),
+        .ref_chirp_imag  (ref_chirp_imag),
        .range_profile_i  (range_profile_i),
        .range_profile_q  (range_profile_q),
        .range_profile_valid (range_profile_valid),
@@ -133,10 +129,8 @@ module tb_matched_filter_processing_chain;
            adc_data_i = 16'd0;
            adc_data_q = 16'd0;
            chirp_counter   = 6'd0;
-            long_chirp_real = 16'd0;
-            long_chirp_imag = 16'd0;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real = 16'd0;
+            ref_chirp_imag = 16'd0;
            cap_enable   = 0;
            cap_count    = 0;
            cap_max_abs  = 0;
@@ -168,10 +162,8 @@ module tb_matched_filter_processing_chain;
                angle = 6.28318530718 * tone_bin * k / (1.0 * FFT_SIZE);
                adc_data_i      = $rtoi(8000.0 * $cos(angle));
                adc_data_q      = $rtoi(8000.0 * $sin(angle));
-                long_chirp_real = $rtoi(8000.0 * $cos(angle));
-                long_chirp_imag = $rtoi(8000.0 * $sin(angle));
-                short_chirp_real = 16'd0;
-                short_chirp_imag = 16'd0;
+                ref_chirp_real = $rtoi(8000.0 * $cos(angle));
+                ref_chirp_imag = $rtoi(8000.0 * $sin(angle));
                adc_valid       = 1'b1;
                @(posedge clk);
                #1;
@@ -187,10 +179,8 @@ module tb_matched_filter_processing_chain;
            for (k = 0; k < FFT_SIZE; k = k + 1) begin
                adc_data_i       = 16'sh1000;
                adc_data_q       = 16'sh0000;
-                long_chirp_real  = 16'sh1000;
-                long_chirp_imag  = 16'sh0000;
-                short_chirp_real = 16'd0;
-                short_chirp_imag = 16'd0;
+                ref_chirp_real  = 16'sh1000;
+                ref_chirp_imag  = 16'sh0000;
                adc_valid        = 1'b1;
                @(posedge clk);
                #1;
@@ -233,10 +223,8 @@ module tb_matched_filter_processing_chain;
            for (k = 0; k < FFT_SIZE; k = k + 1) begin
                adc_data_i       = gold_sig_i[k];
                adc_data_q       = gold_sig_q[k];
-                long_chirp_real  = gold_ref_i[k];
-                long_chirp_imag  = gold_ref_q[k];
-                short_chirp_real = 16'd0;
-                short_chirp_imag = 16'd0;
+                ref_chirp_real  = gold_ref_i[k];
+                ref_chirp_imag  = gold_ref_q[k];
                adc_valid        = 1'b1;
                @(posedge clk);
                #1;
@@ -374,10 +362,8 @@ module tb_matched_filter_processing_chain;
        for (i = 0; i < FFT_SIZE; i = i + 1) begin
            adc_data_i       = 16'd0;
            adc_data_q       = 16'd0;
-            long_chirp_real  = 16'd0;
-            long_chirp_imag  = 16'd0;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real  = 16'd0;
+            ref_chirp_imag  = 16'd0;
            adc_valid        = 1'b1;
            @(posedge clk); #1;
        end
@@ -449,10 +435,8 @@ module tb_matched_filter_processing_chain;
        for (i = 0; i < FFT_SIZE; i = i + 1) begin
            adc_data_i      = $rtoi(8000.0 * $cos(6.28318530718 * 5 * i / 1024.0));
            adc_data_q      = $rtoi(8000.0 * $sin(6.28318530718 * 5 * i / 1024.0));
-            long_chirp_real = $rtoi(8000.0 * $cos(6.28318530718 * 10 * i / 1024.0));
-            long_chirp_imag = $rtoi(8000.0 * $sin(6.28318530718 * 10 * i / 1024.0));
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real = $rtoi(8000.0 * $cos(6.28318530718 * 10 * i / 1024.0));
+            ref_chirp_imag = $rtoi(8000.0 * $sin(6.28318530718 * 10 * i / 1024.0));
            adc_valid       = 1'b1;
            @(posedge clk); #1;
        end
@@ -568,10 +552,8 @@ module tb_matched_filter_processing_chain;
        for (i = 0; i < FFT_SIZE; i = i + 1) begin
            adc_data_i       = 16'sh7FFF;
            adc_data_q       = 16'sh7FFF;
-            long_chirp_real  = 16'sh7FFF;
-            long_chirp_imag  = 16'sh7FFF;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real  = 16'sh7FFF;
+            ref_chirp_imag  = 16'sh7FFF;
            adc_valid        = 1'b1;
            @(posedge clk); #1;
        end
@@ -589,10 +571,8 @@ module tb_matched_filter_processing_chain;
        for (i = 0; i < FFT_SIZE; i = i + 1) begin
            adc_data_i       = 16'sh8000;
            adc_data_q       = 16'sh8000;
-            long_chirp_real  = 16'sh8000;
-            long_chirp_imag  = 16'sh8000;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real  = 16'sh8000;
+            ref_chirp_imag  = 16'sh8000;
            adc_valid        = 1'b1;
            @(posedge clk); #1;
        end
@@ -611,16 +591,14 @@ module tb_matched_filter_processing_chain;
            if (i % 2 == 0) begin
                adc_data_i       = 16'sh7FFF;
                adc_data_q       = 16'sh7FFF;
-                long_chirp_real  = 16'sh7FFF;
-                long_chirp_imag  = 16'sh7FFF;
+                ref_chirp_real  = 16'sh7FFF;
+                ref_chirp_imag  = 16'sh7FFF;
            end else begin
                adc_data_i       = 16'sh8000;
                adc_data_q       = 16'sh8000;
-                long_chirp_real  = 16'sh8000;
-                long_chirp_imag  = 16'sh8000;
+                ref_chirp_real  = 16'sh8000;
+                ref_chirp_imag  = 16'sh8000;
            end
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
            adc_valid        = 1'b1;
            @(posedge clk); #1;
        end
@@ -641,10 +619,8 @@ module tb_matched_filter_processing_chain;
        for (i = 0; i < 512; i = i + 1) begin
            adc_data_i       = 16'sh1000;
            adc_data_q       = 16'sh0000;
-            long_chirp_real  = 16'sh1000;
-            long_chirp_imag  = 16'sh0000;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real  = 16'sh1000;
+            ref_chirp_imag  = 16'sh0000;
            adc_valid        = 1'b1;
            @(posedge clk); #1;
        end
@@ -683,10 +659,8 @@ module tb_matched_filter_processing_chain;
        for (i = 0; i < FFT_SIZE; i = i + 1) begin
            adc_data_i       = 16'sh1000;
            adc_data_q       = 16'sh0000;
-            long_chirp_real  = 16'sh1000;
-            long_chirp_imag  = 16'sh0000;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real  = 16'sh1000;
+            ref_chirp_imag  = 16'sh0000;
            adc_valid        = 1'b1;
            @(posedge clk); #1;

@@ -28,10 +28,8 @@ module tb_mf_chain_synth;
    reg  [15:0] adc_data_q;
    reg         adc_valid;
    reg  [5:0]  chirp_counter;
-    reg  [15:0] long_chirp_real;
-    reg  [15:0] long_chirp_imag;
-    reg  [15:0] short_chirp_real;
-    reg  [15:0] short_chirp_imag;
+    reg  [15:0] ref_chirp_real;
+    reg  [15:0] ref_chirp_imag;
    wire signed [15:0] range_profile_i;
    wire signed [15:0] range_profile_q;
    wire        range_profile_valid;
@@ -78,10 +76,8 @@ module tb_mf_chain_synth;
        .adc_data_q       (adc_data_q),
        .adc_valid        (adc_valid),
        .chirp_counter    (chirp_counter),
-        .long_chirp_real  (long_chirp_real),
-        .long_chirp_imag  (long_chirp_imag),
-        .short_chirp_real (short_chirp_real),
-        .short_chirp_imag (short_chirp_imag),
+        .ref_chirp_real  (ref_chirp_real),
+        .ref_chirp_imag  (ref_chirp_imag),
        .range_profile_i  (range_profile_i),
        .range_profile_q  (range_profile_q),
        .range_profile_valid (range_profile_valid),
@@ -130,10 +126,8 @@ module tb_mf_chain_synth;
            adc_data_i = 16'd0;
            adc_data_q = 16'd0;
            chirp_counter   = 6'd0;
-            long_chirp_real = 16'd0;
-            long_chirp_imag = 16'd0;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real = 16'd0;
+            ref_chirp_imag = 16'd0;
            cap_enable   = 0;
            cap_count    = 0;
            cap_max_abs  = 0;
@@ -177,10 +171,8 @@ module tb_mf_chain_synth;
            for (k = 0; k < FFT_SIZE; k = k + 1) begin
                adc_data_i       = 16'sh1000;    // +4096
                adc_data_q       = 16'sh0000;
-                long_chirp_real  = 16'sh1000;
-                long_chirp_imag  = 16'sh0000;
-                short_chirp_real = 16'd0;
-                short_chirp_imag = 16'd0;
+                ref_chirp_real  = 16'sh1000;
+                ref_chirp_imag  = 16'sh0000;
                adc_valid        = 1'b1;
                @(posedge clk);
                #1;
@@ -199,10 +191,8 @@ module tb_mf_chain_synth;
                angle = 6.28318530718 * tone_bin * k / (1.0 * FFT_SIZE);
                adc_data_i      = $rtoi(8000.0 * $cos(angle));
                adc_data_q      = $rtoi(8000.0 * $sin(angle));
-                long_chirp_real = $rtoi(8000.0 * $cos(angle));
-                long_chirp_imag = $rtoi(8000.0 * $sin(angle));
-                short_chirp_real = 16'd0;
-                short_chirp_imag = 16'd0;
+                ref_chirp_real = $rtoi(8000.0 * $cos(angle));
+                ref_chirp_imag = $rtoi(8000.0 * $sin(angle));
                adc_valid       = 1'b1;
                @(posedge clk);
                #1;
@@ -219,16 +209,14 @@ module tb_mf_chain_synth;
                if (k == 0) begin
                    adc_data_i      = 16'sh4000;   // 0.5 in Q15
                    adc_data_q      = 16'sh0000;
-                    long_chirp_real = 16'sh4000;
-                    long_chirp_imag = 16'sh0000;
+                    ref_chirp_real = 16'sh4000;
+                    ref_chirp_imag = 16'sh0000;
                end else begin
                    adc_data_i      = 16'sh0000;
                    adc_data_q      = 16'sh0000;
-                    long_chirp_real = 16'sh0000;
-                    long_chirp_imag = 16'sh0000;
+                    ref_chirp_real = 16'sh0000;
+                    ref_chirp_imag = 16'sh0000;
                end
-                short_chirp_real = 16'd0;
-                short_chirp_imag = 16'd0;
                adc_valid       = 1'b1;
                @(posedge clk);
                #1;
@@ -309,10 +297,8 @@ module tb_mf_chain_synth;
        for (i = 0; i < FFT_SIZE; i = i + 1) begin
            adc_data_i       = 16'd0;
            adc_data_q       = 16'd0;
-            long_chirp_real  = 16'd0;
-            long_chirp_imag  = 16'd0;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real  = 16'd0;
+            ref_chirp_imag  = 16'd0;
            adc_valid        = 1'b1;
            @(posedge clk); #1;
        end
@@ -379,10 +365,8 @@ module tb_mf_chain_synth;
        for (i = 0; i < 512; i = i + 1) begin
            adc_data_i       = 16'sh1000;
            adc_data_q       = 16'sh0000;
-            long_chirp_real  = 16'sh1000;
-            long_chirp_imag  = 16'sh0000;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real  = 16'sh1000;
+            ref_chirp_imag  = 16'sh0000;
            adc_valid        = 1'b1;
            @(posedge clk); #1;
        end
@@ -439,10 +423,8 @@ module tb_mf_chain_synth;
        for (i = 0; i < FFT_SIZE; i = i + 1) begin
            adc_data_i      = $rtoi(8000.0 * $cos(6.28318530718 * 5 * i / 1024.0));
            adc_data_q      = $rtoi(8000.0 * $sin(6.28318530718 * 5 * i / 1024.0));
-            long_chirp_real = $rtoi(8000.0 * $cos(6.28318530718 * 10 * i / 1024.0));
-            long_chirp_imag = $rtoi(8000.0 * $sin(6.28318530718 * 10 * i / 1024.0));
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real = $rtoi(8000.0 * $cos(6.28318530718 * 10 * i / 1024.0));
+            ref_chirp_imag = $rtoi(8000.0 * $sin(6.28318530718 * 10 * i / 1024.0));
            adc_valid       = 1'b1;
            @(posedge clk); #1;
        end
@@ -469,10 +451,8 @@ module tb_mf_chain_synth;
        for (i = 0; i < FFT_SIZE; i = i + 1) begin
            adc_data_i       = 16'sh7FFF;
            adc_data_q       = 16'sh7FFF;
-            long_chirp_real  = 16'sh7FFF;
-            long_chirp_imag  = 16'sh7FFF;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real  = 16'sh7FFF;
+            ref_chirp_imag  = 16'sh7FFF;
            adc_valid        = 1'b1;
            @(posedge clk); #1;
        end
@@ -495,10 +475,8 @@ module tb_mf_chain_synth;
        for (i = 0; i < FFT_SIZE; i = i + 1) begin
            adc_data_i       = 16'sh1000;
            adc_data_q       = 16'sh0000;
-            long_chirp_real  = 16'sh1000;
-            long_chirp_imag  = 16'sh0000;
-            short_chirp_real = 16'd0;
-            short_chirp_imag = 16'd0;
+            ref_chirp_real  = 16'sh1000;
+            ref_chirp_imag  = 16'sh0000;
            adc_valid        = 1'b1;
            @(posedge clk); #1;

@@ -88,10 +88,8 @@ reg [15:0] adc_data_i;
 reg [15:0] adc_data_q;
 reg        adc_valid;
 reg [5:0]  chirp_counter;
-reg [15:0] long_chirp_real;
-reg [15:0] long_chirp_imag;
-reg [15:0] short_chirp_real;
-reg [15:0] short_chirp_imag;
+reg [15:0] ref_chirp_real;
+reg [15:0] ref_chirp_imag;

 wire signed [15:0] range_profile_i;
 wire signed [15:0] range_profile_q;
@@ -108,10 +106,8 @@ matched_filter_processing_chain dut (
    .adc_data_q(adc_data_q),
    .adc_valid(adc_valid),
    .chirp_counter(chirp_counter),
-    .long_chirp_real(long_chirp_real),
-    .long_chirp_imag(long_chirp_imag),
-    .short_chirp_real(short_chirp_real),
-    .short_chirp_imag(short_chirp_imag),
+    .ref_chirp_real(ref_chirp_real),
+    .ref_chirp_imag(ref_chirp_imag),
    .range_profile_i(range_profile_i),
    .range_profile_q(range_profile_q),
    .range_profile_valid(range_profile_valid),
@@ -157,10 +153,8 @@ task apply_reset;
        adc_data_q <= 16'd0;
        adc_valid <= 1'b0;
        chirp_counter <= 6'd0;
-        long_chirp_real <= 16'd0;
-        long_chirp_imag <= 16'd0;
-        short_chirp_real <= 16'd0;
-        short_chirp_imag <= 16'd0;
+        ref_chirp_real <= 16'd0;
+        ref_chirp_imag <= 16'd0;
        repeat(4) @(posedge clk);
        reset_n <= 1'b1;
        @(posedge clk);
@@ -201,18 +195,16 @@ initial begin
        @(posedge clk);
        adc_data_i      <= sig_mem_i[i];
        adc_data_q      <= sig_mem_q[i];
-        long_chirp_real  <= ref_mem_i[i];
-        long_chirp_imag  <= ref_mem_q[i];
-        short_chirp_real <= 16'd0;
-        short_chirp_imag <= 16'd0;
+        ref_chirp_real  <= ref_mem_i[i];
+        ref_chirp_imag  <= ref_mem_q[i];
        adc_valid       <= 1'b1;
    end
    @(posedge clk);
    adc_valid <= 1'b0;
    adc_data_i <= 16'd0;
    adc_data_q <= 16'd0;
-    long_chirp_real <= 16'd0;
-    long_chirp_imag <= 16'd0;
+    ref_chirp_real <= 16'd0;
+    ref_chirp_imag <= 16'd0;

    $display("All samples fed. Waiting for processing...");

@@ -56,10 +56,8 @@ reg [5:0] chirp_counter;
 reg mc_new_chirp;
 reg mc_new_elevation;
 reg mc_new_azimuth;
-reg [15:0] long_chirp_real;
-reg [15:0] long_chirp_imag;
-reg [15:0] short_chirp_real;
-reg [15:0] short_chirp_imag;
+reg [15:0] ref_chirp_real;
+reg [15:0] ref_chirp_imag;
 reg mem_ready;

 wire signed [15:0] pc_i_w;
@@ -84,10 +82,8 @@ matched_filter_multi_segment dut (
    .mc_new_chirp(mc_new_chirp),
    .mc_new_elevation(mc_new_elevation),
    .mc_new_azimuth(mc_new_azimuth),
-    .long_chirp_real(long_chirp_real),
-    .long_chirp_imag(long_chirp_imag),
-    .short_chirp_real(short_chirp_real),
-    .short_chirp_imag(short_chirp_imag),
+    .ref_chirp_real(ref_chirp_real),
+    .ref_chirp_imag(ref_chirp_imag),
    .segment_request(segment_request),
    .sample_addr_out(sample_addr_out),
    .mem_request(mem_request),
@@ -123,11 +119,11 @@ end
 always @(posedge clk) begin
    if (mem_request) begin
        if (use_long_chirp) begin
-            long_chirp_real <= ref_mem_i[{segment_request, sample_addr_out}];
-            long_chirp_imag <= ref_mem_q[{segment_request, sample_addr_out}];
+            ref_chirp_real <= ref_mem_i[{segment_request, sample_addr_out}];
+            ref_chirp_imag <= ref_mem_q[{segment_request, sample_addr_out}];
        end else begin
-            short_chirp_real <= ref_mem_i[sample_addr_out];
-            short_chirp_imag <= ref_mem_q[sample_addr_out];
+            ref_chirp_real <= ref_mem_i[sample_addr_out];
+            ref_chirp_imag <= ref_mem_q[sample_addr_out];
        end
        mem_ready <= 1'b1;
    end else begin
@@ -176,10 +172,8 @@ task apply_reset;
        mc_new_chirp <= 1'b0;
        mc_new_elevation <= 1'b0;
        mc_new_azimuth <= 1'b0;
-        long_chirp_real <= 16'd0;
-        long_chirp_imag <= 16'd0;
-        short_chirp_real <= 16'd0;
-        short_chirp_imag <= 16'd0;
+        ref_chirp_real <= 16'd0;
+        ref_chirp_imag <= 16'd0;
        mem_ready <= 1'b0;
        repeat(10) @(posedge clk);
        reset_n <= 1'b1;
@@ -108,7 +108,7 @@ class GPSData:
@dataclass 
 class RadarSettings:
    """Radar system configuration"""
-    system_frequency: float = 10e9    # Hz
+    system_frequency: float = 10.5e9  # Hz (PLFM TX LO)
    chirp_duration_1: float = 30e-6   # Long chirp duration (s)
    chirp_duration_2: float = 0.5e-6  # Short chirp duration (s)
    chirps_per_position: int = 32
@@ -116,8 +116,8 @@ class RadarSettings:
    freq_max: float = 30e6            # Hz
    prf1: float = 1000                # PRF 1 (Hz)
    prf2: float = 2000                # PRF 2 (Hz)
-    max_distance: float = 50000       # Max detection range (m)
-    coverage_radius: float = 50000    # Map coverage radius (m)
+    max_distance: float = 1536        # Max detection range (m) -- 64 bins x 24 m
+    coverage_radius: float = 1536     # Map coverage radius (m)


 class TileServer(Enum):
@@ -198,7 +198,7 @@ class RadarMapWidget(QWidget):
            pitch=0.0
        )
        self._targets: list[RadarTarget] = []
-        self._coverage_radius = 50000  # meters
+        self._coverage_radius = 1536  # meters (64 bins x 24 m, 3 km mode)
        self._tile_server = TileServer.OPENSTREETMAP
        self._show_coverage = True
        self._show_trails = False
@@ -1088,7 +1088,7 @@ class TargetSimulator(QObject):
            new_range = target.range - target.velocity * 0.5  # 0.5 second update
            
            # Check if target is still in range
-            if new_range < 500 or new_range > 50000:
+            if new_range < 50 or new_range > 1536:
                # Remove this target and add a new one
                continue
            
@@ -81,7 +81,7 @@ class RadarTarget:

@dataclass
 class RadarSettings:
-    system_frequency: float = 10e9
+    system_frequency: float = 10.5e9
    chirp_duration_1: float = 30e-6  # Long chirp duration
    chirp_duration_2: float = 0.5e-6  # Short chirp duration
    chirps_per_position: int = 32
@@ -89,8 +89,8 @@ class RadarSettings:
    freq_max: float = 30e6
    prf1: float = 1000
    prf2: float = 2000
-    max_distance: float = 50000
-    map_size: float = 50000  # Map size in meters
+    max_distance: float = 1536
+    map_size: float = 1536  # Map size in meters (64 bins x 24 m)


@dataclass
@@ -1196,8 +1196,8 @@ class RadarGUI:
            ("Frequency Max (Hz):", "freq_max", 30e6),
            ("PRF1 (Hz):", "prf1", 1000),
            ("PRF2 (Hz):", "prf2", 2000),
-            ("Max Distance (m):", "max_distance", 50000),
-            ("Map Size (m):", "map_size", 50000),
+            ("Max Distance (m):", "max_distance", 1536),
+            ("Map Size (m):", "map_size", 1536),
            ("Google Maps API Key:", "google_maps_api_key", "YOUR_GOOGLE_MAPS_API_KEY"),
        ]

@@ -77,7 +77,7 @@ class RadarTarget:

@dataclass
 class RadarSettings:
-    system_frequency: float = 10e9
+    system_frequency: float = 10.5e9
    chirp_duration_1: float = 30e-6  # Long chirp duration
    chirp_duration_2: float = 0.5e-6  # Short chirp duration
    chirps_per_position: int = 32
@@ -85,8 +85,8 @@ class RadarSettings:
    freq_max: float = 30e6
    prf1: float = 1000
    prf2: float = 2000
-    max_distance: float = 50000
-    map_size: float = 50000  # Map size in meters
+    max_distance: float = 1536
+    map_size: float = 1536  # Map size in meters (64 bins x 24 m)


@dataclass
@@ -1254,8 +1254,8 @@ class RadarGUI:
            ("Frequency Max (Hz):", "freq_max", 30e6),
            ("PRF1 (Hz):", "prf1", 1000),
            ("PRF2 (Hz):", "prf2", 2000),
-            ("Max Distance (m):", "max_distance", 50000),
-            ("Map Size (m):", "map_size", 50000),
+            ("Max Distance (m):", "max_distance", 1536),
+            ("Map Size (m):", "map_size", 1536),
        ]

        self.settings_vars = {}
@@ -64,7 +64,7 @@ class RadarTarget:

@dataclass
 class RadarSettings:
-    system_frequency: float = 10e9
+    system_frequency: float = 10.5e9
    chirp_duration_1: float = 30e-6  # Long chirp duration
    chirp_duration_2: float = 0.5e-6  # Short chirp duration
    chirps_per_position: int = 32
@@ -72,8 +72,8 @@ class RadarSettings:
    freq_max: float = 30e6
    prf1: float = 1000
    prf2: float = 2000
-    max_distance: float = 50000
-    map_size: float = 50000  # Map size in meters
+    max_distance: float = 1536
+    map_size: float = 1536  # Map size in meters (64 bins x 24 m)

@dataclass
 class GPSData:
@@ -1653,8 +1653,8 @@ class RadarGUI:
            ('Frequency Max (Hz):', 'freq_max', 30e6),
            ('PRF1 (Hz):', 'prf1', 1000),
            ('PRF2 (Hz):', 'prf2', 2000),
-            ('Max Distance (m):', 'max_distance', 50000),
-            ('Map Size (m):', 'map_size', 50000),
+            ('Max Distance (m):', 'max_distance', 1536),
+            ('Map Size (m):', 'map_size', 1536),
            ('Google Maps API Key:', 'google_maps_api_key', 'YOUR_GOOGLE_MAPS_API_KEY')
        ]
        
@@ -98,9 +98,10 @@ class DemoTarget:

    __slots__ = ("azimuth", "classification", "id", "range_m", "snr", "velocity")

-    # Physical range grid: 64 bins x ~4.8 m/bin = ~307 m max
-    _RANGE_PER_BIN: float = (3e8 / (2 * 500e6)) * 16  # ~4.8 m
-    _MAX_RANGE: float = _RANGE_PER_BIN * NUM_RANGE_BINS  # ~307 m
+    # Physical range grid: matched-filter receiver, 100 MSPS post-DDC, 16:1 decimation
+    # range_per_bin = c / (2 * 100e6) * 16 = 24.0 m
+    _RANGE_PER_BIN: float = (3e8 / (2 * 100e6)) * 16  # 24.0 m
+    _MAX_RANGE: float = _RANGE_PER_BIN * NUM_RANGE_BINS  # 1536 m

    def __init__(self, tid: int):
        self.id = tid
@@ -187,10 +188,10 @@ class DemoSimulator:
        mag = np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS), dtype=np.float64)
        det = np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS), dtype=np.uint8)

-        # Range/Doppler scaling (approximate)
-        range_per_bin = (3e8 / (2 * 500e6)) * 16  # ~4.8 m/bin
+        # Range/Doppler scaling -- matched-filter receiver, 100 MSPS, 16:1 decimation
+        range_per_bin = (3e8 / (2 * 100e6)) * 16  # 24.0 m/bin
        max_range = range_per_bin * NUM_RANGE_BINS
-        vel_per_bin = 1.484  # m/s per Doppler bin (from WaveformConfig)
+        vel_per_bin = 2.67  # m/s per Doppler bin (lam/(2*32*167us))

        for t in targets:
            if t.range_m > max_range or t.range_m < 0:
@@ -385,7 +386,9 @@ class RadarDashboard:
    UPDATE_INTERVAL_MS = 100  # 10 Hz display refresh

    # Radar parameters used for range-axis scaling.
-    BANDWIDTH = 500e6        # Hz — chirp bandwidth
+    # Matched-filter receiver: range_per_bin = c / (2 * fs_processing) * decimation
+    # = 3e8 / (2 * 100e6) * 16 = 24.0 m/bin
+    BANDWIDTH = 20e6         # Hz — chirp bandwidth (for display/info only)
    C = 3e8                  # m/s — speed of light

    def __init__(self, root: tk.Tk, connection: FT2232HConnection,
@@ -514,10 +517,9 @@ class RadarDashboard:
        self._build_log_tab(tab_log)

    def _build_display_tab(self, parent):
-        # Compute physical axis limits
-        range_res = self.C / (2.0 * self.BANDWIDTH)  # ~0.3 m per FFT bin
-        # After decimation 1024→64, each range bin = 16 FFT bins
-        range_per_bin = range_res * 16
+        # Compute physical axis limits -- matched-filter receiver
+        # Range per bin: c / (2 * fs_processing) * decimation_factor = 24.0 m
+        range_per_bin = self.C / (2.0 * 100e6) * 16  # 24.0 m
        max_range = range_per_bin * NUM_RANGE_BINS

        doppler_bin_lo = 0
@@ -45,7 +45,7 @@ class RadarSettings:
    range_bins: int = 1024
    doppler_bins: int = 32
    prf: float = 1000
-    max_range: float = 5000
+    max_range: float = 1536
    max_velocity: float = 100
    cfar_threshold: float = 13.0

@@ -577,7 +577,7 @@ class RadarDemoGUI:
            ('Range Bins:', 'range_bins', 1024, 256, 2048),
            ('Doppler Bins:', 'doppler_bins', 32, 8, 128),
            ('PRF (Hz):', 'prf', 1000, 100, 10000),
-            ('Max Range (m):', 'max_range', 5000, 100, 50000),
+            ('Max Range (m):', 'max_range', 1536, 100, 25000),
            ('Max Velocity (m/s):', 'max_vel', 100, 10, 500),
            ('CFAR Threshold (dB):', 'cfar', 13.0, 5.0, 30.0)
        ]
@@ -1,338 +0,0 @@
-# ruff: noqa: T201
-#!/usr/bin/env python3
-"""
-One-off AGC saturation analysis for ADI CN0566 raw IQ captures.
-
-Bit-accurate simulation of rx_gain_control.v AGC inner loop applied
-to real captured IQ data.  Three scenarios per dataset:
-
-  Row 1 — AGC OFF:  Fixed gain_shift=0 (pass-through).  Shows raw clipping.
-  Row 2 — AGC ON:   Auto-adjusts from gain_shift=0.  Clipping clears.
-  Row 3 — AGC delayed: OFF for first half, ON at midpoint.
-           Shows the transition: clipping → AGC activates → clears.
-
-Key RTL details modelled exactly:
-  - gain_shift[3]=direction (0=amplify/left, 1=attenuate/right), [2:0]=amount
-  - Internal agc_gain is signed -7..+7
-  - Peak is measured PRE-gain (raw input |sample|, upper 8 of 15 bits)
-  - Saturation is measured POST-gain (overflow from shift)
-  - Attack: gain -= agc_attack when any sample clips (immediate)
-  - Decay: gain += agc_decay when peak < target AND holdoff expired
-  - Hold: when peak >= target AND no saturation, hold gain, reset holdoff
-
-Usage:
-  python adi_agc_analysis.py
-  python adi_agc_analysis.py --data /path/to/file.npy --label "my capture"
-"""
-
-import argparse
-import sys
-from pathlib import Path
-
-import matplotlib.pyplot as plt
-import numpy as np
-
-from v7.agc_sim import (
-    encoding_to_signed,
-    apply_gain_shift,
-    quantize_iq,
-    AGCConfig,
-    AGCState,
-    process_agc_frame,
-)
-
-# ---------------------------------------------------------------------------
-# FPGA AGC parameters (rx_gain_control.v reset defaults)
-# ---------------------------------------------------------------------------
-AGC_TARGET = 200       # host_agc_target (8-bit, default 200)
-ADC_RAIL = 4095        # 12-bit ADC max absolute value
-
-
-# ---------------------------------------------------------------------------
-# Per-frame AGC simulation using v7.agc_sim (bit-accurate to RTL)
-# ---------------------------------------------------------------------------
-
-def simulate_agc(frames: np.ndarray, agc_enabled: bool = True,
-                 enable_at_frame: int = 0,
-                 initial_gain_enc: int = 0x00) -> dict:
-    """Simulate FPGA inner-loop AGC across all frames.
-
-    Parameters
-    ----------
-    frames : (N, chirps, samples) complex — raw ADC captures (12-bit range)
-    agc_enabled : if False, gain stays fixed
-    enable_at_frame : frame index where AGC activates
-    initial_gain_enc : gain_shift[3:0] encoding when AGC enables (default 0x00 = pass-through)
-    """
-    n_frames = frames.shape[0]
-
-    # Output arrays
-    out_gain_enc = np.zeros(n_frames, dtype=int)
-    out_gain_signed = np.zeros(n_frames, dtype=int)
-    out_peak_mag = np.zeros(n_frames, dtype=int)
-    out_sat_count = np.zeros(n_frames, dtype=int)
-    out_sat_rate = np.zeros(n_frames, dtype=float)
-    out_rms_post = np.zeros(n_frames, dtype=float)
-
-    # AGC state — managed by process_agc_frame()
-    state = AGCState(
-        gain=encoding_to_signed(initial_gain_enc),
-        holdoff_counter=0,
-        was_enabled=False,
-    )
-
-    for i in range(n_frames):
-        frame_i, frame_q = quantize_iq(frames[i])
-
-        agc_active = agc_enabled and (i >= enable_at_frame)
-
-        # Build per-frame config (enable toggles at enable_at_frame)
-        config = AGCConfig(enabled=agc_active)
-
-        result = process_agc_frame(frame_i, frame_q, config, state)
-
-        # RMS of shifted signal
-        rms = float(np.sqrt(np.mean(
-            result.shifted_i.astype(np.float64)**2
-            + result.shifted_q.astype(np.float64)**2)))
-
-        total_samples = frame_i.size + frame_q.size
-        sat_rate = result.overflow_raw / total_samples if total_samples > 0 else 0.0
-
-        # Record outputs
-        out_gain_enc[i] = result.gain_enc
-        out_gain_signed[i] = result.gain_signed
-        out_peak_mag[i] = result.peak_mag_8bit
-        out_sat_count[i] = result.saturation_count
-        out_sat_rate[i] = sat_rate
-        out_rms_post[i] = rms
-
-    return {
-        "gain_enc": out_gain_enc,
-        "gain_signed": out_gain_signed,
-        "peak_mag": out_peak_mag,
-        "sat_count": out_sat_count,
-        "sat_rate": out_sat_rate,
-        "rms_post": out_rms_post,
-    }
-
-
-# ---------------------------------------------------------------------------
-# Range-Doppler processing for heatmap display
-# ---------------------------------------------------------------------------
-
-def process_frame_rd(frame: np.ndarray, gain_enc: int,
-                     n_range: int = 64,
-                     n_doppler: int = 32) -> np.ndarray:
-    """Range-Doppler magnitude for one frame with gain applied."""
-    frame_i, frame_q = quantize_iq(frame)
-    si, sq, _ = apply_gain_shift(frame_i, frame_q, gain_enc)
-
-    iq = si.astype(np.float64) + 1j * sq.astype(np.float64)
-    n_chirps, _ = iq.shape
-
-    range_fft = np.fft.fft(iq, axis=1)[:, :n_range]
-    doppler_fft = np.fft.fftshift(np.fft.fft(range_fft, axis=0), axes=0)
-    center = n_chirps // 2
-    half_d = n_doppler // 2
-    doppler_fft = doppler_fft[center - half_d:center + half_d, :]
-
-    rd_mag = np.abs(doppler_fft.real) + np.abs(doppler_fft.imag)
-    return rd_mag.T  # (n_range, n_doppler)
-
-
-# ---------------------------------------------------------------------------
-# Plotting
-# ---------------------------------------------------------------------------
-
-def plot_scenario(axes, data: np.ndarray, agc: dict, title: str,
-                  enable_frame: int = 0):
-    """Plot one AGC scenario across 5 axes."""
-    n = data.shape[0]
-    xs = np.arange(n)
-
-    # Range-Doppler heatmap
-    if enable_frame > 0 and enable_frame < n:
-        f_before = max(0, enable_frame - 1)
-        f_after = min(n - 1, n - 2)
-        rd_before = process_frame_rd(data[f_before], int(agc["gain_enc"][f_before]))
-        rd_after = process_frame_rd(data[f_after], int(agc["gain_enc"][f_after]))
-        combined = np.hstack([rd_before, rd_after])
-        im = axes[0].imshow(
-            20 * np.log10(combined + 1), aspect="auto", origin="lower",
-            cmap="inferno", interpolation="nearest")
-        axes[0].axvline(x=rd_before.shape[1] - 0.5, color="cyan",
-                        linewidth=2, linestyle="--")
-        axes[0].set_title(f"{title}\nL: f{f_before} (pre) | R: f{f_after} (post)")
-    else:
-        worst = int(np.argmax(agc["sat_count"]))
-        best = int(np.argmin(agc["sat_count"]))
-        f_show = worst if agc["sat_count"][worst] > 0 else best
-        rd = process_frame_rd(data[f_show], int(agc["gain_enc"][f_show]))
-        im = axes[0].imshow(
-            20 * np.log10(rd + 1), aspect="auto", origin="lower",
-            cmap="inferno", interpolation="nearest")
-        axes[0].set_title(f"{title}\nFrame {f_show}")
-
-    axes[0].set_xlabel("Doppler bin")
-    axes[0].set_ylabel("Range bin")
-    plt.colorbar(im, ax=axes[0], label="dB", shrink=0.8)
-
-    # Signed gain history (the real AGC state)
-    axes[1].plot(xs, agc["gain_signed"], color="#00ff88", linewidth=1.5)
-    axes[1].axhline(y=0, color="gray", linestyle=":", alpha=0.5,
-                    label="Pass-through")
-    if enable_frame > 0:
-        axes[1].axvline(x=enable_frame, color="yellow", linewidth=2,
-                        linestyle="--", label="AGC ON")
-    axes[1].set_ylim(-8, 8)
-    axes[1].set_ylabel("Gain (signed)")
-    axes[1].set_title("AGC Internal Gain (-7=max atten, +7=max amp)")
-    axes[1].legend(fontsize=7, loc="upper right")
-    axes[1].grid(True, alpha=0.3)
-
-    # Peak magnitude (PRE-gain, 8-bit)
-    axes[2].plot(xs, agc["peak_mag"], color="#ffaa00", linewidth=1.0)
-    axes[2].axhline(y=AGC_TARGET, color="cyan", linestyle="--",
-                    alpha=0.7, label=f"Target ({AGC_TARGET})")
-    axes[2].axhspan(240, 255, color="red", alpha=0.15, label="Clip zone")
-    if enable_frame > 0:
-        axes[2].axvline(x=enable_frame, color="yellow", linewidth=2,
-                        linestyle="--", alpha=0.8)
-    axes[2].set_ylim(0, 260)
-    axes[2].set_ylabel("Peak (8-bit)")
-    axes[2].set_title("Peak Magnitude (pre-gain, raw input)")
-    axes[2].legend(fontsize=7, loc="upper right")
-    axes[2].grid(True, alpha=0.3)
-
-    # Saturation count (POST-gain overflow)
-    axes[3].fill_between(xs, agc["sat_count"], color="red", alpha=0.4)
-    axes[3].plot(xs, agc["sat_count"], color="red", linewidth=0.8)
-    if enable_frame > 0:
-        axes[3].axvline(x=enable_frame, color="yellow", linewidth=2,
-                        linestyle="--", alpha=0.8)
-    axes[3].set_ylabel("Overflow Count")
-    total = int(agc["sat_count"].sum())
-    axes[3].set_title(f"Post-Gain Overflow (total={total})")
-    axes[3].grid(True, alpha=0.3)
-
-    # RMS signal level (post-gain)
-    axes[4].plot(xs, agc["rms_post"], color="#44aaff", linewidth=1.0)
-    if enable_frame > 0:
-        axes[4].axvline(x=enable_frame, color="yellow", linewidth=2,
-                        linestyle="--", alpha=0.8)
-    axes[4].set_ylabel("RMS")
-    axes[4].set_xlabel("Frame")
-    axes[4].set_title("Post-Gain RMS Level")
-    axes[4].grid(True, alpha=0.3)
-
-
-def analyze_dataset(data: np.ndarray, label: str):
-    """Run 3-scenario analysis for one dataset."""
-    n_frames = data.shape[0]
-    mid = n_frames // 2
-
-    print(f"\n{'='*60}")
-    print(f"  {label}  —  shape {data.shape}")
-    print(f"{'='*60}")
-
-    # Raw ADC stats
-    raw_sat = np.sum((np.abs(data.real) >= ADC_RAIL) |
-                     (np.abs(data.imag) >= ADC_RAIL))
-    print(f"  Raw ADC saturation: {raw_sat} samples "
-          f"({100*raw_sat/(2*data.size):.2f}%)")
-
-    # Scenario 1: AGC OFF — pass-through (gain_shift=0x00)
-    print("  [1/3] AGC OFF (gain=0, pass-through) ...")
-    agc_off = simulate_agc(data, agc_enabled=False, initial_gain_enc=0x00)
-    print(f"        Post-gain overflow: {agc_off['sat_count'].sum()} "
-          f"(should be 0 — no amplification)")
-
-    # Scenario 2: AGC ON from frame 0
-    print("  [2/3] AGC ON (from start) ...")
-    agc_on = simulate_agc(data, agc_enabled=True, enable_at_frame=0,
-                          initial_gain_enc=0x00)
-    print(f"        Final gain: {agc_on['gain_signed'][-1]} "
-          f"(enc=0x{agc_on['gain_enc'][-1]:X})")
-    print(f"        Post-gain overflow: {agc_on['sat_count'].sum()}")
-
-    # Scenario 3: AGC delayed
-    print(f"  [3/3] AGC delayed (ON at frame {mid}) ...")
-    agc_delayed = simulate_agc(data, agc_enabled=True,
-                               enable_at_frame=mid,
-                               initial_gain_enc=0x00)
-    pre_sat = int(agc_delayed["sat_count"][:mid].sum())
-    post_sat = int(agc_delayed["sat_count"][mid:].sum())
-    print(f"        Pre-AGC overflow: {pre_sat}  "
-          f"Post-AGC overflow: {post_sat}")
-
-    # Plot
-    fig, axes = plt.subplots(3, 5, figsize=(28, 14))
-    fig.suptitle(f"AERIS-10 AGC Analysis — {label}\n"
-                 f"({n_frames} frames, {data.shape[1]} chirps, "
-                 f"{data.shape[2]} samples/chirp, "
-                 f"raw ADC sat={100*raw_sat/(2*data.size):.2f}%)",
-                 fontsize=13, fontweight="bold", y=0.99)
-
-    plot_scenario(axes[0], data, agc_off, "AGC OFF (pass-through)")
-    plot_scenario(axes[1], data, agc_on, "AGC ON (from start)")
-    plot_scenario(axes[2], data, agc_delayed,
-                  f"AGC delayed (ON at frame {mid})", enable_frame=mid)
-
-    for ax, lbl in zip(axes[:, 0],
-                       ["AGC OFF", "AGC ON", "AGC DELAYED"],
-                       strict=True):
-        ax.annotate(lbl, xy=(-0.35, 0.5), xycoords="axes fraction",
-                    fontsize=13, fontweight="bold", color="white",
-                    ha="center", va="center", rotation=90)
-
-    plt.tight_layout(rect=[0.03, 0, 1, 0.95])
-    return fig
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description="AGC analysis for ADI raw IQ captures "
-                    "(bit-accurate rx_gain_control.v simulation)")
-    parser.add_argument("--amp", type=str,
-                        default=str(Path.home() / "Downloads/adi_radar_data"
-                                    "/amp_radar"
-                                    "/phaser_amp_4MSPS_500M_300u_256_m3dB.npy"),
-                        help="Path to amplified radar .npy")
-    parser.add_argument("--noamp", type=str,
-                        default=str(Path.home() / "Downloads/adi_radar_data"
-                                    "/no_amp_radar"
-                                    "/phaser_NOamp_4MSPS_500M_300u_256.npy"),
-                        help="Path to non-amplified radar .npy")
-    parser.add_argument("--data", type=str, default=None,
-                        help="Single dataset mode")
-    parser.add_argument("--label", type=str, default="Custom Data")
-    args = parser.parse_args()
-
-    plt.style.use("dark_background")
-
-    if args.data:
-        data = np.load(args.data)
-        analyze_dataset(data, args.label)
-        plt.show()
-        return
-
-    figs = []
-    for path, label in [(args.amp, "With Amplifier (-3 dB)"),
-                        (args.noamp, "No Amplifier")]:
-        if not Path(path).exists():
-            print(f"WARNING: {path} not found, skipping")
-            continue
-        data = np.load(path)
-        fig = analyze_dataset(data, label)
-        figs.append(fig)
-
-    if not figs:
-        print("No data found. Use --amp/--noamp or --data.")
-        sys.exit(1)
-
-    plt.show()
-
-
-if __name__ == "__main__":
-    main()
@@ -65,9 +65,9 @@ class TestRadarSettings(unittest.TestCase):

    def test_defaults(self):
        s = _models().RadarSettings()
-        self.assertEqual(s.system_frequency, 10e9)
-        self.assertEqual(s.coverage_radius, 50000)
-        self.assertEqual(s.max_distance, 50000)
+        self.assertEqual(s.system_frequency, 10.5e9)
+        self.assertEqual(s.coverage_radius, 1536)
+        self.assertEqual(s.max_distance, 1536)


 class TestGPSData(unittest.TestCase):
@@ -425,26 +425,27 @@ class TestWaveformConfig(unittest.TestCase):
    def test_defaults(self):
        from v7.models import WaveformConfig
        wc = WaveformConfig()
-        self.assertEqual(wc.sample_rate_hz, 4e6)
-        self.assertEqual(wc.bandwidth_hz, 500e6)
-        self.assertEqual(wc.chirp_duration_s, 300e-6)
-        self.assertEqual(wc.center_freq_hz, 10.525e9)
+        self.assertEqual(wc.sample_rate_hz, 100e6)
+        self.assertEqual(wc.bandwidth_hz, 20e6)
+        self.assertEqual(wc.chirp_duration_s, 30e-6)
+        self.assertEqual(wc.pri_s, 167e-6)
+        self.assertEqual(wc.center_freq_hz, 10.5e9)
        self.assertEqual(wc.n_range_bins, 64)
        self.assertEqual(wc.n_doppler_bins, 32)
        self.assertEqual(wc.fft_size, 1024)
        self.assertEqual(wc.decimation_factor, 16)

    def test_range_resolution(self):
-        """range_resolution_m should be ~5.62 m/bin with ADI defaults."""
+        """range_resolution_m should be ~24.0 m/bin with PLFM defaults."""
        from v7.models import WaveformConfig
        wc = WaveformConfig()
-        self.assertAlmostEqual(wc.range_resolution_m, 5.621, places=1)
+        self.assertAlmostEqual(wc.range_resolution_m, 23.98, places=1)

    def test_velocity_resolution(self):
-        """velocity_resolution_mps should be ~1.484 m/s/bin."""
+        """velocity_resolution_mps should be ~2.67 m/s/bin."""
        from v7.models import WaveformConfig
        wc = WaveformConfig()
-        self.assertAlmostEqual(wc.velocity_resolution_mps, 1.484, places=2)
+        self.assertAlmostEqual(wc.velocity_resolution_mps, 2.67, places=1)

    def test_max_range(self):
        """max_range_m = range_resolution * n_range_bins."""
@@ -466,7 +467,8 @@ class TestWaveformConfig(unittest.TestCase):
        """Non-default parameters correctly change derived values."""
        from v7.models import WaveformConfig
        wc1 = WaveformConfig()
-        wc2 = WaveformConfig(bandwidth_hz=1e9)  # double BW → halve range res
+        # Matched-filter: range_per_bin = c/(2*fs)*dec — proportional to 1/fs
+        wc2 = WaveformConfig(sample_rate_hz=200e6)  # double fs → halve range res
        self.assertAlmostEqual(wc2.range_resolution_m, wc1.range_resolution_m / 2, places=2)

    def test_zero_center_freq_velocity(self):
@@ -925,18 +927,18 @@ class TestExtractTargetsFromFrame(unittest.TestCase):
        """Detection at range bin 10 → range = 10 * range_resolution."""
        from v7.processing import extract_targets_from_frame
        frame = self._make_frame(det_cells=[(10, 16)])  # dbin=16 = center → vel=0
-        targets = extract_targets_from_frame(frame, range_resolution=5.621)
+        targets = extract_targets_from_frame(frame, range_resolution=23.98)
        self.assertEqual(len(targets), 1)
-        self.assertAlmostEqual(targets[0].range, 10 * 5.621, places=2)
+        self.assertAlmostEqual(targets[0].range, 10 * 23.98, places=1)
        self.assertAlmostEqual(targets[0].velocity, 0.0, places=2)

    def test_velocity_sign(self):
        """Doppler bin < center → negative velocity, > center → positive."""
        from v7.processing import extract_targets_from_frame
        frame = self._make_frame(det_cells=[(5, 10), (5, 20)])
-        targets = extract_targets_from_frame(frame, velocity_resolution=1.484)
-        # dbin=10: vel = (10-16)*1.484 = -8.904  (approaching)
-        # dbin=20: vel = (20-16)*1.484 = +5.936  (receding)
+        targets = extract_targets_from_frame(frame, velocity_resolution=2.67)
+        # dbin=10: vel = (10-16)*2.67 = -16.02  (approaching)
+        # dbin=20: vel = (20-16)*2.67 = +10.68  (receding)
        self.assertLess(targets[0].velocity, 0)
        self.assertGreater(targets[1].velocity, 0)

@@ -98,7 +98,7 @@ class RadarMapWidget(QWidget):
        )
        self._targets: list[RadarTarget] = []
        self._pending_targets: list[RadarTarget] | None = None
-        self._coverage_radius = 50_000   # metres
+        self._coverage_radius = 1_536   # metres (64 bins x 24 m, 3 km mode)
        self._tile_server = TileServer.OPENSTREETMAP
        self._show_coverage = True
        self._show_trails = False
@@ -108,12 +108,12 @@ class RadarSettings:
    range_resolution and velocity_resolution should be calibrated to
    the actual waveform parameters.
    """
-    system_frequency: float = 10e9      # Hz (carrier, used for velocity calc)
-    range_resolution: float = 781.25    # Meters per range bin (default: 50km/64)
-    velocity_resolution: float = 1.0    # m/s per Doppler bin (calibrate to waveform)
-    max_distance: float = 50000         # Max detection range (m)
-    map_size: float = 50000             # Map display size (m)
-    coverage_radius: float = 50000      # Map coverage radius (m)
+    system_frequency: float = 10.5e9    # Hz (PLFM TX LO, verified from ADF4382 config)
+    range_resolution: float = 24.0     # Meters per decimated range bin (c/(2*100MSPS)*16)
+    velocity_resolution: float = 2.67  # m/s per Doppler bin (lam/(2*32*167us))
+    max_distance: float = 1536         # Max detection range (m) -- 64 bins x 24 m (3 km mode)
+    map_size: float = 1536             # Map display size (m)
+    coverage_radius: float = 1536      # Map coverage radius (m)


@dataclass
@@ -196,42 +196,44 @@ class TileServer(Enum):
 class WaveformConfig:
    """Physical waveform parameters for converting bins to SI units.

-    Encapsulates the radar waveform so that range/velocity resolution
+    Encapsulates the PLFM radar waveform so that range/velocity resolution
    can be derived automatically instead of hardcoded in RadarSettings.

-    Defaults match the ADI CN0566 Phaser capture parameters used in
-    the golden_reference cosim (4 MSPS, 500 MHz BW, 300 us chirp).
+    Defaults match the PLFM hardware: 100 MSPS post-DDC processing rate,
+    20 MHz chirp bandwidth, 30 us long chirp, 167 us PRI, 10.5 GHz carrier.
+    The receiver uses matched-filter pulse compression (NOT deramped FMCW),
+    so range-per-bin = c / (2 * fs_processing) * decimation_factor.
    """

-    sample_rate_hz: float = 4e6          # ADC sample rate
-    bandwidth_hz: float = 500e6          # Chirp bandwidth
-    chirp_duration_s: float = 300e-6     # Chirp ramp time
-    center_freq_hz: float = 10.525e9     # Carrier frequency
-    n_range_bins: int = 64               # After decimation
+    sample_rate_hz: float = 100e6        # Post-DDC processing rate (400 MSPS / 4)
+    bandwidth_hz: float = 20e6           # Chirp bandwidth (Phase 1 target: 30 MHz)
+    chirp_duration_s: float = 30e-6      # Long chirp ramp (informational only)
+    pri_s: float = 167e-6               # Pulse repetition interval (chirp + listen)
+    center_freq_hz: float = 10.5e9       # TX LO carrier (verified: ADF4382 config)
+    n_range_bins: int = 64               # After decimation (3 km mode)
    n_doppler_bins: int = 32             # After Doppler FFT
    fft_size: int = 1024                 # Pre-decimation FFT length
    decimation_factor: int = 16          # 1024 → 64

    @property
    def range_resolution_m(self) -> float:
-        """Meters per decimated range bin (FMCW deramped baseband).
+        """Meters per decimated range bin (matched-filter receiver).

-        For deramped FMCW: bin spacing = c * Fs * T / (2 * N_FFT * BW).
+        For matched-filter pulse compression: bin spacing = c / (2 * fs).
        After decimation the bin spacing grows by *decimation_factor*.
+        This is independent of chirp bandwidth (BW affects resolution, not
+        bin spacing).
        """
        c = 299_792_458.0
-        raw_bin = (
-            c * self.sample_rate_hz * self.chirp_duration_s
-            / (2.0 * self.fft_size * self.bandwidth_hz)
-        )
+        raw_bin = c / (2.0 * self.sample_rate_hz)
        return raw_bin * self.decimation_factor

    @property
    def velocity_resolution_mps(self) -> float:
-        """m/s per Doppler bin.  lambda / (2 * n_doppler * chirp_duration)."""
+        """m/s per Doppler bin.  lambda / (2 * n_doppler * PRI)."""
        c = 299_792_458.0
        wavelength = c / self.center_freq_hz
-        return wavelength / (2.0 * self.n_doppler_bins * self.chirp_duration_s)
+        return wavelength / (2.0 * self.n_doppler_bins * self.pri_s)

    @property
    def max_range_m(self) -> float:
@@ -368,7 +368,7 @@ class TargetSimulator(QObject):

        for t in self._targets:
            new_range = t.range - t.velocity * 0.5
-            if new_range < 500 or new_range > 50000:
+            if new_range < 50 or new_range > 1536:
                continue  # target exits coverage — drop it

            new_vel = max(-150, min(150, t.velocity + random.uniform(-2, 2)))
@@ -724,8 +724,8 @@ class TestTier3CStub:
            "freq_max": 30.0e6,
            "prf1": 1000.0,
            "prf2": 2000.0,
-            "max_distance": 50000.0,
-            "map_size": 50000.0,
+            "max_distance": 1536.0,
+            "map_size": 1536.0,
        }
        pkt = self._build_settings_packet(values)
        result = self._run_stub(stub_binary, pkt)
@@ -784,11 +784,11 @@ class TestTier3CStub:
    def test_bad_markers_rejected(self, stub_binary):
        """Packet with wrong start/end markers must be rejected."""
        values = {
-            "system_frequency": 10.0e9, "chirp_duration_1": 30.0e-6,
+            "system_frequency": 10.5e9, "chirp_duration_1": 30.0e-6,
            "chirp_duration_2": 0.5e-6, "chirps_per_position": 32,
            "freq_min": 10.0e6, "freq_max": 30.0e6,
            "prf1": 1000.0, "prf2": 2000.0,
-            "max_distance": 50000.0, "map_size": 50000.0,
+            "max_distance": 1536.0, "map_size": 1536.0,
        }
        pkt = self._build_settings_packet(values)