Merge remote-tracking branch 'upstream/develop'

.github/workflows/ci-tests.yml

@@ -0,0 +1,71 @@
+name: AERIS-10 CI
+
+on:
+  pull_request:
+    branches: [main, develop]
+  push:
+    branches: [main, develop]
+
+jobs:
+  # ===========================================================================
+  # Job 1: Python Host Software Tests (58 tests)
+  # radar_protocol, radar_dashboard, FT2232H connection, replay, opcodes, e2e
+  # ===========================================================================
+  python-tests:
+    name: Python Dashboard Tests (58)
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pytest numpy h5py
+
+      - name: Run test suite
+        run: python -m pytest 9_Firmware/9_3_GUI/test_radar_dashboard.py -v --tb=short
+
+  # ===========================================================================
+  # Job 2: MCU Firmware Unit Tests (20 tests)
+  # Bug regression (15) + Gap-3 safety tests (5)
+  # ===========================================================================
+  mcu-tests:
+    name: MCU Firmware Tests (20)
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install build tools
+        run: sudo apt-get update && sudo apt-get install -y build-essential
+
+      - name: Build and run MCU tests
+        working-directory: 9_Firmware/9_1_Microcontroller/tests
+        run: make test
+
+  # ===========================================================================
+  # Job 3: FPGA RTL Regression (23 testbenches + lint)
+  # Phase 0: Vivado-style lint, Phase 1-4: unit + integration + e2e
+  # ===========================================================================
+  fpga-regression:
+    name: FPGA Regression (23 TBs + lint)
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install Icarus Verilog
+        run: sudo apt-get update && sudo apt-get install -y iverilog
+
+      - name: Run full FPGA regression
+        working-directory: 9_Firmware/9_2_FPGA
+        run: bash run_regression.sh

9_Firmware/9_2_FPGA/constraints/README.md

@@ -4,19 +4,19 @@
 
 | File | Device | Package | Purpose |
 |------|--------|---------|---------|
-| `xc7a50t_ftg256.xdc` | XC7A50T-2FTG256I | FTG256 (256-ball BGA) | Upstream author's board (copy of `cntrt.xdc`) |
+| `xc7a50t_ftg256.xdc` | XC7A50T-2FTG256I | FTG256 (256-ball BGA) | 50T production board |
-| `xc7a200t_fbg484.xdc` | XC7A200T-2FBG484I | FBG484 (484-ball BGA) | Production board (new PCB design) |
+| `xc7a200t_fbg484.xdc` | XC7A200T-2FBG484I | FBG484 (484-ball BGA) | 200T premium dev board |
 | `te0712_te0701_minimal.xdc` | XC7A200T-2FBG484I | FBG484 (484-ball BGA) | Trenz dev split target (minimal clock/reset + LEDs/status) |
 | `te0713_te0701_minimal.xdc` | XC7A200T-2FBG484C | FBG484 (484-ball BGA) | Trenz alternate SoM target (minimal clock + FMC status outputs) |
 
 ## Why Four Files
 
-The upstream prototype uses a smaller XC7A50T in an FTG256 package. The production
+The 50T production board uses an XC7A50T in an FTG256 package. The 200T premium
-AERIS-10 radar migrates to the XC7A200T for more logic, BRAM, and DSP resources.
+dev board uses an XC7A200T for more logic, BRAM, and DSP resources. The two
-The two devices have completely different packages and pin names, so each needs its
+devices have completely different packages and pin names, so each needs its own
-own constraint file.
+constraint file.
 
-The Trenz TE0712/TE0701 path uses the same FPGA part as production but different board
+The Trenz TE0712/TE0701 path uses the same FPGA part as the 200T but different board
 pinout and peripherals. The dev target is split into its own top wrapper
 (`radar_system_top_te0712_dev.v`) and minimal constraints file to avoid accidental mixing
 of production pin assignments during bring-up.
@@ -25,9 +25,83 @@ The Trenz TE0713/TE0701 path supports situations where TE0712 lead time is prohi
 TE0713 uses XC7A200T-2FBG484C (commercial temp grade) and requires separate clock mapping,
 so it has its own dev top and XDC.
 
+## USB Interface Architecture (USB_MODE)
+
+The radar system supports two USB data interfaces, selected at **compile time** via
+the `USB_MODE` parameter in `radar_system_top.v`:
+
+| USB_MODE | Interface | Bus Width | Speed | Board Target |
+|----------|-----------|-----------|-------|--------------|
+| 0 (default) | FT601 (USB 3.0) | 32-bit | 100 MHz | 200T premium dev board |
+| 1 | FT2232H (USB 2.0) | 8-bit | 60 MHz | 50T production board |
+
+### How USB_MODE Works
+
+`radar_system_top.v` contains a Verilog `generate` block that instantiates exactly
+one USB interface module based on the `USB_MODE` parameter:
+
+```
+generate
+if (USB_MODE == 0) begin : gen_ft601
+    usb_data_interface usb_inst (...)          // FT601, 32-bit
+    // FT2232H ports tied off to inactive
+end else begin : gen_ft2232h
+    usb_data_interface_ft2232h usb_inst (...)  // FT2232H, 8-bit
+    // FT601 ports tied off to inactive
+end
+endgenerate
+```
+
+Both interfaces share the same internal radar data bus and host command interface.
+The unused interface's I/O pins are tied to safe inactive states (active-low
+signals high, active-high signals low, bidirectional buses high-Z).
+
+### How USB_MODE Is Passed Per Board Target
+
+The parameter is set via a **wrapper module** that overrides the default:
+
+- **50T production**: `radar_system_top_50t.v` instantiates the core with
+  `.USB_MODE(1)` and maps the FT2232H's 60 MHz `CLKOUT` to the shared
+  `ft601_clk_in` port. FT601 inputs are tied inactive; outputs go to `_nc` wires.
+
+  ```verilog
+  // In radar_system_top_50t.v:
+  radar_system_top #(
+      .USB_MODE(1)
+  ) u_core ( ... );
+  ```
+
+- **200T dev board**: `radar_system_top` is used directly as the top module.
+  `USB_MODE` defaults to `0` (FT601). No wrapper needed.
+
+### RTL Files by USB Interface
+
+| File | Purpose |
+|------|---------|
+| `usb_data_interface.v` | FT601 USB 3.0 module (32-bit, USB_MODE=0) |
+| `usb_data_interface_ft2232h.v` | FT2232H USB 2.0 module (8-bit, USB_MODE=1) |
+| `radar_system_top.v` | Core module with USB_MODE generate block |
+| `radar_system_top_50t.v` | 50T wrapper: sets USB_MODE=1, ties off FT601 |
+
+### FT2232H Pin Map (50T, Bank 35, VCCO=3.3V)
+
+All connections are direct between U6 (FT2232HQ) and U42 (XC7A50T). Only
+Channel A is used (245 Synchronous FIFO mode). Channel B is unconnected.
+
+| Signal | FT2232H Pin | FPGA Ball | Direction |
+|--------|-------------|-----------|-----------|
+| FT_D[7:0] | ADBUS[7:0] | K1,J3,H3,G4,F2,D1,C3,C1 | Bidirectional |
+| FT_RXF# | ACBUS0 | A2 | Input (FIFO not empty) |
+| FT_TXE# | ACBUS1 | B2 | Input (FIFO not full) |
+| FT_RD# | ACBUS2 | A3 | Output (read strobe) |
+| FT_WR# | ACBUS3 | A4 | Output (write strobe) |
+| FT_SIWUA | ACBUS4 | A5 | Output (send immediate) |
+| FT_CLKOUT | ACBUS5 | C4 (MRCC) | Input (60 MHz clock) |
+| FT_OE# | ACBUS6 | B7 | Output (bus direction) |
+
 ## Bank Voltage Assignments
 
-### XC7A50T-FTG256 (Upstream)
+### XC7A50T-FTG256 (50T Production)
 
 | Bank | VCCO | Signals |
 |------|------|---------|
@@ -35,9 +109,9 @@ so it has its own dev top and XDC.
 | 14 | 3.3V | ADC LVDS (LVDS_33), SPI flash |
 | 15 | 3.3V | DAC, clocks, STM32 3.3V SPI, DIG bus |
 | 34 | 1.8V | ADAR1000 control, SPI 1.8V side |
-| 35 | 3.3V | Unused (no signal connections) |
+| 35 | 3.3V | FT2232H USB 2.0 (8-bit data + control, 15 signals) |
 
-### XC7A200T-FBG484 (Production)
+### XC7A200T-FBG484 (200T Premium Dev Board)
 
 | Bank | VCCO | Used/Avail | Signals |
 |------|------|------------|---------|
@@ -50,15 +124,43 @@ so it has its own dev top and XDC.
 
 ## Signal Differences Between Targets
 
-| Signal | Upstream (FTG256) | Production (FBG484) |
+| Signal | 50T Production (FTG256) | 200T Dev (FBG484) |
-|--------|-------------------|---------------------|
+|--------|-------------------------|-------------------|
-| FT601 USB | Unwired (chip placed, no nets) | Fully wired, Bank 16 |
+| USB interface | FT2232H USB 2.0 (8-bit, Bank 35) | FT601 USB 3.0 (32-bit, Bank 16) |
+| USB_MODE | 1 (via `radar_system_top_50t` wrapper) | 0 (default in `radar_system_top`) |
+| USB clock | 60 MHz from FT2232H CLKOUT | 100 MHz from FT601 |
 | `dac_clk` | Not connected (DAC clocked by AD9523 directly) | Routed, FPGA drives DAC |
-| `ft601_be` width | `[1:0]` in upstream RTL | `[3:0]` (RTL updated) |
+| `ft601_be` width | N/A (FT601 unused, tied off) | `[3:0]` (RTL updated) |
 | ADC LVDS standard | LVDS_33 (3.3V bank) | LVDS_25 (2.5V bank, better quality) |
 | Status/debug outputs | No physical pins (commented out) | All routed to Banks 35 + 13 |
 
-## How to Select in Vivado
+## How to Build
+
+### Quick Reference
+
+```bash
+# From the FPGA source directory (9_Firmware/9_2_FPGA):
+
+# 50T production build (FT2232H, USB_MODE=1):
+vivado -mode batch -source scripts/50t/build_50t.tcl 2>&1 | tee build_50t/vivado.log
+
+# 200T dev build (FT601, USB_MODE=0):
+vivado -mode batch -source scripts/200t/build_200t.tcl \
+  -log build/build.log -journal build/build.jou
+```
+
+The build scripts automatically select the correct top module and constraints:
+
+| Build Script | Top Module | Constraints | USB_MODE |
+|--------------|------------|-------------|----------|
+| `scripts/50t/build_50t.tcl` | `radar_system_top_50t` | `xc7a50t_ftg256.xdc` | 1 (FT2232H) |
+| `scripts/200t/build_200t.tcl` | `radar_system_top` | `xc7a200t_fbg484.xdc` | 0 (FT601) |
+
+You do NOT need to set `USB_MODE` manually. The top module selection handles it:
+- `radar_system_top_50t` forces `USB_MODE=1` internally
+- `radar_system_top` defaults to `USB_MODE=0`
+
+## How to Select Constraints in Vivado
 
 In the Vivado project, only one target XDC should be active at a time:
 
@@ -85,12 +187,12 @@ read_xdc constraints/te0713_te0701_minimal.xdc
 
 ## Top Modules by Target
 
-| Target | Top module | Notes |
+| Target | Top module | USB_MODE | USB Interface | Notes |
-|--------|------------|-------|
+|--------|------------|----------|---------------|-------|
-| Upstream FTG256 | `radar_system_top` | Legacy board support |
+| 50T Production (FTG256) | `radar_system_top_50t` | 1 | FT2232H (8-bit) | Wrapper sets USB_MODE=1, ties off FT601 |
-| Production FBG484 | `radar_system_top` | Main AERIS-10 board |
+| 200T Dev (FBG484) | `radar_system_top` | 0 (default) | FT601 (32-bit) | No wrapper needed |
-| Trenz TE0712/TE0701 | `radar_system_top_te0712_dev` | Minimal bring-up wrapper while pinout/peripherals are migrated |
+| Trenz TE0712/TE0701 | `radar_system_top_te0712_dev` | 0 (default) | FT601 (32-bit) | Minimal bring-up wrapper |
-| Trenz TE0713/TE0701 | `radar_system_top_te0713_dev` | Alternate SoM wrapper (TE0713 clock mapping) |
+| Trenz TE0713/TE0701 | `radar_system_top_te0713_dev` | 0 (default) | FT601 (32-bit) | Alternate SoM wrapper |
 
 ## Trenz Split Status
 
@@ -142,11 +244,19 @@ TE0713 outputs:
 
 ## Notes
 
-- The production XDC pin assignments are **recommended** for the new PCB.
+- **USB_MODE is compile-time only.** You cannot switch USB interfaces at runtime.
+  Each board target has exactly one USB chip physically connected.
+- The 50T production build must use `radar_system_top_50t` as top module. Using
+  `radar_system_top` directly will default to FT601 (USB_MODE=0), which has no
+  physical connection on the 50T board.
+- The 200T XDC pin assignments are **recommended** for the new PCB.
   The PCB designer should follow this allocation.
-- Bank 16 (FT601) is fully utilized at 50/50 pins. No room for expansion
+- Bank 16 on the 200T (FT601) is fully utilized at 50/50 pins. No room for expansion
   on that bank.
-- Bank 35 (status/debug) is also at capacity (50/50). Additional debug
+- Bank 35 on the 200T (status/debug) is also at capacity (50/50). Additional debug
   signals should use Bank 13 spare pins (18 remaining).
+- Bank 35 on the 50T is used for FT2232H (15 signals). Remaining pins are available
+  for future expansion.
 - Clock inputs are placed on MRCC (Multi-Region Clock Capable) pins to
-  ensure proper clock tree access.
+  ensure proper clock tree access. The FT2232H CLKOUT (60 MHz) is on
+  pin C4 (`IO_L12N_T1_MRCC_35`).

9_Firmware/9_3_GUI/GUI_versions.txt

@@ -8,6 +8,6 @@ GUI_V5 ==> Added Mercury Color
 
 GUI_V6 ==> Added USB3 FT601 support
 
-radar_dashboard ==> Board bring-up dashboard (FT601 reader, real-time R-D heatmap, CFAR overlay, waterfall, host commands, HDF5 recording)
+radar_dashboard ==> Board bring-up dashboard (FT2232H reader, real-time R-D heatmap, CFAR overlay, waterfall, host commands, HDF5 recording)
-radar_protocol ==> Protocol layer (packet parsing, command building, FT601 connection, data recorder, acquisition thread)
+radar_protocol ==> Protocol layer (packet parsing, command building, FT2232H connection, data recorder, acquisition thread)
 smoke_test ==> Board bring-up smoke test host script (triggers FPGA self-test via opcode 0x30)

9_Firmware/9_3_GUI/radar_dashboard.py

@@ -3,10 +3,10 @@
 AERIS-10 Radar Dashboard — Board Bring-Up Edition
 ===================================================
 Real-time visualization and control for the AERIS-10 phased-array radar
-via FT601 USB 3.0 interface.
+via FT2232H USB 2.0 interface.
 
 Features:
-  - FT601 USB reader with packet parsing (matches usb_data_interface.v)
+  - FT2232H USB reader with packet parsing (matches usb_data_interface_ft2232h.v)
   - Real-time range-Doppler magnitude heatmap (64x32)
   - CFAR detection overlay (flagged cells highlighted)
   - Range profile waterfall plot (range vs. time)
@@ -17,7 +17,7 @@ Features:
 
 Usage:
   python radar_dashboard.py              # Launch with mock data
-  python radar_dashboard.py --live       # Launch with FT601 hardware
+  python radar_dashboard.py --live       # Launch with FT2232H hardware
   python radar_dashboard.py --record     # Launch with HDF5 recording
 """
 
@@ -43,7 +43,7 @@ from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
 
 # Import protocol layer (no GUI deps)
 from radar_protocol import (
-    RadarProtocol, FT601Connection, ReplayConnection,
+    RadarProtocol, FT2232HConnection, ReplayConnection,
     DataRecorder, RadarAcquisition,
     RadarFrame, StatusResponse, Opcode,
     NUM_RANGE_BINS, NUM_DOPPLER_BINS, WATERFALL_DEPTH,
@@ -82,7 +82,7 @@ class RadarDashboard:
     BANDWIDTH = 500e6        # Hz — chirp bandwidth
     C = 3e8                  # m/s — speed of light
 
-    def __init__(self, root: tk.Tk, connection: FT601Connection,
+    def __init__(self, root: tk.Tk, connection: FT2232HConnection,
                  recorder: DataRecorder):
         self.root = root
         self.conn = connection
@@ -552,7 +552,7 @@ class _TextHandler(logging.Handler):
 def main():
     parser = argparse.ArgumentParser(description="AERIS-10 Radar Dashboard")
     parser.add_argument("--live", action="store_true",
-                        help="Use real FT601 hardware (default: mock mode)")
+                        help="Use real FT2232H hardware (default: mock mode)")
     parser.add_argument("--replay", type=str, metavar="NPY_DIR",
                         help="Replay real data from .npy directory "
                              "(e.g. tb/cosim/real_data/hex/)")
@@ -561,7 +561,7 @@ def main():
     parser.add_argument("--record", action="store_true",
                         help="Start HDF5 recording immediately")
     parser.add_argument("--device", type=int, default=0,
-                        help="FT601 device index (default: 0)")
+                        help="FT2232H device index (default: 0)")
     args = parser.parse_args()
 
     if args.replay:
@@ -569,10 +569,10 @@ def main():
         conn = ReplayConnection(npy_dir, use_mti=not args.no_mti)
         mode_str = f"REPLAY ({npy_dir}, MTI={'OFF' if args.no_mti else 'ON'})"
     elif args.live:
-        conn = FT601Connection(mock=False)
+        conn = FT2232HConnection(mock=False)
         mode_str = "LIVE"
     else:
-        conn = FT601Connection(mock=True)
+        conn = FT2232HConnection(mock=True)
         mode_str = "MOCK"
 
     recorder = DataRecorder()

9_Firmware/9_3_GUI/radar_protocol.py

@@ -5,21 +5,12 @@ AERIS-10 Radar Protocol Layer
 Pure-logic module for USB packet parsing and command building.
 No GUI dependencies — safe to import from tests and headless scripts.
 
-Supports two USB interfaces:
+USB Interface: FT2232H USB 2.0 (8-bit, 50T production board) via pyftdi
-  - FT601 USB 3.0 (32-bit, 200T dev board) via ftd3xx
-  - FT2232H USB 2.0 (8-bit, 50T production board) via pyftdi
 
-USB Packet Protocol (FT601, 35-byte):
+USB Packet Protocol (11-byte):
-  TX (FPGA→Host):
-    Data packet:  [0xAA] [range 4×32b] [doppler 4×32b] [det 1B] [0x55]
-    Status packet: [0xBB] [status 6×32b] [0x55]
-  RX (Host→FPGA):
-    Command word:  {opcode[31:24], addr[23:16], value[15:0]}
-
-USB Packet Protocol (FT2232H, 11-byte compact):
   TX (FPGA→Host):
     Data packet:  [0xAA] [range_q 2B] [range_i 2B] [dop_re 2B] [dop_im 2B] [det 1B] [0x55]
-    Status packet: [0xBB] [status 6×32b] [0x55]  (same 26-byte format)
+    Status packet: [0xBB] [status 6×32b] [0x55]
   RX (Host→FPGA):
     Command: 4 bytes received sequentially {opcode, addr, value_hi, value_lo}
 """
@@ -48,9 +39,8 @@ FOOTER_BYTE = 0x55
 STATUS_HEADER_BYTE = 0xBB
 
 # Packet sizes
-DATA_PACKET_SIZE_FT601 = 35     # FT601: 1 + 16 + 16 + 1 + 1
+DATA_PACKET_SIZE = 11               # 1 + 4 + 2 + 2 + 1 + 1
-DATA_PACKET_SIZE_FT2232H = 11   # FT2232H: 1 + 4 + 2 + 2 + 1 + 1
+STATUS_PACKET_SIZE = 26              # 1 + 24 + 1
-STATUS_PACKET_SIZE = 26          # Same for both: 1 + 24 + 1
 
 NUM_RANGE_BINS = 64
 NUM_DOPPLER_BINS = 32
@@ -148,7 +138,7 @@ class RadarProtocol:
     def build_command(opcode: int, value: int, addr: int = 0) -> bytes:
         """
         Build a 32-bit command word: {opcode[31:24], addr[23:16], value[15:0]}.
-        Returns 4 bytes, big-endian (MSB first as FT601 expects).
+        Returns 4 bytes, big-endian (MSB first).
         """
         word = ((opcode & 0xFF) << 24) | ((addr & 0xFF) << 16) | (value & 0xFFFF)
         return struct.pack(">I", word)
@@ -156,70 +146,11 @@ class RadarProtocol:
     @staticmethod
     def parse_data_packet(raw: bytes) -> Optional[Dict[str, Any]]:
         """
-        Parse a single data packet from the FPGA byte stream.
+        Parse an 11-byte data packet from the FT2232H byte stream.
         Returns dict with keys: 'range_i', 'range_q', 'doppler_i', 'doppler_q',
         'detection', or None if invalid.
 
-        Packet format (all streams enabled):
+        Packet format (11 bytes):
-          [0xAA] [range 4×4B] [doppler 4×4B] [det 1B] [0x55]
-          = 1 + 16 + 16 + 1 + 1 = 35 bytes
-
-        With byte-enables, the FT601 delivers only valid bytes.
-        Header/footer/detection use BE=0001 → 1 byte each.
-        Range/doppler use BE=1111 → 4 bytes each × 4 transfers.
-
-        In practice, the range data word 0 contains the full 32-bit value
-        {range_q[15:0], range_i[15:0]}. Words 1–3 are shifted copies.
-        Similarly, doppler word 0 = {doppler_real, doppler_imag}.
-        """
-        if len(raw) < 3:
-            return None
-        if raw[0] != HEADER_BYTE:
-            return None
-
-        result = {}
-        pos = 1
-
-        # Range data: 4 × 4 bytes, only word 0 matters
-        if pos + 16 <= len(raw):
-            range_word0 = struct.unpack_from(">I", raw, pos)[0]
-            result["range_i"] = _to_signed16(range_word0 & 0xFFFF)
-            result["range_q"] = _to_signed16((range_word0 >> 16) & 0xFFFF)
-            pos += 16
-        else:
-            return None
-
-        # Doppler data: 4 × 4 bytes, only word 0 matters
-        # Word 0 layout: {doppler_real[31:16], doppler_imag[15:0]}
-        if pos + 16 <= len(raw):
-            dop_word0 = struct.unpack_from(">I", raw, pos)[0]
-            result["doppler_q"] = _to_signed16(dop_word0 & 0xFFFF)
-            result["doppler_i"] = _to_signed16((dop_word0 >> 16) & 0xFFFF)
-            pos += 16
-        else:
-            return None
-
-        # Detection: 1 byte
-        if pos + 1 <= len(raw):
-            result["detection"] = raw[pos] & 0x01
-            pos += 1
-        else:
-            return None
-
-        # Footer
-        if pos < len(raw) and raw[pos] == FOOTER_BYTE:
-            pos += 1
-
-        return result
-
-    @staticmethod
-    def parse_data_packet_compact(raw: bytes) -> Optional[Dict[str, Any]]:
-        """
-        Parse a compact 11-byte data packet from the FT2232H byte stream.
-        Returns dict with keys: 'range_i', 'range_q', 'doppler_i', 'doppler_q',
-        'detection', or None if invalid.
-
-        Compact packet format (FT2232H, 11 bytes):
           Byte 0:    0xAA (header)
           Bytes 1-2: range_q[15:0] MSB first
           Bytes 3-4: range_i[15:0] MSB first
@@ -228,7 +159,7 @@ class RadarProtocol:
           Byte 9:    {7'b0, cfar_detection}
           Byte 10:   0x55 (footer)
         """
-        if len(raw) < DATA_PACKET_SIZE_FT2232H:
+        if len(raw) < DATA_PACKET_SIZE:
             return None
         if raw[0] != HEADER_BYTE:
             return None
@@ -292,23 +223,16 @@ class RadarProtocol:
         return sr
 
     @staticmethod
-    def find_packet_boundaries(buf: bytes,
+    def find_packet_boundaries(buf: bytes) -> List[Tuple[int, int, str]]:
-                               compact: bool = False) -> List[Tuple[int, int, str]]:
         """
         Scan buffer for packet start markers (0xAA data, 0xBB status).
         Returns list of (start_idx, expected_end_idx, packet_type).
-
-        Args:
-            buf: Raw byte buffer from USB read.
-            compact: If True, use 11-byte compact packets (FT2232H).
-                     If False, use 35-byte packets (FT601, default).
         """
-        data_size = DATA_PACKET_SIZE_FT2232H if compact else DATA_PACKET_SIZE_FT601
         packets = []
         i = 0
         while i < len(buf):
             if buf[i] == HEADER_BYTE:
-                end = i + data_size
+                end = i + DATA_PACKET_SIZE
                 if end <= len(buf):
                     packets.append((i, end, "data"))
                     i = end
@@ -327,151 +251,6 @@ class RadarProtocol:
         return packets
 
 
-# ============================================================================
-# FT601 USB Connection
-# ============================================================================
-
-# Optional ftd3xx import
-try:
-    import ftd3xx
-    FTD3XX_AVAILABLE = True
-except ImportError:
-    FTD3XX_AVAILABLE = False
-
-
-class FT601Connection:
-    """
-    FT601 USB 3.0 FIFO bridge communication.
-    Supports ftd3xx (native D3XX) or mock mode.
-    """
-
-    def __init__(self, mock: bool = True):
-        self._mock = mock
-        self._device = None
-        self._lock = threading.Lock()
-        self.is_open = False
-        # Mock state
-        self._mock_frame_num = 0
-        self._mock_rng = np.random.RandomState(42)
-
-    def open(self, device_index: int = 0) -> bool:
-        if self._mock:
-            self.is_open = True
-            log.info("FT601 mock device opened (no hardware)")
-            return True
-
-        if not FTD3XX_AVAILABLE:
-            log.error("ftd3xx not installed — cannot open real FT601 device")
-            return False
-
-        try:
-            self._device = ftd3xx.create(device_index, ftd3xx.CONFIGURATION_CHANNEL_0)
-            if self._device is None:
-                log.error("ftd3xx.create returned None")
-                return False
-            self.is_open = True
-            log.info(f"FT601 device {device_index} opened")
-            return True
-        except Exception as e:
-            log.error(f"FT601 open failed: {e}")
-            return False
-
-    def close(self):
-        if self._device is not None:
-            try:
-                self._device.close()
-            except Exception:
-                pass
-            self._device = None
-        self.is_open = False
-
-    def read(self, size: int = 4096) -> Optional[bytes]:
-        """Read raw bytes from FT601. Returns None on error/timeout."""
-        if not self.is_open:
-            return None
-
-        if self._mock:
-            return self._mock_read(size)
-
-        with self._lock:
-            try:
-                buf = self._device.readPipe(0x82, size, raw=True)
-                return bytes(buf) if buf else None
-            except Exception as e:
-                log.error(f"FT601 read error: {e}")
-                return None
-
-    def write(self, data: bytes) -> bool:
-        """Write raw bytes to FT601."""
-        if not self.is_open:
-            return False
-
-        if self._mock:
-            log.info(f"FT601 mock write: {data.hex()}")
-            return True
-
-        with self._lock:
-            try:
-                self._device.writePipe(0x02, data, len(data))
-                return True
-            except Exception as e:
-                log.error(f"FT601 write error: {e}")
-                return False
-
-    def _mock_read(self, size: int) -> bytes:
-        """
-        Generate synthetic radar data packets for testing.
-        Simulates a batch of packets with a target near range bin 20, Doppler bin 8.
-        """
-        time.sleep(0.05)  # Simulate USB latency
-        self._mock_frame_num += 1
-
-        buf = bytearray()
-        num_packets = min(32, size // 35)
-        for _ in range(num_packets):
-            rbin = self._mock_rng.randint(0, NUM_RANGE_BINS)
-            dbin = self._mock_rng.randint(0, NUM_DOPPLER_BINS)
-
-            # Simulate range profile with a target at bin ~20 and noise
-            range_i = int(self._mock_rng.normal(0, 100))
-            range_q = int(self._mock_rng.normal(0, 100))
-            if abs(rbin - 20) < 3:
-                range_i += 5000
-                range_q += 3000
-
-            # Simulate Doppler with target at Doppler bin ~8
-            dop_i = int(self._mock_rng.normal(0, 50))
-            dop_q = int(self._mock_rng.normal(0, 50))
-            if abs(rbin - 20) < 3 and abs(dbin - 8) < 2:
-                dop_i += 8000
-                dop_q += 4000
-
-            detection = 1 if (abs(rbin - 20) < 2 and abs(dbin - 8) < 2) else 0
-
-            # Build packet
-            pkt = bytearray()
-            pkt.append(HEADER_BYTE)
-
-            rword = (((range_q & 0xFFFF) << 16) | (range_i & 0xFFFF)) & 0xFFFFFFFF
-            pkt += struct.pack(">I", rword)
-            pkt += struct.pack(">I", ((rword << 8) & 0xFFFFFFFF))
-            pkt += struct.pack(">I", ((rword << 16) & 0xFFFFFFFF))
-            pkt += struct.pack(">I", ((rword << 24) & 0xFFFFFFFF))
-
-            dword = (((dop_i & 0xFFFF) << 16) | (dop_q & 0xFFFF)) & 0xFFFFFFFF
-            pkt += struct.pack(">I", dword)
-            pkt += struct.pack(">I", ((dword << 8) & 0xFFFFFFFF))
-            pkt += struct.pack(">I", ((dword << 16) & 0xFFFFFFFF))
-            pkt += struct.pack(">I", ((dword << 24) & 0xFFFFFFFF))
-
-            pkt.append(detection & 0x01)
-            pkt.append(FOOTER_BYTE)
-
-            buf += pkt
-
-        return bytes(buf)
-
-
 # ============================================================================
 # FT2232H USB 2.0 Connection (pyftdi, 245 Synchronous FIFO)
 # ============================================================================
@@ -576,13 +355,14 @@ class FT2232HConnection:
     def _mock_read(self, size: int) -> bytes:
         """
         Generate synthetic compact radar data packets (11-byte) for testing.
-        Same target simulation as FT601 mock but using compact format.
+        Generate synthetic 11-byte radar data packets for testing.
+        Simulates a batch of packets with a target near range bin 20, Doppler bin 8.
         """
-        time.sleep(0.05)  # Simulate USB latency
+        time.sleep(0.05)
         self._mock_frame_num += 1
 
         buf = bytearray()
-        num_packets = min(32, size // DATA_PACKET_SIZE_FT2232H)
+        num_packets = min(32, size // DATA_PACKET_SIZE)
         for _ in range(num_packets):
             rbin = self._mock_rng.randint(0, NUM_RANGE_BINS)
             dbin = self._mock_rng.randint(0, NUM_DOPPLER_BINS)
@@ -780,11 +560,10 @@ class ReplayConnection:
     """
 
     def __init__(self, npy_dir: str, use_mti: bool = True,
-                 replay_fps: float = 5.0, compact: bool = False):
+                 replay_fps: float = 5.0):
         self._npy_dir = npy_dir
         self._use_mti = use_mti
         self._replay_fps = max(replay_fps, 0.1)
-        self._compact = compact  # True = FT2232H 11-byte packets
         self._lock = threading.Lock()
         self.is_open = False
         self._packets: bytes = b""
@@ -958,8 +737,7 @@ class ReplayConnection:
             det = np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS), dtype=bool)
 
         det_count = int(det.sum())
-        pkt_fmt = "compact" if self._compact else "FT601"
+        log.info(f"Replay: rebuilt {NUM_CELLS} packets ("
-        log.info(f"Replay: rebuilt {NUM_CELLS} packets ({pkt_fmt}, "
                  f"MTI={'ON' if self._mti_enable else 'OFF'}, "
                  f"DC_notch={self._dc_notch_width}, "
                  f"CFAR={'ON' if self._cfar_enable else 'OFF'} "
@@ -970,14 +748,11 @@ class ReplayConnection:
         range_i = self._range_i_vec
         range_q = self._range_q_vec
 
-        if self._compact:
+        return self._build_packets_data(range_i, range_q, dop_i, dop_q, det)
-            return self._build_packets_compact(range_i, range_q, dop_i, dop_q, det)
-        else:
-            return self._build_packets_ft601(range_i, range_q, dop_i, dop_q, det)
 
-    def _build_packets_compact(self, range_i, range_q, dop_i, dop_q, det) -> bytes:
+    def _build_packets_data(self, range_i, range_q, dop_i, dop_q, det) -> bytes:
-        """Build compact 11-byte packets for FT2232H interface."""
+        """Build 11-byte data packets for FT2232H interface."""
-        buf = bytearray(NUM_CELLS * DATA_PACKET_SIZE_FT2232H)
+        buf = bytearray(NUM_CELLS * DATA_PACKET_SIZE)
         pos = 0
         for rbin in range(NUM_RANGE_BINS):
             ri = int(np.clip(range_i[rbin], -32768, 32767))
@@ -999,40 +774,6 @@ class ReplayConnection:
 
         return bytes(buf)
 
-    def _build_packets_ft601(self, range_i, range_q, dop_i, dop_q, det) -> bytes:
-        """Build 35-byte packets for FT601 interface."""
-        buf = bytearray(NUM_CELLS * DATA_PACKET_SIZE_FT601)
-        pos = 0
-        for rbin in range(NUM_RANGE_BINS):
-            ri = int(np.clip(range_i[rbin], -32768, 32767)) & 0xFFFF
-            rq = int(np.clip(range_q[rbin], -32768, 32767)) & 0xFFFF
-            rword = ((rq << 16) | ri) & 0xFFFFFFFF
-            rw0 = struct.pack(">I", rword)
-            rw1 = struct.pack(">I", (rword << 8) & 0xFFFFFFFF)
-            rw2 = struct.pack(">I", (rword << 16) & 0xFFFFFFFF)
-            rw3 = struct.pack(">I", (rword << 24) & 0xFFFFFFFF)
-            for dbin in range(NUM_DOPPLER_BINS):
-                di = int(np.clip(dop_i[rbin, dbin], -32768, 32767)) & 0xFFFF
-                dq = int(np.clip(dop_q[rbin, dbin], -32768, 32767)) & 0xFFFF
-                d = 1 if det[rbin, dbin] else 0
-
-                dword = ((di << 16) | dq) & 0xFFFFFFFF
-
-                buf[pos] = HEADER_BYTE
-                pos += 1
-                buf[pos:pos+4] = rw0; pos += 4
-                buf[pos:pos+4] = rw1; pos += 4
-                buf[pos:pos+4] = rw2; pos += 4
-                buf[pos:pos+4] = rw3; pos += 4
-                buf[pos:pos+4] = struct.pack(">I", dword); pos += 4
-                buf[pos:pos+4] = struct.pack(">I", (dword << 8) & 0xFFFFFFFF); pos += 4
-                buf[pos:pos+4] = struct.pack(">I", (dword << 16) & 0xFFFFFFFF); pos += 4
-                buf[pos:pos+4] = struct.pack(">I", (dword << 24) & 0xFFFFFFFF); pos += 4
-                buf[pos] = d; pos += 1
-                buf[pos] = FOOTER_BYTE; pos += 1
-
-        return bytes(buf)
-
 
 # ============================================================================
 # Data Recorder (HDF5)
@@ -1112,20 +853,18 @@ class DataRecorder:
 
 class RadarAcquisition(threading.Thread):
     """
-    Background thread: reads from USB (FT601 or FT2232H), parses packets,
+    Background thread: reads from USB (FT2232H), parses 11-byte packets,
     assembles frames, and pushes complete frames to the display queue.
     """
 
     def __init__(self, connection, frame_queue: queue.Queue,
                  recorder: Optional[DataRecorder] = None,
-                 status_callback=None,
+                 status_callback=None):
-                 compact: bool = False):
         super().__init__(daemon=True)
         self.conn = connection
         self.frame_queue = frame_queue
         self.recorder = recorder
         self._status_callback = status_callback
-        self._compact = compact  # True for FT2232H 11-byte packets
         self._stop_event = threading.Event()
         self._frame = RadarFrame()
         self._sample_idx = 0
@@ -1135,21 +874,16 @@ class RadarAcquisition(threading.Thread):
         self._stop_event.set()
 
     def run(self):
-        log.info(f"Acquisition thread started (compact={self._compact})")
+        log.info("Acquisition thread started")
         while not self._stop_event.is_set():
             raw = self.conn.read(4096)
             if raw is None or len(raw) == 0:
                 time.sleep(0.01)
                 continue
 
-            packets = RadarProtocol.find_packet_boundaries(
+            packets = RadarProtocol.find_packet_boundaries(raw)
-                raw, compact=self._compact)
             for start, end, ptype in packets:
                 if ptype == "data":
-                    if self._compact:
-                        parsed = RadarProtocol.parse_data_packet_compact(
-                            raw[start:end])
-                    else:
                     parsed = RadarProtocol.parse_data_packet(
                         raw[start:end])
                     if parsed is not None:

9_Firmware/9_3_GUI/requirements_dashboard.txt

@@ -5,5 +5,5 @@ numpy>=1.24
 matplotlib>=3.7
 h5py>=3.8
 
-# FT601 USB 3.0 driver (install from FTDI website if not on PyPI)
+# FT2232H USB 2.0 driver (pyftdi — pure Python, pip-installable)
-# ftd3xx  # Optional: only needed for --live mode with real hardware
+# pyftdi>=0.54  # Optional: only needed for --live mode with real hardware

9_Firmware/9_3_GUI/smoke_test.py

@@ -8,7 +8,7 @@ optionally captures raw ADC samples for offline analysis.
 
 Usage:
   python smoke_test.py              # Mock mode (no hardware)
-  python smoke_test.py --live       # Real FT601 hardware
+  python smoke_test.py --live       # Real FT2232H hardware
   python smoke_test.py --live --adc-dump adc_raw.npy  # Capture ADC data
 
 Self-Test Subsystems:
@@ -35,7 +35,7 @@ import numpy as np
 
 # Add parent directory for radar_protocol import
 sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
-from radar_protocol import RadarProtocol, FT601Connection
+from radar_protocol import RadarProtocol, FT2232HConnection
 
 logging.basicConfig(
     level=logging.INFO,
@@ -67,7 +67,7 @@ TEST_NAMES = {
 class SmokeTest:
     """Host-side smoke test controller."""
 
-    def __init__(self, connection: FT601Connection, adc_dump_path: str = None):
+    def __init__(self, connection: FT2232HConnection, adc_dump_path: str = None):
         self.conn = connection
         self.adc_dump_path = adc_dump_path
         self._adc_samples = []
@@ -85,7 +85,7 @@ class SmokeTest:
         # Step 1: Connect
         if not self.conn.is_open:
             if not self.conn.open():
-                log.error("Failed to open FT601 connection")
+                log.error("Failed to open FT2232H connection")
                 return False
 
         # Step 2: Send self-test trigger (opcode 0x30)
@@ -205,15 +205,15 @@ class SmokeTest:
 def main():
     parser = argparse.ArgumentParser(description="AERIS-10 Board Smoke Test")
     parser.add_argument("--live", action="store_true",
-                        help="Use real FT601 hardware (default: mock)")
+                        help="Use real FT2232H hardware (default: mock)")
     parser.add_argument("--device", type=int, default=0,
-                        help="FT601 device index")
+                        help="FT2232H device index")
     parser.add_argument("--adc-dump", type=str, default=None,
                         help="Save raw ADC samples to .npy file")
     args = parser.parse_args()
 
     mock_mode = not args.live
-    conn = FT601Connection(mock=mock_mode)
+    conn = FT2232HConnection(mock=mock_mode)
 
     tester = SmokeTest(conn, adc_dump_path=args.adc_dump)
     success = tester.run()

9_Firmware/9_3_GUI/test_radar_dashboard.py

@@ -16,10 +16,11 @@ import unittest
 import numpy as np
 
 from radar_protocol import (
-    RadarProtocol, FT601Connection, DataRecorder, RadarAcquisition,
+    RadarProtocol, FT2232HConnection, DataRecorder, RadarAcquisition,
     RadarFrame, StatusResponse, Opcode,
     HEADER_BYTE, FOOTER_BYTE, STATUS_HEADER_BYTE,
     NUM_RANGE_BINS, NUM_DOPPLER_BINS, NUM_CELLS,
+    DATA_PACKET_SIZE,
     _HARDWARE_ONLY_OPCODES, _REPLAY_ADJUSTABLE_OPCODES,
 )
 
@@ -72,23 +73,13 @@ class TestRadarProtocol(unittest.TestCase):
     # ----------------------------------------------------------------
     def _make_data_packet(self, range_i=100, range_q=200,
                           dop_i=300, dop_q=400, detection=0):
-        """Build a synthetic 35-byte data packet matching FPGA format."""
+        """Build a synthetic 11-byte data packet matching FT2232H format."""
         pkt = bytearray()
         pkt.append(HEADER_BYTE)
-
+        pkt += struct.pack(">h", range_q & 0xFFFF if range_q >= 0 else range_q)
-        # Range: word 0 = {range_q[15:0], range_i[15:0]}
+        pkt += struct.pack(">h", range_i & 0xFFFF if range_i >= 0 else range_i)
-        rword = (((range_q & 0xFFFF) << 16) | (range_i & 0xFFFF)) & 0xFFFFFFFF
+        pkt += struct.pack(">h", dop_i & 0xFFFF if dop_i >= 0 else dop_i)
-        pkt += struct.pack(">I", rword)
+        pkt += struct.pack(">h", dop_q & 0xFFFF if dop_q >= 0 else dop_q)
-        # Words 1-3: shifted copies (don't matter for parsing)
-        for shift in [8, 16, 24]:
-            pkt += struct.pack(">I", ((rword << shift) & 0xFFFFFFFF))
-
-        # Doppler: word 0 = {dop_i[15:0], dop_q[15:0]}
-        dword = (((dop_i & 0xFFFF) << 16) | (dop_q & 0xFFFF)) & 0xFFFFFFFF
-        pkt += struct.pack(">I", dword)
-        for shift in [8, 16, 24]:
-            pkt += struct.pack(">I", ((dword << shift) & 0xFFFFFFFF))
-
         pkt.append(detection & 0x01)
         pkt.append(FOOTER_BYTE)
         return bytes(pkt)
@@ -265,23 +256,23 @@ class TestRadarProtocol(unittest.TestCase):
     def test_find_boundaries_truncated(self):
         """Truncated packet should not be returned."""
         data_pkt = self._make_data_packet()
-        buf = data_pkt[:20]  # truncated
+        buf = data_pkt[:6]  # truncated (less than 11-byte packet size)
         boundaries = RadarProtocol.find_packet_boundaries(buf)
         self.assertEqual(len(boundaries), 0)
 
 
-class TestFT601Connection(unittest.TestCase):
+class TestFT2232HConnection(unittest.TestCase):
-    """Test mock FT601 connection."""
+    """Test mock FT2232H connection."""
 
     def test_mock_open_close(self):
-        conn = FT601Connection(mock=True)
+        conn = FT2232HConnection(mock=True)
         self.assertTrue(conn.open())
         self.assertTrue(conn.is_open)
         conn.close()
         self.assertFalse(conn.is_open)
 
     def test_mock_read_returns_data(self):
-        conn = FT601Connection(mock=True)
+        conn = FT2232HConnection(mock=True)
         conn.open()
         data = conn.read(4096)
         self.assertIsNotNone(data)
@@ -290,7 +281,7 @@ class TestFT601Connection(unittest.TestCase):
 
     def test_mock_read_contains_valid_packets(self):
         """Mock data should contain parseable data packets."""
-        conn = FT601Connection(mock=True)
+        conn = FT2232HConnection(mock=True)
         conn.open()
         raw = conn.read(4096)
         packets = RadarProtocol.find_packet_boundaries(raw)
@@ -302,18 +293,18 @@ class TestFT601Connection(unittest.TestCase):
         conn.close()
 
     def test_mock_write(self):
-        conn = FT601Connection(mock=True)
+        conn = FT2232HConnection(mock=True)
         conn.open()
         cmd = RadarProtocol.build_command(0x01, 1)
         self.assertTrue(conn.write(cmd))
         conn.close()
 
     def test_read_when_closed(self):
-        conn = FT601Connection(mock=True)
+        conn = FT2232HConnection(mock=True)
         self.assertIsNone(conn.read())
 
     def test_write_when_closed(self):
-        conn = FT601Connection(mock=True)
+        conn = FT2232HConnection(mock=True)
         self.assertFalse(conn.write(b"\x00\x00\x00\x00"))
 
 
@@ -365,7 +356,7 @@ class TestRadarAcquisition(unittest.TestCase):
     """Test acquisition thread with mock connection."""
 
     def test_acquisition_produces_frames(self):
-        conn = FT601Connection(mock=True)
+        conn = FT2232HConnection(mock=True)
         conn.open()
         fq = queue.Queue(maxsize=16)
         acq = RadarAcquisition(conn, fq)
@@ -392,7 +383,7 @@ class TestRadarAcquisition(unittest.TestCase):
         # If no frame arrived in timeout, that's still OK for a fast CI run
 
     def test_acquisition_stop(self):
-        conn = FT601Connection(mock=True)
+        conn = FT2232HConnection(mock=True)
         conn.open()
         fq = queue.Queue(maxsize=4)
         acq = RadarAcquisition(conn, fq)
@@ -438,25 +429,20 @@ class TestEndToEnd(unittest.TestCase):
             self.assertEqual(word & 0xFFFF, 42)
 
     def test_data_packet_roundtrip(self):
-        """Build a data packet, parse it, verify values match."""
+        """Build an 11-byte data packet, parse it, verify values match."""
-        # Build packet manually
+        ri, rq, di, dq = 1234, -5678, 9012, -3456
+
         pkt = bytearray()
         pkt.append(HEADER_BYTE)
-
+        pkt += struct.pack(">h", rq)
-        ri, rq, di, dq = 1234, -5678, 9012, -3456
+        pkt += struct.pack(">h", ri)
-        rword = (((rq & 0xFFFF) << 16) | (ri & 0xFFFF)) & 0xFFFFFFFF
+        pkt += struct.pack(">h", di)
-        pkt += struct.pack(">I", rword)
+        pkt += struct.pack(">h", dq)
-        for s in [8, 16, 24]:
-            pkt += struct.pack(">I", (rword << s) & 0xFFFFFFFF)
-
-        dword = (((di & 0xFFFF) << 16) | (dq & 0xFFFF)) & 0xFFFFFFFF
-        pkt += struct.pack(">I", dword)
-        for s in [8, 16, 24]:
-            pkt += struct.pack(">I", (dword << s) & 0xFFFFFFFF)
-
         pkt.append(1)
         pkt.append(FOOTER_BYTE)
 
+        self.assertEqual(len(pkt), DATA_PACKET_SIZE)
+
         result = RadarProtocol.parse_data_packet(bytes(pkt))
         self.assertIsNotNone(result)
         self.assertEqual(result["range_i"], ri)
@@ -497,8 +483,8 @@ class TestReplayConnection(unittest.TestCase):
         from radar_protocol import ReplayConnection
         conn = ReplayConnection(self.NPY_DIR, use_mti=True)
         conn.open()
-        # Each packet is 35 bytes, total = 2048 * 35
+        # Each packet is 11 bytes, total = 2048 * 11
-        expected_bytes = NUM_CELLS * 35
+        expected_bytes = NUM_CELLS * DATA_PACKET_SIZE
         self.assertEqual(conn._frame_len, expected_bytes)
         conn.close()
 
@@ -548,7 +534,7 @@ class TestReplayConnection(unittest.TestCase):
         from radar_protocol import ReplayConnection
         conn = ReplayConnection(self.NPY_DIR, use_mti=False)
         conn.open()
-        self.assertEqual(conn._frame_len, NUM_CELLS * 35)
+        self.assertEqual(conn._frame_len, NUM_CELLS * DATA_PACKET_SIZE)
         # No-MTI with DC notch=2 and default CFAR → 0 detections
         raw = conn._packets
         boundaries = RadarProtocol.find_packet_boundaries(raw)