fix(test,docs): remove dead xfft_32 files, update test infra for dual-16 FFT, add regression guide
- Remove xfft_32.v, tb_xfft_32.v, and fft_twiddle_32.mem (dead code since PR #33 moved Doppler to dual 16-pt FFT architecture) - Update run_regression.sh: xfft_16 in PROD_RTL, remove xfft_32 from EXTRA_RTL and all compile commands - Update tb_fft_engine.v to test with N=16 / fft_twiddle_16.mem - Update validate_mem_files.py: validate fft_twiddle_16.mem instead of 32 - Update testbenches and golden data from main_cleanup branch to match dual-16 architecture (tb_doppler_cosim, tb_doppler_realdata, tb_fullchain_realdata, tb_fullchain_mti_cfar_realdata, tb_system_e2e, radar_receiver_final, golden_doppler.mem) - Update CONTRIBUTING.md with full regression test instructions covering FPGA, MCU, GUI, co-simulation, and formal verification Regression: 23/23 FPGA, 20/20 MCU, 57/58 GUI, 56/56 mem validation, all co-sim scenarios PASS.
This commit is contained in:
Jason
@@ -30,7 +30,7 @@ T_LONG_CHIRP = 30e-6 # 30 us long chirp
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T_SHORT_CHIRP = 0.5e-6 # 0.5 us short chirp
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CIC_DECIMATION = 4
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FFT_SIZE = 1024
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DOPPLER_FFT_SIZE = 32
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DOPPLER_FFT_SIZE = 16
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LONG_CHIRP_SAMPLES = int(T_LONG_CHIRP * FS_SYS) # 3000 at 100 MHz
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# Overlap-save parameters
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@@ -84,7 +84,7 @@ def test_structural():
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expected = {
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# FFT twiddle files (quarter-wave cosine ROMs)
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'fft_twiddle_1024.mem': {'lines': 256, 'desc': '1024-pt FFT quarter-wave cos ROM'},
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'fft_twiddle_32.mem': {'lines': 8, 'desc': '32-pt FFT quarter-wave cos ROM'},
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'fft_twiddle_16.mem': {'lines': 4, 'desc': '16-pt FFT quarter-wave cos ROM'},
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# Long chirp segments (4 segments x 1024 samples each)
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'long_chirp_seg0_i.mem': {'lines': 1024, 'desc': 'Long chirp seg 0 I'},
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'long_chirp_seg0_q.mem': {'lines': 1024, 'desc': 'Long chirp seg 0 Q'},
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@@ -145,13 +145,13 @@ def test_twiddle_1024():
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print(f" Max twiddle error: {max_err} LSB across {len(vals)} entries")
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def test_twiddle_32():
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print("\n=== TEST 2b: FFT Twiddle 32 Validation ===")
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vals = read_mem_hex('fft_twiddle_32.mem')
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def test_twiddle_16():
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print("\n=== TEST 2b: FFT Twiddle 16 Validation ===")
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vals = read_mem_hex('fft_twiddle_16.mem')
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max_err = 0
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for k in range(min(8, len(vals))):
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angle = 2.0 * math.pi * k / 32.0
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for k in range(min(4, len(vals))):
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angle = 2.0 * math.pi * k / 16.0
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expected = int(round(math.cos(angle) * 32767.0))
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expected = max(-32768, min(32767, expected))
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actual = vals[k]
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@@ -160,13 +160,13 @@ def test_twiddle_32():
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max_err = err
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check(max_err <= 1,
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f"fft_twiddle_32.mem: max twiddle error = {max_err} LSB (tolerance: 1)")
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f"fft_twiddle_16.mem: max twiddle error = {max_err} LSB (tolerance: 1)")
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print(f" Max twiddle error: {max_err} LSB across {len(vals)} entries")
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# Print all 8 entries for reference
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print(" Twiddle 32 entries:")
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for k in range(min(8, len(vals))):
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angle = 2.0 * math.pi * k / 32.0
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# Print all 4 entries for reference
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print(" Twiddle 16 entries:")
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for k in range(min(4, len(vals))):
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angle = 2.0 * math.pi * k / 16.0
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expected = int(round(math.cos(angle) * 32767.0))
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print(f" k={k}: file=0x{vals[k] & 0xFFFF:04x} ({vals[k]:6d}), "
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f"expected=0x{expected & 0xFFFF:04x} ({expected:6d}), "
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@@ -605,7 +605,7 @@ def main():
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test_structural()
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test_twiddle_1024()
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test_twiddle_32()
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test_twiddle_16()
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test_long_chirp()
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test_short_chirp()
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test_chirp_vs_model()
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File diff suppressed because it is too large
Load Diff
@@ -6,8 +6,8 @@
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*
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* Tests the complete Doppler processing pipeline:
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* - Accumulates 32 chirps x 64 range bins into BRAM
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* - Processes each range bin: Hamming window -> 32-pt FFT
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* - Outputs 2048 samples (64 range bins x 32 Doppler bins)
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* - Processes each range bin: Hamming window -> dual 16-pt FFT (staggered PRF)
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* - Outputs 2048 samples (64 range bins x 32 packed Doppler bins)
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*
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* Validates:
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* 1. FSM state transitions (IDLE -> ACCUMULATE -> LOAD_FFT -> ... -> OUTPUT)
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@@ -20,10 +20,10 @@
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* RTL output written to: tb/cosim/rtl_doppler_<scenario>.csv
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* RTL FFT inputs written: tb/cosim/rtl_doppler_fft_in_<scenario>.csv
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*
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* Compile (SIMULATION branch — uses behavioral xfft_32/fft_engine):
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* Compile (SIMULATION branch — uses behavioral xfft_16/fft_engine):
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* iverilog -g2001 -DSIMULATION \
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* -o tb/tb_doppler_cosim.vvp \
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* tb/tb_doppler_cosim.v doppler_processor.v xfft_32.v fft_engine.v
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* tb/tb_doppler_cosim.v doppler_processor.v xfft_16.v fft_engine.v
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*
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* Scenarios (use -D flags):
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* default: stationary target
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@@ -37,7 +37,7 @@ module tb_doppler_cosim;
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// Parameters
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// ============================================================================
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localparam CLK_PERIOD = 10.0; // 100 MHz
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localparam DOPPLER_FFT = 32;
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localparam DOPPLER_FFT = 32; // Total packed Doppler bins (2 sub-frames x 16-pt FFT)
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localparam RANGE_BINS = 64;
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localparam CHIRPS = 32;
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localparam TOTAL_INPUTS = CHIRPS * RANGE_BINS; // 2048
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@@ -193,7 +193,7 @@ initial begin
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$display("Doppler Processor Co-Sim Testbench");
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$display("Scenario: %0s", SCENARIO);
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$display("Input samples: %0d (32 chirps x 64 range bins)", TOTAL_INPUTS);
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$display("Expected outputs: %0d (64 range bins x 32 doppler bins)",
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$display("Expected outputs: %0d (64 range bins x 32 packed Doppler bins, dual 16-pt FFT)",
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TOTAL_OUTPUTS);
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$display("============================================================");
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@@ -17,7 +17,7 @@
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* Compile:
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* iverilog -Wall -DSIMULATION -g2012 \
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* -o tb/tb_doppler_realdata.vvp \
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* tb/tb_doppler_realdata.v doppler_processor.v xfft_32.v fft_engine.v
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* tb/tb_doppler_realdata.v doppler_processor.v xfft_16.v fft_engine.v
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*
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* Run from: 9_Firmware/9_2_FPGA/
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* vvp tb/tb_doppler_realdata.vvp
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@@ -29,7 +29,7 @@ module tb_doppler_realdata;
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// PARAMETERS
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// ============================================================================
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localparam CLK_PERIOD = 10.0; // 100 MHz
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localparam DOPPLER_FFT = 32;
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localparam DOPPLER_FFT = 32; // Total packed Doppler bins (2 sub-frames x 16-pt FFT)
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localparam RANGE_BINS = 64;
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localparam CHIRPS = 32;
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localparam TOTAL_INPUTS = CHIRPS * RANGE_BINS; // 2048
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@@ -4,7 +4,7 @@
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* tb_fft_engine.v
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*
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* Testbench for the synthesizable FFT engine.
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* Tests with N=32 first (fast), then validates key properties.
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* Tests with N=16 (matching the dual-16 Doppler architecture).
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*
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* Test Groups:
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* 1. Impulse response: FFT of delta[0] should be all 1s
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@@ -19,10 +19,10 @@
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module tb_fft_engine;
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// ============================================================================
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// PARAMETERS — test with 32-pt for speed
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// PARAMETERS — test with 16-pt to match dual-FFT Doppler architecture
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// ============================================================================
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localparam N = 32;
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localparam LOG2N = 5;
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localparam N = 16;
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localparam LOG2N = 4;
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localparam DATA_W = 16;
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localparam INT_W = 32;
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localparam TW_W = 16;
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@@ -47,7 +47,7 @@ fft_engine #(
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.DATA_W(DATA_W),
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.INTERNAL_W(INT_W),
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.TWIDDLE_W(TW_W),
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.TWIDDLE_FILE("fft_twiddle_32.mem")
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.TWIDDLE_FILE("fft_twiddle_16.mem")
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) dut (
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.clk(clk),
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.reset_n(reset_n),
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@@ -9,7 +9,7 @@
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*
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* range_bin_decimator (peak detection, 1024->64)
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* -> mti_canceller (2-pulse, mti_enable=1)
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* -> doppler_processor_optimized (Hamming + 32-pt FFT)
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* -> doppler_processor_optimized (Hamming + dual 16-pt FFT)
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* -> DC notch filter (width=2, inline logic)
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* -> cfar_ca (CA mode, guard=2, train=8, alpha=0x30)
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*
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@@ -41,7 +41,7 @@
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* -o tb/tb_fullchain_mti_cfar_realdata.vvp \
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* tb/tb_fullchain_mti_cfar_realdata.v \
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* range_bin_decimator.v mti_canceller.v doppler_processor.v \
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* xfft_32.v fft_engine.v cfar_ca.v
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* xfft_16.v fft_engine.v cfar_ca.v
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*
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* Run from: 9_Firmware/9_2_FPGA/
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* vvp tb/tb_fullchain_mti_cfar_realdata.vvp
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@@ -375,7 +375,7 @@ initial begin
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$display(" Full-Chain Real-Data Co-Simulation (MTI + CFAR)");
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$display(" range_bin_decimator (peak, 1024->64)");
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$display(" -> mti_canceller (2-pulse, enable=1)");
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$display(" -> doppler_processor_optimized (Hamming + 32-pt FFT)");
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$display(" -> doppler_processor_optimized (Hamming + dual 16-pt FFT)");
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$display(" -> DC notch filter (width=%0d)", DC_NOTCH_WIDTH);
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$display(" -> cfar_ca (CA, guard=2, train=8, alpha=0x30)");
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$display(" ADI CN0566 Phaser 10.525 GHz X-band FMCW");
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@@ -7,7 +7,7 @@
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* (post-range-FFT, 32 chirps x 1024 bins) through:
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*
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* range_bin_decimator (peak detection, 1024→64)
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* → doppler_processor_optimized (Hamming + 32-pt FFT)
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* → doppler_processor_optimized (Hamming + dual 16-pt FFT)
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*
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* and compares the Doppler output bit-for-bit against the Python golden
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* reference that models the same chain (golden_reference.py).
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@@ -27,7 +27,7 @@
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* iverilog -Wall -DSIMULATION -g2012 \
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* -o tb/tb_fullchain_realdata.vvp \
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* tb/tb_fullchain_realdata.v \
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* range_bin_decimator.v doppler_processor.v xfft_32.v fft_engine.v
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* range_bin_decimator.v doppler_processor.v xfft_16.v fft_engine.v
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*
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* Run from: 9_Firmware/9_2_FPGA/
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* vvp tb/tb_fullchain_realdata.vvp
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@@ -243,7 +243,7 @@ initial begin
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$display("============================================================");
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$display(" Full-Chain Real-Data Co-Simulation");
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$display(" range_bin_decimator (peak, 1024->64)");
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$display(" -> doppler_processor_optimized (Hamming + 32-pt FFT)");
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$display(" -> doppler_processor_optimized (Hamming + dual 16-pt FFT)");
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$display(" ADI CN0566 Phaser 10.525 GHz X-band FMCW");
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$display(" Input: %0d chirps x %0d range FFT bins = %0d samples",
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CHIRPS, INPUT_BINS, TOTAL_INPUT_SAMPLES);
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@@ -34,7 +34,7 @@
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* cdc_modules.v fir_lowpass.v ddc_input_interface.v \
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* chirp_memory_loader_param.v latency_buffer.v \
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* matched_filter_multi_segment.v matched_filter_processing_chain.v \
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* range_bin_decimator.v doppler_processor.v xfft_32.v fft_engine.v \
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* range_bin_decimator.v doppler_processor.v xfft_16.v fft_engine.v \
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* usb_data_interface.v edge_detector.v radar_mode_controller.v
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*
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* Run:
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@@ -1,355 +0,0 @@
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`timescale 1ns / 1ps
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/**
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* tb_xfft_32.v
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*
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* Testbench for xfft_32 AXI-Stream FFT wrapper.
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* Verifies the wrapper correctly interfaces with fft_engine via AXI-Stream.
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*
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* Test Groups:
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* 1. Impulse response (all output bins = input amplitude)
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* 2. DC input (bin 0 = A*N, rest ~= 0)
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* 3. Single tone detection
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* 4. AXI-Stream handshake correctness (tvalid, tlast, tready)
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* 5. Back-to-back transforms (no state leakage)
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*/
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module tb_xfft_32;
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// ============================================================================
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// PARAMETERS
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// ============================================================================
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localparam N = 32;
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localparam CLK_PERIOD = 10;
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// ============================================================================
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// SIGNALS
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// ============================================================================
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reg aclk, aresetn;
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reg [7:0] cfg_tdata;
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reg cfg_tvalid;
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wire cfg_tready;
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reg [31:0] din_tdata;
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reg din_tvalid;
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reg din_tlast;
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wire [31:0] dout_tdata;
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wire dout_tvalid;
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wire dout_tlast;
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reg dout_tready;
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// ============================================================================
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// DUT
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// ============================================================================
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xfft_32 dut (
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.aclk(aclk),
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.aresetn(aresetn),
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.s_axis_config_tdata(cfg_tdata),
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.s_axis_config_tvalid(cfg_tvalid),
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.s_axis_config_tready(cfg_tready),
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.s_axis_data_tdata(din_tdata),
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.s_axis_data_tvalid(din_tvalid),
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.s_axis_data_tlast(din_tlast),
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.m_axis_data_tdata(dout_tdata),
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.m_axis_data_tvalid(dout_tvalid),
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.m_axis_data_tlast(dout_tlast),
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.m_axis_data_tready(dout_tready)
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);
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// ============================================================================
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// CLOCK
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// ============================================================================
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initial aclk = 0;
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always #(CLK_PERIOD/2) aclk = ~aclk;
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// ============================================================================
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// PASS/FAIL TRACKING
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// ============================================================================
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integer pass_count, fail_count;
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task check;
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input cond;
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input [512*8-1:0] label;
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begin
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if (cond) begin
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$display(" [PASS] %0s", label);
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pass_count = pass_count + 1;
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end else begin
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$display(" [FAIL] %0s", label);
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fail_count = fail_count + 1;
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end
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end
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endtask
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// ============================================================================
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// OUTPUT CAPTURE
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// ============================================================================
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reg signed [15:0] out_re [0:N-1];
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reg signed [15:0] out_im [0:N-1];
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integer out_idx;
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reg got_tlast;
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integer tlast_count;
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// ============================================================================
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// HELPER TASKS
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// ============================================================================
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task do_reset;
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begin
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aresetn = 0;
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cfg_tdata = 0;
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cfg_tvalid = 0;
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din_tdata = 0;
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din_tvalid = 0;
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din_tlast = 0;
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dout_tready = 1;
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repeat(5) @(posedge aclk);
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aresetn = 1;
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repeat(2) @(posedge aclk);
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end
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endtask
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// Send config (forward FFT: tdata[0]=1)
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// Waits for cfg_tready (wrapper in S_IDLE) before sending
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task send_config;
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input [7:0] cfg;
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integer wait_cnt;
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begin
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// Wait for wrapper to be ready (S_IDLE)
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wait_cnt = 0;
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while (!cfg_tready && wait_cnt < 5000) begin
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@(posedge aclk);
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wait_cnt = wait_cnt + 1;
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end
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cfg_tdata = cfg;
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cfg_tvalid = 1;
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@(posedge aclk);
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cfg_tvalid = 0;
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cfg_tdata = 0;
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end
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endtask
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// Feed N samples: each sample is {im[15:0], re[15:0]}
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// in_re_arr and in_im_arr must be pre-loaded
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reg signed [15:0] feed_re [0:N-1];
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reg signed [15:0] feed_im [0:N-1];
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task feed_data;
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integer i;
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begin
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for (i = 0; i < N; i = i + 1) begin
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din_tdata = {feed_im[i], feed_re[i]};
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din_tvalid = 1;
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din_tlast = (i == N - 1) ? 1 : 0;
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@(posedge aclk);
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end
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din_tvalid = 0;
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din_tlast = 0;
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din_tdata = 0;
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end
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||||
endtask
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||||
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||||
// Capture N output samples
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task capture_output;
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||||
integer timeout;
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begin
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||||
out_idx = 0;
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got_tlast = 0;
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||||
tlast_count = 0;
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timeout = 0;
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||||
while (out_idx < N && timeout < 5000) begin
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@(posedge aclk);
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if (dout_tvalid && dout_tready) begin
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out_re[out_idx] = dout_tdata[15:0];
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out_im[out_idx] = dout_tdata[31:16];
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if (dout_tlast) begin
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got_tlast = 1;
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tlast_count = tlast_count + 1;
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||||
end
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||||
out_idx = out_idx + 1;
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||||
end
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||||
timeout = timeout + 1;
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||||
end
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||||
end
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||||
endtask
|
||||
|
||||
// ============================================================================
|
||||
// VCD
|
||||
// ============================================================================
|
||||
initial begin
|
||||
$dumpfile("tb_xfft_32.vcd");
|
||||
$dumpvars(0, tb_xfft_32);
|
||||
end
|
||||
|
||||
// ============================================================================
|
||||
// MAIN TEST
|
||||
// ============================================================================
|
||||
integer i;
|
||||
reg signed [31:0] err;
|
||||
integer max_err;
|
||||
integer max_mag_bin;
|
||||
reg signed [31:0] max_mag, mag;
|
||||
real angle;
|
||||
|
||||
initial begin
|
||||
pass_count = 0;
|
||||
fail_count = 0;
|
||||
|
||||
$display("============================================================");
|
||||
$display(" xfft_32 AXI-Stream Wrapper Testbench");
|
||||
$display("============================================================");
|
||||
|
||||
do_reset;
|
||||
|
||||
// ================================================================
|
||||
// TEST 1: Impulse Response
|
||||
// ================================================================
|
||||
$display("");
|
||||
$display("--- Test 1: Impulse Response ---");
|
||||
|
||||
for (i = 0; i < N; i = i + 1) begin
|
||||
feed_re[i] = (i == 0) ? 16'sd1000 : 16'sd0;
|
||||
feed_im[i] = 16'sd0;
|
||||
end
|
||||
|
||||
send_config(8'h01); // Forward FFT
|
||||
feed_data;
|
||||
capture_output;
|
||||
|
||||
check(out_idx == N, "Received N output samples");
|
||||
check(got_tlast == 1, "Got tlast on output");
|
||||
|
||||
max_err = 0;
|
||||
for (i = 0; i < N; i = i + 1) begin
|
||||
err = out_re[i] - 1000;
|
||||
if (err < 0) err = -err;
|
||||
if (err > max_err) max_err = err;
|
||||
err = out_im[i];
|
||||
if (err < 0) err = -err;
|
||||
if (err > max_err) max_err = err;
|
||||
end
|
||||
$display(" Impulse max error: %0d", max_err);
|
||||
check(max_err < 10, "Impulse: all bins ~= 1000");
|
||||
|
||||
// ================================================================
|
||||
// TEST 2: DC Input
|
||||
// ================================================================
|
||||
$display("");
|
||||
$display("--- Test 2: DC Input ---");
|
||||
|
||||
for (i = 0; i < N; i = i + 1) begin
|
||||
feed_re[i] = 16'sd100;
|
||||
feed_im[i] = 16'sd0;
|
||||
end
|
||||
|
||||
send_config(8'h01);
|
||||
feed_data;
|
||||
capture_output;
|
||||
|
||||
$display(" DC bin[0] = %0d + j%0d (expect ~3200)", out_re[0], out_im[0]);
|
||||
check(out_re[0] >= 3100 && out_re[0] <= 3300, "DC: bin 0 ~= 3200 (5% tol)");
|
||||
|
||||
max_err = 0;
|
||||
for (i = 1; i < N; i = i + 1) begin
|
||||
err = out_re[i]; if (err < 0) err = -err;
|
||||
if (err > max_err) max_err = err;
|
||||
err = out_im[i]; if (err < 0) err = -err;
|
||||
if (err > max_err) max_err = err;
|
||||
end
|
||||
$display(" DC max non-DC: %0d", max_err);
|
||||
check(max_err < 25, "DC: non-DC bins ~= 0");
|
||||
|
||||
// ================================================================
|
||||
// TEST 3: Single Tone (bin 4)
|
||||
// ================================================================
|
||||
$display("");
|
||||
$display("--- Test 3: Single Tone (bin 4) ---");
|
||||
|
||||
for (i = 0; i < N; i = i + 1) begin
|
||||
angle = 6.28318530718 * 4.0 * i / 32.0;
|
||||
feed_re[i] = $rtoi($cos(angle) * 1000.0);
|
||||
feed_im[i] = 16'sd0;
|
||||
end
|
||||
|
||||
send_config(8'h01);
|
||||
feed_data;
|
||||
capture_output;
|
||||
|
||||
max_mag = 0;
|
||||
max_mag_bin = 0;
|
||||
for (i = 0; i < N; i = i + 1) begin
|
||||
mag = out_re[i] * out_re[i] + out_im[i] * out_im[i];
|
||||
if (mag > max_mag) begin
|
||||
max_mag = mag;
|
||||
max_mag_bin = i;
|
||||
end
|
||||
end
|
||||
$display(" Tone peak bin: %0d (expect 4 or 28)", max_mag_bin);
|
||||
check(max_mag_bin == 4 || max_mag_bin == 28, "Tone: peak at bin 4 or 28");
|
||||
|
||||
// ================================================================
|
||||
// TEST 4: Back-to-back transforms
|
||||
// ================================================================
|
||||
$display("");
|
||||
$display("--- Test 4: Back-to-Back Transforms ---");
|
||||
|
||||
// First: impulse
|
||||
for (i = 0; i < N; i = i + 1) begin
|
||||
feed_re[i] = (i == 0) ? 16'sd500 : 16'sd0;
|
||||
feed_im[i] = 16'sd0;
|
||||
end
|
||||
send_config(8'h01);
|
||||
feed_data;
|
||||
capture_output;
|
||||
check(out_idx == N, "Back-to-back 1st: got N outputs");
|
||||
|
||||
// Second: DC immediately after
|
||||
for (i = 0; i < N; i = i + 1) begin
|
||||
feed_re[i] = 16'sd50;
|
||||
feed_im[i] = 16'sd0;
|
||||
end
|
||||
send_config(8'h01);
|
||||
feed_data;
|
||||
capture_output;
|
||||
check(out_idx == N, "Back-to-back 2nd: got N outputs");
|
||||
$display(" 2nd transform bin[0] = %0d (expect ~1600)", out_re[0]);
|
||||
check(out_re[0] >= 1500 && out_re[0] <= 1700, "Back-to-back 2nd: bin 0 ~= 1600");
|
||||
|
||||
// ================================================================
|
||||
// TEST 5: Zero input
|
||||
// ================================================================
|
||||
$display("");
|
||||
$display("--- Test 5: Zero Input ---");
|
||||
|
||||
for (i = 0; i < N; i = i + 1) begin
|
||||
feed_re[i] = 16'sd0;
|
||||
feed_im[i] = 16'sd0;
|
||||
end
|
||||
send_config(8'h01);
|
||||
feed_data;
|
||||
capture_output;
|
||||
|
||||
max_err = 0;
|
||||
for (i = 0; i < N; i = i + 1) begin
|
||||
err = out_re[i]; if (err < 0) err = -err;
|
||||
if (err > max_err) max_err = err;
|
||||
err = out_im[i]; if (err < 0) err = -err;
|
||||
if (err > max_err) max_err = err;
|
||||
end
|
||||
check(max_err == 0, "Zero input: all outputs = 0");
|
||||
|
||||
// ================================================================
|
||||
// SUMMARY
|
||||
// ================================================================
|
||||
$display("");
|
||||
$display("============================================================");
|
||||
$display(" RESULTS: %0d/%0d passed", pass_count, pass_count + fail_count);
|
||||
if (fail_count == 0)
|
||||
$display(" ALL TESTS PASSED");
|
||||
else
|
||||
$display(" SOME TESTS FAILED");
|
||||
$display("============================================================");
|
||||
|
||||
$finish;
|
||||
end
|
||||
|
||||
endmodule
|
||||
Reference in New Issue
Block a user