fix: enforce strict ruff lint (17 rule sets) across entire repo

- Expand ruff config from E/F to 17 rule sets (B, RUF, SIM, PIE, T20,
  ARG, ERA, A, BLE, RET, ISC, TCH, UP, C4, PERF)
- Fix 907 lint errors across all Python files (GUI, FPGA cosim,
  schematics scripts, simulations, utilities, tools)
- Replace all blind except-Exception with specific exception types
- Remove commented-out dead code (ERA001) from cosim/simulation files
- Modernize typing: deprecated typing.List/Dict/Tuple to builtins
- Fix unused args/loop vars, ambiguous unicode, perf anti-patterns
- Delete legacy GUI files V1-V4
- Add V7 test suite, requirements files
- All CI jobs pass: ruff (0 errors), py_compile, pytest (92/92),
  MCU tests (20/20), FPGA regression (25/25)

5_Simulations/AAF_openEMS/aaf_simulation.py

@@ -0,0 +1,438 @@
+#!/usr/bin/env python3
+"""
+AERIS-10 FMC Anti-Alias Filter — openEMS 3D EM Simulation
+==========================================================
+5th-order differential Butterworth LC LPF, fc ≈ 195 MHz
+All components are 0402 (1.0 x 0.5 mm) on FR4 4-layer stackup.
+
+Filter topology (each half of differential):
+  IN → R_series(49.9Ω) → L1(24nH) → C1(27pF)↓GND → L2(82nH) → C2(27pF)↓GND → L3(24nH) → OUT
+  Plus R_diff(100Ω) across input and output differential pairs.
+
+PCB stackup:
+  L1: F.Cu    (signal + components)  — 35µm copper
+  Prepreg: 0.2104 mm
+  L2: In1.Cu  (GND plane)           — 35µm copper
+  Core: 1.0 mm
+  L3: In2.Cu  (Power plane)         — 35µm copper
+  Prepreg: 0.2104 mm
+  L4: B.Cu    (signal)              — 35µm copper
+
+Total board thickness ≈ 1.6 mm
+
+Differential trace: W=0.23mm, S=0.12mm gap → Zdiff≈100Ω
+All 0402 pads: 0.5mm x 0.55mm with 0.5mm gap between pads
+
+Simulation extracts 4-port S-parameters (differential in → differential out)
+then converts to mixed-mode (Sdd11, Sdd21, Scc21) for analysis.
+"""
+
+import os
+import sys
+import numpy as np
+
+sys.path.insert(0, '/Users/ganeshpanth/openEMS-Project/CSXCAD/python')
+sys.path.insert(0, '/Users/ganeshpanth/openEMS-Project/openEMS/python')
+os.environ['PATH'] = '/Users/ganeshpanth/opt/openEMS/bin:' + os.environ.get('PATH', '')
+
+from CSXCAD import ContinuousStructure
+from openEMS import openEMS
+from openEMS.physical_constants import C0, EPS0
+
+unit = 1e-3
+
+f_start = 1e6
+f_stop = 1e9
+f_center = 150e6
+f_IF_low = 120e6
+f_IF_high = 180e6
+
+max_res = C0 / f_stop / unit / 20
+
+copper_t = 0.035
+prepreg_t = 0.2104
+core_t = 1.0
+sub_er = 4.3
+sub_tand = 0.02
+cu_cond = 5.8e7
+
+z_L4_bot = 0.0
+z_L4_top = z_L4_bot + copper_t
+z_pre2_top = z_L4_top + prepreg_t
+z_L3_top = z_pre2_top + copper_t
+z_core_top = z_L3_top + core_t
+z_L2_top = z_core_top + copper_t
+z_pre1_top = z_L2_top + prepreg_t
+z_L1_bot = z_pre1_top
+z_L1_top = z_L1_bot + copper_t
+
+pad_w = 0.50
+pad_l = 0.55
+pad_gap = 0.50
+comp_pitch = 1.5
+
+trace_w = 0.23
+trace_s = 0.12
+pair_pitch = trace_w + trace_s
+
+R_series = 49.9
+R_diff_in = 100.0
+R_diff_out = 100.0
+
+L1_val = 24e-9
+L2_val = 82e-9
+L3_val = 24e-9
+
+C1_val = 27e-12
+C2_val = 27e-12
+
+FDTD = openEMS(NrTS=50000, EndCriteria=1e-5)
+FDTD.SetGaussExcite(0.5 * (f_start + f_stop), 0.5 * (f_stop - f_start))
+FDTD.SetBoundaryCond(['PML_8'] * 6)
+
+CSX = ContinuousStructure()
+FDTD.SetCSX(CSX)
+
+copper = CSX.AddMetal('copper')
+gnd_metal = CSX.AddMetal('gnd_plane')
+fr4_pre1 = CSX.AddMaterial(
+    'prepreg1', epsilon=sub_er, kappa=sub_tand * 2 * np.pi * f_center * EPS0 * sub_er
+)
+fr4_core = CSX.AddMaterial(
+    'core', epsilon=sub_er, kappa=sub_tand * 2 * np.pi * f_center * EPS0 * sub_er
+)
+fr4_pre2 = CSX.AddMaterial(
+    'prepreg2', epsilon=sub_er, kappa=sub_tand * 2 * np.pi * f_center * EPS0 * sub_er
+)
+
+y_P = +pair_pitch / 2
+y_N = -pair_pitch / 2
+
+x_port_in = -1.0
+x_R_series = 0.0
+x_L1 = x_R_series + comp_pitch
+x_C1 = x_L1 + comp_pitch
+x_L2 = x_C1 + comp_pitch
+x_C2 = x_L2 + comp_pitch
+x_L3 = x_C2 + comp_pitch
+x_port_out = x_L3 + comp_pitch + 1.0
+
+x_Rdiff_in = x_port_in - 0.5
+x_Rdiff_out = x_port_out + 0.5
+
+margin = 3.0
+x_min = x_Rdiff_in - margin
+x_max = x_Rdiff_out + margin
+y_min = y_N - margin
+y_max = y_P + margin
+z_min = z_L4_bot - margin
+z_max = z_L1_top + margin
+
+fr4_pre1.AddBox([x_min, y_min, z_L2_top], [x_max, y_max, z_L1_bot], priority=1)
+fr4_core.AddBox([x_min, y_min, z_L3_top], [x_max, y_max, z_core_top], priority=1)
+fr4_pre2.AddBox([x_min, y_min, z_L4_top], [x_max, y_max, z_pre2_top], priority=1)
+
+gnd_metal.AddBox(
+    [x_min + 0.5, y_min + 0.5, z_core_top], [x_max - 0.5, y_max - 0.5, z_L2_top], priority=10
+)
+
+
+def add_trace_segment(x_start, x_end, y_center, z_bot, z_top, w, metal, priority=20):
+    metal.AddBox(
+        [x_start, y_center - w / 2, z_bot], [x_end, y_center + w / 2, z_top], priority=priority
+    )
+
+
+def add_0402_pads(x_center, y_center, z_bot, z_top, metal, priority=20):
+    x_left = x_center - pad_gap / 2 - pad_w / 2
+    metal.AddBox(
+        [x_left - pad_w / 2, y_center - pad_l / 2, z_bot],
+        [x_left + pad_w / 2, y_center + pad_l / 2, z_top],
+        priority=priority,
+    )
+    x_right = x_center + pad_gap / 2 + pad_w / 2
+    metal.AddBox(
+        [x_right - pad_w / 2, y_center - pad_l / 2, z_bot],
+        [x_right + pad_w / 2, y_center + pad_l / 2, z_top],
+        priority=priority,
+    )
+    return (x_left, x_right)
+
+
+def add_lumped_element(
+    CSX, name, element_type, value, x_center, y_center, z_bot, z_top, direction='x'
+):
+    x_left = x_center - pad_gap / 2 - pad_w / 2
+    x_right = x_center + pad_gap / 2 + pad_w / 2
+    if direction == 'x':
+        start = [x_left, y_center - pad_l / 4, z_bot]
+        stop = [x_right, y_center + pad_l / 4, z_top]
+        edir = 'x'
+    elif direction == 'y':
+        start = [x_center - pad_l / 4, y_center - pad_gap / 2 - pad_w / 2, z_bot]
+        stop = [x_center + pad_l / 4, y_center + pad_gap / 2 + pad_w / 2, z_top]
+        edir = 'y'
+    if element_type == 'R':
+        elem = CSX.AddLumpedElement(name, ny=edir, caps=True, R=value)
+    elif element_type == 'L':
+        elem = CSX.AddLumpedElement(name, ny=edir, caps=True, L=value)
+    elif element_type == 'C':
+        elem = CSX.AddLumpedElement(name, ny=edir, caps=True, C=value)
+    elem.AddBox(start, stop, priority=30)
+    return elem
+
+
+def add_shunt_cap(
+    CSX, name, value, x_center, y_trace, _z_top_signal, _z_gnd_top, metal, priority=20,
+):
+    metal.AddBox(
+        [x_center - pad_w / 2, y_trace - pad_l / 2, z_L1_bot],
+        [x_center + pad_w / 2, y_trace + pad_l / 2, z_L1_top],
+        priority=priority,
+    )
+    via_drill = 0.15
+    cap = CSX.AddLumpedElement(name, ny='z', caps=True, C=value)
+    cap.AddBox(
+        [x_center - via_drill, y_trace - via_drill, z_L2_top],
+        [x_center + via_drill, y_trace + via_drill, z_L1_bot],
+        priority=30,
+    )
+    via_metal = CSX.AddMetal(name + '_via')
+    via_metal.AddBox(
+        [x_center - via_drill, y_trace - via_drill, z_L2_top],
+        [x_center + via_drill, y_trace + via_drill, z_L1_bot],
+        priority=25,
+    )
+
+
+add_trace_segment(
+    x_port_in, x_R_series - pad_gap / 2 - pad_w, y_P, z_L1_bot, z_L1_top, trace_w, copper
+)
+add_0402_pads(x_R_series, y_P, z_L1_bot, z_L1_top, copper)
+add_lumped_element(CSX, 'R10', 'R', R_series, x_R_series, y_P, z_L1_bot, z_L1_top)
+add_trace_segment(
+    x_R_series + pad_gap / 2 + pad_w,
+    x_L1 - pad_gap / 2 - pad_w,
+    y_P,
+    z_L1_bot,
+    z_L1_top,
+    trace_w,
+    copper,
+)
+add_0402_pads(x_L1, y_P, z_L1_bot, z_L1_top, copper)
+add_lumped_element(CSX, 'L5', 'L', L1_val, x_L1, y_P, z_L1_bot, z_L1_top)
+add_trace_segment(x_L1 + pad_gap / 2 + pad_w, x_C1, y_P, z_L1_bot, z_L1_top, trace_w, copper)
+add_shunt_cap(CSX, 'C53', C1_val, x_C1, y_P, z_L1_top, z_L2_top, copper)
+add_trace_segment(x_C1, x_L2 - pad_gap / 2 - pad_w, y_P, z_L1_bot, z_L1_top, trace_w, copper)
+add_0402_pads(x_L2, y_P, z_L1_bot, z_L1_top, copper)
+add_lumped_element(CSX, 'L8', 'L', L2_val, x_L2, y_P, z_L1_bot, z_L1_top)
+add_trace_segment(x_L2 + pad_gap / 2 + pad_w, x_C2, y_P, z_L1_bot, z_L1_top, trace_w, copper)
+add_shunt_cap(CSX, 'C55', C2_val, x_C2, y_P, z_L1_top, z_L2_top, copper)
+add_trace_segment(x_C2, x_L3 - pad_gap / 2 - pad_w, y_P, z_L1_bot, z_L1_top, trace_w, copper)
+add_0402_pads(x_L3, y_P, z_L1_bot, z_L1_top, copper)
+add_lumped_element(CSX, 'L10', 'L', L3_val, x_L3, y_P, z_L1_bot, z_L1_top)
+add_trace_segment(x_L3 + pad_gap / 2 + pad_w, x_port_out, y_P, z_L1_bot, z_L1_top, trace_w, copper)
+
+add_trace_segment(
+    x_port_in, x_R_series - pad_gap / 2 - pad_w, y_N, z_L1_bot, z_L1_top, trace_w, copper
+)
+add_0402_pads(x_R_series, y_N, z_L1_bot, z_L1_top, copper)
+add_lumped_element(CSX, 'R11', 'R', R_series, x_R_series, y_N, z_L1_bot, z_L1_top)
+add_trace_segment(
+    x_R_series + pad_gap / 2 + pad_w,
+    x_L1 - pad_gap / 2 - pad_w,
+    y_N,
+    z_L1_bot,
+    z_L1_top,
+    trace_w,
+    copper,
+)
+add_0402_pads(x_L1, y_N, z_L1_bot, z_L1_top, copper)
+add_lumped_element(CSX, 'L6', 'L', L1_val, x_L1, y_N, z_L1_bot, z_L1_top)
+add_trace_segment(x_L1 + pad_gap / 2 + pad_w, x_C1, y_N, z_L1_bot, z_L1_top, trace_w, copper)
+add_shunt_cap(CSX, 'C54', C1_val, x_C1, y_N, z_L1_top, z_L2_top, copper)
+add_trace_segment(x_C1, x_L2 - pad_gap / 2 - pad_w, y_N, z_L1_bot, z_L1_top, trace_w, copper)
+add_0402_pads(x_L2, y_N, z_L1_bot, z_L1_top, copper)
+add_lumped_element(CSX, 'L7', 'L', L2_val, x_L2, y_N, z_L1_bot, z_L1_top)
+add_trace_segment(x_L2 + pad_gap / 2 + pad_w, x_C2, y_N, z_L1_bot, z_L1_top, trace_w, copper)
+add_shunt_cap(CSX, 'C56', C2_val, x_C2, y_N, z_L1_top, z_L2_top, copper)
+add_trace_segment(x_C2, x_L3 - pad_gap / 2 - pad_w, y_N, z_L1_bot, z_L1_top, trace_w, copper)
+add_0402_pads(x_L3, y_N, z_L1_bot, z_L1_top, copper)
+add_lumped_element(CSX, 'L9', 'L', L3_val, x_L3, y_N, z_L1_bot, z_L1_top)
+add_trace_segment(x_L3 + pad_gap / 2 + pad_w, x_port_out, y_N, z_L1_bot, z_L1_top, trace_w, copper)
+
+R4_x = x_port_in - 0.3
+copper.AddBox(
+    [R4_x - pad_l / 2, y_P - pad_w / 2, z_L1_bot],
+    [R4_x + pad_l / 2, y_P + pad_w / 2, z_L1_top],
+    priority=20,
+)
+copper.AddBox(
+    [R4_x - pad_l / 2, y_N - pad_w / 2, z_L1_bot],
+    [R4_x + pad_l / 2, y_N + pad_w / 2, z_L1_top],
+    priority=20,
+)
+R4_elem = CSX.AddLumpedElement('R4', ny='y', caps=True, R=R_diff_in)
+R4_elem.AddBox([R4_x - pad_l / 4, y_N, z_L1_bot], [R4_x + pad_l / 4, y_P, z_L1_top], priority=30)
+
+R18_x = x_port_out + 0.3
+copper.AddBox(
+    [R18_x - pad_l / 2, y_P - pad_w / 2, z_L1_bot],
+    [R18_x + pad_l / 2, y_P + pad_w / 2, z_L1_top],
+    priority=20,
+)
+copper.AddBox(
+    [R18_x - pad_l / 2, y_N - pad_w / 2, z_L1_bot],
+    [R18_x + pad_l / 2, y_N + pad_w / 2, z_L1_top],
+    priority=20,
+)
+R18_elem = CSX.AddLumpedElement('R18', ny='y', caps=True, R=R_diff_out)
+R18_elem.AddBox([R18_x - pad_l / 4, y_N, z_L1_bot], [R18_x + pad_l / 4, y_P, z_L1_top], priority=30)
+
+port1 = FDTD.AddLumpedPort(
+    1,
+    50,
+    [x_port_in, y_P - trace_w / 2, z_L2_top],
+    [x_port_in, y_P + trace_w / 2, z_L1_bot],
+    'z',
+    excite=1.0,
+)
+port2 = FDTD.AddLumpedPort(
+    2,
+    50,
+    [x_port_in, y_N - trace_w / 2, z_L2_top],
+    [x_port_in, y_N + trace_w / 2, z_L1_bot],
+    'z',
+    excite=-1.0,
+)
+port3 = FDTD.AddLumpedPort(
+    3,
+    50,
+    [x_port_out, y_P - trace_w / 2, z_L2_top],
+    [x_port_out, y_P + trace_w / 2, z_L1_bot],
+    'z',
+    excite=0,
+)
+port4 = FDTD.AddLumpedPort(
+    4,
+    50,
+    [x_port_out, y_N - trace_w / 2, z_L2_top],
+    [x_port_out, y_N + trace_w / 2, z_L1_bot],
+    'z',
+    excite=0,
+)
+
+mesh = CSX.GetGrid()
+mesh.SetDeltaUnit(unit)
+mesh.AddLine('x', [x_min, x_max])
+for x_comp in [x_R_series, x_L1, x_C1, x_L2, x_C2, x_L3]:
+    mesh.AddLine('x', np.linspace(x_comp - 1.0, x_comp + 1.0, 15))
+mesh.AddLine('x', [x_port_in, x_port_out])
+mesh.AddLine('x', [R4_x, R18_x])
+mesh.AddLine('y', [y_min, y_max])
+for y_trace in [y_P, y_N]:
+    mesh.AddLine('y', np.linspace(y_trace - 0.5, y_trace + 0.5, 10))
+mesh.AddLine('z', [z_min, z_max])
+mesh.AddLine('z', np.linspace(z_L4_bot - 0.1, z_L1_top + 0.1, 25))
+mesh.SmoothMeshLines('x', max_res, ratio=1.4)
+mesh.SmoothMeshLines('y', max_res, ratio=1.4)
+mesh.SmoothMeshLines('z', max_res / 3, ratio=1.3)
+
+sim_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'results')
+if not os.path.exists(sim_path):
+    os.makedirs(sim_path)
+
+CSX_file = os.path.join(sim_path, 'aaf_filter.xml')
+CSX.Write2XML(CSX_file)
+
+FDTD.Run(sim_path, cleanup=True, verbose=3)
+
+freq = np.linspace(f_start, f_stop, 1001)
+port1.CalcPort(sim_path, freq)
+port2.CalcPort(sim_path, freq)
+port3.CalcPort(sim_path, freq)
+port4.CalcPort(sim_path, freq)
+
+inc1 = port1.uf_inc
+ref1 = port1.uf_ref
+inc2 = port2.uf_inc
+ref2 = port2.uf_ref
+inc3 = port3.uf_inc
+ref3 = port3.uf_ref
+inc4 = port4.uf_inc
+ref4 = port4.uf_ref
+
+a_diff = (inc1 - inc2) / np.sqrt(2)
+b_diff_in = (ref1 - ref2) / np.sqrt(2)
+b_diff_out = (ref3 - ref4) / np.sqrt(2)
+
+Sdd11 = b_diff_in / a_diff
+Sdd21 = b_diff_out / a_diff
+
+b_comm_out = (ref3 + ref4) / np.sqrt(2)
+Scd21 = b_comm_out / a_diff
+
+import matplotlib  # noqa: E402
+matplotlib.use('Agg')
+import matplotlib.pyplot as plt  # noqa: E402
+
+fig, axes = plt.subplots(3, 1, figsize=(12, 14))
+
+ax = axes[0]
+Sdd21_dB = 20 * np.log10(np.abs(Sdd21) + 1e-15)
+ax.plot(freq / 1e6, Sdd21_dB, 'b-', linewidth=2, label='|Sdd21| (Insertion Loss)')
+ax.axvspan(
+    f_IF_low / 1e6, f_IF_high / 1e6, alpha=0.15, color='green', label='IF Band (120-180 MHz)'
+)
+ax.axhline(-3, color='r', linestyle='--', alpha=0.5, label='-3 dB')
+ax.set_xlabel('Frequency (MHz)')
+ax.set_ylabel('|Sdd21| (dB)')
+ax.set_title('Anti-Alias Filter — Differential Insertion Loss')
+ax.set_xlim([0, 1000])
+ax.set_ylim([-60, 5])
+ax.grid(True, alpha=0.3)
+ax.legend()
+
+ax = axes[1]
+Sdd11_dB = 20 * np.log10(np.abs(Sdd11) + 1e-15)
+ax.plot(freq / 1e6, Sdd11_dB, 'r-', linewidth=2, label='|Sdd11| (Return Loss)')
+ax.axvspan(f_IF_low / 1e6, f_IF_high / 1e6, alpha=0.15, color='green', label='IF Band')
+ax.axhline(-10, color='orange', linestyle='--', alpha=0.5, label='-10 dB')
+ax.set_xlabel('Frequency (MHz)')
+ax.set_ylabel('|Sdd11| (dB)')
+ax.set_title('Anti-Alias Filter — Differential Return Loss')
+ax.set_xlim([0, 1000])
+ax.set_ylim([-40, 0])
+ax.grid(True, alpha=0.3)
+ax.legend()
+
+ax = axes[2]
+phase_Sdd21 = np.unwrap(np.angle(Sdd21))
+group_delay = -np.diff(phase_Sdd21) / np.diff(2 * np.pi * freq) * 1e9
+ax.plot(freq[1:] / 1e6, group_delay, 'g-', linewidth=2, label='Group Delay')
+ax.axvspan(f_IF_low / 1e6, f_IF_high / 1e6, alpha=0.15, color='green', label='IF Band')
+ax.set_xlabel('Frequency (MHz)')
+ax.set_ylabel('Group Delay (ns)')
+ax.set_title('Anti-Alias Filter — Group Delay')
+ax.set_xlim([0, 500])
+ax.grid(True, alpha=0.3)
+ax.legend()
+
+plt.tight_layout()
+plot_file = os.path.join(sim_path, 'aaf_filter_response.png')
+plt.savefig(plot_file, dpi=150)
+
+idx_120 = np.argmin(np.abs(freq - f_IF_low))
+idx_150 = np.argmin(np.abs(freq - f_center))
+idx_180 = np.argmin(np.abs(freq - f_IF_high))
+idx_200 = np.argmin(np.abs(freq - 200e6))
+idx_400 = np.argmin(np.abs(freq - 400e6))
+
+
+csv_file = os.path.join(sim_path, 'aaf_sparams.csv')
+np.savetxt(
+    csv_file,
+    np.column_stack([freq / 1e6, Sdd21_dB, Sdd11_dB, 20 * np.log10(np.abs(Scd21) + 1e-15)]),
+    header='Freq_MHz, Sdd21_dB, Sdd11_dB, Scd21_dB',
+    delimiter=',', fmt='%.6f'
+)

5_Simulations/Antenna/Quartz_Waveguide.py

@@ -91,9 +91,9 @@ z_edges = np.concatenate([z_centers - slot_L/2.0, z_centers + slot_L/2.0])
 # -------------------------
 # Mesh lines — EXPLICIT (no GetLine calls)
 # -------------------------
-x_lines = sorted(set([x_min, -t_metal, 0.0, a, a+t_metal, x_max] + list(x_edges)))
+x_lines = sorted({x_min, -t_metal, 0.0, a, a + t_metal, x_max, *list(x_edges)})
 y_lines = [y_min, 0.0, b, b+t_metal, y_max]
-z_lines = sorted(set([z_min, 0.0, L, z_max] + list(z_edges)))
+z_lines = sorted({z_min, 0.0, L, z_max, *list(z_edges)})
 
 mesh.AddLine('x', x_lines)
 mesh.AddLine('y', y_lines)
@@ -123,7 +123,7 @@ pec.AddBox([-t_metal,-t_metal,0],[a+t_metal,0,       L])          # bottom
 pec.AddBox([-t_metal, b, 0],     [a+t_metal,b+t_metal,L])         # top
 
 # Slots = AIR boxes overriding the top metal
-for zc, xc in zip(z_centers, x_centers):
+for zc, xc in zip(z_centers, x_centers, strict=False):
     x1, x2 = xc - slot_w/2.0, xc + slot_w/2.0
     z1, z2 = zc - slot_L/2.0, zc + slot_L/2.0
     prim = air.AddBox([x1, b, z1], [x2, b+t_metal, z2])
@@ -181,7 +181,7 @@ if simulate:
 # Post-processing: S-params & impedance
 # -------------------------
 freq = np.linspace(f_start, f_stop, 401)
-ports = [p for p in FDTD.ports]   # Port 1 & Port 2 in creation order
+ports = list(FDTD.ports)   # Port 1 & Port 2 in creation order
 for p in ports:
     p.CalcPort(Sim_Path, freq)
 
@@ -226,9 +226,6 @@ mismatch = 1.0 - np.abs(S11[idx_f0])**2   # (1 - |S11|^2)
 Gmax_lin = Dmax_lin * float(mismatch)
 Gmax_dBi = 10*np.log10(Gmax_lin)
 
-print(f"Max directivity @ {f0/1e9:.3f} GHz: {10*np.log10(Dmax_lin):.2f} dBi")
-print(f"Mismatch term  (1-|S11|^2)        : {float(mismatch):.3f}")
-print(f"Estimated max realized gain       : {Gmax_dBi:.2f} dBi")
 
 # 3D normalized pattern
 E = np.squeeze(res.E_norm)     # shape [f, th, ph] -> [th, ph]
@@ -254,7 +251,7 @@ plt.figure(figsize=(8.4,2.8))
 plt.fill_between(
     [0, a], [0, 0], [L, L], color='#dddddd', alpha=0.5, step='pre', label='WG aperture (top)'
 )
-for zc, xc in zip(z_centers, x_centers):
+for zc, xc in zip(z_centers, x_centers, strict=False):
     plt.gca().add_patch(plt.Rectangle((xc - slot_w/2.0, zc - slot_L/2.0),
                                       slot_w, slot_L, fc='#3355ff', ec='k'))
 plt.xlim(-2, a + 2)

5_Simulations/Antenna/openems_quartz_slotted_wg_10p5GHz.py

@@ -1,6 +1,6 @@
 # openems_quartz_slotted_wg_10p5GHz.py
 # Slotted rectangular waveguide (quartz-filled, εr=3.8) tuned to 10.5 GHz.
-# Builds geometry, meshes (no GetLine calls), sweeps S-params/impedance over 9.5–11.5 GHz,
+# Builds geometry, meshes (no GetLine calls), sweeps S-params/impedance over 9.5-11.5 GHz,
 # computes 3D far-field, and reports estimated max realized gain.
 
 import os
@@ -15,14 +15,14 @@ from openEMS.physical_constants import C0
 try:
     from CSXCAD import ContinuousStructure, AppCSXCAD_BIN
     HAVE_APP = True
-except Exception:
+except ImportError:
     from CSXCAD import ContinuousStructure
     AppCSXCAD_BIN = None
     HAVE_APP = False
 
 #Set PROFILE to "sanity" first; run and check [mesh] cells: stays reasonable.
 
-#If it’s small, move to "balanced"; once happy, go "full".
+#If it's small, move to "balanced"; once happy, go "full".
 
 #Toggle VIEW_GEOM=True if you want the 3D viewer (requires AppCSXCAD_BIN available).
 
@@ -123,9 +123,9 @@ x_edges = np.concatenate([x_centers - slot_w/2.0, x_centers + slot_w/2.0])
 z_edges = np.concatenate([z_centers - slot_L/2.0, z_centers + slot_L/2.0])
 
 # Mesh lines: explicit (NO GetLine calls)
-x_lines = sorted(set([x_min, -t_metal, 0.0, a, a+t_metal, x_max] + list(x_edges)))
+x_lines = sorted({x_min, -t_metal, 0.0, a, a + t_metal, x_max, *list(x_edges)})
 y_lines = [y_min, 0.0, b, b+t_metal, y_max]
-z_lines = sorted(set([z_min, 0.0, guide_length_mm, z_max] + list(z_edges)))
+z_lines = sorted({z_min, 0.0, guide_length_mm, z_max, *list(z_edges)})
 
 mesh.AddLine('x', x_lines)
 mesh.AddLine('y', y_lines)
@@ -134,13 +134,10 @@ mesh.AddLine('z', z_lines)
 # Print complexity and rough memory (to help stay inside 16 GB)
 Nx, Ny, Nz = len(x_lines)-1, len(y_lines)-1, len(z_lines)-1
 Ncells = Nx*Ny*Nz
-print(f"[mesh] cells: {Nx} × {Ny} × {Nz} = {Ncells:,}")
 mem_fields_bytes = Ncells * 6 * 8  # rough ~ (Ex,Ey,Ez,Hx,Hy,Hz) doubles
-print(f"[mesh] rough field memory: ~{mem_fields_bytes/1e9:.2f} GB (solver overhead extra)")
 dx_min = min(np.diff(x_lines))
 dy_min = min(np.diff(y_lines))
 dz_min = min(np.diff(z_lines))
-print(f"[mesh] min steps (mm): dx={dx_min:.3f}, dy={dy_min:.3f}, dz={dz_min:.3f}")
 
 # Optional smoothing to limit max cell size
 mesh.SmoothMeshLines('all', mesh_res, ratio=1.4)
@@ -165,7 +162,7 @@ pec.AddBox(
 )  # top (slots will pierce)
 
 # Slots (AIR) overriding top metal
-for zc, xc in zip(z_centers, x_centers):
+for zc, xc in zip(z_centers, x_centers, strict=False):
     x1, x2 = xc - slot_w/2.0, xc + slot_w/2.0
     z1, z2 = zc - slot_L/2.0, zc + slot_L/2.0
     prim = airM.AddBox([x1, b, z1], [x2, b+t_metal, z2])
@@ -215,7 +212,6 @@ if VIEW_GEOM and HAVE_APP and AppCSXCAD_BIN:
 t0 = time.time()
 FDTD.Run(Sim_Path, cleanup=True, verbose=2, numThreads=THREADS)
 t1 = time.time()
-print(f"[timing] FDTD solve elapsed: {t1 - t0:.2f} s")
 
 # ... right before NF2FF (far-field):
 t2 = time.time()
@@ -224,14 +220,12 @@ try:
 except AttributeError:
     res = FDTD.CalcNF2FF(nf2ff, Sim_Path, [f0], theta, phi)  # noqa: F821
 t3 = time.time()
-print(f"[timing] NF2FF (far-field) elapsed: {t3 - t2:.2f} s")
 
 # ... S-parameters postproc timing (optional):
 t4 = time.time()
 for p in ports:  # noqa: F821
     p.CalcPort(Sim_Path, freq)  # noqa: F821
 t5 = time.time()
-print(f"[timing] Port/S-params postproc elapsed: {t5 - t4:.2f} s")
 
 
 # =======
@@ -240,11 +234,8 @@ print(f"[timing] Port/S-params postproc elapsed: {t5 - t4:.2f} s")
 if SIMULATE:
     FDTD.Run(Sim_Path, cleanup=True, verbose=2, numThreads=THREADS)
 
-# ==========================
-# POST: S-PARAMS / IMPEDANCE
-# ==========================
 freq = np.linspace(f_start, f_stop, profiles[PROFILE]["freq_pts"])
-ports = [p for p in FDTD.ports]   # Port 1 & 2 in creation order
+ports = list(FDTD.ports)   # Port 1 & 2 in creation order
 for p in ports:
     p.CalcPort(Sim_Path, freq)
 
@@ -288,9 +279,6 @@ mismatch = 1.0 - np.abs(S11[idx_f0])**2
 Gmax_lin = Dmax_lin * float(mismatch)
 Gmax_dBi = 10*np.log10(Gmax_lin)
 
-print(f"[far-field] Dmax @ {f0/1e9:.3f} GHz: {10*np.log10(Dmax_lin):.2f} dBi")
-print(f"[far-field] mismatch (1-|S11|^2): {float(mismatch):.3f}")
-print(f"[far-field] est. max realized gain: {Gmax_dBi:.2f} dBi")
 
 # Normalized 3D pattern
 E = np.squeeze(res.E_norm)     # [th, ph]
@@ -324,7 +312,7 @@ plt.fill_between(
     step='pre',
     label='WG top aperture',
 )
-for zc, xc in zip(z_centers, x_centers):
+for zc, xc in zip(z_centers, x_centers, strict=False):
     plt.gca().add_patch(plt.Rectangle((xc - slot_w/2.0, zc - slot_L/2.0),
                                       slot_w, slot_L, fc='#3355ff', ec='k'))
 plt.xlim(-2, a + 2)

5_Simulations/DAC_ReconstructionFilter/Generate_ChirpcsvFile.py

@@ -68,13 +68,7 @@ def generate_multi_ramp_csv(Fs=125e6, Tb=1e-6, Tau=2e-6, fmax=30e6, fmin=10e6,
     # --- Save CSV (no header)
     df = pd.DataFrame({"time(s)": t_csv, "voltage(V)": y_csv})
     df.to_csv(filename, index=False, header=False)
-    print(f"CSV saved: {filename}")
-    print(
-        f"Total raw samples: {total_samples} | Ramps inserted: {ramps_inserted} "
-        f"| CSV points: {len(y_csv)}"
-    )
 
-    # --- Plot (staircase)
     if show_plot or save_plot_png:
         # Choose plotting vectors (use raw DAC samples to keep lines crisp)
         t_plot = t
@@ -111,7 +105,6 @@ def generate_multi_ramp_csv(Fs=125e6, Tb=1e-6, Tau=2e-6, fmax=30e6, fmin=10e6,
 
         if save_plot_png:
             plt.savefig(save_plot_png, dpi=150)
-            print(f"Plot saved: {save_plot_png}")
         if show_plot:
             plt.show()
         else:

5_Simulations/Fencing/Via_fencing.py

@@ -1,6 +1,5 @@
 import matplotlib.pyplot as plt
 
-# Dimensions (all in mm)
 line_width = 0.204
 substrate_height = 0.102
 via_drill = 0.20

5_Simulations/Fencing/Via_fencing2.py

@@ -1,6 +1,5 @@
 import matplotlib.pyplot as plt
 
-# Dimensions (all in mm)
 line_width = 0.204
 via_pad_A = 0.20
 via_pad_B = 0.45
@@ -50,14 +49,14 @@ ax.text(-2, polygon_y1 + 0.5, "Via B Ø0.45 mm pad", color="red")
 
 # Add pitch dimension (horizontal between vias)
 ax.annotate("", xy=(2, polygon_y1 + 0.2), xytext=(2 + via_pitch, polygon_y1 + 0.2),
-            arrowprops=dict(arrowstyle="<->", color="purple"))
+            arrowprops={"arrowstyle": "<->", "color": "purple"})
 ax.text(2 + via_pitch/2, polygon_y1 + 0.3, f"{via_pitch:.2f} mm pitch", color="purple", ha="center")
 
 # Add distance from RF line edge to via center
 line_edge_y = rf_line_y + line_width/2
 via_center_y = polygon_y1
 ax.annotate("", xy=(2.4, line_edge_y), xytext=(2.4, via_center_y),
-            arrowprops=dict(arrowstyle="<->", color="brown"))
+            arrowprops={"arrowstyle": "<->", "color": "brown"})
 ax.text(
     2.5, (line_edge_y + via_center_y) / 2, f"{via_center_offset:.2f} mm", color="brown", va="center"
 )

5_Simulations/array_pattern_Kaiser25dB_like.py

@@ -27,7 +27,7 @@ n_idx = np.arange(N) - (N-1)/2
 y_positions = m_idx * dy
 z_positions = n_idx * dz
 
-def element_factor(theta_rad, phi_rad):
+def element_factor(theta_rad, _phi_rad):
     return np.abs(np.cos(theta_rad))
 
 def array_factor(theta_rad, phi_rad, y_positions, z_positions, wy, wz, theta0_rad, phi0_rad):
@@ -105,8 +105,3 @@ plt.title('Array Pattern Heatmap (|AF·EF|, dB) — Kaiser ~-25 dB')
 plt.tight_layout()
 plt.savefig('Heatmap_Kaiser25dB_like.png', bbox_inches='tight')
 plt.show()
-
-print(
-    'Saved: E_plane_Kaiser25dB_like.png, H_plane_Kaiser25dB_like.png, '
-    'Heatmap_Kaiser25dB_like.png'
-)

8_Utils/Python/CSV_radar.py

@@ -38,7 +38,6 @@ def generate_radar_csv(filename="pulse_compression_output.csv"):
     chirp_number = 0
     
     # Generate Long Chirps (30µs duration equivalent)
-    print("Generating Long Chirps...")
     for chirp in range(num_long_chirps):
         for sample in range(samples_per_chirp):
             # Base noise
@@ -90,7 +89,6 @@ def generate_radar_csv(filename="pulse_compression_output.csv"):
     timestamp_ns += 175400  # 175.4µs guard time
     
     # Generate Short Chirps (0.5µs duration equivalent)
-    print("Generating Short Chirps...")
     for chirp in range(num_short_chirps):
         for sample in range(samples_per_chirp):
             # Base noise
@@ -142,11 +140,6 @@ def generate_radar_csv(filename="pulse_compression_output.csv"):
     
     # Save to CSV
     df.to_csv(filename, index=False)
-    print(f"Generated CSV file: {filename}")
-    print(f"Total samples: {len(df)}")
-    print(f"Long chirps: {num_long_chirps}, Short chirps: {num_short_chirps}")
-    print(f"Samples per chirp: {samples_per_chirp}")
-    print(f"File size: {len(df) // 1000}K samples")
     
     return df
 
@@ -154,15 +147,11 @@ def analyze_generated_data(df):
     """
     Analyze the generated data to verify target detection
     """
-    print("\n=== Data Analysis ===")
     
     # Basic statistics
-    long_chirps = df[df['chirp_type'] == 'LONG']
+    df[df['chirp_type'] == 'LONG']
-    short_chirps = df[df['chirp_type'] == 'SHORT']
+    df[df['chirp_type'] == 'SHORT']
     
-    print(f"Long chirp samples: {len(long_chirps)}")
-    print(f"Short chirp samples: {len(short_chirps)}")
-    print(f"Unique chirp numbers: {df['chirp_number'].nunique()}")
     
     # Calculate actual magnitude and phase for analysis
     df['magnitude'] = np.sqrt(df['I_value']**2 + df['Q_value']**2)
@@ -172,15 +161,11 @@ def analyze_generated_data(df):
     high_mag_threshold = df['magnitude'].quantile(0.95)  # Top 5%
     targets_detected = df[df['magnitude'] > high_mag_threshold]
     
-    print(f"\nTarget detection threshold: {high_mag_threshold:.2f}")
-    print(f"High magnitude samples: {len(targets_detected)}")
     
     # Group by chirp type
-    long_targets = targets_detected[targets_detected['chirp_type'] == 'LONG']
+    targets_detected[targets_detected['chirp_type'] == 'LONG']
-    short_targets = targets_detected[targets_detected['chirp_type'] == 'SHORT']
+    targets_detected[targets_detected['chirp_type'] == 'SHORT']
     
-    print(f"Targets in long chirps: {len(long_targets)}")
-    print(f"Targets in short chirps: {len(short_targets)}")
     
     return df
 
@@ -191,10 +176,3 @@ if __name__ == "__main__":
     # Analyze the generated data
     analyze_generated_data(df)
     
-    print("\n=== CSV File Ready ===")
-    print("You can now test the Python GUI with this CSV file!")
-    print("The file contains:")
-    print("- 16 Long chirps + 16 Short chirps")
-    print("- 4 simulated targets at different ranges and velocities")
-    print("- Realistic noise and clutter")
-    print("- Proper I/Q data for Doppler processing")

8_Utils/Python/CSV_radar_2.py

@@ -90,8 +90,6 @@ def generate_small_radar_csv(filename="small_test_radar_data.csv"):
     
     df = pd.DataFrame(data)
     df.to_csv(filename, index=False)
-    print(f"Generated small CSV: {filename}")
-    print(f"Total samples: {len(df)}")
     return df
 
 generate_small_radar_csv()

8_Utils/Python/Generic_Triangular_Frequency.py

@@ -31,7 +31,6 @@ freq_indices = np.arange(L)
 T = L*Ts
 freq = freq_indices/T
 
-print("The Array is: ", x) #printing the array
 
 plt.figure(figsize = (12, 6))
 plt.subplot(121)

8_Utils/Python/LUT.py

@@ -20,5 +20,5 @@ y = 1 + np.sin(theta_n)  # Normalize from 0 to 2
 y_scaled = np.round(y * 127.5).astype(int)  # Scale to 8-bit range (0-255)
 
 # Print values in Verilog-friendly format
-for i in range(n):
+for _i in range(n):
-    print(f"waveform_LUT[{i}] = 8'h{y_scaled[i]:02X};")
+    pass

8_Utils/Python/RADAR_eq.py

@@ -60,7 +60,7 @@ class RadarCalculatorGUI:
         
         scrollable_frame.bind(
             "<Configure>",
-            lambda e: canvas.configure(scrollregion=canvas.bbox("all"))
+            lambda _e: canvas.configure(scrollregion=canvas.bbox("all"))
         )
         
         canvas.create_window((0, 0), window=scrollable_frame, anchor="nw")
@@ -83,7 +83,7 @@ class RadarCalculatorGUI:
         
         self.entries = {}
         
-        for i, (label, default) in enumerate(inputs):
+        for _i, (label, default) in enumerate(inputs):
             # Create a frame for each input row
             row_frame = ttk.Frame(scrollable_frame)
             row_frame.pack(fill=tk.X, pady=5)
@@ -119,8 +119,8 @@ class RadarCalculatorGUI:
         calculate_btn.pack()
         
         # Bind hover effect
-        calculate_btn.bind("<Enter>", lambda e: calculate_btn.config(bg='#45a049'))
+        calculate_btn.bind("<Enter>", lambda _e: calculate_btn.config(bg='#45a049'))
-        calculate_btn.bind("<Leave>", lambda e: calculate_btn.config(bg='#4CAF50'))
+        calculate_btn.bind("<Leave>", lambda _e: calculate_btn.config(bg='#4CAF50'))
         
     def create_results_display(self):
         """Create the results display area"""
@@ -137,7 +137,7 @@ class RadarCalculatorGUI:
         
         scrollable_frame.bind(
             "<Configure>",
-            lambda e: canvas.configure(scrollregion=canvas.bbox("all"))
+            lambda _e: canvas.configure(scrollregion=canvas.bbox("all"))
         )
         
         canvas.create_window((0, 0), window=scrollable_frame, anchor="nw")
@@ -158,7 +158,7 @@ class RadarCalculatorGUI:
         
         self.results_labels = {}
         
-        for i, (label, key) in enumerate(results):
+        for _i, (label, key) in enumerate(results):
             # Create a frame for each result row
             row_frame = ttk.Frame(scrollable_frame)
             row_frame.pack(fill=tk.X, pady=10, padx=20)
@@ -180,10 +180,10 @@ class RadarCalculatorGUI:
         note_text = """
         NOTES:
         • Maximum detectable range is calculated using the radar equation
-        • Range resolution = c × τ / 2, where τ is pulse duration
+        • Range resolution = c x τ / 2, where τ is pulse duration
-        • Maximum unambiguous range = c / (2 × PRF)
+        • Maximum unambiguous range = c / (2 x PRF)
-        • Maximum detectable speed = λ × PRF / 4
+        • Maximum detectable speed = λ x PRF / 4
-        • Speed resolution = λ × PRF / (2 × N) where N is number of pulses (assumed 1)
+        • Speed resolution = λ x PRF / (2 x N) where N is number of pulses (assumed 1)
         • λ (wavelength) = c / f
         """
         
@@ -300,10 +300,10 @@ class RadarCalculatorGUI:
             # Show success message
             messagebox.showinfo("Success", "Calculation completed successfully!")
             
-        except Exception as e:
+        except (ValueError, ZeroDivisionError) as e:
             messagebox.showerror(
                 "Calculation Error",
-                f"An error occurred during calculation:\n{str(e)}",
+                f"An error occurred during calculation:\n{e!s}",
             )
             
 def main():

8_Utils/Python/patch_antenna.py

@@ -66,8 +66,3 @@ W_mm, L_mm, dx_mm, dy_mm, W_feed_mm = calculate_patch_antenna_parameters(
     frequency, epsilon_r, h_sub, h_cu, array
 )
 
-print(f"Width of the patch: {W_mm:.4f} mm")
-print(f"Length of the patch: {L_mm:.4f} mm")
-print(f"Separation distance in horizontal axis: {dx_mm:.4f} mm")
-print(f"Separation distance in vertical axis: {dy_mm:.4f} mm")
-print(f"Feeding line width: {W_feed_mm:.2f} mm")

9_Firmware/9_2_FPGA/tb/cosim/compare.py

@@ -93,7 +93,7 @@ SCENARIOS = {
 def load_adc_hex(filepath):
     """Load 8-bit unsigned ADC samples from hex file."""
     samples = []
-    with open(filepath, 'r') as f:
+    with open(filepath) as f:
         for line in f:
             line = line.strip()
             if not line or line.startswith('//'):
@@ -106,7 +106,7 @@ def load_rtl_csv(filepath):
     """Load RTL baseband output CSV (sample_idx, baseband_i, baseband_q)."""
     bb_i = []
     bb_q = []
-    with open(filepath, 'r') as f:
+    with open(filepath) as f:
         f.readline()  # Skip header
         for line in f:
             line = line.strip()
@@ -125,7 +125,6 @@ def run_python_model(adc_samples):
     because the RTL testbench captures the FIR output directly
     (baseband_i_reg <= fir_i_out in ddc_400m.v).
     """
-    print("  Running Python model...")
 
     chain = SignalChain()
     result = chain.process_adc_block(adc_samples)
@@ -135,7 +134,6 @@ def run_python_model(adc_samples):
     bb_i = result['fir_i_raw']
     bb_q = result['fir_q_raw']
 
-    print(f"  Python model: {len(bb_i)} baseband I, {len(bb_q)} baseband Q outputs")
     return bb_i, bb_q
 
 
@@ -145,7 +143,7 @@ def compute_rms_error(a, b):
         raise ValueError(f"Length mismatch: {len(a)} vs {len(b)}")
     if len(a) == 0:
         return 0.0
-    sum_sq = sum((x - y) ** 2 for x, y in zip(a, b))
+    sum_sq = sum((x - y) ** 2 for x, y in zip(a, b, strict=False))
     return math.sqrt(sum_sq / len(a))
 
 
@@ -153,7 +151,7 @@ def compute_max_abs_error(a, b):
     """Compute maximum absolute error between two equal-length lists."""
     if len(a) != len(b) or len(a) == 0:
         return 0
-    return max(abs(x - y) for x, y in zip(a, b))
+    return max(abs(x - y) for x, y in zip(a, b, strict=False))
 
 
 def compute_correlation(a, b):
@@ -235,44 +233,29 @@ def compute_signal_stats(samples):
 def compare_scenario(scenario_name):
     """Run comparison for one scenario. Returns True if passed."""
     if scenario_name not in SCENARIOS:
-        print(f"ERROR: Unknown scenario '{scenario_name}'")
-        print(f"Available: {', '.join(SCENARIOS.keys())}")
         return False
 
     cfg = SCENARIOS[scenario_name]
     base_dir = os.path.dirname(os.path.abspath(__file__))
 
-    print("=" * 60)
-    print(f"Co-simulation Comparison: {cfg['description']}")
-    print(f"Scenario: {scenario_name}")
-    print("=" * 60)
 
     # ---- Load ADC data ----
     adc_path = os.path.join(base_dir, cfg['adc_hex'])
     if not os.path.exists(adc_path):
-        print(f"ERROR: ADC hex file not found: {adc_path}")
-        print("Run radar_scene.py first to generate test vectors.")
         return False
     adc_samples = load_adc_hex(adc_path)
-    print(f"\nADC samples loaded: {len(adc_samples)}")
 
     # ---- Load RTL output ----
     rtl_path = os.path.join(base_dir, cfg['rtl_csv'])
     if not os.path.exists(rtl_path):
-        print(f"ERROR: RTL CSV not found: {rtl_path}")
-        print("Run the RTL simulation first:")
-        print(f"  iverilog -g2001 -DSIMULATION -DSCENARIO_{scenario_name.upper()} ...")
         return False
     rtl_i, rtl_q = load_rtl_csv(rtl_path)
-    print(f"RTL outputs loaded: {len(rtl_i)} I, {len(rtl_q)} Q samples")
 
     # ---- Run Python model ----
     py_i, py_q = run_python_model(adc_samples)
 
     # ---- Length comparison ----
-    print(f"\nOutput lengths: RTL={len(rtl_i)}, Python={len(py_i)}")
     len_diff = abs(len(rtl_i) - len(py_i))
-    print(f"Length difference: {len_diff} samples")
 
     # ---- Signal statistics ----
     rtl_i_stats = compute_signal_stats(rtl_i)
@@ -280,20 +263,10 @@ def compare_scenario(scenario_name):
     py_i_stats = compute_signal_stats(py_i)
     py_q_stats = compute_signal_stats(py_q)
 
-    print("\nSignal Statistics:")
-    print(f"  RTL I: mean={rtl_i_stats['mean']:.1f}, rms={rtl_i_stats['rms']:.1f}, "
-          f"range=[{rtl_i_stats['min']}, {rtl_i_stats['max']}]")
-    print(f"  RTL Q: mean={rtl_q_stats['mean']:.1f}, rms={rtl_q_stats['rms']:.1f}, "
-          f"range=[{rtl_q_stats['min']}, {rtl_q_stats['max']}]")
-    print(f"  Py  I: mean={py_i_stats['mean']:.1f}, rms={py_i_stats['rms']:.1f}, "
-          f"range=[{py_i_stats['min']}, {py_i_stats['max']}]")
-    print(f"  Py  Q: mean={py_q_stats['mean']:.1f}, rms={py_q_stats['rms']:.1f}, "
-          f"range=[{py_q_stats['min']}, {py_q_stats['max']}]")
 
     # ---- Trim to common length ----
     common_len = min(len(rtl_i), len(py_i))
     if common_len < 10:
-        print(f"ERROR: Too few common samples ({common_len})")
         return False
 
     rtl_i_trim = rtl_i[:common_len]
@@ -302,18 +275,14 @@ def compare_scenario(scenario_name):
     py_q_trim = py_q[:common_len]
 
     # ---- Cross-correlation to find latency offset ----
-    print(f"\nLatency alignment (cross-correlation, max lag=±{MAX_LATENCY_DRIFT}):")
+    lag_i, _corr_i = cross_correlate_lag(rtl_i_trim, py_i_trim,
-    lag_i, corr_i = cross_correlate_lag(rtl_i_trim, py_i_trim,
                                         max_lag=MAX_LATENCY_DRIFT)
-    lag_q, corr_q = cross_correlate_lag(rtl_q_trim, py_q_trim,
+    lag_q, _corr_q = cross_correlate_lag(rtl_q_trim, py_q_trim,
                                         max_lag=MAX_LATENCY_DRIFT)
-    print(f"  I-channel: best lag={lag_i}, correlation={corr_i:.6f}")
-    print(f"  Q-channel: best lag={lag_q}, correlation={corr_q:.6f}")
 
     # ---- Apply latency correction ----
     best_lag = lag_i  # Use I-channel lag (should be same as Q)
     if abs(lag_i - lag_q) > 1:
-        print(f"  WARNING: I and Q latency offsets differ ({lag_i} vs {lag_q})")
         # Use the average
         best_lag = (lag_i + lag_q) // 2
 
@@ -341,32 +310,20 @@ def compare_scenario(scenario_name):
     aligned_py_i = aligned_py_i[:aligned_len]
     aligned_py_q = aligned_py_q[:aligned_len]
 
-    print(f"  Applied lag correction: {best_lag} samples")
-    print(f"  Aligned length: {aligned_len} samples")
 
     # ---- Error metrics (after alignment) ----
     rms_i = compute_rms_error(aligned_rtl_i, aligned_py_i)
     rms_q = compute_rms_error(aligned_rtl_q, aligned_py_q)
-    max_err_i = compute_max_abs_error(aligned_rtl_i, aligned_py_i)
+    compute_max_abs_error(aligned_rtl_i, aligned_py_i)
-    max_err_q = compute_max_abs_error(aligned_rtl_q, aligned_py_q)
+    compute_max_abs_error(aligned_rtl_q, aligned_py_q)
     corr_i_aligned = compute_correlation(aligned_rtl_i, aligned_py_i)
     corr_q_aligned = compute_correlation(aligned_rtl_q, aligned_py_q)
 
-    print("\nError Metrics (after alignment):")
-    print(f"  I-channel: RMS={rms_i:.2f} LSB, max={max_err_i} LSB, corr={corr_i_aligned:.6f}")
-    print(f"  Q-channel: RMS={rms_q:.2f} LSB, max={max_err_q} LSB, corr={corr_q_aligned:.6f}")
 
     # ---- First/last sample comparison ----
-    print("\nFirst 10 samples (after alignment):")
-    print(
-        f"  {'idx':>4s}  {'RTL_I':>8s}  {'Py_I':>8s}  {'Err_I':>6s}  "
-        f"{'RTL_Q':>8s}  {'Py_Q':>8s}  {'Err_Q':>6s}"
-    )
     for k in range(min(10, aligned_len)):
         ei = aligned_rtl_i[k] - aligned_py_i[k]
         eq = aligned_rtl_q[k] - aligned_py_q[k]
-        print(f"  {k:4d}  {aligned_rtl_i[k]:8d}  {aligned_py_i[k]:8d}  {ei:6d}  "
-              f"{aligned_rtl_q[k]:8d}  {aligned_py_q[k]:8d}  {eq:6d}")
 
     # ---- Write detailed comparison CSV ----
     compare_csv_path = os.path.join(base_dir, f"compare_{scenario_name}.csv")
@@ -377,7 +334,6 @@ def compare_scenario(scenario_name):
             eq = aligned_rtl_q[k] - aligned_py_q[k]
             f.write(f"{k},{aligned_rtl_i[k]},{aligned_py_i[k]},{ei},"
                     f"{aligned_rtl_q[k]},{aligned_py_q[k]},{eq}\n")
-    print(f"\nDetailed comparison written to: {compare_csv_path}")
 
     # ---- Pass/Fail ----
     max_rms = cfg.get('max_rms', MAX_RMS_ERROR_LSB)
@@ -443,21 +399,15 @@ def compare_scenario(scenario_name):
                      f"|{best_lag}| <= {MAX_LATENCY_DRIFT}"))
 
     # ---- Report ----
-    print(f"\n{'─' * 60}")
-    print("PASS/FAIL Results:")
     all_pass = True
-    for name, ok, detail in results:
+    for _name, ok, _detail in results:
-        mark = "[PASS]" if ok else "[FAIL]"
-        print(f"  {mark} {name}: {detail}")
         if not ok:
             all_pass = False
 
-    print(f"\n{'=' * 60}")
     if all_pass:
-        print(f"SCENARIO {scenario_name.upper()}: ALL CHECKS PASSED")
+        pass
     else:
-        print(f"SCENARIO {scenario_name.upper()}: SOME CHECKS FAILED")
+        pass
-    print(f"{'=' * 60}")
 
     return all_pass
 
@@ -481,23 +431,16 @@ def main():
                         pass_count += 1
                     else:
                         overall_pass = False
-                    print()
                 else:
-                    print(f"Skipping {name}: RTL CSV not found ({cfg['rtl_csv']})")
+                    pass
 
-            print("=" * 60)
-            print(f"OVERALL: {pass_count}/{run_count} scenarios passed")
             if overall_pass:
-                print("ALL SCENARIOS PASSED")
+                pass
             else:
-                print("SOME SCENARIOS FAILED")
+                pass
-            print("=" * 60)
             return 0 if overall_pass else 1
-        else:
         ok = compare_scenario(scenario)
         return 0 if ok else 1
-    else:
-        # Default: DC
     ok = compare_scenario('dc')
     return 0 if ok else 1
 

9_Firmware/9_2_FPGA/tb/cosim/compare_dc.csv

@@ -4085,4 +4085,3 @@ idx,rtl_i,py_i,err_i,rtl_q,py_q,err_q
 4083,21,20,1,-6,-6,0
 4084,20,21,-1,-6,-6,0
 4085,20,20,0,-5,-6,1
-4086,20,20,0,-5,-5,0

9_Firmware/9_2_FPGA/tb/cosim/compare_doppler.py

@@ -73,7 +73,7 @@ def load_doppler_csv(filepath):
     Returns dict: {rbin: [(dbin, i, q), ...]}
     """
     data = {}
-    with open(filepath, 'r') as f:
+    with open(filepath) as f:
         f.readline()  # Skip header
         for line in f:
             line = line.strip()
@@ -117,7 +117,7 @@ def pearson_correlation(a, b):
 
 def magnitude_l1(i_arr, q_arr):
     """L1 magnitude: |I| + |Q|."""
-    return [abs(i) + abs(q) for i, q in zip(i_arr, q_arr)]
+    return [abs(i) + abs(q) for i, q in zip(i_arr, q_arr, strict=False)]
 
 
 def find_peak_bin(i_arr, q_arr):
@@ -143,7 +143,7 @@ def total_energy(data_dict):
     """Sum of I^2 + Q^2 across all range bins and Doppler bins."""
     total = 0
     for rbin in data_dict:
-        for (dbin, i_val, q_val) in data_dict[rbin]:
+        for (_dbin, i_val, q_val) in data_dict[rbin]:
             total += i_val * i_val + q_val * q_val
     return total
 
@@ -154,44 +154,30 @@ def total_energy(data_dict):
 
 def compare_scenario(name, config, base_dir):
     """Compare one Doppler scenario. Returns (passed, result_dict)."""
-    print(f"\n{'='*60}")
-    print(f"Scenario: {name} — {config['description']}")
-    print(f"{'='*60}")
 
     golden_path = os.path.join(base_dir, config['golden_csv'])
     rtl_path = os.path.join(base_dir, config['rtl_csv'])
 
     if not os.path.exists(golden_path):
-        print(f"  ERROR: Golden CSV not found: {golden_path}")
-        print("  Run: python3 gen_doppler_golden.py")
         return False, {}
     if not os.path.exists(rtl_path):
-        print(f"  ERROR: RTL CSV not found: {rtl_path}")
-        print("  Run the Verilog testbench first")
         return False, {}
 
     py_data = load_doppler_csv(golden_path)
     rtl_data = load_doppler_csv(rtl_path)
 
-    py_rbins = sorted(py_data.keys())
+    sorted(py_data.keys())
-    rtl_rbins = sorted(rtl_data.keys())
+    sorted(rtl_data.keys())
 
-    print(f"  Python: {len(py_rbins)} range bins, "
-          f"{sum(len(v) for v in py_data.values())} total samples")
-    print(f"  RTL:    {len(rtl_rbins)} range bins, "
-          f"{sum(len(v) for v in rtl_data.values())} total samples")
 
     # ---- Check 1: Both have data ----
     py_total = sum(len(v) for v in py_data.values())
     rtl_total = sum(len(v) for v in rtl_data.values())
     if py_total == 0 or rtl_total == 0:
-        print("  ERROR: One or both outputs are empty")
         return False, {}
 
     # ---- Check 2: Output count ----
     count_ok = (rtl_total == TOTAL_OUTPUTS)
-    print(f"\n  Output count: RTL={rtl_total}, expected={TOTAL_OUTPUTS} "
-          f"{'OK' if count_ok else 'MISMATCH'}")
 
     # ---- Check 3: Global energy ----
     py_energy = total_energy(py_data)
@@ -201,10 +187,6 @@ def compare_scenario(name, config, base_dir):
     else:
         energy_ratio = 1.0 if rtl_energy == 0 else float('inf')
 
-    print("\n  Global energy:")
-    print(f"    Python: {py_energy}")
-    print(f"    RTL:    {rtl_energy}")
-    print(f"    Ratio:  {energy_ratio:.4f}")
 
     # ---- Check 4: Per-range-bin analysis ----
     peak_agreements = 0
@@ -236,8 +218,8 @@ def compare_scenario(name, config, base_dir):
         i_correlations.append(corr_i)
         q_correlations.append(corr_q)
 
-        py_rbin_energy = sum(i*i + q*q for i, q in zip(py_i, py_q))
+        py_rbin_energy = sum(i*i + q*q for i, q in zip(py_i, py_q, strict=False))
-        rtl_rbin_energy = sum(i*i + q*q for i, q in zip(rtl_i, rtl_q))
+        rtl_rbin_energy = sum(i*i + q*q for i, q in zip(rtl_i, rtl_q, strict=False))
 
         peak_details.append({
             'rbin': rbin,
@@ -255,20 +237,11 @@ def compare_scenario(name, config, base_dir):
     avg_corr_i = sum(i_correlations) / len(i_correlations)
     avg_corr_q = sum(q_correlations) / len(q_correlations)
 
-    print("\n  Per-range-bin metrics:")
-    print(f"    Peak Doppler bin agreement (+/-1 within sub-frame): {peak_agreements}/{RANGE_BINS} "
-          f"({peak_agreement_frac:.0%})")
-    print(f"    Avg magnitude correlation: {avg_mag_corr:.4f}")
-    print(f"    Avg I-channel correlation: {avg_corr_i:.4f}")
-    print(f"    Avg Q-channel correlation: {avg_corr_q:.4f}")
 
     # Show top 5 range bins by Python energy
-    print("\n  Top 5 range bins by Python energy:")
     top_rbins = sorted(peak_details, key=lambda x: -x['py_energy'])[:5]
-    for d in top_rbins:
+    for _d in top_rbins:
-        print(f"    rbin={d['rbin']:2d}: py_peak={d['py_peak']:2d}, "
+        pass
-              f"rtl_peak={d['rtl_peak']:2d}, mag_corr={d['mag_corr']:.3f}, "
-              f"I_corr={d['corr_i']:.3f}, Q_corr={d['corr_q']:.3f}")
 
     # ---- Pass/Fail ----
     checks = []
@@ -291,11 +264,8 @@ def compare_scenario(name, config, base_dir):
         checks.append((f'High-energy rbin avg mag_corr >= {MAG_CORR_MIN:.2f} '
                         f'(actual={he_mag_corr:.3f})', he_ok))
 
-    print("\n  Pass/Fail Checks:")
     all_pass = True
-    for check_name, passed in checks:
+    for _check_name, passed in checks:
-        status = "PASS" if passed else "FAIL"
-        print(f"    [{status}] {check_name}")
         if not passed:
             all_pass = False
 
@@ -310,7 +280,6 @@ def compare_scenario(name, config, base_dir):
                 f.write(f'{rbin},{dbin},{py_i[dbin]},{py_q[dbin]},'
                         f'{rtl_i[dbin]},{rtl_q[dbin]},'
                         f'{rtl_i[dbin]-py_i[dbin]},{rtl_q[dbin]-py_q[dbin]}\n')
-    print(f"\n  Detailed comparison: {compare_csv}")
 
     result = {
         'scenario': name,
@@ -333,25 +302,15 @@ def compare_scenario(name, config, base_dir):
 def main():
     base_dir = os.path.dirname(os.path.abspath(__file__))
 
-    if len(sys.argv) > 1:
+    arg = sys.argv[1].lower() if len(sys.argv) > 1 else 'stationary'
-        arg = sys.argv[1].lower()
-    else:
-        arg = 'stationary'
 
     if arg == 'all':
         run_scenarios = list(SCENARIOS.keys())
     elif arg in SCENARIOS:
         run_scenarios = [arg]
     else:
-        print(f"Unknown scenario: {arg}")
-        print(f"Valid: {', '.join(SCENARIOS.keys())}, all")
         sys.exit(1)
 
-    print("=" * 60)
-    print("Doppler Processor Co-Simulation Comparison")
-    print("RTL vs Python model (clean, no pipeline bug replication)")
-    print(f"Scenarios: {', '.join(run_scenarios)}")
-    print("=" * 60)
 
     results = []
     for name in run_scenarios:
@@ -359,37 +318,20 @@ def main():
         results.append((name, passed, result))
 
     # Summary
-    print(f"\n{'='*60}")
-    print("SUMMARY")
-    print(f"{'='*60}")
 
-    print(f"\n  {'Scenario':<15} {'Energy Ratio':>13} {'Mag Corr':>10} "
-          f"{'Peak Agree':>11} {'I Corr':>8} {'Q Corr':>8} {'Status':>8}")
-    print(f"  {'-'*15} {'-'*13} {'-'*10} {'-'*11} {'-'*8} {'-'*8} {'-'*8}")
 
     all_pass = True
-    for name, passed, result in results:
+    for _name, passed, result in results:
         if not result:
-            print(f"  {name:<15} {'ERROR':>13} {'—':>10} {'—':>11} "
-                  f"{'—':>8} {'—':>8} {'FAIL':>8}")
             all_pass = False
         else:
-            status = "PASS" if passed else "FAIL"
-            print(f"  {name:<15} {result['energy_ratio']:>13.4f} "
-                  f"{result['avg_mag_corr']:>10.4f} "
-                  f"{result['peak_agreement']:>10.0%} "
-                  f"{result['avg_corr_i']:>8.4f} "
-                  f"{result['avg_corr_q']:>8.4f} "
-                  f"{status:>8}")
             if not passed:
                 all_pass = False
 
-    print()
     if all_pass:
-        print("ALL TESTS PASSED")
+        pass
     else:
-        print("SOME TESTS FAILED")
+        pass
-    print(f"{'='*60}")
 
     sys.exit(0 if all_pass else 1)
 

9_Firmware/9_2_FPGA/tb/cosim/compare_mf.py

@@ -79,7 +79,7 @@ def load_csv(filepath):
     """Load CSV with columns (bin, out_i/range_profile_i, out_q/range_profile_q)."""
     vals_i = []
     vals_q = []
-    with open(filepath, 'r') as f:
+    with open(filepath) as f:
         f.readline()  # Skip header
         for line in f:
             line = line.strip()
@@ -93,17 +93,17 @@ def load_csv(filepath):
 
 def magnitude_spectrum(vals_i, vals_q):
     """Compute magnitude = |I| + |Q| for each bin (L1 norm, matches RTL)."""
-    return [abs(i) + abs(q) for i, q in zip(vals_i, vals_q)]
+    return [abs(i) + abs(q) for i, q in zip(vals_i, vals_q, strict=False)]
 
 
 def magnitude_l2(vals_i, vals_q):
     """Compute magnitude = sqrt(I^2 + Q^2) for each bin."""
-    return [math.sqrt(i*i + q*q) for i, q in zip(vals_i, vals_q)]
+    return [math.sqrt(i*i + q*q) for i, q in zip(vals_i, vals_q, strict=False)]
 
 
 def total_energy(vals_i, vals_q):
     """Compute total energy (sum of I^2 + Q^2)."""
-    return sum(i*i + q*q for i, q in zip(vals_i, vals_q))
+    return sum(i*i + q*q for i, q in zip(vals_i, vals_q, strict=False))
 
 
 def rms_magnitude(vals_i, vals_q):
@@ -111,7 +111,7 @@ def rms_magnitude(vals_i, vals_q):
     n = len(vals_i)
     if n == 0:
         return 0.0
-    return math.sqrt(sum(i*i + q*q for i, q in zip(vals_i, vals_q)) / n)
+    return math.sqrt(sum(i*i + q*q for i, q in zip(vals_i, vals_q, strict=False)) / n)
 
 
 def pearson_correlation(a, b):
@@ -144,7 +144,7 @@ def find_peak(vals_i, vals_q):
 def top_n_peaks(mags, n=10):
     """Find the top-N peak bins by magnitude. Returns set of bin indices."""
     indexed = sorted(enumerate(mags), key=lambda x: -x[1])
-    return set(idx for idx, _ in indexed[:n])
+    return {idx for idx, _ in indexed[:n]}
 
 
 def spectral_peak_overlap(mags_a, mags_b, n=10):
@@ -163,30 +163,20 @@ def spectral_peak_overlap(mags_a, mags_b, n=10):
 
 def compare_scenario(scenario_name, config, base_dir):
     """Compare one scenario. Returns (pass/fail, result_dict)."""
-    print(f"\n{'='*60}")
-    print(f"Scenario: {scenario_name} — {config['description']}")
-    print(f"{'='*60}")
 
     golden_path = os.path.join(base_dir, config['golden_csv'])
     rtl_path = os.path.join(base_dir, config['rtl_csv'])
 
     if not os.path.exists(golden_path):
-        print(f"  ERROR: Golden CSV not found: {golden_path}")
-        print("  Run: python3 gen_mf_cosim_golden.py")
         return False, {}
     if not os.path.exists(rtl_path):
-        print(f"  ERROR: RTL CSV not found: {rtl_path}")
-        print("  Run the RTL testbench first")
         return False, {}
 
     py_i, py_q = load_csv(golden_path)
     rtl_i, rtl_q = load_csv(rtl_path)
 
-    print(f"  Python model: {len(py_i)} samples")
-    print(f"  RTL output:   {len(rtl_i)} samples")
 
     if len(py_i) != FFT_SIZE or len(rtl_i) != FFT_SIZE:
-        print(f"  ERROR: Expected {FFT_SIZE} samples from each")
         return False, {}
 
     # ---- Metric 1: Energy ----
@@ -205,28 +195,17 @@ def compare_scenario(scenario_name, config, base_dir):
         energy_ratio = float('inf') if py_energy == 0 else 0.0
         rms_ratio = float('inf') if py_rms == 0 else 0.0
 
-    print("\n  Energy:")
-    print(f"    Python total energy:  {py_energy}")
-    print(f"    RTL total energy:     {rtl_energy}")
-    print(f"    Energy ratio (RTL/Py): {energy_ratio:.4f}")
-    print(f"    Python RMS:           {py_rms:.2f}")
-    print(f"    RTL RMS:              {rtl_rms:.2f}")
-    print(f"    RMS ratio (RTL/Py):   {rms_ratio:.4f}")
 
     # ---- Metric 2: Peak location ----
-    py_peak_bin, py_peak_mag = find_peak(py_i, py_q)
+    py_peak_bin, _py_peak_mag = find_peak(py_i, py_q)
-    rtl_peak_bin, rtl_peak_mag = find_peak(rtl_i, rtl_q)
+    rtl_peak_bin, _rtl_peak_mag = find_peak(rtl_i, rtl_q)
 
-    print("\n  Peak location:")
-    print(f"    Python: bin={py_peak_bin}, mag={py_peak_mag}")
-    print(f"    RTL:    bin={rtl_peak_bin}, mag={rtl_peak_mag}")
 
     # ---- Metric 3: Magnitude spectrum correlation ----
     py_mag = magnitude_l2(py_i, py_q)
     rtl_mag = magnitude_l2(rtl_i, rtl_q)
     mag_corr = pearson_correlation(py_mag, rtl_mag)
 
-    print(f"\n  Magnitude spectrum correlation: {mag_corr:.6f}")
 
     # ---- Metric 4: Top-N peak overlap ----
     # Use L1 magnitudes for peak finding (matches RTL)
@@ -235,16 +214,11 @@ def compare_scenario(scenario_name, config, base_dir):
     peak_overlap_10 = spectral_peak_overlap(py_mag_l1, rtl_mag_l1, n=10)
     peak_overlap_20 = spectral_peak_overlap(py_mag_l1, rtl_mag_l1, n=20)
 
-    print(f"  Top-10 peak overlap:   {peak_overlap_10:.2%}")
-    print(f"  Top-20 peak overlap:   {peak_overlap_20:.2%}")
 
     # ---- Metric 5: I and Q channel correlation ----
     corr_i = pearson_correlation(py_i, rtl_i)
     corr_q = pearson_correlation(py_q, rtl_q)
 
-    print("\n  Channel correlation:")
-    print(f"    I-channel: {corr_i:.6f}")
-    print(f"    Q-channel: {corr_q:.6f}")
 
     # ---- Pass/Fail Decision ----
     # The SIMULATION branch uses floating-point twiddles ($cos/$sin) while
@@ -278,11 +252,8 @@ def compare_scenario(scenario_name, config, base_dir):
                     energy_ok))
 
     # Print checks
-    print("\n  Pass/Fail Checks:")
     all_pass = True
-    for name, passed in checks:
+    for _name, passed in checks:
-        status = "PASS" if passed else "FAIL"
-        print(f"    [{status}] {name}")
         if not passed:
             all_pass = False
 
@@ -310,7 +281,6 @@ def compare_scenario(scenario_name, config, base_dir):
             f.write(f'{k},{py_i[k]},{py_q[k]},{rtl_i[k]},{rtl_q[k]},'
                     f'{py_mag_l1[k]},{rtl_mag_l1[k]},'
                     f'{rtl_i[k]-py_i[k]},{rtl_q[k]-py_q[k]}\n')
-    print(f"\n  Detailed comparison: {compare_csv}")
 
     return all_pass, result
 
@@ -322,25 +292,15 @@ def compare_scenario(scenario_name, config, base_dir):
 def main():
     base_dir = os.path.dirname(os.path.abspath(__file__))
 
-    if len(sys.argv) > 1:
+    arg = sys.argv[1].lower() if len(sys.argv) > 1 else 'chirp'
-        arg = sys.argv[1].lower()
-    else:
-        arg = 'chirp'
 
     if arg == 'all':
         run_scenarios = list(SCENARIOS.keys())
     elif arg in SCENARIOS:
         run_scenarios = [arg]
     else:
-        print(f"Unknown scenario: {arg}")
-        print(f"Valid: {', '.join(SCENARIOS.keys())}, all")
         sys.exit(1)
 
-    print("=" * 60)
-    print("Matched Filter Co-Simulation Comparison")
-    print("RTL (synthesis branch) vs Python model (bit-accurate)")
-    print(f"Scenarios: {', '.join(run_scenarios)}")
-    print("=" * 60)
 
     results = []
     for name in run_scenarios:
@@ -348,37 +308,20 @@ def main():
         results.append((name, passed, result))
 
     # Summary
-    print(f"\n{'='*60}")
-    print("SUMMARY")
-    print(f"{'='*60}")
 
-    print(f"\n  {'Scenario':<12} {'Energy Ratio':>13} {'Mag Corr':>10} "
-          f"{'Peak Ovlp':>10} {'Py Peak':>8} {'RTL Peak':>9} {'Status':>8}")
-    print(f"  {'-'*12} {'-'*13} {'-'*10} {'-'*10} {'-'*8} {'-'*9} {'-'*8}")
 
     all_pass = True
-    for name, passed, result in results:
+    for _name, passed, result in results:
         if not result:
-            print(f"  {name:<12} {'ERROR':>13} {'—':>10} {'—':>10} "
-                  f"{'—':>8} {'—':>9} {'FAIL':>8}")
             all_pass = False
         else:
-            status = "PASS" if passed else "FAIL"
-            print(f"  {name:<12} {result['energy_ratio']:>13.4f} "
-                  f"{result['mag_corr']:>10.4f} "
-                  f"{result['peak_overlap_10']:>9.0%} "
-                  f"{result['py_peak_bin']:>8d} "
-                  f"{result['rtl_peak_bin']:>9d} "
-                  f"{status:>8}")
             if not passed:
                 all_pass = False
 
-    print()
     if all_pass:
-        print("ALL TESTS PASSED")
+        pass
     else:
-        print("SOME TESTS FAILED")
+        pass
-    print(f"{'='*60}")
 
     sys.exit(0 if all_pass else 1)
 

9_Firmware/9_2_FPGA/tb/cosim/fpga_model.py

@@ -50,7 +50,7 @@ def saturate(value, bits):
     return value
 
 
-def arith_rshift(value, shift, width=None):
+def arith_rshift(value, shift, _width=None):
     """Arithmetic right shift. Python >> on signed int is already arithmetic."""
     return value >> shift
 
@@ -129,10 +129,7 @@ class NCO:
         raw_index = lut_address & 0x3F
 
         # RTL: lut_index = (quadrant[0] ^ quadrant[1]) ? ~lut_address[5:0] : lut_address[5:0]
-        if (quadrant & 1) ^ ((quadrant >> 1) & 1):
+        lut_index = ~raw_index & 63 if quadrant & 1 ^ quadrant >> 1 & 1 else raw_index
-            lut_index = (~raw_index) & 0x3F
-        else:
-            lut_index = raw_index
 
         return quadrant, lut_index
 
@@ -175,7 +172,7 @@ class NCO:
             # OLD phase_accum_reg (the value from the PREVIOUS call).
             # We stored self.phase_accum_reg at the start of this call as the
             # value from last cycle. So:
-            pass  # phase_with_offset computed below from OLD values
+            # phase_with_offset computed below from OLD values
 
         # Compute all NBA assignments from OLD state:
         # Save old state for NBA evaluation
@@ -195,16 +192,8 @@ class NCO:
 
         if phase_valid:
             # Stage 1 NBA: phase_accum_reg <= phase_accumulator (old value)
-            _new_phase_accum_reg = (self.phase_accumulator - ftw) & 0xFFFFFFFF  # noqa: F841 — old accum before add (derivation reference)
+            _new_phase_accum_reg = (self.phase_accumulator - ftw) & 0xFFFFFFFF
             # Wait - let me re-derive. The Verilog is:
-            #   phase_accumulator <= phase_accumulator + frequency_tuning_word;
-            #   phase_accum_reg   <= phase_accumulator;  // OLD value (NBA)
-            #   phase_with_offset <= phase_accum_reg + {phase_offset, 16'b0};
-            #                         // OLD phase_accum_reg
-            # Since all are NBA (<=), they all read the values from BEFORE this edge.
-            # So: new_phase_accumulator = old_phase_accumulator + ftw
-            #     new_phase_accum_reg   = old_phase_accumulator
-            #     new_phase_with_offset = old_phase_accum_reg + offset
             old_phase_accumulator = (self.phase_accumulator - ftw) & 0xFFFFFFFF  # reconstruct
             self.phase_accum_reg = old_phase_accumulator
             self.phase_with_offset = (
@@ -706,7 +695,6 @@ class DDCInputInterface:
         if old_valid_sync:
             ddc_i = sign_extend(ddc_i_18 & 0x3FFFF, 18)
             ddc_q = sign_extend(ddc_q_18 & 0x3FFFF, 18)
-            # adc_i = ddc_i[17:2] + ddc_i[1]  (rounding)
             trunc_i = (ddc_i >> 2) & 0xFFFF  # bits [17:2]
             round_i = (ddc_i >> 1) & 1       # bit [1]
             trunc_q = (ddc_q >> 2) & 0xFFFF
@@ -732,7 +720,7 @@ def load_twiddle_rom(filepath=None):
         filepath = os.path.join(base, '..', '..', 'fft_twiddle_1024.mem')
 
     values = []
-    with open(filepath, 'r') as f:
+    with open(filepath) as f:
         for line in f:
             line = line.strip()
             if not line or line.startswith('//'):
@@ -760,11 +748,10 @@ def _twiddle_lookup(k, n, cos_rom):
 
     if k == 0:
         return cos_rom[0], 0
-    elif k == n4:
+    if k == n4:
         return 0, cos_rom[0]
-    elif k < n4:
+    if k < n4:
         return cos_rom[k], cos_rom[n4 - k]
-    else:
     return sign_extend((-cos_rom[n2 - k]) & 0xFFFF, 16), cos_rom[k - n4]
 
 
@@ -840,11 +827,9 @@ class FFTEngine:
 
                 # Multiply (49-bit products)
                 if not inverse:
-                    # Forward: t = b * (cos + j*sin)
                     prod_re = b_re * tw_cos + b_im * tw_sin
                     prod_im = b_im * tw_cos - b_re * tw_sin
                 else:
-                    # Inverse: t = b * (cos - j*sin)
                     prod_re = b_re * tw_cos - b_im * tw_sin
                     prod_im = b_im * tw_cos + b_re * tw_sin
 
@@ -923,9 +908,8 @@ class FreqMatchedFilter:
             # Saturation check
             if rounded > 0x3FFF8000:
                 return 0x7FFF
-            elif rounded < -0x3FFF8000:
+            if rounded < -0x3FFF8000:
                 return sign_extend(0x8000, 16)
-            else:
             return sign_extend((rounded >> 15) & 0xFFFF, 16)
 
         out_re = round_sat_extract(real_sum)
@@ -1061,7 +1045,6 @@ class RangeBinDecimator:
                 out_im.append(best_im)
 
             elif mode == 2:
-                # Averaging: sum >> 4
                 sum_re = 0
                 sum_im = 0
                 for s in range(df):
@@ -1351,69 +1334,48 @@ def _self_test():
     """Quick sanity checks for each module."""
     import math
 
-    print("=" * 60)
-    print("FPGA Model Self-Test")
-    print("=" * 60)
 
     # --- NCO test ---
-    print("\n--- NCO Test ---")
     nco = NCO()
     ftw = 0x4CCCCCCD  # 120 MHz at 400 MSPS
     # Run 20 cycles to fill pipeline
     results = []
-    for i in range(20):
+    for _ in range(20):
         s, c, ready = nco.step(ftw)
         if ready:
             results.append((s, c))
 
     if results:
-        print(f"  First valid output: sin={results[0][0]}, cos={results[0][1]}")
-        print(f"  Got {len(results)} valid outputs from 20 cycles")
         # Check quadrature: sin^2 + cos^2 should be approximately 32767^2
         s, c = results[-1]
         mag_sq = s * s + c * c
         expected = 32767 * 32767
-        error_pct = abs(mag_sq - expected) / expected * 100
+        abs(mag_sq - expected) / expected * 100
-        print(
-            f"  Quadrature check: sin^2+cos^2={mag_sq}, "
-            f"expected~{expected}, error={error_pct:.2f}%"
-        )
-    print("  NCO: OK")
 
     # --- Mixer test ---
-    print("\n--- Mixer Test ---")
     mixer = Mixer()
     # Test with mid-scale ADC (128) and known cos/sin
-    for i in range(5):
+    for _ in range(5):
-        mi, mq, mv = mixer.step(128, 0x7FFF, 0, True, True)
+        _mi, _mq, _mv = mixer.step(128, 0x7FFF, 0, True, True)
-    print(f"  Mixer with adc=128, cos=max, sin=0: I={mi}, Q={mq}, valid={mv}")
-    print("  Mixer: OK")
 
     # --- CIC test ---
-    print("\n--- CIC Test ---")
     cic = CICDecimator()
     dc_val = sign_extend(0x1000, 18)  # Small positive DC
     out_count = 0
-    for i in range(100):
+    for _ in range(100):
-        out, valid = cic.step(dc_val, True)
+        _, valid = cic.step(dc_val, True)
         if valid:
             out_count += 1
-    print(f"  CIC: {out_count} outputs from 100 inputs (expect ~25 with 4x decimation + pipeline)")
-    print("  CIC: OK")
 
     # --- FIR test ---
-    print("\n--- FIR Test ---")
     fir = FIRFilter()
     out_count = 0
-    for i in range(50):
+    for _ in range(50):
-        out, valid = fir.step(1000, True)
+        _out, valid = fir.step(1000, True)
         if valid:
             out_count += 1
-    print(f"  FIR: {out_count} outputs from 50 inputs (expect ~43 with 7-cycle latency)")
-    print("  FIR: OK")
 
     # --- FFT test ---
-    print("\n--- FFT Test (1024-pt) ---")
     try:
         fft = FFTEngine(n=1024)
         # Single tone at bin 10
@@ -1425,43 +1387,28 @@ def _self_test():
         out_re, out_im = fft.compute(in_re, in_im, inverse=False)
         # Find peak bin
         max_mag = 0
-        peak_bin = 0
         for i in range(512):
             mag = abs(out_re[i]) + abs(out_im[i])
             if mag > max_mag:
                 max_mag = mag
-                peak_bin = i
-        print(f"  FFT peak at bin {peak_bin} (expected 10), magnitude={max_mag}")
         # IFFT roundtrip
-        rt_re, rt_im = fft.compute(out_re, out_im, inverse=True)
+        rt_re, _rt_im = fft.compute(out_re, out_im, inverse=True)
-        max_err = max(abs(rt_re[i] - in_re[i]) for i in range(1024))
+        max(abs(rt_re[i] - in_re[i]) for i in range(1024))
-        print(f"  FFT->IFFT roundtrip max error: {max_err} LSBs")
-        print("  FFT: OK")
     except FileNotFoundError:
-        print("  FFT: SKIPPED (twiddle file not found)")
+        pass
 
     # --- Conjugate multiply test ---
-    print("\n--- Conjugate Multiply Test ---")
     # (1+j0) * conj(1+j0) = 1+j0
     # In Q15: 32767 * 32767 -> should get close to 32767
-    r, m = FreqMatchedFilter.conjugate_multiply_sample(0x7FFF, 0, 0x7FFF, 0)
+    _r, _m = FreqMatchedFilter.conjugate_multiply_sample(0x7FFF, 0, 0x7FFF, 0)
-    print(f"  (32767+j0) * conj(32767+j0) = {r}+j{m} (expect ~32767+j0)")
     # (0+j32767) * conj(0+j32767) = (0+j32767)(0-j32767) = 32767^2 -> ~32767
-    r2, m2 = FreqMatchedFilter.conjugate_multiply_sample(0, 0x7FFF, 0, 0x7FFF)
+    _r2, _m2 = FreqMatchedFilter.conjugate_multiply_sample(0, 0x7FFF, 0, 0x7FFF)
-    print(f"  (0+j32767) * conj(0+j32767) = {r2}+j{m2} (expect ~32767+j0)")
-    print("  Conjugate Multiply: OK")
 
     # --- Range decimator test ---
-    print("\n--- Range Bin Decimator Test ---")
     test_re = list(range(1024))
     test_im = [0] * 1024
     out_re, out_im = RangeBinDecimator.decimate(test_re, test_im, mode=0)
-    print(f"  Mode 0 (center): first 5 bins = {out_re[:5]} (expect [8, 24, 40, 56, 72])")
-    print("  Range Decimator: OK")
 
-    print("\n" + "=" * 60)
-    print("ALL SELF-TESTS PASSED")
-    print("=" * 60)
 
 
 if __name__ == '__main__':

9_Firmware/9_2_FPGA/tb/cosim/gen_chirp_mem.py

@@ -82,8 +82,8 @@ def generate_full_long_chirp():
     for n in range(LONG_CHIRP_SAMPLES):
         t = n / FS_SYS
         phase = math.pi * chirp_rate * t * t
-        re_val = int(round(Q15_MAX * SCALE * math.cos(phase)))
+        re_val = round(Q15_MAX * SCALE * math.cos(phase))
-        im_val = int(round(Q15_MAX * SCALE * math.sin(phase)))
+        im_val = round(Q15_MAX * SCALE * math.sin(phase))
         chirp_i.append(max(-32768, min(32767, re_val)))
         chirp_q.append(max(-32768, min(32767, im_val)))
 
@@ -105,8 +105,8 @@ def generate_short_chirp():
     for n in range(SHORT_CHIRP_SAMPLES):
         t = n / FS_SYS
         phase = math.pi * chirp_rate * t * t
-        re_val = int(round(Q15_MAX * SCALE * math.cos(phase)))
+        re_val = round(Q15_MAX * SCALE * math.cos(phase))
-        im_val = int(round(Q15_MAX * SCALE * math.sin(phase)))
+        im_val = round(Q15_MAX * SCALE * math.sin(phase))
         chirp_i.append(max(-32768, min(32767, re_val)))
         chirp_q.append(max(-32768, min(32767, im_val)))
 
@@ -126,40 +126,17 @@ def write_mem_file(filename, values):
     with open(path, 'w') as f:
         for v in values:
             f.write(to_hex16(v) + '\n')
-    print(f"  Wrote {filename}: {len(values)} entries")
 
 
 def main():
-    print("=" * 60)
-    print("AERIS-10 Chirp .mem File Generator")
-    print("=" * 60)
-    print()
-    print("Parameters:")
-    print(f"  CHIRP_BW         = {CHIRP_BW/1e6:.1f} MHz")
-    print(f"  FS_SYS           = {FS_SYS/1e6:.1f} MHz")
-    print(f"  T_LONG_CHIRP     = {T_LONG_CHIRP*1e6:.1f} us")
-    print(f"  T_SHORT_CHIRP    = {T_SHORT_CHIRP*1e6:.1f} us")
-    print(f"  LONG_CHIRP_SAMPLES = {LONG_CHIRP_SAMPLES}")
-    print(f"  SHORT_CHIRP_SAMPLES = {SHORT_CHIRP_SAMPLES}")
-    print(f"  FFT_SIZE         = {FFT_SIZE}")
-    print(f"  Chirp rate (long)  = {CHIRP_BW/T_LONG_CHIRP:.3e} Hz/s")
-    print(f"  Chirp rate (short) = {CHIRP_BW/T_SHORT_CHIRP:.3e} Hz/s")
-    print(f"  Q15 scale        = {SCALE}")
-    print()
 
     # ---- Long chirp ----
-    print("Generating full long chirp (3000 samples)...")
     long_i, long_q = generate_full_long_chirp()
 
     # Verify first sample matches generate_reference_chirp_q15() from radar_scene.py
     # (which only generates the first 1024 samples)
-    print(f"  Sample[0]:    I={long_i[0]:6d}  Q={long_q[0]:6d}")
-    print(f"  Sample[1023]: I={long_i[1023]:6d}  Q={long_q[1023]:6d}")
-    print(f"  Sample[2999]: I={long_i[2999]:6d}  Q={long_q[2999]:6d}")
 
     # Segment into 4 x 1024 blocks
-    print()
-    print("Segmenting into 4 x 1024 blocks...")
     for seg in range(LONG_SEGMENTS):
         start = seg * FFT_SIZE
         end = start + FFT_SIZE
@@ -177,27 +154,18 @@ def main():
                 seg_i.append(0)
                 seg_q.append(0)
 
-        zero_count = FFT_SIZE - valid_count
+        FFT_SIZE - valid_count
-        print(f"  Seg {seg}: indices [{start}:{end-1}], "
-              f"valid={valid_count}, zeros={zero_count}")
 
         write_mem_file(f"long_chirp_seg{seg}_i.mem", seg_i)
         write_mem_file(f"long_chirp_seg{seg}_q.mem", seg_q)
 
     # ---- Short chirp ----
-    print()
-    print("Generating short chirp (50 samples)...")
     short_i, short_q = generate_short_chirp()
-    print(f"  Sample[0]:  I={short_i[0]:6d}  Q={short_q[0]:6d}")
-    print(f"  Sample[49]: I={short_i[49]:6d}  Q={short_q[49]:6d}")
 
     write_mem_file("short_chirp_i.mem", short_i)
     write_mem_file("short_chirp_q.mem", short_q)
 
     # ---- Verification summary ----
-    print()
-    print("=" * 60)
-    print("Verification:")
 
     # Cross-check seg0 against radar_scene.py generate_reference_chirp_q15()
     # That function generates exactly the first 1024 samples of the chirp
@@ -206,39 +174,30 @@ def main():
     for n in range(FFT_SIZE):
         t = n / FS_SYS
         phase = math.pi * chirp_rate * t * t
-        expected_i = max(-32768, min(32767, int(round(Q15_MAX * SCALE * math.cos(phase)))))
+        expected_i = max(-32768, min(32767, round(Q15_MAX * SCALE * math.cos(phase))))
-        expected_q = max(-32768, min(32767, int(round(Q15_MAX * SCALE * math.sin(phase)))))
+        expected_q = max(-32768, min(32767, round(Q15_MAX * SCALE * math.sin(phase))))
         if long_i[n] != expected_i or long_q[n] != expected_q:
             mismatches += 1
 
     if mismatches == 0:
-        print("  [PASS] Seg0 matches radar_scene.py generate_reference_chirp_q15()")
+        pass
     else:
-        print(f"  [FAIL] Seg0 has {mismatches} mismatches vs generate_reference_chirp_q15()")
         return 1
 
     # Check magnitude envelope
-    max_mag = max(math.sqrt(i*i + q*q) for i, q in zip(long_i, long_q))
+    max(math.sqrt(i*i + q*q) for i, q in zip(long_i, long_q, strict=False))
-    print(f"  Max magnitude: {max_mag:.1f} (expected ~{Q15_MAX * SCALE:.1f})")
-    print(f"  Magnitude ratio: {max_mag / (Q15_MAX * SCALE):.6f}")
 
     # Check seg3 zero padding
     seg3_i_path = os.path.join(MEM_DIR, 'long_chirp_seg3_i.mem')
-    with open(seg3_i_path, 'r') as f:
+    with open(seg3_i_path) as f:
         seg3_lines = [line.strip() for line in f if line.strip()]
     nonzero_seg3 = sum(1 for line in seg3_lines if line != '0000')
-    print(f"  Seg3 non-zero entries: {nonzero_seg3}/{len(seg3_lines)} "
-          f"(expected 0 since chirp ends at sample 2999)")
 
     if nonzero_seg3 == 0:
-        print("  [PASS] Seg3 is all zeros (chirp 3000 samples < seg3 start 3072)")
+        pass
     else:
-        print(f"  [WARN] Seg3 has {nonzero_seg3} non-zero entries")
+        pass
 
-    print()
-    print(f"Generated 10 .mem files in {os.path.abspath(MEM_DIR)}")
-    print("Run validate_mem_files.py to do full validation.")
-    print("=" * 60)
 
     return 0
 

9_Firmware/9_2_FPGA/tb/cosim/gen_doppler_golden.py

@@ -51,7 +51,6 @@ def write_hex_32bit(filepath, samples):
         for (i_val, q_val) in samples:
             packed = ((q_val & 0xFFFF) << 16) | (i_val & 0xFFFF)
             f.write(f"{packed:08X}\n")
-    print(f"  Wrote {len(samples)} packed samples to {filepath}")
 
 
 def write_csv(filepath, headers, *columns):
@@ -61,7 +60,6 @@ def write_csv(filepath, headers, *columns):
         for i in range(len(columns[0])):
             row = ','.join(str(col[i]) for col in columns)
             f.write(row + '\n')
-    print(f"  Wrote {len(columns[0])} rows to {filepath}")
 
 
 def write_hex_16bit(filepath, data):
@@ -118,22 +116,19 @@ SCENARIOS = {
 
 def generate_scenario(name, targets, description, base_dir):
     """Generate input hex + golden output for one scenario."""
-    print(f"\n{'='*60}")
-    print(f"Scenario: {name} — {description}")
-    print("Model: CLEAN (dual 16-pt FFT)")
-    print(f"{'='*60}")
 
     # Generate Doppler frame (32 chirps x 64 range bins)
     frame_i, frame_q = generate_doppler_frame(targets, seed=42)
 
-    print(f"  Generated frame: {len(frame_i)} chirps x {len(frame_i[0])} range bins")
 
     # ---- Write input hex file (packed 32-bit: {Q, I}) ----
     # RTL expects data streamed chirp-by-chirp: chirp0[rb0..rb63], chirp1[rb0..rb63], ...
     packed_samples = []
     for chirp in range(CHIRPS_PER_FRAME):
-        for rb in range(RANGE_BINS):
+        packed_samples.extend(
-            packed_samples.append((frame_i[chirp][rb], frame_q[chirp][rb]))
+            (frame_i[chirp][rb], frame_q[chirp][rb])
+            for rb in range(RANGE_BINS)
+        )
 
     input_hex = os.path.join(base_dir, f"doppler_input_{name}.hex")
     write_hex_32bit(input_hex, packed_samples)
@@ -142,8 +137,6 @@ def generate_scenario(name, targets, description, base_dir):
     dp = DopplerProcessor()
     doppler_i, doppler_q = dp.process_frame(frame_i, frame_q)
 
-    print(f"  Doppler output: {len(doppler_i)} range bins x "
-          f"{len(doppler_i[0])} doppler bins (2 sub-frames x {DOPPLER_FFT_SIZE})")
 
     # ---- Write golden output CSV ----
     # Format: range_bin, doppler_bin, out_i, out_q
@@ -168,10 +161,9 @@ def generate_scenario(name, targets, description, base_dir):
 
     # ---- Write golden hex (for optional RTL $readmemh comparison) ----
     golden_hex = os.path.join(base_dir, f"doppler_golden_py_{name}.hex")
-    write_hex_32bit(golden_hex, list(zip(flat_i, flat_q)))
+    write_hex_32bit(golden_hex, list(zip(flat_i, flat_q, strict=False)))
 
     # ---- Find peak per range bin ----
-    print("\n  Peak Doppler bins per range bin (top 5 by magnitude):")
     peak_info = []
     for rbin in range(RANGE_BINS):
         mags = [abs(doppler_i[rbin][d]) + abs(doppler_q[rbin][d])
@@ -182,13 +174,11 @@ def generate_scenario(name, targets, description, base_dir):
 
     # Sort by magnitude descending, show top 5
     peak_info.sort(key=lambda x: -x[2])
-    for rbin, dbin, mag in peak_info[:5]:
+    for rbin, dbin, _mag in peak_info[:5]:
-        i_val = doppler_i[rbin][dbin]
+        doppler_i[rbin][dbin]
-        q_val = doppler_q[rbin][dbin]
+        doppler_q[rbin][dbin]
-        sf = dbin // DOPPLER_FFT_SIZE
+        dbin // DOPPLER_FFT_SIZE
-        bin_in_sf = dbin % DOPPLER_FFT_SIZE
+        dbin % DOPPLER_FFT_SIZE
-        print(f"    rbin={rbin:2d}, dbin={dbin:2d} (sf{sf}:{bin_in_sf:2d}), mag={mag:6d}, "
-              f"I={i_val:6d}, Q={q_val:6d}")
 
     return {
         'name': name,
@@ -200,10 +190,6 @@ def generate_scenario(name, targets, description, base_dir):
 def main():
     base_dir = os.path.dirname(os.path.abspath(__file__))
 
-    print("=" * 60)
-    print("Doppler Processor Co-Sim Golden Reference Generator")
-    print(f"Architecture: dual {DOPPLER_FFT_SIZE}-pt FFT ({DOPPLER_TOTAL_BINS} total bins)")
-    print("=" * 60)
 
     scenarios_to_run = list(SCENARIOS.keys())
 
@@ -221,17 +207,9 @@ def main():
         r = generate_scenario(name, targets, description, base_dir)
         results.append(r)
 
-    print(f"\n{'='*60}")
+    for _ in results:
-    print("Summary:")
+        pass
-    print(f"{'='*60}")
-    for r in results:
-        print(f"  {r['name']:<15s} top peak: "
-              f"rbin={r['peak_info'][0][0]}, dbin={r['peak_info'][0][1]}, "
-              f"mag={r['peak_info'][0][2]}")
 
-    print(f"\nGenerated {len(results)} scenarios.")
-    print(f"Files written to: {base_dir}")
-    print("=" * 60)
 
 
 if __name__ == '__main__':

9_Firmware/9_2_FPGA/tb/cosim/gen_mf_cosim_golden.py

@@ -36,7 +36,7 @@ FFT_SIZE = 1024
 def load_hex_16bit(filepath):
     """Load 16-bit hex file (one value per line, with optional // comments)."""
     values = []
-    with open(filepath, 'r') as f:
+    with open(filepath) as f:
         for line in f:
             line = line.strip()
             if not line or line.startswith('//'):
@@ -75,7 +75,6 @@ def generate_case(case_name, sig_i, sig_q, ref_i, ref_q, description, outdir,
 
     Returns dict with case info and results.
     """
-    print(f"\n--- {case_name}: {description} ---")
 
     assert len(sig_i) == FFT_SIZE, f"sig_i length {len(sig_i)} != {FFT_SIZE}"
     assert len(sig_q) == FFT_SIZE
@@ -88,8 +87,6 @@ def generate_case(case_name, sig_i, sig_q, ref_i, ref_q, description, outdir,
         write_hex_16bit(os.path.join(outdir, f"mf_sig_{case_name}_q.hex"), sig_q)
         write_hex_16bit(os.path.join(outdir, f"mf_ref_{case_name}_i.hex"), ref_i)
         write_hex_16bit(os.path.join(outdir, f"mf_ref_{case_name}_q.hex"), ref_q)
-        print(f"  Wrote input hex: mf_sig_{case_name}_{{i,q}}.hex, "
-              f"mf_ref_{case_name}_{{i,q}}.hex")
 
     # Run through bit-accurate Python model
     mf = MatchedFilterChain(fft_size=FFT_SIZE)
@@ -104,9 +101,6 @@ def generate_case(case_name, sig_i, sig_q, ref_i, ref_q, description, outdir,
             peak_mag = mag
             peak_bin = k
 
-    print(f"  Output: {len(out_i)} samples")
-    print(f"  Peak bin: {peak_bin}, magnitude: {peak_mag}")
-    print(f"  Peak I={out_i[peak_bin]}, Q={out_q[peak_bin]}")
 
     # Save golden output hex
     write_hex_16bit(os.path.join(outdir, f"mf_golden_py_i_{case_name}.hex"), out_i)
@@ -135,10 +129,6 @@ def generate_case(case_name, sig_i, sig_q, ref_i, ref_q, description, outdir,
 def main():
     base_dir = os.path.dirname(os.path.abspath(__file__))
 
-    print("=" * 60)
-    print("Matched Filter Co-Sim Golden Reference Generator")
-    print("Using bit-accurate Python model (fpga_model.py)")
-    print("=" * 60)
 
     results = []
 
@@ -158,8 +148,7 @@ def main():
                           base_dir)
         results.append(r)
     else:
-        print("\nWARNING: bb_mf_test / ref_chirp hex files not found.")
+        pass
-        print("Run radar_scene.py first.")
 
     # ---- Case 2: DC autocorrelation ----
     dc_val = 0x1000  # 4096
@@ -191,8 +180,8 @@ def main():
     sig_q = []
     for n in range(FFT_SIZE):
         angle = 2.0 * math.pi * k * n / FFT_SIZE
-        sig_i.append(saturate(int(round(amp * math.cos(angle))), 16))
+        sig_i.append(saturate(round(amp * math.cos(angle)), 16))
-        sig_q.append(saturate(int(round(amp * math.sin(angle))), 16))
+        sig_q.append(saturate(round(amp * math.sin(angle)), 16))
     ref_i = list(sig_i)
     ref_q = list(sig_q)
     r = generate_case("tone5", sig_i, sig_q, ref_i, ref_q,
@@ -201,16 +190,9 @@ def main():
     results.append(r)
 
     # ---- Summary ----
-    print("\n" + "=" * 60)
+    for _ in results:
-    print("Summary:")
+        pass
-    print("=" * 60)
-    for r in results:
-        print(f"  {r['case_name']:10s}: peak at bin {r['peak_bin']}, "
-              f"mag={r['peak_mag']}, I={r['peak_i']}, Q={r['peak_q']}")
 
-    print(f"\nGenerated {len(results)} golden reference cases.")
-    print("Files written to:", base_dir)
-    print("=" * 60)
 
 
 if __name__ == '__main__':

9_Firmware/9_2_FPGA/tb/cosim/gen_multiseg_golden.py

@@ -5,7 +5,7 @@ gen_multiseg_golden.py
 Generate golden reference data for matched_filter_multi_segment co-simulation.
 
 Tests the overlap-save segmented convolution wrapper:
-  - Long chirp: 3072 samples (4 segments × 1024, with 128-sample overlap)
+  - Long chirp: 3072 samples (4 segments x 1024, with 128-sample overlap)
   - Short chirp: 50 samples zero-padded to 1024 (1 segment)
 
 The matched_filter_processing_chain is already verified bit-perfect.
@@ -234,7 +234,6 @@ def generate_long_chirp_test():
                 # In radar_receiver_final.v, the DDC output is sign-extended:
                 #   .ddc_i({{2{adc_i_scaled[15]}}, adc_i_scaled})
                 # So 16-bit -> 18-bit sign-extend -> then multi_segment does:
-                #   ddc_i[17:2] + ddc_i[1]
                 # For sign-extended 18-bit from 16-bit:
                 #   ddc_i[17:2] = original 16-bit value (since bits [17:16] = sign extension)
                 #   ddc_i[1] = bit 1 of original value
@@ -277,9 +276,6 @@ def generate_long_chirp_test():
         out_re, out_im = mf_chain.process(seg_data_i, seg_data_q, ref_i, ref_q)
         segment_results.append((out_re, out_im))
 
-        print(f"  Segment {seg}: collected {buffer_write_ptr} buffer samples, "
-              f"total chirp samples = {chirp_samples_collected}, "
-              f"input_idx = {input_idx}")
 
     # Write hex files for the testbench
     out_dir = os.path.dirname(os.path.abspath(__file__))
@@ -317,7 +313,6 @@ def generate_long_chirp_test():
             for b in range(1024):
                 f.write(f'{seg},{b},{out_re[b]},{out_im[b]}\n')
 
-    print(f"\n  Written {LONG_SEGMENTS * 1024} golden samples to {csv_path}")
 
     return TOTAL_SAMPLES, LONG_SEGMENTS, segment_results
 
@@ -343,8 +338,8 @@ def generate_short_chirp_test():
 
     # Zero-pad to 1024 (as RTL does in ST_ZERO_PAD)
     # Note: padding computed here for documentation; actual buffer uses buf_i/buf_q below
-    _padded_i = list(input_i) + [0] * (BUFFER_SIZE - SHORT_SAMPLES)  # noqa: F841
+    _padded_i = list(input_i) + [0] * (BUFFER_SIZE - SHORT_SAMPLES)
-    _padded_q = list(input_q) + [0] * (BUFFER_SIZE - SHORT_SAMPLES)  # noqa: F841
+    _padded_q = list(input_q) + [0] * (BUFFER_SIZE - SHORT_SAMPLES)
 
     # The buffer truncation: ddc_i[17:2] + ddc_i[1]
     # For data already 16-bit sign-extended to 18: result is (val >> 2) + bit1
@@ -381,7 +376,6 @@ def generate_short_chirp_test():
     # Write hex files
     out_dir = os.path.dirname(os.path.abspath(__file__))
 
-    # Input (18-bit)
     all_input_i_18 = []
     all_input_q_18 = []
     for n in range(SHORT_SAMPLES):
@@ -403,19 +397,12 @@ def generate_short_chirp_test():
         for b in range(1024):
             f.write(f'{b},{out_re[b]},{out_im[b]}\n')
 
-    print(f"  Written 1024 short chirp golden samples to {csv_path}")
     return out_re, out_im
 
 
 if __name__ == '__main__':
-    print("=" * 60)
-    print("Multi-Segment Matched Filter Golden Reference Generator")
-    print("=" * 60)
 
-    print("\n--- Long Chirp (4 segments, overlap-save) ---")
     total_samples, num_segs, seg_results = generate_long_chirp_test()
-    print(f"  Total input samples: {total_samples}")
-    print(f"  Segments: {num_segs}")
 
     for seg in range(num_segs):
         out_re, out_im = seg_results[seg]
@@ -427,9 +414,7 @@ if __name__ == '__main__':
             if mag > max_mag:
                 max_mag = mag
                 peak_bin = b
-        print(f"  Seg {seg}: peak at bin {peak_bin}, magnitude {max_mag}")
 
-    print("\n--- Short Chirp (1 segment, zero-padded) ---")
     short_re, short_im = generate_short_chirp_test()
     max_mag = 0
     peak_bin = 0
@@ -438,8 +423,3 @@ if __name__ == '__main__':
         if mag > max_mag:
             max_mag = mag
             peak_bin = b
-    print(f"  Short chirp: peak at bin {peak_bin}, magnitude {max_mag}")
-
-    print("\n" + "=" * 60)
-    print("ALL GOLDEN FILES GENERATED")
-    print("=" * 60)

9_Firmware/9_2_FPGA/tb/cosim/radar_scene.py

@@ -155,7 +155,7 @@ def generate_if_chirp(n_samples, chirp_bw=CHIRP_BW, f_if=F_IF, fs=FS_ADC):
         t = n / fs
         # Instantaneous frequency: f_if - chirp_bw/2 + chirp_rate * t
         # Phase: integral of 2*pi*f(t)*dt
-        _f_inst = f_if - chirp_bw / 2 + chirp_rate * t  # noqa: F841 — documents instantaneous frequency formula
+        _f_inst = f_if - chirp_bw / 2 + chirp_rate * t
         phase = 2 * math.pi * (f_if - chirp_bw / 2) * t + math.pi * chirp_rate * t * t
         chirp_i.append(math.cos(phase))
         chirp_q.append(math.sin(phase))
@@ -163,7 +163,7 @@ def generate_if_chirp(n_samples, chirp_bw=CHIRP_BW, f_if=F_IF, fs=FS_ADC):
     return chirp_i, chirp_q
 
 
-def generate_reference_chirp_q15(n_fft=FFT_SIZE, chirp_bw=CHIRP_BW, f_if=F_IF, fs=FS_ADC):
+def generate_reference_chirp_q15(n_fft=FFT_SIZE, chirp_bw=CHIRP_BW, _f_if=F_IF, _fs=FS_ADC):
     """
     Generate a reference chirp in Q15 format for the matched filter.
 
@@ -190,8 +190,8 @@ def generate_reference_chirp_q15(n_fft=FFT_SIZE, chirp_bw=CHIRP_BW, f_if=F_IF, f
         # The beat frequency from a target at delay tau is: f_beat = chirp_rate * tau
         # Reference chirp is the TX chirp at baseband (zero delay)
         phase = math.pi * chirp_rate * t * t
-        re_val = int(round(32767 * 0.9 * math.cos(phase)))
+        re_val = round(32767 * 0.9 * math.cos(phase))
-        im_val = int(round(32767 * 0.9 * math.sin(phase)))
+        im_val = round(32767 * 0.9 * math.sin(phase))
         ref_re[n] = max(-32768, min(32767, re_val))
         ref_im[n] = max(-32768, min(32767, im_val))
 
@@ -284,7 +284,7 @@ def generate_adc_samples(targets, n_samples, noise_stddev=3.0,
     # Quantize to 8-bit unsigned (0-255), centered at 128
     adc_samples = []
     for val in adc_float:
-        quantized = int(round(val + 128))
+        quantized = round(val + 128)
         quantized = max(0, min(255, quantized))
         adc_samples.append(quantized)
 
@@ -346,8 +346,8 @@ def generate_baseband_samples(targets, n_samples_baseband, noise_stddev=0.5,
     bb_i = []
     bb_q = []
     for n in range(n_samples_baseband):
-        i_val = int(round(bb_i_float[n] + noise_stddev * rand_gaussian()))
+        i_val = round(bb_i_float[n] + noise_stddev * rand_gaussian())
-        q_val = int(round(bb_q_float[n] + noise_stddev * rand_gaussian()))
+        q_val = round(bb_q_float[n] + noise_stddev * rand_gaussian())
         bb_i.append(max(-32768, min(32767, i_val)))
         bb_q.append(max(-32768, min(32767, q_val)))
 
@@ -398,15 +398,13 @@ def generate_doppler_frame(targets, n_chirps=CHIRPS_PER_FRAME,
         for target in targets:
             # Which range bin does this target fall in?
             # After matched filter + range decimation:
-            # range_bin = target_delay_in_baseband_samples / decimation_factor
             delay_baseband_samples = target.delay_s * FS_SYS
             range_bin_float = delay_baseband_samples * n_range_bins / FFT_SIZE
-            range_bin = int(round(range_bin_float))
+            range_bin = round(range_bin_float)
 
             if range_bin < 0 or range_bin >= n_range_bins:
                 continue
 
-            # Amplitude (simplified)
             amp = target.amplitude / 4.0
 
             # Doppler phase for this chirp.
@@ -426,10 +424,7 @@ def generate_doppler_frame(targets, n_chirps=CHIRPS_PER_FRAME,
                 rb = range_bin + delta
                 if 0 <= rb < n_range_bins:
                     # sinc-like weighting
-                    if delta == 0:
+                    weight = 1.0 if delta == 0 else 0.2 / abs(delta)
-                        weight = 1.0
-                    else:
-                        weight = 0.2 / abs(delta)
                     chirp_i[rb] += amp * weight * math.cos(total_phase)
                     chirp_q[rb] += amp * weight * math.sin(total_phase)
 
@@ -437,8 +432,8 @@ def generate_doppler_frame(targets, n_chirps=CHIRPS_PER_FRAME,
         row_i = []
         row_q = []
         for rb in range(n_range_bins):
-            i_val = int(round(chirp_i[rb] + noise_stddev * rand_gaussian()))
+            i_val = round(chirp_i[rb] + noise_stddev * rand_gaussian())
-            q_val = int(round(chirp_q[rb] + noise_stddev * rand_gaussian()))
+            q_val = round(chirp_q[rb] + noise_stddev * rand_gaussian())
             row_i.append(max(-32768, min(32767, i_val)))
             row_q.append(max(-32768, min(32767, q_val)))
 
@@ -466,7 +461,7 @@ def write_hex_file(filepath, samples, bits=8):
 
     with open(filepath, 'w') as f:
         f.write(f"// {len(samples)} samples, {bits}-bit, hex format for $readmemh\n")
-        for i, s in enumerate(samples):
+        for _i, s in enumerate(samples):
             if bits <= 8:
                 val = s & 0xFF
             elif bits <= 16:
@@ -477,7 +472,6 @@ def write_hex_file(filepath, samples, bits=8):
                 val = s & ((1 << bits) - 1)
             f.write(fmt.format(val) + "\n")
 
-    print(f"  Wrote {len(samples)} samples to {filepath}")
 
 
 def write_csv_file(filepath, columns, headers=None):
@@ -497,7 +491,6 @@ def write_csv_file(filepath, columns, headers=None):
             row = [str(col[i]) for col in columns]
             f.write(",".join(row) + "\n")
 
-    print(f"  Wrote {n_rows} rows to {filepath}")
 
 
 # =============================================================================
@@ -510,10 +503,6 @@ def scenario_single_target(range_m=500, velocity=0, rcs=0, n_adc_samples=16384):
     Good for validating matched filter range response.
     """
     target = Target(range_m=range_m, velocity_mps=velocity, rcs_dbsm=rcs)
-    print(f"Scenario: Single target at {range_m}m")
-    print(f"  {target}")
-    print(f"  Beat freq: {CHIRP_BW / T_LONG_CHIRP * target.delay_s:.0f} Hz")
-    print(f"  Delay: {target.delay_samples:.1f} ADC samples")
 
     adc = generate_adc_samples([target], n_adc_samples, noise_stddev=2.0)
     return adc, [target]
@@ -528,9 +517,8 @@ def scenario_two_targets(n_adc_samples=16384):
         Target(range_m=300, velocity_mps=0, rcs_dbsm=10, phase_deg=0),
         Target(range_m=315, velocity_mps=0, rcs_dbsm=10, phase_deg=45),
     ]
-    print("Scenario: Two targets (range resolution test)")
+    for _t in targets:
-    for t in targets:
+        pass
-        print(f"  {t}")
 
     adc = generate_adc_samples(targets, n_adc_samples, noise_stddev=2.0)
     return adc, targets
@@ -547,9 +535,8 @@ def scenario_multi_target(n_adc_samples=16384):
         Target(range_m=2000, velocity_mps=50, rcs_dbsm=0, phase_deg=45),
         Target(range_m=5000, velocity_mps=-5, rcs_dbsm=-5, phase_deg=270),
     ]
-    print("Scenario: Multi-target (5 targets)")
+    for _t in targets:
-    for t in targets:
+        pass
-        print(f"  {t}")
 
     adc = generate_adc_samples(targets, n_adc_samples, noise_stddev=3.0)
     return adc, targets
@@ -559,7 +546,6 @@ def scenario_noise_only(n_adc_samples=16384, noise_stddev=5.0):
     """
     Noise-only scene — baseline for false alarm characterization.
     """
-    print(f"Scenario: Noise only (stddev={noise_stddev})")
     adc = generate_adc_samples([], n_adc_samples, noise_stddev=noise_stddev)
     return adc, []
 
@@ -568,7 +554,6 @@ def scenario_dc_tone(n_adc_samples=16384, adc_value=128):
     """
     DC input — validates CIC decimation and DC response.
     """
-    print(f"Scenario: DC tone (ADC value={adc_value})")
     return [adc_value] * n_adc_samples, []
 
 
@@ -576,11 +561,10 @@ def scenario_sine_wave(n_adc_samples=16384, freq_hz=1e6, amplitude=50):
     """
     Pure sine wave at ADC input — validates NCO/mixer frequency response.
     """
-    print(f"Scenario: Sine wave at {freq_hz/1e6:.1f} MHz, amplitude={amplitude}")
     adc = []
     for n in range(n_adc_samples):
         t = n / FS_ADC
-        val = int(round(128 + amplitude * math.sin(2 * math.pi * freq_hz * t)))
+        val = round(128 + amplitude * math.sin(2 * math.pi * freq_hz * t))
         adc.append(max(0, min(255, val)))
     return adc, []
 
@@ -606,46 +590,35 @@ def generate_all_test_vectors(output_dir=None):
     if output_dir is None:
         output_dir = os.path.dirname(os.path.abspath(__file__))
 
-    print("=" * 60)
-    print("Generating AERIS-10 Test Vectors")
-    print(f"Output directory: {output_dir}")
-    print("=" * 60)
 
     n_adc = 16384  # ~41 us of ADC data
 
     # --- Scenario 1: Single target ---
-    print("\n--- Scenario 1: Single Target ---")
     adc1, targets1 = scenario_single_target(range_m=500, n_adc_samples=n_adc)
     write_hex_file(os.path.join(output_dir, "adc_single_target.hex"), adc1, bits=8)
 
     # --- Scenario 2: Multi-target ---
-    print("\n--- Scenario 2: Multi-Target ---")
     adc2, targets2 = scenario_multi_target(n_adc_samples=n_adc)
     write_hex_file(os.path.join(output_dir, "adc_multi_target.hex"), adc2, bits=8)
 
     # --- Scenario 3: Noise only ---
-    print("\n--- Scenario 3: Noise Only ---")
     adc3, _ = scenario_noise_only(n_adc_samples=n_adc)
     write_hex_file(os.path.join(output_dir, "adc_noise_only.hex"), adc3, bits=8)
 
     # --- Scenario 4: DC ---
-    print("\n--- Scenario 4: DC Input ---")
     adc4, _ = scenario_dc_tone(n_adc_samples=n_adc)
     write_hex_file(os.path.join(output_dir, "adc_dc.hex"), adc4, bits=8)
 
     # --- Scenario 5: Sine wave ---
-    print("\n--- Scenario 5: 1 MHz Sine ---")
     adc5, _ = scenario_sine_wave(n_adc_samples=n_adc, freq_hz=1e6, amplitude=50)
     write_hex_file(os.path.join(output_dir, "adc_sine_1mhz.hex"), adc5, bits=8)
 
     # --- Reference chirp for matched filter ---
-    print("\n--- Reference Chirp ---")
     ref_re, ref_im = generate_reference_chirp_q15()
     write_hex_file(os.path.join(output_dir, "ref_chirp_i.hex"), ref_re, bits=16)
     write_hex_file(os.path.join(output_dir, "ref_chirp_q.hex"), ref_im, bits=16)
 
     # --- Baseband samples for matched filter test (bypass DDC) ---
-    print("\n--- Baseband Samples (bypass DDC) ---")
     bb_targets = [
         Target(range_m=500, velocity_mps=0, rcs_dbsm=10),
         Target(range_m=1500, velocity_mps=20, rcs_dbsm=5),
@@ -655,7 +628,6 @@ def generate_all_test_vectors(output_dir=None):
     write_hex_file(os.path.join(output_dir, "bb_mf_test_q.hex"), bb_q, bits=16)
 
     # --- Scenario info CSV ---
-    print("\n--- Scenario Info ---")
     with open(os.path.join(output_dir, "scenario_info.txt"), 'w') as f:
         f.write("AERIS-10 Test Vector Scenarios\n")
         f.write("=" * 60 + "\n\n")
@@ -685,11 +657,7 @@ def generate_all_test_vectors(output_dir=None):
         for t in bb_targets:
             f.write(f"  {t}\n")
 
-    print(f"\n  Wrote scenario info to {os.path.join(output_dir, 'scenario_info.txt')}")
 
-    print("\n" + "=" * 60)
-    print("ALL TEST VECTORS GENERATED")
-    print("=" * 60)
 
     return {
         'adc_single': adc1,

9_Firmware/9_2_FPGA/tb/cosim/real_data/golden_reference.py

@@ -69,7 +69,6 @@ FIR_COEFFS_HEX = [
 # DDC output interface
 DDC_OUT_BITS = 16                # 18 → 16 bit with rounding + saturation
 
-# FFT (Range)
 FFT_SIZE = 1024
 FFT_DATA_W = 16
 FFT_INTERNAL_W = 32
@@ -148,21 +147,15 @@ def load_and_quantize_adi_data(data_path, config_path, frame_idx=0):
     4. Upconvert to 120 MHz IF (add I*cos - Q*sin) to create real signal
     5. Quantize to 8-bit unsigned (matching AD9484)
     """
-    print(f"[LOAD] Loading ADI dataset from {data_path}")
     data = np.load(data_path, allow_pickle=True)
     config = np.load(config_path, allow_pickle=True)
     
-    print(f"  Shape: {data.shape}, dtype: {data.dtype}")
-    print(f"  Config: sample_rate={config[0]:.0f}, IF={config[1]:.0f}, "
-          f"RF={config[2]:.0f}, chirps={config[3]:.0f}, BW={config[4]:.0f}, "
-          f"ramp={config[5]:.6f}s")
     
     # Extract one frame
     frame = data[frame_idx]  # (256, 1079) complex
     
     # Use first 32 chirps, first 1024 samples
     iq_block = frame[:DOPPLER_CHIRPS, :FFT_SIZE]  # (32, 1024) complex
-    print(f"  Using frame {frame_idx}: {DOPPLER_CHIRPS} chirps x {FFT_SIZE} samples")
     
     # The ADI data is baseband complex IQ at 4 MSPS.
     # AERIS-10 sees a real signal at 400 MSPS with 120 MHz IF.
@@ -197,9 +190,6 @@ def load_and_quantize_adi_data(data_path, config_path, frame_idx=0):
     iq_i = np.clip(iq_i, -32768, 32767)
     iq_q = np.clip(iq_q, -32768, 32767)
     
-    print(f"  Scaled to 16-bit (peak target {INPUT_PEAK_TARGET}): "
-          f"I range [{iq_i.min()}, {iq_i.max()}], "
-          f"Q range [{iq_q.min()}, {iq_q.max()}]")
     
     # Also create 8-bit ADC stimulus for DDC validation
     # Use just one chirp of real-valued data (I channel only, shifted to unsigned)
@@ -243,10 +233,7 @@ def nco_lookup(phase_accum, sin_lut):
     quadrant = (lut_address >> 6) & 0x3
     
     # Mirror index for odd quadrants
-    if (quadrant & 1) ^ ((quadrant >> 1) & 1):
+    lut_idx = ~lut_address & 63 if quadrant & 1 ^ quadrant >> 1 & 1 else lut_address & 63
-        lut_idx = (~lut_address) & 0x3F
-    else:
-        lut_idx = lut_address & 0x3F
     
     sin_abs = int(sin_lut[lut_idx])
     cos_abs = int(sin_lut[63 - lut_idx])
@@ -294,7 +281,6 @@ def run_ddc(adc_samples):
     # Build FIR coefficients as signed integers
     fir_coeffs = np.array([hex_to_signed(c, 18) for c in FIR_COEFFS_HEX], dtype=np.int64)
     
-    print(f"[DDC] Processing {n_samples} ADC samples at 400 MHz")
     
     # --- NCO + Mixer ---
     phase_accum = np.int64(0)
@@ -327,7 +313,6 @@ def run_ddc(adc_samples):
         # Phase accumulator update (ignore dithering for bit-accuracy)
         phase_accum = (phase_accum + NCO_PHASE_INC) & 0xFFFFFFFF
     
-    print(f"  Mixer output: I range [{mixed_i.min()}, {mixed_i.max()}]")
     
     # --- CIC Decimator (5-stage, decimate-by-4) ---
     # Integrator section (at 400 MHz rate)
@@ -371,7 +356,6 @@ def run_ddc(adc_samples):
         scaled = comb[CIC_STAGES - 1][k] >> CIC_GAIN_SHIFT
         cic_output[k] = saturate(scaled, CIC_OUT_BITS)
     
-    print(f"  CIC output: {n_decimated} samples, range [{cic_output.min()}, {cic_output.max()}]")
     
     # --- FIR Filter (32-tap) ---
     delay_line = np.zeros(FIR_TAPS, dtype=np.int64)
@@ -393,7 +377,6 @@ def run_ddc(adc_samples):
         if fir_output[k] >= (1 << 17):
             fir_output[k] -= (1 << 18)
     
-    print(f"  FIR output: range [{fir_output.min()}, {fir_output.max()}]")
     
     # --- DDC Interface (18 → 16 bit) ---
     ddc_output = np.zeros(n_decimated, dtype=np.int64)
@@ -410,7 +393,6 @@ def run_ddc(adc_samples):
         else:
             ddc_output[k] = saturate(trunc + round_bit, 16)
     
-    print(f"  DDC output (16-bit): range [{ddc_output.min()}, {ddc_output.max()}]")
     
     return ddc_output
 
@@ -421,7 +403,7 @@ def run_ddc(adc_samples):
 def load_twiddle_rom(twiddle_file):
     """Load the quarter-wave cosine ROM from .mem file."""
     rom = []
-    with open(twiddle_file, 'r') as f:
+    with open(twiddle_file) as f:
         for line in f:
             line = line.strip()
             if not line or line.startswith('//'):
@@ -483,7 +465,6 @@ def run_range_fft(iq_i, iq_q, twiddle_file=None):
         # Generate twiddle factors if file not available
         cos_rom = np.round(32767 * np.cos(2 * np.pi * np.arange(N // 4) / N)).astype(np.int64)
     
-    print(f"[FFT] Running {N}-point range FFT (bit-accurate)")
     
     # Bit-reverse and sign-extend to 32-bit internal width
     def bit_reverse(val, bits):
@@ -521,9 +502,6 @@ def run_range_fft(iq_i, iq_q, twiddle_file=None):
             b_re = mem_re[addr_odd]
             b_im = mem_im[addr_odd]
             
-            # Twiddle multiply: forward FFT
-            #   prod_re = b_re * tw_cos + b_im * tw_sin
-            #   prod_im = b_im * tw_cos - b_re * tw_sin
             prod_re = b_re * tw_cos + b_im * tw_sin
             prod_im = b_im * tw_cos - b_re * tw_sin
             
@@ -546,8 +524,6 @@ def run_range_fft(iq_i, iq_q, twiddle_file=None):
         out_re[n] = saturate(mem_re[n], FFT_DATA_W)
         out_im[n] = saturate(mem_im[n], FFT_DATA_W)
     
-    print(f"  FFT output: re range [{out_re.min()}, {out_re.max()}], "
-          f"im range [{out_im.min()}, {out_im.max()}]")
     
     return out_re, out_im
 
@@ -582,11 +558,6 @@ def run_range_bin_decimator(range_fft_i, range_fft_q,
     decimated_i = np.zeros((n_chirps, output_bins), dtype=np.int64)
     decimated_q = np.zeros((n_chirps, output_bins), dtype=np.int64)
 
-    mode_str = 'peak' if mode == 1 else 'avg' if mode == 2 else 'simple'
-    print(
-        f"[DECIM] Decimating {n_in}→{output_bins} bins, mode={mode_str}, "
-        f"start_bin={start_bin}, {n_chirps} chirps"
-    )
 
     for c in range(n_chirps):
         # Index into input, skip start_bin
@@ -635,7 +606,7 @@ def run_range_bin_decimator(range_fft_i, range_fft_q,
                 # Averaging: sum group, then >> 4 (divide by 16)
                 sum_i = np.int64(0)
                 sum_q = np.int64(0)
-                for s in range(decimation_factor):
+                for _ in range(decimation_factor):
                     if in_idx >= input_bins:
                         break
                     sum_i += int(range_fft_i[c, in_idx])
@@ -645,9 +616,6 @@ def run_range_bin_decimator(range_fft_i, range_fft_q,
                 decimated_i[c, obin] = int(sum_i) >> 4
                 decimated_q[c, obin] = int(sum_q) >> 4
 
-    print(f"  Decimated output: shape ({n_chirps}, {output_bins}), "
-          f"I range [{decimated_i.min()}, {decimated_i.max()}], "
-          f"Q range [{decimated_q.min()}, {decimated_q.max()}]")
 
     return decimated_i, decimated_q
 
@@ -673,7 +641,6 @@ def run_doppler_fft(range_data_i, range_data_q, twiddle_file_16=None):
     n_total = DOPPLER_TOTAL_BINS
     n_sf = CHIRPS_PER_SUBFRAME
 
-    print(f"[DOPPLER] Processing {n_range} range bins x {n_chirps} chirps → dual {n_fft}-point FFT")
 
     # Build 16-point Hamming window as signed 16-bit
     hamming = np.array([int(v) for v in HAMMING_Q15], dtype=np.int64)
@@ -757,8 +724,6 @@ def run_doppler_fft(range_data_i, range_data_q, twiddle_file_16=None):
                 doppler_map_i[rbin, bin_offset + n] = saturate(mem_re[n], 16)
                 doppler_map_q[rbin, bin_offset + n] = saturate(mem_im[n], 16)
 
-    print(f"  Doppler map: shape ({n_range}, {n_total}), "
-          f"I range [{doppler_map_i.min()}, {doppler_map_i.max()}]")
 
     return doppler_map_i, doppler_map_q
 
@@ -788,12 +753,10 @@ def run_mti_canceller(decim_i, decim_q, enable=True):
     mti_i = np.zeros_like(decim_i)
     mti_q = np.zeros_like(decim_q)
 
-    print(f"[MTI] 2-pulse canceller, enable={enable}, {n_chirps} chirps x {n_bins} bins")
 
     if not enable:
         mti_i[:] = decim_i
         mti_q[:] = decim_q
-        print("  Pass-through mode (MTI disabled)")
         return mti_i, mti_q
 
     for c in range(n_chirps):
@@ -809,9 +772,6 @@ def run_mti_canceller(decim_i, decim_q, enable=True):
                 mti_i[c, r] = saturate(diff_i, 16)
                 mti_q[c, r] = saturate(diff_q, 16)
 
-    print("  Chirp 0: muted (zeros)")
-    print(f"  Chirps 1-{n_chirps-1}: I range [{mti_i[1:].min()}, {mti_i[1:].max()}], "
-          f"Q range [{mti_q[1:].min()}, {mti_q[1:].max()}]")
     return mti_i, mti_q
 
 
@@ -838,17 +798,12 @@ def run_dc_notch(doppler_i, doppler_q, width=2):
       dc_notch_active = (width != 0) &&
                         (bin_within_sf < width || bin_within_sf > (15 - width + 1))
     """
-    n_range, n_doppler = doppler_i.shape
+    _n_range, n_doppler = doppler_i.shape
     notched_i = doppler_i.copy()
     notched_q = doppler_q.copy()
 
-    print(
-        f"[DC NOTCH] width={width}, {n_range} range bins x "
-        f"{n_doppler} Doppler bins (dual sub-frame)"
-    )
 
     if width == 0:
-        print("  Pass-through (width=0)")
         return notched_i, notched_q
 
     zeroed_count = 0
@@ -860,7 +815,6 @@ def run_dc_notch(doppler_i, doppler_q, width=2):
             notched_q[:, dbin] = 0
             zeroed_count += 1
 
-    print(f"  Zeroed {zeroed_count} Doppler bin columns")
     return notched_i, notched_q
 
 
@@ -868,7 +822,7 @@ def run_dc_notch(doppler_i, doppler_q, width=2):
 # Stage 3e: CA-CFAR Detector (bit-accurate)
 # ===========================================================================
 def run_cfar_ca(doppler_i, doppler_q, guard=2, train=8,
-                alpha_q44=0x30, mode='CA', simple_threshold=500):
+                alpha_q44=0x30, mode='CA', _simple_threshold=500):
     """
     Bit-accurate model of cfar_ca.v — Cell-Averaging CFAR detector.
 
@@ -906,9 +860,6 @@ def run_cfar_ca(doppler_i, doppler_q, guard=2, train=8,
     if train == 0:
         train = 1
 
-    print(f"[CFAR] mode={mode}, guard={guard}, train={train}, "
-          f"alpha=0x{alpha_q44:02X} (Q4.4={alpha_q44/16:.2f}), "
-          f"{n_range} range x {n_doppler} Doppler")
 
     # Compute magnitudes: |I| + |Q| (17-bit unsigned, matching RTL L1 norm)
     # RTL: abs_i = I[15] ? (~I + 1) : I; abs_q = Q[15] ? (~Q + 1) : Q
@@ -976,29 +927,19 @@ def run_cfar_ca(doppler_i, doppler_q, guard=2, train=8,
             else:
                 noise_sum = leading_sum + lagging_sum  # Default to CA
 
-            # Threshold = (alpha * noise_sum) >> ALPHA_FRAC_BITS
-            # RTL: noise_product = r_alpha * noise_sum_reg (31-bit)
-            #      threshold = noise_product[ALPHA_FRAC_BITS +: MAG_WIDTH]
-            #      saturate if overflow
             noise_product = alpha_q44 * noise_sum
             threshold_raw = noise_product >> ALPHA_FRAC_BITS
 
             # Saturate to MAG_WIDTH=17 bits
             MAX_MAG = (1 << 17) - 1  # 131071
-            if threshold_raw > MAX_MAG:
+            threshold_val = MAX_MAG if threshold_raw > MAX_MAG else int(threshold_raw)
-                threshold_val = MAX_MAG
-            else:
-                threshold_val = int(threshold_raw)
 
-            # Detection: magnitude > threshold
             if int(col[cut_idx]) > threshold_val:
                 detect_flags[cut_idx, dbin] = True
                 total_detections += 1
 
             thresholds[cut_idx, dbin] = threshold_val
 
-    print(f"  Total detections: {total_detections}")
-    print(f"  Magnitude range: [{magnitudes.min()}, {magnitudes.max()}]")
 
     return detect_flags, magnitudes, thresholds
 
@@ -1012,19 +953,16 @@ def run_detection(doppler_i, doppler_q, threshold=10000):
     cfar_mag = |I| + |Q| (17-bit)
     detection if cfar_mag > threshold
     """
-    print(f"[DETECT] Running magnitude threshold detection (threshold={threshold})")
     
     mag = np.abs(doppler_i) + np.abs(doppler_q)  # L1 norm (|I| + |Q|)
     detections = np.argwhere(mag > threshold)
     
-    print(f"  {len(detections)} detections found")
     for d in detections[:20]:  # Print first 20
         rbin, dbin = d
-        m = mag[rbin, dbin]
+        mag[rbin, dbin]
-        print(f"    Range bin {rbin}, Doppler bin {dbin}: magnitude {m}")
     
     if len(detections) > 20:
-        print(f"    ... and {len(detections) - 20} more")
+        pass
     
     return mag, detections
 
@@ -1038,7 +976,6 @@ def run_float_reference(iq_i, iq_q):
     Uses the exact same RTL Hamming window coefficients (Q15) to isolate
     only the FFT fixed-point quantization error.
     """
-    print("\n[FLOAT REF] Running floating-point reference pipeline")
     
     n_chirps, n_samples = iq_i.shape[0], iq_i.shape[1] if iq_i.ndim == 2 else len(iq_i)
     
@@ -1086,8 +1023,6 @@ def write_hex_files(output_dir, iq_i, iq_q, prefix="stim"):
                 fi.write(signed_to_hex(int(iq_i[n]), 16) + '\n')
                 fq.write(signed_to_hex(int(iq_q[n]), 16) + '\n')
         
-        print(f"  Wrote {fn_i} ({n_samples} samples)")
-        print(f"  Wrote {fn_q} ({n_samples} samples)")
     
     elif iq_i.ndim == 2:
         n_rows, n_cols = iq_i.shape
@@ -1101,8 +1036,6 @@ def write_hex_files(output_dir, iq_i, iq_q, prefix="stim"):
                     fi.write(signed_to_hex(int(iq_i[r, c]), 16) + '\n')
                     fq.write(signed_to_hex(int(iq_q[r, c]), 16) + '\n')
         
-        print(f"  Wrote {fn_i} ({n_rows}x{n_cols} = {n_rows * n_cols} samples)")
-        print(f"  Wrote {fn_q} ({n_rows}x{n_cols} = {n_rows * n_cols} samples)")
 
 
 def write_adc_hex(output_dir, adc_data, prefix="adc_stim"):
@@ -1114,13 +1047,12 @@ def write_adc_hex(output_dir, adc_data, prefix="adc_stim"):
         for n in range(len(adc_data)):
             f.write(format(int(adc_data[n]) & 0xFF, '02X') + '\n')
     
-    print(f"  Wrote {fn} ({len(adc_data)} samples)")
 
 
 # ===========================================================================
 # Comparison metrics
 # ===========================================================================
-def compare_outputs(name, fixed_i, fixed_q, float_i, float_q):
+def compare_outputs(_name, fixed_i, fixed_q, float_i, float_q):
     """Compare fixed-point outputs against floating-point reference.
     
     Reports two metrics:
@@ -1136,7 +1068,7 @@ def compare_outputs(name, fixed_i, fixed_q, float_i, float_q):
     
     # Count saturated bins
     sat_mask = (np.abs(fi) >= 32767) | (np.abs(fq) >= 32767)
-    n_saturated = np.sum(sat_mask)
+    np.sum(sat_mask)
     
     # Complex error — overall
     fixed_complex = fi + 1j * fq
@@ -1145,8 +1077,8 @@ def compare_outputs(name, fixed_i, fixed_q, float_i, float_q):
     
     signal_power = np.mean(np.abs(ref_complex) ** 2) + 1e-30
     noise_power = np.mean(np.abs(error) ** 2) + 1e-30
-    snr_db = 10 * np.log10(signal_power / noise_power)
+    10 * np.log10(signal_power / noise_power)
-    max_error = np.max(np.abs(error))
+    np.max(np.abs(error))
     
     # Non-saturated comparison
     non_sat = ~sat_mask
@@ -1155,17 +1087,10 @@ def compare_outputs(name, fixed_i, fixed_q, float_i, float_q):
         sig_ns = np.mean(np.abs(ref_complex[non_sat]) ** 2) + 1e-30
         noise_ns = np.mean(np.abs(error_ns) ** 2) + 1e-30
         snr_ns = 10 * np.log10(sig_ns / noise_ns)
-        max_err_ns = np.max(np.abs(error_ns))
+        np.max(np.abs(error_ns))
     else:
         snr_ns = 0.0
-        max_err_ns = 0.0
     
-    print(f"\n  [{name}] Comparison ({n} points):")
-    print(f"    Saturated:           {n_saturated}/{n} ({100.0*n_saturated/n:.2f}%)")
-    print(f"    Overall SNR:         {snr_db:.1f} dB")
-    print(f"    Overall max error:   {max_error:.1f}")
-    print(f"    Non-sat SNR:         {snr_ns:.1f} dB")
-    print(f"    Non-sat max error:   {max_err_ns:.1f}")
     
     return snr_ns  # Return the meaningful metric
 
@@ -1198,29 +1123,19 @@ def main():
     twiddle_1024 = os.path.join(fpga_dir, "fft_twiddle_1024.mem")
     output_dir = os.path.join(script_dir, "hex")
     
-    print("=" * 72)
-    print("AERIS-10 FPGA Golden Reference Model")
-    print("Using ADI CN0566 Phaser Radar Data (10.525 GHz X-band FMCW)")
-    print("=" * 72)
     
     # -----------------------------------------------------------------------
     # Load and quantize ADI data
     # -----------------------------------------------------------------------
-    iq_i, iq_q, adc_8bit, config = load_and_quantize_adi_data(
+    iq_i, iq_q, adc_8bit, _config = load_and_quantize_adi_data(
         amp_data, amp_config, frame_idx=args.frame
     )
     
     # iq_i, iq_q: (32, 1024) int64, 16-bit range — post-DDC equivalent
-    print(f"\n{'=' * 72}")
-    print("Stage 0: Data loaded and quantized to 16-bit signed")
-    print(f"  IQ block shape: ({iq_i.shape[0]}, {iq_i.shape[1]})")
-    print(f"  ADC stimulus: {len(adc_8bit)} samples (8-bit unsigned)")
     
     # -----------------------------------------------------------------------
     # Write stimulus files
     # -----------------------------------------------------------------------
-    print(f"\n{'=' * 72}")
-    print("Writing hex stimulus files for RTL testbenches")
     
     # Post-DDC IQ for each chirp (for FFT + Doppler validation)
     write_hex_files(output_dir, iq_i, iq_q, "post_ddc")
@@ -1234,8 +1149,6 @@ def main():
     # -----------------------------------------------------------------------
     # Run range FFT on first chirp (bit-accurate)
     # -----------------------------------------------------------------------
-    print(f"\n{'=' * 72}")
-    print("Stage 2: Range FFT (1024-point, bit-accurate)")
     range_fft_i, range_fft_q = run_range_fft(iq_i[0], iq_q[0], twiddle_1024)
     write_hex_files(output_dir, range_fft_i, range_fft_q, "range_fft_chirp0")
     
@@ -1243,20 +1156,16 @@ def main():
     all_range_i = np.zeros((DOPPLER_CHIRPS, FFT_SIZE), dtype=np.int64)
     all_range_q = np.zeros((DOPPLER_CHIRPS, FFT_SIZE), dtype=np.int64)
     
-    print(f"\n  Running range FFT for all {DOPPLER_CHIRPS} chirps...")
     for c in range(DOPPLER_CHIRPS):
         ri, rq = run_range_fft(iq_i[c], iq_q[c], twiddle_1024)
         all_range_i[c] = ri
         all_range_q[c] = rq
         if (c + 1) % 8 == 0:
-            print(f"    Chirp {c + 1}/{DOPPLER_CHIRPS} done")
+            pass
     
     # -----------------------------------------------------------------------
     # Run Doppler FFT (bit-accurate) — "direct" path (first 64 bins)
     # -----------------------------------------------------------------------
-    print(f"\n{'=' * 72}")
-    print("Stage 3: Doppler FFT (dual 16-point with Hamming window)")
-    print("  [direct path: first 64 range bins, no decimation]")
     twiddle_16 = os.path.join(fpga_dir, "fft_twiddle_16.mem")
     doppler_i, doppler_q = run_doppler_fft(all_range_i, all_range_q, twiddle_file_16=twiddle_16)
     write_hex_files(output_dir, doppler_i, doppler_q, "doppler_map")
@@ -1266,8 +1175,6 @@ def main():
     # This models the actual RTL data flow:
     #   range FFT → range_bin_decimator (peak detection) → Doppler
     # -----------------------------------------------------------------------
-    print(f"\n{'=' * 72}")
-    print("Stage 2b: Range Bin Decimator (1024 → 64, peak detection)")
     
     decim_i, decim_q = run_range_bin_decimator(
         all_range_i, all_range_q,
@@ -1287,14 +1194,11 @@ def main():
                 q_val = int(all_range_q[c, b]) & 0xFFFF
                 packed = (q_val << 16) | i_val
                 f.write(f"{packed:08X}\n")
-    print(f"  Wrote {fc_input_file} ({DOPPLER_CHIRPS * FFT_SIZE} packed IQ words)")
     
     # Write decimated output reference for standalone decimator test
     write_hex_files(output_dir, decim_i, decim_q, "decimated_range")
     
     # Now run Doppler on the decimated data — this is the full-chain reference
-    print(f"\n{'=' * 72}")
-    print("Stage 3b: Doppler FFT on decimated data (full-chain path)")
     fc_doppler_i, fc_doppler_q = run_doppler_fft(
         decim_i, decim_q, twiddle_file_16=twiddle_16
     )
@@ -1309,10 +1213,6 @@ def main():
                 q_val = int(fc_doppler_q[rbin, dbin]) & 0xFFFF
                 packed = (q_val << 16) | i_val
                 f.write(f"{packed:08X}\n")
-    print(
-        f"  Wrote {fc_doppler_packed_file} ("
-        f"{DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} packed IQ words)"
-    )
     
     # Save numpy arrays for the full-chain path
     np.save(os.path.join(output_dir, "decimated_range_i.npy"), decim_i)
@@ -1325,16 +1225,12 @@ def main():
     # This models the complete RTL data flow:
     #   range FFT → decimator → MTI canceller → Doppler → DC notch → CFAR
     # -----------------------------------------------------------------------
-    print(f"\n{'=' * 72}")
-    print("Stage 3c: MTI Canceller (2-pulse, on decimated data)")
     mti_i, mti_q = run_mti_canceller(decim_i, decim_q, enable=True)
     write_hex_files(output_dir, mti_i, mti_q, "fullchain_mti_ref")
     np.save(os.path.join(output_dir, "fullchain_mti_i.npy"), mti_i)
     np.save(os.path.join(output_dir, "fullchain_mti_q.npy"), mti_q)
     
     # Doppler on MTI-filtered data
-    print(f"\n{'=' * 72}")
-    print("Stage 3b+c: Doppler FFT on MTI-filtered decimated data")
     mti_doppler_i, mti_doppler_q = run_doppler_fft(
         mti_i, mti_q, twiddle_file_16=twiddle_16
     )
@@ -1344,8 +1240,6 @@ def main():
     
     # DC notch on MTI-Doppler data
     DC_NOTCH_WIDTH = 2  # Default test value: zero bins {0, 1, 31}
-    print(f"\n{'=' * 72}")
-    print(f"Stage 3d: DC Notch Filter (width={DC_NOTCH_WIDTH})")
     notched_i, notched_q = run_dc_notch(mti_doppler_i, mti_doppler_q, width=DC_NOTCH_WIDTH)
     write_hex_files(output_dir, notched_i, notched_q, "fullchain_notched_ref")
     
@@ -1358,18 +1252,12 @@ def main():
                 q_val = int(notched_q[rbin, dbin]) & 0xFFFF
                 packed = (q_val << 16) | i_val
                 f.write(f"{packed:08X}\n")
-    print(
-        f"  Wrote {fc_notched_packed_file} ("
-        f"{DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} packed IQ words)"
-    )
     
     # CFAR on DC-notched data
     CFAR_GUARD = 2
     CFAR_TRAIN = 8
     CFAR_ALPHA = 0x30  # Q4.4 = 3.0
     CFAR_MODE = 'CA'
-    print(f"\n{'=' * 72}")
-    print(f"Stage 3e: CA-CFAR (guard={CFAR_GUARD}, train={CFAR_TRAIN}, alpha=0x{CFAR_ALPHA:02X})")
     cfar_flags, cfar_mag, cfar_thr = run_cfar_ca(
         notched_i, notched_q,
         guard=CFAR_GUARD, train=CFAR_TRAIN,
@@ -1384,7 +1272,6 @@ def main():
             for dbin in range(DOPPLER_TOTAL_BINS):
                 m = int(cfar_mag[rbin, dbin]) & 0x1FFFF
                 f.write(f"{m:05X}\n")
-    print(f"  Wrote {cfar_mag_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} mag values)")
     
     # 2. Threshold map (17-bit unsigned)
     cfar_thr_file = os.path.join(output_dir, "fullchain_cfar_thr.hex")
@@ -1393,7 +1280,6 @@ def main():
             for dbin in range(DOPPLER_TOTAL_BINS):
                 t = int(cfar_thr[rbin, dbin]) & 0x1FFFF
                 f.write(f"{t:05X}\n")
-    print(f"  Wrote {cfar_thr_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} threshold values)")
     
     # 3. Detection flags (1-bit per cell)
     cfar_det_file = os.path.join(output_dir, "fullchain_cfar_det.hex")
@@ -1402,7 +1288,6 @@ def main():
             for dbin in range(DOPPLER_TOTAL_BINS):
                 d = 1 if cfar_flags[rbin, dbin] else 0
                 f.write(f"{d:01X}\n")
-    print(f"  Wrote {cfar_det_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} detection flags)")
     
     # 4. Detection list (text)
     cfar_detections = np.argwhere(cfar_flags)
@@ -1418,7 +1303,6 @@ def main():
         for det in cfar_detections:
             r, d = det
             f.write(f"{r} {d} {cfar_mag[r, d]} {cfar_thr[r, d]}\n")
-    print(f"  Wrote {cfar_det_list_file} ({len(cfar_detections)} detections)")
     
     # Save numpy arrays
     np.save(os.path.join(output_dir, "fullchain_cfar_mag.npy"), cfar_mag)
@@ -1426,8 +1310,6 @@ def main():
     np.save(os.path.join(output_dir, "fullchain_cfar_flags.npy"), cfar_flags)
     
     # Run detection on full-chain Doppler map
-    print(f"\n{'=' * 72}")
-    print("Stage 4: Detection on full-chain Doppler map")
     fc_mag, fc_detections = run_detection(fc_doppler_i, fc_doppler_q, threshold=args.threshold)
     
     # Save full-chain detection reference
@@ -1439,7 +1321,6 @@ def main():
         for d in fc_detections:
             rbin, dbin = d
             f.write(f"{rbin} {dbin} {fc_mag[rbin, dbin]}\n")
-    print(f"  Wrote {fc_det_file} ({len(fc_detections)} detections)")
     
     # Also write detection reference as hex for RTL comparison
     fc_det_mag_file = os.path.join(output_dir, "fullchain_detection_mag.hex")
@@ -1448,13 +1329,10 @@ def main():
             for dbin in range(DOPPLER_TOTAL_BINS):
                 m = int(fc_mag[rbin, dbin]) & 0x1FFFF  # 17-bit unsigned
                 f.write(f"{m:05X}\n")
-    print(f"  Wrote {fc_det_mag_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} magnitude values)")
     
     # -----------------------------------------------------------------------
     # Run detection on direct-path Doppler map (for backward compatibility)
     # -----------------------------------------------------------------------
-    print(f"\n{'=' * 72}")
-    print("Stage 4b: Detection on direct-path Doppler map")
     mag, detections = run_detection(doppler_i, doppler_q, threshold=args.threshold)
     
     # Save detection list
@@ -1466,26 +1344,23 @@ def main():
         for d in detections:
             rbin, dbin = d
             f.write(f"{rbin} {dbin} {mag[rbin, dbin]}\n")
-    print(f"  Wrote {det_file} ({len(detections)} detections)")
     
     # -----------------------------------------------------------------------
     # Float reference and comparison
     # -----------------------------------------------------------------------
-    print(f"\n{'=' * 72}")
-    print("Comparison: Fixed-point vs Float reference")
     
     range_fft_float, doppler_float = run_float_reference(iq_i, iq_q)
     
     # Compare range FFT (chirp 0)
     float_range_i = np.real(range_fft_float[0, :]).astype(np.float64)
     float_range_q = np.imag(range_fft_float[0, :]).astype(np.float64)
-    snr_range = compare_outputs("Range FFT", range_fft_i, range_fft_q,
+    compare_outputs("Range FFT", range_fft_i, range_fft_q,
                                 float_range_i, float_range_q)
     
     # Compare Doppler map
     float_doppler_i = np.real(doppler_float).flatten().astype(np.float64)
     float_doppler_q = np.imag(doppler_float).flatten().astype(np.float64)
-    snr_doppler = compare_outputs("Doppler FFT", 
+    compare_outputs("Doppler FFT", 
                                    doppler_i.flatten(), doppler_q.flatten(),
                                    float_doppler_i, float_doppler_q)
     
@@ -1497,32 +1372,10 @@ def main():
     np.save(os.path.join(output_dir, "doppler_map_i.npy"), doppler_i)
     np.save(os.path.join(output_dir, "doppler_map_q.npy"), doppler_q)
     np.save(os.path.join(output_dir, "detection_mag.npy"), mag)
-    print(f"\n  Saved numpy reference files to {output_dir}/")
     
     # -----------------------------------------------------------------------
     # Summary
     # -----------------------------------------------------------------------
-    print(f"\n{'=' * 72}")
-    print("SUMMARY")
-    print(f"{'=' * 72}")
-    print(f"  ADI dataset: frame {args.frame} of amp_radar (CN0566, 10.525 GHz)")
-    print(f"  Chirps processed: {DOPPLER_CHIRPS}")
-    print(f"  Samples/chirp: {FFT_SIZE}")
-    print(f"  Range FFT: {FFT_SIZE}-point → {snr_range:.1f} dB vs float")
-    print(
-        f"  Doppler FFT (direct): {DOPPLER_FFT_SIZE}-point Hamming "
-        f"→ {snr_doppler:.1f} dB vs float"
-    )
-    print(f"  Detections (direct): {len(detections)} (threshold={args.threshold})")
-    print("  Full-chain decimator: 1024→64 peak detection")
-    print(f"  Full-chain detections: {len(fc_detections)} (threshold={args.threshold})")
-    print(f"  MTI+CFAR chain: decim → MTI → Doppler → DC notch(w={DC_NOTCH_WIDTH}) → CA-CFAR")
-    print(
-        f"  CFAR detections: {len(cfar_detections)} "
-        f"(guard={CFAR_GUARD}, train={CFAR_TRAIN}, alpha=0x{CFAR_ALPHA:02X})"
-    )
-    print(f"  Hex stimulus files: {output_dir}/")
-    print("  Ready for RTL co-simulation with Icarus Verilog")
     
     # -----------------------------------------------------------------------
     # Optional plots
@@ -1531,7 +1384,7 @@ def main():
         try:
             import matplotlib.pyplot as plt
             
-            fig, axes = plt.subplots(2, 2, figsize=(14, 10))
+            _fig, axes = plt.subplots(2, 2, figsize=(14, 10))
             
             # Range FFT magnitude (chirp 0)
             range_mag = np.sqrt(range_fft_i.astype(float)**2 + range_fft_q.astype(float)**2)
@@ -1573,11 +1426,10 @@ def main():
             plt.tight_layout()
             plot_file = os.path.join(output_dir, "golden_reference_plots.png")
             plt.savefig(plot_file, dpi=150)
-            print(f"\n  Saved plots to {plot_file}")
             plt.show()
             
         except ImportError:
-            print("\n  [WARN] matplotlib not available, skipping plots")
+            pass
 
 
 if __name__ == "__main__":

9_Firmware/9_2_FPGA/tb/cosim/validate_mem_files.py

@@ -44,25 +44,22 @@ pass_count = 0
 fail_count = 0
 warn_count = 0
 
-def check(condition, label):
+def check(condition, _label):
     global pass_count, fail_count
     if condition:
-        print(f"  [PASS] {label}")
         pass_count += 1
     else:
-        print(f"  [FAIL] {label}")
         fail_count += 1
 
-def warn(label):
+def warn(_label):
     global warn_count
-    print(f"  [WARN] {label}")
     warn_count += 1
 
 def read_mem_hex(filename):
     """Read a .mem file, return list of integer values (16-bit signed)."""
     path = os.path.join(MEM_DIR, filename)
     values = []
-    with open(path, 'r') as f:
+    with open(path) as f:
         for line in f:
             line = line.strip()
             if not line or line.startswith('//'):
@@ -79,7 +76,6 @@ def read_mem_hex(filename):
 # TEST 1: Structural validation of all .mem files
 # ============================================================================
 def test_structural():
-    print("\n=== TEST 1: Structural Validation ===")
 
     expected = {
         # FFT twiddle files (quarter-wave cosine ROMs)
@@ -119,16 +115,13 @@ def test_structural():
 # TEST 2: FFT Twiddle Factor Validation
 # ============================================================================
 def test_twiddle_1024():
-    print("\n=== TEST 2a: FFT Twiddle 1024 Validation ===")
     vals = read_mem_hex('fft_twiddle_1024.mem')
 
-    # Expected: cos(2*pi*k/1024) for k=0..255, in Q15 format
-    # Q15: value = round(cos(angle) * 32767)
     max_err = 0
     err_details = []
     for k in range(min(256, len(vals))):
         angle = 2.0 * math.pi * k / 1024.0
-        expected = int(round(math.cos(angle) * 32767.0))
+        expected = round(math.cos(angle) * 32767.0)
         expected = max(-32768, min(32767, expected))
         actual = vals[k]
         err = abs(actual - expected)
@@ -140,19 +133,17 @@ def test_twiddle_1024():
     check(max_err <= 1,
           f"fft_twiddle_1024.mem: max twiddle error = {max_err} LSB (tolerance: 1)")
     if err_details:
-        for k, act, exp, e in err_details[:5]:
+        for _, _act, _exp, _e in err_details[:5]:
-            print(f"    k={k}: got {act} (0x{act & 0xFFFF:04x}), expected {exp}, err={e}")
+            pass
-    print(f"  Max twiddle error: {max_err} LSB across {len(vals)} entries")
 
 
 def test_twiddle_16():
-    print("\n=== TEST 2b: FFT Twiddle 16 Validation ===")
     vals = read_mem_hex('fft_twiddle_16.mem')
 
     max_err = 0
     for k in range(min(4, len(vals))):
         angle = 2.0 * math.pi * k / 16.0
-        expected = int(round(math.cos(angle) * 32767.0))
+        expected = round(math.cos(angle) * 32767.0)
         expected = max(-32768, min(32767, expected))
         actual = vals[k]
         err = abs(actual - expected)
@@ -161,23 +152,17 @@ def test_twiddle_16():
 
     check(max_err <= 1,
           f"fft_twiddle_16.mem: max twiddle error = {max_err} LSB (tolerance: 1)")
-    print(f"  Max twiddle error: {max_err} LSB across {len(vals)} entries")
 
     # Print all 4 entries for reference
-    print("  Twiddle 16 entries:")
     for k in range(min(4, len(vals))):
         angle = 2.0 * math.pi * k / 16.0
-        expected = int(round(math.cos(angle) * 32767.0))
+        expected = round(math.cos(angle) * 32767.0)
-        print(f"    k={k}: file=0x{vals[k] & 0xFFFF:04x} ({vals[k]:6d}), "
-              f"expected=0x{expected & 0xFFFF:04x} ({expected:6d}), "
-              f"err={abs(vals[k] - expected)}")
 
 
 # ============================================================================
 # TEST 3: Long Chirp .mem File Analysis
 # ============================================================================
 def test_long_chirp():
-    print("\n=== TEST 3: Long Chirp .mem File Analysis ===")
 
     # Load all 4 segments
     all_i = []
@@ -193,36 +178,29 @@ def test_long_chirp():
           f"Total long chirp samples: {total_samples} (expected 4096 = 4 segs x 1024)")
 
     # Compute magnitude envelope
-    magnitudes = [math.sqrt(i*i + q*q) for i, q in zip(all_i, all_q)]
+    magnitudes = [math.sqrt(i*i + q*q) for i, q in zip(all_i, all_q, strict=False)]
     max_mag = max(magnitudes)
-    min_mag = min(magnitudes)
+    min(magnitudes)
-    avg_mag = sum(magnitudes) / len(magnitudes)
+    sum(magnitudes) / len(magnitudes)
 
-    print(f"  Magnitude: min={min_mag:.1f}, max={max_mag:.1f}, avg={avg_mag:.1f}")
-    print(
-        f"  Max magnitude as fraction of Q15 range: "
-        f"{max_mag/32767:.4f} ({max_mag/32767*100:.2f}%)"
-    )
 
     # Check if this looks like it came from generate_reference_chirp_q15
     # That function uses 32767 * 0.9 scaling => max magnitude ~29490
     expected_max_from_model = 32767 * 0.9
     uses_model_scaling = max_mag > expected_max_from_model * 0.8
     if uses_model_scaling:
-        print("  Scaling: CONSISTENT with radar_scene.py model (0.9 * Q15)")
+        pass
     else:
         warn(f"Magnitude ({max_mag:.0f}) is much lower than expected from Python model "
              f"({expected_max_from_model:.0f}). .mem files may have unknown provenance.")
 
     # Check non-zero content: how many samples are non-zero?
-    nonzero_i = sum(1 for v in all_i if v != 0)
+    sum(1 for v in all_i if v != 0)
-    nonzero_q = sum(1 for v in all_q if v != 0)
+    sum(1 for v in all_q if v != 0)
-    print(f"  Non-zero samples: I={nonzero_i}/{total_samples}, Q={nonzero_q}/{total_samples}")
 
     # Analyze instantaneous frequency via phase differences
-    # Phase = atan2(Q, I)
     phases = []
-    for i_val, q_val in zip(all_i, all_q):
+    for i_val, q_val in zip(all_i, all_q, strict=False):
         if abs(i_val) > 5 or abs(q_val) > 5:  # Skip near-zero samples
             phases.append(math.atan2(q_val, i_val))
         else:
@@ -243,19 +221,12 @@ def test_long_chirp():
             freq_estimates.append(f_inst)
 
     if freq_estimates:
-        f_start = sum(freq_estimates[:50]) / 50 if len(freq_estimates) > 50 else freq_estimates[0]
+        sum(freq_estimates[:50]) / 50 if len(freq_estimates) > 50 else freq_estimates[0]
-        f_end = sum(freq_estimates[-50:]) / 50 if len(freq_estimates) > 50 else freq_estimates[-1]
+        sum(freq_estimates[-50:]) / 50 if len(freq_estimates) > 50 else freq_estimates[-1]
         f_min = min(freq_estimates)
         f_max = max(freq_estimates)
         f_range = f_max - f_min
 
-        print("\n  Instantaneous frequency analysis (post-DDC baseband):")
-        print(f"    Start freq:  {f_start/1e6:.3f} MHz")
-        print(f"    End freq:    {f_end/1e6:.3f} MHz")
-        print(f"    Min freq:    {f_min/1e6:.3f} MHz")
-        print(f"    Max freq:    {f_max/1e6:.3f} MHz")
-        print(f"    Freq range:  {f_range/1e6:.3f} MHz")
-        print(f"    Expected BW: {CHIRP_BW/1e6:.3f} MHz")
 
         # A chirp should show frequency sweep
         is_chirp = f_range > 0.5e6  # At least 0.5 MHz sweep
@@ -265,23 +236,19 @@ def test_long_chirp():
         # Check if bandwidth roughly matches expected
         bw_match = abs(f_range - CHIRP_BW) / CHIRP_BW < 0.5  # within 50%
         if bw_match:
-            print(
+            pass
-                f"  Bandwidth {f_range/1e6:.2f} MHz roughly matches expected "
-                f"{CHIRP_BW/1e6:.2f} MHz"
-            )
         else:
             warn(f"Bandwidth {f_range/1e6:.2f} MHz does NOT match expected {CHIRP_BW/1e6:.2f} MHz")
 
     # Compare segment boundaries for overlap-save consistency
     # In proper overlap-save, the chirp data should be segmented at 896-sample boundaries
     # with segments being 1024-sample FFT blocks
-    print("\n  Segment boundary analysis:")
     for seg in range(4):
         seg_i = read_mem_hex(f'long_chirp_seg{seg}_i.mem')
         seg_q = read_mem_hex(f'long_chirp_seg{seg}_q.mem')
-        seg_mags = [math.sqrt(i*i + q*q) for i, q in zip(seg_i, seg_q)]
+        seg_mags = [math.sqrt(i*i + q*q) for i, q in zip(seg_i, seg_q, strict=False)]
-        seg_avg = sum(seg_mags) / len(seg_mags)
+        sum(seg_mags) / len(seg_mags)
-        seg_max = max(seg_mags)
+        max(seg_mags)
 
         # Check segment 3 zero-padding (chirp is 3000 samples, seg3 starts at 3072)
         # Samples 3000-4095 should be zero (or near-zero) if chirp is exactly 3000 samples
@@ -293,21 +260,18 @@ def test_long_chirp():
             # Wait, but the .mem files have 1024 lines with non-trivial data...
             # Let's check if seg3 has significant data
             zero_count = sum(1 for m in seg_mags if m < 2)
-            print(f"  Seg {seg}: avg_mag={seg_avg:.1f}, max_mag={seg_max:.1f}, "
-                  f"near-zero={zero_count}/{len(seg_mags)}")
             if zero_count > 500:
-                print("    -> Seg 3 mostly zeros (chirp shorter than 4096 samples)")
+                pass
             else:
-                print("    -> Seg 3 has significant data throughout")
+                pass
         else:
-            print(f"  Seg {seg}: avg_mag={seg_avg:.1f}, max_mag={seg_max:.1f}")
+            pass
 
 
 # ============================================================================
 # TEST 4: Short Chirp .mem File Analysis
 # ============================================================================
 def test_short_chirp():
-    print("\n=== TEST 4: Short Chirp .mem File Analysis ===")
 
     short_i = read_mem_hex('short_chirp_i.mem')
     short_q = read_mem_hex('short_chirp_q.mem')
@@ -320,19 +284,17 @@ def test_short_chirp():
     check(len(short_i) == expected_samples,
           f"Short chirp length matches T_SHORT_CHIRP * FS_SYS = {expected_samples}")
 
-    magnitudes = [math.sqrt(i*i + q*q) for i, q in zip(short_i, short_q)]
+    magnitudes = [math.sqrt(i*i + q*q) for i, q in zip(short_i, short_q, strict=False)]
-    max_mag = max(magnitudes)
+    max(magnitudes)
-    avg_mag = sum(magnitudes) / len(magnitudes)
+    sum(magnitudes) / len(magnitudes)
 
-    print(f"  Magnitude: max={max_mag:.1f}, avg={avg_mag:.1f}")
-    print(f"  Max as fraction of Q15: {max_mag/32767:.4f} ({max_mag/32767*100:.2f}%)")
 
     # Check non-zero
     nonzero = sum(1 for m in magnitudes if m > 1)
     check(nonzero == len(short_i), f"All {nonzero}/{len(short_i)} samples non-zero")
 
     # Check it looks like a chirp (phase should be quadratic)
-    phases = [math.atan2(q, i) for i, q in zip(short_i, short_q)]
+    phases = [math.atan2(q, i) for i, q in zip(short_i, short_q, strict=False)]
     freq_est = []
     for n in range(1, len(phases)):
         dp = phases[n] - phases[n-1]
@@ -343,17 +305,14 @@ def test_short_chirp():
         freq_est.append(dp * FS_SYS / (2 * math.pi))
 
     if freq_est:
-        f_start = freq_est[0]
+        freq_est[0]
-        f_end = freq_est[-1]
+        freq_est[-1]
-        print(f"  Freq start: {f_start/1e6:.3f} MHz, end: {f_end/1e6:.3f} MHz")
-        print(f"  Freq range: {abs(f_end - f_start)/1e6:.3f} MHz")
 
 
 # ============================================================================
 # TEST 5: Generate Expected Chirp .mem and Compare
 # ============================================================================
 def test_chirp_vs_model():
-    print("\n=== TEST 5: Compare .mem Files vs Python Model ===")
 
     # Generate reference using the same method as radar_scene.py
     chirp_rate = CHIRP_BW / T_LONG_CHIRP  # Hz/s
@@ -365,8 +324,8 @@ def test_chirp_vs_model():
     for n in range(n_chirp):
         t = n / FS_SYS
         phase = math.pi * chirp_rate * t * t
-        re_val = int(round(32767 * 0.9 * math.cos(phase)))
+        re_val = round(32767 * 0.9 * math.cos(phase))
-        im_val = int(round(32767 * 0.9 * math.sin(phase)))
+        im_val = round(32767 * 0.9 * math.sin(phase))
         model_i.append(max(-32768, min(32767, re_val)))
         model_q.append(max(-32768, min(32767, im_val)))
 
@@ -375,37 +334,31 @@ def test_chirp_vs_model():
     mem_q = read_mem_hex('long_chirp_seg0_q.mem')
 
     # Compare magnitudes
-    model_mags = [math.sqrt(i*i + q*q) for i, q in zip(model_i, model_q)]
+    model_mags = [math.sqrt(i*i + q*q) for i, q in zip(model_i, model_q, strict=False)]
-    mem_mags = [math.sqrt(i*i + q*q) for i, q in zip(mem_i, mem_q)]
+    mem_mags = [math.sqrt(i*i + q*q) for i, q in zip(mem_i, mem_q, strict=False)]
 
     model_max = max(model_mags)
     mem_max = max(mem_mags)
 
-    print(f"  Python model seg0: max_mag={model_max:.1f} (Q15 * 0.9)")
-    print(f"  .mem file seg0:    max_mag={mem_max:.1f}")
-    print(f"  Ratio (mem/model): {mem_max/model_max:.4f}")
 
     # Check if they match (they almost certainly won't based on magnitude analysis)
-    matches = sum(1 for a, b in zip(model_i, mem_i) if a == b)
+    matches = sum(1 for a, b in zip(model_i, mem_i, strict=False) if a == b)
-    print(f"  Exact I matches: {matches}/{len(model_i)}")
 
     if matches > len(model_i) * 0.9:
-        print("  -> .mem files MATCH Python model")
+        pass
     else:
         warn(".mem files do NOT match Python model. They likely have different provenance.")
         # Try to detect scaling
         if mem_max > 0:
-            ratio = model_max / mem_max
+            model_max / mem_max
-            print(f"  Scale factor (model/mem): {ratio:.2f}")
-            print(f"  This suggests the .mem files used ~{1.0/ratio:.4f} scaling instead of 0.9")
 
     # Check phase correlation (shape match regardless of scaling)
-    model_phases = [math.atan2(q, i) for i, q in zip(model_i, model_q)]
+    model_phases = [math.atan2(q, i) for i, q in zip(model_i, model_q, strict=False)]
-    mem_phases = [math.atan2(q, i) for i, q in zip(mem_i, mem_q)]
+    mem_phases = [math.atan2(q, i) for i, q in zip(mem_i, mem_q, strict=False)]
 
     # Compute phase differences
     phase_diffs = []
-    for mp, fp in zip(model_phases, mem_phases):
+    for mp, fp in zip(model_phases, mem_phases, strict=False):
         d = mp - fp
         while d > math.pi:
             d -= 2 * math.pi
@@ -413,12 +366,9 @@ def test_chirp_vs_model():
             d += 2 * math.pi
         phase_diffs.append(d)
 
-    avg_phase_diff = sum(phase_diffs) / len(phase_diffs)
+    sum(phase_diffs) / len(phase_diffs)
     max_phase_diff = max(abs(d) for d in phase_diffs)
 
-    print("\n  Phase comparison (shape regardless of amplitude):")
-    print(f"    Avg phase diff:  {avg_phase_diff:.4f} rad ({math.degrees(avg_phase_diff):.2f} deg)")
-    print(f"    Max phase diff:  {max_phase_diff:.4f} rad ({math.degrees(max_phase_diff):.2f} deg)")
 
     phase_match = max_phase_diff < 0.5  # within 0.5 rad
     check(
@@ -432,7 +382,6 @@ def test_chirp_vs_model():
 # TEST 6: Latency Buffer LATENCY=3187 Validation
 # ============================================================================
 def test_latency_buffer():
-    print("\n=== TEST 6: Latency Buffer LATENCY=3187 Validation ===")
 
     # The latency buffer delays the reference chirp data to align with
     # the matched filter processing chain output.
@@ -491,16 +440,10 @@ def test_latency_buffer():
           f"LATENCY={LATENCY} in reasonable range [1000, 4095]")
 
     # Check that the module name vs parameter is consistent
-    print(f"  LATENCY parameter: {LATENCY}")
-    print(f"  Module name: latency_buffer (parameterized, LATENCY={LATENCY})")
     # Module name was renamed from latency_buffer_2159 to latency_buffer
     # to match the actual parameterized LATENCY value. No warning needed.
 
     # Validate address arithmetic won't overflow
-    # read_ptr = (write_ptr - LATENCY) mod 4096
-    # With 12-bit address, max write_ptr = 4095
-    # When write_ptr < LATENCY: read_ptr = 4096 + write_ptr - LATENCY
-    # Minimum: 4096 + 0 - 3187 = 909 (valid)
     min_read_ptr = 4096 + 0 - LATENCY
     check(min_read_ptr >= 0 and min_read_ptr < 4096,
           f"Min read_ptr after wrap = {min_read_ptr} (valid: 0..4095)")
@@ -508,14 +451,12 @@ def test_latency_buffer():
     # The latency buffer uses valid_in gated reads, so it only counts
     # valid samples. The number of valid_in pulses between first write
     # and first read is LATENCY.
-    print(f"  Buffer primes after {LATENCY} valid_in pulses, then outputs continuously")
 
 
 # ============================================================================
 # TEST 7: Cross-check chirp memory loader addressing
 # ============================================================================
 def test_memory_addressing():
-    print("\n=== TEST 7: Chirp Memory Loader Addressing ===")
 
     # chirp_memory_loader_param uses: long_addr = {segment_select[1:0], sample_addr[9:0]}
     # This creates a 12-bit address: seg[1:0] ++ addr[9:0]
@@ -541,15 +482,12 @@ def test_memory_addressing():
     # Memory is declared as: reg [15:0] long_chirp_i [0:4095]
     # $readmemh loads seg0 to [0:1023], seg1 to [1024:2047], etc.
     # Addressing via {segment_select, sample_addr} maps correctly.
-    print("  Addressing scheme: {segment_select[1:0], sample_addr[9:0]} -> 12-bit address")
-    print("  Memory size: [0:4095] (4096 entries) — matches 4 segments x 1024 samples")
 
 
 # ============================================================================
 # TEST 8: Seg3 zero-padding analysis
 # ============================================================================
 def test_seg3_padding():
-    print("\n=== TEST 8: Segment 3 Data Analysis ===")
 
     # The long chirp has 3000 samples (30 us at 100 MHz).
     # With 4 segments of 1024 samples = 4096 total memory slots.
@@ -578,7 +516,7 @@ def test_seg3_padding():
     seg3_i = read_mem_hex('long_chirp_seg3_i.mem')
     seg3_q = read_mem_hex('long_chirp_seg3_q.mem')
 
-    mags = [math.sqrt(i*i + q*q) for i, q in zip(seg3_i, seg3_q)]
+    mags = [math.sqrt(i*i + q*q) for i, q in zip(seg3_i, seg3_q, strict=False)]
 
     # Count trailing zeros (samples after chirp ends)
     trailing_zeros = 0
@@ -590,14 +528,8 @@ def test_seg3_padding():
 
     nonzero = sum(1 for m in mags if m > 2)
 
-    print(f"  Seg3 non-zero samples: {nonzero}/{len(seg3_i)}")
-    print(f"  Seg3 trailing near-zeros: {trailing_zeros}")
-    print(f"  Seg3 max magnitude: {max(mags):.1f}")
-    print(f"  Seg3 first 5 magnitudes: {[f'{m:.1f}' for m in mags[:5]]}")
-    print(f"  Seg3 last 5 magnitudes: {[f'{m:.1f}' for m in mags[-5:]]}")
 
     if nonzero == 1024:
-        print("  -> Seg3 has data throughout (chirp extends beyond 3072 samples or is padded)")
         # This means the .mem files encode 4096 chirp samples, not 3000
         # The chirp duration used for .mem generation was different from T_LONG_CHIRP
         actual_chirp_samples = 4 * 1024  # = 4096
@@ -607,17 +539,13 @@ def test_seg3_padding():
              f"({T_LONG_CHIRP*1e6:.1f} us)")
     elif trailing_zeros > 100:
         # Some padding at end
-        actual_valid = 3072 + (1024 - trailing_zeros)
+        3072 + (1024 - trailing_zeros)
-        print(f"  -> Estimated valid chirp samples in .mem: ~{actual_valid}")
 
 
 # ============================================================================
 # MAIN
 # ============================================================================
 def main():
-    print("=" * 70)
-    print("AERIS-10 .mem File Validation")
-    print("=" * 70)
 
     test_structural()
     test_twiddle_1024()
@@ -629,13 +557,10 @@ def main():
     test_memory_addressing()
     test_seg3_padding()
 
-    print("\n" + "=" * 70)
-    print(f"SUMMARY: {pass_count} PASS, {fail_count} FAIL, {warn_count} WARN")
     if fail_count == 0:
-        print("ALL CHECKS PASSED")
+        pass
     else:
-        print("SOME CHECKS FAILED")
+        pass
-    print("=" * 70)
 
     return 0 if fail_count == 0 else 1
 

9_Firmware/9_2_FPGA/tb/gen_mf_golden_ref.py

@@ -28,8 +28,7 @@ N = 1024  # FFT length
 def to_q15(value):
     """Clamp a floating-point value to 16-bit signed range [-32768, 32767]."""
     v = int(np.round(value))
-    v = max(-32768, min(32767, v))
+    return max(-32768, min(32767, v))
-    return v
 
 
 def to_hex16(value):
@@ -108,7 +107,7 @@ def generate_case(case_num, sig_i, sig_q, ref_i, ref_q, description, outdir):
         f"mf_golden_out_q_case{case_num}.hex",
     ]
 
-    summary = {
+    return {
         "case": case_num,
         "description": description,
         "peak_bin": peak_bin,
@@ -119,7 +118,6 @@ def generate_case(case_num, sig_i, sig_q, ref_i, ref_q, description, outdir):
         "peak_q_quant": peak_q_q,
         "files": files,
     }
-    return summary
 
 
 def main():
@@ -149,7 +147,6 @@ def main():
     # =========================================================================
     # Case 2: Tone autocorrelation at bin 5
     # Signal and reference: complex tone at bin 5, amplitude 8000 (Q15)
-    # sig[n] = 8000 * exp(j * 2*pi*5*n/N)
     # Autocorrelation of a tone => peak at bin 0 (lag 0)
     # =========================================================================
     amp = 8000.0
@@ -243,28 +240,12 @@ def main():
     # =========================================================================
     # Print summary to stdout
     # =========================================================================
-    print("=" * 72)
-    print("Matched Filter Golden Reference Generator")
-    print(f"Output directory: {outdir}")
-    print(f"FFT length: {N}")
-    print("=" * 72)
 
-    for s in summaries:
+    for _ in summaries:
-        print()
+        pass
-        print(f"Case {s['case']}: {s['description']}")
-        print(f"  Peak bin:              {s['peak_bin']}")
-        print(f"  Peak magnitude (float):{s['peak_mag_float']:.6f}")
-        print(f"  Peak I (float):        {s['peak_i_float']:.6f}")
-        print(f"  Peak Q (float):        {s['peak_q_float']:.6f}")
-        print(f"  Peak I (quantized):    {s['peak_i_quant']}")
-        print(f"  Peak Q (quantized):    {s['peak_q_quant']}")
 
-    print()
+    for _ in all_files:
-    print(f"Generated {len(all_files)} files:")
+        pass
-    for fname in all_files:
-        print(f"  {fname}")
-    print()
-    print("Done.")
 
 
 if __name__ == "__main__":

9_Firmware/9_3_GUI/GUI_PyQt_Map.py

@@ -26,7 +26,6 @@ import time
 import random
 import logging
 from dataclasses import dataclass, asdict
-from typing import List, Dict, Optional, Tuple
 from enum import Enum
 
 # PyQt6 imports
@@ -198,12 +197,12 @@ class RadarMapWidget(QWidget):
             altitude=100.0,
             pitch=0.0
         )
-        self._targets: List[RadarTarget] = []
+        self._targets: list[RadarTarget] = []
         self._coverage_radius = 50000  # meters
         self._tile_server = TileServer.OPENSTREETMAP
         self._show_coverage = True
         self._show_trails = False
-        self._target_history: Dict[int, List[Tuple[float, float]]] = {}
+        self._target_history: dict[int, list[tuple[float, float]]] = {}
         
         # Setup UI
         self._setup_ui()
@@ -908,7 +907,7 @@ class RadarMapWidget(QWidget):
         """Handle marker click events"""
         self.targetSelected.emit(target_id)
     
-    def _on_tile_server_changed(self, index: int):
+    def _on_tile_server_changed(self, _index: int):
         """Handle tile server change"""
         server = self._tile_combo.currentData()
         self._tile_server = server
@@ -947,7 +946,7 @@ class RadarMapWidget(QWidget):
             f"{gps_data.altitude}, {gps_data.pitch}, {gps_data.heading})"
         )
     
-    def set_targets(self, targets: List[RadarTarget]):
+    def set_targets(self, targets: list[RadarTarget]):
         """Update all targets on the map"""
         self._targets = targets
         
@@ -980,7 +979,7 @@ def polar_to_geographic(
     radar_lon: float, 
     range_m: float, 
     azimuth_deg: float
-) -> Tuple[float, float]:
+) -> tuple[float, float]:
     """
     Convert polar coordinates (range, azimuth) relative to radar
     to geographic coordinates (latitude, longitude).
@@ -1028,7 +1027,7 @@ class TargetSimulator(QObject):
         super().__init__(parent)
         
         self._radar_position = radar_position
-        self._targets: List[RadarTarget] = []
+        self._targets: list[RadarTarget] = []
         self._next_id = 1
         self._timer = QTimer()
         self._timer.timeout.connect(self._update_targets)
@@ -1164,7 +1163,7 @@ class RadarDashboard(QMainWindow):
             timestamp=time.time()
         )
         self._settings = RadarSettings()
-        self._simulator: Optional[TargetSimulator] = None
+        self._simulator: TargetSimulator | None = None
         self._demo_mode = True
         
         # Setup UI
@@ -1571,7 +1570,7 @@ class RadarDashboard(QMainWindow):
             self._simulator._add_random_target()
             logger.info("Added random target")
     
-    def _on_targets_updated(self, targets: List[RadarTarget]):
+    def _on_targets_updated(self, targets: list[RadarTarget]):
         """Handle updated target list from simulator"""
         # Update map
         self._map_widget.set_targets(targets)
@@ -1582,7 +1581,7 @@ class RadarDashboard(QMainWindow):
         # Update table
         self._update_targets_table(targets)
     
-    def _update_targets_table(self, targets: List[RadarTarget]):
+    def _update_targets_table(self, targets: list[RadarTarget]):
         """Update the targets table"""
         self._targets_table.setRowCount(len(targets))
         

9_Firmware/9_3_GUI/GUI_V1.py

@@ -1,56 +0,0 @@
-import logging
-import queue
-import tkinter as tk
-from tkinter import messagebox
-
-
-class RadarGUI:
-    def update_gps_display(self):
-        """Step 18: Update GPS display and center map"""
-        try:
-            while not self.gps_data_queue.empty():
-                gps_data = self.gps_data_queue.get_nowait()
-                self.current_gps = gps_data
-
-                # Update GPS label
-                self.gps_label.config(
-                    text=(
-                        f"GPS: Lat {gps_data.latitude:.6f}, "
-                        f"Lon {gps_data.longitude:.6f}, "
-                        f"Alt {gps_data.altitude:.1f}m"
-                    )
-                )
-
-                # Update map
-                self.update_map_display(gps_data)
-
-        except queue.Empty:
-            pass
-
-    def update_map_display(self, gps_data):
-        """Step 18: Update map display with current GPS position"""
-        try:
-            self.map_label.config(
-                text=(
-                    f"Radar Position: {gps_data.latitude:.6f}, {gps_data.longitude:.6f}\n"
-                    f"Altitude: {gps_data.altitude:.1f}m\n"
-                    f"Coverage: 50km radius\n"
-                    f"Map centered on GPS coordinates"
-                )
-            )
-
-        except Exception as e:
-            logging.error(f"Error updating map display: {e}")
-
-def main():
-    """Main application entry point"""
-    try:
-        root = tk.Tk()
-        _app = RadarGUI(root)
-        root.mainloop()
-    except Exception as e:
-        logging.error(f"Application error: {e}")
-        messagebox.showerror("Fatal Error", f"Application failed to start: {e}")
-
-if __name__ == "__main__":
-    main()

9_Firmware/9_3_GUI/GUI_V4_2_CSV.py

@@ -1,715 +0,0 @@
-import tkinter as tk
-from tkinter import ttk, filedialog, messagebox
-import pandas as pd
-import numpy as np
-from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
-from matplotlib.figure import Figure
-from scipy.fft import fft, fftshift
-import logging
-from dataclasses import dataclass
-from typing import List, Dict, Tuple
-import threading
-import queue
-import time
-
-# Configure logging
-logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s")
-
-
-@dataclass
-class RadarTarget:
-    range: float
-    velocity: float
-    azimuth: int
-    elevation: int
-    snr: float
-    chirp_type: str
-    timestamp: float
-
-
-class SignalProcessor:
-    def __init__(self):
-        self.range_resolution = 1.0  # meters
-        self.velocity_resolution = 0.1  # m/s
-        self.cfar_threshold = 15.0  # dB
-
-    def doppler_fft(self, iq_data: np.ndarray, fs: float = 100e6) -> Tuple[np.ndarray, np.ndarray]:
-        """
-        Perform Doppler FFT on IQ data
-        Returns Doppler frequencies and spectrum
-        """
-        # Window function for FFT
-        window = np.hanning(len(iq_data))
-        windowed_data = (iq_data["I_value"].values + 1j * iq_data["Q_value"].values) * window
-
-        # Perform FFT
-        doppler_fft = fft(windowed_data)
-        doppler_fft = fftshift(doppler_fft)
-
-        # Frequency axis
-        N = len(iq_data)
-        freq_axis = np.linspace(-fs / 2, fs / 2, N)
-
-        # Convert to velocity (assuming radar frequency = 10 GHz)
-        radar_freq = 10e9
-        wavelength = 3e8 / radar_freq
-        velocity_axis = freq_axis * wavelength / 2
-
-        return velocity_axis, np.abs(doppler_fft)
-
-    def mti_filter(self, iq_data: np.ndarray, filter_type: str = "single_canceler") -> np.ndarray:
-        """
-        Moving Target Indicator filter
-        Removes stationary clutter with better shape handling
-        """
-        if iq_data is None or len(iq_data) < 2:
-            return np.array([], dtype=complex)
-
-        try:
-            # Ensure we're working with complex data
-            complex_data = iq_data.astype(complex)
-
-            if filter_type == "single_canceler":
-                # Single delay line canceler
-                if len(complex_data) < 2:
-                    return np.array([], dtype=complex)
-                filtered = np.zeros(len(complex_data) - 1, dtype=complex)
-                for i in range(1, len(complex_data)):
-                    filtered[i - 1] = complex_data[i] - complex_data[i - 1]
-                return filtered
-
-            elif filter_type == "double_canceler":
-                # Double delay line canceler
-                if len(complex_data) < 3:
-                    return np.array([], dtype=complex)
-                filtered = np.zeros(len(complex_data) - 2, dtype=complex)
-                for i in range(2, len(complex_data)):
-                    filtered[i - 2] = (
-                        complex_data[i] - 2 * complex_data[i - 1] + complex_data[i - 2]
-                    )
-                return filtered
-
-            else:
-                return complex_data
-        except Exception as e:
-            logging.error(f"MTI filter error: {e}")
-            return np.array([], dtype=complex)
-
-    def cfar_detection(
-        self,
-        range_profile: np.ndarray,
-        guard_cells: int = 2,
-        training_cells: int = 10,
-        threshold_factor: float = 3.0,
-    ) -> List[Tuple[int, float]]:
-        detections = []
-        N = len(range_profile)
-
-        # Ensure guard_cells and training_cells are integers
-        guard_cells = int(guard_cells)
-        training_cells = int(training_cells)
-
-        for i in range(N):
-            # Convert to integer indices
-            i_int = int(i)
-            if i_int < guard_cells + training_cells or i_int >= N - guard_cells - training_cells:
-                continue
-
-            # Leading window - ensure integer indices
-            lead_start = i_int - guard_cells - training_cells
-            lead_end = i_int - guard_cells
-            lead_cells = range_profile[lead_start:lead_end]
-
-            # Lagging window - ensure integer indices
-            lag_start = i_int + guard_cells + 1
-            lag_end = i_int + guard_cells + training_cells + 1
-            lag_cells = range_profile[lag_start:lag_end]
-
-            # Combine training cells
-            training_cells_combined = np.concatenate([lead_cells, lag_cells])
-
-            # Calculate noise floor (mean of training cells)
-            if len(training_cells_combined) > 0:
-                noise_floor = np.mean(training_cells_combined)
-
-                # Apply threshold
-                threshold = noise_floor * threshold_factor
-
-                if range_profile[i_int] > threshold:
-                    detections.append(
-                        (i_int, float(range_profile[i_int]))
-                    )  # Ensure float magnitude
-
-        return detections
-
-    def range_fft(
-        self, iq_data: np.ndarray, fs: float = 100e6, bw: float = 20e6
-    ) -> Tuple[np.ndarray, np.ndarray]:
-        """
-        Perform range FFT on IQ data
-        Returns range profile
-        """
-        # Window function
-        window = np.hanning(len(iq_data))
-        windowed_data = np.abs(iq_data) * window
-
-        # Perform FFT
-        range_fft = fft(windowed_data)
-
-        # Range calculation
-        N = len(iq_data)
-        range_max = (3e8 * N) / (2 * bw)
-        range_axis = np.linspace(0, range_max, N)
-
-        return range_axis, np.abs(range_fft)
-
-    def process_chirp_sequence(self, df: pd.DataFrame, chirp_type: str = "LONG") -> Dict:
-        try:
-            # Filter data by chirp type
-            chirp_data = df[df["chirp_type"] == chirp_type]
-
-            if len(chirp_data) == 0:
-                return {}
-
-            # Group by chirp number
-            chirp_numbers = chirp_data["chirp_number"].unique()
-            num_chirps = len(chirp_numbers)
-
-            if num_chirps == 0:
-                return {}
-
-            # Get samples per chirp and ensure consistency
-            samples_per_chirp_list = [
-                len(chirp_data[chirp_data["chirp_number"] == num]) for num in chirp_numbers
-            ]
-
-            # Use minimum samples to ensure consistent shape
-            samples_per_chirp = min(samples_per_chirp_list)
-
-            # Create range-Doppler matrix with consistent shape
-            range_doppler_matrix = np.zeros((samples_per_chirp, num_chirps), dtype=complex)
-
-            for i, chirp_num in enumerate(chirp_numbers):
-                chirp_samples = chirp_data[chirp_data["chirp_number"] == chirp_num]
-                # Take only the first samples_per_chirp samples to ensure consistent shape
-                chirp_samples = chirp_samples.head(samples_per_chirp)
-
-                # Create complex IQ data
-                iq_data = chirp_samples["I_value"].values + 1j * chirp_samples["Q_value"].values
-
-                # Ensure the shape matches
-                if len(iq_data) == samples_per_chirp:
-                    range_doppler_matrix[:, i] = iq_data
-
-            # Apply MTI filter along slow-time (chirp-to-chirp)
-            mti_filtered = np.zeros_like(range_doppler_matrix)
-            for i in range(samples_per_chirp):
-                slow_time_data = range_doppler_matrix[i, :]
-                filtered = self.mti_filter(slow_time_data)
-                # Ensure filtered data matches expected shape
-                if len(filtered) == num_chirps:
-                    mti_filtered[i, :] = filtered
-                else:
-                    # Handle shape mismatch by padding or truncating
-                    if len(filtered) < num_chirps:
-                        padded = np.zeros(num_chirps, dtype=complex)
-                        padded[: len(filtered)] = filtered
-                        mti_filtered[i, :] = padded
-                    else:
-                        mti_filtered[i, :] = filtered[:num_chirps]
-
-            # Perform Doppler FFT along slow-time dimension
-            doppler_fft_result = np.zeros((samples_per_chirp, num_chirps), dtype=complex)
-            for i in range(samples_per_chirp):
-                doppler_fft_result[i, :] = fft(mti_filtered[i, :])
-
-            return {
-                "range_doppler_matrix": np.abs(doppler_fft_result),
-                "chirp_type": chirp_type,
-                "num_chirps": num_chirps,
-                "samples_per_chirp": samples_per_chirp,
-            }
-
-        except Exception as e:
-            logging.error(f"Error in process_chirp_sequence: {e}")
-            return {}
-
-
-class RadarGUI:
-    def __init__(self, root):
-        self.root = root
-        self.root.title("Radar Signal Processor - CSV Analysis")
-        self.root.geometry("1400x900")
-
-        # Initialize processor
-        self.processor = SignalProcessor()
-
-        # Data storage
-        self.df = None
-        self.processed_data = {}
-        self.detected_targets = []
-
-        # Create GUI
-        self.create_gui()
-
-        # Start background processing
-        self.processing_queue = queue.Queue()
-        self.processing_thread = threading.Thread(target=self.background_processing, daemon=True)
-        self.processing_thread.start()
-
-        # Update GUI periodically
-        self.root.after(100, self.update_gui)
-
-    def create_gui(self):
-        """Create the main GUI layout"""
-        # Main frame
-        main_frame = ttk.Frame(self.root)
-        main_frame.pack(fill="both", expand=True, padx=10, pady=10)
-
-        # Control panel
-        control_frame = ttk.LabelFrame(main_frame, text="File Controls")
-        control_frame.pack(fill="x", pady=5)
-
-        # File selection
-        ttk.Button(control_frame, text="Load CSV File", command=self.load_csv_file).pack(
-            side="left", padx=5, pady=5
-        )
-
-        self.file_label = ttk.Label(control_frame, text="No file loaded")
-        self.file_label.pack(side="left", padx=10, pady=5)
-
-        # Processing controls
-        ttk.Button(control_frame, text="Process Data", command=self.process_data).pack(
-            side="left", padx=5, pady=5
-        )
-
-        ttk.Button(control_frame, text="Run CFAR Detection", command=self.run_cfar_detection).pack(
-            side="left", padx=5, pady=5
-        )
-
-        # Status
-        self.status_label = ttk.Label(control_frame, text="Status: Ready")
-        self.status_label.pack(side="right", padx=10, pady=5)
-
-        # Display area
-        display_frame = ttk.Frame(main_frame)
-        display_frame.pack(fill="both", expand=True, pady=5)
-
-        # Create matplotlib figures
-        self.create_plots(display_frame)
-
-        # Targets list
-        targets_frame = ttk.LabelFrame(main_frame, text="Detected Targets")
-        targets_frame.pack(fill="x", pady=5)
-
-        self.targets_tree = ttk.Treeview(
-            targets_frame,
-            columns=("Range", "Velocity", "Azimuth", "Elevation", "SNR", "Chirp Type"),
-            show="headings",
-            height=8,
-        )
-
-        self.targets_tree.heading("Range", text="Range (m)")
-        self.targets_tree.heading("Velocity", text="Velocity (m/s)")
-        self.targets_tree.heading("Azimuth", text="Azimuth (°)")
-        self.targets_tree.heading("Elevation", text="Elevation (°)")
-        self.targets_tree.heading("SNR", text="SNR (dB)")
-        self.targets_tree.heading("Chirp Type", text="Chirp Type")
-
-        self.targets_tree.column("Range", width=100)
-        self.targets_tree.column("Velocity", width=100)
-        self.targets_tree.column("Azimuth", width=80)
-        self.targets_tree.column("Elevation", width=80)
-        self.targets_tree.column("SNR", width=80)
-        self.targets_tree.column("Chirp Type", width=100)
-
-        self.targets_tree.pack(fill="x", padx=5, pady=5)
-
-    def create_plots(self, parent):
-        """Create matplotlib plots"""
-        # Create figure with subplots
-        self.fig = Figure(figsize=(12, 8))
-        self.canvas = FigureCanvasTkAgg(self.fig, parent)
-        self.canvas.get_tk_widget().pack(fill="both", expand=True)
-
-        # Create subplots
-        self.ax1 = self.fig.add_subplot(221)  # Range profile
-        self.ax2 = self.fig.add_subplot(222)  # Doppler spectrum
-        self.ax3 = self.fig.add_subplot(223)  # Range-Doppler map
-        self.ax4 = self.fig.add_subplot(224)  # MTI filtered data
-
-        # Set titles
-        self.ax1.set_title("Range Profile")
-        self.ax1.set_xlabel("Range (m)")
-        self.ax1.set_ylabel("Magnitude")
-        self.ax1.grid(True)
-
-        self.ax2.set_title("Doppler Spectrum")
-        self.ax2.set_xlabel("Velocity (m/s)")
-        self.ax2.set_ylabel("Magnitude")
-        self.ax2.grid(True)
-
-        self.ax3.set_title("Range-Doppler Map")
-        self.ax3.set_xlabel("Doppler Bin")
-        self.ax3.set_ylabel("Range Bin")
-
-        self.ax4.set_title("MTI Filtered Data")
-        self.ax4.set_xlabel("Sample")
-        self.ax4.set_ylabel("Magnitude")
-        self.ax4.grid(True)
-
-        self.fig.tight_layout()
-
-    def load_csv_file(self):
-        """Load CSV file generated by testbench"""
-        filename = filedialog.askopenfilename(
-            title="Select CSV file", filetypes=[("CSV files", "*.csv"), ("All files", "*.*")]
-        )
-
-        # Add magnitude and phase calculations after loading CSV
-        if self.df is not None:
-            # Calculate magnitude from I/Q values
-            self.df["magnitude"] = np.sqrt(self.df["I_value"] ** 2 + self.df["Q_value"] ** 2)
-
-            # Calculate phase from I/Q values
-            self.df["phase_rad"] = np.arctan2(self.df["Q_value"], self.df["I_value"])
-
-            # If you used magnitude_squared in CSV, calculate actual magnitude
-            if "magnitude_squared" in self.df.columns:
-                self.df["magnitude"] = np.sqrt(self.df["magnitude_squared"])
-        if filename:
-            try:
-                self.status_label.config(text="Status: Loading CSV file...")
-                self.df = pd.read_csv(filename)
-                self.file_label.config(text=f"Loaded: {filename.split('/')[-1]}")
-                self.status_label.config(text=f"Status: Loaded {len(self.df)} samples")
-
-                # Show basic info
-                self.show_file_info()
-
-            except Exception as e:
-                messagebox.showerror("Error", f"Failed to load CSV file: {e}")
-                self.status_label.config(text="Status: Error loading file")
-
-    def show_file_info(self):
-        """Display basic information about loaded data"""
-        if self.df is not None:
-            info_text = f"Samples: {len(self.df)} | "
-            info_text += f"Chirps: {self.df['chirp_number'].nunique()} | "
-            info_text += f"Long: {len(self.df[self.df['chirp_type'] == 'LONG'])} | "
-            info_text += f"Short: {len(self.df[self.df['chirp_type'] == 'SHORT'])}"
-
-            self.file_label.config(text=info_text)
-
-    def process_data(self):
-        """Process loaded CSV data"""
-        if self.df is None:
-            messagebox.showwarning("Warning", "Please load a CSV file first")
-            return
-
-        self.status_label.config(text="Status: Processing data...")
-
-        # Add to processing queue
-        self.processing_queue.put(("process", self.df))
-
-    def run_cfar_detection(self):
-        """Run CFAR detection on processed data"""
-        if self.df is None:
-            messagebox.showwarning("Warning", "Please load and process data first")
-            return
-
-        self.status_label.config(text="Status: Running CFAR detection...")
-        self.processing_queue.put(("cfar", self.df))
-
-    def background_processing(self):
-
-        while True:
-            try:
-                task_type, data = self.processing_queue.get(timeout=1.0)
-
-                if task_type == "process":
-                    self._process_data_background(data)
-                elif task_type == "cfar":
-                    self._run_cfar_background(data)
-                else:
-                    logging.warning(f"Unknown task type: {task_type}")
-
-                self.processing_queue.task_done()
-
-            except queue.Empty:
-                continue
-            except Exception as e:
-                logging.error(f"Background processing error: {e}")
-                # Update GUI to show error state
-                self.root.after(
-                    0,
-                    lambda: self.status_label.config(
-                        text=f"Status: Processing error - {e}"  # noqa: F821
-                    ),
-                )
-
-    def _process_data_background(self, df):
-        try:
-            # Process long chirps
-            long_chirp_data = self.processor.process_chirp_sequence(df, "LONG")
-
-            # Process short chirps
-            short_chirp_data = self.processor.process_chirp_sequence(df, "SHORT")
-
-            # Store results
-            self.processed_data = {"long": long_chirp_data, "short": short_chirp_data}
-
-            # Update GUI in main thread
-            self.root.after(0, self._update_plots_after_processing)
-
-        except Exception as e:
-            logging.error(f"Processing error: {e}")
-            error_msg = str(e)
-            self.root.after(
-                0,
-                lambda msg=error_msg: self.status_label.config(
-                    text=f"Status: Processing error - {msg}"
-                ),
-            )
-
-    def _run_cfar_background(self, df):
-        try:
-            # Get first chirp for CFAR demonstration
-            first_chirp = df[df["chirp_number"] == df["chirp_number"].min()]
-
-            if len(first_chirp) == 0:
-                return
-
-            # Create IQ data - FIXED TYPO: first_chirp not first_chip
-            iq_data = first_chirp["I_value"].values + 1j * first_chirp["Q_value"].values
-
-            # Perform range FFT
-            range_axis, range_profile = self.processor.range_fft(iq_data)
-
-            # Run CFAR detection
-            detections = self.processor.cfar_detection(range_profile)
-
-            # Convert to target objects
-            self.detected_targets = []
-            for range_bin, magnitude in detections:
-                target = RadarTarget(
-                    range=range_axis[range_bin],
-                    velocity=0,  # Would need Doppler processing for velocity
-                    azimuth=0,  # From actual data
-                    elevation=0,  # From actual data
-                    snr=20 * np.log10(magnitude + 1e-9),  # Convert to dB
-                    chirp_type="LONG",
-                    timestamp=time.time(),
-                )
-                self.detected_targets.append(target)
-
-            # Update GUI in main thread
-            self.root.after(
-                0, lambda: self._update_cfar_results(range_axis, range_profile, detections)
-            )
-
-        except Exception as e:
-            logging.error(f"CFAR detection error: {e}")
-            error_msg = str(e)
-            self.root.after(
-                0,
-                lambda msg=error_msg: self.status_label.config(text=f"Status: CFAR error - {msg}"),
-            )
-
-    def _update_plots_after_processing(self):
-        try:
-            # Clear all plots
-            for ax in [self.ax1, self.ax2, self.ax3, self.ax4]:
-                ax.clear()
-
-            # Plot 1: Range profile from first chirp
-            if self.df is not None and len(self.df) > 0:
-                try:
-                    first_chirp_num = self.df["chirp_number"].min()
-                    first_chirp = self.df[self.df["chirp_number"] == first_chirp_num]
-
-                    if len(first_chirp) > 0:
-                        iq_data = first_chirp["I_value"].values + 1j * first_chirp["Q_value"].values
-                        range_axis, range_profile = self.processor.range_fft(iq_data)
-
-                        if len(range_axis) > 0 and len(range_profile) > 0:
-                            self.ax1.plot(range_axis, range_profile, "b-")
-                            self.ax1.set_title("Range Profile - First Chirp")
-                            self.ax1.set_xlabel("Range (m)")
-                            self.ax1.set_ylabel("Magnitude")
-                            self.ax1.grid(True)
-                except Exception as e:
-                    logging.warning(f"Range profile plot error: {e}")
-                    self.ax1.set_title("Range Profile - Error")
-
-            # Plot 2: Doppler spectrum
-            if self.df is not None and len(self.df) > 0:
-                try:
-                    sample_data = self.df.head(1024)
-                    if len(sample_data) > 10:
-                        iq_data = sample_data["I_value"].values + 1j * sample_data["Q_value"].values
-                        velocity_axis, doppler_spectrum = self.processor.doppler_fft(iq_data)
-
-                        if len(velocity_axis) > 0 and len(doppler_spectrum) > 0:
-                            self.ax2.plot(velocity_axis, doppler_spectrum, "g-")
-                            self.ax2.set_title("Doppler Spectrum")
-                            self.ax2.set_xlabel("Velocity (m/s)")
-                            self.ax2.set_ylabel("Magnitude")
-                            self.ax2.grid(True)
-                except Exception as e:
-                    logging.warning(f"Doppler spectrum plot error: {e}")
-                    self.ax2.set_title("Doppler Spectrum - Error")
-
-            # Plot 3: Range-Doppler map
-            if (
-                self.processed_data.get("long")
-                and "range_doppler_matrix" in self.processed_data["long"]
-                and self.processed_data["long"]["range_doppler_matrix"].size > 0
-            ):
-                try:
-                    rd_matrix = self.processed_data["long"]["range_doppler_matrix"]
-                    # Use integer indices for extent
-                    extent = [0, int(rd_matrix.shape[1]), 0, int(rd_matrix.shape[0])]
-
-                    im = self.ax3.imshow(
-                        10 * np.log10(rd_matrix + 1e-9), aspect="auto", cmap="hot", extent=extent
-                    )
-                    self.ax3.set_title("Range-Doppler Map (Long Chirps)")
-                    self.ax3.set_xlabel("Doppler Bin")
-                    self.ax3.set_ylabel("Range Bin")
-                    self.fig.colorbar(im, ax=self.ax3, label="dB")
-                except Exception as e:
-                    logging.warning(f"Range-Doppler map plot error: {e}")
-                    self.ax3.set_title("Range-Doppler Map - Error")
-
-            # Plot 4: MTI filtered data
-            if self.df is not None and len(self.df) > 0:
-                try:
-                    sample_data = self.df.head(100)
-                    if len(sample_data) > 10:
-                        iq_data = sample_data["I_value"].values + 1j * sample_data["Q_value"].values
-
-                        # Original data
-                        original_mag = np.abs(iq_data)
-
-                        # MTI filtered
-                        mti_filtered = self.processor.mti_filter(iq_data)
-
-                        if mti_filtered is not None and len(mti_filtered) > 0:
-                            mti_mag = np.abs(mti_filtered)
-
-                            # Use integer indices for plotting
-                            x_original = np.arange(len(original_mag))
-                            x_mti = np.arange(len(mti_mag))
-
-                            self.ax4.plot(
-                                x_original, original_mag, "b-", label="Original", alpha=0.7
-                            )
-                            self.ax4.plot(x_mti, mti_mag, "r-", label="MTI Filtered", alpha=0.7)
-                            self.ax4.set_title("MTI Filter Comparison")
-                            self.ax4.set_xlabel("Sample Index")
-                            self.ax4.set_ylabel("Magnitude")
-                            self.ax4.legend()
-                            self.ax4.grid(True)
-                except Exception as e:
-                    logging.warning(f"MTI filter plot error: {e}")
-                    self.ax4.set_title("MTI Filter - Error")
-
-            # Adjust layout and draw
-            self.fig.tight_layout()
-            self.canvas.draw()
-            self.status_label.config(text="Status: Processing complete")
-
-        except Exception as e:
-            logging.error(f"Plot update error: {e}")
-            error_msg = str(e)
-            self.status_label.config(text=f"Status: Plot error - {error_msg}")
-
-    def _update_cfar_results(self, range_axis, range_profile, detections):
-        try:
-            # Clear the plot
-            self.ax1.clear()
-
-            # Plot range profile
-            self.ax1.plot(range_axis, range_profile, "b-", label="Range Profile")
-
-            # Plot detections - ensure we use integer indices
-            if detections and len(range_axis) > 0:
-                detection_ranges = []
-                detection_mags = []
-
-                for bin_idx, mag in detections:
-                    # Convert bin_idx to integer and ensure it's within bounds
-                    bin_idx_int = int(bin_idx)
-                    if 0 <= bin_idx_int < len(range_axis):
-                        detection_ranges.append(range_axis[bin_idx_int])
-                        detection_mags.append(mag)
-
-                if detection_ranges:  # Only plot if we have valid detections
-                    self.ax1.plot(
-                        detection_ranges,
-                        detection_mags,
-                        "ro",
-                        markersize=8,
-                        label="CFAR Detections",
-                    )
-
-            self.ax1.set_title("Range Profile with CFAR Detections")
-            self.ax1.set_xlabel("Range (m)")
-            self.ax1.set_ylabel("Magnitude")
-            self.ax1.legend()
-            self.ax1.grid(True)
-
-            # Update targets list
-            self.update_targets_list()
-
-            self.canvas.draw()
-            self.status_label.config(
-                text=f"Status: CFAR complete - {len(detections)} targets detected"
-            )
-
-        except Exception as e:
-            logging.error(f"CFAR results update error: {e}")
-            error_msg = str(e)
-            self.status_label.config(text=f"Status: CFAR results error - {error_msg}")
-
-    def update_targets_list(self):
-        """Update the targets list display"""
-        # Clear current list
-        for item in self.targets_tree.get_children():
-            self.targets_tree.delete(item)
-
-        # Add detected targets
-        for i, target in enumerate(self.detected_targets):
-            self.targets_tree.insert(
-                "",
-                "end",
-                values=(
-                    f"{target.range:.1f}",
-                    f"{target.velocity:.1f}",
-                    f"{target.azimuth}",
-                    f"{target.elevation}",
-                    f"{target.snr:.1f}",
-                    target.chirp_type,
-                ),
-            )
-
-    def update_gui(self):
-        """Periodic GUI update"""
-        # You can add any periodic updates here
-        self.root.after(100, self.update_gui)
-
-
-def main():
-    """Main application entry point"""
-    try:
-        root = tk.Tk()
-        _app = RadarGUI(root)
-        root.mainloop()
-    except Exception as e:
-        logging.error(f"Application error: {e}")
-        messagebox.showerror("Fatal Error", f"Application failed to start: {e}")
-
-
-if __name__ == "__main__":
-    main()

9_Firmware/9_3_GUI/GUI_V5.py

@@ -28,7 +28,7 @@ except ImportError:
     logging.warning("pyusb not available. USB CDC functionality will be disabled.")
 
 try:
-    from pyftdi.ftdi import Ftdi
+    from pyftdi.ftdi import Ftdi, FtdiError
     from pyftdi.usbtools import UsbTools
 
     FTDI_AVAILABLE = True
@@ -289,7 +289,7 @@ class MapGenerator:
             targets_script = f"updateTargets({targets_json});"
 
         # Fill template
-        map_html = self.map_html_template.format(
+        return self.map_html_template.format(
             lat=gps_data.latitude,
             lon=gps_data.longitude,
             alt=gps_data.altitude,
@@ -299,8 +299,6 @@ class MapGenerator:
             api_key=api_key,
         )
 
-        return map_html
-
     def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg):
         """
         Convert polar coordinates (range, azimuth) to geographic coordinates
@@ -369,7 +367,7 @@ class STM32USBInterface:
                                 "device": dev,
                             }
                         )
-                    except Exception:
+                    except (usb.core.USBError, ValueError):
                         devices.append(
                             {
                                 "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})",
@@ -380,7 +378,7 @@ class STM32USBInterface:
                         )
 
             return devices
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error listing USB devices: {e}")
             # Return mock devices for testing
             return [
@@ -430,7 +428,7 @@ class STM32USBInterface:
             logging.info(f"STM32 USB device opened: {device_info['description']}")
             return True
 
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error opening USB device: {e}")
             return False
 
@@ -446,7 +444,7 @@ class STM32USBInterface:
             packet = self._create_settings_packet(settings)
             logging.info("Sending radar settings to STM32 via USB...")
             return self._send_data(packet)
-        except Exception as e:
+        except (usb.core.USBError, struct.error) as e:
             logging.error(f"Error sending settings via USB: {e}")
             return False
 
@@ -463,9 +461,6 @@ class STM32USBInterface:
                 return None
             logging.error(f"USB read error: {e}")
             return None
-        except Exception as e:
-            logging.error(f"Error reading from USB: {e}")
-            return None
 
     def _send_data(self, data):
         """Send data to STM32 via USB"""
@@ -483,7 +478,7 @@ class STM32USBInterface:
                 self.ep_out.write(chunk)
 
             return True
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error sending data via USB: {e}")
             return False
 
@@ -509,7 +504,7 @@ class STM32USBInterface:
             try:
                 usb.util.dispose_resources(self.device)
                 self.is_open = False
-            except Exception as e:
+            except usb.core.USBError as e:
                 logging.error(f"Error closing USB device: {e}")
 
 
@@ -525,14 +520,12 @@ class FTDIInterface:
             return []
 
         try:
-            devices = []
             # Get list of all FTDI devices
-            for device in UsbTools.find_all([(0x0403, 0x6010)]):  # FT2232H vendor/product ID
+            return [
-                devices.append(
                 {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"}
-                )
+                for device in UsbTools.find_all([(0x0403, 0x6010)])
-            return devices
+            ]  # FT2232H vendor/product ID
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error listing FTDI devices: {e}")
             # Return mock devices for testing
             return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}]
@@ -560,7 +553,7 @@ class FTDIInterface:
             logging.info(f"FTDI device opened: {device_url}")
             return True
 
-        except Exception as e:
+        except FtdiError as e:
             logging.error(f"Error opening FTDI device: {e}")
             return False
 
@@ -574,7 +567,7 @@ class FTDIInterface:
             if data:
                 return bytes(data)
             return None
-        except Exception as e:
+        except FtdiError as e:
             logging.error(f"Error reading from FTDI: {e}")
             return None
 
@@ -595,8 +588,7 @@ class RadarProcessor:
 
     def dual_cpi_fusion(self, range_profiles_1, range_profiles_2):
         """Dual-CPI fusion for better detection"""
-        fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0)
+        return np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0)
-        return fused_profile
 
     def multi_prf_unwrap(self, doppler_measurements, prf1, prf2):
         """Multi-PRF velocity unwrapping"""
@@ -643,7 +635,7 @@ class RadarProcessor:
 
         return clusters
 
-    def association(self, detections, clusters):
+    def association(self, detections, _clusters):
         """Association of detections to tracks"""
         associated_detections = []
 
@@ -737,7 +729,7 @@ class USBPacketParser:
             if len(data) >= 30 and data[0:4] == b"GPSB":
                 return self._parse_binary_gps_with_pitch(data)
 
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing GPS data: {e}")
 
         return None
@@ -789,7 +781,7 @@ class USBPacketParser:
                 timestamp=time.time(),
             )
 
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing binary GPS with pitch: {e}")
             return None
 
@@ -831,11 +823,10 @@ class RadarPacketParser:
 
         if packet_type == 0x01:
             return self.parse_range_packet(payload)
-        elif packet_type == 0x02:
+        if packet_type == 0x02:
             return self.parse_doppler_packet(payload)
-        elif packet_type == 0x03:
+        if packet_type == 0x03:
             return self.parse_detection_packet(payload)
-        else:
         logging.warning(f"Unknown packet type: {packet_type:02X}")
         return None
 
@@ -860,7 +851,7 @@ class RadarPacketParser:
                 "chirp": chirp_counter,
                 "timestamp": time.time(),
             }
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing range packet: {e}")
             return None
 
@@ -884,7 +875,7 @@ class RadarPacketParser:
                 "chirp": chirp_counter,
                 "timestamp": time.time(),
             }
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing Doppler packet: {e}")
             return None
 
@@ -906,7 +897,7 @@ class RadarPacketParser:
                 "chirp": chirp_counter,
                 "timestamp": time.time(),
             }
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing detection packet: {e}")
             return None
 
@@ -1345,7 +1336,7 @@ class RadarGUI:
 
             logging.info("Radar system started successfully via USB CDC")
 
-        except Exception as e:
+        except (usb.core.USBError, FtdiError, ValueError) as e:
             messagebox.showerror("Error", f"Failed to start radar: {e}")
             logging.error(f"Start radar error: {e}")
 
@@ -1414,7 +1405,7 @@ class RadarGUI:
                             else:
                                 break
 
-                except Exception as e:
+                except FtdiError as e:
                     logging.error(f"Error processing radar data: {e}")
                     time.sleep(0.1)
             else:
@@ -1438,7 +1429,7 @@ class RadarGUI:
                                 f"Alt {gps_data.altitude:.1f}m, "
                                 f"Pitch {gps_data.pitch:.1f}°"
                             )
-                except Exception as e:
+                except (usb.core.USBError, ValueError, struct.error) as e:
                     logging.error(f"Error processing GPS data via USB: {e}")
             time.sleep(0.1)
 
@@ -1501,7 +1492,7 @@ class RadarGUI:
                         f"Pitch {self.current_gps.pitch:.1f}°"
                     )
 
-        except Exception as e:
+        except (ValueError, KeyError) as e:
             logging.error(f"Error processing radar packet: {e}")
 
     def update_range_doppler_map(self, target):
@@ -1568,9 +1559,9 @@ class RadarGUI:
             )
             logging.info(f"Map generated: {self.map_file_path}")
 
-        except Exception as e:
+        except (OSError, ValueError) as e:
             logging.error(f"Error generating map: {e}")
-            self.map_status_label.config(text=f"Map: Error - {str(e)}")
+            self.map_status_label.config(text=f"Map: Error - {e!s}")
 
     def update_gps_display(self):
         """Step 18: Update GPS and pitch display"""
@@ -1657,7 +1648,7 @@ class RadarGUI:
             # Update GPS and pitch display
             self.update_gps_display()
 
-        except Exception as e:
+        except (tk.TclError, RuntimeError) as e:
             logging.error(f"Error updating GUI: {e}")
 
         self.root.after(100, self.update_gui)
@@ -1669,7 +1660,7 @@ def main():
         root = tk.Tk()
         _app = RadarGUI(root)
         root.mainloop()
-    except Exception as e:
+    except Exception as e:  # noqa: BLE001
         logging.error(f"Application error: {e}")
         messagebox.showerror("Fatal Error", f"Application failed to start: {e}")
 

9_Firmware/9_3_GUI/GUI_V5_Demo.py

@@ -37,7 +37,7 @@ except ImportError:
     logging.warning("pyusb not available. USB CDC functionality will be disabled.")
 
 try:
-    from pyftdi.ftdi import Ftdi
+    from pyftdi.ftdi import Ftdi, FtdiError
     from pyftdi.usbtools import UsbTools
 
     FTDI_AVAILABLE = True
@@ -108,8 +108,7 @@ class RadarProcessor:
 
     def dual_cpi_fusion(self, range_profiles_1, range_profiles_2):
         """Dual-CPI fusion for better detection"""
-        fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0)
+        return np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0)
-        return fused_profile
 
     def multi_prf_unwrap(self, doppler_measurements, prf1, prf2):
         """Multi-PRF velocity unwrapping"""
@@ -156,7 +155,7 @@ class RadarProcessor:
 
         return clusters
 
-    def association(self, detections, clusters):
+    def association(self, detections, _clusters):
         """Association of detections to tracks"""
         associated_detections = []
 
@@ -250,7 +249,7 @@ class USBPacketParser:
             if len(data) >= 30 and data[0:4] == b"GPSB":
                 return self._parse_binary_gps_with_pitch(data)
 
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing GPS data: {e}")
 
         return None
@@ -302,7 +301,7 @@ class USBPacketParser:
                 timestamp=time.time(),
             )
 
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing binary GPS with pitch: {e}")
             return None
 
@@ -344,11 +343,10 @@ class RadarPacketParser:
 
         if packet_type == 0x01:
             return self.parse_range_packet(payload)
-        elif packet_type == 0x02:
+        if packet_type == 0x02:
             return self.parse_doppler_packet(payload)
-        elif packet_type == 0x03:
+        if packet_type == 0x03:
             return self.parse_detection_packet(payload)
-        else:
         logging.warning(f"Unknown packet type: {packet_type:02X}")
         return None
 
@@ -373,7 +371,7 @@ class RadarPacketParser:
                 "chirp": chirp_counter,
                 "timestamp": time.time(),
             }
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing range packet: {e}")
             return None
 
@@ -397,7 +395,7 @@ class RadarPacketParser:
                 "chirp": chirp_counter,
                 "timestamp": time.time(),
             }
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing Doppler packet: {e}")
             return None
 
@@ -419,7 +417,7 @@ class RadarPacketParser:
                 "chirp": chirp_counter,
                 "timestamp": time.time(),
             }
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing detection packet: {e}")
             return None
 
@@ -688,22 +686,21 @@ class MapGenerator:
         coverage_radius_km = coverage_radius / 1000.0
 
         # Generate HTML content
-        map_html = self.map_html_template.replace("{lat}", str(gps_data.latitude))
-        map_html = map_html.replace("{lon}", str(gps_data.longitude))
-        map_html = map_html.replace("{alt:.1f}", f"{gps_data.altitude:.1f}")
-        map_html = map_html.replace("{pitch:+.1f}", f"{gps_data.pitch:+.1f}")
-        map_html = map_html.replace("{coverage_radius}", str(coverage_radius))
-        map_html = map_html.replace("{coverage_radius_km:.1f}", f"{coverage_radius_km:.1f}")
-        map_html = map_html.replace("{target_count}", str(len(map_targets)))
-
-        # Inject initial targets as JavaScript variable
         targets_json = json.dumps(map_targets)
-        map_html = map_html.replace(
+        return (
+            self.map_html_template.replace("{lat}", str(gps_data.latitude))
+            .replace("{lon}", str(gps_data.longitude))
+            .replace("{alt:.1f}", f"{gps_data.altitude:.1f}")
+            .replace("{pitch:+.1f}", f"{gps_data.pitch:+.1f}")
+            .replace("{coverage_radius}", str(coverage_radius))
+            .replace("{coverage_radius_km:.1f}", f"{coverage_radius_km:.1f}")
+            .replace("{target_count}", str(len(map_targets)))
+            .replace(
                 "// Display initial targets if any",
-            f"window.initialTargets = {targets_json};\n        // Display initial targets if any",
+                "window.initialTargets = "
+                f"{targets_json};\n        // Display initial targets if any",
+            )
         )
-
-        return map_html
 
     def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg):
         """
@@ -775,7 +772,7 @@ class STM32USBInterface:
                                 "device": dev,
                             }
                         )
-                    except Exception:
+                    except (usb.core.USBError, ValueError):
                         devices.append(
                             {
                                 "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})",
@@ -786,7 +783,7 @@ class STM32USBInterface:
                         )
 
             return devices
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error listing USB devices: {e}")
             # Return mock devices for testing
             return [
@@ -836,7 +833,7 @@ class STM32USBInterface:
             logging.info(f"STM32 USB device opened: {device_info['description']}")
             return True
 
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error opening USB device: {e}")
             return False
 
@@ -852,7 +849,7 @@ class STM32USBInterface:
             packet = self._create_settings_packet(settings)
             logging.info("Sending radar settings to STM32 via USB...")
             return self._send_data(packet)
-        except Exception as e:
+        except (usb.core.USBError, struct.error) as e:
             logging.error(f"Error sending settings via USB: {e}")
             return False
 
@@ -869,9 +866,6 @@ class STM32USBInterface:
                 return None
             logging.error(f"USB read error: {e}")
             return None
-        except Exception as e:
-            logging.error(f"Error reading from USB: {e}")
-            return None
 
     def _send_data(self, data):
         """Send data to STM32 via USB"""
@@ -889,7 +883,7 @@ class STM32USBInterface:
                 self.ep_out.write(chunk)
 
             return True
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error sending data via USB: {e}")
             return False
 
@@ -915,7 +909,7 @@ class STM32USBInterface:
             try:
                 usb.util.dispose_resources(self.device)
                 self.is_open = False
-            except Exception as e:
+            except usb.core.USBError as e:
                 logging.error(f"Error closing USB device: {e}")
 
 
@@ -931,14 +925,12 @@ class FTDIInterface:
             return []
 
         try:
-            devices = []
             # Get list of all FTDI devices
-            for device in UsbTools.find_all([(0x0403, 0x6010)]):  # FT2232H vendor/product ID
+            return [
-                devices.append(
                 {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"}
-                )
+                for device in UsbTools.find_all([(0x0403, 0x6010)])
-            return devices
+            ]  # FT2232H vendor/product ID
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error listing FTDI devices: {e}")
             # Return mock devices for testing
             return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}]
@@ -966,7 +958,7 @@ class FTDIInterface:
             logging.info(f"FTDI device opened: {device_url}")
             return True
 
-        except Exception as e:
+        except FtdiError as e:
             logging.error(f"Error opening FTDI device: {e}")
             return False
 
@@ -980,7 +972,7 @@ class FTDIInterface:
             if data:
                 return bytes(data)
             return None
-        except Exception as e:
+        except FtdiError as e:
             logging.error(f"Error reading from FTDI: {e}")
             return None
 
@@ -1242,7 +1234,7 @@ class RadarGUI:
                 """
                 self.browser.load_html(placeholder_html)
 
-            except Exception as e:
+            except (tk.TclError, RuntimeError) as e:
                 logging.error(f"Failed to create embedded browser: {e}")
                 self.create_browser_fallback()
         else:
@@ -1340,7 +1332,7 @@ Map HTML will appear here when generated.
                 self.fallback_text.configure(state="disabled")
                 self.fallback_text.see("1.0")  # Scroll to top
                 logging.info("Fallback text widget updated with map HTML")
-        except Exception as e:
+        except (tk.TclError, RuntimeError) as e:
             logging.error(f"Error updating embedded browser: {e}")
 
     def generate_map(self):
@@ -1386,7 +1378,7 @@ Map HTML will appear here when generated.
 
             logging.info(f"Map generated with {len(targets)} targets")
 
-        except Exception as e:
+        except (OSError, ValueError) as e:
             logging.error(f"Error generating map: {e}")
             self.map_status_label.config(text=f"Map: Error - {str(e)[:50]}")
 
@@ -1400,17 +1392,17 @@ Map HTML will appear here when generated.
             # Create temporary HTML file
             import tempfile
 
-            temp_file = tempfile.NamedTemporaryFile(
+            with tempfile.NamedTemporaryFile(
                 mode="w", suffix=".html", delete=False, encoding="utf-8"
-            )
+            ) as temp_file:
                 temp_file.write(self.current_map_html)
-            temp_file.close()
+                temp_file_path = temp_file.name
 
             # Open in default browser
-            webbrowser.open("file://" + os.path.abspath(temp_file.name))
+            webbrowser.open("file://" + os.path.abspath(temp_file_path))
-            logging.info(f"Map opened in external browser: {temp_file.name}")
+            logging.info(f"Map opened in external browser: {temp_file_path}")
 
-        except Exception as e:
+        except (OSError, ValueError) as e:
             logging.error(f"Error opening external browser: {e}")
             messagebox.showerror("Error", f"Failed to open browser: {e}")
 
@@ -1427,7 +1419,7 @@ def main():
         root = tk.Tk()
         _app = RadarGUI(root)
         root.mainloop()
-    except Exception as e:
+    except Exception as e:  # noqa: BLE001
         logging.error(f"Application error: {e}")
         messagebox.showerror("Fatal Error", f"Application failed to start: {e}")
 

9_Firmware/9_3_GUI/GUI_V6.py

@@ -26,7 +26,7 @@ except ImportError:
     logging.warning("pyusb not available. USB functionality will be disabled.")
 
 try:
-    from pyftdi.ftdi import Ftdi  # noqa: F401
+    from pyftdi.ftdi import Ftdi
     from pyftdi.usbtools import UsbTools  # noqa: F401
     from pyftdi.ftdi import FtdiError  # noqa: F401
     FTDI_AVAILABLE = True
@@ -242,7 +242,6 @@ class MapGenerator:
             </body>
             </html>
             """
-        pass
 
 class FT601Interface:
     """
@@ -298,7 +297,7 @@ class FT601Interface:
                             'device': dev,
                             'serial': serial
                         })
-                    except Exception:
+                    except (usb.core.USBError, ValueError):
                         devices.append({
                             'description': f"FT601 USB3.0 (VID:{vid:04X}, PID:{pid:04X})",
                             'vendor_id': vid,
@@ -308,7 +307,7 @@ class FT601Interface:
                         })
             
             return devices
-        except Exception as e:
+        except (usb.core.USBError, ValueError) as e:
             logging.error(f"Error listing FT601 devices: {e}")
             # Return mock devices for testing
             return [
@@ -350,7 +349,7 @@ class FT601Interface:
             logging.info(f"FT601 device opened: {device_url}")
             return True
             
-        except Exception as e:
+        except OSError as e:
             logging.error(f"Error opening FT601 device: {e}")
             return False
     
@@ -403,7 +402,7 @@ class FT601Interface:
             logging.info(f"FT601 device opened: {device_info['description']}")
             return True
             
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error opening FT601 device: {e}")
             return False
     
@@ -427,7 +426,7 @@ class FT601Interface:
                     return bytes(data)
                 return None
                 
-            elif self.device and self.ep_in:
+            if self.device and self.ep_in:
                 # Direct USB access
                 if bytes_to_read is None:
                     bytes_to_read = 512
@@ -448,7 +447,7 @@ class FT601Interface:
                 
                 return bytes(data) if data else None
                 
-        except Exception as e:
+        except (usb.core.USBError, OSError) as e:
             logging.error(f"Error reading from FT601: {e}")
             return None
     
@@ -468,7 +467,7 @@ class FT601Interface:
                 self.ftdi.write_data(data)
                 return True
                 
-            elif self.device and self.ep_out:
+            if self.device and self.ep_out:
                 # Direct USB access
                 # FT601 supports large transfers
                 max_packet = 512
@@ -479,7 +478,7 @@ class FT601Interface:
                 
                 return True
                 
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error writing to FT601: {e}")
             return False
     
@@ -498,7 +497,7 @@ class FT601Interface:
                     self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.RESET)
                     logging.info("FT601 burst mode disabled")
                 return True
-            except Exception as e:
+            except OSError as e:
                 logging.error(f"Error configuring burst mode: {e}")
                 return False
         return False
@@ -510,14 +509,14 @@ class FT601Interface:
                 self.ftdi.close()
                 self.is_open = False
                 logging.info("FT601 device closed")
-            except Exception as e:
+            except OSError as e:
                 logging.error(f"Error closing FT601 device: {e}")
         
         if self.device and self.is_open:
             try:
                 usb.util.dispose_resources(self.device)
                 self.is_open = False
-            except Exception as e:
+            except usb.core.USBError as e:
                 logging.error(f"Error closing FT601 device: {e}")
 
 class STM32USBInterface:
@@ -563,7 +562,7 @@ class STM32USBInterface:
                             'product_id': pid,
                             'device': dev
                         })
-                    except Exception:
+                    except (usb.core.USBError, ValueError):
                         devices.append({
                             'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})",
                             'vendor_id': vid,
@@ -572,7 +571,7 @@ class STM32USBInterface:
                         })
             
             return devices
-        except Exception as e:
+        except (usb.core.USBError, ValueError) as e:
             logging.error(f"Error listing USB devices: {e}")
             # Return mock devices for testing
             return [{
@@ -626,7 +625,7 @@ class STM32USBInterface:
             logging.info(f"STM32 USB device opened: {device_info['description']}")
             return True
             
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error opening USB device: {e}")
             return False
     
@@ -642,7 +641,7 @@ class STM32USBInterface:
             packet = self._create_settings_packet(settings)
             logging.info("Sending radar settings to STM32 via USB...")
             return self._send_data(packet)
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error sending settings via USB: {e}")
             return False
     
@@ -659,7 +658,7 @@ class STM32USBInterface:
                 return None
             logging.error(f"USB read error: {e}")
             return None
-        except Exception as e:
+        except ValueError as e:
             logging.error(f"Error reading from USB: {e}")
             return None
     
@@ -679,7 +678,7 @@ class STM32USBInterface:
                 self.ep_out.write(chunk)
             
             return True
-        except Exception as e:
+        except usb.core.USBError as e:
             logging.error(f"Error sending data via USB: {e}")
             return False
     
@@ -705,7 +704,7 @@ class STM32USBInterface:
             try:
                 usb.util.dispose_resources(self.device)
                 self.is_open = False
-            except Exception as e:
+            except usb.core.USBError as e:
                 logging.error(f"Error closing USB device: {e}")
 
 
@@ -720,8 +719,7 @@ class RadarProcessor:
         
     def dual_cpi_fusion(self, range_profiles_1, range_profiles_2):
         """Dual-CPI fusion for better detection"""
-        fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0)
+        return np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0)
-        return fused_profile
     
     def multi_prf_unwrap(self, doppler_measurements, prf1, prf2):
         """Multi-PRF velocity unwrapping"""
@@ -766,7 +764,7 @@ class RadarProcessor:
                 
         return clusters
     
-    def association(self, detections, clusters):
+    def association(self, detections, _clusters):
         """Association of detections to tracks"""
         associated_detections = []
         
@@ -862,7 +860,7 @@ class USBPacketParser:
             if len(data) >= 30 and data[0:4] == b'GPSB':
                 return self._parse_binary_gps_with_pitch(data)
                 
-        except Exception as e:
+        except ValueError as e:
             logging.error(f"Error parsing GPS data: {e}")
             
         return None
@@ -914,7 +912,7 @@ class USBPacketParser:
                 timestamp=time.time()
             )
             
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing binary GPS with pitch: {e}")
             return None
 
@@ -936,7 +934,7 @@ class RadarPacketParser:
         if len(packet) < 6:
             return None
             
-        _sync = packet[0:2]  # noqa: F841
+        _sync = packet[0:2]
         packet_type = packet[2]
         length = packet[3]
         
@@ -956,11 +954,10 @@ class RadarPacketParser:
         
         if packet_type == 0x01:
             return self.parse_range_packet(payload)
-        elif packet_type == 0x02:
+        if packet_type == 0x02:
             return self.parse_doppler_packet(payload)
-        elif packet_type == 0x03:
+        if packet_type == 0x03:
             return self.parse_detection_packet(payload)
-        else:
         logging.warning(f"Unknown packet type: {packet_type:02X}")
         return None
     
@@ -985,7 +982,7 @@ class RadarPacketParser:
                 'chirp': chirp_counter,
                 'timestamp': time.time()
             }
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing range packet: {e}")
             return None
     
@@ -1009,7 +1006,7 @@ class RadarPacketParser:
                 'chirp': chirp_counter,
                 'timestamp': time.time()
             }
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logging.error(f"Error parsing Doppler packet: {e}")
             return None
     
@@ -1031,7 +1028,7 @@ class RadarPacketParser:
                 'chirp': chirp_counter,
                 'timestamp': time.time()
             }
-        except Exception as e:
+        except (usb.core.USBError, ValueError) as e:
             logging.error(f"Error parsing detection packet: {e}")
             return None
 
@@ -1371,7 +1368,7 @@ class RadarGUI:
             
             logging.info("Radar system started successfully with FT601 USB 3.0")
             
-        except Exception as e:
+        except usb.core.USBError as e:
             messagebox.showerror("Error", f"Failed to start radar: {e}")
             logging.error(f"Start radar error: {e}")
     
@@ -1416,13 +1413,13 @@ class RadarGUI:
                                 else:
                                     break
                                 
-                except Exception as e:
+                except usb.core.USBError as e:
                     logging.error(f"Error processing radar data: {e}")
                     time.sleep(0.1)
             else:
                 time.sleep(0.1)
     
-    def get_packet_length(self, packet):
+    def get_packet_length(self, _packet):
         """Calculate packet length including header and footer"""
         # This should match your packet structure
         return 64  # Example: 64-byte packets
@@ -1443,7 +1440,7 @@ class RadarGUI:
                                 f"Lon {gps_data.longitude:.6f}, "
                                 f"Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°"
                             )
-                except Exception as e:
+                except usb.core.USBError as e:
                     logging.error(f"Error processing GPS data via USB: {e}")
             time.sleep(0.1)
     
@@ -1506,7 +1503,7 @@ class RadarGUI:
                         f"Pitch {self.current_gps.pitch:.1f}°"
                     )
                     
-        except Exception as e:
+        except (ValueError, IndexError) as e:
             logging.error(f"Error processing radar packet: {e}")
     
     def update_range_doppler_map(self, target):
@@ -1604,9 +1601,9 @@ class RadarGUI:
             )
             logging.info(f"Map generated: {self.map_file_path}")
             
-        except Exception as e:
+        except OSError as e:
             logging.error(f"Error generating map: {e}")
-            self.map_status_label.config(text=f"Map: Error - {str(e)}")
+            self.map_status_label.config(text=f"Map: Error - {e!s}")
     
     def update_gps_display(self):
         """Step 18: Update GPS and pitch display"""
@@ -1753,7 +1750,7 @@ class RadarGUI:
                             else:
                                 break
                                 
-                except Exception as e:
+                except (usb.core.USBError, ValueError, struct.error) as e:
                     logging.error(f"Error processing radar data: {e}")
                     time.sleep(0.1)
             else:
@@ -1775,7 +1772,7 @@ class RadarGUI:
                                 f"Lon {gps_data.longitude:.6f}, "
                                 f"Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°"
                             )
-                except Exception as e:
+                except usb.core.USBError as e:
                     logging.error(f"Error processing GPS data via USB: {e}")
             time.sleep(0.1)
     
@@ -1803,7 +1800,7 @@ class RadarGUI:
             # Update GPS and pitch display
             self.update_gps_display()
             
-        except Exception as e:
+        except (ValueError, IndexError) as e:
             logging.error(f"Error updating GUI: {e}")
         
         self.root.after(100, self.update_gui)
@@ -1812,9 +1809,9 @@ def main():
     """Main application entry point"""
     try:
         root = tk.Tk()
-        _app = RadarGUI(root)  # noqa: F841 – must stay alive for mainloop
+        _app = RadarGUI(root)  # must stay alive for mainloop
         root.mainloop()
-    except Exception as e:
+    except Exception as e:  # noqa: BLE001
         logging.error(f"Application error: {e}")
         messagebox.showerror("Fatal Error", f"Application failed to start: {e}")
 

9_Firmware/9_3_GUI/GUI_V6_Demo.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# -*- coding: utf-8 -*-
 
 """
 Radar System GUI - Fully Functional Demo Version
@@ -15,7 +14,6 @@ from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
 from matplotlib.figure import Figure
 import logging
 from dataclasses import dataclass
-from typing import List, Dict
 import random
 import json
 from datetime import datetime
@@ -65,7 +63,7 @@ class SimulatedRadarProcessor:
         self.noise_floor = 10
         self.clutter_level = 5
         
-    def _create_targets(self) -> List[Dict]:
+    def _create_targets(self) -> list[dict]:
         """Create moving targets"""
         return [
             {
@@ -210,22 +208,20 @@ class SimulatedRadarProcessor:
         
         return rd_map
     
-    def _detect_targets(self) -> List[RadarTarget]:
+    def _detect_targets(self) -> list[RadarTarget]:
         """Detect targets from current state"""
-        detected = []
+        return [
-        for t in self.targets:
+            RadarTarget(
-            # Random detection based on SNR
-            if random.random() < (t['snr'] / 35):
-                # Add some measurement noise
-                detected.append(RadarTarget(
                 id=t['id'],
                 range=t['range'] + random.gauss(0, 10),
                 velocity=t['velocity'] + random.gauss(0, 2),
                 azimuth=t['azimuth'] + random.gauss(0, 1),
                 elevation=t['elevation'] + random.gauss(0, 0.5),
                 snr=t['snr'] + random.gauss(0, 2)
-                ))
+            )
-        return detected
+            for t in self.targets
+            if random.random() < (t['snr'] / 35)
+        ]
 
 # ============================================================================
 # MAIN GUI APPLICATION
@@ -566,7 +562,7 @@ class RadarDemoGUI:
         
         scrollable_frame.bind(
             "<Configure>",
-            lambda e: canvas.configure(scrollregion=canvas.bbox("all"))
+            lambda _e: canvas.configure(scrollregion=canvas.bbox("all"))
         )
         
         canvas.create_window((0, 0), window=scrollable_frame, anchor="nw")
@@ -586,7 +582,7 @@ class RadarDemoGUI:
             ('CFAR Threshold (dB):', 'cfar', 13.0, 5.0, 30.0)
         ]
         
-        for i, (label, key, default, minv, maxv) in enumerate(settings):
+        for _i, (label, key, default, minv, maxv) in enumerate(settings):
             frame = ttk.Frame(scrollable_frame)
             frame.pack(fill='x', padx=10, pady=5)
             
@@ -745,7 +741,7 @@ class RadarDemoGUI:
             # Update time
             self.time_label.config(text=time.strftime("%H:%M:%S"))
             
-        except Exception as e:
+        except (ValueError, IndexError) as e:
             logger.error(f"Animation error: {e}")
         
         # Schedule next update
@@ -940,7 +936,7 @@ class RadarDemoGUI:
             messagebox.showinfo("Success", "Settings applied")
             logger.info("Settings updated")
             
-        except Exception as e:
+        except (ValueError, tk.TclError) as e:
             messagebox.showerror("Error", f"Invalid settings: {e}")
     
     def apply_display_settings(self):
@@ -981,7 +977,7 @@ class RadarDemoGUI:
         )
         if filename:
             try:
-                with open(filename, 'r') as f:
+                with open(filename) as f:
                     config = json.load(f)
                 
                 # Apply settings
@@ -1004,7 +1000,7 @@ class RadarDemoGUI:
                 messagebox.showinfo("Success", f"Loaded configuration from {filename}")
                 logger.info(f"Configuration loaded from {filename}")
                 
-            except Exception as e:
+            except (OSError, json.JSONDecodeError, ValueError, tk.TclError) as e:
                 messagebox.showerror("Error", f"Failed to load: {e}")
     
     def save_config(self):
@@ -1031,7 +1027,7 @@ class RadarDemoGUI:
                 messagebox.showinfo("Success", f"Saved configuration to {filename}")
                 logger.info(f"Configuration saved to {filename}")
                 
-            except Exception as e:
+            except (OSError, TypeError, ValueError) as e:
                 messagebox.showerror("Error", f"Failed to save: {e}")
     
     def export_data(self):
@@ -1061,7 +1057,7 @@ class RadarDemoGUI:
                 messagebox.showinfo("Success", f"Exported {len(frames)} frames to {filename}")
                 logger.info(f"Data exported to {filename}")
                 
-            except Exception as e:
+            except (OSError, ValueError) as e:
                 messagebox.showerror("Error", f"Failed to export: {e}")
     
     def show_calibration(self):
@@ -1205,7 +1201,7 @@ def main():
         root = tk.Tk()
         
         # Create application
-        _app = RadarDemoGUI(root)  # noqa: F841 — keeps reference alive
+        _app = RadarDemoGUI(root)  # keeps reference alive
         
         # Center window
         root.update_idletasks()
@@ -1218,7 +1214,7 @@ def main():
         # Start main loop
         root.mainloop()
         
-    except Exception as e:
+    except Exception as e:  # noqa: BLE001
         logger.error(f"Fatal error: {e}")
         messagebox.showerror("Fatal Error", f"Application failed to start:\n{e}")
 

9_Firmware/9_3_GUI/radar_dashboard.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-AERIS-10 Radar Dashboard — Board Bring-Up Edition
+AERIS-10 Radar Dashboard
 ===================================================
 Real-time visualization and control for the AERIS-10 phased-array radar
 via FT2232H USB 2.0 interface.
@@ -10,7 +10,8 @@ Features:
   - Real-time range-Doppler magnitude heatmap (64x32)
   - CFAR detection overlay (flagged cells highlighted)
   - Range profile waterfall plot (range vs. time)
-  - Host command sender (opcodes 0x01-0x27, 0x30, 0xFF)
+  - Host command sender (opcodes per radar_system_top.v:
+    0x01-0x04, 0x10-0x16, 0x20-0x27, 0x30-0x31, 0xFF)
   - Configuration panel for all radar parameters
   - HDF5 data recording for offline analysis
   - Mock mode for development/testing without hardware
@@ -27,7 +28,7 @@ import queue
 import logging
 import argparse
 import threading
-from typing import Optional, Dict
+import contextlib
 from collections import deque
 
 import numpy as np
@@ -82,18 +83,19 @@ class RadarDashboard:
     C = 3e8                  # m/s — speed of light
 
     def __init__(self, root: tk.Tk, connection: FT2232HConnection,
-                 recorder: DataRecorder):
+                 recorder: DataRecorder, device_index: int = 0):
         self.root = root
         self.conn = connection
         self.recorder = recorder
+        self.device_index = device_index
 
-        self.root.title("AERIS-10 Radar Dashboard — Bring-Up Edition")
+        self.root.title("AERIS-10 Radar Dashboard")
         self.root.geometry("1600x950")
         self.root.configure(bg=BG)
 
         # Frame queue (acquisition → display)
         self.frame_queue: queue.Queue[RadarFrame] = queue.Queue(maxsize=8)
-        self._acq_thread: Optional[RadarAcquisition] = None
+        self._acq_thread: RadarAcquisition | None = None
 
         # Display state
         self._current_frame = RadarFrame()
@@ -154,7 +156,7 @@ class RadarDashboard:
         self.btn_record = ttk.Button(top, text="Record", command=self._on_record)
         self.btn_record.pack(side="right", padx=4)
 
-        # Notebook (tabs)
+        # -- Tabbed notebook layout --
         nb = ttk.Notebook(self.root)
         nb.pack(fill="both", expand=True, padx=8, pady=8)
 
@@ -173,9 +175,8 @@ class RadarDashboard:
         # Compute physical axis limits
         # Range resolution: dR = c / (2 * BW) per range bin
         # But we decimate 1024→64 bins, so each bin spans 16 FFT bins.
-        # Range per FFT bin = c / (2 * BW) * (Fs / FFT_SIZE) — simplified:
+        # Range resolution derivation: c/(2*BW) gives ~0.3 m per FFT bin.
-        #   max_range = c * Fs / (4 * BW) for Fs-sampled baseband
+        # After 1024-to-64 decimation each displayed range bin spans 16 FFT bins.
-        #   range_per_bin = max_range / NUM_RANGE_BINS
         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
@@ -232,39 +233,92 @@ class RadarDashboard:
         self._canvas = canvas
 
     def _build_control_tab(self, parent):
-        """Host command sender and configuration panel."""
+        """Host command sender — organized by FPGA register groups.
-        outer = ttk.Frame(parent)
-        outer.pack(fill="both", expand=True, padx=16, pady=16)
 
-        # Left column: Quick actions
+        Layout: scrollable canvas with three columns:
-        left = ttk.LabelFrame(outer, text="Quick Actions", padding=12)
+          Left:   Quick Actions + Diagnostics (self-test)
-        left.grid(row=0, column=0, sticky="nsew", padx=(0, 8))
+          Center: Waveform Timing + Signal Processing
+          Right:  Detection (CFAR) + Custom Command
+        """
+        # Scrollable wrapper for small screens
+        canvas = tk.Canvas(parent, bg=BG, highlightthickness=0)
+        scrollbar = ttk.Scrollbar(parent, orient="vertical", command=canvas.yview)
+        outer = ttk.Frame(canvas)
+        outer.bind("<Configure>",
+                   lambda _e: canvas.configure(scrollregion=canvas.bbox("all")))
+        canvas.create_window((0, 0), window=outer, anchor="nw")
+        canvas.configure(yscrollcommand=scrollbar.set)
+        canvas.pack(side="left", fill="both", expand=True, padx=8, pady=8)
+        scrollbar.pack(side="right", fill="y")
 
-        ttk.Button(left, text="Trigger Chirp (0x01)",
+        self._param_vars: dict[str, tk.StringVar] = {}
-                   command=lambda: self._send_cmd(0x01, 1)).pack(fill="x", pady=3)
-        ttk.Button(left, text="Enable MTI (0x26)",
-                   command=lambda: self._send_cmd(0x26, 1)).pack(fill="x", pady=3)
-        ttk.Button(left, text="Disable MTI (0x26)",
-                   command=lambda: self._send_cmd(0x26, 0)).pack(fill="x", pady=3)
-        ttk.Button(left, text="Enable CFAR (0x25)",
-                   command=lambda: self._send_cmd(0x25, 1)).pack(fill="x", pady=3)
-        ttk.Button(left, text="Disable CFAR (0x25)",
-                   command=lambda: self._send_cmd(0x25, 0)).pack(fill="x", pady=3)
-        ttk.Button(left, text="Request Status (0xFF)",
-                   command=lambda: self._send_cmd(0xFF, 0)).pack(fill="x", pady=3)
 
-        ttk.Separator(left, orient="horizontal").pack(fill="x", pady=6)
+        # ── Left column: Quick Actions + Diagnostics ──────────────────
+        left = ttk.Frame(outer)
+        left.grid(row=0, column=0, sticky="nsew", padx=(0, 6))
 
-        ttk.Label(left, text="FPGA Self-Test", font=("Menlo", 10, "bold")).pack(
+        # -- Radar Operation --
-            anchor="w", pady=(2, 0))
+        grp_op = ttk.LabelFrame(left, text="Radar Operation", padding=10)
-        ttk.Button(left, text="Run Self-Test (0x30)",
+        grp_op.pack(fill="x", pady=(0, 8))
-                   command=lambda: self._send_cmd(0x30, 1)).pack(fill="x", pady=3)
-        ttk.Button(left, text="Read Self-Test Result (0x31)",
-                   command=lambda: self._send_cmd(0x31, 0)).pack(fill="x", pady=3)
 
-        # Self-test result display
+        ttk.Button(grp_op, text="Radar Mode On",
-        st_frame = ttk.LabelFrame(left, text="Self-Test Results", padding=6)
+                   command=lambda: self._send_cmd(0x01, 1)).pack(fill="x", pady=2)
-        st_frame.pack(fill="x", pady=(6, 0))
+        ttk.Button(grp_op, text="Radar Mode Off",
+                   command=lambda: self._send_cmd(0x01, 0)).pack(fill="x", pady=2)
+        ttk.Button(grp_op, text="Trigger Chirp",
+                   command=lambda: self._send_cmd(0x02, 1)).pack(fill="x", pady=2)
+
+        # Stream Control (3-bit mask)
+        sc_row = ttk.Frame(grp_op)
+        sc_row.pack(fill="x", pady=2)
+        ttk.Label(sc_row, text="Stream Control").pack(side="left")
+        var_sc = tk.StringVar(value="7")
+        self._param_vars["4"] = var_sc
+        ttk.Entry(sc_row, textvariable=var_sc, width=6).pack(side="left", padx=6)
+        ttk.Label(sc_row, text="0-7", foreground=ACCENT,
+                  font=("Menlo", 9)).pack(side="left")
+        ttk.Button(sc_row, text="Set",
+                   command=lambda: self._send_validated(
+                       0x04, var_sc, bits=3)).pack(side="right")
+
+        ttk.Button(grp_op, text="Request Status",
+                   command=lambda: self._send_cmd(0xFF, 0)).pack(fill="x", pady=2)
+
+        # -- Signal Processing --
+        grp_sp = ttk.LabelFrame(left, text="Signal Processing", padding=10)
+        grp_sp.pack(fill="x", pady=(0, 8))
+
+        sp_params = [
+            # Format: label, opcode, default, bits, hint
+            ("Detect Threshold",  0x03, "10000", 16, "0-65535"),
+            ("Gain Shift",        0x16, "0",     4,  "0-15, dir+shift"),
+            ("MTI Enable",        0x26, "0",     1,  "0=off, 1=on"),
+            ("DC Notch Width",    0x27, "0",     3,  "0-7 bins"),
+        ]
+        for label, opcode, default, bits, hint in sp_params:
+            self._add_param_row(grp_sp, label, opcode, default, bits, hint)
+
+        # MTI quick toggle
+        mti_row = ttk.Frame(grp_sp)
+        mti_row.pack(fill="x", pady=2)
+        ttk.Button(mti_row, text="Enable MTI",
+                   command=lambda: self._send_cmd(0x26, 1)).pack(
+                       side="left", expand=True, fill="x", padx=(0, 2))
+        ttk.Button(mti_row, text="Disable MTI",
+                   command=lambda: self._send_cmd(0x26, 0)).pack(
+                       side="left", expand=True, fill="x", padx=(2, 0))
+
+        # -- Diagnostics --
+        grp_diag = ttk.LabelFrame(left, text="Diagnostics", padding=10)
+        grp_diag.pack(fill="x", pady=(0, 8))
+
+        ttk.Button(grp_diag, text="Run Self-Test",
+                   command=lambda: self._send_cmd(0x30, 1)).pack(fill="x", pady=2)
+        ttk.Button(grp_diag, text="Read Self-Test Result",
+                   command=lambda: self._send_cmd(0x31, 0)).pack(fill="x", pady=2)
+
+        st_frame = ttk.LabelFrame(grp_diag, text="Self-Test Results", padding=6)
+        st_frame.pack(fill="x", pady=(4, 0))
         self._st_labels = {}
         for name, default_text in [
             ("busy", "Busy: --"),
@@ -280,58 +334,107 @@ class RadarDashboard:
             lbl.pack(anchor="w")
             self._st_labels[name] = lbl
 
-        # Right column: Parameter configuration
+        # ── Center column: Waveform Timing ────────────────────────────
-        right = ttk.LabelFrame(outer, text="Parameter Configuration", padding=12)
+        center = ttk.Frame(outer)
-        right.grid(row=0, column=1, sticky="nsew", padx=(8, 0))
+        center.grid(row=0, column=1, sticky="nsew", padx=6)
 
-        self._param_vars: Dict[str, tk.StringVar] = {}
+        grp_wf = ttk.LabelFrame(center, text="Waveform Timing", padding=10)
-        params = [
+        grp_wf.pack(fill="x", pady=(0, 8))
-            ("CFAR Guard (0x21)", 0x21, "2"),
+
-            ("CFAR Train (0x22)", 0x22, "8"),
+        wf_params = [
-            ("CFAR Alpha Q4.4 (0x23)", 0x23, "48"),
+            ("Long Chirp Cycles",   0x10, "3000",  16, "0-65535, rst=3000"),
-            ("CFAR Mode (0x24)", 0x24, "0"),
+            ("Long Listen Cycles",  0x11, "13700", 16, "0-65535, rst=13700"),
-            ("Threshold (0x10)", 0x10, "500"),
+            ("Guard Cycles",        0x12, "17540", 16, "0-65535, rst=17540"),
-            ("Gain Shift (0x06)", 0x06, "0"),
+            ("Short Chirp Cycles",  0x13, "50",    16, "0-65535, rst=50"),
-            ("DC Notch Width (0x27)", 0x27, "0"),
+            ("Short Listen Cycles", 0x14, "17450", 16, "0-65535, rst=17450"),
-            ("Range Mode (0x20)", 0x20, "0"),
+            ("Chirps Per Elevation", 0x15, "32",    6, "1-32, clamped"),
-            ("Stream Enable (0x05)", 0x05, "7"),
         ]
+        for label, opcode, default, bits, hint in wf_params:
+            self._add_param_row(grp_wf, label, opcode, default, bits, hint)
 
-        for row_idx, (label, opcode, default) in enumerate(params):
+        # ── Right column: Detection (CFAR) + Custom ───────────────────
-            ttk.Label(right, text=label).grid(row=row_idx, column=0,
+        right = ttk.Frame(outer)
-                                               sticky="w", pady=2)
+        right.grid(row=0, column=2, sticky="nsew", padx=(6, 0))
+
+        grp_cfar = ttk.LabelFrame(right, text="Detection (CFAR)", padding=10)
+        grp_cfar.pack(fill="x", pady=(0, 8))
+
+        cfar_params = [
+            ("CFAR Enable",       0x25, "0",  1,  "0=off, 1=on"),
+            ("CFAR Guard Cells",  0x21, "2",  4,  "0-15, rst=2"),
+            ("CFAR Train Cells",  0x22, "8",  5,  "1-31, rst=8"),
+            ("CFAR Alpha (Q4.4)", 0x23, "48", 8,  "0-255, rst=0x30=3.0"),
+            ("CFAR Mode",         0x24, "0",  2,  "0=CA 1=GO 2=SO"),
+        ]
+        for label, opcode, default, bits, hint in cfar_params:
+            self._add_param_row(grp_cfar, label, opcode, default, bits, hint)
+
+        # CFAR quick toggle
+        cfar_row = ttk.Frame(grp_cfar)
+        cfar_row.pack(fill="x", pady=2)
+        ttk.Button(cfar_row, text="Enable CFAR",
+                   command=lambda: self._send_cmd(0x25, 1)).pack(
+                       side="left", expand=True, fill="x", padx=(0, 2))
+        ttk.Button(cfar_row, text="Disable CFAR",
+                   command=lambda: self._send_cmd(0x25, 0)).pack(
+                       side="left", expand=True, fill="x", padx=(2, 0))
+
+        # ── Custom Command (advanced / debug) ─────────────────────────
+        grp_cust = ttk.LabelFrame(right, text="Custom Command", padding=10)
+        grp_cust.pack(fill="x", pady=(0, 8))
+
+        r0 = ttk.Frame(grp_cust)
+        r0.pack(fill="x", pady=2)
+        ttk.Label(r0, text="Opcode (hex)").pack(side="left")
+        self._custom_op = tk.StringVar(value="01")
+        ttk.Entry(r0, textvariable=self._custom_op, width=8).pack(
+            side="left", padx=6)
+
+        r1 = ttk.Frame(grp_cust)
+        r1.pack(fill="x", pady=2)
+        ttk.Label(r1, text="Value (dec)").pack(side="left")
+        self._custom_val = tk.StringVar(value="0")
+        ttk.Entry(r1, textvariable=self._custom_val, width=8).pack(
+            side="left", padx=6)
+
+        ttk.Button(grp_cust, text="Send",
+                   command=self._send_custom).pack(fill="x", pady=2)
+
+        # Column weights
+        outer.columnconfigure(0, weight=1)
+        outer.columnconfigure(1, weight=1)
+        outer.columnconfigure(2, weight=1)
+        outer.rowconfigure(0, weight=1)
+
+    def _add_param_row(self, parent, label: str, opcode: int,
+                       default: str, bits: int, hint: str):
+        """Add a single parameter row: label, entry, hint, Set button with validation."""
+        row = ttk.Frame(parent)
+        row.pack(fill="x", pady=2)
+        ttk.Label(row, text=label).pack(side="left")
         var = tk.StringVar(value=default)
         self._param_vars[str(opcode)] = var
-            ent = ttk.Entry(right, textvariable=var, width=10)
+        ttk.Entry(row, textvariable=var, width=8).pack(side="left", padx=6)
-            ent.grid(row=row_idx, column=1, padx=8, pady=2)
+        ttk.Label(row, text=hint, foreground=ACCENT,
-            ttk.Button(
+                  font=("Menlo", 9)).pack(side="left")
-                right, text="Set",
+        ttk.Button(row, text="Set",
-                command=lambda op=opcode, v=var: self._send_cmd(op, int(v.get()))
+                   command=lambda: self._send_validated(
-            ).grid(row=row_idx, column=2, pady=2)
+                       opcode, var, bits=bits)).pack(side="right")
 
-        # Custom command
+    def _send_validated(self, opcode: int, var: tk.StringVar, bits: int):
-        ttk.Separator(right, orient="horizontal").grid(
+        """Parse, clamp to bit-width, send command, and update the entry."""
-            row=len(params), column=0, columnspan=3, sticky="ew", pady=8)
+        try:
-
+            raw = int(var.get())
-        ttk.Label(right, text="Custom Opcode (hex)").grid(
+        except ValueError:
-            row=len(params) + 1, column=0, sticky="w")
+            log.error(f"Invalid value for opcode 0x{opcode:02X}: {var.get()!r}")
-        self._custom_op = tk.StringVar(value="01")
+            return
-        ttk.Entry(right, textvariable=self._custom_op, width=10).grid(
+        max_val = (1 << bits) - 1
-            row=len(params) + 1, column=1, padx=8)
+        clamped = max(0, min(raw, max_val))
-
+        if clamped != raw:
-        ttk.Label(right, text="Value (dec)").grid(
+            log.warning(f"Value {raw} clamped to {clamped} "
-            row=len(params) + 2, column=0, sticky="w")
+                        f"({bits}-bit max={max_val}) for opcode 0x{opcode:02X}")
-        self._custom_val = tk.StringVar(value="0")
+            var.set(str(clamped))
-        ttk.Entry(right, textvariable=self._custom_val, width=10).grid(
+        self._send_cmd(opcode, clamped)
-            row=len(params) + 2, column=1, padx=8)
-
-        ttk.Button(right, text="Send Custom",
-                   command=self._send_custom).grid(
-            row=len(params) + 2, column=2, pady=2)
-
-        outer.columnconfigure(0, weight=1)
-        outer.columnconfigure(1, weight=2)
-        outer.rowconfigure(0, weight=1)
 
     def _build_log_tab(self, parent):
         self.log_text = tk.Text(parent, bg=BG2, fg=FG, font=("Menlo", 10),
@@ -364,7 +467,7 @@ class RadarDashboard:
         self.root.update_idletasks()
 
         def _do_connect():
-            ok = self.conn.open()
+            ok = self.conn.open(self.device_index)
             # Schedule UI update back on the main thread
             self.root.after(0, lambda: self._on_connect_done(ok))
 
@@ -530,10 +633,8 @@ class _TextHandler(logging.Handler):
 
     def emit(self, record):
         msg = self.format(record)
-        try:
+        with contextlib.suppress(Exception):
             self._text.after(0, self._append, msg)
-        except Exception:
-            pass
 
     def _append(self, msg: str):
         self._text.insert("end", msg + "\n")
@@ -578,7 +679,7 @@ def main():
 
     root = tk.Tk()
 
-    dashboard = RadarDashboard(root, conn, recorder)
+    dashboard = RadarDashboard(root, conn, recorder, device_index=args.device)
 
     if args.record:
         filepath = os.path.join(

9_Firmware/9_3_GUI/radar_protocol.py

@@ -10,7 +10,7 @@ USB Interface: FT2232H USB 2.0 (8-bit, 50T production board) via pyftdi
 USB Packet Protocol (11-byte):
   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]
+    Status packet: [0xBB] [status 6x32b] [0x55]
   RX (Host→FPGA):
     Command: 4 bytes received sequentially {opcode, addr, value_hi, value_lo}
 """
@@ -21,8 +21,9 @@ import time
 import threading
 import queue
 import logging
+import contextlib
 from dataclasses import dataclass, field
-from typing import Optional, List, Tuple, Dict, Any
+from typing import Any
 from enum import IntEnum
 
 
@@ -50,20 +51,36 @@ WATERFALL_DEPTH = 64
 
 
 class Opcode(IntEnum):
-    """Host register opcodes (matches radar_system_top.v command decode)."""
+    """Host register opcodes — must match radar_system_top.v case(usb_cmd_opcode).
-    TRIGGER             = 0x01
+
-    PRF_DIV             = 0x02
+    FPGA truth table (from radar_system_top.v lines 902-944):
-    NUM_CHIRPS          = 0x03
+        0x01  host_radar_mode        0x14  host_short_listen_cycles
-    CHIRP_TIMER         = 0x04
+        0x02  host_trigger_pulse     0x15  host_chirps_per_elev
-    STREAM_ENABLE       = 0x05
+        0x03  host_detect_threshold  0x16  host_gain_shift
-    GAIN_SHIFT          = 0x06
+        0x04  host_stream_control    0x20  host_range_mode
-    THRESHOLD           = 0x10
+        0x10  host_long_chirp_cycles 0x21-0x27  CFAR / MTI / DC-notch
+        0x11  host_long_listen_cycles 0x30  host_self_test_trigger
+        0x12  host_guard_cycles      0x31  host_status_request
+        0x13  host_short_chirp_cycles 0xFF  host_status_request
+    """
+    # --- Basic control (0x01-0x04) ---
+    RADAR_MODE          = 0x01  # 2-bit mode select
+    TRIGGER_PULSE       = 0x02  # self-clearing one-shot trigger
+    DETECT_THRESHOLD    = 0x03  # 16-bit detection threshold value
+    STREAM_CONTROL      = 0x04  # 3-bit stream enable mask
+
+    # --- Digital gain (0x16) ---
+    GAIN_SHIFT          = 0x16  # 4-bit digital gain shift
+
+    # --- Chirp timing (0x10-0x15) ---
     LONG_CHIRP          = 0x10
     LONG_LISTEN         = 0x11
     GUARD               = 0x12
     SHORT_CHIRP         = 0x13
     SHORT_LISTEN        = 0x14
     CHIRPS_PER_ELEV     = 0x15
+
+    # --- Signal processing (0x20-0x27) ---
     RANGE_MODE          = 0x20
     CFAR_GUARD          = 0x21
     CFAR_TRAIN          = 0x22
@@ -72,6 +89,8 @@ class Opcode(IntEnum):
     CFAR_ENABLE         = 0x25
     MTI_ENABLE          = 0x26
     DC_NOTCH_WIDTH      = 0x27
+
+    # --- Board self-test / status (0x30-0x31, 0xFF) ---
     SELF_TEST_TRIGGER   = 0x30
     SELF_TEST_STATUS    = 0x31
     STATUS_REQUEST      = 0xFF
@@ -83,7 +102,7 @@ class Opcode(IntEnum):
 
 @dataclass
 class RadarFrame:
-    """One complete radar frame (64 range × 32 Doppler)."""
+    """One complete radar frame (64 range x 32 Doppler)."""
     timestamp: float = 0.0
     range_doppler_i: np.ndarray = field(
         default_factory=lambda: np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS), dtype=np.int16))
@@ -101,7 +120,7 @@ class RadarFrame:
 
 @dataclass
 class StatusResponse:
-    """Parsed status response from FPGA (8-word packet as of Build 26)."""
+    """Parsed status response from FPGA (6-word / 26-byte packet)."""
     radar_mode: int = 0
     stream_ctrl: int = 0
     cfar_threshold: int = 0
@@ -144,7 +163,7 @@ class RadarProtocol:
         return struct.pack(">I", word)
 
     @staticmethod
-    def parse_data_packet(raw: bytes) -> Optional[Dict[str, Any]]:
+    def parse_data_packet(raw: bytes) -> dict[str, Any] | None:
         """
         Parse an 11-byte data packet from the FT2232H byte stream.
         Returns dict with keys: 'range_i', 'range_q', 'doppler_i', 'doppler_q',
@@ -181,10 +200,10 @@ class RadarProtocol:
         }
 
     @staticmethod
-    def parse_status_packet(raw: bytes) -> Optional[StatusResponse]:
+    def parse_status_packet(raw: bytes) -> StatusResponse | None:
         """
         Parse a status response packet.
-        Format: [0xBB] [6×4B status words] [0x55] = 1 + 24 + 1 = 26 bytes
+        Format: [0xBB] [6x4B status words] [0x55] = 1 + 24 + 1 = 26 bytes
         """
         if len(raw) < 26:
             return None
@@ -223,7 +242,7 @@ class RadarProtocol:
         return sr
 
     @staticmethod
-    def find_packet_boundaries(buf: bytes) -> List[Tuple[int, int, str]]:
+    def find_packet_boundaries(buf: bytes) -> 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).
@@ -233,19 +252,22 @@ class RadarProtocol:
         while i < len(buf):
             if buf[i] == HEADER_BYTE:
                 end = i + DATA_PACKET_SIZE
-                if end <= len(buf):
+                if end <= len(buf) and buf[end - 1] == FOOTER_BYTE:
                     packets.append((i, end, "data"))
                     i = end
                 else:
-                    break
+                    if end > len(buf):
+                        break  # partial packet at end — leave for residual
+                    i += 1  # footer mismatch — skip this false header
             elif buf[i] == STATUS_HEADER_BYTE:
-                # Status packet: 26 bytes (same for both interfaces)
                 end = i + STATUS_PACKET_SIZE
-                if end <= len(buf):
+                if end <= len(buf) and buf[end - 1] == FOOTER_BYTE:
                     packets.append((i, end, "status"))
                     i = end
                 else:
-                    break
+                    if end > len(buf):
+                        break  # partial status packet — leave for residual
+                    i += 1  # footer mismatch — skip
             else:
                 i += 1
         return packets
@@ -257,9 +279,13 @@ class RadarProtocol:
 
 # Optional pyftdi import
 try:
-    from pyftdi.ftdi import Ftdi as PyFtdi
+    from pyftdi.ftdi import Ftdi, FtdiError
+    PyFtdi = Ftdi
     PYFTDI_AVAILABLE = True
 except ImportError:
+    class FtdiError(Exception):
+        """Fallback FTDI error type when pyftdi is unavailable."""
+
     PYFTDI_AVAILABLE = False
 
 
@@ -306,20 +332,18 @@ class FT2232HConnection:
             self.is_open = True
             log.info(f"FT2232H device opened: {url}")
             return True
-        except Exception as e:
+        except FtdiError as e:
             log.error(f"FT2232H open failed: {e}")
             return False
 
     def close(self):
         if self._ftdi is not None:
-            try:
+            with contextlib.suppress(Exception):
                 self._ftdi.close()
-            except Exception:
-                pass
             self._ftdi = None
         self.is_open = False
 
-    def read(self, size: int = 4096) -> Optional[bytes]:
+    def read(self, size: int = 4096) -> bytes | None:
         """Read raw bytes from FT2232H. Returns None on error/timeout."""
         if not self.is_open:
             return None
@@ -331,7 +355,7 @@ class FT2232HConnection:
             try:
                 data = self._ftdi.read_data(size)
                 return bytes(data) if data else None
-            except Exception as e:
+            except FtdiError as e:
                 log.error(f"FT2232H read error: {e}")
                 return None
 
@@ -348,24 +372,29 @@ class FT2232HConnection:
             try:
                 written = self._ftdi.write_data(data)
                 return written == len(data)
-            except Exception as e:
+            except FtdiError as e:
                 log.error(f"FT2232H write error: {e}")
                 return False
 
     def _mock_read(self, size: int) -> bytes:
         """
-        Generate synthetic compact radar data packets (11-byte) for testing.
         Generate synthetic 11-byte radar data packets for testing.
-        Simulates a batch of packets with a target near range bin 20, Doppler bin 8.
+        Emits packets in sequential FPGA order (range_bin 0..63, doppler_bin
+        0..31 within each range bin) so that RadarAcquisition._ingest_sample()
+        places them correctly.  A target is injected near range bin 20,
+        Doppler bin 8.
         """
         time.sleep(0.05)
         self._mock_frame_num += 1
 
         buf = bytearray()
-        num_packets = min(32, size // DATA_PACKET_SIZE)
+        num_packets = min(NUM_CELLS, size // DATA_PACKET_SIZE)
-        for _ in range(num_packets):
+        start_idx = getattr(self, '_mock_seq_idx', 0)
-            rbin = self._mock_rng.randint(0, NUM_RANGE_BINS)
+
-            dbin = self._mock_rng.randint(0, NUM_DOPPLER_BINS)
+        for n in range(num_packets):
+            idx = (start_idx + n) % NUM_CELLS
+            rbin = idx // NUM_DOPPLER_BINS
+            dbin = idx % NUM_DOPPLER_BINS
 
             range_i = int(self._mock_rng.normal(0, 100))
             range_q = int(self._mock_rng.normal(0, 100))
@@ -393,6 +422,7 @@ class FT2232HConnection:
 
             buf += pkt
 
+        self._mock_seq_idx = (start_idx + num_packets) % NUM_CELLS
         return bytes(buf)
 
 
@@ -401,19 +431,19 @@ class FT2232HConnection:
 # ============================================================================
 
 # Hardware-only opcodes that cannot be adjusted in replay mode
+# Values must match radar_system_top.v case(usb_cmd_opcode).
 _HARDWARE_ONLY_OPCODES = {
-    0x01,  # TRIGGER
+    0x01,  # RADAR_MODE
-    0x02,  # PRF_DIV
+    0x02,  # TRIGGER_PULSE
-    0x03,  # NUM_CHIRPS
+    0x03,  # DETECT_THRESHOLD
-    0x04,  # CHIRP_TIMER
+    0x04,  # STREAM_CONTROL
-    0x05,  # STREAM_ENABLE
+    0x10,  # LONG_CHIRP
-    0x06,  # GAIN_SHIFT
-    0x10,  # THRESHOLD / LONG_CHIRP
     0x11,  # LONG_LISTEN
     0x12,  # GUARD
     0x13,  # SHORT_CHIRP
     0x14,  # SHORT_LISTEN
     0x15,  # CHIRPS_PER_ELEV
+    0x16,  # GAIN_SHIFT
     0x20,  # RANGE_MODE
     0x30,  # SELF_TEST_TRIGGER
     0x31,  # SELF_TEST_STATUS
@@ -439,26 +469,8 @@ def _saturate(val: int, bits: int) -> int:
     return max(max_neg, min(max_pos, int(val)))
 
 
-def _replay_mti(decim_i: np.ndarray, decim_q: np.ndarray,
-                enable: bool) -> Tuple[np.ndarray, np.ndarray]:
-    """Bit-accurate 2-pulse MTI canceller (matches mti_canceller.v)."""
-    n_chirps, n_bins = decim_i.shape
-    mti_i = np.zeros_like(decim_i)
-    mti_q = np.zeros_like(decim_q)
-    if not enable:
-        return decim_i.copy(), decim_q.copy()
-    for c in range(n_chirps):
-        if c == 0:
-            pass  # muted
-        else:
-            for r in range(n_bins):
-                mti_i[c, r] = _saturate(int(decim_i[c, r]) - int(decim_i[c - 1, r]), 16)
-                mti_q[c, r] = _saturate(int(decim_q[c, r]) - int(decim_q[c - 1, r]), 16)
-    return mti_i, mti_q
-
-
 def _replay_dc_notch(doppler_i: np.ndarray, doppler_q: np.ndarray,
-                     width: int) -> Tuple[np.ndarray, np.ndarray]:
+                     width: int) -> tuple[np.ndarray, np.ndarray]:
     """Bit-accurate DC notch filter (matches radar_system_top.v inline).
 
     Dual sub-frame notch: doppler_bin[4:0] = {sub_frame, bin[3:0]}.
@@ -480,7 +492,7 @@ def _replay_dc_notch(doppler_i: np.ndarray, doppler_q: np.ndarray,
 
 def _replay_cfar(doppler_i: np.ndarray, doppler_q: np.ndarray,
                  guard: int, train: int, alpha_q44: int,
-                 mode: int) -> Tuple[np.ndarray, np.ndarray]:
+                 mode: int) -> tuple[np.ndarray, np.ndarray]:
     """
     Bit-accurate CA-CFAR detector (matches cfar_ca.v).
     Returns (detect_flags, magnitudes) both (64, 32).
@@ -584,16 +596,16 @@ class ReplayConnection:
         self._cfar_mode: int = 0  # 0=CA, 1=GO, 2=SO
         self._cfar_enable: bool = True
         # Raw source arrays (loaded once, reprocessed on param change)
-        self._dop_mti_i: Optional[np.ndarray] = None
+        self._dop_mti_i: np.ndarray | None = None
-        self._dop_mti_q: Optional[np.ndarray] = None
+        self._dop_mti_q: np.ndarray | None = None
-        self._dop_nomti_i: Optional[np.ndarray] = None
+        self._dop_nomti_i: np.ndarray | None = None
-        self._dop_nomti_q: Optional[np.ndarray] = None
+        self._dop_nomti_q: np.ndarray | None = None
-        self._range_i_vec: Optional[np.ndarray] = None
+        self._range_i_vec: np.ndarray | None = None
-        self._range_q_vec: Optional[np.ndarray] = None
+        self._range_q_vec: np.ndarray | None = None
         # Rebuild flag
         self._needs_rebuild = False
 
-    def open(self, device_index: int = 0) -> bool:
+    def open(self, _device_index: int = 0) -> bool:
         try:
             self._load_arrays()
             self._packets = self._build_packets()
@@ -604,14 +616,14 @@ class ReplayConnection:
                      f"(MTI={'ON' if self._mti_enable else 'OFF'}, "
                      f"{self._frame_len} bytes/frame)")
             return True
-        except Exception as e:
+        except (OSError, ValueError, struct.error) as e:
             log.error(f"Replay open failed: {e}")
             return False
 
     def close(self):
         self.is_open = False
 
-    def read(self, size: int = 4096) -> Optional[bytes]:
+    def read(self, size: int = 4096) -> bytes | None:
         if not self.is_open:
             return None
         # Pace reads to target FPS (spread across ~64 reads per frame)
@@ -673,8 +685,7 @@ class ReplayConnection:
                     if self._mti_enable != new_en:
                         self._mti_enable = new_en
                         changed = True
-                elif opcode == 0x27:  # DC_NOTCH_WIDTH
+                elif opcode == 0x27 and self._dc_notch_width != value:  # DC_NOTCH_WIDTH
-                    if self._dc_notch_width != value:
                     self._dc_notch_width = value
                     changed = True
                 if changed:
@@ -827,7 +838,7 @@ class DataRecorder:
             self._frame_count = 0
             self._recording = True
             log.info(f"Recording started: {filepath}")
-        except Exception as e:
+        except (OSError, ValueError) as e:
             log.error(f"Failed to start recording: {e}")
 
     def record_frame(self, frame: RadarFrame):
@@ -844,7 +855,7 @@ class DataRecorder:
             fg.create_dataset("detections", data=frame.detections, compression="gzip")
             fg.create_dataset("range_profile", data=frame.range_profile, compression="gzip")
             self._frame_count += 1
-        except Exception as e:
+        except (OSError, ValueError, TypeError) as e:
             log.error(f"Recording error: {e}")
 
     def stop(self):
@@ -853,7 +864,7 @@ class DataRecorder:
                 self._file.attrs["end_time"] = time.time()
                 self._file.attrs["total_frames"] = self._frame_count
                 self._file.close()
-            except Exception:
+            except (OSError, ValueError, RuntimeError):
                 pass
             self._file = None
         self._recording = False
@@ -871,7 +882,7 @@ class RadarAcquisition(threading.Thread):
     """
 
     def __init__(self, connection, frame_queue: queue.Queue,
-                 recorder: Optional[DataRecorder] = None,
+                 recorder: DataRecorder | None = None,
                  status_callback=None):
         super().__init__(daemon=True)
         self.conn = connection
@@ -888,13 +899,25 @@ class RadarAcquisition(threading.Thread):
 
     def run(self):
         log.info("Acquisition thread started")
+        residual = b""
         while not self._stop_event.is_set():
-            raw = self.conn.read(4096)
+            chunk = self.conn.read(4096)
-            if raw is None or len(raw) == 0:
+            if chunk is None or len(chunk) == 0:
                 time.sleep(0.01)
                 continue
 
+            raw = residual + chunk
             packets = RadarProtocol.find_packet_boundaries(raw)
+
+            # Keep unparsed tail bytes for next iteration
+            if packets:
+                last_end = packets[-1][1]
+                residual = raw[last_end:]
+            else:
+                # No packets found — keep entire buffer as residual
+                # but cap at 2x max packet size to avoid unbounded growth
+                max_residual = 2 * max(DATA_PACKET_SIZE, STATUS_PACKET_SIZE)
+                residual = raw[-max_residual:] if len(raw) > max_residual else raw
             for start, end, ptype in packets:
                 if ptype == "data":
                     parsed = RadarProtocol.parse_data_packet(
@@ -913,12 +936,12 @@ class RadarAcquisition(threading.Thread):
                         if self._status_callback is not None:
                             try:
                                 self._status_callback(status)
-                            except Exception as e:
+                            except Exception as e:  # noqa: BLE001
                                 log.error(f"Status callback error: {e}")
 
         log.info("Acquisition thread stopped")
 
-    def _ingest_sample(self, sample: Dict):
+    def _ingest_sample(self, sample: dict):
         """Place sample into current frame and emit when complete."""
         rbin = self._sample_idx // NUM_DOPPLER_BINS
         dbin = self._sample_idx % NUM_DOPPLER_BINS
@@ -948,10 +971,8 @@ class RadarAcquisition(threading.Thread):
         try:
             self.frame_queue.put_nowait(self._frame)
         except queue.Full:
-            try:
+            with contextlib.suppress(queue.Empty):
                 self.frame_queue.get_nowait()
-            except queue.Empty:
-                pass
             self.frame_queue.put_nowait(self._frame)
 
         if self.recorder and self.recorder.recording:

9_Firmware/9_3_GUI/requirements_pyqt_gui.txt

@@ -0,0 +1,20 @@
+# Requirements for PLFM Radar Dashboard - PyQt6 Edition
+# ======================================================
+# Install with: pip install -r requirements_pyqt_gui.txt
+
+# Core PyQt6 framework
+PyQt6>=6.5.0
+
+# Web engine for embedded Leaflet maps
+PyQt6-WebEngine>=6.5.0
+
+# Optional: Additional dependencies from existing radar code
+# (uncomment if integrating with existing radar processing)
+# numpy>=1.24
+# scipy>=1.10
+# scikit-learn>=1.2
+# filterpy>=1.4
+# matplotlib>=3.7
+
+# Note: The GUI uses Leaflet.js (loaded from CDN) for maps
+# No additional Python map libraries required

9_Firmware/9_3_GUI/requirements_v7.txt

@@ -0,0 +1,22 @@
+# PLFM Radar GUI V7 — Python dependencies
+# Install with:  pip install -r requirements_v7.txt
+
+# Core (required)
+PyQt6>=6.5
+PyQt6-WebEngine>=6.5
+numpy>=1.24
+matplotlib>=3.7
+
+# Hardware interfaces (optional — GUI degrades gracefully)
+pyusb>=1.2
+pyftdi>=0.54
+
+# Signal processing (optional)
+scipy>=1.10
+
+# Tracking / clustering (optional)
+scikit-learn>=1.2
+filterpy>=1.4
+
+# CRC validation (optional)
+crcmod>=1.7

9_Firmware/9_3_GUI/smoke_test.py

@@ -66,7 +66,7 @@ TEST_NAMES = {
 class SmokeTest:
     """Host-side smoke test controller."""
 
-    def __init__(self, connection: FT2232HConnection, adc_dump_path: str = None):
+    def __init__(self, connection: FT2232HConnection, adc_dump_path: str | None = None):
         self.conn = connection
         self.adc_dump_path = adc_dump_path
         self._adc_samples = []
@@ -82,8 +82,7 @@ class SmokeTest:
         log.info("")
 
         # Step 1: Connect
-        if not self.conn.is_open:
+        if not self.conn.is_open and not self.conn.open():
-            if not self.conn.open():
             log.error("Failed to open FT2232H connection")
             return False
 
@@ -188,9 +187,8 @@ class SmokeTest:
 
     def _save_adc_dump(self):
         """Save captured ADC samples to numpy file."""
-        if not self._adc_samples:
+        if not self._adc_samples and self.conn._mock:
             # In mock mode, generate synthetic ADC data
-            if self.conn._mock:
             self._adc_samples = list(np.random.randint(0, 65536, 256, dtype=np.uint16))
 
         if self._adc_samples:

9_Firmware/9_3_GUI/test_radar_dashboard.py

@@ -368,7 +368,7 @@ class TestRadarAcquisition(unittest.TestCase):
         # Wait for at least one frame (mock produces ~32 samples per read,
         # need 2048 for a full frame, so may take a few seconds)
         frame = None
-        try:
+        try:  # noqa: SIM105
             frame = fq.get(timeout=10)
         except queue.Empty:
             pass
@@ -421,8 +421,8 @@ class TestEndToEnd(unittest.TestCase):
 
     def test_command_roundtrip_all_opcodes(self):
         """Verify all opcodes produce valid 4-byte commands."""
-        opcodes = [0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x10, 0x11, 0x12,
+        opcodes = [0x01, 0x02, 0x03, 0x04, 0x10, 0x11, 0x12,
-                   0x13, 0x14, 0x15, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25,
+                   0x13, 0x14, 0x15, 0x16, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25,
                    0x26, 0x27, 0x30, 0x31, 0xFF]
         for op in opcodes:
             cmd = RadarProtocol.build_command(op, 42)
@@ -630,8 +630,8 @@ class TestReplayConnection(unittest.TestCase):
         cmd = RadarProtocol.build_command(0x01, 1)
         conn.write(cmd)
         self.assertFalse(conn._needs_rebuild)
-        # Send STREAM_ENABLE (hardware-only)
+        # Send STREAM_CONTROL (hardware-only, opcode 0x04)
-        cmd = RadarProtocol.build_command(0x05, 7)
+        cmd = RadarProtocol.build_command(0x04, 7)
         conn.write(cmd)
         self.assertFalse(conn._needs_rebuild)
         conn.close()
@@ -668,14 +668,14 @@ class TestReplayConnection(unittest.TestCase):
 
 
 class TestOpcodeEnum(unittest.TestCase):
-    """Verify Opcode enum matches RTL host register map."""
+    """Verify Opcode enum matches RTL host register map (radar_system_top.v)."""
 
-    def test_gain_shift_is_0x06(self):
+    def test_gain_shift_is_0x16(self):
-        """GAIN_SHIFT opcode must be 0x06 (not 0x16)."""
+        """GAIN_SHIFT opcode must be 0x16 (matches radar_system_top.v:928)."""
-        self.assertEqual(Opcode.GAIN_SHIFT, 0x06)
+        self.assertEqual(Opcode.GAIN_SHIFT, 0x16)
 
     def test_no_digital_gain_alias(self):
-        """DIGITAL_GAIN should NOT exist (was bogus 0x16 alias)."""
+        """DIGITAL_GAIN should NOT exist (use GAIN_SHIFT)."""
         self.assertFalse(hasattr(Opcode, 'DIGITAL_GAIN'))
 
     def test_self_test_trigger(self):
@@ -691,21 +691,40 @@ class TestOpcodeEnum(unittest.TestCase):
         self.assertIn(0x30, _HARDWARE_ONLY_OPCODES)
         self.assertIn(0x31, _HARDWARE_ONLY_OPCODES)
 
-    def test_0x16_not_in_hardware_only(self):
+    def test_0x16_in_hardware_only(self):
-        """Bogus 0x16 must not be in _HARDWARE_ONLY_OPCODES."""
+        """GAIN_SHIFT 0x16 must be in _HARDWARE_ONLY_OPCODES."""
-        self.assertNotIn(0x16, _HARDWARE_ONLY_OPCODES)
+        self.assertIn(0x16, _HARDWARE_ONLY_OPCODES)
 
-    def test_stream_enable_is_0x05(self):
+    def test_stream_control_is_0x04(self):
-        """STREAM_ENABLE must be 0x05 (not 0x04)."""
+        """STREAM_CONTROL must be 0x04 (matches radar_system_top.v:906)."""
-        self.assertEqual(Opcode.STREAM_ENABLE, 0x05)
+        self.assertEqual(Opcode.STREAM_CONTROL, 0x04)
+
+    def test_legacy_aliases_removed(self):
+        """Legacy aliases must NOT exist in production Opcode enum."""
+        for name in ("TRIGGER", "PRF_DIV", "NUM_CHIRPS", "CHIRP_TIMER",
+                      "STREAM_ENABLE", "THRESHOLD"):
+            self.assertFalse(hasattr(Opcode, name),
+                             f"Legacy alias Opcode.{name} should not exist")
+
+    def test_radar_mode_names(self):
+        """New canonical names must exist and match FPGA opcodes."""
+        self.assertEqual(Opcode.RADAR_MODE, 0x01)
+        self.assertEqual(Opcode.TRIGGER_PULSE, 0x02)
+        self.assertEqual(Opcode.DETECT_THRESHOLD, 0x03)
+        self.assertEqual(Opcode.STREAM_CONTROL, 0x04)
+
+    def test_stale_opcodes_not_in_hardware_only(self):
+        """Old wrong opcode values must not be in _HARDWARE_ONLY_OPCODES."""
+        self.assertNotIn(0x05, _HARDWARE_ONLY_OPCODES)  # was wrong STREAM_ENABLE
+        self.assertNotIn(0x06, _HARDWARE_ONLY_OPCODES)  # was wrong GAIN_SHIFT
 
     def test_all_rtl_opcodes_present(self):
-        """Every RTL opcode has a matching Opcode enum member."""
+        """Every RTL opcode (from radar_system_top.v) has a matching Opcode enum member."""
-        expected = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06,
+        expected = {0x01, 0x02, 0x03, 0x04,
-                    0x10, 0x11, 0x12, 0x13, 0x14, 0x15,
+                    0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16,
                     0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27,
                     0x30, 0x31, 0xFF}
-        enum_values = set(int(m) for m in Opcode)
+        enum_values = {int(m) for m in Opcode}
         for op in expected:
             self.assertIn(op, enum_values, f"0x{op:02X} missing from Opcode enum")
 

9_Firmware/9_3_GUI/test_v7.py

@@ -0,0 +1,347 @@
+"""
+V7-specific unit tests for the PLFM Radar GUI V7 modules.
+
+Tests cover:
+  - v7.models: RadarTarget, RadarSettings, GPSData, ProcessingConfig
+  - v7.processing: RadarProcessor, USBPacketParser, apply_pitch_correction
+  - v7.workers: polar_to_geographic
+  - v7.hardware: STM32USBInterface (basic), production protocol re-exports
+
+Does NOT require a running Qt event loop — only unit-testable components.
+Run with:  python -m unittest test_v7 -v
+"""
+
+import struct
+import unittest
+from dataclasses import asdict
+
+import numpy as np
+
+
+# =============================================================================
+# Test: v7.models
+# =============================================================================
+
+class TestRadarTarget(unittest.TestCase):
+    """RadarTarget dataclass."""
+
+    def test_defaults(self):
+        t = _models().RadarTarget(id=1, range=1000.0, velocity=5.0,
+                                   azimuth=45.0, elevation=2.0)
+        self.assertEqual(t.id, 1)
+        self.assertEqual(t.range, 1000.0)
+        self.assertEqual(t.snr, 0.0)
+        self.assertEqual(t.track_id, -1)
+        self.assertEqual(t.classification, "unknown")
+
+    def test_to_dict(self):
+        t = _models().RadarTarget(id=1, range=500.0, velocity=-10.0,
+                                   azimuth=0.0, elevation=0.0, snr=15.0)
+        d = t.to_dict()
+        self.assertIsInstance(d, dict)
+        self.assertEqual(d["range"], 500.0)
+        self.assertEqual(d["snr"], 15.0)
+
+
+class TestRadarSettings(unittest.TestCase):
+    """RadarSettings — verify stale STM32 fields are removed."""
+
+    def test_no_stale_fields(self):
+        """chirp_duration, freq_min/max, prf1/2 must NOT exist."""
+        s = _models().RadarSettings()
+        d = asdict(s)
+        for stale in ["chirp_duration_1", "chirp_duration_2",
+                       "freq_min", "freq_max", "prf1", "prf2",
+                       "chirps_per_position"]:
+            self.assertNotIn(stale, d, f"Stale field '{stale}' still present")
+
+    def test_has_physical_conversion_fields(self):
+        s = _models().RadarSettings()
+        self.assertIsInstance(s.range_resolution, float)
+        self.assertIsInstance(s.velocity_resolution, float)
+        self.assertGreater(s.range_resolution, 0)
+        self.assertGreater(s.velocity_resolution, 0)
+
+    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)
+
+
+class TestGPSData(unittest.TestCase):
+    def test_to_dict(self):
+        g = _models().GPSData(latitude=41.9, longitude=12.5,
+                               altitude=100.0, pitch=2.5)
+        d = g.to_dict()
+        self.assertAlmostEqual(d["latitude"], 41.9)
+        self.assertAlmostEqual(d["pitch"], 2.5)
+
+
+class TestProcessingConfig(unittest.TestCase):
+    def test_defaults(self):
+        cfg = _models().ProcessingConfig()
+        self.assertTrue(cfg.clustering_enabled)
+        self.assertTrue(cfg.tracking_enabled)
+        self.assertFalse(cfg.mti_enabled)
+        self.assertFalse(cfg.cfar_enabled)
+
+
+class TestNoCrcmodDependency(unittest.TestCase):
+    """crcmod was removed — verify it's not exported."""
+
+    def test_no_crcmod_available(self):
+        models = _models()
+        self.assertFalse(hasattr(models, "CRCMOD_AVAILABLE"),
+                         "CRCMOD_AVAILABLE should be removed from models")
+
+
+# =============================================================================
+# Test: v7.processing
+# =============================================================================
+
+class TestApplyPitchCorrection(unittest.TestCase):
+    def test_positive_pitch(self):
+        from v7.processing import apply_pitch_correction
+        self.assertAlmostEqual(apply_pitch_correction(10.0, 3.0), 7.0)
+
+    def test_zero_pitch(self):
+        from v7.processing import apply_pitch_correction
+        self.assertAlmostEqual(apply_pitch_correction(5.0, 0.0), 5.0)
+
+
+class TestRadarProcessorMTI(unittest.TestCase):
+    def test_mti_order1(self):
+        from v7.processing import RadarProcessor
+        from v7.models import ProcessingConfig
+        proc = RadarProcessor()
+        proc.set_config(ProcessingConfig(mti_enabled=True, mti_order=1))
+
+        frame1 = np.ones((64, 32))
+        frame2 = np.ones((64, 32)) * 3
+
+        result1 = proc.mti_filter(frame1)
+        np.testing.assert_array_equal(result1, np.zeros((64, 32)),
+                                       err_msg="First frame should be zeros (no history)")
+
+        result2 = proc.mti_filter(frame2)
+        expected = frame2 - frame1
+        np.testing.assert_array_almost_equal(result2, expected)
+
+    def test_mti_order2(self):
+        from v7.processing import RadarProcessor
+        from v7.models import ProcessingConfig
+        proc = RadarProcessor()
+        proc.set_config(ProcessingConfig(mti_enabled=True, mti_order=2))
+
+        f1 = np.ones((4, 4))
+        f2 = np.ones((4, 4)) * 2
+        f3 = np.ones((4, 4)) * 5
+
+        proc.mti_filter(f1)  # zeros (need 3 frames)
+        proc.mti_filter(f2)  # zeros
+        result = proc.mti_filter(f3)
+        # Order 2: x[n] - 2*x[n-1] + x[n-2] = 5 - 4 + 1 = 2
+        np.testing.assert_array_almost_equal(result, np.ones((4, 4)) * 2)
+
+
+class TestRadarProcessorCFAR(unittest.TestCase):
+    def test_cfar_1d_detects_peak(self):
+        from v7.processing import RadarProcessor
+        signal = np.ones(64) * 10
+        signal[32] = 500  # inject a strong target
+        det = RadarProcessor.cfar_1d(signal, guard=2, train=4,
+                                      threshold_factor=3.0, cfar_type="CA-CFAR")
+        self.assertTrue(det[32], "Should detect strong peak at bin 32")
+
+    def test_cfar_1d_no_false_alarm(self):
+        from v7.processing import RadarProcessor
+        signal = np.ones(64) * 10  # uniform — no target
+        det = RadarProcessor.cfar_1d(signal, guard=2, train=4,
+                                      threshold_factor=3.0)
+        self.assertEqual(det.sum(), 0, "Should have no detections in flat noise")
+
+
+class TestRadarProcessorProcessFrame(unittest.TestCase):
+    def test_process_frame_returns_shapes(self):
+        from v7.processing import RadarProcessor
+        proc = RadarProcessor()
+        frame = np.random.randn(64, 32) * 10
+        frame[20, 8] = 5000  # inject a target
+        power, mask = proc.process_frame(frame)
+        self.assertEqual(power.shape, (64, 32))
+        self.assertEqual(mask.shape, (64, 32))
+        self.assertEqual(mask.dtype, bool)
+
+
+class TestRadarProcessorWindowing(unittest.TestCase):
+    def test_hann_window(self):
+        from v7.processing import RadarProcessor
+        data = np.ones((4, 32))
+        windowed = RadarProcessor.apply_window(data, "Hann")
+        # Hann window tapers to ~0 at edges
+        self.assertLess(windowed[0, 0], 0.1)
+        self.assertGreater(windowed[0, 16], 0.5)
+
+    def test_none_window(self):
+        from v7.processing import RadarProcessor
+        data = np.ones((4, 32))
+        result = RadarProcessor.apply_window(data, "None")
+        np.testing.assert_array_equal(result, data)
+
+
+class TestRadarProcessorDCNotch(unittest.TestCase):
+    def test_dc_removal(self):
+        from v7.processing import RadarProcessor
+        data = np.ones((4, 8)) * 100
+        data[0, :] += 50  # DC offset in range bin 0
+        result = RadarProcessor.dc_notch(data)
+        # Mean along axis=1 should be ~0
+        row_means = np.mean(result, axis=1)
+        for m in row_means:
+            self.assertAlmostEqual(m, 0, places=10)
+
+
+class TestRadarProcessorClustering(unittest.TestCase):
+    def test_clustering_empty(self):
+        from v7.processing import RadarProcessor
+        result = RadarProcessor.clustering([], eps=100, min_samples=2)
+        self.assertEqual(result, [])
+
+
+class TestUSBPacketParser(unittest.TestCase):
+    def test_parse_gps_text(self):
+        from v7.processing import USBPacketParser
+        parser = USBPacketParser()
+        data = b"GPS:41.9028,12.4964,100.0,2.5\r\n"
+        gps = parser.parse_gps_data(data)
+        self.assertIsNotNone(gps)
+        self.assertAlmostEqual(gps.latitude, 41.9028, places=3)
+        self.assertAlmostEqual(gps.longitude, 12.4964, places=3)
+        self.assertAlmostEqual(gps.altitude, 100.0)
+        self.assertAlmostEqual(gps.pitch, 2.5)
+
+    def test_parse_gps_text_invalid(self):
+        from v7.processing import USBPacketParser
+        parser = USBPacketParser()
+        self.assertIsNone(parser.parse_gps_data(b"NOT_GPS_DATA"))
+        self.assertIsNone(parser.parse_gps_data(b""))
+        self.assertIsNone(parser.parse_gps_data(None))
+
+    def test_parse_binary_gps(self):
+        from v7.processing import USBPacketParser
+        parser = USBPacketParser()
+        # Build a valid binary GPS packet
+        pkt = bytearray(b"GPSB")
+        pkt += struct.pack(">d", 41.9028)     # lat
+        pkt += struct.pack(">d", 12.4964)     # lon
+        pkt += struct.pack(">f", 100.0)       # alt
+        pkt += struct.pack(">f", 2.5)         # pitch
+        # Simple checksum
+        cksum = sum(pkt) & 0xFFFF
+        pkt += struct.pack(">H", cksum)
+        self.assertEqual(len(pkt), 30)
+
+        gps = parser.parse_gps_data(bytes(pkt))
+        self.assertIsNotNone(gps)
+        self.assertAlmostEqual(gps.latitude, 41.9028, places=3)
+
+    def test_no_crc16_func_attribute(self):
+        """crcmod was removed — USBPacketParser should not have crc16_func."""
+        from v7.processing import USBPacketParser
+        parser = USBPacketParser()
+        self.assertFalse(hasattr(parser, "crc16_func"),
+                         "crc16_func should be removed (crcmod dead code)")
+
+    def test_no_multi_prf_unwrap(self):
+        """multi_prf_unwrap was removed (never called, prf fields removed)."""
+        from v7.processing import RadarProcessor
+        self.assertFalse(hasattr(RadarProcessor, "multi_prf_unwrap"),
+                         "multi_prf_unwrap should be removed")
+
+
+# =============================================================================
+# Test: v7.workers — polar_to_geographic
+# =============================================================================
+
+class TestPolarToGeographic(unittest.TestCase):
+    def test_north_bearing(self):
+        from v7.workers import polar_to_geographic
+        lat, lon = polar_to_geographic(0.0, 0.0, 1000.0, 0.0)
+        # Moving 1km north from equator
+        self.assertGreater(lat, 0.0)
+        self.assertAlmostEqual(lon, 0.0, places=4)
+
+    def test_east_bearing(self):
+        from v7.workers import polar_to_geographic
+        lat, lon = polar_to_geographic(0.0, 0.0, 1000.0, 90.0)
+        self.assertAlmostEqual(lat, 0.0, places=4)
+        self.assertGreater(lon, 0.0)
+
+    def test_zero_range(self):
+        from v7.workers import polar_to_geographic
+        lat, lon = polar_to_geographic(41.9, 12.5, 0.0, 0.0)
+        self.assertAlmostEqual(lat, 41.9, places=6)
+        self.assertAlmostEqual(lon, 12.5, places=6)
+
+
+# =============================================================================
+# Test: v7.hardware — production protocol re-exports
+# =============================================================================
+
+class TestHardwareReExports(unittest.TestCase):
+    """Verify hardware.py re-exports all production protocol classes."""
+
+    def test_exports(self):
+        from v7.hardware import (
+            FT2232HConnection,
+            RadarProtocol,
+            STM32USBInterface,
+        )
+        # Verify these are actual classes/types, not None
+        self.assertTrue(callable(FT2232HConnection))
+        self.assertTrue(callable(RadarProtocol))
+        self.assertTrue(callable(STM32USBInterface))
+
+    def test_stm32_list_devices_no_crash(self):
+        from v7.hardware import STM32USBInterface
+        stm = STM32USBInterface()
+        self.assertFalse(stm.is_open)
+        # list_devices should return empty list (no USB in test env), not crash
+        devs = stm.list_devices()
+        self.assertIsInstance(devs, list)
+
+
+# =============================================================================
+# Test: v7.__init__ — clean exports
+# =============================================================================
+
+class TestV7Init(unittest.TestCase):
+    """Verify top-level v7 package exports."""
+
+    def test_no_crcmod_export(self):
+        import v7
+        self.assertFalse(hasattr(v7, "CRCMOD_AVAILABLE"),
+                         "CRCMOD_AVAILABLE should not be in v7.__all__")
+
+    def test_key_exports(self):
+        import v7
+        for name in ["RadarTarget", "RadarSettings", "GPSData",
+                      "ProcessingConfig", "FT2232HConnection",
+                      "RadarProtocol", "RadarProcessor",
+                      "RadarDataWorker", "RadarMapWidget",
+                      "RadarDashboard"]:
+            self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}")
+
+
+# =============================================================================
+# Helper: lazy import of v7.models
+# =============================================================================
+
+def _models():
+    import v7.models
+    return v7.models
+
+
+if __name__ == "__main__":
+    unittest.main()

9_Firmware/9_3_GUI/v7/__init__.py

@@ -19,19 +19,25 @@ from .models import (
     DARK_TREEVIEW, DARK_TREEVIEW_ALT,
     DARK_SUCCESS, DARK_WARNING, DARK_ERROR, DARK_INFO,
     USB_AVAILABLE, FTDI_AVAILABLE, SCIPY_AVAILABLE,
-    SKLEARN_AVAILABLE, FILTERPY_AVAILABLE, CRCMOD_AVAILABLE,
+    SKLEARN_AVAILABLE, FILTERPY_AVAILABLE,
 )
 
-# Hardware interfaces
+# Hardware interfaces — production protocol via radar_protocol.py
 from .hardware import (
-    FT2232HQInterface,
+    FT2232HConnection,
+    ReplayConnection,
+    RadarProtocol,
+    Opcode,
+    RadarAcquisition,
+    RadarFrame,
+    StatusResponse,
+    DataRecorder,
     STM32USBInterface,
 )
 
 # Processing pipeline
 from .processing import (
     RadarProcessor,
-    RadarPacketParser,
     USBPacketParser,
     apply_pitch_correction,
 )
@@ -56,7 +62,7 @@ from .dashboard import (
     RangeDopplerCanvas,
 )
 
-__all__ = [
+__all__ = [  # noqa: RUF022
     # models
     "RadarTarget", "RadarSettings", "GPSData", "ProcessingConfig", "TileServer",
     "DARK_BG", "DARK_FG", "DARK_ACCENT", "DARK_HIGHLIGHT", "DARK_BORDER",
@@ -64,11 +70,13 @@ __all__ = [
     "DARK_TREEVIEW", "DARK_TREEVIEW_ALT",
     "DARK_SUCCESS", "DARK_WARNING", "DARK_ERROR", "DARK_INFO",
     "USB_AVAILABLE", "FTDI_AVAILABLE", "SCIPY_AVAILABLE",
-    "SKLEARN_AVAILABLE", "FILTERPY_AVAILABLE", "CRCMOD_AVAILABLE",
+    "SKLEARN_AVAILABLE", "FILTERPY_AVAILABLE",
-    # hardware
+    # hardware — production FPGA protocol
-    "FT2232HQInterface", "STM32USBInterface",
+    "FT2232HConnection", "ReplayConnection", "RadarProtocol", "Opcode",
+    "RadarAcquisition", "RadarFrame", "StatusResponse", "DataRecorder",
+    "STM32USBInterface",
     # processing
-    "RadarProcessor", "RadarPacketParser", "USBPacketParser",
+    "RadarProcessor", "USBPacketParser",
     "apply_pitch_correction",
     # workers
     "RadarDataWorker", "GPSDataWorker", "TargetSimulator",

9_Firmware/9_3_GUI/v7/hardware.py

@@ -1,141 +1,62 @@
 """
 v7.hardware — Hardware interface classes for the PLFM Radar GUI V7.
 
-Provides two USB hardware interfaces:
+Provides:
-  - FT2232HQInterface  (PRIMARY — USB 2.0, VID 0x0403 / PID 0x6010)
+  - FT2232H radar data + command interface via production radar_protocol module
-  - STM32USBInterface   (USB CDC for commands and GPS)
+  - ReplayConnection for offline .npy replay via production radar_protocol module
+  - STM32USBInterface for GPS data only (USB CDC)
+
+The FT2232H interface uses the production protocol layer (radar_protocol.py)
+which sends 4-byte {opcode, addr, value_hi, value_lo} register commands and
+parses 0xAA data / 0xBB status packets from the FPGA. The old magic-packet
+and 'SET'...'END' binary settings protocol has been removed — it was
+incompatible with the FPGA register interface.
 """
 
-import struct
+import sys
+import os
 import logging
-from typing import List, Dict, Optional
+from typing import ClassVar
 
-from .models import (
+from .models import USB_AVAILABLE
-    USB_AVAILABLE, FTDI_AVAILABLE,
-    RadarSettings,
-)
 
 if USB_AVAILABLE:
     import usb.core
     import usb.util
 
-if FTDI_AVAILABLE:
+# Import production protocol layer — single source of truth for FPGA comms
-    from pyftdi.ftdi import Ftdi
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
-    from pyftdi.usbtools import UsbTools
+from radar_protocol import (  # noqa: F401 — re-exported for v7 package
+    FT2232HConnection,
+    ReplayConnection,
+    RadarProtocol,
+    Opcode,
+    RadarAcquisition,
+    RadarFrame,
+    StatusResponse,
+    DataRecorder,
+)
 
 logger = logging.getLogger(__name__)
 
 
 # =============================================================================
-# FT2232HQ Interface — PRIMARY data path (USB 2.0)
+# STM32 USB CDC Interface — GPS data ONLY
-# =============================================================================
-
-class FT2232HQInterface:
-    """
-    Interface for FT2232HQ (USB 2.0 Hi-Speed) in synchronous FIFO mode.
-
-    This is the **primary** radar data interface.
-    VID/PID: 0x0403 / 0x6010
-    """
-
-    VID = 0x0403
-    PID = 0x6010
-
-    def __init__(self):
-        self.ftdi: Optional[object] = None
-        self.is_open: bool = False
-
-    # ---- enumeration -------------------------------------------------------
-
-    def list_devices(self) -> List[Dict]:
-        """List available FT2232H devices using pyftdi."""
-        if not FTDI_AVAILABLE:
-            logger.warning("pyftdi not available — cannot enumerate FT2232H devices")
-            return []
-
-        try:
-            devices = []
-            for device_desc in UsbTools.find_all([(self.VID, self.PID)]):
-                devices.append({
-                    "description": f"FT2232H Device {device_desc}",
-                    "url": f"ftdi://{device_desc}/1",
-                })
-            return devices
-        except Exception as e:
-            logger.error(f"Error listing FT2232H devices: {e}")
-            return []
-
-    # ---- open / close ------------------------------------------------------
-
-    def open_device(self, device_url: str) -> bool:
-        """Open FT2232H device in synchronous FIFO mode."""
-        if not FTDI_AVAILABLE:
-            logger.error("pyftdi not available — cannot open device")
-            return False
-
-        try:
-            self.ftdi = Ftdi()
-            self.ftdi.open_from_url(device_url)
-
-            # Synchronous FIFO mode
-            self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF)
-
-            # Low-latency timer (2 ms)
-            self.ftdi.set_latency_timer(2)
-
-            # Purge stale data
-            self.ftdi.purge_buffers()
-
-            self.is_open = True
-            logger.info(f"FT2232H device opened: {device_url}")
-            return True
-        except Exception as e:
-            logger.error(f"Error opening FT2232H device: {e}")
-            self.ftdi = None
-            return False
-
-    def close(self):
-        """Close FT2232H device."""
-        if self.ftdi and self.is_open:
-            try:
-                self.ftdi.close()
-            except Exception as e:
-                logger.error(f"Error closing FT2232H device: {e}")
-            finally:
-                self.is_open = False
-                self.ftdi = None
-
-    # ---- data I/O ----------------------------------------------------------
-
-    def read_data(self, bytes_to_read: int = 4096) -> Optional[bytes]:
-        """Read data from FT2232H."""
-        if not self.is_open or self.ftdi is None:
-            return None
-
-        try:
-            data = self.ftdi.read_data(bytes_to_read)
-            if data:
-                return bytes(data)
-            return None
-        except Exception as e:
-            logger.error(f"Error reading from FT2232H: {e}")
-            return None
-
-
-# =============================================================================
-# STM32 USB CDC Interface — commands & GPS data
 # =============================================================================
 
 class STM32USBInterface:
     """
     Interface for STM32 USB CDC (Virtual COM Port).
 
-    Used to:
+    Used ONLY for receiving GPS data from the MCU.
-      - Send start flag and radar settings to the MCU
+
-      - Receive GPS data from the MCU
+    FPGA register commands are sent via FT2232H (see FT2232HConnection
+    from radar_protocol.py). The old send_start_flag() / send_settings()
+    methods have been removed — they used an incompatible magic-packet
+    protocol that the FPGA does not understand.
     """
 
-    STM32_VID_PIDS = [
+    STM32_VID_PIDS: ClassVar[list[tuple[int, int]]] = [
         (0x0483, 0x5740),   # STM32 Virtual COM Port
         (0x0483, 0x3748),   # STM32 Discovery
         (0x0483, 0x374B),
@@ -152,7 +73,7 @@ class STM32USBInterface:
 
     # ---- enumeration -------------------------------------------------------
 
-    def list_devices(self) -> List[Dict]:
+    def list_devices(self) -> list[dict]:
         """List available STM32 USB CDC devices."""
         if not USB_AVAILABLE:
             logger.warning("pyusb not available — cannot enumerate STM32 devices")
@@ -174,20 +95,20 @@ class STM32USBInterface:
                             "product_id": pid,
                             "device": dev,
                         })
-                    except Exception:
+                    except (usb.core.USBError, ValueError):
                         devices.append({
                             "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})",
                             "vendor_id": vid,
                             "product_id": pid,
                             "device": dev,
                         })
-        except Exception as e:
+        except (usb.core.USBError, ValueError) as e:
             logger.error(f"Error listing STM32 devices: {e}")
         return devices
 
     # ---- open / close ------------------------------------------------------
 
-    def open_device(self, device_info: Dict) -> bool:
+    def open_device(self, device_info: dict) -> bool:
         """Open STM32 USB CDC device."""
         if not USB_AVAILABLE:
             logger.error("pyusb not available — cannot open STM32 device")
@@ -225,7 +146,7 @@ class STM32USBInterface:
             self.is_open = True
             logger.info(f"STM32 USB device opened: {device_info.get('description', '')}")
             return True
-        except Exception as e:
+        except (usb.core.USBError, ValueError) as e:
             logger.error(f"Error opening STM32 device: {e}")
             return False
 
@@ -234,74 +155,22 @@ class STM32USBInterface:
         if self.device and self.is_open:
             try:
                 usb.util.dispose_resources(self.device)
-            except Exception as e:
+            except usb.core.USBError as e:
                 logger.error(f"Error closing STM32 device: {e}")
         self.is_open = False
         self.device = None
         self.ep_in = None
         self.ep_out = None
 
-    # ---- commands ----------------------------------------------------------
+    # ---- GPS data I/O ------------------------------------------------------
 
-    def send_start_flag(self) -> bool:
+    def read_data(self, size: int = 64, timeout: int = 1000) -> bytes | None:
-        """Send start flag to STM32 (4-byte magic)."""
+        """Read GPS data from STM32 via USB CDC."""
-        start_packet = bytes([23, 46, 158, 237])
-        logger.info("Sending start flag to STM32 via USB...")
-        return self._send_data(start_packet)
-
-    def send_settings(self, settings: RadarSettings) -> bool:
-        """Send radar settings binary packet to STM32."""
-        try:
-            packet = self._create_settings_packet(settings)
-            logger.info("Sending radar settings to STM32 via USB...")
-            return self._send_data(packet)
-        except Exception as e:
-            logger.error(f"Error sending settings via USB: {e}")
-            return False
-
-    # ---- data I/O ----------------------------------------------------------
-
-    def read_data(self, size: int = 64, timeout: int = 1000) -> Optional[bytes]:
-        """Read data from STM32 via USB CDC."""
         if not self.is_open or self.ep_in is None:
             return None
         try:
             data = self.ep_in.read(size, timeout=timeout)
             return bytes(data)
-        except Exception:
+        except usb.core.USBError:
             # Timeout or other USB error
             return None
-
-    # ---- internal helpers --------------------------------------------------
-
-    def _send_data(self, data: bytes) -> bool:
-        if not self.is_open or self.ep_out is None:
-            return False
-        try:
-            packet_size = 64
-            for i in range(0, len(data), packet_size):
-                chunk = data[i : i + packet_size]
-                if len(chunk) < packet_size:
-                    chunk += b"\x00" * (packet_size - len(chunk))
-                self.ep_out.write(chunk)
-            return True
-        except Exception as e:
-            logger.error(f"Error sending data via USB: {e}")
-            return False
-
-    @staticmethod
-    def _create_settings_packet(settings: RadarSettings) -> bytes:
-        """Create binary settings packet: 'SET' ... 'END'."""
-        packet = b"SET"
-        packet += struct.pack(">d", settings.system_frequency)
-        packet += struct.pack(">d", settings.chirp_duration_1)
-        packet += struct.pack(">d", settings.chirp_duration_2)
-        packet += struct.pack(">I", settings.chirps_per_position)
-        packet += struct.pack(">d", settings.freq_min)
-        packet += struct.pack(">d", settings.freq_max)
-        packet += struct.pack(">d", settings.prf1)
-        packet += struct.pack(">d", settings.prf2)
-        packet += struct.pack(">d", settings.max_distance)
-        packet += struct.pack(">d", settings.map_size)
-        packet += b"END"
-        return packet

9_Firmware/9_3_GUI/v7/map_widget.py

@@ -12,7 +12,6 @@ coverage circle, target trails, velocity-based color coding, popups, legend.
 
 import json
 import logging
-from typing import List
 
 from PyQt6.QtWidgets import (
     QWidget, QVBoxLayout, QHBoxLayout, QFrame,
@@ -65,7 +64,7 @@ class MapBridge(QObject):
 
     @pyqtSlot(str)
     def logFromJS(self, message: str):
-        logger.debug(f"[JS] {message}")
+        logger.info(f"[JS] {message}")
 
     @property
     def is_ready(self) -> bool:
@@ -96,7 +95,8 @@ class RadarMapWidget(QWidget):
             latitude=radar_lat, longitude=radar_lon,
             altitude=0.0, pitch=0.0, heading=0.0,
         )
-        self._targets: List[RadarTarget] = []
+        self._targets: list[RadarTarget] = []
+        self._pending_targets: list[RadarTarget] | None = None
         self._coverage_radius = 50_000   # metres
         self._tile_server = TileServer.OPENSTREETMAP
         self._show_coverage = True
@@ -282,15 +282,10 @@ function initMap() {{
         .setView([{lat}, {lon}], 10);
     setTileServer('osm');
 
-    var radarIcon = L.divIcon({{
+    radarMarker = L.circleMarker([{lat},{lon}], {{
-        className:'radar-icon',
+        radius:12, fillColor:'#FF5252', color:'white',
-        html:'<div style="background:radial-gradient(circle,#FF5252 0%,#D32F2F 100%);'+
+        weight:3, opacity:1, fillOpacity:1
-             'width:24px;height:24px;border-radius:50%;border:3px solid white;'+
+    }}).addTo(map);
-             'box-shadow:0 2px 8px rgba(0,0,0,0.5);"></div>',
-        iconSize:[24,24], iconAnchor:[12,12]
-    }});
-
-    radarMarker = L.marker([{lat},{lon}], {{ icon:radarIcon, zIndexOffset:1000 }}).addTo(map);
     updateRadarPopup();
 
     coverageCircle = L.circle([{lat},{lon}], {{
@@ -366,14 +361,20 @@ function updateRadarPosition(lat,lon,alt,pitch,heading) {{
 }}
 
 function updateTargets(targetsJson) {{
+    try {{
+        if(!map) {{
+            if(bridge) bridge.logFromJS('updateTargets: map not ready yet');
+            return;
+        }}
         var targets = JSON.parse(targetsJson);
+        if(bridge) bridge.logFromJS('updateTargets: parsed '+targets.length+' targets');
         var currentIds = {{}};
 
         targets.forEach(function(t) {{
             currentIds[t.id] = true;
             var lat=t.latitude, lon=t.longitude;
             var color = getTargetColor(t.velocity);
-        var sz = Math.max(10, Math.min(20, 10+t.snr/3));
+            var radius = Math.max(5, Math.min(12, 5+(t.snr||0)/5));
 
             if(!targetTrailHistory[t.id]) targetTrailHistory[t.id] = [];
             targetTrailHistory[t.id].push([lat,lon]);
@@ -382,13 +383,18 @@ function updateTargets(targetsJson) {{
 
             if(targetMarkers[t.id]) {{
                 targetMarkers[t.id].setLatLng([lat,lon]);
-            targetMarkers[t.id].setIcon(makeIcon(color,sz));
+                targetMarkers[t.id].setStyle({{
+                    fillColor:color, color:'white', radius:radius
+                }});
                 if(targetTrails[t.id]) {{
                     targetTrails[t.id].setLatLngs(targetTrailHistory[t.id]);
                     targetTrails[t.id].setStyle({{ color:color }});
                 }}
             }} else {{
-            var marker = L.marker([lat,lon], {{ icon:makeIcon(color,sz) }}).addTo(map);
+                var marker = L.circleMarker([lat,lon], {{
+                    radius:radius, fillColor:color, color:'white',
+                    weight:2, opacity:1, fillOpacity:0.9
+                }}).addTo(map);
                 marker.on(
                     'click',
                     (function(id){{
@@ -398,7 +404,8 @@ function updateTargets(targetsJson) {{
                 targetMarkers[t.id] = marker;
                 if(showTrails) {{
                     targetTrails[t.id] = L.polyline(targetTrailHistory[t.id], {{
-                    color:color, weight:3, opacity:0.7, lineCap:'round', lineJoin:'round'
+                        color:color, weight:3, opacity:0.7,
+                        lineCap:'round', lineJoin:'round'
                     }}).addTo(map);
                 }}
             }}
@@ -408,22 +415,16 @@ function updateTargets(targetsJson) {{
         for(var id in targetMarkers) {{
             if(!currentIds[id]) {{
                 map.removeLayer(targetMarkers[id]); delete targetMarkers[id];
-            if(targetTrails[id]) {{ map.removeLayer(targetTrails[id]); delete targetTrails[id]; }}
+                if(targetTrails[id]) {{
+                    map.removeLayer(targetTrails[id]);
+                    delete targetTrails[id];
+                }}
                 delete targetTrailHistory[id];
             }}
         }}
-}}
+    }} catch(e) {{
-
+        if(bridge) bridge.logFromJS('updateTargets ERROR: '+e.message);
-function makeIcon(color,sz) {{
+    }}
-    return L.divIcon({{
-        className:'target-icon',
-        html:'<div style="background-color:'+color+';width:'+sz+'px;height:'+sz+'px;'+
-             (
-                 'border-radius:50%;border:2px solid white;'+
-                 'box-shadow:0 2px 6px rgba(0,0,0,0.4);'
-             )+'</div>',
-        iconSize:[sz,sz], iconAnchor:[sz/2,sz/2]
-    }});
 }}
 
 function updateTargetPopup(t) {{
@@ -432,36 +433,27 @@ function updateTargetPopup(t) {{
         ? 'status-approaching'
         : (t.velocity<-1 ? 'status-receding' : 'status-stationary');
     var st = t.velocity>1?'Approaching':(t.velocity<-1?'Receding':'Stationary');
+    var rng = (typeof t.range === 'number') ? t.range.toFixed(1) : '?';
+    var vel = (typeof t.velocity === 'number') ? t.velocity.toFixed(1) : '?';
+    var az  = (typeof t.azimuth === 'number') ? t.azimuth.toFixed(1) : '?';
+    var el  = (typeof t.elevation === 'number') ? t.elevation.toFixed(1) : '?';
+    var snr = (typeof t.snr === 'number') ? t.snr.toFixed(1) : '?';
     targetMarkers[t.id].bindPopup(
         '<div class="popup-title">Target #'+t.id+'</div>'+
-        (
         '<div class="popup-row"><span class="popup-label">Range:</span>'+
-            '<span class="popup-value">'+t.range.toFixed(1)+' m</span></div>'
+        '<span class="popup-value">'+rng+' m</span></div>'+
-        )+
-        (
         '<div class="popup-row"><span class="popup-label">Velocity:</span>'+
-            '<span class="popup-value">'+t.velocity.toFixed(1)+' m/s</span></div>'
+        '<span class="popup-value">'+vel+' m/s</span></div>'+
-        )+
-        (
         '<div class="popup-row"><span class="popup-label">Azimuth:</span>'+
-            '<span class="popup-value">'+t.azimuth.toFixed(1)+'&deg;</span></div>'
+        '<span class="popup-value">'+az+'&deg;</span></div>'+
-        )+
-        (
         '<div class="popup-row"><span class="popup-label">Elevation:</span>'+
-            '<span class="popup-value">'+t.elevation.toFixed(1)+'&deg;</span></div>'
+        '<span class="popup-value">'+el+'&deg;</span></div>'+
-        )+
-        (
         '<div class="popup-row"><span class="popup-label">SNR:</span>'+
-            '<span class="popup-value">'+t.snr.toFixed(1)+' dB</span></div>'
+        '<span class="popup-value">'+snr+' dB</span></div>'+
-        )+
-        (
         '<div class="popup-row"><span class="popup-label">Track:</span>'+
-            '<span class="popup-value">'+t.track_id+'</span></div>'
+        '<span class="popup-value">'+t.track_id+'</span></div>'+
-        )+
-        (
         '<div class="popup-row"><span class="popup-label">Status:</span>'+
         '<span class="popup-value '+sc+'">'+st+'</span></div>'
-        )
     );
 }}
 
@@ -531,12 +523,19 @@ document.addEventListener('DOMContentLoaded', function() {{
     def _on_map_ready(self):
         self._status_label.setText(f"Map ready - {len(self._targets)} targets")
         self._status_label.setStyleSheet(f"color: {DARK_SUCCESS};")
+        # Flush any targets that arrived before the map was ready
+        if self._pending_targets is not None:
+            self.set_targets(self._pending_targets)
+            self._pending_targets = None
 
     def _on_marker_clicked(self, tid: int):
         self.targetSelected.emit(tid)
 
     def _run_js(self, script: str):
-        self._web_view.page().runJavaScript(script)
+        def _js_callback(result):
+            if result is not None:
+                logger.info("JS result: %s", result)
+        self._web_view.page().runJavaScript(script, 0, _js_callback)
 
     # ---- control bar callbacks ---------------------------------------------
 
@@ -571,12 +570,20 @@ document.addEventListener('DOMContentLoaded', function() {{
             f"{gps.altitude},{gps.pitch},{gps.heading})"
         )
 
-    def set_targets(self, targets: List[RadarTarget]):
+    def set_targets(self, targets: list[RadarTarget]):
         self._targets = targets
+        if not self._bridge.is_ready:
+            logger.info("Map not ready yet — queuing %d targets", len(targets))
+            self._pending_targets = targets
+            return
         data = [t.to_dict() for t in targets]
-        js = json.dumps(data).replace("'", "\\'")
+        js_payload = json.dumps(data).replace("\\", "\\\\").replace("'", "\\'")
+        logger.info(
+            "set_targets: %d targets, JSON len=%d, first 200 chars: %s",
+            len(targets), len(js_payload), js_payload[:200],
+        )
         self._status_label.setText(f"{len(targets)} targets tracked")
-        self._run_js(f"updateTargets('{js}')")
+        self._run_js(f"updateTargets('{js_payload}')")
 
     def set_coverage_radius(self, radius_m: float):
         self._coverage_radius = radius_m

9_Firmware/9_3_GUI/v7/models.py

@@ -54,13 +54,6 @@ except ImportError:
     FILTERPY_AVAILABLE = False
     logging.warning("filterpy not available. Kalman tracking will be disabled.")
 
-try:
-    import crcmod as _crcmod  # noqa: F401 — availability check
-    CRCMOD_AVAILABLE = True
-except ImportError:
-    CRCMOD_AVAILABLE = False
-    logging.warning("crcmod not available. CRC validation will use fallback.")
-
 # ---------------------------------------------------------------------------
 # Dark theme color constants (shared by all modules)
 # ---------------------------------------------------------------------------
@@ -105,15 +98,19 @@ class RadarTarget:
 
 @dataclass
 class RadarSettings:
-    """Radar system configuration parameters."""
+    """Radar system display/map configuration.
-    system_frequency: float = 10e9      # Hz
+
-    chirp_duration_1: float = 30e-6     # Long chirp duration (s)
+    FPGA register parameters (chirp timing, CFAR, MTI, gain, etc.) are
-    chirp_duration_2: float = 0.5e-6    # Short chirp duration (s)
+    controlled directly via 4-byte opcode commands — see the FPGA Control
-    chirps_per_position: int = 32
+    tab and Opcode enum in radar_protocol.py.  This dataclass holds only
-    freq_min: float = 10e6              # Hz
+    host-side display/map settings and physical-unit conversion factors.
-    freq_max: float = 30e6              # Hz
+
-    prf1: float = 1000                  # PRF 1 (Hz)
+    range_resolution and velocity_resolution should be calibrated to
-    prf2: float = 2000                  # PRF 2 (Hz)
+    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)
@@ -139,10 +136,14 @@ class GPSData:
 
 @dataclass
 class ProcessingConfig:
-    """Signal processing pipeline configuration.
+    """Host-side signal processing pipeline configuration.
 
-    Controls: MTI filter, CFAR detector, DC notch removal,
+    These control host-side DSP that runs AFTER the FPGA processing
-    windowing, detection threshold, DBSCAN clustering, and Kalman tracking.
+    pipeline.  FPGA-side MTI, CFAR, and DC notch are controlled via
+    register opcodes from the FPGA Control tab.
+
+    Controls: DBSCAN clustering, Kalman tracking, and optional
+    host-side reprocessing (MTI, CFAR, windowing, DC notch).
     """
 
     # MTI (Moving Target Indication)

9_Firmware/9_3_GUI/v7/processing.py

@@ -1,30 +1,26 @@
 """
-v7.processing — Radar signal processing, packet parsing, and GPS parsing.
+v7.processing — Radar signal processing and GPS parsing.
 
 Classes:
   - RadarProcessor   — dual-CPI fusion, multi-PRF unwrap, DBSCAN clustering,
                         association, Kalman tracking
-  - RadarPacketParser — parse raw byte streams into typed radar packets
-                        (FIX: returns (parsed_dict, bytes_consumed) tuple)
   - USBPacketParser   — parse GPS text/binary frames from STM32 CDC
 
-Bug fixes vs V6:
+Note: RadarPacketParser (old A5/C3 sync + CRC16 format) was removed.
-  1. RadarPacketParser.parse_packet() now returns (dict, bytes_consumed) tuple
+      All packet parsing now uses production RadarProtocol (0xAA/0xBB format)
-     so the caller knows exactly how many bytes to strip from the buffer.
+      from radar_protocol.py.
-  2. apply_pitch_correction() is a proper standalone function.
 """
 
 import struct
 import time
 import logging
 import math
-from typing import Optional, Tuple, List, Dict
 
 import numpy as np
 
 from .models import (
     RadarTarget, GPSData, ProcessingConfig,
-    SCIPY_AVAILABLE, SKLEARN_AVAILABLE, FILTERPY_AVAILABLE, CRCMOD_AVAILABLE,
+    SCIPY_AVAILABLE, SKLEARN_AVAILABLE, FILTERPY_AVAILABLE,
 )
 
 if SKLEARN_AVAILABLE:
@@ -33,9 +29,6 @@ if SKLEARN_AVAILABLE:
 if FILTERPY_AVAILABLE:
     from filterpy.kalman import KalmanFilter
 
-if CRCMOD_AVAILABLE:
-    import crcmod
-
 if SCIPY_AVAILABLE:
     from scipy.signal import windows as scipy_windows
 
@@ -64,14 +57,14 @@ class RadarProcessor:
 
     def __init__(self):
         self.range_doppler_map = np.zeros((1024, 32))
-        self.detected_targets: List[RadarTarget] = []
+        self.detected_targets: list[RadarTarget] = []
         self.track_id_counter: int = 0
-        self.tracks: Dict[int, dict] = {}
+        self.tracks: dict[int, dict] = {}
         self.frame_count: int = 0
         self.config = ProcessingConfig()
 
         # MTI state: store previous frames for cancellation
-        self._mti_history: List[np.ndarray] = []
+        self._mti_history: list[np.ndarray] = []
 
     # ---- Configuration -----------------------------------------------------
 
@@ -160,11 +153,10 @@ class RadarProcessor:
         h = self._mti_history
         if order == 1:
             return h[-1] - h[-2]
-        elif order == 2:
+        if order == 2:
             return h[-1] - 2.0 * h[-2] + h[-3]
-        elif order == 3:
+        if order == 3:
             return h[-1] - 3.0 * h[-2] + 3.0 * h[-3] - h[-4]
-        else:
         return h[-1] - h[-2]
 
     # ---- CFAR (Constant False Alarm Rate) -----------------------------------
@@ -234,7 +226,7 @@ class RadarProcessor:
 
     # ---- Full processing pipeline -------------------------------------------
 
-    def process_frame(self, raw_frame: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
+    def process_frame(self, raw_frame: np.ndarray) -> tuple[np.ndarray, np.ndarray]:
         """Run the full signal processing chain on a Range x Doppler frame.
 
         Parameters
@@ -289,34 +281,10 @@ class RadarProcessor:
         """Dual-CPI fusion for better detection."""
         return np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0)
 
-    # ---- Multi-PRF velocity unwrapping -------------------------------------
-
-    def multi_prf_unwrap(self, doppler_measurements, prf1: float, prf2: float):
-        """Multi-PRF velocity unwrapping (Chinese Remainder Theorem)."""
-        lam = 3e8 / 10e9
-        v_max1 = prf1 * lam / 2
-        v_max2 = prf2 * lam / 2
-
-        unwrapped = []
-        for doppler in doppler_measurements:
-            v1 = doppler * lam / 2
-            v2 = doppler * lam / 2
-            velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2)
-            unwrapped.append(velocity)
-        return unwrapped
-
-    @staticmethod
-    def _solve_chinese_remainder(v1, v2, max1, max2):
-        for k in range(-5, 6):
-            candidate = v1 + k * max1
-            if abs(candidate - v2) < max2 / 2:
-                return candidate
-        return v1
-
     # ---- DBSCAN clustering -------------------------------------------------
 
     @staticmethod
-    def clustering(detections: List[RadarTarget],
+    def clustering(detections: list[RadarTarget],
                    eps: float = 100, min_samples: int = 2) -> list:
         """DBSCAN clustering of detections (requires sklearn)."""
         if not SKLEARN_AVAILABLE or len(detections) == 0:
@@ -339,8 +307,8 @@ class RadarProcessor:
 
     # ---- Association -------------------------------------------------------
 
-    def association(self, detections: List[RadarTarget],
+    def association(self, detections: list[RadarTarget],
-                    clusters: list) -> List[RadarTarget]:
+                    _clusters: list) -> list[RadarTarget]:
         """Associate detections to existing tracks (nearest-neighbour)."""
         associated = []
         for det in detections:
@@ -366,7 +334,7 @@ class RadarProcessor:
 
     # ---- Kalman tracking ---------------------------------------------------
 
-    def tracking(self, associated_detections: List[RadarTarget]):
+    def tracking(self, associated_detections: list[RadarTarget]):
         """Kalman filter tracking (requires filterpy)."""
         if not FILTERPY_AVAILABLE:
             return
@@ -412,158 +380,6 @@ class RadarProcessor:
             del self.tracks[tid]
 
 
-# =============================================================================
-# Radar Packet Parser
-# =============================================================================
-
-class RadarPacketParser:
-    """
-    Parse binary radar packets from the raw byte stream.
-
-    Packet format:
-        [Sync 2][Type 1][Length 1][Payload N][CRC16 2]
-    Sync pattern: 0xA5 0xC3
-
-    Bug fix vs V6:
-        parse_packet() now returns ``(parsed_dict, bytes_consumed)`` so the
-        caller can correctly advance the read pointer in the buffer.
-    """
-
-    SYNC = b"\xA5\xC3"
-
-    def __init__(self):
-        if CRCMOD_AVAILABLE:
-            self.crc16_func = crcmod.mkCrcFun(
-                0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000
-            )
-        else:
-            self.crc16_func = None
-
-    # ---- main entry point --------------------------------------------------
-
-    def parse_packet(self, data: bytes) -> Optional[Tuple[dict, int]]:
-        """
-        Attempt to parse one radar packet from *data*.
-
-        Returns
-        -------
-        (parsed_dict, bytes_consumed) on success, or None if no valid packet.
-        """
-        if len(data) < 6:
-            return None
-
-        idx = data.find(self.SYNC)
-        if idx == -1:
-            return None
-
-        pkt = data[idx:]
-        if len(pkt) < 6:
-            return None
-
-        pkt_type = pkt[2]
-        length = pkt[3]
-        total_len = 4 + length + 2   # sync(2) + type(1) + len(1) + payload + crc(2)
-
-        if len(pkt) < total_len:
-            return None
-
-        payload = pkt[4 : 4 + length]
-        crc_received = struct.unpack("<H", pkt[4 + length : 4 + length + 2])[0]
-
-        # CRC check
-        if self.crc16_func is not None:
-            crc_calc = self.crc16_func(pkt[0 : 4 + length])
-            if crc_calc != crc_received:
-                logger.warning(
-                    f"CRC mismatch: got {crc_received:04X}, calc {crc_calc:04X}"
-                )
-                return None
-
-        # Bytes consumed = offset to sync + total packet length
-        consumed = idx + total_len
-
-        parsed = None
-        if pkt_type == 0x01:
-            parsed = self._parse_range(payload)
-        elif pkt_type == 0x02:
-            parsed = self._parse_doppler(payload)
-        elif pkt_type == 0x03:
-            parsed = self._parse_detection(payload)
-        else:
-            logger.warning(f"Unknown packet type: {pkt_type:02X}")
-
-        if parsed is None:
-            return None
-        return (parsed, consumed)
-
-    # ---- sub-parsers -------------------------------------------------------
-
-    @staticmethod
-    def _parse_range(payload: bytes) -> Optional[dict]:
-        if len(payload) < 12:
-            return None
-        try:
-            range_val = struct.unpack(">I", payload[0:4])[0]
-            elevation = payload[4] & 0x1F
-            azimuth = payload[5] & 0x3F
-            chirp = payload[6] & 0x1F
-            return {
-                "type": "range",
-                "range": range_val,
-                "elevation": elevation,
-                "azimuth": azimuth,
-                "chirp": chirp,
-                "timestamp": time.time(),
-            }
-        except Exception as e:
-            logger.error(f"Error parsing range packet: {e}")
-            return None
-
-    @staticmethod
-    def _parse_doppler(payload: bytes) -> Optional[dict]:
-        if len(payload) < 12:
-            return None
-        try:
-            real = struct.unpack(">h", payload[0:2])[0]
-            imag = struct.unpack(">h", payload[2:4])[0]
-            elevation = payload[4] & 0x1F
-            azimuth = payload[5] & 0x3F
-            chirp = payload[6] & 0x1F
-            return {
-                "type": "doppler",
-                "doppler_real": real,
-                "doppler_imag": imag,
-                "elevation": elevation,
-                "azimuth": azimuth,
-                "chirp": chirp,
-                "timestamp": time.time(),
-            }
-        except Exception as e:
-            logger.error(f"Error parsing doppler packet: {e}")
-            return None
-
-    @staticmethod
-    def _parse_detection(payload: bytes) -> Optional[dict]:
-        if len(payload) < 8:
-            return None
-        try:
-            detected = (payload[0] & 0x01) != 0
-            elevation = payload[1] & 0x1F
-            azimuth = payload[2] & 0x3F
-            chirp = payload[3] & 0x1F
-            return {
-                "type": "detection",
-                "detected": detected,
-                "elevation": elevation,
-                "azimuth": azimuth,
-                "chirp": chirp,
-                "timestamp": time.time(),
-            }
-        except Exception as e:
-            logger.error(f"Error parsing detection packet: {e}")
-            return None
-
-
 # =============================================================================
 # USB / GPS Packet Parser
 # =============================================================================
@@ -578,14 +394,9 @@ class USBPacketParser:
     """
 
     def __init__(self):
-        if CRCMOD_AVAILABLE:
+        pass
-            self.crc16_func = crcmod.mkCrcFun(
-                0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000
-            )
-        else:
-            self.crc16_func = None
 
-    def parse_gps_data(self, data: bytes) -> Optional[GPSData]:
+    def parse_gps_data(self, data: bytes) -> GPSData | None:
         """Attempt to parse GPS data from a raw USB CDC frame."""
         if not data:
             return None
@@ -607,12 +418,12 @@ class USBPacketParser:
             # Binary format: [GPSB 4][lat 8][lon 8][alt 4][pitch 4][CRC 2] = 30 bytes
             if len(data) >= 30 and data[0:4] == b"GPSB":
                 return self._parse_binary_gps(data)
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logger.error(f"Error parsing GPS data: {e}")
         return None
 
     @staticmethod
-    def _parse_binary_gps(data: bytes) -> Optional[GPSData]:
+    def _parse_binary_gps(data: bytes) -> GPSData | None:
         """Parse 30-byte binary GPS frame."""
         try:
             if len(data) < 30:
@@ -637,6 +448,6 @@ class USBPacketParser:
                 pitch=pitch,
                 timestamp=time.time(),
             )
-        except Exception as e:
+        except (ValueError, struct.error) as e:
             logger.error(f"Error parsing binary GPS: {e}")
             return None

9_Firmware/9_3_GUI/v7/workers.py

@@ -2,24 +2,39 @@
 v7.workers — QThread-based workers and demo target simulator.
 
 Classes:
-  - RadarDataWorker  — reads from FT2232HQ, parses packets,
+  - RadarDataWorker  — reads from FT2232H via production RadarAcquisition,
-                       emits signals with processed data.
+                       parses 0xAA/0xBB packets, assembles 64x32 frames,
+                       runs host-side DSP, emits PyQt signals.
   - GPSDataWorker    — reads GPS frames from STM32 CDC, emits GPSData signals.
-  - TargetSimulator  — QTimer-based demo target generator (from GUI_PyQt_Map.py).
+  - TargetSimulator  — QTimer-based demo target generator.
+
+The old V6/V7 packet parsing (sync A5 C3 + type + CRC16) has been removed.
+All packet parsing now uses the production radar_protocol.py which matches
+the actual FPGA packet format (0xAA data 11-byte, 0xBB status 26-byte).
 """
 
 import math
 import time
 import random
+import queue
+import struct
 import logging
-from typing import List
+
+import numpy as np
 
 from PyQt6.QtCore import QThread, QObject, QTimer, pyqtSignal
 
-from .models import RadarTarget, RadarSettings, GPSData
+from .models import RadarTarget, GPSData, RadarSettings
-from .hardware import FT2232HQInterface, STM32USBInterface
+from .hardware import (
+    RadarAcquisition,
+    RadarFrame,
+    StatusResponse,
+    DataRecorder,
+    STM32USBInterface,
+)
 from .processing import (
-    RadarProcessor, RadarPacketParser, USBPacketParser,
+    RadarProcessor,
+    USBPacketParser,
     apply_pitch_correction,
 )
 
@@ -61,162 +76,196 @@ def polar_to_geographic(
 
 
 # =============================================================================
-# Radar Data Worker (QThread)
+# Radar Data Worker (QThread) — production protocol
 # =============================================================================
 
 class RadarDataWorker(QThread):
     """
-    Background worker that continuously reads radar data from the primary
+    Background worker that reads radar data from FT2232H (or ReplayConnection),
-    FT2232HQ interface, parses packets, runs the processing pipeline, and
+    parses 0xAA/0xBB packets via production RadarAcquisition, runs optional
-    emits signals with results.
+    host-side DSP, and emits PyQt signals with results.
+
+    This replaces the old V7 worker which used an incompatible packet format.
+    Now uses production radar_protocol.py for all packet parsing and frame
+    assembly (11-byte 0xAA data packets → 64x32 RadarFrame).
 
     Signals:
-        packetReceived(dict)     — a single parsed packet dict
+        frameReady(RadarFrame)    — a complete 64x32 radar frame
-        targetsUpdated(list)     — list of RadarTarget after processing
+        statusReceived(object)    — StatusResponse from FPGA
+        targetsUpdated(list)      — list of RadarTarget after host-side DSP
         errorOccurred(str)        — error message
-        statsUpdated(dict)       — packet/byte counters
+        statsUpdated(dict)        — frame/byte counters
     """
 
-    packetReceived = pyqtSignal(dict)
+    frameReady = pyqtSignal(object)       # RadarFrame
-    targetsUpdated = pyqtSignal(list)
+    statusReceived = pyqtSignal(object)   # StatusResponse
+    targetsUpdated = pyqtSignal(list)     # List[RadarTarget]
     errorOccurred = pyqtSignal(str)
     statsUpdated = pyqtSignal(dict)
 
     def __init__(
         self,
-        ft2232hq: FT2232HQInterface,
+        connection,  # FT2232HConnection or ReplayConnection
-        processor: RadarProcessor,
+        processor: RadarProcessor | None = None,
-        packet_parser: RadarPacketParser,
+        recorder: DataRecorder | None = None,
-        settings: RadarSettings,
+        gps_data_ref: GPSData | None = None,
-        gps_data_ref: GPSData,
+        settings: RadarSettings | None = None,
         parent=None,
     ):
         super().__init__(parent)
-        self._ft2232hq = ft2232hq
+        self._connection = connection
         self._processor = processor
-        self._parser = packet_parser
+        self._recorder = recorder
-        self._settings = settings
         self._gps = gps_data_ref
+        self._settings = settings or RadarSettings()
         self._running = False
 
+        # Frame queue for production RadarAcquisition → this thread
+        self._frame_queue: queue.Queue = queue.Queue(maxsize=4)
+
+        # Production acquisition thread (does the actual parsing)
+        self._acquisition: RadarAcquisition | None = None
+
         # Counters
-        self._packet_count = 0
+        self._frame_count = 0
         self._byte_count = 0
         self._error_count = 0
 
     def stop(self):
         self._running = False
+        if self._acquisition:
+            self._acquisition.stop()
 
     def run(self):
-        """Main loop: read → parse → process → emit."""
+        """
+        Start production RadarAcquisition thread, then poll its frame queue
+        and emit PyQt signals for each complete frame.
+        """
         self._running = True
-        buffer = bytearray()
+
+        # Create and start the production acquisition thread
+        self._acquisition = RadarAcquisition(
+            connection=self._connection,
+            frame_queue=self._frame_queue,
+            recorder=self._recorder,
+            status_callback=self._on_status,
+        )
+        self._acquisition.start()
+        logger.info("RadarDataWorker started (production protocol)")
 
         while self._running:
-            # Use FT2232HQ interface
-            iface = None
-            if self._ft2232hq and self._ft2232hq.is_open:
-                iface = self._ft2232hq
-
-            if iface is None:
-                self.msleep(100)
-                continue
-
             try:
-                data = iface.read_data(4096)
+                # Poll for complete frames from production acquisition
-                if data:
+                frame: RadarFrame = self._frame_queue.get(timeout=0.1)
-                    buffer.extend(data)
+                self._frame_count += 1
-                    self._byte_count += len(data)
 
-                    # Parse as many packets as possible
+                # Emit raw frame
-                    while len(buffer) >= 6:
+                self.frameReady.emit(frame)
-                        result = self._parser.parse_packet(bytes(buffer))
-                        if result is None:
-                            # No valid packet at current position — skip one byte
-                            if len(buffer) > 1:
-                                buffer = buffer[1:]
-                            else:
-                                break
-                            continue
 
-                        pkt, consumed = result
+                # Run host-side DSP if processor is configured
-                        buffer = buffer[consumed:]
+                if self._processor is not None:
-                        self._packet_count += 1
+                    targets = self._run_host_dsp(frame)
+                    if targets:
+                        self.targetsUpdated.emit(targets)
 
-                        # Process the packet
+                # Emit stats
-                        self._process_packet(pkt)
-                        self.packetReceived.emit(pkt)
-
-                    # Emit stats periodically
                 self.statsUpdated.emit({
-                        "packets": self._packet_count,
+                    "frames": self._frame_count,
-                        "bytes": self._byte_count,
+                    "detection_count": frame.detection_count,
                     "errors": self._error_count,
-                        "active_tracks": len(self._processor.tracks),
-                        "targets": len(self._processor.detected_targets),
                 })
-                else:
+
-                    self.msleep(10)
+            except queue.Empty:
-            except Exception as e:
+                continue
+            except (ValueError, IndexError) as e:
                 self._error_count += 1
                 self.errorOccurred.emit(str(e))
                 logger.error(f"RadarDataWorker error: {e}")
-                self.msleep(100)
 
-    # ---- internal packet handling ------------------------------------------
+        # Stop acquisition thread
+        if self._acquisition:
+            self._acquisition.stop()
+            self._acquisition.join(timeout=2.0)
+            self._acquisition = None
 
-    def _process_packet(self, pkt: dict):
+        logger.info("RadarDataWorker stopped")
-        """Route a parsed packet through the processing pipeline."""
+
-        try:
+    def _on_status(self, status: StatusResponse):
-            if pkt["type"] == "range":
+        """Callback from production RadarAcquisition on status packet."""
-                range_m = pkt["range"] * 0.1
+        self.statusReceived.emit(status)
-                raw_elev = pkt["elevation"]
+
+    def _run_host_dsp(self, frame: RadarFrame) -> list[RadarTarget]:
+        """
+        Run host-side DSP on a complete frame.
+        This is where DBSCAN clustering, Kalman tracking, and other
+        non-timing-critical processing happens.
+
+        The FPGA already does: FFT, MTI, CFAR, DC notch.
+        Host-side DSP adds: clustering, tracking, geo-coordinate mapping.
+
+        Bin-to-physical conversion uses RadarSettings.range_resolution
+        and velocity_resolution (should be calibrated to actual waveform).
+        """
+        targets: list[RadarTarget] = []
+
+        cfg = self._processor.config
+        if not (cfg.clustering_enabled or cfg.tracking_enabled):
+            return targets
+
+        # Extract detections from FPGA CFAR flags
+        det_indices = np.argwhere(frame.detections > 0)
+        r_res = self._settings.range_resolution
+        v_res = self._settings.velocity_resolution
+
+        for idx in det_indices:
+            rbin, dbin = idx
+            mag = frame.magnitude[rbin, dbin]
+            snr = 10 * np.log10(max(mag, 1)) if mag > 0 else 0
+
+            # Convert bin indices to physical units
+            range_m = float(rbin) * r_res
+            # Doppler: centre bin (16) = 0 m/s; positive bins = approaching
+            velocity_ms = float(dbin - 16) * v_res
+
+            # Apply pitch correction if GPS data available
+            raw_elev = 0.0  # FPGA doesn't send elevation per-detection
+            corr_elev = raw_elev
+            if self._gps:
                 corr_elev = apply_pitch_correction(raw_elev, self._gps.pitch)
 
+            # Compute geographic position if GPS available
+            lat, lon = 0.0, 0.0
+            azimuth = 0.0  # No azimuth from single-beam; set to heading
+            if self._gps:
+                azimuth = self._gps.heading
+                lat, lon = polar_to_geographic(
+                    self._gps.latitude, self._gps.longitude,
+                    range_m, azimuth,
+                )
+
             target = RadarTarget(
-                    id=pkt["chirp"],
+                id=len(targets),
                 range=range_m,
-                    velocity=0,
+                velocity=velocity_ms,
-                    azimuth=pkt["azimuth"],
+                azimuth=azimuth,
                 elevation=corr_elev,
-                    snr=20.0,
+                latitude=lat,
-                    timestamp=pkt["timestamp"],
+                longitude=lon,
+                snr=snr,
+                timestamp=frame.timestamp,
             )
-                self._update_rdm(target)
+            targets.append(target)
 
-            elif pkt["type"] == "doppler":
+        # DBSCAN clustering
-                lam = 3e8 / self._settings.system_frequency
+        if cfg.clustering_enabled and len(targets) > 0:
-                velocity = (pkt["doppler_real"] / 32767.0) * (
+            clusters = self._processor.clustering(
-                    self._settings.prf1 * lam / 2
+                targets, cfg.clustering_eps, cfg.clustering_min_samples)
-                )
+            # Associate and track
-                self._update_velocity(pkt, velocity)
+            if cfg.tracking_enabled:
+                targets = self._processor.association(targets, clusters)
+                self._processor.tracking(targets)
 
-            elif pkt["type"] == "detection":
+        return targets
-                if pkt["detected"]:
-                    raw_elev = pkt["elevation"]
-                    corr_elev = apply_pitch_correction(raw_elev, self._gps.pitch)
-                    logger.info(
-                        f"CFAR Detection: raw={raw_elev}, corr={corr_elev:.1f}, "
-                        f"pitch={self._gps.pitch:.1f}"
-                    )
-        except Exception as e:
-            logger.error(f"Error processing packet: {e}")
-
-    def _update_rdm(self, target: RadarTarget):
-        range_bin = min(int(target.range / 50), 1023)
-        doppler_bin = min(abs(int(target.velocity)), 31)
-        self._processor.range_doppler_map[range_bin, doppler_bin] += 1
-        self._processor.detected_targets.append(target)
-        if len(self._processor.detected_targets) > 100:
-            self._processor.detected_targets = self._processor.detected_targets[-100:]
-
-    def _update_velocity(self, pkt: dict, velocity: float):
-        for t in self._processor.detected_targets:
-            if (t.azimuth == pkt["azimuth"]
-                    and t.elevation == pkt["elevation"]
-                    and t.id == pkt["chirp"]):
-                t.velocity = velocity
-                break
 
 
 # =============================================================================
@@ -269,7 +318,7 @@ class GPSDataWorker(QThread):
                     if gps:
                         self._gps_count += 1
                         self.gpsReceived.emit(gps)
-            except Exception as e:
+            except (ValueError, struct.error) as e:
                 self.errorOccurred.emit(str(e))
                 logger.error(f"GPSDataWorker error: {e}")
             self.msleep(100)
@@ -292,7 +341,7 @@ class TargetSimulator(QObject):
     def __init__(self, radar_position: GPSData, parent=None):
         super().__init__(parent)
         self._radar_pos = radar_position
-        self._targets: List[RadarTarget] = []
+        self._targets: list[RadarTarget] = []
         self._next_id = 1
         self._timer = QTimer(self)
         self._timer.timeout.connect(self._tick)
@@ -349,7 +398,7 @@ class TargetSimulator(QObject):
 
     def _tick(self):
         """Update all simulated targets and emit."""
-        updated: List[RadarTarget] = []
+        updated: list[RadarTarget] = []
 
         for t in self._targets:
             new_range = t.range - t.velocity * 0.5

9_Firmware/tools/uart_capture.py

@@ -26,6 +26,7 @@ Usage:
 """
 
 import argparse
+from contextlib import nullcontext
 import datetime
 import glob
 import os
@@ -38,7 +39,6 @@ try:
     import serial
     import serial.tools.list_ports
 except ImportError:
-    print("ERROR: pyserial not installed. Run: pip install pyserial")
     sys.exit(1)
 
 # ---------------------------------------------------------------------------
@@ -94,12 +94,9 @@ def list_ports():
     """Print available serial ports."""
     ports = serial.tools.list_ports.comports()
     if not ports:
-        print("No serial ports found.")
         return
-    print(f"{'Port':<30} {'Description':<40} {'HWID'}")
+    for _p in sorted(ports, key=lambda x: x.device):
-    print("-" * 100)
+        pass
-    for p in sorted(ports, key=lambda x: x.device):
-        print(f"{p.device:<30} {p.description:<40} {p.hwid}")
 
 
 def auto_detect_port():
@@ -172,10 +169,7 @@ def should_display(line, filter_subsys=None, errors_only=False):
         return False
 
     # Subsystem filter
-    if filter_subsys and subsys not in filter_subsys:
+    return not (filter_subsys and subsys not in filter_subsys)
-        return False
-
-    return True
 
 
 # ---------------------------------------------------------------------------
@@ -219,8 +213,10 @@ class CaptureStats:
         ]
         if self.by_subsys:
             lines.append("By subsystem:")
-            for tag in sorted(self.by_subsys, key=self.by_subsys.get, reverse=True):
+            lines.extend(
-                lines.append(f"  {tag:<8} {self.by_subsys[tag]}")
+                f"  {tag:<8} {self.by_subsys[tag]}"
+                for tag in sorted(self.by_subsys, key=self.by_subsys.get, reverse=True)
+            )
         return "\n".join(lines)
 
 
@@ -228,12 +224,12 @@ class CaptureStats:
 # Main capture loop
 # ---------------------------------------------------------------------------
 
-def capture(port, baud, log_file, filter_subsys, errors_only, use_color):
+def capture(port, baud, log_file, filter_subsys, errors_only, _use_color):
     """Open serial port and capture DIAG output."""
     stats = CaptureStats()
     running = True
 
-    def handle_signal(sig, frame):
+    def handle_signal(_sig, _frame):
         nonlocal running
         running = False
 
@@ -249,36 +245,36 @@ def capture(port, baud, log_file, filter_subsys, errors_only, use_color):
             stopbits=serial.STOPBITS_ONE,
             timeout=0.1,  # 100ms read timeout for responsive Ctrl-C
         )
-    except serial.SerialException as e:
+    except serial.SerialException:
-        print(f"ERROR: Could not open {port}: {e}")
         sys.exit(1)
 
-    print(f"Connected to {port} at {baud} baud")
     if log_file:
-        print(f"Logging to {log_file}")
+        pass
     if filter_subsys:
-        print(f"Filter: {', '.join(sorted(filter_subsys))}")
+        pass
     if errors_only:
-        print("Mode: errors/warnings only")
+        pass
-    print("Press Ctrl-C to stop.\n")
 
-    flog = None
     if log_file:
         os.makedirs(os.path.dirname(log_file), exist_ok=True)
-        flog = open(log_file, "w", encoding=ENCODING)
+        log_context = open(log_file, "w", encoding=ENCODING)  # noqa: SIM115
+    else:
+        log_context = nullcontext(None)
+
+    line_buf = b""
+
+    try:
+        with log_context as flog:
+            if flog:
                 flog.write(f"# AERIS-10 UART capture — {datetime.datetime.now().isoformat()}\n")
                 flog.write(f"# Port: {port}  Baud: {baud}\n")
                 flog.write(f"# Host: {os.uname().nodename}\n\n")
                 flog.flush()
 
-    line_buf = b""
-
-    try:
             while running:
                 try:
                     chunk = ser.read(256)
-            except serial.SerialException as e:
+                except serial.SerialException:
-                print(f"\nSerial error: {e}")
                     break
 
                 if not chunk:
@@ -304,14 +300,13 @@ def capture(port, baud, log_file, filter_subsys, errors_only, use_color):
 
                     # Terminal display respects filters
                     if should_display(line, filter_subsys, errors_only):
-                    print(colorize(line, use_color))
+                        pass
+
+            if flog:
+                flog.write(f"\n{stats.summary()}\n")
 
     finally:
         ser.close()
-        if flog:
-            flog.write(f"\n{stats.summary()}\n")
-            flog.close()
-        print(stats.summary())
 
 
 # ---------------------------------------------------------------------------
@@ -374,9 +369,7 @@ def main():
     if not port:
         port = auto_detect_port()
         if not port:
-            print("ERROR: No serial port detected. Use -p to specify, or --list to see ports.")
             sys.exit(1)
-        print(f"Auto-detected port: {port}")
 
     # Resolve log file
     log_file = None
@@ -390,7 +383,7 @@ def main():
     # Parse filter
     filter_subsys = None
     if args.filter:
-        filter_subsys = set(t.strip().upper() for t in args.filter.split(","))
+        filter_subsys = {t.strip().upper() for t in args.filter.split(",")}
 
     # Color detection
     use_color = not args.no_color and sys.stdout.isatty()

README.md

@@ -53,7 +53,7 @@ The AERIS-10 main sub-systems are:
   - **XC7A50T FPGA** - Handles RADAR Signal Processing on the upstream FTG256 board:
     - PLFM Chirps generation via the DAC
     - Raw ADC data read
-    - Automatic Gain Control (AGC)
+    - Digital Gain Control (host-configurable gain shift)
     - I/Q Baseband Down-Conversion
     - Decimation
     - Filtering

pyproject.toml

@@ -24,4 +24,28 @@ target-version = "py312"
 line-length = 100
 
 [tool.ruff.lint]
-select = ["E", "F"]
+select = [
+    "E",    # pycodestyle errors
+    "F",    # pyflakes (unused imports, undefined names, duplicate keys, assert-tuple)
+    "B",    # flake8-bugbear (mutable defaults, unreachable code, raise-without-from)
+    "RUF",  # ruff-specific (unused noqa, ambiguous chars, implicit Optional)
+    "SIM",  # flake8-simplify (dead branches, collapsible ifs, unnecessary pass)
+    "PIE",  # flake8-pie (no-op expressions, unnecessary spread)
+    "T20",  # flake8-print (stray print() calls — LLMs leave debug prints)
+    "ARG",  # flake8-unused-arguments (LLMs generate params they never use)
+    "ERA",  # eradicate (commented-out code — LLMs leave "alternatives" as comments)
+    "A",    # flake8-builtins (LLMs shadow id, type, list, dict, input, map)
+    "BLE",  # flake8-blind-except (bare except / overly broad except)
+    "RET",  # flake8-return (unreachable code after return, unnecessary else-after-return)
+    "ISC",  # flake8-implicit-str-concat (missing comma in list of strings)
+    "TCH",  # flake8-type-checking (imports only used in type hints — move behind TYPE_CHECKING)
+    "UP",   # pyupgrade (outdated syntax for target Python version)
+    "C4",   # flake8-comprehensions (unnecessary list/dict calls around generators)
+    "PERF", # perflint (performance anti-patterns: unnecessary list() in for loops, etc.)
+]
+
+[tool.ruff.lint.per-file-ignores]
+# Tests: allow unused args (fixtures), prints (debugging), commented code (examples)
+"test_*.py" = ["ARG", "T20", "ERA"]
+# Re-export modules: unused imports are intentional
+"v7/hardware.py" = ["F401"]