fix: regenerate golden hex for dual-16pt Doppler and add real-data TBs to regression

Regenerate all real-data golden reference hex files against the current
dual 16-point FFT Doppler architecture (staggered-PRI sub-frames).
The old hex files were generated against the previous 32-point single-FFT
architecture and caused 2048/2048 mismatches in both strict real-data TBs.

Changes:
- Regenerate doppler_ref_i/q.hex, fullchain_doppler_ref_i/q.hex, and all
  downstream golden files (MTI, DC notch, CFAR) via golden_reference.py
- Add tb_doppler_realdata (exact-match, ADI CN0566 data) to regression
- Add tb_fullchain_realdata (exact-match, decim->Doppler chain) to regression
- Both TBs now pass: 2048/2048 bins exact match, MAX_ERROR=0
- Update CI comment: 23 -> 25 testbenches
- Fill in STALE_NOTICE.md with regeneration instructions

Regression: 25/25 pass, 0 fail, 0 skip. ruff check: 0 errors.

9_Firmware/9_2_FPGA/run_regression.sh

@@ -403,6 +403,18 @@ run_test "DDC Chain (NCO→CIC→FIR)" \
     tb/tb_ddc_cosim.v ddc_400m.v nco_400m_enhanced.v \
     cic_decimator_4x_enhanced.v fir_lowpass.v cdc_modules.v
 
+# Real-data co-simulation: committed golden hex vs RTL (exact match required).
+# These catch architecture mismatches (e.g. 32-pt → dual 16-pt Doppler FFT)
+# that self-blessing golden-generate/compare tests cannot detect.
+run_test "Doppler Real-Data (ADI CN0566, exact match)" \
+    tb/tb_doppler_realdata.vvp \
+    tb/tb_doppler_realdata.v doppler_processor.v xfft_16.v fft_engine.v
+
+run_test "Full-Chain Real-Data (decim→Doppler, exact match)" \
+    tb/tb_fullchain_realdata.vvp \
+    tb/tb_fullchain_realdata.v range_bin_decimator.v \
+    doppler_processor.v xfft_16.v fft_engine.v
+
 if [[ "$QUICK" -eq 0 ]]; then
     # Golden generate
     run_test "Receiver (golden generate)" \

9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/STALE_NOTICE.md

@@ -0,0 +1,42 @@
+# Golden Reference Hex Files
+
+These hex files are **committed golden references** for strict bit-exact
+real-data regression tests (`tb_doppler_realdata.v`, `tb_fullchain_realdata.v`).
+
+## When to regenerate
+
+Regenerate whenever the Doppler processing pipeline changes:
+
+- `doppler_processor.v` (FFT size, window, sub-frame structure)
+- `xfft_16.v` / `fft_engine.v` (butterfly arithmetic, twiddle lookup)
+- `range_bin_decimator.v` (decimation mode, peak detection logic)
+- `fft_twiddle_16.mem` (twiddle factor ROM)
+
+## How to regenerate
+
+```bash
+cd 9_Firmware/9_2_FPGA
+python3 tb/cosim/real_data/golden_reference.py
+# Then copy the Doppler-specific files:
+python3 -c "
+import numpy as np, os, shutil
+h = 'tb/cosim/real_data/hex'
+# Regenerate packed stimulus from range FFT npy
+ri = np.load(f'{h}/range_fft_all_i.npy')
+rq = np.load(f'{h}/range_fft_all_q.npy')
+with open(f'{h}/doppler_input_realdata.hex','w') as f:
+    for c in range(32):
+        for r in range(64):
+            i=int(ri[c,r])&0xFFFF; q=int(rq[c,r])&0xFFFF
+            f.write(f'{(q<<16)|i:08X}\n')
+shutil.copy2(f'{h}/doppler_map_i.hex', f'{h}/doppler_ref_i.hex')
+shutil.copy2(f'{h}/doppler_map_q.hex', f'{h}/doppler_ref_q.hex')
+"
+```
+
+## Architecture
+
+Generated against the **dual 16-point FFT** Doppler architecture
+(2 staggered-PRI sub-frames x 16-point Hamming-windowed FFT).
+
+Source data: ADI CN0566 Phaser radar (10.525 GHz X-band FMCW, 4 MSPS).

9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/detections.txt

@@ -1,291 +1,361 @@
 # AERIS-10 Golden Reference Detections
 # Threshold: 10000
 # Format: range_bin doppler_bin magnitude
-0 0 44371
-0 1 24165
-0 31 17748
-1 0 34391
-1 1 17923
-1 31 18610
-2 0 28512
-2 1 13818
-2 31 15787
-3 0 47402
-3 1 25214
-3 31 23504
-4 0 51870
-4 1 32733
-4 31 31545
-5 0 31752
-5 1 13486
-5 31 19300
-6 0 63406
-6 1 33383
-6 31 36672
-7 0 37576
-7 1 21215
-7 31 27773
-8 0 14823
-10 0 30062
-10 1 13616
-10 31 17149
+0 0 35364
+0 1 16147
+0 15 11821
+0 16 24536
+0 17 11208
+0 31 10122
+1 0 25697
+1 1 12174
+1 15 13421
+1 16 20002
+1 17 11568
+1 31 11299
+2 0 16788
+2 16 20207
+2 31 10711
+3 0 29174
+3 1 13965
+3 15 13305
+3 16 31517
+3 17 13478
+3 31 14101
+4 0 41986
+4 1 19241
+4 15 21030
+4 16 39714
+4 17 17538
+4 31 20394
+5 0 23766
+5 1 11599
+5 15 14843
+5 16 18211
+5 31 12009
+6 0 42015
+6 1 21423
+6 15 21018
+6 16 47402
+6 17 22815
+6 31 22736
+7 0 32152
+7 1 15393
+7 15 14318
+7 16 28911
+7 17 13876
+7 31 17156
+8 0 11067
+10 0 18848
+10 15 10020
+10 16 20027
+10 31 10048
 11 0 65534
-11 1 60963
-11 2 14848
-11 3 12082
-11 4 18060
-11 29 10045
-11 30 20661
-11 31 65536
-12 0 65536
-12 1 44569
-12 4 11189
-12 30 13936
-12 31 57036
-13 0 47038
-13 1 40212
-13 2 14655
-13 4 10242
-13 30 14945
-13 31 40237
-14 0 65534
-14 1 43568
-14 3 10974
-14 4 11491
-14 30 15272
-14 31 57983
-15 0 34501
-15 1 22496
-15 31 25197
-16 0 32784
-16 1 19309
-16 31 14005
-17 0 23063
-17 1 13730
-18 0 17087
-18 1 12092
-19 0 65535
-19 1 49084
-19 2 11399
-19 30 13119
-19 31 48411
-20 0 65509
-20 1 37881
-20 31 35014
-21 0 39614
-21 1 23389
-21 31 22417
-22 0 27174
-22 1 12577
-22 31 15278
-23 0 39885
-23 1 29247
-23 31 33561
-24 0 29644
-24 28 11071
-24 31 20937
+11 1 37617
+11 2 14940
+11 15 43078
+11 16 65534
+11 17 39344
+11 31 45926
+12 0 58975
+12 1 22078
+12 15 34440
+12 16 59096
+12 17 22512
+12 31 28677
+13 0 38442
+13 1 29490
+13 15 37679
+13 16 44951
+13 17 27726
+13 31 39144
+14 0 52660
+14 1 27797
+14 2 13534
+14 15 39671
+14 16 57929
+14 17 24160
+14 31 31478
+15 0 30021
+15 1 12219
+15 15 17232
+15 16 29524
+15 17 13424
+15 31 17850
+16 0 17593
+16 16 24710
+16 31 13046
+17 0 17606
+17 1 11119
+17 16 13182
+18 16 15914
+19 0 55785
+19 1 29069
+19 15 29418
+19 16 55308
+19 17 27886
+19 31 30649
+20 0 49230
+20 1 24486
+20 15 21233
+20 16 45472
+20 17 21749
+20 31 21614
+21 0 26167
+21 1 13823
+21 15 10487
+21 16 29034
+21 17 15861
+21 31 10454
+22 0 12791
+22 16 22520
+22 17 11384
+22 31 11790
+23 0 29337
+23 1 17065
+23 15 14174
+23 16 39414
+23 17 23310
+23 31 17173
+24 0 16889
+24 15 15710
+24 16 22395
+24 31 15003
 25 0 65535
-25 1 54580
-25 2 20278
-25 30 20041
-25 31 59445
-26 0 58162
-26 1 46544
-26 2 17230
-26 3 10127
-26 31 44711
+25 1 40375
+25 15 54011
+25 16 61127
+25 17 38944
+25 31 48889
+26 0 46367
+26 1 39852
+26 15 29630
+26 16 53587
+26 17 40655
+26 31 34936
 27 0 65535
 27 1 65535
-27 2 44599
-27 3 17124
-27 28 15139
-27 29 26067
-27 30 54631
-27 31 65535
+27 15 64456
+27 16 65535
+27 17 65535
+27 31 58334
 28 0 65535
-28 1 65535
-28 2 43056
-28 3 14647
-28 4 11808
-28 29 15256
-28 30 50518
+28 1 57641
+28 15 65535
+28 16 65535
+28 17 54928
 28 31 65535
 29 0 65535
-29 1 61621
-29 2 28859
-29 3 19523
-29 4 21765
-29 5 12687
-29 27 13175
-29 28 19619
-29 29 24365
-29 30 48682
-29 31 65535
-30 0 55399
-30 1 46683
-30 2 21192
-30 3 15905
-30 4 18003
-30 29 11105
-30 30 22360
-30 31 40830
-31 0 46504
-31 1 44346
-31 2 34200
-31 3 20677
-31 4 18570
-31 5 10430
-31 29 12684
-31 30 31778
-31 31 36195
-32 0 39540
-32 1 36657
-32 31 35394
-33 0 35482
-33 1 32886
-33 2 15041
-33 28 10103
-33 29 11617
-33 30 17465
-33 31 34603
-34 0 47950
-34 1 25855
-34 31 23198
+29 1 44117
+29 2 13478
+29 14 11179
+29 15 65535
+29 16 65535
+29 17 45898
+29 18 10817
+29 31 60442
+30 0 44530
+30 1 36909
+30 2 14573
+30 15 43430
+30 16 51839
+30 17 37271
+30 31 47866
+31 0 40957
+31 1 52081
+31 2 12755
+31 15 42794
+31 16 41071
+31 17 50472
+31 18 11556
+31 31 43866
+32 0 35747
+32 1 19597
+32 15 25173
+32 16 39213
+32 17 21782
+32 31 29106
+33 0 34216
+33 1 41661
+33 15 42368
+33 16 38638
+33 17 40522
+33 31 45908
+34 0 36589
+34 1 17165
+34 15 16488
+34 16 26972
+34 17 12089
+34 31 13576
 35 0 65536
-35 1 63059
-35 2 24416
-35 30 27412
-35 31 65534
-36 0 65535
-36 1 41914
-36 2 11341
-36 30 11276
-36 31 41419
-38 0 63253
-38 1 46689
-38 2 13576
-38 30 14208
-38 31 49979
-39 0 33480
-39 1 25439
-39 31 23094
-40 0 52003
-40 1 47059
-40 2 13164
-40 31 37992
+35 1 42536
+35 15 61612
+35 16 65536
+35 17 43084
+35 31 60807
+36 0 55831
+36 1 26499
+36 15 28393
+36 16 50059
+36 17 24420
+36 31 23905
+38 0 52721
+38 1 33692
+38 15 32463
+38 16 53145
+38 17 37178
+38 31 30632
+39 0 32288
+39 1 19461
+39 15 20183
+39 16 27198
+39 17 16723
+39 31 14041
+40 0 47793
+40 1 29861
+40 15 23082
+40 16 43109
+40 17 30298
+40 31 31219
 41 0 65536
-41 1 65534
-41 2 25844
-41 3 14580
-41 4 12743
-41 30 22231
-41 31 65534
-42 0 52097
-42 1 45022
-42 2 10317
-42 28 11984
-42 29 10182
-42 30 13078
-42 31 40477
-43 0 61723
-43 1 48104
-43 2 17623
-43 3 10105
-43 28 28331
-43 29 24102
-43 31 45085
+41 1 57642
+41 15 52984
+41 16 65536
+41 17 57420
+41 31 57035
+42 0 46393
+42 1 24862
+42 15 27123
+42 16 44734
+42 17 25836
+42 31 33316
+43 0 65535
+43 1 43056
+43 13 10481
+43 14 22074
+43 15 24792
+43 16 39506
+43 17 36481
+43 30 24870
+43 31 39062
 44 0 65535
 44 1 65535
-44 2 60795
-44 3 25438
-44 27 39330
-44 28 60025
-44 29 52445
-44 30 35091
+44 2 19166
+44 3 21321
+44 13 32864
+44 14 41461
+44 15 65535
+44 16 65535
+44 17 58493
+44 19 13967
+44 29 29756
+44 30 54069
 44 31 65535
 45 0 65535
-45 1 65535
-45 2 27652
-45 3 14416
-45 4 10622
-45 27 16323
-45 28 40935
-45 29 30694
-45 30 29375
-45 31 65535
-46 0 65536
-46 1 57696
-46 2 14924
-46 30 14433
-46 31 45164
-47 0 59141
-47 1 44129
-47 2 15305
-47 28 13092
-47 30 13754
-47 31 47415
-48 0 27722
-48 1 13381
-48 31 16907
-49 0 51936
-49 1 43775
-49 2 13004
-49 31 40023
-50 0 45430
-50 1 39187
-50 2 15881
-50 30 12925
-50 31 38207
-51 0 34026
-51 1 33081
-51 31 34429
-52 0 34415
-52 1 15408
-52 31 19344
-53 0 52351
-53 1 42915
-53 2 14442
-53 30 13099
-53 31 42143
-54 0 62356
-54 1 49279
-54 2 15596
-54 30 15478
-54 31 46574
-55 0 33829
-55 1 15941
-55 31 18110
-56 0 65535
-56 1 46926
-56 2 11443
-56 28 12373
-56 29 12101
-56 30 14660
-56 31 53058
+45 1 58886
+45 14 22013
+45 15 65116
+45 16 65535
+45 17 65535
+45 29 13068
+45 30 25759
+45 31 61393
+46 0 53411
+46 1 44267
+46 15 30631
+46 16 58196
+46 17 36338
+46 31 28840
+47 0 54574
+47 1 35574
+47 15 38960
+47 16 46623
+47 17 32070
+47 31 40091
+48 0 22302
+48 1 10865
+48 15 13917
+48 16 18042
+48 31 10930
+49 0 49013
+49 1 28270
+49 15 25242
+49 16 41969
+49 17 24924
+49 31 26704
+50 0 43858
+50 1 35227
+50 15 39737
+50 16 39085
+50 17 36353
+50 31 38658
+51 0 33868
+51 1 23364
+51 15 23348
+51 16 33246
+51 17 24398
+51 31 27415
+52 0 24500
+52 1 10467
+52 15 13661
+52 16 21073
+52 17 10681
+52 31 10164
+53 0 46806
+53 1 31121
+53 15 34423
+53 16 44568
+53 17 28497
+53 31 35229
+54 0 49713
+54 1 32292
+54 15 40878
+54 16 54060
+54 17 34252
+54 31 43616
+55 0 25597
+55 1 13662
+55 15 13184
+55 16 20525
+55 17 10363
+55 31 12295
+56 0 53620
+56 1 23575
+56 14 12578
+56 15 34783
+56 16 64499
+56 17 32442
+56 31 32139
 58 0 65535
-58 1 56769
-58 2 14110
-58 28 12576
-58 29 16059
-58 30 18858
-58 31 63517
-59 0 30703
-59 1 24206
-59 28 17534
-59 29 12652
-60 0 35136
-60 1 21277
-60 31 25048
-61 0 28692
-61 1 11267
-61 28 11881
-61 31 17628
-62 0 35795
-62 1 18879
-62 31 18083
-63 0 65535
-63 1 40428
-63 28 11884
-63 29 13271
-63 30 14869
-63 31 52574
+58 1 35008
+58 15 43324
+58 16 64959
+58 17 35348
+58 31 39154
+59 0 13238
+59 1 11374
+59 14 16623
+59 16 22346
+59 17 12583
+60 0 31259
+60 1 17900
+60 15 19638
+60 16 26331
+60 17 12543
+60 31 18056
+61 0 14596
+61 15 13600
+61 16 23597
+61 17 10681
+61 31 14915
+62 0 22096
+62 1 10515
+62 16 23642
+62 17 11146
+62 31 10180
+63 0 58324
+63 1 25269
+63 15 32920
+63 16 54165
+63 17 27625
+63 31 29816

9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_det.hex

@@ -76,22 +76,50 @@
 0
 0
 0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
 1
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
 1
 1
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
 1
 0
 0
@@ -2018,31 +2046,3 @@
 0
 0
 0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0
-0

9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_detections.txt

@@ -2,7 +2,7 @@
 # Chain: decim -> MTI -> Doppler -> DC notch(w=2) -> CA-CFAR
 # CFAR: guard=2, train=8, alpha=0x30, mode=CA
 # Format: range_bin doppler_bin magnitude threshold
-2 27 40172 38280
-2 28 65534 40749
-2 29 58080 31302
-2 30 16565 13386
+2 14 57128 48153
+2 29 20281 15318
+2 30 44783 22389
+3 26 19423 19422

9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_detections.txt

@@ -2,188 +2,210 @@
 # Threshold: 10000
 # Format: range_bin doppler_bin magnitude
 0 0 65534
-0 1 59350
-0 2 16748
-0 4 18802
-0 29 10539
-0 30 18526
-0 31 65536
+0 1 28729
+0 2 18427
+0 3 14971
+0 14 11972
+0 15 53110
+0 16 65534
+0 17 39344
+0 31 45926
 1 0 65535
 1 1 65535
-1 2 37002
-1 4 12412
-1 5 14956
-1 6 12586
-1 7 11607
-1 8 11379
-1 24 11725
-1 28 17218
-1 29 32939
-1 30 58888
-1 31 65535
+1 2 16977
+1 4 13219
+1 10 10505
+1 12 12931
+1 14 23806
+1 15 65535
+1 16 65535
+1 17 65535
+1 31 55887
 2 0 65535
 2 1 65535
-2 2 60795
-2 3 25438
-2 27 39330
-2 28 60025
-2 29 52445
-2 30 35091
+2 2 19166
+2 3 21321
+2 13 32864
+2 14 41461
+2 15 65535
+2 16 65535
+2 17 58493
+2 19 13967
+2 29 29756
+2 30 54069
 2 31 65535
-3 0 65535
-3 1 63297
-3 2 32758
-3 3 42197
-3 4 35819
-3 5 12663
-3 7 19561
-3 8 12012
-3 12 13537
-3 13 12879
-3 19 10255
-3 20 10129
-3 24 17256
-3 25 22733
-3 26 10202
-3 28 24061
-3 29 19639
-3 31 37328
-4 0 46755
-4 1 39569
-4 2 12396
-4 28 12471
-4 29 12156
-4 30 16659
-4 31 40340
-5 0 44089
-5 1 23634
-5 31 21331
-6 0 48634
-6 1 24635
-6 31 25423
-7 0 24477
-7 1 14206
-7 31 10955
-8 0 41014
-8 1 19527
-8 31 21133
-9 0 47277
-9 1 28366
-9 31 29936
-10 0 47095
-10 1 26150
-10 31 24009
-11 0 47384
-11 1 25409
-11 31 24250
-12 0 24648
-12 1 14298
-12 31 13970
-13 0 13062
-15 0 10284
-16 0 14267
-17 0 16165
-18 0 14235
-18 31 12120
-19 0 18006
-19 1 14936
-20 0 47569
-20 1 33826
-20 31 35752
-21 0 47804
-21 1 21420
-21 31 30292
-22 0 14968
-26 0 16086
-26 31 10462
-30 0 16628
-30 1 10044
-38 0 23453
-38 1 13989
-38 31 10672
-39 0 31656
-39 1 17367
-39 31 17314
-40 0 19156
-40 1 10817
-40 31 10083
-45 0 25385
-45 1 11685
-45 31 14673
-46 0 12576
-46 4 10141
-46 28 12358
-47 0 19657
-47 31 15741
-48 0 13189
-48 1 10038
-49 0 33747
-49 1 16561
-49 31 18910
-50 0 20552
-50 31 10843
-51 0 20068
-51 1 13887
-51 4 10305
-51 28 11339
-53 28 10166
-55 0 39891
-55 1 17615
-55 31 24898
-56 0 62796
-56 1 29788
-56 31 38261
-57 0 63585
-57 1 59760
-57 2 13027
-57 3 43395
-57 4 59148
-57 5 31472
-57 6 11913
-57 7 13807
-57 8 12132
-57 16 14068
-57 17 10379
-57 24 15712
-57 25 11076
-57 26 14856
-57 27 23468
-57 28 38479
-57 29 23078
-57 30 17921
-57 31 46558
-58 0 54425
-58 1 45222
-58 2 11380
-58 4 11700
-58 29 12022
-58 30 13911
-58 31 45374
-59 0 45581
-59 1 31538
-59 2 10481
-59 31 34132
-60 0 28622
-60 1 12594
-60 3 11799
-60 4 13327
-60 28 11737
-60 29 11439
-60 31 16902
-61 0 28716
-61 1 16605
-61 31 15745
-62 0 14151
-62 1 15747
-62 4 11738
-62 5 12479
-62 26 10789
-62 27 16875
-62 28 19372
-62 29 16120
-62 30 18215
-62 31 10810
-63 0 63651
-63 1 35648
-63 30 10692
-63 31 38169
+3 0 53605
+3 1 48935
+3 2 24589
+3 4 12240
+3 5 14117
+3 8 12950
+3 11 13274
+3 12 12930
+3 14 23437
+3 15 29552
+3 16 65433
+3 17 52933
+3 18 24719
+3 19 17650
+3 20 15096
+3 21 13518
+3 27 13184
+3 28 15554
+3 29 23742
+3 30 17775
+3 31 19771
+4 0 46125
+4 1 38769
+4 14 10924
+4 15 33844
+4 16 38130
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