fix: range calibration, demo/radar mutual exclusion, AGC analysis refactor
Bug #1 — Range calibration for Raw IQ Replay: - Add WaveformConfig dataclass (models.py) with FMCW waveform params (fs, BW, T_chirp, fc) and methods to compute range/velocity resolution - Add waveform parameter spinboxes to playback controls (dashboard.py) - Auto-parse waveform params from ADI phaser filename convention - Create replay-specific RadarSettings with correct calibration instead of using FPGA defaults (781.25 m/bin → 0.334 m/bin for ADI phaser) - Add 4 unit tests validating WaveformConfig math Bug #2 — Demo + radar mutual exclusion: - _start_demo() now refuses if radar is running (_running=True) - _start_radar() stops demo first if _demo_mode is active - Demo buttons disabled while radar/replay is running, re-enabled on stop Bug #3 — Refactor adi_agc_analysis.py: - Remove 60+ lines of duplicated AGC functions (signed_to_encoding, encoding_to_signed, clamp_gain, apply_gain_shift) - Import from v7.agc_sim canonical implementation - Rewrite simulate_agc() to use process_agc_frame() in a loop - Rewrite process_frame_rd() to use quantize_iq() from agc_sim
This commit is contained in:
Jason
@@ -32,83 +32,24 @@ from pathlib import Path
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import matplotlib.pyplot as plt
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import numpy as np
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from v7.agc_sim import (
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encoding_to_signed,
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apply_gain_shift,
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quantize_iq,
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AGCConfig,
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AGCState,
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process_agc_frame,
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)
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# ---------------------------------------------------------------------------
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# FPGA AGC parameters (rx_gain_control.v reset defaults)
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# ---------------------------------------------------------------------------
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AGC_TARGET = 200 # host_agc_target (8-bit, default 200)
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AGC_ATTACK = 1 # host_agc_attack (4-bit, default 1)
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AGC_DECAY = 1 # host_agc_decay (4-bit, default 1)
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AGC_HOLDOFF = 4 # host_agc_holdoff (4-bit, default 4)
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ADC_RAIL = 4095 # 12-bit ADC max absolute value
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# ---------------------------------------------------------------------------
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# Gain encoding helpers (match RTL signed_to_encoding / encoding_to_signed)
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# ---------------------------------------------------------------------------
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def signed_to_encoding(g: int) -> int:
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"""Convert signed gain (-7..+7) to gain_shift[3:0] encoding.
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[3]=0, [2:0]=N → amplify (left shift) by N
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[3]=1, [2:0]=N → attenuate (right shift) by N
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"""
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if g >= 0:
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return g & 0x07
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return 0x08 | ((-g) & 0x07)
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def encoding_to_signed(enc: int) -> int:
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"""Convert gain_shift[3:0] encoding to signed gain."""
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if (enc & 0x08) == 0:
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return enc & 0x07
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return -(enc & 0x07)
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def clamp_gain(val: int) -> int:
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"""Clamp to [-7, +7] (matches RTL clamp_gain function)."""
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return max(-7, min(7, val))
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# ---------------------------------------------------------------------------
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# Apply gain shift to IQ data (matches RTL combinational logic)
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# ---------------------------------------------------------------------------
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def apply_gain_shift(frame_i: np.ndarray, frame_q: np.ndarray,
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gain_enc: int) -> tuple[np.ndarray, np.ndarray, int]:
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"""Apply gain_shift encoding to 16-bit signed IQ arrays.
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Returns (shifted_i, shifted_q, overflow_count).
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Matches the RTL: left shift = amplify, right shift = attenuate,
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saturate to ±32767 on overflow.
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"""
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direction = (gain_enc >> 3) & 1 # 0=amplify, 1=attenuate
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amount = gain_enc & 0x07
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if amount == 0:
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return frame_i.copy(), frame_q.copy(), 0
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if direction == 0:
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# Left shift (amplify)
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si = frame_i.astype(np.int64) * (1 << amount)
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sq = frame_q.astype(np.int64) * (1 << amount)
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else:
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# Arithmetic right shift (attenuate)
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si = frame_i.astype(np.int64) >> amount
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sq = frame_q.astype(np.int64) >> amount
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# Count overflows (post-shift values outside 16-bit signed range)
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overflow_i = (si > 32767) | (si < -32768)
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overflow_q = (sq > 32767) | (sq < -32768)
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overflow_count = int((overflow_i | overflow_q).sum())
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# Saturate to ±32767
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si = np.clip(si, -32768, 32767).astype(np.int16)
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sq = np.clip(sq, -32768, 32767).astype(np.int16)
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return si, sq, overflow_count
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# ---------------------------------------------------------------------------
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# Per-frame AGC simulation (bit-accurate to rx_gain_control.v)
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# Per-frame AGC simulation using v7.agc_sim (bit-accurate to RTL)
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# ---------------------------------------------------------------------------
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def simulate_agc(frames: np.ndarray, agc_enabled: bool = True,
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@@ -126,79 +67,46 @@ def simulate_agc(frames: np.ndarray, agc_enabled: bool = True,
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n_frames = frames.shape[0]
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# Output arrays
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out_gain_enc = np.zeros(n_frames, dtype=int) # gain_shift encoding [3:0]
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out_gain_signed = np.zeros(n_frames, dtype=int) # signed gain for plotting
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out_peak_mag = np.zeros(n_frames, dtype=int) # peak_magnitude[7:0]
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out_sat_count = np.zeros(n_frames, dtype=int) # saturation_count[7:0]
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out_gain_enc = np.zeros(n_frames, dtype=int)
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out_gain_signed = np.zeros(n_frames, dtype=int)
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out_peak_mag = np.zeros(n_frames, dtype=int)
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out_sat_count = np.zeros(n_frames, dtype=int)
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out_sat_rate = np.zeros(n_frames, dtype=float)
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out_rms_post = np.zeros(n_frames, dtype=float) # RMS after gain shift
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out_rms_post = np.zeros(n_frames, dtype=float)
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# AGC internal state
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agc_gain = 0 # signed, -7..+7
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holdoff_counter = 0
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agc_was_enabled = False
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# AGC state — managed by process_agc_frame()
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state = AGCState(
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gain=encoding_to_signed(initial_gain_enc),
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holdoff_counter=0,
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was_enabled=False,
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)
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for i in range(n_frames):
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frame = frames[i]
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# Quantize to 16-bit signed (ADC is 12-bit, sign-extended to 16)
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frame_i = np.clip(np.round(frame.real), -32768, 32767).astype(np.int16)
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frame_q = np.clip(np.round(frame.imag), -32768, 32767).astype(np.int16)
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frame_i, frame_q = quantize_iq(frames[i])
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# --- PRE-gain peak measurement (RTL lines 133-135, 211-213) ---
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abs_i = np.abs(frame_i.astype(np.int32))
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abs_q = np.abs(frame_q.astype(np.int32))
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max_iq = np.maximum(abs_i, abs_q)
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frame_peak_15bit = int(max_iq.max()) # 15-bit unsigned
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peak_8bit = (frame_peak_15bit >> 7) & 0xFF # Upper 8 bits
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# --- Determine effective gain ---
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agc_active = agc_enabled and (i >= enable_at_frame)
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# AGC enable transition (RTL lines 250-253)
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if agc_active and not agc_was_enabled:
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agc_gain = encoding_to_signed(initial_gain_enc)
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holdoff_counter = AGC_HOLDOFF
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# Build per-frame config (enable toggles at enable_at_frame)
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config = AGCConfig(enabled=agc_active)
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effective_enc = signed_to_encoding(agc_gain) if agc_active else initial_gain_enc
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agc_was_enabled = agc_active
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# --- Apply gain shift + count POST-gain overflow (RTL lines 114-126, 207-209) ---
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shifted_i, shifted_q, frame_overflow = apply_gain_shift(
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frame_i, frame_q, effective_enc)
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frame_sat = min(255, frame_overflow)
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result = process_agc_frame(frame_i, frame_q, config, state)
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# RMS of shifted signal
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rms = float(np.sqrt(np.mean(
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shifted_i.astype(np.float64)**2 + shifted_q.astype(np.float64)**2)))
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result.shifted_i.astype(np.float64)**2
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+ result.shifted_q.astype(np.float64)**2)))
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total_samples = frame_i.size + frame_q.size
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sat_rate = frame_overflow / total_samples if total_samples > 0 else 0.0
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sat_rate = result.overflow_raw / total_samples if total_samples > 0 else 0.0
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# --- Record outputs ---
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out_gain_enc[i] = effective_enc
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out_gain_signed[i] = agc_gain if agc_active else encoding_to_signed(initial_gain_enc)
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out_peak_mag[i] = peak_8bit
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out_sat_count[i] = frame_sat
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# Record outputs
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out_gain_enc[i] = result.gain_enc
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out_gain_signed[i] = result.gain_signed
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out_peak_mag[i] = result.peak_mag_8bit
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out_sat_count[i] = result.saturation_count
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out_sat_rate[i] = sat_rate
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out_rms_post[i] = rms
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# --- AGC update at frame boundary (RTL lines 226-246) ---
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if agc_active:
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if frame_sat > 0:
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# Clipping: reduce gain immediately (attack)
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agc_gain = clamp_gain(agc_gain - AGC_ATTACK)
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holdoff_counter = AGC_HOLDOFF
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elif peak_8bit < AGC_TARGET:
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# Signal too weak: increase gain after holdoff
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if holdoff_counter == 0:
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agc_gain = clamp_gain(agc_gain + AGC_DECAY)
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else:
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holdoff_counter -= 1
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else:
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# Good range (peak >= target, no sat): hold, reset holdoff
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holdoff_counter = AGC_HOLDOFF
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return {
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"gain_enc": out_gain_enc,
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"gain_signed": out_gain_signed,
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@@ -217,8 +125,7 @@ def process_frame_rd(frame: np.ndarray, gain_enc: int,
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n_range: int = 64,
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n_doppler: int = 32) -> np.ndarray:
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"""Range-Doppler magnitude for one frame with gain applied."""
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frame_i = np.clip(np.round(frame.real), -32768, 32767).astype(np.int16)
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frame_q = np.clip(np.round(frame.imag), -32768, 32767).astype(np.int16)
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frame_i, frame_q = quantize_iq(frame)
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si, sq, _ = apply_gain_shift(frame_i, frame_q, gain_enc)
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iq = si.astype(np.float64) + 1j * sq.astype(np.float64)
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@@ -69,6 +69,39 @@ class TestRadarSettings(unittest.TestCase):
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self.assertEqual(s.max_distance, 50000)
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class TestWaveformConfig(unittest.TestCase):
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"""WaveformConfig — range/velocity resolution from waveform params."""
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def test_adi_phaser_range_resolution(self):
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"""ADI CN0566 defaults: 4MSPS, 500MHz BW, 300µs chirp, 1079 samples."""
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wf = _models().WaveformConfig() # ADI phaser defaults
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r_res = wf.range_resolution(n_samples=1079)
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# Expected: c * fs / (2 * N * slope) = 3e8 * 4e6 / (2 * 1079 * 1.667e12)
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# ≈ 0.334 m/bin
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self.assertAlmostEqual(r_res, 0.334, places=2)
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def test_adi_phaser_velocity_resolution(self):
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"""ADI phaser: 256 chirps, 1079 samples at 4 MSPS."""
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wf = _models().WaveformConfig()
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v_res = wf.velocity_resolution(n_samples=1079, n_chirps=256)
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# λ * fs / (2 * N * M) = 0.03 * 4e6 / (2 * 1079 * 256) ≈ 0.217 m/s/bin
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self.assertAlmostEqual(v_res, 0.217, places=2)
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def test_max_range(self):
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wf = _models().WaveformConfig()
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max_r = wf.max_range(n_range_bins=64, n_samples=1079)
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# 0.334 * 64 ≈ 21.4 m
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self.assertAlmostEqual(max_r, 21.4, places=0)
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def test_plfm_defaults_differ(self):
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"""PLFM FPGA defaults (781.25 m/bin) must NOT equal ADI phaser."""
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default_settings = _models().RadarSettings()
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wf = _models().WaveformConfig()
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r_res = wf.range_resolution(n_samples=1079)
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self.assertNotAlmostEqual(default_settings.range_resolution, r_res,
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places=0) # 781 vs 0.33
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class TestGPSData(unittest.TestCase):
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def test_to_dict(self):
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g = _models().GPSData(latitude=41.9, longitude=12.5,
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@@ -11,6 +11,7 @@ top-level imports:
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from .models import (
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RadarTarget,
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RadarSettings,
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WaveformConfig,
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GPSData,
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ProcessingConfig,
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TileServer,
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@@ -66,7 +67,7 @@ except ImportError: # PyQt6 not installed (e.g. CI headless runner)
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__all__ = [ # noqa: RUF022
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# models
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"RadarTarget", "RadarSettings", "GPSData", "ProcessingConfig", "TileServer",
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"RadarTarget", "RadarSettings", "WaveformConfig", "GPSData", "ProcessingConfig", "TileServer",
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"DARK_BG", "DARK_FG", "DARK_ACCENT", "DARK_HIGHLIGHT", "DARK_BORDER",
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"DARK_TEXT", "DARK_BUTTON", "DARK_BUTTON_HOVER",
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"DARK_TREEVIEW", "DARK_TREEVIEW_ALT",
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@@ -23,6 +23,7 @@ commands sent over FT2232H.
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"""
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import time
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import re
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import logging
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from collections import deque
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from pathlib import Path
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@@ -43,7 +44,7 @@ from matplotlib.backends.backend_qtagg import FigureCanvasQTAgg
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from matplotlib.figure import Figure
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from .models import (
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RadarTarget, RadarSettings, GPSData, ProcessingConfig,
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RadarTarget, RadarSettings, WaveformConfig, GPSData, ProcessingConfig,
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DARK_BG, DARK_FG, DARK_ACCENT, DARK_HIGHLIGHT, DARK_BORDER,
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DARK_TEXT, DARK_BUTTON, DARK_BUTTON_HOVER,
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DARK_TREEVIEW, DARK_TREEVIEW_ALT,
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@@ -84,6 +85,41 @@ def _make_dspin() -> QDoubleSpinBox:
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return sb
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def _parse_waveform_from_filename(name: str) -> WaveformConfig | None:
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"""Try to extract waveform params from ADI phaser filename convention.
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Expected pattern fragments (order-independent):
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``<N>MSPS`` or ``<N>MSps`` → sample rate in MHz
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``<N>M`` (followed by _ or end) → bandwidth in MHz
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``<N>u`` (followed by _ or end) → chirp duration in µs
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Returns a WaveformConfig with parsed values (defaults for un-parsed),
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or None if nothing recognisable was found.
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"""
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cfg = WaveformConfig() # ADI phaser defaults
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found = False
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# Sample rate: "4MSPS" or "4MSps"
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m = re.search(r"(\d+)M[Ss][Pp][Ss]", name)
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if m:
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cfg.sample_rate_hz = float(m.group(1)) * 1e6
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found = True
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# Bandwidth: "500M" (must NOT be followed by S for MSPS)
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m = re.search(r"(\d+)M(?![Ss])", name)
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if m:
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cfg.bandwidth_hz = float(m.group(1)) * 1e6
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found = True
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# Chirp duration: "300u"
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m = re.search(r"(\d+)u", name)
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if m:
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cfg.chirp_duration_s = float(m.group(1)) * 1e-6
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found = True
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return cfg if found else None
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# =============================================================================
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# Range-Doppler Canvas (matplotlib)
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# =============================================================================
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@@ -483,6 +519,55 @@ class RadarDashboard(QMainWindow):
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self._playback_frame.setVisible(False)
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ctrl_layout.addWidget(self._playback_frame, 2, 0, 1, 10)
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# -- Waveform config row (Raw IQ replay only) -----------------------
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self._waveform_frame = QFrame()
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self._waveform_frame.setStyleSheet(
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f"background-color: {DARK_ACCENT}; border-radius: 4px;")
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wf_layout = QHBoxLayout(self._waveform_frame)
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wf_layout.setContentsMargins(8, 4, 8, 4)
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wf_layout.addWidget(QLabel("Waveform:"))
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wf_layout.addWidget(QLabel("fs (MHz):"))
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self._wf_fs_spin = _make_dspin()
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self._wf_fs_spin.setRange(0.1, 100.0)
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self._wf_fs_spin.setValue(4.0)
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self._wf_fs_spin.setDecimals(2)
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self._wf_fs_spin.setToolTip("ADC sample rate in MHz")
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wf_layout.addWidget(self._wf_fs_spin)
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wf_layout.addWidget(QLabel("BW (MHz):"))
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self._wf_bw_spin = _make_dspin()
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self._wf_bw_spin.setRange(1.0, 5000.0)
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self._wf_bw_spin.setValue(500.0)
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self._wf_bw_spin.setDecimals(1)
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self._wf_bw_spin.setToolTip("Chirp bandwidth in MHz")
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wf_layout.addWidget(self._wf_bw_spin)
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wf_layout.addWidget(QLabel("T (us):"))
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self._wf_chirp_spin = _make_dspin()
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self._wf_chirp_spin.setRange(1.0, 10000.0)
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self._wf_chirp_spin.setValue(300.0)
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self._wf_chirp_spin.setDecimals(1)
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self._wf_chirp_spin.setToolTip("Chirp duration in microseconds")
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wf_layout.addWidget(self._wf_chirp_spin)
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wf_layout.addWidget(QLabel("fc (GHz):"))
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self._wf_fc_spin = _make_dspin()
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self._wf_fc_spin.setRange(0.1, 100.0)
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self._wf_fc_spin.setValue(10.0)
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self._wf_fc_spin.setDecimals(2)
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self._wf_fc_spin.setToolTip("Carrier frequency in GHz")
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wf_layout.addWidget(self._wf_fc_spin)
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self._wf_res_label = QLabel("")
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self._wf_res_label.setStyleSheet(f"color: {DARK_INFO}; font-size: 10px;")
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wf_layout.addWidget(self._wf_res_label)
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wf_layout.addStretch()
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self._waveform_frame.setVisible(False)
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ctrl_layout.addWidget(self._waveform_frame, 3, 0, 1, 10)
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layout.addWidget(ctrl)
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# ---- Display area (range-doppler + targets table) ------------------
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@@ -1294,6 +1379,10 @@ class RadarDashboard(QMainWindow):
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def _start_radar(self):
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"""Start radar data acquisition using production protocol."""
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# Mutual exclusion: stop demo if running
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if self._demo_mode:
|
||||
self._stop_demo()
|
||||
|
||||
try:
|
||||
mode = self._mode_combo.currentText()
|
||||
|
||||
@@ -1362,6 +1451,8 @@ class RadarDashboard(QMainWindow):
|
||||
self._start_btn.setEnabled(False)
|
||||
self._stop_btn.setEnabled(True)
|
||||
self._mode_combo.setEnabled(False)
|
||||
self._demo_btn_main.setEnabled(False)
|
||||
self._demo_btn_map.setEnabled(False)
|
||||
self._status_label_main.setText(f"Status: Running ({mode})")
|
||||
self._sb_status.setText(f"Running ({mode})")
|
||||
self._sb_mode.setText(mode)
|
||||
@@ -1413,7 +1504,10 @@ class RadarDashboard(QMainWindow):
|
||||
self._start_btn.setEnabled(True)
|
||||
self._stop_btn.setEnabled(False)
|
||||
self._mode_combo.setEnabled(True)
|
||||
self._demo_btn_main.setEnabled(True)
|
||||
self._demo_btn_map.setEnabled(True)
|
||||
self._playback_frame.setVisible(False)
|
||||
self._waveform_frame.setVisible(False)
|
||||
self._pb_play_btn.setText("Play")
|
||||
self._pb_frame_label.setText("Frame: 0 / 0")
|
||||
self._pb_file_label.setText("")
|
||||
@@ -1441,9 +1535,44 @@ class RadarDashboard(QMainWindow):
|
||||
self._replay_controller = RawIQReplayController()
|
||||
info = self._replay_controller.load_file(npy_path)
|
||||
|
||||
# -- Waveform calibration: try to parse from filename -----------
|
||||
parsed_wf = _parse_waveform_from_filename(Path(npy_path).name)
|
||||
if parsed_wf is not None:
|
||||
self._wf_fs_spin.setValue(parsed_wf.sample_rate_hz / 1e6)
|
||||
self._wf_bw_spin.setValue(parsed_wf.bandwidth_hz / 1e6)
|
||||
self._wf_chirp_spin.setValue(parsed_wf.chirp_duration_s / 1e-6)
|
||||
self._wf_fc_spin.setValue(parsed_wf.center_freq_hz / 1e9)
|
||||
logger.info("Waveform params parsed from filename: %s", parsed_wf)
|
||||
|
||||
# Build waveform config from (possibly updated) spinboxes
|
||||
wfc = self._waveform_config_from_ui()
|
||||
range_res = wfc.range_resolution(info.n_samples)
|
||||
vel_res = wfc.velocity_resolution(info.n_samples, info.n_chirps)
|
||||
n_range_out = min(64, info.n_samples)
|
||||
max_range = range_res * n_range_out
|
||||
|
||||
# Create replay-specific RadarSettings with correct calibration
|
||||
replay_settings = RadarSettings(
|
||||
system_frequency=wfc.center_freq_hz,
|
||||
range_resolution=range_res,
|
||||
velocity_resolution=vel_res,
|
||||
max_distance=max_range,
|
||||
map_size=max_range * 1.2,
|
||||
coverage_radius=max_range * 1.2,
|
||||
)
|
||||
logger.info(
|
||||
"Replay calibration: range_res=%.4f m/bin, vel_res=%.4f m/s/bin, "
|
||||
"max_range=%.1f m",
|
||||
range_res, vel_res, max_range,
|
||||
)
|
||||
|
||||
# Update coverage/map spinboxes to match replay scale
|
||||
self._coverage_spin.setValue(replay_settings.coverage_radius / 1000)
|
||||
self._update_waveform_res_label(info.n_samples, info.n_chirps)
|
||||
|
||||
# Create frame processor
|
||||
self._iq_processor = RawIQFrameProcessor(
|
||||
n_range_out=min(64, info.n_samples),
|
||||
n_range_out=n_range_out,
|
||||
n_doppler_out=min(32, info.n_chirps),
|
||||
)
|
||||
|
||||
@@ -1493,7 +1622,7 @@ class RadarDashboard(QMainWindow):
|
||||
controller=self._replay_controller,
|
||||
processor=self._iq_processor,
|
||||
host_processor=self._processor,
|
||||
settings=self._settings,
|
||||
settings=replay_settings,
|
||||
gps_data_ref=self._radar_position,
|
||||
)
|
||||
self._replay_worker.frameReady.connect(self._on_frame_ready)
|
||||
@@ -1518,7 +1647,10 @@ class RadarDashboard(QMainWindow):
|
||||
self._start_btn.setEnabled(False)
|
||||
self._stop_btn.setEnabled(True)
|
||||
self._mode_combo.setEnabled(False)
|
||||
self._demo_btn_main.setEnabled(False)
|
||||
self._demo_btn_map.setEnabled(False)
|
||||
self._playback_frame.setVisible(True)
|
||||
self._waveform_frame.setVisible(True)
|
||||
self._pb_frame_label.setText(f"Frame: 0 / {info.n_frames}")
|
||||
self._pb_file_label.setText(
|
||||
f"{Path(npy_path).name} "
|
||||
@@ -1568,6 +1700,27 @@ class RadarDashboard(QMainWindow):
|
||||
if self._replay_controller is not None:
|
||||
self._replay_controller.set_loop(checked)
|
||||
|
||||
def _waveform_config_from_ui(self) -> WaveformConfig:
|
||||
"""Build a WaveformConfig from the waveform spinboxes."""
|
||||
return WaveformConfig(
|
||||
sample_rate_hz=self._wf_fs_spin.value() * 1e6,
|
||||
bandwidth_hz=self._wf_bw_spin.value() * 1e6,
|
||||
chirp_duration_s=self._wf_chirp_spin.value() * 1e-6,
|
||||
center_freq_hz=self._wf_fc_spin.value() * 1e9,
|
||||
)
|
||||
|
||||
def _update_waveform_res_label(self, n_samples: int, n_chirps: int) -> None:
|
||||
"""Update the waveform resolution info label."""
|
||||
wfc = self._waveform_config_from_ui()
|
||||
r_res = wfc.range_resolution(n_samples)
|
||||
v_res = wfc.velocity_resolution(n_samples, n_chirps)
|
||||
n_r = min(64, n_samples)
|
||||
max_r = r_res * n_r
|
||||
self._wf_res_label.setText(
|
||||
f"Range: {r_res:.3f} m/bin | Vel: {v_res:.3f} m/s/bin | "
|
||||
f"Max range: {max_r:.1f} m ({n_r} bins)"
|
||||
)
|
||||
|
||||
@pyqtSlot(str)
|
||||
def _on_playback_state_changed(self, state_str: str):
|
||||
if state_str == "playing":
|
||||
@@ -1591,6 +1744,10 @@ class RadarDashboard(QMainWindow):
|
||||
def _start_demo(self):
|
||||
if self._simulator:
|
||||
return
|
||||
# Mutual exclusion: do not start demo while radar/replay is running
|
||||
if self._running:
|
||||
logger.warning("Cannot start demo while radar is running")
|
||||
return
|
||||
self._simulator = TargetSimulator(self._radar_position, self)
|
||||
self._simulator.targetsUpdated.connect(self._on_demo_targets)
|
||||
self._simulator.start(500)
|
||||
|
||||
@@ -96,6 +96,47 @@ class RadarTarget:
|
||||
return asdict(self)
|
||||
|
||||
|
||||
@dataclass
|
||||
class WaveformConfig:
|
||||
"""FMCW waveform parameters for bin-to-physical-unit conversion.
|
||||
|
||||
Defaults are for the ADI CN0566 phaser (10 GHz, 500 MHz BW, 300 µs chirp,
|
||||
4 MSPS ADC). For the PLFM FPGA waveform the values differ — but the FPGA
|
||||
pipeline hardcodes its own bin widths, so this config is only used for
|
||||
Raw IQ Replay (host-side FFT processing).
|
||||
"""
|
||||
sample_rate_hz: float = 4e6 # ADC sample rate (Hz)
|
||||
bandwidth_hz: float = 500e6 # Chirp bandwidth (Hz)
|
||||
chirp_duration_s: float = 300e-6 # Chirp sweep time (s)
|
||||
center_freq_hz: float = 10e9 # Carrier frequency (Hz)
|
||||
|
||||
# --- derived quantities (need n_samples, n_chirps from file) ---
|
||||
|
||||
def range_resolution(self, n_samples: int) -> float:
|
||||
"""Metres per range bin for an N-point range FFT.
|
||||
|
||||
range_per_bin = c · fs / (2 · N · slope)
|
||||
where slope = BW / T_chirp.
|
||||
"""
|
||||
c = 299_792_458.0
|
||||
slope = self.bandwidth_hz / self.chirp_duration_s
|
||||
return c * self.sample_rate_hz / (2.0 * n_samples * slope)
|
||||
|
||||
def velocity_resolution(self, n_samples: int, n_chirps: int) -> float:
|
||||
"""m/s per Doppler bin for an M-chirp Doppler FFT.
|
||||
|
||||
vel_per_bin = λ · fs / (2 · N · M)
|
||||
where λ = c / fc, N = n_samples (PRI = N/fs), M = n_chirps.
|
||||
"""
|
||||
c = 299_792_458.0
|
||||
wavelength = c / self.center_freq_hz
|
||||
return wavelength * self.sample_rate_hz / (2.0 * n_samples * n_chirps)
|
||||
|
||||
def max_range(self, n_range_bins: int, n_samples: int) -> float:
|
||||
"""Maximum unambiguous range for the given bin count."""
|
||||
return self.range_resolution(n_samples) * n_range_bins
|
||||
|
||||
|
||||
@dataclass
|
||||
class RadarSettings:
|
||||
"""Radar system display/map configuration.
|
||||
|
||||
Reference in New Issue
Block a user