diff --git a/.github/workflows/ci-tests.yml b/.github/workflows/ci-tests.yml index 46d7396..33db606 100644 --- a/.github/workflows/ci-tests.yml +++ b/.github/workflows/ci-tests.yml @@ -46,7 +46,9 @@ jobs: - name: Unit tests run: > uv run pytest - 9_Firmware/9_3_GUI/test_radar_dashboard.py -v --tb=short + 9_Firmware/9_3_GUI/test_radar_dashboard.py + 9_Firmware/9_3_GUI/test_v7.py + -v --tb=short # =========================================================================== # MCU Firmware Unit Tests (20 tests) @@ -82,3 +84,33 @@ jobs: - name: Run full FPGA regression run: bash run_regression.sh working-directory: 9_Firmware/9_2_FPGA + + # =========================================================================== + # Cross-Layer Contract Tests (Python ↔ Verilog ↔ C) + # Validates opcode maps, bit widths, packet layouts, and round-trip + # correctness across FPGA RTL, Python GUI, and STM32 firmware. + # =========================================================================== + cross-layer-tests: + name: Cross-Layer Contract Tests + runs-on: ubuntu-latest + + steps: + - uses: actions/checkout@v4 + + - uses: actions/setup-python@v5 + with: + python-version: "3.12" + + - uses: astral-sh/setup-uv@v5 + + - name: Install dependencies + run: uv sync --group dev + + - name: Install Icarus Verilog + run: sudo apt-get update && sudo apt-get install -y iverilog + + - name: Run cross-layer contract tests + run: > + uv run pytest + 9_Firmware/tests/cross_layer/test_cross_layer_contract.py + -v --tb=short diff --git a/5_Simulations/AAF_openEMS/aaf_simulation.py b/5_Simulations/AAF_openEMS/aaf_simulation.py new file mode 100644 index 0000000..b456d65 --- /dev/null +++ b/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' +) diff --git a/5_Simulations/Antenna/Quartz_Waveguide.py b/5_Simulations/Antenna/Quartz_Waveguide.py index 3b37b39..15a7cac 100644 --- a/5_Simulations/Antenna/Quartz_Waveguide.py +++ b/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) diff --git a/5_Simulations/Antenna/openems_quartz_slotted_wg_10p5GHz.py b/5_Simulations/Antenna/openems_quartz_slotted_wg_10p5GHz.py index fbdabae..374902a 100644 --- a/5_Simulations/Antenna/openems_quartz_slotted_wg_10p5GHz.py +++ b/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 +freq = np.linspace(f_start, f_stop, profiles[PROFILE]["freq_pts"]) +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) diff --git a/5_Simulations/DAC_ReconstructionFilter/Generate_ChirpcsvFile.py b/5_Simulations/DAC_ReconstructionFilter/Generate_ChirpcsvFile.py index c264832..395dd1f 100644 --- a/5_Simulations/DAC_ReconstructionFilter/Generate_ChirpcsvFile.py +++ b/5_Simulations/DAC_ReconstructionFilter/Generate_ChirpcsvFile.py @@ -68,14 +68,8 @@ 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: + if show_plot or save_plot_png: # Choose plotting vectors (use raw DAC samples to keep lines crisp) t_plot = t y_plot = y @@ -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: diff --git a/5_Simulations/Fencing/Via_fencing.py b/5_Simulations/Fencing/Via_fencing.py index 6ad51ca..01e64f1 100644 --- a/5_Simulations/Fencing/Via_fencing.py +++ b/5_Simulations/Fencing/Via_fencing.py @@ -1,7 +1,6 @@ import matplotlib.pyplot as plt -# Dimensions (all in mm) -line_width = 0.204 +line_width = 0.204 substrate_height = 0.102 via_drill = 0.20 via_pad_A = 0.20 # minimal pad case diff --git a/5_Simulations/Fencing/Via_fencing2.py b/5_Simulations/Fencing/Via_fencing2.py index 0fe75ae..2f49051 100644 --- a/5_Simulations/Fencing/Via_fencing2.py +++ b/5_Simulations/Fencing/Via_fencing2.py @@ -1,7 +1,6 @@ import matplotlib.pyplot as plt -# Dimensions (all in mm) -line_width = 0.204 +line_width = 0.204 via_pad_A = 0.20 via_pad_B = 0.45 polygon_offset = 0.30 @@ -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" ) diff --git a/5_Simulations/array_pattern_Kaiser25dB_like.py b/5_Simulations/array_pattern_Kaiser25dB_like.py index df06583..3e5106f 100644 --- a/5_Simulations/array_pattern_Kaiser25dB_like.py +++ b/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' -) diff --git a/8_Utils/Python/CSV_radar.py b/8_Utils/Python/CSV_radar.py index 7e85ffb..5484c17 100644 --- a/8_Utils/Python/CSV_radar.py +++ b/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'] - short_chirps = df[df['chirp_type'] == 'SHORT'] + df[df['chirp_type'] == 'LONG'] + 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'] - short_targets = targets_detected[targets_detected['chirp_type'] == 'SHORT'] + targets_detected[targets_detected['chirp_type'] == 'LONG'] + 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") diff --git a/8_Utils/Python/CSV_radar_2.py b/8_Utils/Python/CSV_radar_2.py index 8aeebd5..9510e6d 100644 --- a/8_Utils/Python/CSV_radar_2.py +++ b/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() diff --git a/8_Utils/Python/Generic_Triangular_Frequency.py b/8_Utils/Python/Generic_Triangular_Frequency.py index f027403..62315a6 100644 --- a/8_Utils/Python/Generic_Triangular_Frequency.py +++ b/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) diff --git a/8_Utils/Python/LUT.py b/8_Utils/Python/LUT.py index ca11e6e..56a4cb1 100644 --- a/8_Utils/Python/LUT.py +++ b/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): - print(f"waveform_LUT[{i}] = 8'h{y_scaled[i]:02X};") +for _i in range(n): + pass diff --git a/8_Utils/Python/RADAR_eq.py b/8_Utils/Python/RADAR_eq.py index 60ce3a7..d0ecd41 100644 --- a/8_Utils/Python/RADAR_eq.py +++ b/8_Utils/Python/RADAR_eq.py @@ -58,10 +58,10 @@ class RadarCalculatorGUI: scrollbar = ttk.Scrollbar(self.input_frame, orient="vertical", command=canvas.yview) scrollable_frame = ttk.Frame(canvas) - scrollable_frame.bind( - "", - lambda e: canvas.configure(scrollregion=canvas.bbox("all")) - ) + scrollable_frame.bind( + "", + lambda _e: canvas.configure(scrollregion=canvas.bbox("all")) + ) canvas.create_window((0, 0), window=scrollable_frame, anchor="nw") canvas.configure(yscrollcommand=scrollbar.set) @@ -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("", lambda e: calculate_btn.config(bg='#45a049')) - calculate_btn.bind("", lambda e: calculate_btn.config(bg='#4CAF50')) + calculate_btn.bind("", lambda _e: calculate_btn.config(bg='#45a049')) + calculate_btn.bind("", lambda _e: calculate_btn.config(bg='#4CAF50')) def create_results_display(self): """Create the results display area""" @@ -135,10 +135,10 @@ class RadarCalculatorGUI: scrollbar = ttk.Scrollbar(self.results_frame, orient="vertical", command=canvas.yview) scrollable_frame = ttk.Frame(canvas) - scrollable_frame.bind( - "", - lambda e: canvas.configure(scrollregion=canvas.bbox("all")) - ) + scrollable_frame.bind( + "", + lambda _e: canvas.configure(scrollregion=canvas.bbox("all")) + ) canvas.create_window((0, 0), window=scrollable_frame, anchor="nw") canvas.configure(yscrollcommand=scrollbar.set) @@ -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 - • Maximum unambiguous range = c / (2 × PRF) - • Maximum detectable speed = λ × PRF / 4 - • Speed resolution = λ × PRF / (2 × N) where N is number of pulses (assumed 1) + • Range resolution = c x τ / 2, where τ is pulse duration + • Maximum unambiguous range = c / (2 x PRF) + • Maximum detectable speed = λ x PRF / 4 + • 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(): diff --git a/8_Utils/Python/patch_antenna.py b/8_Utils/Python/patch_antenna.py index 85dd886..7e31c49 100644 --- a/8_Utils/Python/patch_antenna.py +++ b/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") diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_AGC.cpp b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_AGC.cpp new file mode 100644 index 0000000..0d4d477 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_AGC.cpp @@ -0,0 +1,116 @@ +// ADAR1000_AGC.cpp -- STM32 outer-loop AGC implementation +// +// See ADAR1000_AGC.h for architecture overview. + +#include "ADAR1000_AGC.h" +#include "ADAR1000_Manager.h" +#include "diag_log.h" + +#include + +// --------------------------------------------------------------------------- +// Constructor -- set all config fields to safe defaults +// --------------------------------------------------------------------------- +ADAR1000_AGC::ADAR1000_AGC() + : agc_base_gain(ADAR1000Manager::kDefaultRxVgaGain) // 30 + , gain_step_down(4) + , gain_step_up(1) + , min_gain(0) + , max_gain(127) + , holdoff_frames(4) + , enabled(true) + , holdoff_counter(0) + , last_saturated(false) + , saturation_event_count(0) +{ + memset(cal_offset, 0, sizeof(cal_offset)); +} + +// --------------------------------------------------------------------------- +// update -- called once per frame with the FPGA DIG_5 saturation flag +// +// Returns true if agc_base_gain changed (caller should then applyGain). +// --------------------------------------------------------------------------- +void ADAR1000_AGC::update(bool fpga_saturation) +{ + if (!enabled) + return; + + last_saturated = fpga_saturation; + + if (fpga_saturation) { + // Attack: reduce gain immediately + saturation_event_count++; + holdoff_counter = 0; + + if (agc_base_gain >= gain_step_down + min_gain) { + agc_base_gain -= gain_step_down; + } else { + agc_base_gain = min_gain; + } + + DIAG("AGC", "SAT detected -- gain_base -> %u (events=%lu)", + (unsigned)agc_base_gain, (unsigned long)saturation_event_count); + + } else { + // Recovery: wait for holdoff, then increase gain + holdoff_counter++; + + if (holdoff_counter >= holdoff_frames) { + holdoff_counter = 0; + + if (agc_base_gain + gain_step_up <= max_gain) { + agc_base_gain += gain_step_up; + } else { + agc_base_gain = max_gain; + } + + DIAG("AGC", "Recovery step -- gain_base -> %u", (unsigned)agc_base_gain); + } + } +} + +// --------------------------------------------------------------------------- +// applyGain -- write effective gain to all 16 RX VGA channels +// +// Uses the Manager's adarSetRxVgaGain which takes 1-based channel indices +// (matching the convention in setBeamAngle). +// --------------------------------------------------------------------------- +void ADAR1000_AGC::applyGain(ADAR1000Manager &mgr) +{ + for (uint8_t dev = 0; dev < AGC_NUM_DEVICES; ++dev) { + for (uint8_t ch = 0; ch < AGC_NUM_CHANNELS; ++ch) { + uint8_t gain = effectiveGain(dev * AGC_NUM_CHANNELS + ch); + // Channel parameter is 1-based per Manager convention + mgr.adarSetRxVgaGain(dev, ch + 1, gain, BROADCAST_OFF); + } + } +} + +// --------------------------------------------------------------------------- +// resetState -- clear runtime counters, preserve configuration +// --------------------------------------------------------------------------- +void ADAR1000_AGC::resetState() +{ + holdoff_counter = 0; + last_saturated = false; + saturation_event_count = 0; +} + +// --------------------------------------------------------------------------- +// effectiveGain -- compute clamped per-channel gain +// --------------------------------------------------------------------------- +uint8_t ADAR1000_AGC::effectiveGain(uint8_t channel_index) const +{ + if (channel_index >= AGC_TOTAL_CHANNELS) + return min_gain; // safety fallback — OOB channels get minimum gain + + int16_t raw = static_cast(agc_base_gain) + cal_offset[channel_index]; + + if (raw < static_cast(min_gain)) + return min_gain; + if (raw > static_cast(max_gain)) + return max_gain; + + return static_cast(raw); +} diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_AGC.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_AGC.h new file mode 100644 index 0000000..bf534fd --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_AGC.h @@ -0,0 +1,97 @@ +// ADAR1000_AGC.h -- STM32 outer-loop AGC for ADAR1000 RX VGA gain +// +// Adjusts the analog VGA common-mode gain on each ADAR1000 RX channel based on +// the FPGA's saturation flag (DIG_5 / PD13). Runs once per radar frame +// (~258 ms) in the main loop, after runRadarPulseSequence(). +// +// Architecture: +// - Inner loop (FPGA, per-sample): rx_gain_control auto-adjusts digital +// gain_shift based on peak magnitude / saturation. Range ±42 dB. +// - Outer loop (THIS MODULE, per-frame): reads FPGA DIG_5 GPIO. If +// saturation detected, reduces agc_base_gain immediately (attack). If no +// saturation for holdoff_frames, increases agc_base_gain (decay/recovery). +// +// Per-channel gain formula: +// VGA[dev][ch] = clamp(agc_base_gain + cal_offset[dev*4+ch], min_gain, max_gain) +// +// The cal_offset array allows per-element calibration to correct inter-channel +// gain imbalance. Default is all zeros (uniform gain). + +#ifndef ADAR1000_AGC_H +#define ADAR1000_AGC_H + +#include + +// Forward-declare to avoid pulling in the full ADAR1000_Manager header here. +// The .cpp includes the real header. +class ADAR1000Manager; + +// Number of ADAR1000 devices +#define AGC_NUM_DEVICES 4 +// Number of channels per ADAR1000 +#define AGC_NUM_CHANNELS 4 +// Total RX channels +#define AGC_TOTAL_CHANNELS (AGC_NUM_DEVICES * AGC_NUM_CHANNELS) + +class ADAR1000_AGC { +public: + // --- Configuration (public for easy field-testing / GUI override) --- + + // Common-mode base gain (raw ADAR1000 register value, 0-255). + // Default matches ADAR1000Manager::kDefaultRxVgaGain = 30. + uint8_t agc_base_gain; + + // Per-channel calibration offset (signed, added to agc_base_gain). + // Index = device*4 + channel. Default: all 0. + int8_t cal_offset[AGC_TOTAL_CHANNELS]; + + // How much to decrease agc_base_gain per frame when saturated (attack). + uint8_t gain_step_down; + + // How much to increase agc_base_gain per frame when recovering (decay). + uint8_t gain_step_up; + + // Minimum allowed agc_base_gain (floor). + uint8_t min_gain; + + // Maximum allowed agc_base_gain (ceiling). + uint8_t max_gain; + + // Number of consecutive non-saturated frames required before gain-up. + uint8_t holdoff_frames; + + // Master enable. When false, update() is a no-op. + bool enabled; + + // --- Runtime state (read-only for diagnostics) --- + + // Consecutive non-saturated frame counter (resets on saturation). + uint8_t holdoff_counter; + + // True if the last update() saw saturation. + bool last_saturated; + + // Total saturation events since reset/construction. + uint32_t saturation_event_count; + + // --- Methods --- + + ADAR1000_AGC(); + + // Call once per frame after runRadarPulseSequence(). + // fpga_saturation: result of HAL_GPIO_ReadPin(GPIOD, GPIO_PIN_13) == GPIO_PIN_SET + void update(bool fpga_saturation); + + // Apply the current gain to all 16 RX VGA channels via the Manager. + void applyGain(ADAR1000Manager &mgr); + + // Reset runtime state (holdoff counter, saturation count) without + // changing configuration. + void resetState(); + + // Compute the effective gain for a specific channel index (0-15), + // clamped to [min_gain, max_gain]. Useful for diagnostics. + uint8_t effectiveGain(uint8_t channel_index) const; +}; + +#endif // ADAR1000_AGC_H diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.cpp b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.cpp index df34c25..be6f9bd 100644 --- a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.cpp +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.cpp @@ -7,8 +7,8 @@ RadarSettings::RadarSettings() { void RadarSettings::resetToDefaults() { system_frequency = 10.0e9; // 10 GHz - chirp_duration_1 = 30.0e-6; // 30 s - chirp_duration_2 = 0.5e-6; // 0.5 s + chirp_duration_1 = 30.0e-6; // 30 �s + chirp_duration_2 = 0.5e-6; // 0.5 �s chirps_per_position = 32; freq_min = 10.0e6; // 10 MHz freq_max = 30.0e6; // 30 MHz @@ -21,8 +21,8 @@ void RadarSettings::resetToDefaults() { } bool RadarSettings::parseFromUSB(const uint8_t* data, uint32_t length) { - // Minimum packet size: "SET" + 8 doubles + 1 uint32_t + "END" = 3 + 8*8 + 4 + 3 = 74 bytes - if (data == nullptr || length < 74) { + // Minimum packet size: "SET" + 9 doubles + 1 uint32_t + "END" = 3 + 9*8 + 4 + 3 = 82 bytes + if (data == nullptr || length < 82) { settings_valid = false; return false; } diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.cpp b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.cpp index d689365..6410153 100644 --- a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.cpp +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.cpp @@ -43,6 +43,11 @@ void USBHandler::processStartFlag(const uint8_t* data, uint32_t length) { // Start flag: bytes [23, 46, 158, 237] const uint8_t START_FLAG[] = {23, 46, 158, 237}; + // Guard: need at least 4 bytes to contain a start flag. + // Without this, length - 4 wraps to ~4 billion (uint32_t unsigned underflow) + // and the loop reads far past the buffer boundary. + if (length < 4) return; + // Check if start flag is in the received data for (uint32_t i = 0; i <= length - 4; i++) { if (memcmp(data + i, START_FLAG, 4) == 0) { diff --git a/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp b/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp index b11cf02..09468d0 100644 --- a/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp +++ b/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp @@ -23,6 +23,7 @@ #include "usbd_cdc_if.h" #include "adar1000.h" #include "ADAR1000_Manager.h" +#include "ADAR1000_AGC.h" extern "C" { #include "ad9523.h" } @@ -224,6 +225,7 @@ extern SPI_HandleTypeDef hspi4; //ADAR1000 ADAR1000Manager adarManager; +ADAR1000_AGC outerAgc; static uint8_t matrix1[15][16]; static uint8_t matrix2[15][16]; static uint8_t vector_0[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; @@ -639,6 +641,7 @@ SystemError_t checkSystemHealth(void) { if (s0 == GPIO_PIN_RESET || s1 == GPIO_PIN_RESET) { current_error = ERROR_AD9523_CLOCK; DIAG_ERR("CLK", "AD9523 clock health check FAILED (STATUS0=%d STATUS1=%d)", s0, s1); + return current_error; } last_clock_check = HAL_GetTick(); } @@ -649,10 +652,12 @@ SystemError_t checkSystemHealth(void) { if (!tx_locked) { current_error = ERROR_ADF4382_TX_UNLOCK; DIAG_ERR("LO", "Health check: TX LO UNLOCKED"); + return current_error; } if (!rx_locked) { current_error = ERROR_ADF4382_RX_UNLOCK; DIAG_ERR("LO", "Health check: RX LO UNLOCKED"); + return current_error; } } @@ -661,14 +666,14 @@ SystemError_t checkSystemHealth(void) { if (!adarManager.verifyDeviceCommunication(i)) { current_error = ERROR_ADAR1000_COMM; DIAG_ERR("BF", "Health check: ADAR1000 #%d comm FAILED", i); - break; + return current_error; } float temp = adarManager.readTemperature(i); if (temp > 85.0f) { current_error = ERROR_ADAR1000_TEMP; DIAG_ERR("BF", "Health check: ADAR1000 #%d OVERTEMP %.1fC > 85C", i, temp); - break; + return current_error; } } @@ -678,6 +683,7 @@ SystemError_t checkSystemHealth(void) { if (!GY85_Update(&imu)) { current_error = ERROR_IMU_COMM; DIAG_ERR("IMU", "Health check: GY85_Update() FAILED"); + return current_error; } last_imu_check = HAL_GetTick(); } @@ -689,6 +695,7 @@ SystemError_t checkSystemHealth(void) { if (pressure < 30000.0 || pressure > 110000.0 || isnan(pressure)) { current_error = ERROR_BMP180_COMM; DIAG_ERR("SYS", "Health check: BMP180 pressure out of range: %.0f", pressure); + return current_error; } last_bmp_check = HAL_GetTick(); } @@ -701,6 +708,7 @@ SystemError_t checkSystemHealth(void) { if (HAL_GetTick() - last_gps_fix > 30000) { current_error = ERROR_GPS_COMM; DIAG_WARN("SYS", "Health check: GPS no fix for >30s"); + return current_error; } // 7. Check RF Power Amplifier Current @@ -709,12 +717,12 @@ SystemError_t checkSystemHealth(void) { if (Idq_reading[i] > 2.5f) { current_error = ERROR_RF_PA_OVERCURRENT; DIAG_ERR("PA", "Health check: PA ch%d OVERCURRENT Idq=%.3fA > 2.5A", i, Idq_reading[i]); - break; + return current_error; } if (Idq_reading[i] < 0.1f) { current_error = ERROR_RF_PA_BIAS; DIAG_ERR("PA", "Health check: PA ch%d BIAS FAULT Idq=%.3fA < 0.1A", i, Idq_reading[i]); - break; + return current_error; } } } @@ -723,6 +731,7 @@ SystemError_t checkSystemHealth(void) { if (temperature > 75.0f) { current_error = ERROR_TEMPERATURE_HIGH; DIAG_ERR("SYS", "Health check: System OVERTEMP %.1fC > 75C", temperature); + return current_error; } // 9. Simple watchdog check @@ -730,6 +739,7 @@ SystemError_t checkSystemHealth(void) { if (HAL_GetTick() - last_health_check > 60000) { current_error = ERROR_WATCHDOG_TIMEOUT; DIAG_ERR("SYS", "Health check: Watchdog timeout (>60s since last check)"); + return current_error; } last_health_check = HAL_GetTick(); @@ -919,38 +929,41 @@ bool checkSystemHealthStatus(void) { // Get system status for GUI // Get system status for GUI with 8 temperature variables void getSystemStatusForGUI(char* status_buffer, size_t buffer_size) { - char temp_buffer[200]; - char final_status[500] = "System Status: "; + // Build status string directly in the output buffer using offset-tracked + // snprintf. Each call returns the number of chars written (excluding NUL), + // so we advance 'off' and shrink 'rem' to guarantee we never overflow. + size_t off = 0; + size_t rem = buffer_size; + int w; // Basic status if (system_emergency_state) { - strcat(final_status, "EMERGENCY_STOP|"); + w = snprintf(status_buffer + off, rem, "System Status: EMERGENCY_STOP|"); } else { - strcat(final_status, "NORMAL|"); + w = snprintf(status_buffer + off, rem, "System Status: NORMAL|"); } + if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; } // Error information - snprintf(temp_buffer, sizeof(temp_buffer), "LastError:%d|ErrorCount:%lu|", - last_error, error_count); - strcat(final_status, temp_buffer); + w = snprintf(status_buffer + off, rem, "LastError:%d|ErrorCount:%lu|", + last_error, error_count); + if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; } // Sensor status - snprintf(temp_buffer, sizeof(temp_buffer), "IMU:%.1f,%.1f,%.1f|GPS:%.6f,%.6f|ALT:%.1f|", - Pitch_Sensor, Roll_Sensor, Yaw_Sensor, - RADAR_Latitude, RADAR_Longitude, RADAR_Altitude); - strcat(final_status, temp_buffer); + w = snprintf(status_buffer + off, rem, "IMU:%.1f,%.1f,%.1f|GPS:%.6f,%.6f|ALT:%.1f|", + Pitch_Sensor, Roll_Sensor, Yaw_Sensor, + RADAR_Latitude, RADAR_Longitude, RADAR_Altitude); + if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; } // LO Status bool tx_locked, rx_locked; ADF4382A_CheckLockStatus(&lo_manager, &tx_locked, &rx_locked); - snprintf(temp_buffer, sizeof(temp_buffer), "LO_TX:%s|LO_RX:%s|", - tx_locked ? "LOCKED" : "UNLOCKED", - rx_locked ? "LOCKED" : "UNLOCKED"); - strcat(final_status, temp_buffer); + w = snprintf(status_buffer + off, rem, "LO_TX:%s|LO_RX:%s|", + tx_locked ? "LOCKED" : "UNLOCKED", + rx_locked ? "LOCKED" : "UNLOCKED"); + if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; } // Temperature readings (8 variables) - // You'll need to populate these temperature values from your sensors - // For now, I'll show how to format them - replace with actual temperature readings Temperature_1 = ADS7830_Measure_SingleEnded(&hadc3, 0); Temperature_2 = ADS7830_Measure_SingleEnded(&hadc3, 1); Temperature_3 = ADS7830_Measure_SingleEnded(&hadc3, 2); @@ -961,11 +974,11 @@ void getSystemStatusForGUI(char* status_buffer, size_t buffer_size) { Temperature_8 = ADS7830_Measure_SingleEnded(&hadc3, 7); // Format all 8 temperature variables - snprintf(temp_buffer, sizeof(temp_buffer), - "T1:%.1f|T2:%.1f|T3:%.1f|T4:%.1f|T5:%.1f|T6:%.1f|T7:%.1f|T8:%.1f|", - Temperature_1, Temperature_2, Temperature_3, Temperature_4, - Temperature_5, Temperature_6, Temperature_7, Temperature_8); - strcat(final_status, temp_buffer); + w = snprintf(status_buffer + off, rem, + "T1:%.1f|T2:%.1f|T3:%.1f|T4:%.1f|T5:%.1f|T6:%.1f|T7:%.1f|T8:%.1f|", + Temperature_1, Temperature_2, Temperature_3, Temperature_4, + Temperature_5, Temperature_6, Temperature_7, Temperature_8); + if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; } // RF Power Amplifier status (if enabled) if (PowerAmplifier) { @@ -975,18 +988,17 @@ void getSystemStatusForGUI(char* status_buffer, size_t buffer_size) { } avg_current /= 16.0f; - snprintf(temp_buffer, sizeof(temp_buffer), "PA_AvgCurrent:%.2f|PA_Enabled:%d|", - avg_current, PowerAmplifier); - strcat(final_status, temp_buffer); + w = snprintf(status_buffer + off, rem, "PA_AvgCurrent:%.2f|PA_Enabled:%d|", + avg_current, PowerAmplifier); + if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; } } // Radar operation status - snprintf(temp_buffer, sizeof(temp_buffer), "BeamPos:%d|Azimuth:%d|ChirpCount:%d|", - n, y, m); - strcat(final_status, temp_buffer); + w = snprintf(status_buffer + off, rem, "BeamPos:%d|Azimuth:%d|ChirpCount:%d|", + n, y, m); + if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; } - // Copy to output buffer - strncpy(status_buffer, final_status, buffer_size - 1); + // NUL termination guaranteed by snprintf, but be safe status_buffer[buffer_size - 1] = '\0'; } @@ -1995,12 +2007,13 @@ int main(void) HAL_UART_Transmit(&huart3, (uint8_t*)emergency_msg, strlen(emergency_msg), 1000); DIAG_ERR("SYS", "SAFE MODE ACTIVE -- blinking all LEDs, waiting for system_emergency_state clear"); - // Blink all LEDs to indicate safe mode + // Blink all LEDs to indicate safe mode (500ms period, visible to operator) while (system_emergency_state) { HAL_GPIO_TogglePin(LED_1_GPIO_Port, LED_1_Pin); HAL_GPIO_TogglePin(LED_2_GPIO_Port, LED_2_Pin); HAL_GPIO_TogglePin(LED_3_GPIO_Port, LED_3_Pin); HAL_GPIO_TogglePin(LED_4_GPIO_Port, LED_4_Pin); + HAL_Delay(250); } DIAG("SYS", "Exited safe mode blink loop -- system_emergency_state cleared"); } @@ -2114,6 +2127,16 @@ int main(void) runRadarPulseSequence(); + /* [AGC] Outer-loop AGC: read FPGA saturation flag (DIG_5 / PD13), + * adjust ADAR1000 VGA common gain once per radar frame (~258 ms). + * Only run when AGC is enabled — otherwise leave VGA gains untouched. */ + if (outerAgc.enabled) { + bool sat = HAL_GPIO_ReadPin(FPGA_DIG5_SAT_GPIO_Port, + FPGA_DIG5_SAT_Pin) == GPIO_PIN_SET; + outerAgc.update(sat); + outerAgc.applyGain(adarManager); + } + /* [GAP-3 FIX 2] Kick hardware watchdog — if we don't reach here within * ~4 s, the IWDG resets the MCU automatically. */ HAL_IWDG_Refresh(&hiwdg); diff --git a/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.h b/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.h index e4dbaf5..f5b8d0d 100644 --- a/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.h +++ b/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.h @@ -141,6 +141,15 @@ void Error_Handler(void); #define EN_DIS_RFPA_VDD_GPIO_Port GPIOD #define EN_DIS_COOLING_Pin GPIO_PIN_7 #define EN_DIS_COOLING_GPIO_Port GPIOD + +/* FPGA digital I/O (directly connected GPIOs) */ +#define FPGA_DIG5_SAT_Pin GPIO_PIN_13 +#define FPGA_DIG5_SAT_GPIO_Port GPIOD +#define FPGA_DIG6_Pin GPIO_PIN_14 +#define FPGA_DIG6_GPIO_Port GPIOD +#define FPGA_DIG7_Pin GPIO_PIN_15 +#define FPGA_DIG7_GPIO_Port GPIOD + #define ADF4382_RX_CE_Pin GPIO_PIN_9 #define ADF4382_RX_CE_GPIO_Port GPIOG #define ADF4382_RX_CS_Pin GPIO_PIN_10 diff --git a/9_Firmware/9_1_Microcontroller/tests/Makefile b/9_Firmware/9_1_Microcontroller/tests/Makefile index a44f962..73e7857 100644 --- a/9_Firmware/9_1_Microcontroller/tests/Makefile +++ b/9_Firmware/9_1_Microcontroller/tests/Makefile @@ -16,10 +16,17 @@ ################################################################################ CC := cc +CXX := c++ CFLAGS := -std=c11 -Wall -Wextra -Wno-unused-parameter -g -O0 +CXXFLAGS := -std=c++17 -Wall -Wextra -Wno-unused-parameter -g -O0 # Shim headers come FIRST so they override real headers INCLUDES := -Ishims -I. -I../9_1_1_C_Cpp_Libraries +# C++ library directory (AGC, ADAR1000 Manager) +CXX_LIB_DIR := ../9_1_1_C_Cpp_Libraries +CXX_SRCS := $(CXX_LIB_DIR)/ADAR1000_AGC.cpp $(CXX_LIB_DIR)/ADAR1000_Manager.cpp +CXX_OBJS := ADAR1000_AGC.o ADAR1000_Manager.o + # Real source files compiled against mock headers REAL_SRC := ../9_1_1_C_Cpp_Libraries/adf4382a_manager.c @@ -62,7 +69,10 @@ TESTS_STANDALONE := test_bug12_pa_cal_loop_inverted \ # Tests that need platform_noos_stm32.o + mocks TESTS_WITH_PLATFORM := test_bug11_platform_spi_transmit_only -ALL_TESTS := $(TESTS_WITH_REAL) $(TESTS_MOCK_ONLY) $(TESTS_STANDALONE) $(TESTS_WITH_PLATFORM) +# C++ tests (AGC outer loop) +TESTS_WITH_CXX := test_agc_outer_loop + +ALL_TESTS := $(TESTS_WITH_REAL) $(TESTS_MOCK_ONLY) $(TESTS_STANDALONE) $(TESTS_WITH_PLATFORM) $(TESTS_WITH_CXX) .PHONY: all build test clean \ $(addprefix test_,bug1 bug2 bug3 bug4 bug5 bug6 bug7 bug8 bug9 bug10 bug11 bug12 bug13 bug14 bug15) \ @@ -156,6 +166,24 @@ test_gap3_emergency_state_ordering: test_gap3_emergency_state_ordering.c $(TESTS_WITH_PLATFORM): %: %.c $(MOCK_OBJS) $(PLATFORM_OBJ) $(CC) $(CFLAGS) $(INCLUDES) $< $(MOCK_OBJS) $(PLATFORM_OBJ) -o $@ +# --- C++ object rules --- + +ADAR1000_AGC.o: $(CXX_LIB_DIR)/ADAR1000_AGC.cpp $(CXX_LIB_DIR)/ADAR1000_AGC.h + $(CXX) $(CXXFLAGS) $(INCLUDES) -c $< -o $@ + +ADAR1000_Manager.o: $(CXX_LIB_DIR)/ADAR1000_Manager.cpp $(CXX_LIB_DIR)/ADAR1000_Manager.h + $(CXX) $(CXXFLAGS) $(INCLUDES) -c $< -o $@ + +# --- C++ test binary rules --- + +test_agc_outer_loop: test_agc_outer_loop.cpp $(CXX_OBJS) $(MOCK_OBJS) + $(CXX) $(CXXFLAGS) $(INCLUDES) $< $(CXX_OBJS) $(MOCK_OBJS) -o $@ + +# Convenience target +.PHONY: test_agc +test_agc: test_agc_outer_loop + ./test_agc_outer_loop + # --- Individual test targets --- test_bug1: test_bug1_timed_sync_init_ordering diff --git a/9_Firmware/9_1_Microcontroller/tests/shims/main.h b/9_Firmware/9_1_Microcontroller/tests/shims/main.h index 9dd05df..6543adc 100644 --- a/9_Firmware/9_1_Microcontroller/tests/shims/main.h +++ b/9_Firmware/9_1_Microcontroller/tests/shims/main.h @@ -129,6 +129,14 @@ void Error_Handler(void); #define GYR_INT_Pin GPIO_PIN_8 #define GYR_INT_GPIO_Port GPIOC +/* FPGA digital I/O (directly connected GPIOs) */ +#define FPGA_DIG5_SAT_Pin GPIO_PIN_13 +#define FPGA_DIG5_SAT_GPIO_Port GPIOD +#define FPGA_DIG6_Pin GPIO_PIN_14 +#define FPGA_DIG6_GPIO_Port GPIOD +#define FPGA_DIG7_Pin GPIO_PIN_15 +#define FPGA_DIG7_GPIO_Port GPIOD + #ifdef __cplusplus } #endif diff --git a/9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.c b/9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.c index 6420f04..2b33b4f 100644 --- a/9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.c +++ b/9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.c @@ -175,7 +175,7 @@ void HAL_Delay(uint32_t Delay) mock_tick += Delay; } -HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, uint8_t *pData, +HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size, uint32_t Timeout) { spy_push((SpyRecord){ diff --git a/9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.h b/9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.h index 1e0b61c..ac41470 100644 --- a/9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.h +++ b/9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.h @@ -34,6 +34,10 @@ typedef uint32_t HAL_StatusTypeDef; #define HAL_MAX_DELAY 0xFFFFFFFFU +#ifndef __NOP +#define __NOP() ((void)0) +#endif + /* ========================= GPIO Types ============================ */ typedef struct { @@ -182,7 +186,7 @@ GPIO_PinState HAL_GPIO_ReadPin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin); void HAL_GPIO_TogglePin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin); uint32_t HAL_GetTick(void); void HAL_Delay(uint32_t Delay); -HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout); +HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size, uint32_t Timeout); /* ========================= SPI stubs ============================== */ diff --git a/9_Firmware/9_1_Microcontroller/tests/test_agc_outer_loop.cpp b/9_Firmware/9_1_Microcontroller/tests/test_agc_outer_loop.cpp new file mode 100644 index 0000000..9b23d28 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/tests/test_agc_outer_loop.cpp @@ -0,0 +1,361 @@ +// test_agc_outer_loop.cpp -- C++ unit tests for ADAR1000_AGC outer-loop AGC +// +// Tests the STM32 outer-loop AGC class that adjusts ADAR1000 VGA gain based +// on the FPGA's saturation flag. Uses the existing HAL mock/spy framework. +// +// Build: c++ -std=c++17 ... (see Makefile TESTS_WITH_CXX rule) + +#include +#include +#include + +// Shim headers override real STM32/diag headers +#include "stm32_hal_mock.h" +#include "ADAR1000_AGC.h" +#include "ADAR1000_Manager.h" + +// --------------------------------------------------------------------------- +// Linker symbols required by ADAR1000_Manager.cpp (pulled in via main.h shim) +// --------------------------------------------------------------------------- +uint8_t GUI_start_flag_received = 0; +uint8_t USB_Buffer[64] = {0}; +extern "C" void Error_Handler(void) {} + +// --------------------------------------------------------------------------- +// Helpers +// --------------------------------------------------------------------------- + +static int tests_passed = 0; +static int tests_total = 0; + +#define RUN_TEST(fn) \ + do { \ + tests_total++; \ + printf(" [%2d] %-55s ", tests_total, #fn); \ + fn(); \ + tests_passed++; \ + printf("PASS\n"); \ + } while (0) + +// --------------------------------------------------------------------------- +// Test 1: Default construction matches design spec +// --------------------------------------------------------------------------- +static void test_defaults() +{ + ADAR1000_AGC agc; + + assert(agc.agc_base_gain == 30); // kDefaultRxVgaGain + assert(agc.gain_step_down == 4); + assert(agc.gain_step_up == 1); + assert(agc.min_gain == 0); + assert(agc.max_gain == 127); + assert(agc.holdoff_frames == 4); + assert(agc.enabled == true); + assert(agc.holdoff_counter == 0); + assert(agc.last_saturated == false); + assert(agc.saturation_event_count == 0); + + // All cal offsets zero + for (int i = 0; i < AGC_TOTAL_CHANNELS; ++i) { + assert(agc.cal_offset[i] == 0); + } +} + +// --------------------------------------------------------------------------- +// Test 2: Saturation reduces gain by step_down +// --------------------------------------------------------------------------- +static void test_saturation_reduces_gain() +{ + ADAR1000_AGC agc; + uint8_t initial = agc.agc_base_gain; // 30 + + agc.update(true); // saturation + + assert(agc.agc_base_gain == initial - agc.gain_step_down); // 26 + assert(agc.last_saturated == true); + assert(agc.holdoff_counter == 0); +} + +// --------------------------------------------------------------------------- +// Test 3: Holdoff prevents premature gain-up +// --------------------------------------------------------------------------- +static void test_holdoff_prevents_early_gain_up() +{ + ADAR1000_AGC agc; + agc.update(true); // saturate once -> gain = 26 + uint8_t after_sat = agc.agc_base_gain; + + // Feed (holdoff_frames - 1) clear frames — should NOT increase gain + for (uint8_t i = 0; i < agc.holdoff_frames - 1; ++i) { + agc.update(false); + assert(agc.agc_base_gain == after_sat); + } + + // holdoff_counter should be holdoff_frames - 1 + assert(agc.holdoff_counter == agc.holdoff_frames - 1); +} + +// --------------------------------------------------------------------------- +// Test 4: Recovery after holdoff period +// --------------------------------------------------------------------------- +static void test_recovery_after_holdoff() +{ + ADAR1000_AGC agc; + agc.update(true); // saturate -> gain = 26 + uint8_t after_sat = agc.agc_base_gain; + + // Feed exactly holdoff_frames clear frames + for (uint8_t i = 0; i < agc.holdoff_frames; ++i) { + agc.update(false); + } + + assert(agc.agc_base_gain == after_sat + agc.gain_step_up); // 27 + assert(agc.holdoff_counter == 0); // reset after recovery +} + +// --------------------------------------------------------------------------- +// Test 5: Min gain clamping +// --------------------------------------------------------------------------- +static void test_min_gain_clamp() +{ + ADAR1000_AGC agc; + agc.min_gain = 10; + agc.agc_base_gain = 12; + agc.gain_step_down = 4; + + agc.update(true); // 12 - 4 = 8, but min = 10 + assert(agc.agc_base_gain == 10); + + agc.update(true); // already at min + assert(agc.agc_base_gain == 10); +} + +// --------------------------------------------------------------------------- +// Test 6: Max gain clamping +// --------------------------------------------------------------------------- +static void test_max_gain_clamp() +{ + ADAR1000_AGC agc; + agc.max_gain = 32; + agc.agc_base_gain = 31; + agc.gain_step_up = 2; + agc.holdoff_frames = 1; // immediate recovery + + agc.update(false); // 31 + 2 = 33, but max = 32 + assert(agc.agc_base_gain == 32); + + agc.update(false); // already at max + assert(agc.agc_base_gain == 32); +} + +// --------------------------------------------------------------------------- +// Test 7: Per-channel calibration offsets +// --------------------------------------------------------------------------- +static void test_calibration_offsets() +{ + ADAR1000_AGC agc; + agc.agc_base_gain = 30; + agc.min_gain = 0; + agc.max_gain = 60; + + agc.cal_offset[0] = 5; // 30 + 5 = 35 + agc.cal_offset[1] = -10; // 30 - 10 = 20 + agc.cal_offset[15] = 40; // 30 + 40 = 60 (clamped to max) + + assert(agc.effectiveGain(0) == 35); + assert(agc.effectiveGain(1) == 20); + assert(agc.effectiveGain(15) == 60); // clamped to max_gain + + // Negative clamp + agc.cal_offset[2] = -50; // 30 - 50 = -20, clamped to min_gain = 0 + assert(agc.effectiveGain(2) == 0); + + // Out-of-range index returns min_gain + assert(agc.effectiveGain(16) == agc.min_gain); +} + +// --------------------------------------------------------------------------- +// Test 8: Disabled AGC is a no-op +// --------------------------------------------------------------------------- +static void test_disabled_noop() +{ + ADAR1000_AGC agc; + agc.enabled = false; + uint8_t original = agc.agc_base_gain; + + agc.update(true); // should be ignored + assert(agc.agc_base_gain == original); + assert(agc.last_saturated == false); // not updated when disabled + assert(agc.saturation_event_count == 0); + + agc.update(false); // also ignored + assert(agc.agc_base_gain == original); +} + +// --------------------------------------------------------------------------- +// Test 9: applyGain() produces correct SPI writes +// --------------------------------------------------------------------------- +static void test_apply_gain_spi() +{ + spy_reset(); + + ADAR1000Manager mgr; // creates 4 devices + ADAR1000_AGC agc; + agc.agc_base_gain = 42; + + agc.applyGain(mgr); + + // Each channel: adarSetRxVgaGain -> adarWrite(gain) + adarWrite(LOAD_WORKING) + // Each adarWrite: CS_low (GPIO_WRITE) + SPI_TRANSMIT + CS_high (GPIO_WRITE) + // = 3 spy records per adarWrite + // = 6 spy records per channel + // = 16 channels * 6 = 96 total spy records + + // Verify SPI transmit count: 2 SPI calls per channel * 16 channels = 32 + int spi_count = spy_count_type(SPY_SPI_TRANSMIT); + assert(spi_count == 32); + + // Verify GPIO write count: 4 GPIO writes per channel (CS low + CS high for each of 2 adarWrite calls) + int gpio_writes = spy_count_type(SPY_GPIO_WRITE); + assert(gpio_writes == 64); // 16 ch * 2 adarWrite * 2 GPIO each +} + +// --------------------------------------------------------------------------- +// Test 10: resetState() clears counters but preserves config +// --------------------------------------------------------------------------- +static void test_reset_preserves_config() +{ + ADAR1000_AGC agc; + agc.agc_base_gain = 42; + agc.gain_step_down = 8; + agc.cal_offset[3] = -5; + + // Generate some state + agc.update(true); + agc.update(true); + assert(agc.saturation_event_count == 2); + assert(agc.last_saturated == true); + + agc.resetState(); + + // State cleared + assert(agc.holdoff_counter == 0); + assert(agc.last_saturated == false); + assert(agc.saturation_event_count == 0); + + // Config preserved + assert(agc.agc_base_gain == 42 - 8 - 8); // two saturations applied before reset + assert(agc.gain_step_down == 8); + assert(agc.cal_offset[3] == -5); +} + +// --------------------------------------------------------------------------- +// Test 11: Saturation counter increments correctly +// --------------------------------------------------------------------------- +static void test_saturation_counter() +{ + ADAR1000_AGC agc; + + for (int i = 0; i < 10; ++i) { + agc.update(true); + } + assert(agc.saturation_event_count == 10); + + // Clear frames don't increment saturation count + for (int i = 0; i < 5; ++i) { + agc.update(false); + } + assert(agc.saturation_event_count == 10); +} + +// --------------------------------------------------------------------------- +// Test 12: Mixed saturation/clear sequence +// --------------------------------------------------------------------------- +static void test_mixed_sequence() +{ + ADAR1000_AGC agc; + agc.agc_base_gain = 30; + agc.gain_step_down = 4; + agc.gain_step_up = 1; + agc.holdoff_frames = 3; + + // Saturate: 30 -> 26 + agc.update(true); + assert(agc.agc_base_gain == 26); + assert(agc.holdoff_counter == 0); + + // 2 clear frames (not enough for recovery) + agc.update(false); + agc.update(false); + assert(agc.agc_base_gain == 26); + assert(agc.holdoff_counter == 2); + + // Saturate again: 26 -> 22, counter resets + agc.update(true); + assert(agc.agc_base_gain == 22); + assert(agc.holdoff_counter == 0); + assert(agc.saturation_event_count == 2); + + // 3 clear frames -> recovery: 22 -> 23 + agc.update(false); + agc.update(false); + agc.update(false); + assert(agc.agc_base_gain == 23); + assert(agc.holdoff_counter == 0); + + // 3 more clear -> 23 -> 24 + agc.update(false); + agc.update(false); + agc.update(false); + assert(agc.agc_base_gain == 24); +} + +// --------------------------------------------------------------------------- +// Test 13: Effective gain with edge-case base_gain values +// --------------------------------------------------------------------------- +static void test_effective_gain_edge_cases() +{ + ADAR1000_AGC agc; + agc.min_gain = 5; + agc.max_gain = 250; + + // Base gain at zero with positive offset + agc.agc_base_gain = 0; + agc.cal_offset[0] = 3; + assert(agc.effectiveGain(0) == 5); // 0 + 3 = 3, clamped to min_gain=5 + + // Base gain at max with zero offset + agc.agc_base_gain = 250; + agc.cal_offset[0] = 0; + assert(agc.effectiveGain(0) == 250); + + // Base gain at max with positive offset -> clamped + agc.agc_base_gain = 250; + agc.cal_offset[0] = 10; + assert(agc.effectiveGain(0) == 250); // clamped to max_gain +} + +// --------------------------------------------------------------------------- +// main +// --------------------------------------------------------------------------- +int main() +{ + printf("=== ADAR1000_AGC Outer-Loop Unit Tests ===\n"); + + RUN_TEST(test_defaults); + RUN_TEST(test_saturation_reduces_gain); + RUN_TEST(test_holdoff_prevents_early_gain_up); + RUN_TEST(test_recovery_after_holdoff); + RUN_TEST(test_min_gain_clamp); + RUN_TEST(test_max_gain_clamp); + RUN_TEST(test_calibration_offsets); + RUN_TEST(test_disabled_noop); + RUN_TEST(test_apply_gain_spi); + RUN_TEST(test_reset_preserves_config); + RUN_TEST(test_saturation_counter); + RUN_TEST(test_mixed_sequence); + RUN_TEST(test_effective_gain_edge_cases); + + printf("=== Results: %d/%d passed ===\n", tests_passed, tests_total); + return (tests_passed == tests_total) ? 0 : 1; +} diff --git a/9_Firmware/9_2_FPGA/adc_clk_mmcm.v b/9_Firmware/9_2_FPGA/adc_clk_mmcm.v index 1301e7f..055cf4e 100644 --- a/9_Firmware/9_2_FPGA/adc_clk_mmcm.v +++ b/9_Firmware/9_2_FPGA/adc_clk_mmcm.v @@ -212,6 +212,11 @@ BUFG bufg_feedback ( // ---- Output BUFG ---- // Routes the jitter-cleaned 400 MHz CLKOUT0 onto a global clock network. +// DONT_TOUCH prevents phys_opt_design AggressiveExplore from replicating this +// BUFG into a cascaded chain (4 BUFGs in series observed in Build 26), which +// added ~243ps of clock insertion delay and caused -187ps clock skew on the +// NCO→DSP mixer critical path. +(* DONT_TOUCH = "TRUE" *) BUFG bufg_clk400m ( .I(clk_mmcm_out0), .O(clk_400m_out) diff --git a/9_Firmware/9_2_FPGA/cic_decimator_4x_enhanced.v b/9_Firmware/9_2_FPGA/cic_decimator_4x_enhanced.v index d7bae17..76ade79 100644 --- a/9_Firmware/9_2_FPGA/cic_decimator_4x_enhanced.v +++ b/9_Firmware/9_2_FPGA/cic_decimator_4x_enhanced.v @@ -66,13 +66,13 @@ reg signed [COMB_WIDTH-1:0] comb_delay [0:STAGES-1][0:COMB_DELAY-1]; // Pipeline valid for comb stages 1-4: delayed by 1 cycle vs comb_pipe to // account for CREG+AREG+BREG pipeline inside comb_0_dsp (explicit DSP48E1). // Comb[0] result appears 1 cycle after data_valid_comb_pipe. -(* keep = "true", max_fanout = 4 *) reg data_valid_comb_0_out; +(* keep = "true", max_fanout = 16 *) reg data_valid_comb_0_out; // Enhanced control and monitoring reg [1:0] decimation_counter; -(* keep = "true", max_fanout = 4 *) reg data_valid_delayed; -(* keep = "true", max_fanout = 4 *) reg data_valid_comb; -(* keep = "true", max_fanout = 4 *) reg data_valid_comb_pipe; +(* keep = "true", max_fanout = 16 *) reg data_valid_delayed; +(* keep = "true", max_fanout = 16 *) reg data_valid_comb; +(* keep = "true", max_fanout = 16 *) reg data_valid_comb_pipe; reg [7:0] output_counter; reg [ACC_WIDTH-1:0] max_integrator_value; reg overflow_detected; diff --git a/9_Firmware/9_2_FPGA/constraints/adc_clk_mmcm.xdc b/9_Firmware/9_2_FPGA/constraints/adc_clk_mmcm.xdc index b581940..3777d33 100644 --- a/9_Firmware/9_2_FPGA/constraints/adc_clk_mmcm.xdc +++ b/9_Firmware/9_2_FPGA/constraints/adc_clk_mmcm.xdc @@ -83,3 +83,13 @@ set_false_path -through [get_pins rx_inst/adc/mmcm_inst/mmcm_adc_400m/LOCKED] # Waiving hold on these 8 paths (adc_d_p[0..7] → IDDR) is standard practice # for source-synchronous LVDS ADC interfaces using BUFIO capture. set_false_path -hold -from [get_ports {adc_d_p[*]}] -to [get_clocks adc_dco_p] + +# -------------------------------------------------------------------------- +# Timing margin for 400 MHz critical paths +# -------------------------------------------------------------------------- +# Extra setup uncertainty forces Vivado to leave margin for temperature/voltage/ +# aging variation. Reduced from 200 ps to 100 ps after NCO→mixer pipeline +# register fix eliminated the dominant timing bottleneck (WNS went from +0.002ns +# to comfortable margin). 100 ps still provides ~4% guardband on the 2.5ns period. +# This is additive to the existing jitter-based uncertainty (~53 ps). +set_clock_uncertainty -setup -add 0.100 [get_clocks clk_mmcm_out0] diff --git a/9_Firmware/9_2_FPGA/constraints/xc7a50t_ftg256.xdc b/9_Firmware/9_2_FPGA/constraints/xc7a50t_ftg256.xdc index 1f1ee5f..c4d61f0 100644 --- a/9_Firmware/9_2_FPGA/constraints/xc7a50t_ftg256.xdc +++ b/9_Firmware/9_2_FPGA/constraints/xc7a50t_ftg256.xdc @@ -222,8 +222,16 @@ set_property IOSTANDARD LVCMOS33 [get_ports {stm32_new_*}] set_property IOSTANDARD LVCMOS33 [get_ports {stm32_mixers_enable}] # reset_n is DIG_4 (PD12) — constrained above in the RESET section -# DIG_5 = H11, DIG_6 = G12, DIG_7 = H12 — available for FPGA→STM32 status -# Currently unused in RTL. Could be connected to status outputs if needed. +# DIG_5 = H11, DIG_6 = G12, DIG_7 = H12 — FPGA→STM32 status outputs +# DIG_5: AGC saturation flag (PD13 on STM32) +# DIG_6: reserved (PD14) +# DIG_7: reserved (PD15) +set_property PACKAGE_PIN H11 [get_ports {gpio_dig5}] +set_property PACKAGE_PIN G12 [get_ports {gpio_dig6}] +set_property PACKAGE_PIN H12 [get_ports {gpio_dig7}] +set_property IOSTANDARD LVCMOS33 [get_ports {gpio_dig*}] +set_property DRIVE 8 [get_ports {gpio_dig*}] +set_property SLEW SLOW [get_ports {gpio_dig*}] # ============================================================================ # ADC INTERFACE (LVDS — Bank 14, VCCO=3.3V) diff --git a/9_Firmware/9_2_FPGA/ddc_400m.v b/9_Firmware/9_2_FPGA/ddc_400m.v index c2bee9a..470ad14 100644 --- a/9_Firmware/9_2_FPGA/ddc_400m.v +++ b/9_Firmware/9_2_FPGA/ddc_400m.v @@ -102,14 +102,19 @@ wire signed [17:0] debug_mixed_q_trunc; reg [7:0] signal_power_i, signal_power_q; // Internal mixing signals -// DSP48E1 with AREG=1, BREG=1, MREG=1, PREG=1 handles all internal pipelining -// Latency: 4 cycles (1 for AREG/BREG, 1 for MREG, 1 for PREG, 1 for post-DSP retiming) +// Pipeline: NCO fabric reg (1) + DSP48E1 AREG/BREG (1) + MREG (1) + PREG (1) + retiming (1) = 5 cycles +// The NCO fabric pipeline register was added to break the long NCO→DSP B-port route +// (1.505ns routing in Build 26, WNS=+0.002ns). With BREG=1 still active inside the DSP, +// total latency increases by 1 cycle (2.5ns at 400MHz — negligible for radar). wire signed [MIXER_WIDTH-1:0] adc_signed_w; reg signed [MIXER_WIDTH + NCO_WIDTH -1:0] mixed_i, mixed_q; reg mixed_valid; reg mixer_overflow_i, mixer_overflow_q; -// Pipeline valid tracking: 4-stage shift register (3 for DSP48E1 + 1 for post-DSP retiming) -reg [3:0] dsp_valid_pipe; +// Pipeline valid tracking: 5-stage shift register (1 NCO pipe + 3 DSP48E1 + 1 retiming) +reg [4:0] dsp_valid_pipe; +// NCO→DSP pipeline registers — breaks the long NCO sin/cos → DSP48E1 B-port route +// DONT_TOUCH prevents Vivado from absorbing these into the DSP or optimizing away +(* DONT_TOUCH = "TRUE" *) reg signed [15:0] cos_nco_pipe, sin_nco_pipe; // Post-DSP retiming registers — breaks DSP48E1 CLK→P to fabric timing path // This extra pipeline stage absorbs the 1.866ns DSP output prop delay + routing, // ensuring WNS > 0 at 400 MHz regardless of placement seed @@ -210,11 +215,11 @@ nco_400m_enhanced nco_core ( // // Architecture: // ADC data → sign-extend to 18b → DSP48E1 A-port (AREG=1 pipelines it) -// NCO cos/sin → sign-extend to 18b → DSP48E1 B-port (BREG=1 pipelines it) +// NCO cos/sin → fabric pipeline reg → DSP48E1 B-port (BREG=1 pipelines it) // Multiply result captured by MREG=1, then output registered by PREG=1 // force_saturation override applied AFTER DSP48E1 output (not on input path) // -// Latency: 3 clock cycles (AREG/BREG + MREG + PREG) +// Latency: 4 clock cycles (1 NCO pipe + 1 AREG/BREG + 1 MREG + 1 PREG) + 1 retiming = 5 total // PREG=1 absorbs DSP48E1 CLK→P delay internally, preventing fabric timing violations // In simulation (Icarus), uses behavioral equivalent since DSP48E1 is Xilinx-only // ============================================================================ @@ -223,24 +228,35 @@ nco_400m_enhanced nco_core ( assign adc_signed_w = {1'b0, adc_data, {(MIXER_WIDTH-ADC_WIDTH-1){1'b0}}} - {1'b0, {ADC_WIDTH{1'b1}}, {(MIXER_WIDTH-ADC_WIDTH-1){1'b0}}} / 2; -// Valid pipeline: 4-stage shift register (3 for DSP48E1 AREG+MREG+PREG + 1 for retiming) +// Valid pipeline: 5-stage shift register (1 NCO pipe + 3 DSP48E1 AREG+MREG+PREG + 1 retiming) always @(posedge clk_400m or negedge reset_n_400m) begin if (!reset_n_400m) begin - dsp_valid_pipe <= 4'b0000; + dsp_valid_pipe <= 5'b00000; end else begin - dsp_valid_pipe <= {dsp_valid_pipe[2:0], (nco_ready && adc_data_valid_i && adc_data_valid_q)}; + dsp_valid_pipe <= {dsp_valid_pipe[3:0], (nco_ready && adc_data_valid_i && adc_data_valid_q)}; end end `ifdef SIMULATION // ---- Behavioral model for Icarus Verilog simulation ---- -// Mimics DSP48E1 with AREG=1, BREG=1, MREG=1, PREG=1 (3-cycle latency) +// Mimics NCO pipeline + DSP48E1 with AREG=1, BREG=1, MREG=1, PREG=1 (4-cycle DSP + 1 NCO pipe) reg signed [MIXER_WIDTH-1:0] adc_signed_reg; // Models AREG reg signed [15:0] cos_pipe_reg, sin_pipe_reg; // Models BREG reg signed [MIXER_WIDTH+NCO_WIDTH-1:0] mult_i_internal, mult_q_internal; // Models MREG reg signed [MIXER_WIDTH+NCO_WIDTH-1:0] mult_i_reg, mult_q_reg; // Models PREG -// Stage 1: AREG/BREG equivalent +// Stage 0: NCO pipeline — breaks long NCO→DSP route (matches synthesis fabric registers) +always @(posedge clk_400m or negedge reset_n_400m) begin + if (!reset_n_400m) begin + cos_nco_pipe <= 0; + sin_nco_pipe <= 0; + end else begin + cos_nco_pipe <= cos_out; + sin_nco_pipe <= sin_out; + end +end + +// Stage 1: AREG/BREG equivalent (uses pipelined NCO outputs) always @(posedge clk_400m or negedge reset_n_400m) begin if (!reset_n_400m) begin adc_signed_reg <= 0; @@ -248,8 +264,8 @@ always @(posedge clk_400m or negedge reset_n_400m) begin sin_pipe_reg <= 0; end else begin adc_signed_reg <= adc_signed_w; - cos_pipe_reg <= cos_out; - sin_pipe_reg <= sin_out; + cos_pipe_reg <= cos_nco_pipe; + sin_pipe_reg <= sin_nco_pipe; end end @@ -291,6 +307,20 @@ end // This guarantees AREG/BREG/MREG are used, achieving timing closure at 400 MHz wire [47:0] dsp_p_i, dsp_p_q; +// NCO pipeline stage — breaks the long NCO sin/cos → DSP48E1 B-port route +// (1.505ns routing observed in Build 26). These fabric registers are placed +// near the DSP by the placer, splitting the route into two shorter segments. +// DONT_TOUCH on the reg declaration (above) prevents absorption/retiming. +always @(posedge clk_400m or negedge reset_n_400m) begin + if (!reset_n_400m) begin + cos_nco_pipe <= 0; + sin_nco_pipe <= 0; + end else begin + cos_nco_pipe <= cos_out; + sin_nco_pipe <= sin_out; + end +end + // DSP48E1 for I-channel mixer (adc_signed * cos_out) DSP48E1 #( // Feature control attributes @@ -350,7 +380,7 @@ DSP48E1 #( .CEINMODE(1'b0), // Data ports .A({{12{adc_signed_w[MIXER_WIDTH-1]}}, adc_signed_w}), // Sign-extend 18b to 30b - .B({{2{cos_out[15]}}, cos_out}), // Sign-extend 16b to 18b + .B({{2{cos_nco_pipe[15]}}, cos_nco_pipe}), // Sign-extend 16b to 18b (pipelined) .C(48'b0), .D(25'b0), .CARRYIN(1'b0), @@ -432,7 +462,7 @@ DSP48E1 #( .CED(1'b0), .CEINMODE(1'b0), .A({{12{adc_signed_w[MIXER_WIDTH-1]}}, adc_signed_w}), - .B({{2{sin_out[15]}}, sin_out}), + .B({{2{sin_nco_pipe[15]}}, sin_nco_pipe}), .C(48'b0), .D(25'b0), .CARRYIN(1'b0), @@ -492,7 +522,7 @@ always @(posedge clk_400m or negedge reset_n_400m) begin mixer_overflow_q <= 0; saturation_count <= 0; overflow_detected <= 0; - end else if (dsp_valid_pipe[3]) begin + end else if (dsp_valid_pipe[4]) begin // Force saturation for testing (applied after DSP output, not on input path) if (force_saturation_sync) begin mixed_i <= 34'h1FFFFFFFF; diff --git a/9_Firmware/9_2_FPGA/fpga_self_test.v b/9_Firmware/9_2_FPGA/fpga_self_test.v index 420f714..c54c208 100644 --- a/9_Firmware/9_2_FPGA/fpga_self_test.v +++ b/9_Firmware/9_2_FPGA/fpga_self_test.v @@ -296,7 +296,7 @@ always @(posedge clk or negedge reset_n) begin state <= ST_DONE; end end - // Timeout: if no ADC data after 10000 cycles, FAIL + // Timeout: if no ADC data after 1000 cycles (10 us @ 100 MHz), FAIL step_cnt <= step_cnt + 1; if (step_cnt >= 10'd1000 && adc_cap_cnt == 0) begin result_flags[4] <= 1'b0; diff --git a/9_Firmware/9_2_FPGA/radar_receiver_final.v b/9_Firmware/9_2_FPGA/radar_receiver_final.v index c417092..4be1571 100644 --- a/9_Firmware/9_2_FPGA/radar_receiver_final.v +++ b/9_Firmware/9_2_FPGA/radar_receiver_final.v @@ -42,6 +42,13 @@ module radar_receiver_final ( // [2:0]=shift amount: 0..7 bits. Default 0 = pass-through. input wire [3:0] host_gain_shift, + // AGC configuration (opcodes 0x28-0x2C, active only when agc_enable=1) + input wire host_agc_enable, // 0x28: 0=manual, 1=auto AGC + input wire [7:0] host_agc_target, // 0x29: target peak magnitude + input wire [3:0] host_agc_attack, // 0x2A: gain-down step on clipping + input wire [3:0] host_agc_decay, // 0x2B: gain-up step when weak + input wire [3:0] host_agc_holdoff, // 0x2C: frames before gain-up + // STM32 toggle signals for mode 00 (STM32-driven) pass-through. // These are CDC-synchronized in radar_system_top.v / radar_transmitter.v // before reaching this module. In mode 00, the RX mode controller uses @@ -60,7 +67,12 @@ module radar_receiver_final ( // ADC raw data tap (clk_100m domain, post-DDC, for self-test / debug) output wire [15:0] dbg_adc_i, // DDC output I (16-bit signed, 100 MHz) output wire [15:0] dbg_adc_q, // DDC output Q (16-bit signed, 100 MHz) - output wire dbg_adc_valid // DDC output valid (100 MHz) + output wire dbg_adc_valid, // DDC output valid (100 MHz) + + // AGC status outputs (for status readback / STM32 outer loop) + output wire [7:0] agc_saturation_count, // Per-frame clipped sample count + output wire [7:0] agc_peak_magnitude, // Per-frame peak (upper 8 bits) + output wire [3:0] agc_current_gain // Effective gain_shift encoding ); // ========== INTERNAL SIGNALS ========== @@ -86,7 +98,9 @@ wire adc_valid_sync; // Gain-controlled signals (between DDC output and matched filter) wire signed [15:0] gc_i, gc_q; wire gc_valid; -wire [7:0] gc_saturation_count; // Diagnostic: clipped sample counter +wire [7:0] gc_saturation_count; // Diagnostic: per-frame clipped sample counter +wire [7:0] gc_peak_magnitude; // Diagnostic: per-frame peak magnitude +wire [3:0] gc_current_gain; // Diagnostic: effective gain_shift // Reference signals for the processing chain wire [15:0] long_chirp_real, long_chirp_imag; @@ -160,7 +174,7 @@ wire clk_400m; // the buffered 400MHz DCO clock via adc_dco_bufg, avoiding duplicate // IBUFDS instantiations on the same LVDS clock pair. -// 1. ADC + CDC + AGC +// 1. ADC + CDC + Digital Gain // CMOS Output Interface (400MHz Domain) wire [7:0] adc_data_cmos; // 8-bit ADC data (CMOS, from ad9484_interface_400m) @@ -222,9 +236,10 @@ ddc_input_interface ddc_if ( .data_sync_error() ); -// 2b. Digital Gain Control (Fix 3) +// 2b. Digital Gain Control with AGC // Host-configurable power-of-2 shift between DDC output and matched filter. -// Default gain_shift=0 → pass-through (no behavioral change from baseline). +// Default gain_shift=0, agc_enable=0 → pass-through (no behavioral change). +// When agc_enable=1: auto-adjusts gain per frame based on peak/saturation. rx_gain_control gain_ctrl ( .clk(clk), .reset_n(reset_n), @@ -232,10 +247,21 @@ rx_gain_control gain_ctrl ( .data_q_in(adc_q_scaled), .valid_in(adc_valid_sync), .gain_shift(host_gain_shift), + // AGC configuration + .agc_enable(host_agc_enable), + .agc_target(host_agc_target), + .agc_attack(host_agc_attack), + .agc_decay(host_agc_decay), + .agc_holdoff(host_agc_holdoff), + // Frame boundary from Doppler processor + .frame_boundary(doppler_frame_done), + // Outputs .data_i_out(gc_i), .data_q_out(gc_q), .valid_out(gc_valid), - .saturation_count(gc_saturation_count) + .saturation_count(gc_saturation_count), + .peak_magnitude(gc_peak_magnitude), + .current_gain(gc_current_gain) ); // 3. Dual Chirp Memory Loader @@ -474,4 +500,9 @@ assign dbg_adc_i = adc_i_scaled; assign dbg_adc_q = adc_q_scaled; assign dbg_adc_valid = adc_valid_sync; +// ========== AGC STATUS OUTPUTS ========== +assign agc_saturation_count = gc_saturation_count; +assign agc_peak_magnitude = gc_peak_magnitude; +assign agc_current_gain = gc_current_gain; + endmodule diff --git a/9_Firmware/9_2_FPGA/radar_system_top.v b/9_Firmware/9_2_FPGA/radar_system_top.v index 9d6686e..dfafa65 100644 --- a/9_Firmware/9_2_FPGA/radar_system_top.v +++ b/9_Firmware/9_2_FPGA/radar_system_top.v @@ -125,7 +125,13 @@ module radar_system_top ( output wire [5:0] dbg_range_bin, // System status - output wire [3:0] system_status + output wire [3:0] system_status, + + // FPGA→STM32 GPIO outputs (DIG_5..DIG_7 on 50T board) + // Used by STM32 outer AGC loop to read saturation state without USB polling. + output wire gpio_dig5, // DIG_5 (H11→PD13): AGC saturation flag (1=clipping detected) + output wire gpio_dig6, // DIG_6 (G12→PD14): reserved (tied low) + output wire gpio_dig7 // DIG_7 (H12→PD15): reserved (tied low) ); // ============================================================================ @@ -187,6 +193,11 @@ wire [15:0] rx_dbg_adc_i; wire [15:0] rx_dbg_adc_q; wire rx_dbg_adc_valid; +// AGC status from receiver (for status readback and GPIO) +wire [7:0] rx_agc_saturation_count; +wire [7:0] rx_agc_peak_magnitude; +wire [3:0] rx_agc_current_gain; + // Data packing for USB wire [31:0] usb_range_profile; wire usb_range_valid; @@ -259,6 +270,13 @@ reg host_cfar_enable; // Opcode 0x25: 1=CFAR, 0=simple threshold reg host_mti_enable; // Opcode 0x26: 1=MTI active, 0=pass-through reg [2:0] host_dc_notch_width; // Opcode 0x27: DC notch ±width bins (0=off, 1..7) +// AGC configuration registers (host-configurable via USB, opcodes 0x28-0x2C) +reg host_agc_enable; // Opcode 0x28: 0=manual gain, 1=auto AGC +reg [7:0] host_agc_target; // Opcode 0x29: target peak magnitude (default 200) +reg [3:0] host_agc_attack; // Opcode 0x2A: gain-down step on clipping (default 1) +reg [3:0] host_agc_decay; // Opcode 0x2B: gain-up step when weak (default 1) +reg [3:0] host_agc_holdoff; // Opcode 0x2C: frames to wait before gain-up (default 4) + // Board bring-up self-test registers (opcode 0x30 trigger, 0x31 readback) reg host_self_test_trigger; // Opcode 0x30: self-clearing pulse wire self_test_busy; @@ -518,6 +536,12 @@ radar_receiver_final rx_inst ( .host_chirps_per_elev(host_chirps_per_elev), // Fix 3: digital gain control .host_gain_shift(host_gain_shift), + // AGC configuration (opcodes 0x28-0x2C) + .host_agc_enable(host_agc_enable), + .host_agc_target(host_agc_target), + .host_agc_attack(host_agc_attack), + .host_agc_decay(host_agc_decay), + .host_agc_holdoff(host_agc_holdoff), // STM32 toggle signals for RX mode controller (mode 00 pass-through). // These are the raw GPIO inputs — the RX mode controller's edge detectors // (inside radar_mode_controller) handle debouncing/edge detection. @@ -532,7 +556,11 @@ radar_receiver_final rx_inst ( // ADC debug tap (for self-test / bring-up) .dbg_adc_i(rx_dbg_adc_i), .dbg_adc_q(rx_dbg_adc_q), - .dbg_adc_valid(rx_dbg_adc_valid) + .dbg_adc_valid(rx_dbg_adc_valid), + // AGC status outputs + .agc_saturation_count(rx_agc_saturation_count), + .agc_peak_magnitude(rx_agc_peak_magnitude), + .agc_current_gain(rx_agc_current_gain) ); // ============================================================================ @@ -744,7 +772,13 @@ if (USB_MODE == 0) begin : gen_ft601 // Self-test status readback .status_self_test_flags(self_test_flags_latched), .status_self_test_detail(self_test_detail_latched), - .status_self_test_busy(self_test_busy) + .status_self_test_busy(self_test_busy), + + // AGC status readback + .status_agc_current_gain(rx_agc_current_gain), + .status_agc_peak_magnitude(rx_agc_peak_magnitude), + .status_agc_saturation_count(rx_agc_saturation_count), + .status_agc_enable(host_agc_enable) ); // FT2232H ports unused in FT601 mode — tie off @@ -805,7 +839,13 @@ end else begin : gen_ft2232h // Self-test status readback .status_self_test_flags(self_test_flags_latched), .status_self_test_detail(self_test_detail_latched), - .status_self_test_busy(self_test_busy) + .status_self_test_busy(self_test_busy), + + // AGC status readback + .status_agc_current_gain(rx_agc_current_gain), + .status_agc_peak_magnitude(rx_agc_peak_magnitude), + .status_agc_saturation_count(rx_agc_saturation_count), + .status_agc_enable(host_agc_enable) ); // FT601 ports unused in FT2232H mode — tie off @@ -892,6 +932,12 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin // Ground clutter removal defaults (disabled — backward-compatible) host_mti_enable <= 1'b0; // MTI off host_dc_notch_width <= 3'd0; // DC notch off + // AGC defaults (disabled — backward-compatible with manual gain) + host_agc_enable <= 1'b0; // AGC off (manual gain) + host_agc_target <= 8'd200; // Target peak magnitude + host_agc_attack <= 4'd1; // 1-step gain-down on clipping + host_agc_decay <= 4'd1; // 1-step gain-up when weak + host_agc_holdoff <= 4'd4; // 4 frames before gain-up // Self-test defaults host_self_test_trigger <= 1'b0; // Self-test idle end else begin @@ -936,6 +982,12 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin // Ground clutter removal opcodes 8'h26: host_mti_enable <= usb_cmd_value[0]; 8'h27: host_dc_notch_width <= usb_cmd_value[2:0]; + // AGC configuration opcodes + 8'h28: host_agc_enable <= usb_cmd_value[0]; + 8'h29: host_agc_target <= usb_cmd_value[7:0]; + 8'h2A: host_agc_attack <= usb_cmd_value[3:0]; + 8'h2B: host_agc_decay <= usb_cmd_value[3:0]; + 8'h2C: host_agc_holdoff <= usb_cmd_value[3:0]; // Board bring-up self-test opcodes 8'h30: host_self_test_trigger <= 1'b1; // Trigger self-test 8'h31: host_status_request <= 1'b1; // Self-test readback (status alias) @@ -978,6 +1030,16 @@ end assign system_status = status_reg; +// ============================================================================ +// FPGA→STM32 GPIO OUTPUTS (DIG_5, DIG_6, DIG_7) +// ============================================================================ +// DIG_5: AGC saturation flag — high when per-frame saturation_count > 0. +// STM32 reads PD13 to detect clipping and adjust ADAR1000 VGA gain. +// DIG_6, DIG_7: Reserved (tied low for future use). +assign gpio_dig5 = (rx_agc_saturation_count != 8'd0); +assign gpio_dig6 = 1'b0; +assign gpio_dig7 = 1'b0; + // ============================================================================ // DEBUG AND VERIFICATION // ============================================================================ diff --git a/9_Firmware/9_2_FPGA/radar_system_top_50t.v b/9_Firmware/9_2_FPGA/radar_system_top_50t.v index f2f9738..fc3585a 100644 --- a/9_Firmware/9_2_FPGA/radar_system_top_50t.v +++ b/9_Firmware/9_2_FPGA/radar_system_top_50t.v @@ -76,7 +76,12 @@ module radar_system_top_50t ( output wire ft_rd_n, // Read strobe (active low) output wire ft_wr_n, // Write strobe (active low) output wire ft_oe_n, // Output enable / bus direction - output wire ft_siwu // Send Immediate / WakeUp + output wire ft_siwu, // Send Immediate / WakeUp + + // ===== FPGA→STM32 GPIO (Bank 15: 3.3V) ===== + output wire gpio_dig5, // DIG_5 (H11→PD13): AGC saturation flag + output wire gpio_dig6, // DIG_6 (G12→PD14): reserved + output wire gpio_dig7 // DIG_7 (H12→PD15): reserved ); // ===== Tie-off wires for unconstrained FT601 inputs (inactive with USB_MODE=1) ===== @@ -207,7 +212,12 @@ module radar_system_top_50t ( .dbg_doppler_valid (dbg_doppler_valid_nc), .dbg_doppler_bin (dbg_doppler_bin_nc), .dbg_range_bin (dbg_range_bin_nc), - .system_status (system_status_nc) + .system_status (system_status_nc), + + // ----- FPGA→STM32 GPIO (DIG_5..DIG_7) ----- + .gpio_dig5 (gpio_dig5), + .gpio_dig6 (gpio_dig6), + .gpio_dig7 (gpio_dig7) ); endmodule diff --git a/9_Firmware/9_2_FPGA/rx_gain_control.v b/9_Firmware/9_2_FPGA/rx_gain_control.v index 8b258d7..f43ac0b 100644 --- a/9_Firmware/9_2_FPGA/rx_gain_control.v +++ b/9_Firmware/9_2_FPGA/rx_gain_control.v @@ -3,19 +3,32 @@ /** * rx_gain_control.v * - * Host-configurable digital gain control for the receive path. - * Placed between DDC output (ddc_input_interface) and matched filter input. + * Digital gain control with optional per-frame automatic gain control (AGC) + * for the receive path. Placed between DDC output and matched filter input. * - * Features: - * - Bidirectional power-of-2 gain shift (arithmetic shift) + * Manual mode (agc_enable=0): + * - Uses host_gain_shift directly (backward-compatible, no behavioral change) * - gain_shift[3] = direction: 0 = left shift (amplify), 1 = right shift (attenuate) * - gain_shift[2:0] = amount: 0..7 bits - * - Symmetric saturation to ±32767 on overflow (left shift only) - * - Saturation counter: 8-bit, counts samples that clipped (wraps at 255) - * - 1-cycle latency, valid-in/valid-out pipeline - * - Zero-overhead pass-through when gain_shift == 0 + * - Symmetric saturation to ±32767 on overflow * - * Intended insertion point in radar_receiver_final.v: + * AGC mode (agc_enable=1): + * - Per-frame automatic gain adjustment based on peak/saturation metrics + * - Internal signed gain: -7 (max attenuation) to +7 (max amplification) + * - On frame_boundary: + * * If saturation detected: gain -= agc_attack (fast, immediate) + * * Else if peak < target after holdoff frames: gain += agc_decay (slow) + * * Else: hold current gain + * - host_gain_shift serves as initial gain when AGC first enabled + * + * Status outputs (for readback via status_words): + * - current_gain[3:0]: effective gain_shift encoding (manual or AGC) + * - peak_magnitude[7:0]: per-frame peak |sample| (upper 8 bits of 15-bit value) + * - saturation_count[7:0]: per-frame clipped sample count (capped at 255) + * + * Timing: 1-cycle data latency, valid-in/valid-out pipeline. + * + * Insertion point in radar_receiver_final.v: * ddc_input_interface → rx_gain_control → matched_filter_multi_segment */ @@ -28,27 +41,75 @@ module rx_gain_control ( input wire signed [15:0] data_q_in, input wire valid_in, - // Gain configuration (from host via USB command) - // [3] = direction: 0=amplify (left shift), 1=attenuate (right shift) - // [2:0] = shift amount: 0..7 bits + // Host gain configuration (from USB command opcode 0x16) + // [3]=direction: 0=amplify (left shift), 1=attenuate (right shift) + // [2:0]=shift amount: 0..7 bits. Default 0x00 = pass-through. + // In AGC mode: serves as initial gain on AGC enable transition. input wire [3:0] gain_shift, + // AGC configuration inputs (from host via USB, opcodes 0x28-0x2C) + input wire agc_enable, // 0x28: 0=manual gain, 1=auto AGC + input wire [7:0] agc_target, // 0x29: target peak magnitude (unsigned, default 200) + input wire [3:0] agc_attack, // 0x2A: attenuation step on clipping (default 1) + input wire [3:0] agc_decay, // 0x2B: amplification step when weak (default 1) + input wire [3:0] agc_holdoff, // 0x2C: frames to wait before gain-up (default 4) + + // Frame boundary pulse (1 clk cycle, from Doppler frame_complete) + input wire frame_boundary, + // Data output (to matched filter) output reg signed [15:0] data_i_out, output reg signed [15:0] data_q_out, output reg valid_out, - // Diagnostics - output reg [7:0] saturation_count // Number of clipped samples (wraps at 255) + // Diagnostics / status readback + output reg [7:0] saturation_count, // Per-frame clipped sample count (capped at 255) + output reg [7:0] peak_magnitude, // Per-frame peak |sample| (upper 8 bits of 15-bit) + output reg [3:0] current_gain // Current effective gain_shift (for status readback) ); -// Decompose gain_shift -wire shift_right = gain_shift[3]; -wire [2:0] shift_amt = gain_shift[2:0]; +// ========================================================================= +// INTERNAL AGC STATE +// ========================================================================= -// ------------------------------------------------------------------------- -// Combinational shift + saturation -// ------------------------------------------------------------------------- +// Signed internal gain: -7 (max attenuation) to +7 (max amplification) +// Stored as 4-bit signed (range -8..+7, clamped to -7..+7) +reg signed [3:0] agc_gain; + +// Holdoff counter: counts frames without saturation before allowing gain-up +reg [3:0] holdoff_counter; + +// Per-frame accumulators (running, reset on frame_boundary) +reg [7:0] frame_sat_count; // Clipped samples this frame +reg [14:0] frame_peak; // Peak |sample| this frame (15-bit unsigned) + +// Previous AGC enable state (for detecting 0→1 transition) +reg agc_enable_prev; + +// Combinational helpers for inclusive frame-boundary snapshot +// (used when valid_in and frame_boundary coincide) +reg wire_frame_sat_incr; +reg wire_frame_peak_update; + +// ========================================================================= +// EFFECTIVE GAIN SELECTION +// ========================================================================= + +// Convert between signed internal gain and the gain_shift[3:0] encoding. +// gain_shift[3]=0, [2:0]=N → amplify by N bits (internal gain = +N) +// gain_shift[3]=1, [2:0]=N → attenuate by N bits (internal gain = -N) + +// Effective gain_shift used for the actual shift operation +wire [3:0] effective_gain; +assign effective_gain = agc_enable ? current_gain : gain_shift; + +// Decompose effective gain for shift logic +wire shift_right = effective_gain[3]; +wire [2:0] shift_amt = effective_gain[2:0]; + +// ========================================================================= +// COMBINATIONAL SHIFT + SATURATION +// ========================================================================= // Use wider intermediates to detect overflow on left shift. // 24 bits is enough: 16 + 7 shift = 23 significant bits max. @@ -69,26 +130,153 @@ wire signed [15:0] sat_i = overflow_i ? (shifted_i[23] ? -16'sd32768 : 16'sd3276 wire signed [15:0] sat_q = overflow_q ? (shifted_q[23] ? -16'sd32768 : 16'sd32767) : shifted_q[15:0]; -// ------------------------------------------------------------------------- -// Registered output stage (1-cycle latency) -// ------------------------------------------------------------------------- +// ========================================================================= +// PEAK MAGNITUDE TRACKING (combinational) +// ========================================================================= +// Absolute value of signed 16-bit: flip sign bit if negative. +// Result is 15-bit unsigned [0, 32767]. (We ignore -32768 → 32767 edge case.) +wire [14:0] abs_i = data_i_in[15] ? (~data_i_in[14:0] + 15'd1) : data_i_in[14:0]; +wire [14:0] abs_q = data_q_in[15] ? (~data_q_in[14:0] + 15'd1) : data_q_in[14:0]; +wire [14:0] max_iq = (abs_i > abs_q) ? abs_i : abs_q; + +// ========================================================================= +// SIGNED GAIN ↔ GAIN_SHIFT ENCODING CONVERSION +// ========================================================================= +// Convert signed agc_gain to gain_shift[3:0] encoding +function [3:0] signed_to_encoding; + input signed [3:0] g; + begin + if (g >= 0) + signed_to_encoding = {1'b0, g[2:0]}; // amplify + else + signed_to_encoding = {1'b1, (~g[2:0]) + 3'd1}; // attenuate: -g + end +endfunction + +// Convert gain_shift[3:0] encoding to signed gain +function signed [3:0] encoding_to_signed; + input [3:0] enc; + begin + if (enc[3] == 1'b0) + encoding_to_signed = {1'b0, enc[2:0]}; // +0..+7 + else + encoding_to_signed = -$signed({1'b0, enc[2:0]}); // -1..-7 + end +endfunction + +// ========================================================================= +// CLAMPING HELPER +// ========================================================================= +// Clamp a wider signed value to [-7, +7] +function signed [3:0] clamp_gain; + input signed [4:0] val; // 5-bit to handle overflow from add + begin + if (val > 5'sd7) + clamp_gain = 4'sd7; + else if (val < -5'sd7) + clamp_gain = -4'sd7; + else + clamp_gain = val[3:0]; + end +endfunction + +// ========================================================================= +// REGISTERED OUTPUT + AGC STATE MACHINE +// ========================================================================= always @(posedge clk or negedge reset_n) begin if (!reset_n) begin + // Data path data_i_out <= 16'sd0; data_q_out <= 16'sd0; valid_out <= 1'b0; + // Status outputs saturation_count <= 8'd0; + peak_magnitude <= 8'd0; + current_gain <= 4'd0; + // AGC internal state + agc_gain <= 4'sd0; + holdoff_counter <= 4'd0; + frame_sat_count <= 8'd0; + frame_peak <= 15'd0; + agc_enable_prev <= 1'b0; end else begin - valid_out <= valid_in; + // Track AGC enable transitions + agc_enable_prev <= agc_enable; + // Compute inclusive metrics: if valid_in fires this cycle, + // include current sample in the snapshot taken at frame_boundary. + // This avoids losing the last sample when valid_in and + // frame_boundary coincide (NBA last-write-wins would otherwise + // snapshot stale values then reset, dropping the sample entirely). + wire_frame_sat_incr = (valid_in && (overflow_i || overflow_q) + && (frame_sat_count != 8'hFF)); + wire_frame_peak_update = (valid_in && (max_iq > frame_peak)); + + // ---- Data pipeline (1-cycle latency) ---- + valid_out <= valid_in; if (valid_in) begin data_i_out <= sat_i; data_q_out <= sat_q; - // Count clipped samples (either channel clipping counts as 1) - if ((overflow_i || overflow_q) && (saturation_count != 8'hFF)) - saturation_count <= saturation_count + 8'd1; + // Per-frame saturation counting + if ((overflow_i || overflow_q) && (frame_sat_count != 8'hFF)) + frame_sat_count <= frame_sat_count + 8'd1; + + // Per-frame peak tracking (pre-gain, measures input signal level) + if (max_iq > frame_peak) + frame_peak <= max_iq; end + + // ---- Frame boundary: AGC update + metric snapshot ---- + if (frame_boundary) begin + // Snapshot per-frame metrics INCLUDING current sample if valid_in + saturation_count <= wire_frame_sat_incr + ? (frame_sat_count + 8'd1) + : frame_sat_count; + peak_magnitude <= wire_frame_peak_update + ? max_iq[14:7] + : frame_peak[14:7]; + + // Reset per-frame accumulators for next frame + frame_sat_count <= 8'd0; + frame_peak <= 15'd0; + + if (agc_enable) begin + // AGC auto-adjustment at frame boundary + // Use inclusive counts/peaks (accounting for simultaneous valid_in) + if (wire_frame_sat_incr || frame_sat_count > 8'd0) begin + // Clipping detected: reduce gain immediately (attack) + agc_gain <= clamp_gain($signed({agc_gain[3], agc_gain}) - + $signed({1'b0, agc_attack})); + holdoff_counter <= agc_holdoff; // Reset holdoff + end else if ((wire_frame_peak_update ? max_iq[14:7] : frame_peak[14:7]) + < agc_target) begin + // Signal too weak: increase gain after holdoff expires + if (holdoff_counter == 4'd0) begin + agc_gain <= clamp_gain($signed({agc_gain[3], agc_gain}) + + $signed({1'b0, agc_decay})); + end else begin + holdoff_counter <= holdoff_counter - 4'd1; + end + end else begin + // Signal in good range, no saturation: hold gain + // Reset holdoff so next weak frame has to wait again + holdoff_counter <= agc_holdoff; + end + end + end + + // ---- AGC enable transition: initialize from host gain ---- + if (agc_enable && !agc_enable_prev) begin + agc_gain <= encoding_to_signed(gain_shift); + holdoff_counter <= agc_holdoff; + end + + // ---- Update current_gain output ---- + if (agc_enable) + current_gain <= signed_to_encoding(agc_gain); + else + current_gain <= gain_shift; end end diff --git a/9_Firmware/9_2_FPGA/scripts/50t/build_50t.tcl b/9_Firmware/9_2_FPGA/scripts/50t/build_50t.tcl index 730b006..51a0e5e 100644 --- a/9_Firmware/9_2_FPGA/scripts/50t/build_50t.tcl +++ b/9_Firmware/9_2_FPGA/scripts/50t/build_50t.tcl @@ -120,9 +120,10 @@ set_property CLOCK_DEDICATED_ROUTE FALSE [get_nets {ft_clkout_IBUF}] # ---- Run implementation steps ---- opt_design -directive Explore -place_design -directive Explore +place_design -directive ExtraNetDelay_high +phys_opt_design -directive AggressiveExplore +route_design -directive AggressiveExplore phys_opt_design -directive AggressiveExplore -route_design -directive Explore phys_opt_design -directive AggressiveExplore set impl_elapsed [expr {[clock seconds] - $impl_start}] diff --git a/9_Firmware/9_2_FPGA/tb/cosim/compare.py b/9_Firmware/9_2_FPGA/tb/cosim/compare.py index 7913670..429c1cf 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/compare.py +++ b/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) - max_err_q = compute_max_abs_error(aligned_rtl_q, aligned_py_q) + compute_max_abs_error(aligned_rtl_i, aligned_py_i) + 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: - mark = "[PASS]" if ok else "[FAIL]" - print(f" {mark} {name}: {detail}") + for _name, ok, _detail in results: 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") - print(f"{'=' * 60}") + pass return all_pass @@ -481,25 +431,18 @@ 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") - print("=" * 60) + pass 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') + ok = compare_scenario(scenario) return 0 if ok else 1 + ok = compare_scenario('dc') + return 0 if ok else 1 if __name__ == '__main__': diff --git a/9_Firmware/9_2_FPGA/tb/cosim/compare_dc.csv b/9_Firmware/9_2_FPGA/tb/cosim/compare_dc.csv index eaed6a6..e7c5de9 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/compare_dc.csv +++ b/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 diff --git a/9_Firmware/9_2_FPGA/tb/cosim/compare_doppler.py b/9_Firmware/9_2_FPGA/tb/cosim/compare_doppler.py index 3379ca5..56e0969 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/compare_doppler.py +++ b/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()) - rtl_rbins = sorted(rtl_data.keys()) + sorted(py_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)) - rtl_rbin_energy = sum(i*i + q*q for i, q in zip(rtl_i, rtl_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, 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: - print(f" rbin={d['rbin']:2d}: py_peak={d['py_peak']:2d}, " - 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}") + for _d in top_rbins: + pass # ---- 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: - status = "PASS" if passed else "FAIL" - print(f" [{status}] {check_name}") + for _check_name, passed in checks: 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() - else: - arg = 'stationary' + arg = sys.argv[1].lower() if len(sys.argv) > 1 else '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") - print(f"{'='*60}") + pass sys.exit(0 if all_pass else 1) diff --git a/9_Firmware/9_2_FPGA/tb/cosim/compare_mf.py b/9_Firmware/9_2_FPGA/tb/cosim/compare_mf.py index 5269e94..c766a1d 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/compare_mf.py +++ b/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) - rtl_peak_bin, rtl_peak_mag = find_peak(rtl_i, rtl_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) - 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: - status = "PASS" if passed else "FAIL" - print(f" [{status}] {name}") + for _name, passed in checks: 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() - else: - arg = 'chirp' + arg = sys.argv[1].lower() if len(sys.argv) > 1 else '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") - print(f"{'='*60}") + pass sys.exit(0 if all_pass else 1) diff --git a/9_Firmware/9_2_FPGA/tb/cosim/fpga_model.py b/9_Firmware/9_2_FPGA/tb/cosim/fpga_model.py index ad98042..b412e10 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/fpga_model.py +++ b/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) & 0x3F - else: - lut_index = raw_index + lut_index = ~raw_index & 63 if quadrant & 1 ^ quadrant >> 1 & 1 else 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('//'): @@ -760,12 +748,11 @@ 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] + return sign_extend((-cos_rom[n2 - k]) & 0xFFFF, 16), cos_rom[k - n4] class FFTEngine: @@ -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 @@ -923,10 +908,9 @@ 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) + return sign_extend((rounded >> 15) & 0xFFFF, 16) out_re = round_sat_extract(real_sum) out_im = round_sat_extract(imag_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 - print( - f" Quadrature check: sin^2+cos^2={mag_sq}, " - f"expected~{expected}, error={error_pct:.2f}%" - ) - print(" NCO: OK") + abs(mag_sq - expected) / expected * 100 # --- Mixer test --- - print("\n--- Mixer Test ---") mixer = Mixer() # Test with mid-scale ADC (128) and known cos/sin - for i in range(5): - 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") + for _ in range(5): + _mi, _mq, _mv = mixer.step(128, 0x7FFF, 0, True, True) # --- 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): - out, valid = cic.step(dc_val, True) + for _ in range(100): + _, 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): - out, valid = fir.step(1000, True) + for _ in range(50): + _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) - max_err = 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") + rt_re, _rt_im = fft.compute(out_re, out_im, inverse=True) + max(abs(rt_re[i] - in_re[i]) for i in range(1024)) 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) - print(f" (32767+j0) * conj(32767+j0) = {r}+j{m} (expect ~32767+j0)") + _r, _m = FreqMatchedFilter.conjugate_multiply_sample(0x7FFF, 0, 0x7FFF, 0) # (0+j32767) * conj(0+j32767) = (0+j32767)(0-j32767) = 32767^2 -> ~32767 - 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") + _r2, _m2 = FreqMatchedFilter.conjugate_multiply_sample(0, 0x7FFF, 0, 0x7FFF) # --- 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__': diff --git a/9_Firmware/9_2_FPGA/tb/cosim/gen_chirp_mem.py b/9_Firmware/9_2_FPGA/tb/cosim/gen_chirp_mem.py index 33c76ee..8bec7b8 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/gen_chirp_mem.py +++ b/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))) - im_val = int(round(Q15_MAX * SCALE * math.sin(phase))) + re_val = round(Q15_MAX * SCALE * math.cos(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))) - im_val = int(round(Q15_MAX * SCALE * math.sin(phase))) + re_val = round(Q15_MAX * SCALE * math.cos(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 - print(f" Seg {seg}: indices [{start}:{end-1}], " - f"valid={valid_count}, zeros={zero_count}") + FFT_SIZE - valid_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_q = max(-32768, min(32767, int(round(Q15_MAX * SCALE * math.sin(phase))))) + expected_i = max(-32768, min(32767, round(Q15_MAX * SCALE * math.cos(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)) - print(f" Max magnitude: {max_mag:.1f} (expected ~{Q15_MAX * SCALE:.1f})") - print(f" Magnitude ratio: {max_mag / (Q15_MAX * SCALE):.6f}") + max(math.sqrt(i*i + q*q) for i, q in zip(long_i, long_q, strict=False)) # 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 diff --git a/9_Firmware/9_2_FPGA/tb/cosim/gen_doppler_golden.py b/9_Firmware/9_2_FPGA/tb/cosim/gen_doppler_golden.py index f4fb3e2..61981a9 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/gen_doppler_golden.py +++ b/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.append((frame_i[chirp][rb], frame_q[chirp][rb])) + packed_samples.extend( + (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]: - i_val = doppler_i[rbin][dbin] - q_val = doppler_q[rbin][dbin] - sf = dbin // DOPPLER_FFT_SIZE - bin_in_sf = 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}") + for rbin, dbin, _mag in peak_info[:5]: + doppler_i[rbin][dbin] + doppler_q[rbin][dbin] + dbin // DOPPLER_FFT_SIZE + dbin % DOPPLER_FFT_SIZE 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}") - print("Summary:") - 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]}") + for _ in results: + pass - print(f"\nGenerated {len(results)} scenarios.") - print(f"Files written to: {base_dir}") - print("=" * 60) if __name__ == '__main__': diff --git a/9_Firmware/9_2_FPGA/tb/cosim/gen_mf_cosim_golden.py b/9_Firmware/9_2_FPGA/tb/cosim/gen_mf_cosim_golden.py index dc5eaea..2ac4de4 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/gen_mf_cosim_golden.py +++ b/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.") - print("Run radar_scene.py first.") + pass # ---- 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_q.append(saturate(int(round(amp * math.sin(angle))), 16)) + sig_i.append(saturate(round(amp * math.cos(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) - print("Summary:") - 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']}") + for _ in results: + pass - print(f"\nGenerated {len(results)} golden reference cases.") - print("Files written to:", base_dir) - print("=" * 60) if __name__ == '__main__': diff --git a/9_Firmware/9_2_FPGA/tb/cosim/gen_multiseg_golden.py b/9_Firmware/9_2_FPGA/tb/cosim/gen_multiseg_golden.py index dc7d732..bcd1fb1 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/gen_multiseg_golden.py +++ b/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_q = list(input_q) + [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) # 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) diff --git a/9_Firmware/9_2_FPGA/tb/cosim/radar_scene.py b/9_Firmware/9_2_FPGA/tb/cosim/radar_scene.py index c0187e3..205f9e3 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/radar_scene.py +++ b/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))) - im_val = int(round(32767 * 0.9 * math.sin(phase))) + re_val = round(32767 * 0.9 * math.cos(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())) - q_val = int(round(bb_q_float[n] + noise_stddev * rand_gaussian())) + i_val = round(bb_i_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 - else: - weight = 0.2 / abs(delta) + weight = 1.0 if delta == 0 else 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())) - q_val = int(round(chirp_q[rb] + noise_stddev * rand_gaussian())) + i_val = round(chirp_i[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: - print(f" {t}") + for _t in targets: + pass 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: - print(f" {t}") + for _t in targets: + pass 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, diff --git a/9_Firmware/9_2_FPGA/tb/cosim/real_data/golden_reference.py b/9_Firmware/9_2_FPGA/tb/cosim/real_data/golden_reference.py index b8b8347..9b0ca86 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/real_data/golden_reference.py +++ b/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) & 0x3F - else: - lut_idx = lut_address & 0x3F + lut_idx = ~lut_address & 63 if quadrant & 1 ^ quadrant >> 1 & 1 else lut_address & 63 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 - else: - threshold_val = int(threshold_raw) + threshold_val = MAX_MAG if threshold_raw > MAX_MAG else 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] - print(f" Range bin {rbin}, Doppler bin {dbin}: magnitude {m}") + mag[rbin, dbin] 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) - max_error = np.max(np.abs(error)) + 10 * np.log10(signal_power / noise_power) + 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__": diff --git 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+1293825000,63,18,ff25ffc4 +1293835000,63,19,00a6ffc0 +1293845000,63,20,ffb0ff0e +1293855000,63,21,ff8a022b +1293865000,63,22,0276ffeb +1293875000,63,23,fed6fe67 +1293885000,63,24,fe760175 +1293895000,63,25,00aaff6d +1293905000,63,26,006dffe8 +1293915000,63,27,ff440068 +1293925000,63,28,0060ffd4 +1293935000,63,29,ff180105 +1293945000,63,30,0070fedd +1293955000,63,31,ff34001d diff --git a/9_Firmware/9_2_FPGA/tb/cosim/validate_mem_files.py b/9_Firmware/9_2_FPGA/tb/cosim/validate_mem_files.py index 4ccd6d0..8b9d79e 100644 --- a/9_Firmware/9_2_FPGA/tb/cosim/validate_mem_files.py +++ b/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]: - print(f" k={k}: got {act} (0x{act & 0xFFFF:04x}), expected {exp}, err={e}") - print(f" Max twiddle error: {max_err} LSB across {len(vals)} entries") + for _, _act, _exp, _e in err_details[:5]: + pass 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)) - 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)}") + expected = round(math.cos(angle) * 32767.0) # ============================================================================ # 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) - avg_mag = sum(magnitudes) / len(magnitudes) + min(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) - nonzero_q = 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}") + sum(1 for v in all_i if v != 0) + sum(1 for v in all_q if v != 0) # 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] - 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[0] + 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( - f" Bandwidth {f_range/1e6:.2f} MHz roughly matches expected " - f"{CHIRP_BW/1e6:.2f} MHz" - ) + pass 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_avg = sum(seg_mags) / len(seg_mags) - seg_max = max(seg_mags) + seg_mags = [math.sqrt(i*i + q*q) for i, q in zip(seg_i, seg_q, strict=False)] + sum(seg_mags) / len(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)] - max_mag = max(magnitudes) - avg_mag = sum(magnitudes) / len(magnitudes) + magnitudes = [math.sqrt(i*i + q*q) for i, q in zip(short_i, short_q, strict=False)] + max(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] - f_end = 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") + freq_est[0] + freq_est[-1] # ============================================================================ # 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))) - im_val = int(round(32767 * 0.9 * math.sin(phase))) + re_val = round(32767 * 0.9 * math.cos(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)] - mem_mags = [math.sqrt(i*i + q*q) for i, q in zip(mem_i, mem_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, 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) - print(f" Exact I matches: {matches}/{len(model_i)}") + matches = sum(1 for a, b in zip(model_i, mem_i, strict=False) if a == b) 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 - 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") + model_max / mem_max # Check phase correlation (shape match regardless of scaling) - model_phases = [math.atan2(q, i) for i, q in zip(model_i, model_q)] - mem_phases = [math.atan2(q, i) for i, q in zip(mem_i, mem_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, 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) - print(f" -> Estimated valid chirp samples in .mem: ~{actual_valid}") + 3072 + (1024 - trailing_zeros) # ============================================================================ # 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") - print("=" * 70) + pass return 0 if fail_count == 0 else 1 diff --git a/9_Firmware/9_2_FPGA/tb/gen_mf_golden_ref.py b/9_Firmware/9_2_FPGA/tb/gen_mf_golden_ref.py index e3f7d52..161e9d9 100644 --- a/9_Firmware/9_2_FPGA/tb/gen_mf_golden_ref.py +++ b/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 v + return max(-32768, min(32767, 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: - print() - 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']}") + for _ in summaries: + pass - print() - print(f"Generated {len(all_files)} files:") - for fname in all_files: - print(f" {fname}") - print() - print("Done.") + for _ in all_files: + pass if __name__ == "__main__": diff --git a/9_Firmware/9_2_FPGA/tb/golden/golden_doppler.mem b/9_Firmware/9_2_FPGA/tb/golden/golden_doppler.mem index 9b2497a..ec09a18 100644 --- a/9_Firmware/9_2_FPGA/tb/golden/golden_doppler.mem +++ b/9_Firmware/9_2_FPGA/tb/golden/golden_doppler.mem @@ -1,2176 +1,2176 @@ // 0x00000000 -ffedffb5 -0056002f -fef8fdf4 -00bb03e9 -ff67fd79 -02890060 -fb84ff8a -0391003b -ff0d0073 -00ae0099 -fc9cfefa -0433fe37 -fe0303e7 -0027fe60 -000cff08 -00450115 +0024ffdd +fff7002d +007d0098 +ff1afe23 +00130108 +ff530243 +0274fb9d +fee40370 +fe98ff6f +ff8bffa9 +03dffdd0 +fe3c042d +fdddfcc0 +00ff00cb +015400f7 +ff22ff4c // 0x00000010 -ffda004b -ff09ff80 -01e40140 -fed4fde4 -019102c6 -fac60187 -046efae2 -fe600256 -fee0ff41 -0131002c -0220ffcc -fd1cfdfa -019104b2 -ff4cfd11 -003a00be -001cffd8 +ffedfff1 +00880078 +fe31ffb7 +026c00de +fd2afd6f +0293ffc3 +fef10677 +ff6efadf +008900ad +017a0014 +fdc301a1 +020cff8e +fce0ffbb +025f00b1 +fe73fff1 +008effbd // 0x00000020 -ffe3ffff -00e1ff79 -fef10061 -01650080 -fd9dfeef -04330116 -fa4cfd95 -04660217 -ff33ffb5 -fe990157 -0051fca7 -004bffd8 -ff6d04e5 -0067fd3e -0072ffcb -ffb6007d +ffcd0030 +009d0057 +fecbff41 +0110007a +0148ff8e +fd2e0229 +ffe5fd1c +0483ffb6 +fb2f02ce +02110069 +0095fb47 +ffd003b8 +fdfcfdac +011801c3 +0023003c +0001ff54 // 0x00000030 -ffc10027 -ffe40007 -00f5ff8a -fe04001c -00f202a7 -ff5bfd55 -feb5fef5 -0588007d -f9e10265 -01f6fdf7 -ff51020e -0086fcd4 -01b00389 -fd7bfe31 -012900ef -ffb6ff77 +004fffd0 +0078fee5 +fed201e1 +0097fe5a +00ab0130 +ff73febb +00f301a4 +fea60124 +fe03fe84 +0184fea7 +ff1cffeb +03210146 +fc5fff84 +017d0025 +0053ff88 +fef600b0 // 0x00000040 -ffc4ffdb -0092fffd -ff0fff3e -01d8002f -fd6a0180 -018cff18 -fcf7fdb8 -0745034a -fa62ff4f -fe6afe99 -035d0062 -ffdc00f1 -feb4ffea -0108ff8e -ff01002c -00cf0042 +00260082 +ff99ff96 +016e0095 +0034ff2d +fce100d7 +0276ff6c +00a0ffaa +fdc400b8 +01dcffc4 +fe1901ae +0304fcf3 +fe240203 +0031fe2f +fefc0150 +0182006a +ff18ff30 // 0x00000050 -ffa3000e -ff84ff01 -018c02cb -fe98fd35 -003103aa -fe93faee -0224020a -fe3d00ab -01e3ff84 -ff2a029f -fd70fc23 -01b60147 -0155014c -ff27ffa6 -fea40058 -00ddffdd +005bff79 +0004ffcc +fef70100 +0136fe70 +ffb80156 +01b1feff +fdac03d6 +fdfafa69 +0289032f +feacfecc +004dffb2 +00d60062 +fee0fe8e +020f0245 +fda4feac +006a0079 // 0x00000060 -fffeffe6 -00e5ffd5 -fe89fefd -01c5016b -fe9affd6 -0024ffe3 -fe8bfebe -03d80037 -fdc802fe -ff8ffe6d -ffb5fd0f -01cb014d -fe000306 -0088fe47 -00ffff66 -ff5000b5 +ffe10086 +0026ffcd +00990030 +ffe4ff8a +fe7100c5 +0179ffc6 +ff2ffd5e +01ed0473 +fbd9fdf4 +037800d1 +0033fe0a +ff4202c0 +ffa5fc5d +ffa90298 +00950004 +ffcdff0f // 0x00000070 -ffd1ffc7 -003bff75 -00970297 -fde0fd96 -01fa004e -fe6d01df -0139fb91 -fd19057f -038bfb63 -ff890353 -ff93fcef -fe5002b6 -018e00ec -ff4bfe39 -00890075 -ff8b0065 +00fdffc2 +ff790028 +ffa70037 +ff03000a +015cfe75 +00850151 +fe83fec3 +029e02b0 +f995fb6c +072302fc +fd0dfef3 +006300bc +ff8efe5d +00ef0193 +ff8dffbb +ff0cffba // 0x00000080 -0025001e -00e1ffd5 -fea0febf -0168024f -ff8dff20 -0079004f -fd6afe0b -03e40009 -fef50360 -fe3ffdaf -ffdcfec1 -01fcffcd -fd61035e -01affebd -006aff41 -ff180083 +ffcb0066 +0050fffb +ffe0fed3 +ffa40100 +00b60022 +fe7cffd3 +0039000a +02ccfed9 +f9eb01a6 +061800f3 +fd90fe8d +00fa013e +fedcfd16 +015401e7 +fee700b2 +0086fee1 // 0x00000090 -ffedfff3 -fe94003c -029eff3a -fd74013c -015dfe53 -febd02fb -ff39fac8 -02790477 -fe83ffa7 -ffc2fd6c -00520068 -ff72ffdc -02ef038f -fda5fdbd -ff8b004a -00d9ffe1 +0016ffea +0041ffa2 +000b0138 +ff6aff83 +001fff0e +feb400ab +02910079 +fe2b01c7 +fd2afd74 +06d7ff6e +fb1d0056 +04a2003b +f9bd02cc +03c4fe85 +fef3ffa1 +ffb1005b // 0x000000a0 -00420058 -ffaeff4f -fffb00d1 -00f6ff23 -fe26012a -01ddffa5 -fcccfe0b -03570175 -00ca0380 -fbfafa9d -01db0215 -00e4ffbf -ff7e01da -001bfdf3 -ffd600db -0007ff7d +ffbd003f +0098007e +fed5fe93 +00f30177 +0051febd +fe7d0440 +019bfb1a +014cff8a +fd6b039f +0104fdc4 +ff77ffa3 +0059012b +ffa3ff59 +0073002a +ffcd0094 +000cff50 // 0x000000b0 -fffafff5 -000d0058 -012dff89 -fe590051 -ff36005e -02c60171 -fc8ffe01 -00b9fde1 -02a401bf -fd7b0048 -01c900cd -fbb5ff11 -059c002a -fcf60097 -00ebfffd -ff85ffd5 +00a20046 +006fff8c +fd68015d +02c6fcac +fffb02b4 +ff45fea6 +ff1200ce +02840190 +fdbcfc60 +02e10144 +0016fff3 +fd92012a +00af000e +ff4ffebe +02100082 +fe78ffbe // 0x000000c0 -ff8bff8e -ff9b004f -018aff23 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+fe6effcd +// 0x000004c0 +001bfffe +0006ffff +ffda004d +01ae0091 +fe59fe3e +ff0601dc +0158fc02 +017f0598 +fce1ff00 +0212fc5b +ff6201bf +015201b7 +fdcffd10 +013e01f6 +ff58ff76 +00150024 +// 0x000004d0 +0087ff7c +002a00e4 +fec3ff40 +00c1fff8 +ffbcfe1c +fef6042e +0262fd4b +fdd70136 +ffd7fd3a +00b8fff2 +00250184 +013fffec +fd5200b6 +01fcfdfc +ff420171 +ff4dff6e +// 0x000004e0 +ffcc0004 +005100a7 +001affbf +ffd3ff8a +ff80ff63 +005e03b5 +0235f9db +fe850446 +fecc00be +ffc5f9a7 +02000561 +ff51ff88 +fd80ff13 +021c0039 +ffc100bd +001fff7c +// 0x000004f0 +fffffff3 +ff8e0083 +ff83fee9 +02a6000f +fb8a0071 +046afe97 +fd1e01c9 +03a6015d +fbebff03 +001afe81 +01f5fde9 +fd5c0275 +02a4ff89 +ff92ffdd +fefaffdd +007cffcf +// 0x00000500 +ff4affd2 +016400e4 +ff0dfff1 +ff5aff09 +0068ff79 +00f70385 +fe78fb3d +021103c4 +fdbc0042 +022afcf8 +fe570187 +03860043 +fc26fdeb +00670227 +0078ff1b +003b0020 +// 0x00000510 +0067ff87 +006affba +fe13021c +0184fd52 +ffb10118 +ff28fbfc +01c30565 +0060fd3d +fd130211 +0258fd9e 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+00390013 +00b10010 +fd4a0112 +01effd5a +018201d5 +fc93ffa2 +00f70022 +00890084 +00150013 +0225fd80 +fc6c01ee +02150060 +ff50ff95 +ffa30066 +00830016 +ff57fff2 +// 0x000005e0 +00380043 +ff6c005c +01bcfeea +fde2001f +010000fc +feba018a +01d9fb42 +002f0220 +fde803c5 +0046fbb4 +010000ba +01ec01cb +fcd0fddc +016c00de +fff30022 +ffb3ff96 +// 0x000005f0 +00a1ffaf +fff4006c +fee8003a +ff5cfe50 +034e006e +fc0bff97 +0342025c +ff7efe11 +fed7015d +00cafbde +007a03aa +fef6feae +00820182 +ff57fe83 +0124ffec +fed00065 +// 0x00000600 +0023ffed +ffff011b +005efe65 +ff8c0006 +fff0ffda +ff100499 +0298f993 +ff4a03ba +fdf3ff1f +014ffea9 +019e028d +ff1aff0c +fda6fe16 +02ea012f +fea8007f +ffe0ffa8 +// 0x00000610 +0038001e +009affa5 +fdb8008d +017fff2b +0058ff07 +fec3fef0 +02790297 +ffca0220 +fc06fa18 +07b60213 +f9aa01bd +0473fd79 +fbee02ff +02b1fe64 +fef90043 +ffd8ffb0 +// 0x00000620 +ffa3fff3 +00cd0105 +ff0ffe57 +fee50111 +0276ff5b +fe840131 +ff0dfeb0 +03570103 +fabdfffd +02f100e7 +0359fde1 +fc4d023d +0062fe55 +0012ff4f +008301f0 +fff3fecb +// 0x00000630 +008d004c +0011ffad +feb20112 +0102fe58 +ffc8004f +0227ff78 +fdd403d8 +01ccfe11 +fb97ff30 +0609fecd +fb0c0268 +02c8ff56 +fd38ffad +02a7ffbe +ff2a007e +ff92ffa9 +// 0x00000640 +0027ffe4 +ff680075 +008bff50 +00930179 +fdb5fea8 +02d301b0 +ff9afc37 +fee7045c +010bfe80 +fdf0ff5f +02abff4e +00dd008f +fba500e0 +020dfefc +00d40087 +ff41ffd4 +// 0x00000650 +0035ff55 +ffbb00c3 +fef5feec +014000f1 +ff6afd66 +02e502d0 +fd82fec8 +00a800d3 +ff0500a1 +022ffd49 +fdd9024e +01e200d1 +fdc8fe00 +01b10054 +fec4ff52 +00d6012b +// 0x00000660 +00230072 +ffa5fffa +0200ff17 +fd7301b2 +ff03fdcd +0385017d +ff8bff81 +fdab0072 +ffaffdcc +01370268 +ff84ff9f +00bd01a4 +ff8ffdc5 +00230091 +00a500e1 +ff89fee0 +// 0x00000670 +00a1ffad +ffd40080 +fe7b008f +0277fe43 +fed70182 +ffcdffc3 +febb0072 +01d200e5 +fc5ffced +0416020c +fed3fdad +0071017d +ff89011c +ffd5fe59 +00770192 +fefaff6b +// 0x00000680 +fffc0056 +ff36004f +0257fef7 +fe0d008e +ff6d00b6 +ff8cffdd +0220fcd0 +003603e5 +fc4401de +02b0fbff +016b0071 +ff6f01be +fe93fde2 +002200ed +009600f4 +0002febf +// 0x00000690 +0018ff91 +00c300a7 +fe230115 +0238fc2d +fe4003a6 +0077fe46 +000b0322 +00e7fd24 +faf40143 +058dfd9f +fe0dff4f +01c40211 +fe30ff72 +0075005c +00b9004e +fef1fff6 +// 0x000006a0 +ffa7006b +00bf001d +fedcfee5 +0083018a +ffedfe20 +fee204f6 +0165f9e7 +005601aa +ffd10317 +fef5fe5b +ffb6fec9 +02e300f0 +fe9bff4a +ff5600c2 +0019ff97 +0048ff94 +// 0x000006b0 +006bffee +0063ff69 +fe1c0269 +02c7fb9c +fdc0034c +00b4fe4b +0066010b +00f90130 +fdb5fd0c +0297fff3 +007a006d +fe51ffc8 +00b40346 +001efcc9 +00280123 +ff7bfffc +// 0x000006c0 +004b0039 +00280058 +fee1ff0d +020d005e +ff4bfec0 +fe4804a7 +013ff95c +ff930344 +006b01ff +ff9efde6 +00950035 +011f0040 +fcf7fec8 +01ea011b +0023008a +ff79ff36 +// 0x000006d0 +0093ff78 +fff000a3 +ffa6fff3 +ff53fe9a +02c0007d +fd5600b5 +0198018a +ff2a000a +fed5ff9a +0084ff3d +ff5efed7 +002d0006 +00e80215 +fedafe5f +01bc00e8 +fe1a0012 +// 0x000006e0 +fff20019 +000a0015 +ffdbffcf +007d0164 +fe66fc74 +020a04dc +ff67fb95 +002e034a +fd9affdd +02acfd3f +00ef0279 +002f003e +fbd6fd06 +039801f4 +feefffd3 +ffe6ffd0 +// 0x000006f0 +001a009d +ff62ff1f +01200165 +fe6ffea5 +01d5ff37 +fe6a01d3 +01d8fed9 +013c02cd +fce4fcd9 +014400dd +fddcff35 +0239fe81 +001d022f +ffd0fea1 +ff840091 +0084ff2d +// 0x00000700 +ffa7ff88 +003400e3 +00810034 +fe66ff66 +0158fcc5 +ff16071e +ffdffa8b +01900282 +ff4d0056 +fe9afe23 +03430088 +ff1000fa +fdccfdc1 +019401fc +ff75feed +00520066 +// 0x00000710 +005c0004 +000e0053 +fdc40037 +0368ff16 +ff2d00a5 +fe6dfc7c +02d804db +ffa2fde0 +fdc2011e +04ccff23 +fc2afea5 +0442024a +fa4900dd +0225fe0a +003e006d +ffc0ffdc +// 0x00000720 +ff95ffe1 +008d005a +0043ff57 +fe8901e8 +00ecfc46 +ff7e029d +0218ff72 +fce90235 +00adfb9b +01150416 +010dff19 +ff33fd36 +fed2024e +0058001b +0040ff0e +003b0085 +// 0x00000730 +ffd5ffa8 +008a005f +fe54ff5b +018f0040 +007cffbb +ffd2fed8 +004a0315 +fe6b00af +fff1ff56 +0168fd75 +fcf400cb +05cbff86 +fa2a0297 +02b8fd1c +ff42018d +ffffffbb +// 0x00000740 +fff1ffec +ff7300b0 +01e8ff64 +fdd50126 +ffb4fe43 +01a6003f +0150016b +fbddfff0 +014ffe78 +030d01fe +fd46ffd4 +0255fdaa +fe800159 +ff0effd3 +01260015 +ffadffc8 +// 0x00000750 +003effa5 +0035fff1 +ff7c00ea +00c4fee3 +fffaffed +fea4fdbf +01c105c6 +00a1fc06 +faf201b3 +05d7fc2d +fe5202e0 +0180fe43 +fec6017f +ff28ffe7 +0181fffc +ff13ffe0 +// 0x00000760 +ffc0ffff +002e00b6 +001cfeb7 +fea8014c +0052fee7 +015700e3 +005900a9 +fe66fed8 +ffdcff1b +011a030e +ff5afd3f +0182013c +ffb60027 +fe05fedd +01850049 +ffd4000c +// 0x00000770 +0088ffc2 +0098ffd3 +fd7601aa +02bbfd44 +febc001b +00c00048 +00990039 +00ad0074 +fcb2022e +03bafaaf +fdec031c +01b7ff26 +fdce0001 +010a0016 +0079ffc5 +ff2d0042 // 0x00000780 -008a004b -ff7cffba -fedbffbf -02b80008 -fe430207 -0139fdfd -ff06fe77 -ff02013a -013002d7 -00a2fa9e -ffa1050f -fd00fcf6 -0313014f -0029ffa7 -fee600bb -004eff54 +ffb0ffc6 +0097011d +009afe82 +fe010203 +00e5fd4a +0184022e +ff91ff1c +00460087 +fbe2fe72 +03fb009f +01760112 +fd19ff79 +fee5fe82 +01da0186 +ffcb0064 +ffe8ff75 // 0x00000790 -fff0fff7 -ff6c0013 -02a7ff51 -fd460188 -004bff26 -00b604a1 -fd26f7b9 -03e10465 -fd2afee5 -fefe001b -0209fea3 -ff0e0234 -0167ff6a -fe58ffdd -00f6004f -ff8b000b +0062ffa5 +002500b7 +fe5d009f +010ffd9c +013601b1 +fbb8fc62 +05e604af +fcecfdfa +00280109 +0171fdbf +0045001f +fec900ea +ffc801d9 +fff2fddc +0068006b +ff74fffc // 0x000007a0 -ffd0ffca -000800b8 -ff0aff01 -028bffde -fd8c0228 -ffb9ff48 -0164fca1 -00cc037a -ffb0ffc4 -fc28fdea -0316037f -00a1fc9c -00100286 -fe9bfe66 -00a000eb -0044ff74 +ff95ffe2 +00b1fff2 +ff64006a +ff9afebe +01d400b1 +fc8900a5 +046dff69 +fd25fdeb +004f051c +fedbfa5c +030e0292 +fd920048 +ffc40029 +00a3ff99 +006d004b +002ffffb // 0x000007b0 -fff6ffc1 -ff230058 -02b5007b -fd06fe72 -01f6011c -fdc1026c -0120fa7a -007b045a -00eafdd7 -fcb102ae -021bfced -fe8cfff0 -03fa02c0 -fcafff26 -0100ffe2 -003f0044 +00610066 +ff5900e9 +002bff1f +ffaa0030 +0144ff6e +fc020098 +04060002 +0032015b +fdfffeea +0183feed +fda500a9 +0344002a +fd3400ba +015aff4a +ff1a0156 +0000fe8b // 0x000007c0 -fff4ffe0 -0067ffca -ff74003a -feef00cc -03b9fe4a -fba302e4 -0304fb52 -fd930292 -038c01c0 -fc2dfe36 -0064fe24 -02290332 -fee3fe56 -ffc10180 -0030fea0 -0035007c +ffe0ffb5 +ffeb008c +004effb6 +ffe8ff5e +ff090058 +000b0020 +0314001e +fa80feee +0398043f +feedfb66 +01ba0274 +ffb2fe7c +ff7b0134 +fe81ff4e +0230ff78 +ff3a0098 // 0x000007d0 -005eff5f -fee800b1 -023900f0 -fcd0fdd9 -013000a5 -ffa10032 -ff650149 -01b1fe0c -fdceffc5 -00800039 -00a10076 -ffaaffef -ff0400ff -011fff04 -00310001 -ff9d0094 +0018ff95 +ffdb00e0 +fe62fe43 +03f80169 +fe91fdf0 +ff3903f3 +fec5fe71 +026b001d +fd98ffbf +0299fe4a +ff36fff3 +ff20023f +fefffd40 +024f014b +ff83ff15 +000100f3 // 0x000007e0 -ff5cffff -00adff00 -003001c7 -fe85fe80 -02340003 -ff280263 -fda6fb46 -03c003ae -ffe6fd29 -fb4103fa -02b6fc75 -0111012c -ff020055 -004a0087 -fef4ff5e -01520062 +0050ffef +000efff1 +00060141 +ffa2fe18 +020500c3 +fb86fe6f +039a01db +ff2fffd4 +fffa02e1 +fe24f9cb +035c02db +fece01e8 +feedfe69 +0004ff91 +01500095 +ff1dffe8 // 0x000007f0 -ffe3ff95 -ffe300c2 -ffc9ffce -ffb0fed6 -022a0084 -fc3f0040 -030500f0 -0071fd0a -fbc7037d -0489ff40 -fdf10228 -ff40fbd6 -ffe0035e -0001fd86 -018d0156 -ff13ffe2 +00820045 +ffd0ff97 +ff25ffc4 +00a6ffc0 +ffb0ff0e +ff8a022b +0276ffeb +fed6fe67 +fe760175 +00aaff6d +006dffe8 +ff440068 +0060ffd4 +ff180105 +0070fedd +ff34001d diff --git a/9_Firmware/9_2_FPGA/tb/tb_rx_gain_control.v b/9_Firmware/9_2_FPGA/tb/tb_rx_gain_control.v index a44abfd..75904fc 100644 --- a/9_Firmware/9_2_FPGA/tb/tb_rx_gain_control.v +++ b/9_Firmware/9_2_FPGA/tb/tb_rx_gain_control.v @@ -38,10 +38,20 @@ reg signed [15:0] data_q_in; reg valid_in; reg [3:0] gain_shift; +// AGC configuration (default: AGC disabled — manual mode) +reg agc_enable; +reg [7:0] agc_target; +reg [3:0] agc_attack; +reg [3:0] agc_decay; +reg [3:0] agc_holdoff; +reg frame_boundary; + wire signed [15:0] data_i_out; wire signed [15:0] data_q_out; wire valid_out; wire [7:0] saturation_count; +wire [7:0] peak_magnitude; +wire [3:0] current_gain; rx_gain_control dut ( .clk(clk), @@ -50,10 +60,18 @@ rx_gain_control dut ( .data_q_in(data_q_in), .valid_in(valid_in), .gain_shift(gain_shift), + .agc_enable(agc_enable), + .agc_target(agc_target), + .agc_attack(agc_attack), + .agc_decay(agc_decay), + .agc_holdoff(agc_holdoff), + .frame_boundary(frame_boundary), .data_i_out(data_i_out), .data_q_out(data_q_out), .valid_out(valid_out), - .saturation_count(saturation_count) + .saturation_count(saturation_count), + .peak_magnitude(peak_magnitude), + .current_gain(current_gain) ); // --------------------------------------------------------------- @@ -105,6 +123,13 @@ initial begin data_q_in = 0; valid_in = 0; gain_shift = 4'd0; + // AGC disabled for backward-compatible tests (Tests 1-12) + agc_enable = 0; + agc_target = 8'd200; + agc_attack = 4'd1; + agc_decay = 4'd1; + agc_holdoff = 4'd4; + frame_boundary = 0; repeat (4) @(posedge clk); reset_n = 1; @@ -152,6 +177,9 @@ initial begin "T3.1: I saturated to +32767"); check(data_q_out == -16'sd32768, "T3.2: Q saturated to -32768"); + // Pulse frame_boundary to snapshot the per-frame saturation count + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; check(saturation_count == 8'd1, "T3.3: Saturation counter = 1 (both channels clipped counts as 1)"); @@ -173,6 +201,9 @@ initial begin "T4.1: I attenuated 4000>>2 = 1000"); check(data_q_out == -16'sd500, "T4.2: Q attenuated -2000>>2 = -500"); + // Pulse frame_boundary to snapshot (should be 0 — no clipping) + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; check(saturation_count == 8'd0, "T4.3: No saturation on right shift"); @@ -315,13 +346,18 @@ initial begin valid_in = 1'b0; @(posedge clk); #1; + // Pulse frame_boundary to snapshot per-frame saturation count + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; check(saturation_count == 8'd255, "T11.1: Counter capped at 255 after 256 saturating samples"); - // One more sample — should stay at 255 + // One more sample + frame boundary — should still be capped at 1 (new frame) send_sample(16'sd20000, 16'sd20000); - check(saturation_count == 8'd255, - "T11.2: Counter stays at 255 (no wrap)"); + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + check(saturation_count == 8'd1, + "T11.2: New frame counter = 1 (single sample)"); // --------------------------------------------------------------- // TEST 12: Reset clears everything @@ -329,6 +365,8 @@ initial begin $display(""); $display("--- Test 12: Reset clears all ---"); + gain_shift = 4'd0; // Reset gain_shift to 0 so current_gain reads 0 + agc_enable = 0; reset_n = 0; repeat (2) @(posedge clk); reset_n = 1; @@ -342,6 +380,479 @@ initial begin "T12.3: valid_out cleared on reset"); check(saturation_count == 8'd0, "T12.4: Saturation counter cleared on reset"); + check(current_gain == 4'd0, + "T12.5: current_gain cleared on reset"); + + // --------------------------------------------------------------- + // TEST 13: current_gain reflects gain_shift in manual mode + // --------------------------------------------------------------- + $display(""); + $display("--- Test 13: current_gain tracks gain_shift (manual) ---"); + + gain_shift = 4'b0_011; // amplify x8 + @(posedge clk); @(posedge clk); #1; + check(current_gain == 4'b0011, + "T13.1: current_gain = 0x3 (amplify x8)"); + + gain_shift = 4'b1_010; // attenuate /4 + @(posedge clk); @(posedge clk); #1; + check(current_gain == 4'b1010, + "T13.2: current_gain = 0xA (attenuate /4)"); + + // --------------------------------------------------------------- + // TEST 14: Peak magnitude tracking + // --------------------------------------------------------------- + $display(""); + $display("--- Test 14: Peak magnitude tracking ---"); + + reset_n = 0; + repeat (2) @(posedge clk); + reset_n = 1; + repeat (2) @(posedge clk); + + gain_shift = 4'b0_000; // pass-through + // Send samples with increasing magnitude + send_sample(16'sd100, 16'sd50); + send_sample(16'sd1000, 16'sd500); + send_sample(16'sd8000, 16'sd2000); // peak = 8000 + send_sample(16'sd200, 16'sd100); + // Pulse frame_boundary to snapshot + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + // peak_magnitude = upper 8 bits of 15-bit peak (8000) + // 8000 = 0x1F40, 15-bit = 0x1F40, [14:7] = 0x3E = 62 + check(peak_magnitude == 8'd62, + "T14.1: Peak magnitude = 62 (8000 >> 7)"); + + // --------------------------------------------------------------- + // TEST 15: AGC auto gain-down on saturation + // --------------------------------------------------------------- + $display(""); + $display("--- Test 15: AGC gain-down on saturation ---"); + + reset_n = 0; + repeat (2) @(posedge clk); + reset_n = 1; + repeat (2) @(posedge clk); + + // Start with amplify x4 (gain_shift = 0x02), then enable AGC + gain_shift = 4'b0_010; // amplify x4, internal gain = +2 + agc_enable = 0; + agc_attack = 4'd1; + agc_decay = 4'd1; + agc_holdoff = 4'd2; + agc_target = 8'd100; + @(posedge clk); @(posedge clk); + + // Enable AGC — should initialize from gain_shift + agc_enable = 1; + @(posedge clk); @(posedge clk); @(posedge clk); #1; + check(current_gain == 4'b0010, + "T15.1: AGC initialized from gain_shift (amplify x4)"); + + // Send saturating samples (will clip at x4 gain) + send_sample(16'sd20000, 16'sd20000); + send_sample(16'sd20000, 16'sd20000); + + // Pulse frame_boundary — AGC should reduce gain by attack=1 + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + // current_gain lags agc_gain by 1 cycle (NBA), wait one extra cycle + @(posedge clk); #1; + // Internal gain was +2, attack=1 → new gain = +1 (0x01) + check(current_gain == 4'b0001, + "T15.2: AGC reduced gain to x2 after saturation"); + + // Another frame with saturation (20000*2 = 40000 > 32767) + send_sample(16'sd20000, 16'sd20000); + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + // gain was +1, attack=1 → new gain = 0 (0x00) + check(current_gain == 4'b0000, + "T15.3: AGC reduced gain to x1 (pass-through)"); + + // At gain 0 (pass-through), 20000 does NOT overflow 16-bit range, + // so no saturation occurs. Signal peak = 20000 >> 7 = 156 > target(100), + // so AGC correctly holds gain at 0. This is expected behavior. + // To test crossing into attenuation: increase attack to 3. + agc_attack = 4'd3; + // Reset and start fresh with gain +2, attack=3 + reset_n = 0; + repeat (2) @(posedge clk); + reset_n = 1; + repeat (2) @(posedge clk); + + gain_shift = 4'b0_010; // amplify x4, internal gain = +2 + agc_enable = 0; + @(posedge clk); + agc_enable = 1; + @(posedge clk); @(posedge clk); @(posedge clk); #1; + + // Send saturating samples + send_sample(16'sd20000, 16'sd20000); + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + // gain was +2, attack=3 → new gain = -1 → encoding 0x09 + check(current_gain == 4'b1001, + "T15.4: Large attack step crosses to attenuation (gain +2 - 3 = -1 → 0x9)"); + + // --------------------------------------------------------------- + // TEST 16: AGC auto gain-up after holdoff + // --------------------------------------------------------------- + $display(""); + $display("--- Test 16: AGC gain-up after holdoff ---"); + + reset_n = 0; + repeat (2) @(posedge clk); + reset_n = 1; + repeat (2) @(posedge clk); + + // Start with low gain, weak signal, holdoff=2 + gain_shift = 4'b0_000; // pass-through (internal gain = 0) + agc_enable = 0; + agc_attack = 4'd1; + agc_decay = 4'd1; + agc_holdoff = 4'd2; + agc_target = 8'd100; // target peak = 100 (in upper 8 bits = 12800 raw) + @(posedge clk); @(posedge clk); + + agc_enable = 1; + @(posedge clk); @(posedge clk); #1; + + // Frame 1: send weak signal (peak < target), holdoff counter = 2 + send_sample(16'sd100, 16'sd50); // peak=100, [14:7]=0 (very weak) + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b0000, + "T16.1: Gain held during holdoff (frame 1, holdoff=2)"); + + // Frame 2: still weak, holdoff counter decrements to 1 + send_sample(16'sd100, 16'sd50); + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b0000, + "T16.2: Gain held during holdoff (frame 2, holdoff=1)"); + + // Frame 3: holdoff expired (was 0 at start of frame) → gain up + send_sample(16'sd100, 16'sd50); + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b0001, + "T16.3: Gain increased after holdoff expired (gain 0->1)"); + + // --------------------------------------------------------------- + // TEST 17: Repeated attacks drive gain negative, clamp at -7, + // then decay recovers + // --------------------------------------------------------------- + $display(""); + $display("--- Test 17: Repeated attack → negative clamp → decay recovery ---"); + + // ----- 17a: Walk gain from +7 down through zero via repeated attack ----- + reset_n = 0; + repeat (2) @(posedge clk); + reset_n = 1; + repeat (2) @(posedge clk); + + gain_shift = 4'b0_111; // amplify x128, internal gain = +7 + agc_enable = 0; + agc_attack = 4'd2; + agc_decay = 4'd1; + agc_holdoff = 4'd2; + agc_target = 8'd100; + @(posedge clk); + agc_enable = 1; + @(posedge clk); @(posedge clk); @(posedge clk); #1; + check(current_gain == 4'b0_111, + "T17a.1: AGC initialized at gain +7 (0x7)"); + + // Frame 1: saturating at gain +7 → gain 7-2=5 + send_sample(16'sd1000, 16'sd1000); // 1000<<7 = 128000 → overflow + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b0_101, + "T17a.2: After attack: gain +5 (0x5)"); + + // Frame 2: still saturating at gain +5 → gain 5-2=3 + send_sample(16'sd1000, 16'sd1000); // 1000<<5 = 32000 → no overflow + send_sample(16'sd2000, 16'sd2000); // 2000<<5 = 64000 → overflow + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b0_011, + "T17a.3: After attack: gain +3 (0x3)"); + + // Frame 3: saturating at gain +3 → gain 3-2=1 + send_sample(16'sd5000, 16'sd5000); // 5000<<3 = 40000 → overflow + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b0_001, + "T17a.4: After attack: gain +1 (0x1)"); + + // Frame 4: saturating at gain +1 → gain 1-2=-1 → encoding 0x9 + send_sample(16'sd20000, 16'sd20000); // 20000<<1 = 40000 → overflow + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b1_001, + "T17a.5: Attack crossed zero: gain -1 (0x9)"); + + // Frame 5: at gain -1 (right shift 1), 20000>>>1=10000, NO overflow. + // peak = 20000 → [14:7]=156 > target(100) → HOLD, gain stays -1 + send_sample(16'sd20000, 16'sd20000); + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b1_001, + "T17a.6: No overflow at -1, peak>target → HOLD, gain stays -1"); + + // ----- 17b: Max attack step clamps at -7 ----- + $display(""); + $display("--- Test 17b: Max attack clamps at -7 ---"); + + reset_n = 0; + repeat (2) @(posedge clk); + reset_n = 1; + repeat (2) @(posedge clk); + + gain_shift = 4'b0_011; // amplify x8, internal gain = +3 + agc_attack = 4'd15; // max attack step + agc_enable = 0; + @(posedge clk); + agc_enable = 1; + @(posedge clk); @(posedge clk); @(posedge clk); #1; + check(current_gain == 4'b0_011, + "T17b.1: Initialized at gain +3"); + + // One saturating frame: gain = clamp(3 - 15) = clamp(-12) = -7 → 0xF + send_sample(16'sd5000, 16'sd5000); // 5000<<3 = 40000 → overflow + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b1_111, + "T17b.2: Gain clamped at -7 (0xF) after max attack"); + + // Another frame at gain -7: 5000>>>7 = 39, peak = 5000→[14:7]=39 < target(100) + // → decay path, but holdoff counter was reset to 2 by the attack above + send_sample(16'sd5000, 16'sd5000); + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b1_111, + "T17b.3: Gain still -7 (holdoff active, 2→1)"); + + // ----- 17c: Decay recovery from -7 after holdoff ----- + $display(""); + $display("--- Test 17c: Decay recovery from deep negative ---"); + + // Holdoff was 2. After attack (frame above), holdoff=2. + // Frame after 17b.3: holdoff decrements to 0 + send_sample(16'sd5000, 16'sd5000); + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b1_111, + "T17c.1: Gain still -7 (holdoff 1→0)"); + + // Now holdoff=0, next weak frame should trigger decay: -7 + 1 = -6 → 0xE + send_sample(16'sd5000, 16'sd5000); + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b1_110, + "T17c.2: Decay from -7 to -6 (0xE) after holdoff expired"); + + // One more decay: -6 + 1 = -5 → 0xD + send_sample(16'sd5000, 16'sd5000); + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + check(current_gain == 4'b1_101, + "T17c.3: Decay from -6 to -5 (0xD)"); + + // Verify output is actually attenuated: at gain -5 (right shift 5), + // 5000 >>> 5 = 156 + send_sample(16'sd5000, 16'sd0); + check(data_i_out == 16'sd156, + "T17c.4: Output correctly attenuated: 5000>>>5 = 156"); + + // ================================================================= + // Test 18: valid_in + frame_boundary on the SAME cycle + // Verify the coincident sample is included in the frame snapshot + // (Bug #7 fix — previously lost due to NBA last-write-wins) + // ================================================================= + $display(""); + $display("--- Test 18: valid_in + frame_boundary simultaneous ---"); + + // ----- 18a: Coincident saturating sample included in sat count ----- + reset_n = 0; + repeat (2) @(posedge clk); + reset_n = 1; + repeat (2) @(posedge clk); + + gain_shift = 4'b0_011; // amplify x8 (shift left 3) + agc_attack = 4'd1; + agc_decay = 4'd1; + agc_holdoff = 4'd2; + agc_target = 8'd100; + agc_enable = 1; + @(posedge clk); @(posedge clk); @(posedge clk); #1; + + // Send one normal sample first (establishes a non-zero frame) + send_sample(16'sd100, 16'sd100); // small, no overflow at gain +3 + + // Now: assert valid_in AND frame_boundary on the SAME posedge. + // The sample is large enough to overflow at gain +3: 5000<<3 = 40000 > 32767 + @(negedge clk); + data_i_in = 16'sd5000; + data_q_in = 16'sd5000; + valid_in = 1'b1; + frame_boundary = 1'b1; + @(posedge clk); #1; // DUT samples both signals + @(negedge clk); + valid_in = 1'b0; + frame_boundary = 1'b0; + @(posedge clk); #1; // let NBA settle + @(posedge clk); #1; + + // Saturation count should be 1 (the coincident sample overflowed) + check(saturation_count == 8'd1, + "T18a.1: Coincident saturating sample counted in snapshot (sat_count=1)"); + + // Peak should reflect pre-gain max(|5000|,|5000|) = 5000 → [14:7] = 39 + // (or at least >= the first sample's peak of 100→[14:7]=0) + check(peak_magnitude == 8'd39, + "T18a.2: Coincident sample peak included in snapshot (peak=39)"); + + // AGC should have attacked (sat > 0): gain +3 → +3-1 = +2 + check(current_gain == 4'b0_010, + "T18a.3: AGC attacked on coincident saturation (gain +3 → +2)"); + + // ----- 18b: Coincident non-saturating peak updates snapshot ----- + $display(""); + $display("--- Test 18b: Coincident peak-only sample ---"); + + reset_n = 0; + agc_enable = 0; // deassert so transition fires with NEW gain_shift + repeat (2) @(posedge clk); + reset_n = 1; + repeat (2) @(posedge clk); + + gain_shift = 4'b0_000; // no amplification (shift 0) + agc_attack = 4'd1; + agc_decay = 4'd1; + agc_holdoff = 4'd0; + agc_target = 8'd200; // high target so signal is "weak" + agc_enable = 1; + @(posedge clk); @(posedge clk); @(posedge clk); #1; + + // Send a small sample + send_sample(16'sd50, 16'sd50); + + // Coincident frame_boundary + valid_in with a LARGER sample (not saturating) + @(negedge clk); + data_i_in = 16'sd10000; + data_q_in = 16'sd10000; + valid_in = 1'b1; + frame_boundary = 1'b1; + @(posedge clk); #1; + @(negedge clk); + valid_in = 1'b0; + frame_boundary = 1'b0; + @(posedge clk); #1; + @(posedge clk); #1; + + // Peak should be max(|10000|,|10000|) = 10000 → [14:7] = 78 + check(peak_magnitude == 8'd78, + "T18b.1: Coincident larger peak included (peak=78)"); + // No saturation at gain 0 + check(saturation_count == 8'd0, + "T18b.2: No saturation (gain=0, no overflow)"); + + // ================================================================= + // Test 19: AGC enable toggle mid-frame + // Verify gain initializes from gain_shift and holdoff resets + // ================================================================= + $display(""); + $display("--- Test 19: AGC enable toggle mid-frame ---"); + + // ----- 19a: Enable AGC mid-frame, verify gain init ----- + reset_n = 0; + repeat (2) @(posedge clk); + reset_n = 1; + repeat (2) @(posedge clk); + + gain_shift = 4'b0_101; // amplify x32 (shift left 5), internal = +5 + agc_attack = 4'd2; + agc_decay = 4'd1; + agc_holdoff = 4'd3; + agc_target = 8'd100; + agc_enable = 0; // start disabled + @(posedge clk); #1; + + // With AGC off, current_gain should follow gain_shift directly + check(current_gain == 4'b0_101, + "T19a.1: AGC disabled → current_gain = gain_shift (0x5)"); + + // Send a few samples (building up frame metrics) + send_sample(16'sd1000, 16'sd1000); + send_sample(16'sd2000, 16'sd2000); + + // Toggle AGC enable ON mid-frame + @(negedge clk); + agc_enable = 1; + @(posedge clk); #1; + @(posedge clk); #1; // let enable transition register + + // Gain should initialize from gain_shift encoding (0b0_101 → +5) + check(current_gain == 4'b0_101, + "T19a.2: AGC enabled mid-frame → gain initialized from gain_shift (+5)"); + + // Send a saturating sample, then boundary + send_sample(16'sd5000, 16'sd5000); // 5000<<5 overflows + @(negedge clk); frame_boundary = 1; @(posedge clk); #1; + @(negedge clk); frame_boundary = 0; @(posedge clk); #1; + @(posedge clk); #1; + + // AGC should attack: gain +5 → +5-2 = +3 + check(current_gain == 4'b0_011, + "T19a.3: After boundary, AGC attacked (gain +5 → +3)"); + + // ----- 19b: Disable AGC mid-frame, verify passthrough ----- + $display(""); + $display("--- Test 19b: Disable AGC mid-frame ---"); + + // Change gain_shift to a new value + @(negedge clk); + gain_shift = 4'b1_010; // attenuate by 2 (right shift 2) + agc_enable = 0; + @(posedge clk); #1; + @(posedge clk); #1; + + // With AGC off, current_gain should follow gain_shift + check(current_gain == 4'b1_010, + "T19b.1: AGC disabled → current_gain = gain_shift (0xA, atten 2)"); + + // Send sample: 1000 >> 2 = 250 + send_sample(16'sd1000, 16'sd0); + check(data_i_out == 16'sd250, + "T19b.2: Output uses host gain_shift when AGC off: 1000>>2=250"); + + // ----- 19c: Re-enable, verify gain re-initializes ----- + @(negedge clk); + gain_shift = 4'b0_010; // amplify by 4 (shift left 2), internal = +2 + agc_enable = 1; + @(posedge clk); #1; + @(posedge clk); #1; + + check(current_gain == 4'b0_010, + "T19c.1: AGC re-enabled → gain re-initialized from gain_shift (+2)"); // --------------------------------------------------------------- // SUMMARY diff --git a/9_Firmware/9_2_FPGA/tb/tb_usb_data_interface.v b/9_Firmware/9_2_FPGA/tb/tb_usb_data_interface.v index 0318b7b..082c192 100644 --- a/9_Firmware/9_2_FPGA/tb/tb_usb_data_interface.v +++ b/9_Firmware/9_2_FPGA/tb/tb_usb_data_interface.v @@ -79,6 +79,12 @@ module tb_usb_data_interface; reg [7:0] status_self_test_detail; reg status_self_test_busy; + // AGC status readback inputs + reg [3:0] status_agc_current_gain; + reg [7:0] status_agc_peak_magnitude; + reg [7:0] status_agc_saturation_count; + reg status_agc_enable; + // ── Clock generators (asynchronous) ──────────────────────── always #(CLK_PERIOD / 2) clk = ~clk; always #(FT_CLK_PERIOD / 2) ft601_clk_in = ~ft601_clk_in; @@ -134,7 +140,13 @@ module tb_usb_data_interface; // Self-test status readback .status_self_test_flags (status_self_test_flags), .status_self_test_detail(status_self_test_detail), - .status_self_test_busy (status_self_test_busy) + .status_self_test_busy (status_self_test_busy), + + // AGC status readback + .status_agc_current_gain (status_agc_current_gain), + .status_agc_peak_magnitude (status_agc_peak_magnitude), + .status_agc_saturation_count(status_agc_saturation_count), + .status_agc_enable (status_agc_enable) ); // ── Test bookkeeping ─────────────────────────────────────── @@ -194,6 +206,10 @@ module tb_usb_data_interface; status_self_test_flags = 5'b00000; status_self_test_detail = 8'd0; status_self_test_busy = 1'b0; + status_agc_current_gain = 4'd0; + status_agc_peak_magnitude = 8'd0; + status_agc_saturation_count = 8'd0; + status_agc_enable = 1'b0; repeat (6) @(posedge ft601_clk_in); reset_n = 1; // Wait enough cycles for stream_control CDC to propagate @@ -902,6 +918,11 @@ module tb_usb_data_interface; status_self_test_flags = 5'b11111; status_self_test_detail = 8'hA5; status_self_test_busy = 1'b0; + // AGC status: gain=5, peak=180, sat_count=12, enabled + status_agc_current_gain = 4'd5; + status_agc_peak_magnitude = 8'd180; + status_agc_saturation_count = 8'd12; + status_agc_enable = 1'b1; // Pulse status_request (1 cycle in clk domain — toggles status_req_toggle_100m) @(posedge clk); @@ -958,8 +979,8 @@ module tb_usb_data_interface; "Status readback: word 2 = {guard, short_chirp}"); check(uut.status_words[3] === {16'd17450, 10'd0, 6'd32}, "Status readback: word 3 = {short_listen, 0, chirps_per_elev}"); - check(uut.status_words[4] === {30'd0, 2'b10}, - "Status readback: word 4 = range_mode=2'b10"); + check(uut.status_words[4] === {4'd5, 8'd180, 8'd12, 1'b1, 9'd0, 2'b10}, + "Status readback: word 4 = {agc_gain=5, peak=180, sat=12, en=1, range_mode=2}"); // status_words[5] = {7'd0, busy, 8'd0, detail[7:0], 3'd0, flags[4:0]} // = {7'd0, 1'b0, 8'd0, 8'hA5, 3'd0, 5'b11111} check(uut.status_words[5] === {7'd0, 1'b0, 8'd0, 8'hA5, 3'd0, 5'b11111}, diff --git a/9_Firmware/9_2_FPGA/usb_data_interface.v b/9_Firmware/9_2_FPGA/usb_data_interface.v index 475ef2f..4f32e13 100644 --- a/9_Firmware/9_2_FPGA/usb_data_interface.v +++ b/9_Firmware/9_2_FPGA/usb_data_interface.v @@ -20,8 +20,8 @@ module usb_data_interface ( // Control signals output reg ft601_txe_n, // Transmit enable (active low) output reg ft601_rxf_n, // Receive enable (active low) - input wire ft601_txe, // Transmit FIFO empty - input wire ft601_rxf, // Receive FIFO full + input wire ft601_txe, // TXE: Transmit FIFO Not Full (high = space available to write) + input wire ft601_rxf, // RXF: Receive FIFO Not Empty (high = data available to read) output reg ft601_wr_n, // Write strobe (active low) output reg ft601_rd_n, // Read strobe (active low) output reg ft601_oe_n, // Output enable (active low) @@ -77,7 +77,13 @@ module usb_data_interface ( // Self-test status readback (opcode 0x31 / included in 0xFF status packet) input wire [4:0] status_self_test_flags, // Per-test PASS(1)/FAIL(0) latched input wire [7:0] status_self_test_detail, // Diagnostic detail byte latched - input wire status_self_test_busy // Self-test FSM still running + input wire status_self_test_busy, // Self-test FSM still running + + // AGC status readback + input wire [3:0] status_agc_current_gain, + input wire [7:0] status_agc_peak_magnitude, + input wire [7:0] status_agc_saturation_count, + input wire status_agc_enable ); // USB packet structure (same as before) @@ -258,18 +264,22 @@ always @(posedge ft601_clk_in or negedge ft601_reset_n) begin // Gap 2: Capture status snapshot when request arrives in ft601 domain if (status_req_ft601) begin // Pack register values into 5x 32-bit status words - // Word 0: {0xFF, mode[1:0], stream_ctrl[2:0], cfar_threshold[15:0]} - status_words[0] <= {8'hFF, 3'b000, status_radar_mode, - 5'b00000, status_stream_ctrl, - status_cfar_threshold}; + // Word 0: {0xFF[31:24], mode[23:22], stream[21:19], 3'b000[18:16], threshold[15:0]} + status_words[0] <= {8'hFF, status_radar_mode, status_stream_ctrl, + 3'b000, status_cfar_threshold}; // Word 1: {long_chirp_cycles[15:0], long_listen_cycles[15:0]} status_words[1] <= {status_long_chirp, status_long_listen}; // Word 2: {guard_cycles[15:0], short_chirp_cycles[15:0]} status_words[2] <= {status_guard, status_short_chirp}; // Word 3: {short_listen_cycles[15:0], chirps_per_elev[5:0], 10'b0} status_words[3] <= {status_short_listen, 10'd0, status_chirps_per_elev}; - // Word 4: Fix 7 — range_mode in bits [1:0], rest reserved - status_words[4] <= {30'd0, status_range_mode}; + // Word 4: AGC metrics + range_mode + status_words[4] <= {status_agc_current_gain, // [31:28] + status_agc_peak_magnitude, // [27:20] + status_agc_saturation_count, // [19:12] + status_agc_enable, // [11] + 9'd0, // [10:2] reserved + status_range_mode}; // [1:0] // Word 5: Self-test results {reserved[6:0], busy, reserved[7:0], detail[7:0], reserved[2:0], flags[4:0]} status_words[5] <= {7'd0, status_self_test_busy, 8'd0, status_self_test_detail, diff --git a/9_Firmware/9_2_FPGA/usb_data_interface_ft2232h.v b/9_Firmware/9_2_FPGA/usb_data_interface_ft2232h.v index 8d0671b..44cca42 100644 --- a/9_Firmware/9_2_FPGA/usb_data_interface_ft2232h.v +++ b/9_Firmware/9_2_FPGA/usb_data_interface_ft2232h.v @@ -90,7 +90,13 @@ module usb_data_interface_ft2232h ( // Self-test status readback input wire [4:0] status_self_test_flags, input wire [7:0] status_self_test_detail, - input wire status_self_test_busy + input wire status_self_test_busy, + + // AGC status readback + input wire [3:0] status_agc_current_gain, + input wire [7:0] status_agc_peak_magnitude, + input wire [7:0] status_agc_saturation_count, + input wire status_agc_enable ); // ============================================================================ @@ -275,13 +281,18 @@ always @(posedge ft_clk or negedge ft_reset_n) begin // Status snapshot on request if (status_req_ft) begin - status_words[0] <= {8'hFF, 3'b000, status_radar_mode, - 5'b00000, status_stream_ctrl, - status_cfar_threshold}; + // Word 0: {0xFF[31:24], mode[23:22], stream[21:19], 3'b000[18:16], threshold[15:0]} + status_words[0] <= {8'hFF, status_radar_mode, status_stream_ctrl, + 3'b000, status_cfar_threshold}; status_words[1] <= {status_long_chirp, status_long_listen}; status_words[2] <= {status_guard, status_short_chirp}; status_words[3] <= {status_short_listen, 10'd0, status_chirps_per_elev}; - status_words[4] <= {30'd0, status_range_mode}; + status_words[4] <= {status_agc_current_gain, // [31:28] + status_agc_peak_magnitude, // [27:20] + status_agc_saturation_count, // [19:12] + status_agc_enable, // [11] + 9'd0, // [10:2] reserved + status_range_mode}; // [1:0] status_words[5] <= {7'd0, status_self_test_busy, 8'd0, status_self_test_detail, 3'd0, status_self_test_flags}; diff --git a/9_Firmware/9_3_GUI/GUI_PyQt_Map.py b/9_Firmware/9_3_GUI/GUI_PyQt_Map.py index 798fb33..67b4555 100644 --- a/9_Firmware/9_3_GUI/GUI_PyQt_Map.py +++ b/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)) diff --git a/9_Firmware/9_3_GUI/GUI_V1.py b/9_Firmware/9_3_GUI/GUI_V1.py deleted file mode 100644 index e740882..0000000 --- a/9_Firmware/9_3_GUI/GUI_V1.py +++ /dev/null @@ -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() diff --git a/9_Firmware/9_3_GUI/GUI_V2.py b/9_Firmware/9_3_GUI/GUI_V2.py deleted file mode 100644 index b6c913b..0000000 --- a/9_Firmware/9_3_GUI/GUI_V2.py +++ /dev/null @@ -1,1124 +0,0 @@ -import tkinter as tk -from tkinter import ttk, messagebox -import threading -import queue -import time -import struct -import numpy as np -from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg -from matplotlib.figure import Figure -import logging -from dataclasses import dataclass -from sklearn.cluster import DBSCAN -from filterpy.kalman import KalmanFilter -import crcmod - -try: - import usb.core - import usb.util - - USB_AVAILABLE = True -except ImportError: - USB_AVAILABLE = False - logging.warning("pyusb not available. USB CDC functionality will be disabled.") - -try: - from pyftdi.ftdi import Ftdi - from pyftdi.usbtools import UsbTools - - FTDI_AVAILABLE = True -except ImportError: - FTDI_AVAILABLE = False - logging.warning("pyftdi not available. FTDI functionality will be disabled.") - -# Configure logging -logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") - - -@dataclass -class RadarTarget: - id: int - range: float - velocity: float - azimuth: int - elevation: int - snr: float - timestamp: float - track_id: int = -1 - - -@dataclass -class RadarSettings: - system_frequency: float = 10e9 - chirp_duration: float = 30e-6 - chirps_per_position: int = 32 - freq_min: float = 10e6 - freq_max: float = 30e6 - prf1: float = 1000 - prf2: float = 2000 - max_distance: float = 50000 - - -@dataclass -class GPSData: - latitude: float - longitude: float - altitude: float - timestamp: float - - -class STM32USBInterface: - def __init__(self): - self.device = None - self.is_open = False - self.ep_in = None - self.ep_out = None - - def list_devices(self): - """List available STM32 USB CDC devices""" - if not USB_AVAILABLE: - logging.warning("USB not available - please install pyusb") - return [] - - try: - devices = [] - # STM32 USB CDC devices typically use these vendor/product IDs - stm32_vid_pids = [ - (0x0483, 0x5740), # STM32 Virtual COM Port - (0x0483, 0x3748), # STM32 Discovery - (0x0483, 0x374B), # STM32 CDC - (0x0483, 0x374D), # STM32 CDC - (0x0483, 0x374E), # STM32 CDC - (0x0483, 0x3752), # STM32 CDC - ] - - for vid, pid in stm32_vid_pids: - found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) - for dev in found_devices: - try: - product = ( - usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" - ) - serial = ( - usb.util.get_string(dev, dev.iSerialNumber) - if dev.iSerialNumber - else "Unknown" - ) - devices.append( - { - "description": f"{product} ({serial})", - "vendor_id": vid, - "product_id": pid, - "device": dev, - } - ) - except Exception: - devices.append( - { - "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", - "vendor_id": vid, - "product_id": pid, - "device": dev, - } - ) - - return devices - except Exception as e: - logging.error(f"Error listing USB devices: {e}") - # Return mock devices for testing - return [ - {"description": "STM32 Virtual COM Port", "vendor_id": 0x0483, "product_id": 0x5740} - ] - - def open_device(self, device_info): - """Open STM32 USB CDC device""" - if not USB_AVAILABLE: - logging.error("USB not available - cannot open device") - return False - - try: - self.device = device_info["device"] - - # Detach kernel driver if active - if self.device.is_kernel_driver_active(0): - self.device.detach_kernel_driver(0) - - # Set configuration - self.device.set_configuration() - - # Get CDC endpoints - cfg = self.device.get_active_configuration() - intf = cfg[(0, 0)] - - # Find bulk endpoints (CDC data interface) - self.ep_out = usb.util.find_descriptor( - intf, - custom_match=lambda e: ( - usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT - ), - ) - - self.ep_in = usb.util.find_descriptor( - intf, - custom_match=lambda e: ( - usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN - ), - ) - - if self.ep_out is None or self.ep_in is None: - logging.error("Could not find CDC endpoints") - return False - - self.is_open = True - logging.info(f"STM32 USB device opened: {device_info['description']}") - return True - - except Exception as e: - logging.error(f"Error opening USB device: {e}") - return False - - def send_start_flag(self): - """Step 12: Send start flag to STM32 via USB""" - start_packet = bytes([23, 46, 158, 237]) - logging.info("Sending start flag to STM32 via USB...") - return self._send_data(start_packet) - - def send_settings(self, settings): - """Step 13: Send radar settings to STM32 via USB""" - try: - packet = self._create_settings_packet(settings) - logging.info("Sending radar settings to STM32 via USB...") - return self._send_data(packet) - except Exception as e: - logging.error(f"Error sending settings via USB: {e}") - return False - - def read_data(self, size=64, timeout=1000): - """Read data from STM32 via USB""" - 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 usb.core.USBError as e: - if e.errno == 110: # Timeout - 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""" - if not self.is_open or self.ep_out is None: - return False - - try: - # USB CDC typically uses 64-byte packets - packet_size = 64 - for i in range(0, len(data), packet_size): - chunk = data[i : i + packet_size] - # Pad to packet size if needed - if len(chunk) < packet_size: - chunk += b"\x00" * (packet_size - len(chunk)) - self.ep_out.write(chunk) - - return True - except Exception as e: - logging.error(f"Error sending data via USB: {e}") - return False - - def _create_settings_packet(self, settings): - """Create binary settings packet for USB transmission""" - packet = b"SET" - packet += struct.pack(">d", settings.system_frequency) - packet += struct.pack(">d", settings.chirp_duration) - 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 += b"END" - return packet - - def close(self): - """Close USB device""" - if self.device and self.is_open: - try: - usb.util.dispose_resources(self.device) - self.is_open = False - except Exception as e: - logging.error(f"Error closing USB device: {e}") - - -class FTDIInterface: - def __init__(self): - self.ftdi = None - self.is_open = False - - def list_devices(self): - """List available FTDI devices using pyftdi""" - if not FTDI_AVAILABLE: - logging.warning("FTDI not available - please install pyftdi") - return [] - - try: - devices = [] - # Get list of all FTDI devices - for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID - devices.append( - {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} - ) - return devices - except Exception as e: - logging.error(f"Error listing FTDI devices: {e}") - # Return mock devices for testing - return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}] - - def open_device(self, device_url): - """Open FTDI device using pyftdi""" - if not FTDI_AVAILABLE: - logging.error("FTDI not available - cannot open device") - return False - - try: - self.ftdi = Ftdi() - self.ftdi.open_from_url(device_url) - - # Configure for synchronous FIFO mode - self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) - - # Set latency timer - self.ftdi.set_latency_timer(2) - - # Purge buffers - self.ftdi.purge_buffers() - - self.is_open = True - logging.info(f"FTDI device opened: {device_url}") - return True - - except Exception as e: - logging.error(f"Error opening FTDI device: {e}") - return False - - def read_data(self, bytes_to_read): - """Read data from FTDI""" - 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: - logging.error(f"Error reading from FTDI: {e}") - return None - - def close(self): - """Close FTDI device""" - if self.ftdi and self.is_open: - self.ftdi.close() - self.is_open = False - - -class RadarProcessor: - def __init__(self): - self.range_doppler_map = np.zeros((1024, 32)) - self.detected_targets = [] - self.track_id_counter = 0 - self.tracks = {} - self.frame_count = 0 - - 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 fused_profile - - def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): - """Multi-PRF velocity unwrapping""" - lambda_wavelength = 3e8 / 10e9 - v_max1 = prf1 * lambda_wavelength / 2 - v_max2 = prf2 * lambda_wavelength / 2 - - unwrapped_velocities = [] - for doppler in doppler_measurements: - v1 = doppler * lambda_wavelength / 2 - v2 = doppler * lambda_wavelength / 2 - - velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) - unwrapped_velocities.append(velocity) - - return unwrapped_velocities - - def _solve_chinese_remainder(self, v1, v2, max1, max2): - for k in range(-5, 6): - candidate = v1 + k * max1 - if abs(candidate - v2) < max2 / 2: - return candidate - return v1 - - def clustering(self, detections, eps=100, min_samples=2): - """DBSCAN clustering of detections""" - if len(detections) == 0: - return [] - - points = np.array([[d.range, d.velocity] for d in detections]) - clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) - - clusters = [] - for label in set(clustering.labels_): - if label != -1: - cluster_points = points[clustering.labels_ == label] - clusters.append( - { - "center": np.mean(cluster_points, axis=0), - "points": cluster_points, - "size": len(cluster_points), - } - ) - - return clusters - - def association(self, detections, clusters): - """Association of detections to tracks""" - associated_detections = [] - - for detection in detections: - best_track = None - min_distance = float("inf") - - for track_id, track in self.tracks.items(): - distance = np.sqrt( - (detection.range - track["state"][0]) ** 2 - + (detection.velocity - track["state"][2]) ** 2 - ) - - if distance < min_distance and distance < 500: - min_distance = distance - best_track = track_id - - if best_track is not None: - detection.track_id = best_track - associated_detections.append(detection) - else: - detection.track_id = self.track_id_counter - self.track_id_counter += 1 - associated_detections.append(detection) - - return associated_detections - - def tracking(self, associated_detections): - """Kalman filter tracking""" - current_time = time.time() - - for detection in associated_detections: - if detection.track_id not in self.tracks: - kf = KalmanFilter(dim_x=4, dim_z=2) - kf.x = np.array([detection.range, 0, detection.velocity, 0]) - kf.F = np.array([[1, 1, 0, 0], [0, 1, 0, 0], [0, 0, 1, 1], [0, 0, 0, 1]]) - kf.H = np.array([[1, 0, 0, 0], [0, 0, 1, 0]]) - kf.P *= 1000 - kf.R = np.diag([10, 1]) - kf.Q = np.eye(4) * 0.1 - - self.tracks[detection.track_id] = { - "filter": kf, - "state": kf.x, - "last_update": current_time, - "hits": 1, - } - else: - track = self.tracks[detection.track_id] - track["filter"].predict() - track["filter"].update([detection.range, detection.velocity]) - track["state"] = track["filter"].x - track["last_update"] = current_time - track["hits"] += 1 - - stale_tracks = [ - tid for tid, track in self.tracks.items() if current_time - track["last_update"] > 5.0 - ] - for tid in stale_tracks: - del self.tracks[tid] - - -class USBPacketParser: - def __init__(self): - self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - - def parse_gps_data(self, data): - """Parse GPS data from STM32 USB CDC""" - if not data: - return None - - try: - # Try text format first: "GPS:lat,lon,alt\r\n" - text_data = data.decode("utf-8", errors="ignore").strip() - if text_data.startswith("GPS:"): - parts = text_data.split(":")[1].split(",") - if len(parts) == 3: - lat = float(parts[0]) - lon = float(parts[1]) - alt = float(parts[2]) - return GPSData(latitude=lat, longitude=lon, altitude=alt, timestamp=time.time()) - - # Try binary format - if len(data) >= 26 and data[0:4] == b"GPSB": - return self._parse_binary_gps(data) - - except Exception as e: - logging.error(f"Error parsing GPS data: {e}") - - return None - - def _parse_binary_gps(self, data): - """Parse binary GPS format""" - try: - # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][CRC 2] - if len(data) < 26: - return None - - # Verify CRC (simple checksum) - crc_received = (data[24] << 8) | data[25] - crc_calculated = sum(data[0:24]) & 0xFFFF - - if crc_received != crc_calculated: - logging.warning("GPS CRC mismatch") - return None - - # Parse latitude (double, big-endian) - lat_bits = 0 - for i in range(8): - lat_bits = (lat_bits << 8) | data[4 + i] - latitude = struct.unpack(">d", struct.pack(">Q", lat_bits))[0] - - # Parse longitude (double, big-endian) - lon_bits = 0 - for i in range(8): - lon_bits = (lon_bits << 8) | data[12 + i] - longitude = struct.unpack(">d", struct.pack(">Q", lon_bits))[0] - - # Parse altitude (float, big-endian) - alt_bits = 0 - for i in range(4): - alt_bits = (alt_bits << 8) | data[20 + i] - altitude = struct.unpack(">f", struct.pack(">I", alt_bits))[0] - - return GPSData( - latitude=latitude, longitude=longitude, altitude=altitude, timestamp=time.time() - ) - - except Exception as e: - logging.error(f"Error parsing binary GPS: {e}") - return None - - -class RadarPacketParser: - def __init__(self): - self.sync_pattern = b"\xa5\xc3" - self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - - def parse_packet(self, data): - if len(data) < 6: - return None - - sync_index = data.find(self.sync_pattern) - if sync_index == -1: - return None - - packet = data[sync_index:] - - if len(packet) < 6: - return None - - _sync = packet[0:2] - packet_type = packet[2] - length = packet[3] - - if len(packet) < (4 + length + 2): - return None - - payload = packet[4 : 4 + length] - crc_received = struct.unpack("I", payload[0:4])[0] - elevation = payload[4] & 0x1F - azimuth = payload[5] & 0x3F - chirp_counter = payload[6] & 0x1F - - return { - "type": "range", - "range": range_value, - "elevation": elevation, - "azimuth": azimuth, - "chirp": chirp_counter, - "timestamp": time.time(), - } - except Exception as e: - logging.error(f"Error parsing range packet: {e}") - return None - - def parse_doppler_packet(self, payload): - if len(payload) < 12: - return None - - try: - doppler_real = struct.unpack(">h", payload[0:2])[0] - doppler_imag = struct.unpack(">h", payload[2:4])[0] - elevation = payload[4] & 0x1F - azimuth = payload[5] & 0x3F - chirp_counter = payload[6] & 0x1F - - return { - "type": "doppler", - "doppler_real": doppler_real, - "doppler_imag": doppler_imag, - "elevation": elevation, - "azimuth": azimuth, - "chirp": chirp_counter, - "timestamp": time.time(), - } - except Exception as e: - logging.error(f"Error parsing Doppler packet: {e}") - return None - - def parse_detection_packet(self, payload): - if len(payload) < 8: - return None - - try: - detection_flag = (payload[0] & 0x01) != 0 - elevation = payload[1] & 0x1F - azimuth = payload[2] & 0x3F - chirp_counter = payload[3] & 0x1F - - return { - "type": "detection", - "detected": detection_flag, - "elevation": elevation, - "azimuth": azimuth, - "chirp": chirp_counter, - "timestamp": time.time(), - } - except Exception as e: - logging.error(f"Error parsing detection packet: {e}") - return None - - -class RadarGUI: - def __init__(self, root): - self.root = root - self.root.title("Advanced Radar System GUI - USB CDC") - self.root.geometry("1400x900") - - # Initialize interfaces - self.stm32_usb_interface = STM32USBInterface() - self.ftdi_interface = FTDIInterface() - self.radar_processor = RadarProcessor() - self.usb_packet_parser = USBPacketParser() - self.radar_packet_parser = RadarPacketParser() - self.settings = RadarSettings() - - # Data queues - self.radar_data_queue = queue.Queue() - self.gps_data_queue = queue.Queue() - - # Thread control - self.running = False - self.radar_thread = None - self.gps_thread = None - - # Counters - self.received_packets = 0 - self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, timestamp=0) - - self.create_gui() - self.start_background_threads() - - def create_gui(self): - """Create the main GUI with tabs""" - self.notebook = ttk.Notebook(self.root) - self.notebook.pack(fill="both", expand=True, padx=10, pady=10) - - self.tab_main = ttk.Frame(self.notebook) - self.tab_map = ttk.Frame(self.notebook) - self.tab_diagnostics = ttk.Frame(self.notebook) - self.tab_settings = ttk.Frame(self.notebook) - - self.notebook.add(self.tab_main, text="Main View") - self.notebook.add(self.tab_map, text="Map View") - self.notebook.add(self.tab_diagnostics, text="Diagnostics") - self.notebook.add(self.tab_settings, text="Settings") - - self.setup_main_tab() - self.setup_map_tab() - self.setup_settings_tab() - - def setup_main_tab(self): - """Setup the main radar display tab""" - # Control frame - control_frame = ttk.Frame(self.tab_main) - control_frame.pack(fill="x", padx=10, pady=5) - - # USB Device selection - ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) - self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) - self.stm32_usb_combo.grid(row=0, column=1, padx=5) - - ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) - self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) - self.ftdi_combo.grid(row=0, column=3, padx=5) - - ttk.Button(control_frame, text="Refresh Devices", command=self.refresh_devices).grid( - row=0, column=4, padx=5 - ) - - self.start_button = ttk.Button(control_frame, text="Start Radar", command=self.start_radar) - self.start_button.grid(row=0, column=5, padx=5) - - self.stop_button = ttk.Button( - control_frame, text="Stop Radar", command=self.stop_radar, state="disabled" - ) - self.stop_button.grid(row=0, column=6, padx=5) - - # GPS info - self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") - self.gps_label.grid(row=1, column=0, columnspan=4, sticky="w", padx=5, pady=2) - - # Status info - self.status_label = ttk.Label(control_frame, text="Status: Ready") - self.status_label.grid(row=1, column=4, columnspan=3, sticky="e", padx=5, pady=2) - - # Main display area - display_frame = ttk.Frame(self.tab_main) - display_frame.pack(fill="both", expand=True, padx=10, pady=5) - - # Range-Doppler Map - fig = Figure(figsize=(10, 6)) - self.range_doppler_ax = fig.add_subplot(111) - self.range_doppler_plot = self.range_doppler_ax.imshow( - np.random.rand(1024, 32), aspect="auto", cmap="hot", extent=[0, 32, 0, 1024] - ) - self.range_doppler_ax.set_title("Range-Doppler Map") - self.range_doppler_ax.set_xlabel("Doppler Bin") - self.range_doppler_ax.set_ylabel("Range Bin") - - self.canvas = FigureCanvasTkAgg(fig, display_frame) - self.canvas.draw() - self.canvas.get_tk_widget().pack(side="left", fill="both", expand=True) - - # Targets list - targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets") - targets_frame.pack(side="right", fill="y", padx=5) - - self.targets_tree = ttk.Treeview( - targets_frame, - columns=("ID", "Range", "Velocity", "Azimuth", "Elevation", "SNR"), - show="headings", - height=20, - ) - self.targets_tree.heading("ID", text="Track ID") - 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.column("ID", width=80) - 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.pack(fill="both", expand=True, padx=5, pady=5) - - def setup_map_tab(self): - """Setup the map display tab""" - self.map_frame = ttk.Frame(self.tab_map) - self.map_frame.pack(fill="both", expand=True, padx=10, pady=10) - - # Map placeholder - self.map_label = ttk.Label( - self.map_frame, - text="Map will be displayed here after GPS data is received", - font=("Arial", 12), - ) - self.map_label.pack(expand=True) - - def setup_settings_tab(self): - """Setup the settings tab""" - settings_frame = ttk.Frame(self.tab_settings) - settings_frame.pack(fill="both", expand=True, padx=10, pady=10) - - entries = [ - ("System Frequency (Hz):", "system_frequency", 10e9), - ("Chirp Duration (s):", "chirp_duration", 30e-6), - ("Chirps per Position:", "chirps_per_position", 32), - ("Frequency Min (Hz):", "freq_min", 10e6), - ("Frequency Max (Hz):", "freq_max", 30e6), - ("PRF1 (Hz):", "prf1", 1000), - ("PRF2 (Hz):", "prf2", 2000), - ("Max Distance (m):", "max_distance", 50000), - ] - - self.settings_vars = {} - - for i, (label, attr, default) in enumerate(entries): - ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky="w", padx=5, pady=5) - var = tk.StringVar(value=str(default)) - entry = ttk.Entry(settings_frame, textvariable=var, width=20) - entry.grid(row=i, column=1, padx=5, pady=5) - self.settings_vars[attr] = var - - ttk.Button(settings_frame, text="Apply Settings", command=self.apply_settings).grid( - row=len(entries), column=0, columnspan=2, pady=10 - ) - - def refresh_devices(self): - """Refresh available USB devices""" - # STM32 USB devices - stm32_devices = self.stm32_usb_interface.list_devices() - stm32_names = [dev["description"] for dev in stm32_devices] - self.stm32_usb_combo["values"] = stm32_names - - # FTDI devices - ftdi_devices = self.ftdi_interface.list_devices() - ftdi_names = [dev["description"] for dev in ftdi_devices] - self.ftdi_combo["values"] = ftdi_names - - if stm32_names: - self.stm32_usb_combo.current(0) - if ftdi_names: - self.ftdi_combo.current(0) - - def start_radar(self): - """Step 11: Start button pressed - Begin radar operation""" - try: - # Open STM32 USB device - stm32_index = self.stm32_usb_combo.current() - if stm32_index == -1: - messagebox.showerror("Error", "Please select an STM32 USB device") - return - - stm32_devices = self.stm32_usb_interface.list_devices() - if stm32_index >= len(stm32_devices): - messagebox.showerror("Error", "Invalid STM32 device selection") - return - - if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): - messagebox.showerror("Error", "Failed to open STM32 USB device") - return - - # Open FTDI device - if FTDI_AVAILABLE: - ftdi_index = self.ftdi_combo.current() - if ftdi_index != -1: - ftdi_devices = self.ftdi_interface.list_devices() - if ftdi_index < len(ftdi_devices): - device_url = ftdi_devices[ftdi_index]["url"] - if not self.ftdi_interface.open_device(device_url): - logging.warning( - "Failed to open FTDI device, continuing without radar data" - ) - else: - logging.warning("No FTDI device selected, continuing without radar data") - else: - logging.warning("FTDI not available, continuing without radar data") - - # Step 12: Send start flag to STM32 via USB - if not self.stm32_usb_interface.send_start_flag(): - messagebox.showerror("Error", "Failed to send start flag to STM32") - return - - # Step 13: Send settings to STM32 via USB - self.apply_settings() - - # Start radar operation - self.running = True - self.start_button.config(state="disabled") - self.stop_button.config(state="normal") - self.status_label.config(text="Status: Radar running - Waiting for GPS data...") - - logging.info("Radar system started successfully via USB CDC") - - except Exception as e: - messagebox.showerror("Error", f"Failed to start radar: {e}") - logging.error(f"Start radar error: {e}") - - def stop_radar(self): - """Stop radar operation""" - self.running = False - self.start_button.config(state="normal") - self.stop_button.config(state="disabled") - self.status_label.config(text="Status: Radar stopped") - - self.stm32_usb_interface.close() - self.ftdi_interface.close() - - logging.info("Radar system stopped") - - def apply_settings(self): - """Step 13: Apply and send radar settings via USB""" - try: - self.settings.system_frequency = float(self.settings_vars["system_frequency"].get()) - self.settings.chirp_duration = float(self.settings_vars["chirp_duration"].get()) - self.settings.chirps_per_position = int(self.settings_vars["chirps_per_position"].get()) - self.settings.freq_min = float(self.settings_vars["freq_min"].get()) - self.settings.freq_max = float(self.settings_vars["freq_max"].get()) - self.settings.prf1 = float(self.settings_vars["prf1"].get()) - self.settings.prf2 = float(self.settings_vars["prf2"].get()) - self.settings.max_distance = float(self.settings_vars["max_distance"].get()) - - if self.stm32_usb_interface.is_open: - self.stm32_usb_interface.send_settings(self.settings) - - messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") - logging.info("Radar settings applied via USB") - - except ValueError as e: - messagebox.showerror("Error", f"Invalid setting value: {e}") - - def start_background_threads(self): - """Start background data processing threads""" - self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) - self.radar_thread.start() - - self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) - self.gps_thread.start() - - self.root.after(100, self.update_gui) - - def process_radar_data(self): - """Step 39: Process incoming radar data from FTDI""" - buffer = b"" - while True: - if self.running and self.ftdi_interface.is_open: - try: - data = self.ftdi_interface.read_data(4096) - if data: - buffer += data - - while len(buffer) >= 6: - packet = self.radar_packet_parser.parse_packet(buffer) - if packet: - self.process_radar_packet(packet) - packet_length = 4 + len(packet.get("payload", b"")) + 2 - buffer = buffer[packet_length:] - self.received_packets += 1 - else: - break - - except Exception as e: - logging.error(f"Error processing radar data: {e}") - time.sleep(0.1) - else: - time.sleep(0.1) - - def process_gps_data(self): - """Step 16/17: Process GPS data from STM32 via USB CDC""" - while True: - if self.running and self.stm32_usb_interface.is_open: - try: - # Read data from STM32 USB - data = self.stm32_usb_interface.read_data(64, timeout=100) - if data: - gps_data = self.usb_packet_parser.parse_gps_data(data) - if gps_data: - self.gps_data_queue.put(gps_data) - logging.info( - "GPS Data received via USB: " - f"Lat {gps_data.latitude:.6f}, " - f"Lon {gps_data.longitude:.6f}, " - f"Alt {gps_data.altitude:.1f}m" - ) - except Exception as e: - logging.error(f"Error processing GPS data via USB: {e}") - time.sleep(0.1) - - def process_radar_packet(self, packet): - """Step 40: Process radar data and update displays""" - try: - if packet["type"] == "range": - range_meters = packet["range"] * 0.1 - - target = RadarTarget( - id=packet["chirp"], - range=range_meters, - velocity=0, - azimuth=packet["azimuth"], - elevation=packet["elevation"], - snr=20.0, - timestamp=packet["timestamp"], - ) - - self.update_range_doppler_map(target) - - elif packet["type"] == "doppler": - lambda_wavelength = 3e8 / self.settings.system_frequency - velocity = (packet["doppler_real"] / 32767.0) * ( - self.settings.prf1 * lambda_wavelength / 2 - ) - self.update_target_velocity(packet, velocity) - - elif packet["type"] == "detection": - if packet["detected"]: - logging.info( - f"CFAR Detection: Elevation {packet['elevation']}, " - f"Azimuth {packet['azimuth']}" - ) - - except Exception as e: - logging.error(f"Error processing radar packet: {e}") - - def update_range_doppler_map(self, target): - """Update range-Doppler map with new target""" - range_bin = min(int(target.range / 50), 1023) - doppler_bin = min(abs(int(target.velocity)), 31) - - self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 - - self.radar_processor.detected_targets.append(target) - - if len(self.radar_processor.detected_targets) > 100: - self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] - - def update_target_velocity(self, packet, velocity): - """Update target velocity information""" - for target in self.radar_processor.detected_targets: - if ( - target.azimuth == packet["azimuth"] - and target.elevation == packet["elevation"] - and target.id == packet["chirp"] - ): - target.velocity = velocity - break - - def update_gui(self): - """Step 40: Update all GUI displays""" - try: - # Update status - if self.running: - self.status_label.config( - text=( - f"Status: Running - Packets: {self.received_packets} - " - f"GPS: {self.current_gps.latitude:.4f}, " - f"{self.current_gps.longitude:.4f}" - ) - ) - - # Update range-Doppler map - if hasattr(self, "range_doppler_plot"): - display_data = np.log10(self.radar_processor.range_doppler_map + 1) - self.range_doppler_plot.set_array(display_data) - self.canvas.draw_idle() - - # Update targets list - self.update_targets_list() - - # Update GPS display - self.update_gps_display() - - except Exception as e: - logging.error(f"Error updating GUI: {e}") - - self.root.after(100, self.update_gui) - - def update_targets_list(self): - """Update the targets list display""" - for item in self.targets_tree.get_children(): - self.targets_tree.delete(item) - - for target in self.radar_processor.detected_targets[-20:]: - self.targets_tree.insert( - "", - "end", - values=( - target.track_id, - f"{target.range:.1f}", - f"{target.velocity:.1f}", - target.azimuth, - target.elevation, - f"{target.snr:.1f}", - ), - ) - - 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() diff --git a/9_Firmware/9_3_GUI/GUI_V3.py b/9_Firmware/9_3_GUI/GUI_V3.py deleted file mode 100644 index cda7da5..0000000 --- a/9_Firmware/9_3_GUI/GUI_V3.py +++ /dev/null @@ -1,1225 +0,0 @@ -import tkinter as tk -from tkinter import ttk, messagebox -import threading -import queue -import time -import struct -import numpy as np -from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg -from matplotlib.figure import Figure -import logging -from dataclasses import dataclass -from sklearn.cluster import DBSCAN -from filterpy.kalman import KalmanFilter -import crcmod -import math - -try: - import usb.core - import usb.util - - USB_AVAILABLE = True -except ImportError: - USB_AVAILABLE = False - logging.warning("pyusb not available. USB CDC functionality will be disabled.") - -try: - from pyftdi.ftdi import Ftdi - from pyftdi.usbtools import UsbTools - - FTDI_AVAILABLE = True -except ImportError: - FTDI_AVAILABLE = False - logging.warning("pyftdi not available. FTDI functionality will be disabled.") - -# Configure logging -logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") - - -@dataclass -class RadarTarget: - id: int - range: float - velocity: float - azimuth: int - elevation: int - snr: float - timestamp: float - track_id: int = -1 - - -@dataclass -class RadarSettings: - system_frequency: float = 10e9 - chirp_duration: float = 30e-6 - chirps_per_position: int = 32 - freq_min: float = 10e6 - freq_max: float = 30e6 - prf1: float = 1000 - prf2: float = 2000 - max_distance: float = 50000 - - -@dataclass -class GPSData: - latitude: float - longitude: float - altitude: float - pitch: float # Pitch angle in degrees - timestamp: float - - -class STM32USBInterface: - def __init__(self): - self.device = None - self.is_open = False - self.ep_in = None - self.ep_out = None - - def list_devices(self): - """List available STM32 USB CDC devices""" - if not USB_AVAILABLE: - logging.warning("USB not available - please install pyusb") - return [] - - try: - devices = [] - # STM32 USB CDC devices typically use these vendor/product IDs - stm32_vid_pids = [ - (0x0483, 0x5740), # STM32 Virtual COM Port - (0x0483, 0x3748), # STM32 Discovery - (0x0483, 0x374B), # STM32 CDC - (0x0483, 0x374D), # STM32 CDC - (0x0483, 0x374E), # STM32 CDC - (0x0483, 0x3752), # STM32 CDC - ] - - for vid, pid in stm32_vid_pids: - found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) - for dev in found_devices: - try: - product = ( - usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" - ) - serial = ( - usb.util.get_string(dev, dev.iSerialNumber) - if dev.iSerialNumber - else "Unknown" - ) - devices.append( - { - "description": f"{product} ({serial})", - "vendor_id": vid, - "product_id": pid, - "device": dev, - } - ) - except Exception: - devices.append( - { - "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", - "vendor_id": vid, - "product_id": pid, - "device": dev, - } - ) - - return devices - except Exception as e: - logging.error(f"Error listing USB devices: {e}") - # Return mock devices for testing - return [ - {"description": "STM32 Virtual COM Port", "vendor_id": 0x0483, "product_id": 0x5740} - ] - - def open_device(self, device_info): - """Open STM32 USB CDC device""" - if not USB_AVAILABLE: - logging.error("USB not available - cannot open device") - return False - - try: - self.device = device_info["device"] - - # Detach kernel driver if active - if self.device.is_kernel_driver_active(0): - self.device.detach_kernel_driver(0) - - # Set configuration - self.device.set_configuration() - - # Get CDC endpoints - cfg = self.device.get_active_configuration() - intf = cfg[(0, 0)] - - # Find bulk endpoints (CDC data interface) - self.ep_out = usb.util.find_descriptor( - intf, - custom_match=lambda e: ( - usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT - ), - ) - - self.ep_in = usb.util.find_descriptor( - intf, - custom_match=lambda e: ( - usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN - ), - ) - - if self.ep_out is None or self.ep_in is None: - logging.error("Could not find CDC endpoints") - return False - - self.is_open = True - logging.info(f"STM32 USB device opened: {device_info['description']}") - return True - - except Exception as e: - logging.error(f"Error opening USB device: {e}") - return False - - def send_start_flag(self): - """Step 12: Send start flag to STM32 via USB""" - start_packet = bytes([23, 46, 158, 237]) - logging.info("Sending start flag to STM32 via USB...") - return self._send_data(start_packet) - - def send_settings(self, settings): - """Step 13: Send radar settings to STM32 via USB""" - try: - packet = self._create_settings_packet(settings) - logging.info("Sending radar settings to STM32 via USB...") - return self._send_data(packet) - except Exception as e: - logging.error(f"Error sending settings via USB: {e}") - return False - - def read_data(self, size=64, timeout=1000): - """Read data from STM32 via USB""" - 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 usb.core.USBError as e: - if e.errno == 110: # Timeout - 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""" - if not self.is_open or self.ep_out is None: - return False - - try: - # USB CDC typically uses 64-byte packets - packet_size = 64 - for i in range(0, len(data), packet_size): - chunk = data[i : i + packet_size] - # Pad to packet size if needed - if len(chunk) < packet_size: - chunk += b"\x00" * (packet_size - len(chunk)) - self.ep_out.write(chunk) - - return True - except Exception as e: - logging.error(f"Error sending data via USB: {e}") - return False - - def _create_settings_packet(self, settings): - """Create binary settings packet for USB transmission""" - packet = b"SET" - packet += struct.pack(">d", settings.system_frequency) - packet += struct.pack(">d", settings.chirp_duration) - 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 += b"END" - return packet - - def close(self): - """Close USB device""" - if self.device and self.is_open: - try: - usb.util.dispose_resources(self.device) - self.is_open = False - except Exception as e: - logging.error(f"Error closing USB device: {e}") - - -class FTDIInterface: - def __init__(self): - self.ftdi = None - self.is_open = False - - def list_devices(self): - """List available FTDI devices using pyftdi""" - if not FTDI_AVAILABLE: - logging.warning("FTDI not available - please install pyftdi") - return [] - - try: - devices = [] - # Get list of all FTDI devices - for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID - devices.append( - {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} - ) - return devices - except Exception as e: - logging.error(f"Error listing FTDI devices: {e}") - # Return mock devices for testing - return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}] - - def open_device(self, device_url): - """Open FTDI device using pyftdi""" - if not FTDI_AVAILABLE: - logging.error("FTDI not available - cannot open device") - return False - - try: - self.ftdi = Ftdi() - self.ftdi.open_from_url(device_url) - - # Configure for synchronous FIFO mode - self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) - - # Set latency timer - self.ftdi.set_latency_timer(2) - - # Purge buffers - self.ftdi.purge_buffers() - - self.is_open = True - logging.info(f"FTDI device opened: {device_url}") - return True - - except Exception as e: - logging.error(f"Error opening FTDI device: {e}") - return False - - def read_data(self, bytes_to_read): - """Read data from FTDI""" - 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: - logging.error(f"Error reading from FTDI: {e}") - return None - - def close(self): - """Close FTDI device""" - if self.ftdi and self.is_open: - self.ftdi.close() - self.is_open = False - - -class RadarProcessor: - def __init__(self): - self.range_doppler_map = np.zeros((1024, 32)) - self.detected_targets = [] - self.track_id_counter = 0 - self.tracks = {} - self.frame_count = 0 - - 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 fused_profile - - def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): - """Multi-PRF velocity unwrapping""" - lambda_wavelength = 3e8 / 10e9 - v_max1 = prf1 * lambda_wavelength / 2 - v_max2 = prf2 * lambda_wavelength / 2 - - unwrapped_velocities = [] - for doppler in doppler_measurements: - v1 = doppler * lambda_wavelength / 2 - v2 = doppler * lambda_wavelength / 2 - - velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) - unwrapped_velocities.append(velocity) - - return unwrapped_velocities - - def _solve_chinese_remainder(self, v1, v2, max1, max2): - for k in range(-5, 6): - candidate = v1 + k * max1 - if abs(candidate - v2) < max2 / 2: - return candidate - return v1 - - def clustering(self, detections, eps=100, min_samples=2): - """DBSCAN clustering of detections""" - if len(detections) == 0: - return [] - - points = np.array([[d.range, d.velocity] for d in detections]) - clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) - - clusters = [] - for label in set(clustering.labels_): - if label != -1: - cluster_points = points[clustering.labels_ == label] - clusters.append( - { - "center": np.mean(cluster_points, axis=0), - "points": cluster_points, - "size": len(cluster_points), - } - ) - - return clusters - - def association(self, detections, clusters): - """Association of detections to tracks""" - associated_detections = [] - - for detection in detections: - best_track = None - min_distance = float("inf") - - for track_id, track in self.tracks.items(): - distance = np.sqrt( - (detection.range - track["state"][0]) ** 2 - + (detection.velocity - track["state"][2]) ** 2 - ) - - if distance < min_distance and distance < 500: - min_distance = distance - best_track = track_id - - if best_track is not None: - detection.track_id = best_track - associated_detections.append(detection) - else: - detection.track_id = self.track_id_counter - self.track_id_counter += 1 - associated_detections.append(detection) - - return associated_detections - - def tracking(self, associated_detections): - """Kalman filter tracking""" - current_time = time.time() - - for detection in associated_detections: - if detection.track_id not in self.tracks: - kf = KalmanFilter(dim_x=4, dim_z=2) - kf.x = np.array([detection.range, 0, detection.velocity, 0]) - kf.F = np.array([[1, 1, 0, 0], [0, 1, 0, 0], [0, 0, 1, 1], [0, 0, 0, 1]]) - kf.H = np.array([[1, 0, 0, 0], [0, 0, 1, 0]]) - kf.P *= 1000 - kf.R = np.diag([10, 1]) - kf.Q = np.eye(4) * 0.1 - - self.tracks[detection.track_id] = { - "filter": kf, - "state": kf.x, - "last_update": current_time, - "hits": 1, - } - else: - track = self.tracks[detection.track_id] - track["filter"].predict() - track["filter"].update([detection.range, detection.velocity]) - track["state"] = track["filter"].x - track["last_update"] = current_time - track["hits"] += 1 - - stale_tracks = [ - tid for tid, track in self.tracks.items() if current_time - track["last_update"] > 5.0 - ] - for tid in stale_tracks: - del self.tracks[tid] - - -class USBPacketParser: - def __init__(self): - self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - - def parse_gps_data(self, data): - """Parse GPS data from STM32 USB CDC with pitch angle""" - if not data: - return None - - try: - # Try text format first: "GPS:lat,lon,alt,pitch\r\n" - text_data = data.decode("utf-8", errors="ignore").strip() - if text_data.startswith("GPS:"): - parts = text_data.split(":")[1].split(",") - if len(parts) == 4: # Now expecting 4 values - lat = float(parts[0]) - lon = float(parts[1]) - alt = float(parts[2]) - pitch = float(parts[3]) # Pitch angle in degrees - return GPSData( - latitude=lat, - longitude=lon, - altitude=alt, - pitch=pitch, - timestamp=time.time(), - ) - - # Try binary format (30 bytes with pitch) - if len(data) >= 30 and data[0:4] == b"GPSB": - return self._parse_binary_gps_with_pitch(data) - - except Exception as e: - logging.error(f"Error parsing GPS data: {e}") - - return None - - def _parse_binary_gps_with_pitch(self, data): - """Parse binary GPS format with pitch angle (30 bytes)""" - try: - # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] - if len(data) < 30: - return None - - # Verify CRC (simple checksum) - crc_received = (data[28] << 8) | data[29] - crc_calculated = sum(data[0:28]) & 0xFFFF - - if crc_received != crc_calculated: - logging.warning("GPS CRC mismatch") - return None - - # Parse latitude (double, big-endian) - lat_bits = 0 - for i in range(8): - lat_bits = (lat_bits << 8) | data[4 + i] - latitude = struct.unpack(">d", struct.pack(">Q", lat_bits))[0] - - # Parse longitude (double, big-endian) - lon_bits = 0 - for i in range(8): - lon_bits = (lon_bits << 8) | data[12 + i] - longitude = struct.unpack(">d", struct.pack(">Q", lon_bits))[0] - - # Parse altitude (float, big-endian) - alt_bits = 0 - for i in range(4): - alt_bits = (alt_bits << 8) | data[20 + i] - altitude = struct.unpack(">f", struct.pack(">I", alt_bits))[0] - - # Parse pitch angle (float, big-endian) - pitch_bits = 0 - for i in range(4): - pitch_bits = (pitch_bits << 8) | data[24 + i] - pitch = struct.unpack(">f", struct.pack(">I", pitch_bits))[0] - - return GPSData( - latitude=latitude, - longitude=longitude, - altitude=altitude, - pitch=pitch, - timestamp=time.time(), - ) - - except Exception as e: - logging.error(f"Error parsing binary GPS with pitch: {e}") - return None - - -class RadarPacketParser: - def __init__(self): - self.sync_pattern = b"\xa5\xc3" - self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - - def parse_packet(self, data): - if len(data) < 6: - return None - - sync_index = data.find(self.sync_pattern) - if sync_index == -1: - return None - - packet = data[sync_index:] - - if len(packet) < 6: - return None - - _sync = packet[0:2] - packet_type = packet[2] - length = packet[3] - - if len(packet) < (4 + length + 2): - return None - - payload = packet[4 : 4 + length] - crc_received = struct.unpack("I", payload[0:4])[0] - elevation = payload[4] & 0x1F - azimuth = payload[5] & 0x3F - chirp_counter = payload[6] & 0x1F - - return { - "type": "range", - "range": range_value, - "elevation": elevation, - "azimuth": azimuth, - "chirp": chirp_counter, - "timestamp": time.time(), - } - except Exception as e: - logging.error(f"Error parsing range packet: {e}") - return None - - def parse_doppler_packet(self, payload): - if len(payload) < 12: - return None - - try: - doppler_real = struct.unpack(">h", payload[0:2])[0] - doppler_imag = struct.unpack(">h", payload[2:4])[0] - elevation = payload[4] & 0x1F - azimuth = payload[5] & 0x3F - chirp_counter = payload[6] & 0x1F - - return { - "type": "doppler", - "doppler_real": doppler_real, - "doppler_imag": doppler_imag, - "elevation": elevation, - "azimuth": azimuth, - "chirp": chirp_counter, - "timestamp": time.time(), - } - except Exception as e: - logging.error(f"Error parsing Doppler packet: {e}") - return None - - def parse_detection_packet(self, payload): - if len(payload) < 8: - return None - - try: - detection_flag = (payload[0] & 0x01) != 0 - elevation = payload[1] & 0x1F - azimuth = payload[2] & 0x3F - chirp_counter = payload[3] & 0x1F - - return { - "type": "detection", - "detected": detection_flag, - "elevation": elevation, - "azimuth": azimuth, - "chirp": chirp_counter, - "timestamp": time.time(), - } - except Exception as e: - logging.error(f"Error parsing detection packet: {e}") - return None - - -class RadarGUI: - def __init__(self, root): - self.root = root - self.root.title("Advanced Radar System GUI - USB CDC with Pitch Correction") - self.root.geometry("1400x900") - - # Initialize interfaces - self.stm32_usb_interface = STM32USBInterface() - self.ftdi_interface = FTDIInterface() - self.radar_processor = RadarProcessor() - self.usb_packet_parser = USBPacketParser() - self.radar_packet_parser = RadarPacketParser() - self.settings = RadarSettings() - - # Data queues - self.radar_data_queue = queue.Queue() - self.gps_data_queue = queue.Queue() - - # Thread control - self.running = False - self.radar_thread = None - self.gps_thread = None - - # Counters - self.received_packets = 0 - self.current_gps = GPSData( - latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0 - ) - self.corrected_elevations = [] # Store corrected elevation values - - self.create_gui() - self.start_background_threads() - - def create_gui(self): - """Create the main GUI with tabs""" - self.notebook = ttk.Notebook(self.root) - self.notebook.pack(fill="both", expand=True, padx=10, pady=10) - - self.tab_main = ttk.Frame(self.notebook) - self.tab_map = ttk.Frame(self.notebook) - self.tab_diagnostics = ttk.Frame(self.notebook) - self.tab_settings = ttk.Frame(self.notebook) - - self.notebook.add(self.tab_main, text="Main View") - self.notebook.add(self.tab_map, text="Map View") - self.notebook.add(self.tab_diagnostics, text="Diagnostics") - self.notebook.add(self.tab_settings, text="Settings") - - self.setup_main_tab() - self.setup_map_tab() - self.setup_settings_tab() - - def setup_main_tab(self): - """Setup the main radar display tab""" - # Control frame - control_frame = ttk.Frame(self.tab_main) - control_frame.pack(fill="x", padx=10, pady=5) - - # USB Device selection - ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) - self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) - self.stm32_usb_combo.grid(row=0, column=1, padx=5) - - ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) - self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) - self.ftdi_combo.grid(row=0, column=3, padx=5) - - ttk.Button(control_frame, text="Refresh Devices", command=self.refresh_devices).grid( - row=0, column=4, padx=5 - ) - - self.start_button = ttk.Button(control_frame, text="Start Radar", command=self.start_radar) - self.start_button.grid(row=0, column=5, padx=5) - - self.stop_button = ttk.Button( - control_frame, text="Stop Radar", command=self.stop_radar, state="disabled" - ) - self.stop_button.grid(row=0, column=6, padx=5) - - # GPS and Pitch info - self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") - self.gps_label.grid(row=1, column=0, columnspan=4, sticky="w", padx=5, pady=2) - - # Pitch display - self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") - self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) - - # Status info - self.status_label = ttk.Label(control_frame, text="Status: Ready") - self.status_label.grid(row=1, column=6, sticky="e", padx=5, pady=2) - - # Main display area - display_frame = ttk.Frame(self.tab_main) - display_frame.pack(fill="both", expand=True, padx=10, pady=5) - - # Range-Doppler Map - fig = Figure(figsize=(10, 6)) - self.range_doppler_ax = fig.add_subplot(111) - self.range_doppler_plot = self.range_doppler_ax.imshow( - np.random.rand(1024, 32), aspect="auto", cmap="hot", extent=[0, 32, 0, 1024] - ) - self.range_doppler_ax.set_title("Range-Doppler Map (Pitch Corrected)") - self.range_doppler_ax.set_xlabel("Doppler Bin") - self.range_doppler_ax.set_ylabel("Range Bin") - - self.canvas = FigureCanvasTkAgg(fig, display_frame) - self.canvas.draw() - self.canvas.get_tk_widget().pack(side="left", fill="both", expand=True) - - # Targets list with corrected elevation - targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)") - targets_frame.pack(side="right", fill="y", padx=5) - - self.targets_tree = ttk.Treeview( - targets_frame, - columns=("ID", "Range", "Velocity", "Azimuth", "Elevation", "Corrected Elev", "SNR"), - show="headings", - height=20, - ) - self.targets_tree.heading("ID", text="Track ID") - 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="Raw Elev") - self.targets_tree.heading("Corrected Elev", text="Corr Elev") - self.targets_tree.heading("SNR", text="SNR (dB)") - - self.targets_tree.column("ID", width=70) - self.targets_tree.column("Range", width=90) - self.targets_tree.column("Velocity", width=90) - self.targets_tree.column("Azimuth", width=70) - self.targets_tree.column("Elevation", width=70) - self.targets_tree.column("Corrected Elev", width=70) - self.targets_tree.column("SNR", width=70) - - self.targets_tree.pack(fill="both", expand=True, padx=5, pady=5) - - def setup_map_tab(self): - """Setup the map display tab""" - self.map_frame = ttk.Frame(self.tab_map) - self.map_frame.pack(fill="both", expand=True, padx=10, pady=10) - - # Map placeholder - self.map_label = ttk.Label( - self.map_frame, - text="Map will be displayed here after GPS data is received", - font=("Arial", 12), - ) - self.map_label.pack(expand=True) - - def setup_settings_tab(self): - """Setup the settings tab""" - settings_frame = ttk.Frame(self.tab_settings) - settings_frame.pack(fill="both", expand=True, padx=10, pady=10) - - entries = [ - ("System Frequency (Hz):", "system_frequency", 10e9), - ("Chirp Duration (s):", "chirp_duration", 30e-6), - ("Chirps per Position:", "chirps_per_position", 32), - ("Frequency Min (Hz):", "freq_min", 10e6), - ("Frequency Max (Hz):", "freq_max", 30e6), - ("PRF1 (Hz):", "prf1", 1000), - ("PRF2 (Hz):", "prf2", 2000), - ("Max Distance (m):", "max_distance", 50000), - ] - - self.settings_vars = {} - - for i, (label, attr, default) in enumerate(entries): - ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky="w", padx=5, pady=5) - var = tk.StringVar(value=str(default)) - entry = ttk.Entry(settings_frame, textvariable=var, width=20) - entry.grid(row=i, column=1, padx=5, pady=5) - self.settings_vars[attr] = var - - ttk.Button(settings_frame, text="Apply Settings", command=self.apply_settings).grid( - row=len(entries), column=0, columnspan=2, pady=10 - ) - - def apply_pitch_correction(self, raw_elevation, pitch_angle): - """ - Apply pitch correction to elevation angle - raw_elevation: measured elevation from radar (degrees) - pitch_angle: antenna pitch angle from IMU (degrees) - Returns: corrected elevation angle (degrees) - """ - # Convert to radians for trigonometric functions - raw_elev_rad = math.radians(raw_elevation) - pitch_rad = math.radians(pitch_angle) - - # Apply pitch correction: corrected_elev = raw_elev - pitch - # This assumes the pitch angle is positive when antenna is tilted up - corrected_elev_rad = raw_elev_rad - pitch_rad - - # Convert back to degrees and ensure it's within valid range - corrected_elev_deg = math.degrees(corrected_elev_rad) - - # Normalize to 0-180 degree range - corrected_elev_deg = corrected_elev_deg % 180 - if corrected_elev_deg < 0: - corrected_elev_deg += 180 - - return corrected_elev_deg - - def refresh_devices(self): - """Refresh available USB devices""" - # STM32 USB devices - stm32_devices = self.stm32_usb_interface.list_devices() - stm32_names = [dev["description"] for dev in stm32_devices] - self.stm32_usb_combo["values"] = stm32_names - - # FTDI devices - ftdi_devices = self.ftdi_interface.list_devices() - ftdi_names = [dev["description"] for dev in ftdi_devices] - self.ftdi_combo["values"] = ftdi_names - - if stm32_names: - self.stm32_usb_combo.current(0) - if ftdi_names: - self.ftdi_combo.current(0) - - def start_radar(self): - """Step 11: Start button pressed - Begin radar operation""" - try: - # Open STM32 USB device - stm32_index = self.stm32_usb_combo.current() - if stm32_index == -1: - messagebox.showerror("Error", "Please select an STM32 USB device") - return - - stm32_devices = self.stm32_usb_interface.list_devices() - if stm32_index >= len(stm32_devices): - messagebox.showerror("Error", "Invalid STM32 device selection") - return - - if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): - messagebox.showerror("Error", "Failed to open STM32 USB device") - return - - # Open FTDI device - if FTDI_AVAILABLE: - ftdi_index = self.ftdi_combo.current() - if ftdi_index != -1: - ftdi_devices = self.ftdi_interface.list_devices() - if ftdi_index < len(ftdi_devices): - device_url = ftdi_devices[ftdi_index]["url"] - if not self.ftdi_interface.open_device(device_url): - logging.warning( - "Failed to open FTDI device, continuing without radar data" - ) - else: - logging.warning("No FTDI device selected, continuing without radar data") - else: - logging.warning("FTDI not available, continuing without radar data") - - # Step 12: Send start flag to STM32 via USB - if not self.stm32_usb_interface.send_start_flag(): - messagebox.showerror("Error", "Failed to send start flag to STM32") - return - - # Step 13: Send settings to STM32 via USB - self.apply_settings() - - # Start radar operation - self.running = True - self.start_button.config(state="disabled") - self.stop_button.config(state="normal") - self.status_label.config(text="Status: Radar running - Waiting for GPS data...") - - logging.info("Radar system started successfully via USB CDC") - - except Exception as e: - messagebox.showerror("Error", f"Failed to start radar: {e}") - logging.error(f"Start radar error: {e}") - - def stop_radar(self): - """Stop radar operation""" - self.running = False - self.start_button.config(state="normal") - self.stop_button.config(state="disabled") - self.status_label.config(text="Status: Radar stopped") - - self.stm32_usb_interface.close() - self.ftdi_interface.close() - - logging.info("Radar system stopped") - - def apply_settings(self): - """Step 13: Apply and send radar settings via USB""" - try: - self.settings.system_frequency = float(self.settings_vars["system_frequency"].get()) - self.settings.chirp_duration = float(self.settings_vars["chirp_duration"].get()) - self.settings.chirps_per_position = int(self.settings_vars["chirps_per_position"].get()) - self.settings.freq_min = float(self.settings_vars["freq_min"].get()) - self.settings.freq_max = float(self.settings_vars["freq_max"].get()) - self.settings.prf1 = float(self.settings_vars["prf1"].get()) - self.settings.prf2 = float(self.settings_vars["prf2"].get()) - self.settings.max_distance = float(self.settings_vars["max_distance"].get()) - - if self.stm32_usb_interface.is_open: - self.stm32_usb_interface.send_settings(self.settings) - - messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") - logging.info("Radar settings applied via USB") - - except ValueError as e: - messagebox.showerror("Error", f"Invalid setting value: {e}") - - def start_background_threads(self): - """Start background data processing threads""" - self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) - self.radar_thread.start() - - self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) - self.gps_thread.start() - - self.root.after(100, self.update_gui) - - def process_radar_data(self): - """Step 39: Process incoming radar data from FTDI""" - buffer = b"" - while True: - if self.running and self.ftdi_interface.is_open: - try: - data = self.ftdi_interface.read_data(4096) - if data: - buffer += data - - while len(buffer) >= 6: - packet = self.radar_packet_parser.parse_packet(buffer) - if packet: - self.process_radar_packet(packet) - packet_length = 4 + len(packet.get("payload", b"")) + 2 - buffer = buffer[packet_length:] - self.received_packets += 1 - else: - break - - except Exception as e: - logging.error(f"Error processing radar data: {e}") - time.sleep(0.1) - else: - time.sleep(0.1) - - def process_gps_data(self): - """Step 16/17: Process GPS data from STM32 via USB CDC""" - while True: - if self.running and self.stm32_usb_interface.is_open: - try: - # Read data from STM32 USB - data = self.stm32_usb_interface.read_data(64, timeout=100) - if data: - gps_data = self.usb_packet_parser.parse_gps_data(data) - if gps_data: - self.gps_data_queue.put(gps_data) - logging.info( - "GPS Data received via USB: " - f"Lat {gps_data.latitude:.6f}, " - f"Lon {gps_data.longitude:.6f}, " - f"Alt {gps_data.altitude:.1f}m, " - f"Pitch {gps_data.pitch:.1f}°" - ) - except Exception as e: - logging.error(f"Error processing GPS data via USB: {e}") - time.sleep(0.1) - - def process_radar_packet(self, packet): - """Step 40: Process radar data and apply pitch correction""" - try: - if packet["type"] == "range": - range_meters = packet["range"] * 0.1 - - # Apply pitch correction to elevation - raw_elevation = packet["elevation"] - corrected_elevation = self.apply_pitch_correction( - raw_elevation, self.current_gps.pitch - ) - - # Store correction for display - self.corrected_elevations.append( - { - "raw": raw_elevation, - "corrected": corrected_elevation, - "pitch": self.current_gps.pitch, - "timestamp": packet["timestamp"], - } - ) - - # Keep only recent corrections - if len(self.corrected_elevations) > 100: - self.corrected_elevations = self.corrected_elevations[-100:] - - target = RadarTarget( - id=packet["chirp"], - range=range_meters, - velocity=0, - azimuth=packet["azimuth"], - elevation=corrected_elevation, # Use corrected elevation - snr=20.0, - timestamp=packet["timestamp"], - ) - - self.update_range_doppler_map(target) - - elif packet["type"] == "doppler": - lambda_wavelength = 3e8 / self.settings.system_frequency - velocity = (packet["doppler_real"] / 32767.0) * ( - self.settings.prf1 * lambda_wavelength / 2 - ) - self.update_target_velocity(packet, velocity) - - elif packet["type"] == "detection": - if packet["detected"]: - # Apply pitch correction to detection elevation - raw_elevation = packet["elevation"] - corrected_elevation = self.apply_pitch_correction( - raw_elevation, self.current_gps.pitch - ) - - logging.info( - f"CFAR Detection: Raw Elev {raw_elevation}°, " - f"Corrected Elev {corrected_elevation:.1f}°, " - f"Pitch {self.current_gps.pitch:.1f}°" - ) - - except Exception as e: - logging.error(f"Error processing radar packet: {e}") - - def update_range_doppler_map(self, target): - """Update range-Doppler map with new target""" - range_bin = min(int(target.range / 50), 1023) - doppler_bin = min(abs(int(target.velocity)), 31) - - self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 - - self.radar_processor.detected_targets.append(target) - - if len(self.radar_processor.detected_targets) > 100: - self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] - - def update_target_velocity(self, packet, velocity): - """Update target velocity information""" - for target in self.radar_processor.detected_targets: - if ( - target.azimuth == packet["azimuth"] - and target.elevation == packet["elevation"] - and target.id == packet["chirp"] - ): - target.velocity = velocity - break - - def update_gps_display(self): - """Step 18: Update GPS and pitch display""" - 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 pitch label with color coding - pitch_text = f"Pitch: {gps_data.pitch:+.1f}°" - self.pitch_label.config(text=pitch_text) - - # Color code based on pitch magnitude - if abs(gps_data.pitch) > 10: - self.pitch_label.config(foreground="red") # High pitch warning - elif abs(gps_data.pitch) > 5: - self.pitch_label.config(foreground="orange") # Medium pitch - else: - self.pitch_label.config(foreground="green") # Normal pitch - - # Update map - self.update_map_display(gps_data) - - except queue.Empty: - pass - - def update_targets_list(self): - """Update the targets list display with corrected elevations""" - for item in self.targets_tree.get_children(): - self.targets_tree.delete(item) - - for target in self.radar_processor.detected_targets[-20:]: - # Find the corresponding raw elevation if available - raw_elevation = "N/A" - for correction in self.corrected_elevations[-20:]: - if abs(correction["corrected"] - target.elevation) < 0.1: # Fuzzy match - raw_elevation = f"{correction['raw']}" - break - - self.targets_tree.insert( - "", - "end", - values=( - target.track_id, - f"{target.range:.1f}", - f"{target.velocity:.1f}", - target.azimuth, - raw_elevation, # Show raw elevation - f"{target.elevation:.1f}", # Show corrected elevation - f"{target.snr:.1f}", - ), - ) - - def update_gui(self): - """Step 40: Update all GUI displays""" - try: - # Update status with pitch information - if self.running: - self.status_label.config( - text=( - f"Status: Running - Packets: {self.received_packets} - " - f"Pitch: {self.current_gps.pitch:+.1f}°" - ) - ) - - # Update range-Doppler map - if hasattr(self, "range_doppler_plot"): - display_data = np.log10(self.radar_processor.range_doppler_map + 1) - self.range_doppler_plot.set_array(display_data) - self.canvas.draw_idle() - - # Update targets list - self.update_targets_list() - - # Update GPS and pitch display - self.update_gps_display() - - except Exception as e: - logging.error(f"Error updating GUI: {e}") - - self.root.after(100, self.update_gui) - - 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"Pitch: {gps_data.pitch:+.1f}°\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() diff --git a/9_Firmware/9_3_GUI/GUI_V4.py b/9_Firmware/9_3_GUI/GUI_V4.py deleted file mode 100644 index 3df41c3..0000000 --- a/9_Firmware/9_3_GUI/GUI_V4.py +++ /dev/null @@ -1,1513 +0,0 @@ -import tkinter as tk -from tkinter import ttk, messagebox -import threading -import queue -import time -import struct -import numpy as np -from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg -from matplotlib.figure import Figure -import logging -from dataclasses import dataclass -from sklearn.cluster import DBSCAN -from filterpy.kalman import KalmanFilter -import crcmod -import math -import webbrowser -import tempfile -import os - -try: - import usb.core - import usb.util - - USB_AVAILABLE = True -except ImportError: - USB_AVAILABLE = False - logging.warning("pyusb not available. USB CDC functionality will be disabled.") - -try: - from pyftdi.ftdi import Ftdi - from pyftdi.usbtools import UsbTools - - FTDI_AVAILABLE = True -except ImportError: - FTDI_AVAILABLE = False - logging.warning("pyftdi not available. FTDI functionality will be disabled.") - -# Configure logging -logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s") - - -@dataclass -class RadarTarget: - id: int - range: float - velocity: float - azimuth: int - elevation: int - latitude: float = 0.0 - longitude: float = 0.0 - snr: float = 0.0 - timestamp: float = 0.0 - track_id: int = -1 - - -@dataclass -class RadarSettings: - system_frequency: float = 10e9 - chirp_duration_1: float = 30e-6 # Long chirp duration - chirp_duration_2: float = 0.5e-6 # Short chirp duration - chirps_per_position: int = 32 - freq_min: float = 10e6 - freq_max: float = 30e6 - prf1: float = 1000 - prf2: float = 2000 - max_distance: float = 50000 - map_size: float = 50000 # Map size in meters - - -@dataclass -class GPSData: - latitude: float - longitude: float - altitude: float - pitch: float # Pitch angle in degrees - timestamp: float - - -class MapGenerator: - def __init__(self): - self.map_html_template = """ - - - - Radar Map - - - - - -
- - - - - - - """ - - def generate_map(self, gps_data, targets, coverage_radius, api_key="YOUR_GOOGLE_MAPS_API_KEY"): - """Generate HTML map with radar and targets""" - # Convert targets to map coordinates - map_targets = [] - for target in targets: - # Convert polar coordinates (range, azimuth) to geographic coordinates - target_lat, target_lon = self.polar_to_geographic( - gps_data.latitude, gps_data.longitude, target.range, target.azimuth - ) - map_targets.append( - { - "id": target.track_id, - "lat": target_lat, - "lng": target_lon, - "range": target.range, - "velocity": target.velocity, - "azimuth": target.azimuth, - "elevation": target.elevation, - "snr": target.snr, - } - ) - - # Generate targets script - targets_script = "" - if map_targets: - targets_json = str(map_targets).replace("'", '"') - targets_script = f"updateTargets({targets_json});" - - # Fill template - map_html = self.map_html_template.format( - lat=gps_data.latitude, - lon=gps_data.longitude, - alt=gps_data.altitude, - pitch=gps_data.pitch, - coverage_radius=coverage_radius, - targets_script=targets_script, - 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 - using simple flat-earth approximation (good for small distances) - """ - # Earth radius in meters - earth_radius = 6371000 - - # Convert azimuth to radians (0° = North, 90° = East) - azimuth_rad = math.radians(90 - azimuth_deg) # Convert to math convention - - # Convert range to angular distance - angular_distance = range_m / earth_radius - - # Convert to geographic coordinates - target_lat = radar_lat + math.cos(azimuth_rad) * angular_distance * (180 / math.pi) - target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * ( - 180 / math.pi - ) / math.cos(math.radians(radar_lat)) - - return target_lat, target_lon - - -class STM32USBInterface: - def __init__(self): - self.device = None - self.is_open = False - self.ep_in = None - self.ep_out = None - - def list_devices(self): - """List available STM32 USB CDC devices""" - if not USB_AVAILABLE: - logging.warning("USB not available - please install pyusb") - return [] - - try: - devices = [] - # STM32 USB CDC devices typically use these vendor/product IDs - stm32_vid_pids = [ - (0x0483, 0x5740), # STM32 Virtual COM Port - (0x0483, 0x3748), # STM32 Discovery - (0x0483, 0x374B), # STM32 CDC - (0x0483, 0x374D), # STM32 CDC - (0x0483, 0x374E), # STM32 CDC - (0x0483, 0x3752), # STM32 CDC - ] - - for vid, pid in stm32_vid_pids: - found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) - for dev in found_devices: - try: - product = ( - usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" - ) - serial = ( - usb.util.get_string(dev, dev.iSerialNumber) - if dev.iSerialNumber - else "Unknown" - ) - devices.append( - { - "description": f"{product} ({serial})", - "vendor_id": vid, - "product_id": pid, - "device": dev, - } - ) - except Exception: - devices.append( - { - "description": f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", - "vendor_id": vid, - "product_id": pid, - "device": dev, - } - ) - - return devices - except Exception as e: - logging.error(f"Error listing USB devices: {e}") - # Return mock devices for testing - return [ - {"description": "STM32 Virtual COM Port", "vendor_id": 0x0483, "product_id": 0x5740} - ] - - def open_device(self, device_info): - """Open STM32 USB CDC device""" - if not USB_AVAILABLE: - logging.error("USB not available - cannot open device") - return False - - try: - self.device = device_info["device"] - - # Detach kernel driver if active - if self.device.is_kernel_driver_active(0): - self.device.detach_kernel_driver(0) - - # Set configuration - self.device.set_configuration() - - # Get CDC endpoints - cfg = self.device.get_active_configuration() - intf = cfg[(0, 0)] - - # Find bulk endpoints (CDC data interface) - self.ep_out = usb.util.find_descriptor( - intf, - custom_match=lambda e: ( - usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT - ), - ) - - self.ep_in = usb.util.find_descriptor( - intf, - custom_match=lambda e: ( - usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN - ), - ) - - if self.ep_out is None or self.ep_in is None: - logging.error("Could not find CDC endpoints") - return False - - self.is_open = True - logging.info(f"STM32 USB device opened: {device_info['description']}") - return True - - except Exception as e: - logging.error(f"Error opening USB device: {e}") - return False - - def send_start_flag(self): - """Step 12: Send start flag to STM32 via USB""" - start_packet = bytes([23, 46, 158, 237]) - logging.info("Sending start flag to STM32 via USB...") - return self._send_data(start_packet) - - def send_settings(self, settings): - """Step 13: Send radar settings to STM32 via USB""" - try: - packet = self._create_settings_packet(settings) - logging.info("Sending radar settings to STM32 via USB...") - return self._send_data(packet) - except Exception as e: - logging.error(f"Error sending settings via USB: {e}") - return False - - def read_data(self, size=64, timeout=1000): - """Read data from STM32 via USB""" - 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 usb.core.USBError as e: - if e.errno == 110: # Timeout - 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""" - if not self.is_open or self.ep_out is None: - return False - - try: - # USB CDC typically uses 64-byte packets - packet_size = 64 - for i in range(0, len(data), packet_size): - chunk = data[i : i + packet_size] - # Pad to packet size if needed - if len(chunk) < packet_size: - chunk += b"\x00" * (packet_size - len(chunk)) - self.ep_out.write(chunk) - - return True - except Exception as e: - logging.error(f"Error sending data via USB: {e}") - return False - - def _create_settings_packet(self, settings): - """Create binary settings packet for USB transmission""" - 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 - - def close(self): - """Close USB device""" - if self.device and self.is_open: - try: - usb.util.dispose_resources(self.device) - self.is_open = False - except Exception as e: - logging.error(f"Error closing USB device: {e}") - - -class FTDIInterface: - def __init__(self): - self.ftdi = None - self.is_open = False - - def list_devices(self): - """List available FTDI devices using pyftdi""" - if not FTDI_AVAILABLE: - logging.warning("FTDI not available - please install pyftdi") - return [] - - try: - devices = [] - # Get list of all FTDI devices - for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID - devices.append( - {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} - ) - return devices - except Exception as e: - logging.error(f"Error listing FTDI devices: {e}") - # Return mock devices for testing - return [{"description": "FT2232H Device A", "url": "ftdi://device/1"}] - - def open_device(self, device_url): - """Open FTDI device using pyftdi""" - if not FTDI_AVAILABLE: - logging.error("FTDI not available - cannot open device") - return False - - try: - self.ftdi = Ftdi() - self.ftdi.open_from_url(device_url) - - # Configure for synchronous FIFO mode - self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) - - # Set latency timer - self.ftdi.set_latency_timer(2) - - # Purge buffers - self.ftdi.purge_buffers() - - self.is_open = True - logging.info(f"FTDI device opened: {device_url}") - return True - - except Exception as e: - logging.error(f"Error opening FTDI device: {e}") - return False - - def read_data(self, bytes_to_read): - """Read data from FTDI""" - 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: - logging.error(f"Error reading from FTDI: {e}") - return None - - def close(self): - """Close FTDI device""" - if self.ftdi and self.is_open: - self.ftdi.close() - self.is_open = False - - -class RadarProcessor: - def __init__(self): - self.range_doppler_map = np.zeros((1024, 32)) - self.detected_targets = [] - self.track_id_counter = 0 - self.tracks = {} - self.frame_count = 0 - - 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 fused_profile - - def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): - """Multi-PRF velocity unwrapping""" - lambda_wavelength = 3e8 / 10e9 - v_max1 = prf1 * lambda_wavelength / 2 - v_max2 = prf2 * lambda_wavelength / 2 - - unwrapped_velocities = [] - for doppler in doppler_measurements: - v1 = doppler * lambda_wavelength / 2 - v2 = doppler * lambda_wavelength / 2 - - velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) - unwrapped_velocities.append(velocity) - - return unwrapped_velocities - - def _solve_chinese_remainder(self, v1, v2, max1, max2): - for k in range(-5, 6): - candidate = v1 + k * max1 - if abs(candidate - v2) < max2 / 2: - return candidate - return v1 - - def clustering(self, detections, eps=100, min_samples=2): - """DBSCAN clustering of detections""" - if len(detections) == 0: - return [] - - points = np.array([[d.range, d.velocity] for d in detections]) - clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) - - clusters = [] - for label in set(clustering.labels_): - if label != -1: - cluster_points = points[clustering.labels_ == label] - clusters.append( - { - "center": np.mean(cluster_points, axis=0), - "points": cluster_points, - "size": len(cluster_points), - } - ) - - return clusters - - def association(self, detections, clusters): - """Association of detections to tracks""" - associated_detections = [] - - for detection in detections: - best_track = None - min_distance = float("inf") - - for track_id, track in self.tracks.items(): - distance = np.sqrt( - (detection.range - track["state"][0]) ** 2 - + (detection.velocity - track["state"][2]) ** 2 - ) - - if distance < min_distance and distance < 500: - min_distance = distance - best_track = track_id - - if best_track is not None: - detection.track_id = best_track - associated_detections.append(detection) - else: - detection.track_id = self.track_id_counter - self.track_id_counter += 1 - associated_detections.append(detection) - - return associated_detections - - def tracking(self, associated_detections): - """Kalman filter tracking""" - current_time = time.time() - - for detection in associated_detections: - if detection.track_id not in self.tracks: - kf = KalmanFilter(dim_x=4, dim_z=2) - kf.x = np.array([detection.range, 0, detection.velocity, 0]) - kf.F = np.array([[1, 1, 0, 0], [0, 1, 0, 0], [0, 0, 1, 1], [0, 0, 0, 1]]) - kf.H = np.array([[1, 0, 0, 0], [0, 0, 1, 0]]) - kf.P *= 1000 - kf.R = np.diag([10, 1]) - kf.Q = np.eye(4) * 0.1 - - self.tracks[detection.track_id] = { - "filter": kf, - "state": kf.x, - "last_update": current_time, - "hits": 1, - } - else: - track = self.tracks[detection.track_id] - track["filter"].predict() - track["filter"].update([detection.range, detection.velocity]) - track["state"] = track["filter"].x - track["last_update"] = current_time - track["hits"] += 1 - - stale_tracks = [ - tid for tid, track in self.tracks.items() if current_time - track["last_update"] > 5.0 - ] - for tid in stale_tracks: - del self.tracks[tid] - - -class USBPacketParser: - def __init__(self): - self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - - def parse_gps_data(self, data): - """Parse GPS data from STM32 USB CDC with pitch angle""" - if not data: - return None - - try: - # Try text format first: "GPS:lat,lon,alt,pitch\r\n" - text_data = data.decode("utf-8", errors="ignore").strip() - if text_data.startswith("GPS:"): - parts = text_data.split(":")[1].split(",") - if len(parts) == 4: # Now expecting 4 values - lat = float(parts[0]) - lon = float(parts[1]) - alt = float(parts[2]) - pitch = float(parts[3]) # Pitch angle in degrees - return GPSData( - latitude=lat, - longitude=lon, - altitude=alt, - pitch=pitch, - timestamp=time.time(), - ) - - # Try binary format (30 bytes with pitch) - if len(data) >= 30 and data[0:4] == b"GPSB": - return self._parse_binary_gps_with_pitch(data) - - except Exception as e: - logging.error(f"Error parsing GPS data: {e}") - - return None - - def _parse_binary_gps_with_pitch(self, data): - """Parse binary GPS format with pitch angle (30 bytes)""" - try: - # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] - if len(data) < 30: - return None - - # Verify CRC (simple checksum) - crc_received = (data[28] << 8) | data[29] - crc_calculated = sum(data[0:28]) & 0xFFFF - - if crc_received != crc_calculated: - logging.warning("GPS CRC mismatch") - return None - - # Parse latitude (double, big-endian) - lat_bits = 0 - for i in range(8): - lat_bits = (lat_bits << 8) | data[4 + i] - latitude = struct.unpack(">d", struct.pack(">Q", lat_bits))[0] - - # Parse longitude (double, big-endian) - lon_bits = 0 - for i in range(8): - lon_bits = (lon_bits << 8) | data[12 + i] - longitude = struct.unpack(">d", struct.pack(">Q", lon_bits))[0] - - # Parse altitude (float, big-endian) - alt_bits = 0 - for i in range(4): - alt_bits = (alt_bits << 8) | data[20 + i] - altitude = struct.unpack(">f", struct.pack(">I", alt_bits))[0] - - # Parse pitch angle (float, big-endian) - pitch_bits = 0 - for i in range(4): - pitch_bits = (pitch_bits << 8) | data[24 + i] - pitch = struct.unpack(">f", struct.pack(">I", pitch_bits))[0] - - return GPSData( - latitude=latitude, - longitude=longitude, - altitude=altitude, - pitch=pitch, - timestamp=time.time(), - ) - - except Exception as e: - logging.error(f"Error parsing binary GPS with pitch: {e}") - return None - - -class RadarPacketParser: - def __init__(self): - self.sync_pattern = b"\xa5\xc3" - self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) - - def parse_packet(self, data): - if len(data) < 6: - return None - - sync_index = data.find(self.sync_pattern) - if sync_index == -1: - return None - - packet = data[sync_index:] - - if len(packet) < 6: - return None - - _sync = packet[0:2] - packet_type = packet[2] - length = packet[3] - - if len(packet) < (4 + length + 2): - return None - - payload = packet[4 : 4 + length] - crc_received = struct.unpack("I", payload[0:4])[0] - elevation = payload[4] & 0x1F - azimuth = payload[5] & 0x3F - chirp_counter = payload[6] & 0x1F - - return { - "type": "range", - "range": range_value, - "elevation": elevation, - "azimuth": azimuth, - "chirp": chirp_counter, - "timestamp": time.time(), - } - except Exception as e: - logging.error(f"Error parsing range packet: {e}") - return None - - def parse_doppler_packet(self, payload): - if len(payload) < 12: - return None - - try: - doppler_real = struct.unpack(">h", payload[0:2])[0] - doppler_imag = struct.unpack(">h", payload[2:4])[0] - elevation = payload[4] & 0x1F - azimuth = payload[5] & 0x3F - chirp_counter = payload[6] & 0x1F - - return { - "type": "doppler", - "doppler_real": doppler_real, - "doppler_imag": doppler_imag, - "elevation": elevation, - "azimuth": azimuth, - "chirp": chirp_counter, - "timestamp": time.time(), - } - except Exception as e: - logging.error(f"Error parsing Doppler packet: {e}") - return None - - def parse_detection_packet(self, payload): - if len(payload) < 8: - return None - - try: - detection_flag = (payload[0] & 0x01) != 0 - elevation = payload[1] & 0x1F - azimuth = payload[2] & 0x3F - chirp_counter = payload[3] & 0x1F - - return { - "type": "detection", - "detected": detection_flag, - "elevation": elevation, - "azimuth": azimuth, - "chirp": chirp_counter, - "timestamp": time.time(), - } - except Exception as e: - logging.error(f"Error parsing detection packet: {e}") - return None - - -class RadarGUI: - def __init__(self, root): - self.root = root - self.root.title("Advanced Radar System GUI - USB CDC with Google Maps") - self.root.geometry("1400x900") - - # Initialize interfaces - self.stm32_usb_interface = STM32USBInterface() - self.ftdi_interface = FTDIInterface() - self.radar_processor = RadarProcessor() - self.usb_packet_parser = USBPacketParser() - self.radar_packet_parser = RadarPacketParser() - self.map_generator = MapGenerator() - self.settings = RadarSettings() - - # Data queues - self.radar_data_queue = queue.Queue() - self.gps_data_queue = queue.Queue() - - # Thread control - self.running = False - self.radar_thread = None - self.gps_thread = None - - # Counters - self.received_packets = 0 - self.current_gps = GPSData( - latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0 - ) - self.corrected_elevations = [] # Store corrected elevation values - self.map_file_path = None - self.google_maps_api_key = "YOUR_GOOGLE_MAPS_API_KEY" # Replace with your API key - - self.create_gui() - self.start_background_threads() - - def create_gui(self): - """Create the main GUI with tabs""" - self.notebook = ttk.Notebook(self.root) - self.notebook.pack(fill="both", expand=True, padx=10, pady=10) - - self.tab_main = ttk.Frame(self.notebook) - self.tab_map = ttk.Frame(self.notebook) - self.tab_diagnostics = ttk.Frame(self.notebook) - self.tab_settings = ttk.Frame(self.notebook) - - self.notebook.add(self.tab_main, text="Main View") - self.notebook.add(self.tab_map, text="Map View") - self.notebook.add(self.tab_diagnostics, text="Diagnostics") - self.notebook.add(self.tab_settings, text="Settings") - - self.setup_main_tab() - self.setup_map_tab() - self.setup_settings_tab() - - def setup_main_tab(self): - """Setup the main radar display tab""" - # Control frame - control_frame = ttk.Frame(self.tab_main) - control_frame.pack(fill="x", padx=10, pady=5) - - # USB Device selection - ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) - self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) - self.stm32_usb_combo.grid(row=0, column=1, padx=5) - - ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) - self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) - self.ftdi_combo.grid(row=0, column=3, padx=5) - - ttk.Button(control_frame, text="Refresh Devices", command=self.refresh_devices).grid( - row=0, column=4, padx=5 - ) - - self.start_button = ttk.Button(control_frame, text="Start Radar", command=self.start_radar) - self.start_button.grid(row=0, column=5, padx=5) - - self.stop_button = ttk.Button( - control_frame, text="Stop Radar", command=self.stop_radar, state="disabled" - ) - self.stop_button.grid(row=0, column=6, padx=5) - - # GPS and Pitch info - self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") - self.gps_label.grid(row=1, column=0, columnspan=4, sticky="w", padx=5, pady=2) - - # Pitch display - self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") - self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) - - # Status info - self.status_label = ttk.Label(control_frame, text="Status: Ready") - self.status_label.grid(row=1, column=6, sticky="e", padx=5, pady=2) - - # Main display area - display_frame = ttk.Frame(self.tab_main) - display_frame.pack(fill="both", expand=True, padx=10, pady=5) - - # Range-Doppler Map - fig = Figure(figsize=(10, 6)) - self.range_doppler_ax = fig.add_subplot(111) - self.range_doppler_plot = self.range_doppler_ax.imshow( - np.random.rand(1024, 32), aspect="auto", cmap="hot", extent=[0, 32, 0, 1024] - ) - self.range_doppler_ax.set_title("Range-Doppler Map (Pitch Corrected)") - self.range_doppler_ax.set_xlabel("Doppler Bin") - self.range_doppler_ax.set_ylabel("Range Bin") - - self.canvas = FigureCanvasTkAgg(fig, display_frame) - self.canvas.draw() - self.canvas.get_tk_widget().pack(side="left", fill="both", expand=True) - - # Targets list with corrected elevation - targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)") - targets_frame.pack(side="right", fill="y", padx=5) - - self.targets_tree = ttk.Treeview( - targets_frame, - columns=("ID", "Range", "Velocity", "Azimuth", "Elevation", "Corrected Elev", "SNR"), - show="headings", - height=20, - ) - self.targets_tree.heading("ID", text="Track ID") - 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="Raw Elev") - self.targets_tree.heading("Corrected Elev", text="Corr Elev") - self.targets_tree.heading("SNR", text="SNR (dB)") - - self.targets_tree.column("ID", width=70) - self.targets_tree.column("Range", width=90) - self.targets_tree.column("Velocity", width=90) - self.targets_tree.column("Azimuth", width=70) - self.targets_tree.column("Elevation", width=70) - self.targets_tree.column("Corrected Elev", width=70) - self.targets_tree.column("SNR", width=70) - - self.targets_tree.pack(fill="both", expand=True, padx=5, pady=5) - - def setup_map_tab(self): - """Setup the map display tab with Google Maps""" - map_frame = ttk.Frame(self.tab_map) - map_frame.pack(fill="both", expand=True, padx=10, pady=10) - - # Map controls - controls_frame = ttk.Frame(map_frame) - controls_frame.pack(fill="x", pady=5) - - ttk.Button( - controls_frame, text="Open Map in Browser", command=self.open_map_in_browser - ).pack(side="left", padx=5) - - ttk.Button(controls_frame, text="Refresh Map", command=self.refresh_map).pack( - side="left", padx=5 - ) - - self.map_status_label = ttk.Label(controls_frame, text="Map: Ready to generate") - self.map_status_label.pack(side="left", padx=20) - - # Map info display - info_frame = ttk.Frame(map_frame) - info_frame.pack(fill="x", pady=5) - - self.map_info_label = ttk.Label( - info_frame, text="No GPS data received yet", font=("Arial", 10) - ) - self.map_info_label.pack() - - def setup_settings_tab(self): - """Setup the settings tab with additional chirp durations and map size""" - settings_frame = ttk.Frame(self.tab_settings) - settings_frame.pack(fill="both", expand=True, padx=10, pady=10) - - entries = [ - ("System Frequency (Hz):", "system_frequency", 10e9), - ("Chirp Duration 1 - Long (s):", "chirp_duration_1", 30e-6), - ("Chirp Duration 2 - Short (s):", "chirp_duration_2", 0.5e-6), - ("Chirps per Position:", "chirps_per_position", 32), - ("Frequency Min (Hz):", "freq_min", 10e6), - ("Frequency Max (Hz):", "freq_max", 30e6), - ("PRF1 (Hz):", "prf1", 1000), - ("PRF2 (Hz):", "prf2", 2000), - ("Max Distance (m):", "max_distance", 50000), - ("Map Size (m):", "map_size", 50000), - ("Google Maps API Key:", "google_maps_api_key", "YOUR_GOOGLE_MAPS_API_KEY"), - ] - - self.settings_vars = {} - - for i, (label, attr, default) in enumerate(entries): - ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky="w", padx=5, pady=5) - var = tk.StringVar(value=str(default)) - entry = ttk.Entry(settings_frame, textvariable=var, width=25) - entry.grid(row=i, column=1, padx=5, pady=5) - self.settings_vars[attr] = var - - ttk.Button(settings_frame, text="Apply Settings", command=self.apply_settings).grid( - row=len(entries), column=0, columnspan=2, pady=10 - ) - - def apply_pitch_correction(self, raw_elevation, pitch_angle): - """ - Apply pitch correction to elevation angle - raw_elevation: measured elevation from radar (degrees) - pitch_angle: antenna pitch angle from IMU (degrees) - Returns: corrected elevation angle (degrees) - """ - # Convert to radians for trigonometric functions - raw_elev_rad = math.radians(raw_elevation) - pitch_rad = math.radians(pitch_angle) - - # Apply pitch correction: corrected_elev = raw_elev - pitch - # This assumes the pitch angle is positive when antenna is tilted up - corrected_elev_rad = raw_elev_rad - pitch_rad - - # Convert back to degrees and ensure it's within valid range - corrected_elev_deg = math.degrees(corrected_elev_rad) - - # Normalize to 0-180 degree range - corrected_elev_deg = corrected_elev_deg % 180 - if corrected_elev_deg < 0: - corrected_elev_deg += 180 - - return corrected_elev_deg - - def refresh_devices(self): - """Refresh available USB devices""" - # STM32 USB devices - stm32_devices = self.stm32_usb_interface.list_devices() - stm32_names = [dev["description"] for dev in stm32_devices] - self.stm32_usb_combo["values"] = stm32_names - - # FTDI devices - ftdi_devices = self.ftdi_interface.list_devices() - ftdi_names = [dev["description"] for dev in ftdi_devices] - self.ftdi_combo["values"] = ftdi_names - - if stm32_names: - self.stm32_usb_combo.current(0) - if ftdi_names: - self.ftdi_combo.current(0) - - def start_radar(self): - """Step 11: Start button pressed - Begin radar operation""" - try: - # Open STM32 USB device - stm32_index = self.stm32_usb_combo.current() - if stm32_index == -1: - messagebox.showerror("Error", "Please select an STM32 USB device") - return - - stm32_devices = self.stm32_usb_interface.list_devices() - if stm32_index >= len(stm32_devices): - messagebox.showerror("Error", "Invalid STM32 device selection") - return - - if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): - messagebox.showerror("Error", "Failed to open STM32 USB device") - return - - # Open FTDI device - if FTDI_AVAILABLE: - ftdi_index = self.ftdi_combo.current() - if ftdi_index != -1: - ftdi_devices = self.ftdi_interface.list_devices() - if ftdi_index < len(ftdi_devices): - device_url = ftdi_devices[ftdi_index]["url"] - if not self.ftdi_interface.open_device(device_url): - logging.warning( - "Failed to open FTDI device, continuing without radar data" - ) - else: - logging.warning("No FTDI device selected, continuing without radar data") - else: - logging.warning("FTDI not available, continuing without radar data") - - # Step 12: Send start flag to STM32 via USB - if not self.stm32_usb_interface.send_start_flag(): - messagebox.showerror("Error", "Failed to send start flag to STM32") - return - - # Step 13: Send settings to STM32 via USB - self.apply_settings() - - # Start radar operation - self.running = True - self.start_button.config(state="disabled") - self.stop_button.config(state="normal") - self.status_label.config(text="Status: Radar running - Waiting for GPS data...") - - logging.info("Radar system started successfully via USB CDC") - - except Exception as e: - messagebox.showerror("Error", f"Failed to start radar: {e}") - logging.error(f"Start radar error: {e}") - - def stop_radar(self): - """Stop radar operation""" - self.running = False - self.start_button.config(state="normal") - self.stop_button.config(state="disabled") - self.status_label.config(text="Status: Radar stopped") - - self.stm32_usb_interface.close() - self.ftdi_interface.close() - - logging.info("Radar system stopped") - - def apply_settings(self): - """Step 13: Apply and send radar settings via USB""" - try: - self.settings.system_frequency = float(self.settings_vars["system_frequency"].get()) - self.settings.chirp_duration_1 = float(self.settings_vars["chirp_duration_1"].get()) - self.settings.chirp_duration_2 = float(self.settings_vars["chirp_duration_2"].get()) - self.settings.chirps_per_position = int(self.settings_vars["chirps_per_position"].get()) - self.settings.freq_min = float(self.settings_vars["freq_min"].get()) - self.settings.freq_max = float(self.settings_vars["freq_max"].get()) - self.settings.prf1 = float(self.settings_vars["prf1"].get()) - self.settings.prf2 = float(self.settings_vars["prf2"].get()) - self.settings.max_distance = float(self.settings_vars["max_distance"].get()) - self.settings.map_size = float(self.settings_vars["map_size"].get()) - self.google_maps_api_key = self.settings_vars["google_maps_api_key"].get() - - if self.stm32_usb_interface.is_open: - self.stm32_usb_interface.send_settings(self.settings) - - messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") - logging.info("Radar settings applied via USB") - - except ValueError as e: - messagebox.showerror("Error", f"Invalid setting value: {e}") - - def start_background_threads(self): - """Start background data processing threads""" - self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) - self.radar_thread.start() - - self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) - self.gps_thread.start() - - self.root.after(100, self.update_gui) - - def process_radar_data(self): - """Step 39: Process incoming radar data from FTDI""" - buffer = b"" - while True: - if self.running and self.ftdi_interface.is_open: - try: - data = self.ftdi_interface.read_data(4096) - if data: - buffer += data - - while len(buffer) >= 6: - packet = self.radar_packet_parser.parse_packet(buffer) - if packet: - self.process_radar_packet(packet) - packet_length = 4 + len(packet.get("payload", b"")) + 2 - buffer = buffer[packet_length:] - self.received_packets += 1 - else: - break - - except Exception as e: - logging.error(f"Error processing radar data: {e}") - time.sleep(0.1) - else: - time.sleep(0.1) - - def process_gps_data(self): - """Step 16/17: Process GPS data from STM32 via USB CDC""" - while True: - if self.running and self.stm32_usb_interface.is_open: - try: - # Read data from STM32 USB - data = self.stm32_usb_interface.read_data(64, timeout=100) - if data: - gps_data = self.usb_packet_parser.parse_gps_data(data) - if gps_data: - self.gps_data_queue.put(gps_data) - logging.info( - "GPS Data received via USB: " - f"Lat {gps_data.latitude:.6f}, " - f"Lon {gps_data.longitude:.6f}, " - f"Alt {gps_data.altitude:.1f}m, " - f"Pitch {gps_data.pitch:.1f}°" - ) - except Exception as e: - logging.error(f"Error processing GPS data via USB: {e}") - time.sleep(0.1) - - def process_radar_packet(self, packet): - """Step 40: Process radar data and apply pitch correction""" - try: - if packet["type"] == "range": - range_meters = packet["range"] * 0.1 - - # Apply pitch correction to elevation - raw_elevation = packet["elevation"] - corrected_elevation = self.apply_pitch_correction( - raw_elevation, self.current_gps.pitch - ) - - # Store correction for display - self.corrected_elevations.append( - { - "raw": raw_elevation, - "corrected": corrected_elevation, - "pitch": self.current_gps.pitch, - "timestamp": packet["timestamp"], - } - ) - - # Keep only recent corrections - if len(self.corrected_elevations) > 100: - self.corrected_elevations = self.corrected_elevations[-100:] - - target = RadarTarget( - id=packet["chirp"], - range=range_meters, - velocity=0, - azimuth=packet["azimuth"], - elevation=corrected_elevation, # Use corrected elevation - snr=20.0, - timestamp=packet["timestamp"], - ) - - self.update_range_doppler_map(target) - - elif packet["type"] == "doppler": - lambda_wavelength = 3e8 / self.settings.system_frequency - velocity = (packet["doppler_real"] / 32767.0) * ( - self.settings.prf1 * lambda_wavelength / 2 - ) - self.update_target_velocity(packet, velocity) - - elif packet["type"] == "detection": - if packet["detected"]: - # Apply pitch correction to detection elevation - raw_elevation = packet["elevation"] - corrected_elevation = self.apply_pitch_correction( - raw_elevation, self.current_gps.pitch - ) - - logging.info( - f"CFAR Detection: Raw Elev {raw_elevation}°, " - f"Corrected Elev {corrected_elevation:.1f}°, " - f"Pitch {self.current_gps.pitch:.1f}°" - ) - - except Exception as e: - logging.error(f"Error processing radar packet: {e}") - - def update_range_doppler_map(self, target): - """Update range-Doppler map with new target""" - range_bin = min(int(target.range / 50), 1023) - doppler_bin = min(abs(int(target.velocity)), 31) - - self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 - - self.radar_processor.detected_targets.append(target) - - if len(self.radar_processor.detected_targets) > 100: - self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] - - def update_target_velocity(self, packet, velocity): - """Update target velocity information""" - for target in self.radar_processor.detected_targets: - if ( - target.azimuth == packet["azimuth"] - and target.elevation == packet["elevation"] - and target.id == packet["chirp"] - ): - target.velocity = velocity - break - - def open_map_in_browser(self): - """Open the generated map in the default web browser""" - if self.map_file_path and os.path.exists(self.map_file_path): - webbrowser.open("file://" + os.path.abspath(self.map_file_path)) - else: - messagebox.showwarning( - "Warning", "No map file available. Generate map first by receiving GPS data." - ) - - def refresh_map(self): - """Refresh the map with current data""" - self.generate_map() - - def generate_map(self): - """Generate Google Maps HTML file with current targets""" - if self.current_gps.latitude == 0 and self.current_gps.longitude == 0: - self.map_status_label.config(text="Map: Waiting for GPS data") - return - - try: - # Create temporary HTML file - with tempfile.NamedTemporaryFile( - mode="w", suffix=".html", delete=False, encoding="utf-8" - ) as f: - map_html = self.map_generator.generate_map( - self.current_gps, - self.radar_processor.detected_targets, - self.settings.map_size, - self.google_maps_api_key, - ) - f.write(map_html) - self.map_file_path = f.name - - self.map_status_label.config(text=f"Map: Generated at {self.map_file_path}") - self.map_info_label.config( - text=f"Radar: {self.current_gps.latitude:.6f}, {self.current_gps.longitude:.6f} | " - f"Targets: {len(self.radar_processor.detected_targets)} | " - f"Coverage: {self.settings.map_size / 1000:.1f}km" - ) - logging.info(f"Map generated: {self.map_file_path}") - - except Exception as e: - logging.error(f"Error generating map: {e}") - self.map_status_label.config(text=f"Map: Error - {str(e)}") - - def update_gps_display(self): - """Step 18: Update GPS and pitch display""" - 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 pitch label with color coding - pitch_text = f"Pitch: {gps_data.pitch:+.1f}°" - self.pitch_label.config(text=pitch_text) - - # Color code based on pitch magnitude - if abs(gps_data.pitch) > 10: - self.pitch_label.config(foreground="red") # High pitch warning - elif abs(gps_data.pitch) > 5: - self.pitch_label.config(foreground="orange") # Medium pitch - else: - self.pitch_label.config(foreground="green") # Normal pitch - - # Generate/update map when new GPS data arrives - self.generate_map() - - except queue.Empty: - pass - - def update_targets_list(self): - """Update the targets list display with corrected elevations""" - for item in self.targets_tree.get_children(): - self.targets_tree.delete(item) - - for target in self.radar_processor.detected_targets[-20:]: - # Find the corresponding raw elevation if available - raw_elevation = "N/A" - for correction in self.corrected_elevations[-20:]: - if abs(correction["corrected"] - target.elevation) < 0.1: # Fuzzy match - raw_elevation = f"{correction['raw']}" - break - - self.targets_tree.insert( - "", - "end", - values=( - target.track_id, - f"{target.range:.1f}", - f"{target.velocity:.1f}", - target.azimuth, - raw_elevation, # Show raw elevation - f"{target.elevation:.1f}", # Show corrected elevation - f"{target.snr:.1f}", - ), - ) - - def update_gui(self): - """Step 40: Update all GUI displays""" - try: - # Update status with pitch information - if self.running: - self.status_label.config( - text=( - f"Status: Running - Packets: {self.received_packets} - " - f"Pitch: {self.current_gps.pitch:+.1f}°" - ) - ) - - # Update range-Doppler map - if hasattr(self, "range_doppler_plot"): - display_data = np.log10(self.radar_processor.range_doppler_map + 1) - self.range_doppler_plot.set_array(display_data) - self.canvas.draw_idle() - - # Update targets list - self.update_targets_list() - - # Update GPS and pitch display - self.update_gps_display() - - except Exception as e: - logging.error(f"Error updating GUI: {e}") - - 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() diff --git a/9_Firmware/9_3_GUI/GUI_V4_2_CSV.py b/9_Firmware/9_3_GUI/GUI_V4_2_CSV.py deleted file mode 100644 index c749bbf..0000000 --- a/9_Firmware/9_3_GUI/GUI_V4_2_CSV.py +++ /dev/null @@ -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() diff --git a/9_Firmware/9_3_GUI/GUI_V5.py b/9_Firmware/9_3_GUI/GUI_V5.py index 6de79d7..82505a6 100644 --- a/9_Firmware/9_3_GUI/GUI_V5.py +++ b/9_Firmware/9_3_GUI/GUI_V5.py @@ -27,9 +27,9 @@ except ImportError: USB_AVAILABLE = False logging.warning("pyusb not available. USB CDC functionality will be disabled.") -try: - from pyftdi.ftdi import Ftdi - from pyftdi.usbtools import UsbTools +try: + from pyftdi.ftdi import Ftdi, FtdiError + from pyftdi.usbtools import UsbTools FTDI_AVAILABLE = True except ImportError: @@ -288,18 +288,16 @@ class MapGenerator: targets_json = str(map_targets).replace("'", '"') targets_script = f"updateTargets({targets_json});" - # Fill template - map_html = self.map_html_template.format( - lat=gps_data.latitude, - lon=gps_data.longitude, - alt=gps_data.altitude, - pitch=gps_data.pitch, - coverage_radius=coverage_radius, - targets_script=targets_script, - api_key=api_key, - ) - - return map_html + # Fill template + return self.map_html_template.format( + lat=gps_data.latitude, + lon=gps_data.longitude, + alt=gps_data.altitude, + pitch=gps_data.pitch, + coverage_radius=coverage_radius, + targets_script=targets_script, + api_key=api_key, + ) def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg): """ @@ -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}") @@ -524,16 +519,14 @@ class FTDIInterface: logging.warning("FTDI not available - please install pyftdi") return [] - try: - devices = [] - # Get list of all FTDI devices - for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID - devices.append( - {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} - ) - return devices - except Exception as e: - logging.error(f"Error listing FTDI devices: {e}") + try: + # Get list of all FTDI devices + return [ + {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} + for device in UsbTools.find_all([(0x0403, 0x6010)]) + ] # FT2232H vendor/product ID + 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 fused_profile + return np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) 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 @@ -831,13 +823,12 @@ 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 + logging.warning(f"Unknown packet type: {packet_type:02X}") + return None def calculate_crc(self, data): return self.crc16_func(data) @@ -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}") diff --git a/9_Firmware/9_3_GUI/GUI_V5_Demo.py b/9_Firmware/9_3_GUI/GUI_V5_Demo.py index b2bbc2d..e9f785c 100644 --- a/9_Firmware/9_3_GUI/GUI_V5_Demo.py +++ b/9_Firmware/9_3_GUI/GUI_V5_Demo.py @@ -36,9 +36,9 @@ except ImportError: USB_AVAILABLE = False logging.warning("pyusb not available. USB CDC functionality will be disabled.") -try: - from pyftdi.ftdi import Ftdi - from pyftdi.usbtools import UsbTools +try: + from pyftdi.ftdi import Ftdi, FtdiError + from pyftdi.usbtools import UsbTools FTDI_AVAILABLE = True except ImportError: @@ -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 fused_profile + return np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) 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 @@ -344,13 +343,12 @@ 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 + logging.warning(f"Unknown packet type: {packet_type:02X}") + return None def calculate_crc(self, data): return self.crc16_func(data) @@ -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 @@ -687,23 +685,22 @@ class MapGenerator: # Calculate coverage radius in km 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( - "// Display initial targets if any", - f"window.initialTargets = {targets_json};\n // Display initial targets if any", - ) - - return map_html + # Generate HTML content + targets_json = json.dumps(map_targets) + 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", + "window.initialTargets = " + f"{targets_json};\n // Display initial targets if any", + ) + ) 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}") @@ -930,16 +924,14 @@ class FTDIInterface: logging.warning("FTDI not available - please install pyftdi") return [] - try: - devices = [] - # Get list of all FTDI devices - for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID - devices.append( - {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} - ) - return devices - except Exception as e: - logging.error(f"Error listing FTDI devices: {e}") + try: + # Get list of all FTDI devices + return [ + {"description": f"FTDI Device {device}", "url": f"ftdi://{device}/1"} + for device in UsbTools.find_all([(0x0403, 0x6010)]) + ] # FT2232H vendor/product ID + 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]}") @@ -1400,19 +1392,19 @@ Map HTML will appear here when generated. # Create temporary HTML file import tempfile - temp_file = tempfile.NamedTemporaryFile( - mode="w", suffix=".html", delete=False, encoding="utf-8" - ) - temp_file.write(self.current_map_html) - temp_file.close() + with tempfile.NamedTemporaryFile( + mode="w", suffix=".html", delete=False, encoding="utf-8" + ) as temp_file: + temp_file.write(self.current_map_html) + temp_file_path = temp_file.name # Open in default browser - webbrowser.open("file://" + os.path.abspath(temp_file.name)) - logging.info(f"Map opened in external browser: {temp_file.name}") + webbrowser.open("file://" + os.path.abspath(temp_file_path)) + logging.info(f"Map opened in external browser: {temp_file_path}") - except Exception as e: - logging.error(f"Error opening external browser: {e}") - messagebox.showerror("Error", f"Failed to open browser: {e}") + except (OSError, ValueError) as e: + logging.error(f"Error opening external browser: {e}") + messagebox.showerror("Error", f"Failed to open browser: {e}") # ... [Rest of the methods remain the same - demo mode, radar processing, etc.] ... @@ -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}") diff --git a/9_Firmware/9_3_GUI/GUI_V6.py b/9_Firmware/9_3_GUI/GUI_V6.py index 0396266..5688288 100644 --- a/9_Firmware/9_3_GUI/GUI_V6.py +++ b/9_Firmware/9_3_GUI/GUI_V6.py @@ -26,9 +26,9 @@ except ImportError: logging.warning("pyusb not available. USB functionality will be disabled.") try: - from pyftdi.ftdi import Ftdi # noqa: F401 - from pyftdi.usbtools import UsbTools # noqa: F401 - from pyftdi.ftdi import FtdiError # noqa: F401 + from pyftdi.ftdi import Ftdi + from pyftdi.usbtools import UsbTools # noqa: F401 + from pyftdi.ftdi import FtdiError # noqa: F401 FTDI_AVAILABLE = True except ImportError: FTDI_AVAILABLE = False @@ -242,7 +242,6 @@ class MapGenerator: """ - 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 fused_profile + return np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) 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] @@ -956,13 +954,12 @@ 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 + logging.warning(f"Unknown packet type: {packet_type:02X}") + return None def calculate_crc(self, data): return self.crc16_func(data) @@ -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 @@ -1371,9 +1368,9 @@ class RadarGUI: logging.info("Radar system started successfully with FT601 USB 3.0") - except Exception as e: - messagebox.showerror("Error", f"Failed to start radar: {e}") - logging.error(f"Start radar error: {e}") + except usb.core.USBError as e: + messagebox.showerror("Error", f"Failed to start radar: {e}") + logging.error(f"Start radar error: {e}") def stop_radar(self): """Stop radar operation""" @@ -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}") diff --git a/9_Firmware/9_3_GUI/GUI_V6_Demo.py b/9_Firmware/9_3_GUI/GUI_V6_Demo.py index e68c9bd..dd4135c 100644 --- a/9_Firmware/9_3_GUI/GUI_V6_Demo.py +++ b/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 = [] - for t in self.targets: - # 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 + return [ + 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) + ) + for t in self.targets + if random.random() < (t['snr'] / 35) + ] # ============================================================================ # MAIN GUI APPLICATION @@ -566,7 +562,7 @@ class RadarDemoGUI: scrollable_frame.bind( "", - 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}") diff --git a/9_Firmware/9_3_GUI/adi_agc_analysis.py b/9_Firmware/9_3_GUI/adi_agc_analysis.py new file mode 100644 index 0000000..8ebc0b9 --- /dev/null +++ b/9_Firmware/9_3_GUI/adi_agc_analysis.py @@ -0,0 +1,431 @@ +# ruff: noqa: T201 +#!/usr/bin/env python3 +""" +One-off AGC saturation analysis for ADI CN0566 raw IQ captures. + +Bit-accurate simulation of rx_gain_control.v AGC inner loop applied +to real captured IQ data. Three scenarios per dataset: + + Row 1 — AGC OFF: Fixed gain_shift=0 (pass-through). Shows raw clipping. + Row 2 — AGC ON: Auto-adjusts from gain_shift=0. Clipping clears. + Row 3 — AGC delayed: OFF for first half, ON at midpoint. + Shows the transition: clipping → AGC activates → clears. + +Key RTL details modelled exactly: + - gain_shift[3]=direction (0=amplify/left, 1=attenuate/right), [2:0]=amount + - Internal agc_gain is signed -7..+7 + - Peak is measured PRE-gain (raw input |sample|, upper 8 of 15 bits) + - Saturation is measured POST-gain (overflow from shift) + - Attack: gain -= agc_attack when any sample clips (immediate) + - Decay: gain += agc_decay when peak < target AND holdoff expired + - Hold: when peak >= target AND no saturation, hold gain, reset holdoff + +Usage: + python adi_agc_analysis.py + python adi_agc_analysis.py --data /path/to/file.npy --label "my capture" +""" + +import argparse +import sys +from pathlib import Path + +import matplotlib.pyplot as plt +import numpy as np + +# --------------------------------------------------------------------------- +# FPGA AGC parameters (rx_gain_control.v reset defaults) +# --------------------------------------------------------------------------- +AGC_TARGET = 200 # host_agc_target (8-bit, default 200) +AGC_ATTACK = 1 # host_agc_attack (4-bit, default 1) +AGC_DECAY = 1 # host_agc_decay (4-bit, default 1) +AGC_HOLDOFF = 4 # host_agc_holdoff (4-bit, default 4) +ADC_RAIL = 4095 # 12-bit ADC max absolute value + + +# --------------------------------------------------------------------------- +# Gain encoding helpers (match RTL signed_to_encoding / encoding_to_signed) +# --------------------------------------------------------------------------- + +def signed_to_encoding(g: int) -> int: + """Convert signed gain (-7..+7) to gain_shift[3:0] encoding. + [3]=0, [2:0]=N → amplify (left shift) by N + [3]=1, [2:0]=N → attenuate (right shift) by N + """ + if g >= 0: + return g & 0x07 + return 0x08 | ((-g) & 0x07) + + +def encoding_to_signed(enc: int) -> int: + """Convert gain_shift[3:0] encoding to signed gain.""" + if (enc & 0x08) == 0: + return enc & 0x07 + return -(enc & 0x07) + + +def clamp_gain(val: int) -> int: + """Clamp to [-7, +7] (matches RTL clamp_gain function).""" + return max(-7, min(7, val)) + + +# --------------------------------------------------------------------------- +# Apply gain shift to IQ data (matches RTL combinational logic) +# --------------------------------------------------------------------------- + +def apply_gain_shift(frame_i: np.ndarray, frame_q: np.ndarray, + gain_enc: int) -> tuple[np.ndarray, np.ndarray, int]: + """Apply gain_shift encoding to 16-bit signed IQ arrays. + + Returns (shifted_i, shifted_q, overflow_count). + Matches the RTL: left shift = amplify, right shift = attenuate, + saturate to ±32767 on overflow. + """ + direction = (gain_enc >> 3) & 1 # 0=amplify, 1=attenuate + amount = gain_enc & 0x07 + + if amount == 0: + return frame_i.copy(), frame_q.copy(), 0 + + if direction == 0: + # Left shift (amplify) + si = frame_i.astype(np.int64) * (1 << amount) + sq = frame_q.astype(np.int64) * (1 << amount) + else: + # Arithmetic right shift (attenuate) + si = frame_i.astype(np.int64) >> amount + sq = frame_q.astype(np.int64) >> amount + + # Count overflows (post-shift values outside 16-bit signed range) + overflow_i = (si > 32767) | (si < -32768) + overflow_q = (sq > 32767) | (sq < -32768) + overflow_count = int((overflow_i | overflow_q).sum()) + + # Saturate to ±32767 + si = np.clip(si, -32768, 32767).astype(np.int16) + sq = np.clip(sq, -32768, 32767).astype(np.int16) + + return si, sq, overflow_count + + +# --------------------------------------------------------------------------- +# Per-frame AGC simulation (bit-accurate to rx_gain_control.v) +# --------------------------------------------------------------------------- + +def simulate_agc(frames: np.ndarray, agc_enabled: bool = True, + enable_at_frame: int = 0, + initial_gain_enc: int = 0x00) -> dict: + """Simulate FPGA inner-loop AGC across all frames. + + Parameters + ---------- + frames : (N, chirps, samples) complex — raw ADC captures (12-bit range) + agc_enabled : if False, gain stays fixed + enable_at_frame : frame index where AGC activates + initial_gain_enc : gain_shift[3:0] encoding when AGC enables (default 0x00 = pass-through) + """ + n_frames = frames.shape[0] + + # Output arrays + out_gain_enc = np.zeros(n_frames, dtype=int) # gain_shift encoding [3:0] + out_gain_signed = np.zeros(n_frames, dtype=int) # signed gain for plotting + out_peak_mag = np.zeros(n_frames, dtype=int) # peak_magnitude[7:0] + out_sat_count = np.zeros(n_frames, dtype=int) # saturation_count[7:0] + out_sat_rate = np.zeros(n_frames, dtype=float) + out_rms_post = np.zeros(n_frames, dtype=float) # RMS after gain shift + + # AGC internal state + agc_gain = 0 # signed, -7..+7 + holdoff_counter = 0 + agc_was_enabled = False + + for i in range(n_frames): + frame = frames[i] + # Quantize to 16-bit signed (ADC is 12-bit, sign-extended to 16) + frame_i = np.clip(np.round(frame.real), -32768, 32767).astype(np.int16) + frame_q = np.clip(np.round(frame.imag), -32768, 32767).astype(np.int16) + + # --- PRE-gain peak measurement (RTL lines 133-135, 211-213) --- + abs_i = np.abs(frame_i.astype(np.int32)) + abs_q = np.abs(frame_q.astype(np.int32)) + max_iq = np.maximum(abs_i, abs_q) + frame_peak_15bit = int(max_iq.max()) # 15-bit unsigned + peak_8bit = (frame_peak_15bit >> 7) & 0xFF # Upper 8 bits + + # --- Determine effective gain --- + agc_active = agc_enabled and (i >= enable_at_frame) + + # AGC enable transition (RTL lines 250-253) + if agc_active and not agc_was_enabled: + agc_gain = encoding_to_signed(initial_gain_enc) + holdoff_counter = AGC_HOLDOFF + + effective_enc = signed_to_encoding(agc_gain) if agc_active else initial_gain_enc + + agc_was_enabled = agc_active + + # --- Apply gain shift + count POST-gain overflow (RTL lines 114-126, 207-209) --- + shifted_i, shifted_q, frame_overflow = apply_gain_shift( + frame_i, frame_q, effective_enc) + frame_sat = min(255, frame_overflow) + + # RMS of shifted signal + rms = float(np.sqrt(np.mean( + shifted_i.astype(np.float64)**2 + shifted_q.astype(np.float64)**2))) + + total_samples = frame_i.size + frame_q.size + sat_rate = frame_overflow / total_samples if total_samples > 0 else 0.0 + + # --- Record outputs --- + out_gain_enc[i] = effective_enc + out_gain_signed[i] = agc_gain if agc_active else encoding_to_signed(initial_gain_enc) + out_peak_mag[i] = peak_8bit + out_sat_count[i] = frame_sat + out_sat_rate[i] = sat_rate + out_rms_post[i] = rms + + # --- AGC update at frame boundary (RTL lines 226-246) --- + if agc_active: + if frame_sat > 0: + # Clipping: reduce gain immediately (attack) + agc_gain = clamp_gain(agc_gain - AGC_ATTACK) + holdoff_counter = AGC_HOLDOFF + elif peak_8bit < AGC_TARGET: + # Signal too weak: increase gain after holdoff + if holdoff_counter == 0: + agc_gain = clamp_gain(agc_gain + AGC_DECAY) + else: + holdoff_counter -= 1 + else: + # Good range (peak >= target, no sat): hold, reset holdoff + holdoff_counter = AGC_HOLDOFF + + return { + "gain_enc": out_gain_enc, + "gain_signed": out_gain_signed, + "peak_mag": out_peak_mag, + "sat_count": out_sat_count, + "sat_rate": out_sat_rate, + "rms_post": out_rms_post, + } + + +# --------------------------------------------------------------------------- +# Range-Doppler processing for heatmap display +# --------------------------------------------------------------------------- + +def process_frame_rd(frame: np.ndarray, gain_enc: int, + n_range: int = 64, + n_doppler: int = 32) -> np.ndarray: + """Range-Doppler magnitude for one frame with gain applied.""" + frame_i = np.clip(np.round(frame.real), -32768, 32767).astype(np.int16) + frame_q = np.clip(np.round(frame.imag), -32768, 32767).astype(np.int16) + si, sq, _ = apply_gain_shift(frame_i, frame_q, gain_enc) + + iq = si.astype(np.float64) + 1j * sq.astype(np.float64) + n_chirps, _ = iq.shape + + range_fft = np.fft.fft(iq, axis=1)[:, :n_range] + doppler_fft = np.fft.fftshift(np.fft.fft(range_fft, axis=0), axes=0) + center = n_chirps // 2 + half_d = n_doppler // 2 + doppler_fft = doppler_fft[center - half_d:center + half_d, :] + + rd_mag = np.abs(doppler_fft.real) + np.abs(doppler_fft.imag) + return rd_mag.T # (n_range, n_doppler) + + +# --------------------------------------------------------------------------- +# Plotting +# --------------------------------------------------------------------------- + +def plot_scenario(axes, data: np.ndarray, agc: dict, title: str, + enable_frame: int = 0): + """Plot one AGC scenario across 5 axes.""" + n = data.shape[0] + xs = np.arange(n) + + # Range-Doppler heatmap + if enable_frame > 0 and enable_frame < n: + f_before = max(0, enable_frame - 1) + f_after = min(n - 1, n - 2) + rd_before = process_frame_rd(data[f_before], int(agc["gain_enc"][f_before])) + rd_after = process_frame_rd(data[f_after], int(agc["gain_enc"][f_after])) + combined = np.hstack([rd_before, rd_after]) + im = axes[0].imshow( + 20 * np.log10(combined + 1), aspect="auto", origin="lower", + cmap="inferno", interpolation="nearest") + axes[0].axvline(x=rd_before.shape[1] - 0.5, color="cyan", + linewidth=2, linestyle="--") + axes[0].set_title(f"{title}\nL: f{f_before} (pre) | R: f{f_after} (post)") + else: + worst = int(np.argmax(agc["sat_count"])) + best = int(np.argmin(agc["sat_count"])) + f_show = worst if agc["sat_count"][worst] > 0 else best + rd = process_frame_rd(data[f_show], int(agc["gain_enc"][f_show])) + im = axes[0].imshow( + 20 * np.log10(rd + 1), aspect="auto", origin="lower", + cmap="inferno", interpolation="nearest") + axes[0].set_title(f"{title}\nFrame {f_show}") + + axes[0].set_xlabel("Doppler bin") + axes[0].set_ylabel("Range bin") + plt.colorbar(im, ax=axes[0], label="dB", shrink=0.8) + + # Signed gain history (the real AGC state) + axes[1].plot(xs, agc["gain_signed"], color="#00ff88", linewidth=1.5) + axes[1].axhline(y=0, color="gray", linestyle=":", alpha=0.5, + label="Pass-through") + if enable_frame > 0: + axes[1].axvline(x=enable_frame, color="yellow", linewidth=2, + linestyle="--", label="AGC ON") + axes[1].set_ylim(-8, 8) + axes[1].set_ylabel("Gain (signed)") + axes[1].set_title("AGC Internal Gain (-7=max atten, +7=max amp)") + axes[1].legend(fontsize=7, loc="upper right") + axes[1].grid(True, alpha=0.3) + + # Peak magnitude (PRE-gain, 8-bit) + axes[2].plot(xs, agc["peak_mag"], color="#ffaa00", linewidth=1.0) + axes[2].axhline(y=AGC_TARGET, color="cyan", linestyle="--", + alpha=0.7, label=f"Target ({AGC_TARGET})") + axes[2].axhspan(240, 255, color="red", alpha=0.15, label="Clip zone") + if enable_frame > 0: + axes[2].axvline(x=enable_frame, color="yellow", linewidth=2, + linestyle="--", alpha=0.8) + axes[2].set_ylim(0, 260) + axes[2].set_ylabel("Peak (8-bit)") + axes[2].set_title("Peak Magnitude (pre-gain, raw input)") + axes[2].legend(fontsize=7, loc="upper right") + axes[2].grid(True, alpha=0.3) + + # Saturation count (POST-gain overflow) + axes[3].fill_between(xs, agc["sat_count"], color="red", alpha=0.4) + axes[3].plot(xs, agc["sat_count"], color="red", linewidth=0.8) + if enable_frame > 0: + axes[3].axvline(x=enable_frame, color="yellow", linewidth=2, + linestyle="--", alpha=0.8) + axes[3].set_ylabel("Overflow Count") + total = int(agc["sat_count"].sum()) + axes[3].set_title(f"Post-Gain Overflow (total={total})") + axes[3].grid(True, alpha=0.3) + + # RMS signal level (post-gain) + axes[4].plot(xs, agc["rms_post"], color="#44aaff", linewidth=1.0) + if enable_frame > 0: + axes[4].axvline(x=enable_frame, color="yellow", linewidth=2, + linestyle="--", alpha=0.8) + axes[4].set_ylabel("RMS") + axes[4].set_xlabel("Frame") + axes[4].set_title("Post-Gain RMS Level") + axes[4].grid(True, alpha=0.3) + + +def analyze_dataset(data: np.ndarray, label: str): + """Run 3-scenario analysis for one dataset.""" + n_frames = data.shape[0] + mid = n_frames // 2 + + print(f"\n{'='*60}") + print(f" {label} — shape {data.shape}") + print(f"{'='*60}") + + # Raw ADC stats + raw_sat = np.sum((np.abs(data.real) >= ADC_RAIL) | + (np.abs(data.imag) >= ADC_RAIL)) + print(f" Raw ADC saturation: {raw_sat} samples " + f"({100*raw_sat/(2*data.size):.2f}%)") + + # Scenario 1: AGC OFF — pass-through (gain_shift=0x00) + print(" [1/3] AGC OFF (gain=0, pass-through) ...") + agc_off = simulate_agc(data, agc_enabled=False, initial_gain_enc=0x00) + print(f" Post-gain overflow: {agc_off['sat_count'].sum()} " + f"(should be 0 — no amplification)") + + # Scenario 2: AGC ON from frame 0 + print(" [2/3] AGC ON (from start) ...") + agc_on = simulate_agc(data, agc_enabled=True, enable_at_frame=0, + initial_gain_enc=0x00) + print(f" Final gain: {agc_on['gain_signed'][-1]} " + f"(enc=0x{agc_on['gain_enc'][-1]:X})") + print(f" Post-gain overflow: {agc_on['sat_count'].sum()}") + + # Scenario 3: AGC delayed + print(f" [3/3] AGC delayed (ON at frame {mid}) ...") + agc_delayed = simulate_agc(data, agc_enabled=True, + enable_at_frame=mid, + initial_gain_enc=0x00) + pre_sat = int(agc_delayed["sat_count"][:mid].sum()) + post_sat = int(agc_delayed["sat_count"][mid:].sum()) + print(f" Pre-AGC overflow: {pre_sat} " + f"Post-AGC overflow: {post_sat}") + + # Plot + fig, axes = plt.subplots(3, 5, figsize=(28, 14)) + fig.suptitle(f"AERIS-10 AGC Analysis — {label}\n" + f"({n_frames} frames, {data.shape[1]} chirps, " + f"{data.shape[2]} samples/chirp, " + f"raw ADC sat={100*raw_sat/(2*data.size):.2f}%)", + fontsize=13, fontweight="bold", y=0.99) + + plot_scenario(axes[0], data, agc_off, "AGC OFF (pass-through)") + plot_scenario(axes[1], data, agc_on, "AGC ON (from start)") + plot_scenario(axes[2], data, agc_delayed, + f"AGC delayed (ON at frame {mid})", enable_frame=mid) + + for ax, lbl in zip(axes[:, 0], + ["AGC OFF", "AGC ON", "AGC DELAYED"], + strict=True): + ax.annotate(lbl, xy=(-0.35, 0.5), xycoords="axes fraction", + fontsize=13, fontweight="bold", color="white", + ha="center", va="center", rotation=90) + + plt.tight_layout(rect=[0.03, 0, 1, 0.95]) + return fig + + +def main(): + parser = argparse.ArgumentParser( + description="AGC analysis for ADI raw IQ captures " + "(bit-accurate rx_gain_control.v simulation)") + parser.add_argument("--amp", type=str, + default=str(Path.home() / "Downloads/adi_radar_data" + "/amp_radar" + "/phaser_amp_4MSPS_500M_300u_256_m3dB.npy"), + help="Path to amplified radar .npy") + parser.add_argument("--noamp", type=str, + default=str(Path.home() / "Downloads/adi_radar_data" + "/no_amp_radar" + "/phaser_NOamp_4MSPS_500M_300u_256.npy"), + help="Path to non-amplified radar .npy") + parser.add_argument("--data", type=str, default=None, + help="Single dataset mode") + parser.add_argument("--label", type=str, default="Custom Data") + args = parser.parse_args() + + plt.style.use("dark_background") + + if args.data: + data = np.load(args.data) + analyze_dataset(data, args.label) + plt.show() + return + + figs = [] + for path, label in [(args.amp, "With Amplifier (-3 dB)"), + (args.noamp, "No Amplifier")]: + if not Path(path).exists(): + print(f"WARNING: {path} not found, skipping") + continue + data = np.load(path) + fig = analyze_dataset(data, label) + figs.append(fig) + + if not figs: + print("No data found. Use --amp/--noamp or --data.") + sys.exit(1) + + plt.show() + + +if __name__ == "__main__": + main() diff --git a/9_Firmware/9_3_GUI/radar_dashboard.py b/9_Firmware/9_3_GUI/radar_dashboard.py index aa7d81d..7575e63 100644 --- a/9_Firmware/9_3_GUI/radar_dashboard.py +++ b/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 +83,24 @@ 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 + + # Thread-safe UI message queue — avoids calling root.after() from + # background threads which crashes Python 3.12 (GIL state corruption). + # Entries are (tag, payload) tuples drained by _schedule_update(). + self._ui_queue: queue.Queue[tuple[str, object]] = queue.Queue() # Display state self._current_frame = RadarFrame() @@ -109,6 +116,16 @@ class RadarDashboard: self._vmax_ema = 1000.0 self._vmax_alpha = 0.15 # smoothing factor (lower = more stable) + # AGC visualization history (ring buffers, ~60s at 10 Hz) + self._agc_history_len = 256 + self._agc_gain_history: deque[int] = deque(maxlen=self._agc_history_len) + self._agc_peak_history: deque[int] = deque(maxlen=self._agc_history_len) + self._agc_sat_history: deque[int] = deque(maxlen=self._agc_history_len) + self._agc_time_history: deque[float] = deque(maxlen=self._agc_history_len) + self._agc_t0: float = time.time() + self._agc_last_redraw: float = 0.0 # throttle chart redraws + self._AGC_REDRAW_INTERVAL: float = 0.5 # seconds between redraws + self._build_ui() self._schedule_update() @@ -154,28 +171,30 @@ 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) tab_display = ttk.Frame(nb) tab_control = ttk.Frame(nb) + tab_agc = ttk.Frame(nb) tab_log = ttk.Frame(nb) nb.add(tab_display, text=" Display ") nb.add(tab_control, text=" Control ") + nb.add(tab_agc, text=" AGC Monitor ") nb.add(tab_log, text=" Log ") self._build_display_tab(tab_display) self._build_control_tab(tab_control) + self._build_agc_tab(tab_agc) self._build_log_tab(tab_log) def _build_display_tab(self, parent): # 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: - # max_range = c * Fs / (4 * BW) for Fs-sampled baseband - # range_per_bin = max_range / NUM_RANGE_BINS + # Range resolution derivation: c/(2*BW) gives ~0.3 m per FFT bin. + # After 1024-to-64 decimation each displayed range bin spans 16 FFT 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 +251,92 @@ class RadarDashboard: self._canvas = canvas def _build_control_tab(self, parent): - """Host command sender and configuration panel.""" - outer = ttk.Frame(parent) - outer.pack(fill="both", expand=True, padx=16, pady=16) + """Host command sender — organized by FPGA register groups. - # Left column: Quick actions - left = ttk.LabelFrame(outer, text="Quick Actions", padding=12) - left.grid(row=0, column=0, sticky="nsew", padx=(0, 8)) + Layout: scrollable canvas with three columns: + Left: Quick Actions + Diagnostics (self-test) + 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("", + 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)", - 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) + self._param_vars: dict[str, tk.StringVar] = {} - 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( - anchor="w", pady=(2, 0)) - ttk.Button(left, text="Run Self-Test (0x30)", - 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) + # -- Radar Operation -- + grp_op = ttk.LabelFrame(left, text="Radar Operation", padding=10) + grp_op.pack(fill="x", pady=(0, 8)) - # Self-test result display - st_frame = ttk.LabelFrame(left, text="Self-Test Results", padding=6) - st_frame.pack(fill="x", pady=(6, 0)) + ttk.Button(grp_op, text="Radar Mode On", + command=lambda: self._send_cmd(0x01, 1)).pack(fill="x", pady=2) + 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: --"), @@ -280,66 +352,238 @@ class RadarDashboard: lbl.pack(anchor="w") self._st_labels[name] = lbl - # Right column: Parameter configuration - right = ttk.LabelFrame(outer, text="Parameter Configuration", padding=12) - right.grid(row=0, column=1, sticky="nsew", padx=(8, 0)) + # ── Center column: Waveform Timing ──────────────────────────── + center = ttk.Frame(outer) + center.grid(row=0, column=1, sticky="nsew", padx=6) - self._param_vars: Dict[str, tk.StringVar] = {} - params = [ - ("CFAR Guard (0x21)", 0x21, "2"), - ("CFAR Train (0x22)", 0x22, "8"), - ("CFAR Alpha Q4.4 (0x23)", 0x23, "48"), - ("CFAR Mode (0x24)", 0x24, "0"), - ("Threshold (0x10)", 0x10, "500"), - ("Gain Shift (0x06)", 0x06, "0"), - ("DC Notch Width (0x27)", 0x27, "0"), - ("Range Mode (0x20)", 0x20, "0"), - ("Stream Enable (0x05)", 0x05, "7"), + grp_wf = ttk.LabelFrame(center, text="Waveform Timing", padding=10) + grp_wf.pack(fill="x", pady=(0, 8)) + + wf_params = [ + ("Long Chirp Cycles", 0x10, "3000", 16, "0-65535, rst=3000"), + ("Long Listen Cycles", 0x11, "13700", 16, "0-65535, rst=13700"), + ("Guard Cycles", 0x12, "17540", 16, "0-65535, rst=17540"), + ("Short Chirp Cycles", 0x13, "50", 16, "0-65535, rst=50"), + ("Short Listen Cycles", 0x14, "17450", 16, "0-65535, rst=17450"), + ("Chirps Per Elevation", 0x15, "32", 6, "1-32, clamped"), ] + 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): - ttk.Label(right, text=label).grid(row=row_idx, column=0, - sticky="w", pady=2) - var = tk.StringVar(value=default) - self._param_vars[str(opcode)] = var - ent = ttk.Entry(right, textvariable=var, width=10) - ent.grid(row=row_idx, column=1, padx=8, pady=2) - ttk.Button( - right, text="Set", - command=lambda op=opcode, v=var: self._send_cmd(op, int(v.get())) - ).grid(row=row_idx, column=2, pady=2) + # ── Right column: Detection (CFAR) + Custom ─────────────────── + right = ttk.Frame(outer) + right.grid(row=0, column=2, sticky="nsew", padx=(6, 0)) - # Custom command - ttk.Separator(right, orient="horizontal").grid( - row=len(params), column=0, columnspan=3, sticky="ew", pady=8) + grp_cfar = ttk.LabelFrame(right, text="Detection (CFAR)", padding=10) + grp_cfar.pack(fill="x", pady=(0, 8)) - ttk.Label(right, text="Custom Opcode (hex)").grid( - row=len(params) + 1, column=0, sticky="w") + 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)) + + # ── AGC (Automatic Gain Control) ────────────────────────────── + grp_agc = ttk.LabelFrame(right, text="AGC (Auto Gain)", padding=10) + grp_agc.pack(fill="x", pady=(0, 8)) + + agc_params = [ + ("AGC Enable", 0x28, "0", 1, "0=manual, 1=auto"), + ("AGC Target", 0x29, "200", 8, "0-255, peak target"), + ("AGC Attack", 0x2A, "1", 4, "0-15, atten step"), + ("AGC Decay", 0x2B, "1", 4, "0-15, gain-up step"), + ("AGC Holdoff", 0x2C, "4", 4, "0-15, frames"), + ] + for label, opcode, default, bits, hint in agc_params: + self._add_param_row(grp_agc, label, opcode, default, bits, hint) + + # AGC quick toggle + agc_row = ttk.Frame(grp_agc) + agc_row.pack(fill="x", pady=2) + ttk.Button(agc_row, text="Enable AGC", + command=lambda: self._send_cmd(0x28, 1)).pack( + side="left", expand=True, fill="x", padx=(0, 2)) + ttk.Button(agc_row, text="Disable AGC", + command=lambda: self._send_cmd(0x28, 0)).pack( + side="left", expand=True, fill="x", padx=(2, 0)) + + # AGC status readback labels + agc_st = ttk.LabelFrame(grp_agc, text="AGC Status", padding=6) + agc_st.pack(fill="x", pady=(4, 0)) + self._agc_labels = {} + for name, default_text in [ + ("enable", "AGC: --"), + ("gain", "Gain: --"), + ("peak", "Peak: --"), + ("sat", "Sat Count: --"), + ]: + lbl = ttk.Label(agc_st, text=default_text, font=("Menlo", 9)) + lbl.pack(anchor="w") + self._agc_labels[name] = lbl + + # ── 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(right, textvariable=self._custom_op, width=10).grid( - row=len(params) + 1, column=1, padx=8) + ttk.Entry(r0, textvariable=self._custom_op, width=8).pack( + side="left", padx=6) - ttk.Label(right, text="Value (dec)").grid( - row=len(params) + 2, column=0, sticky="w") + 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(right, textvariable=self._custom_val, width=10).grid( - row=len(params) + 2, column=1, padx=8) + ttk.Entry(r1, textvariable=self._custom_val, width=8).pack( + side="left", padx=6) - ttk.Button(right, text="Send Custom", - command=self._send_custom).grid( - row=len(params) + 2, column=2, pady=2) + 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=2) + 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 + ttk.Entry(row, textvariable=var, width=8).pack(side="left", padx=6) + ttk.Label(row, text=hint, foreground=ACCENT, + font=("Menlo", 9)).pack(side="left") + ttk.Button(row, text="Set", + command=lambda: self._send_validated( + opcode, var, bits=bits)).pack(side="right") + + def _send_validated(self, opcode: int, var: tk.StringVar, bits: int): + """Parse, clamp to bit-width, send command, and update the entry.""" + try: + raw = int(var.get()) + except ValueError: + log.error(f"Invalid value for opcode 0x{opcode:02X}: {var.get()!r}") + return + max_val = (1 << bits) - 1 + clamped = max(0, min(raw, max_val)) + if clamped != raw: + log.warning(f"Value {raw} clamped to {clamped} " + f"({bits}-bit max={max_val}) for opcode 0x{opcode:02X}") + var.set(str(clamped)) + self._send_cmd(opcode, clamped) + + def _build_agc_tab(self, parent): + """AGC Monitor tab — real-time strip charts for gain, peak, and saturation.""" + # Top row: AGC status badge + saturation indicator + top = ttk.Frame(parent) + top.pack(fill="x", padx=8, pady=(8, 0)) + + self._agc_badge = ttk.Label( + top, text="AGC: --", font=("Menlo", 14, "bold"), foreground=FG) + self._agc_badge.pack(side="left", padx=(0, 24)) + + self._agc_sat_badge = ttk.Label( + top, text="Saturation: 0", font=("Menlo", 12), foreground=GREEN) + self._agc_sat_badge.pack(side="left", padx=(0, 24)) + + self._agc_gain_value = ttk.Label( + top, text="Gain: --", font=("Menlo", 12), foreground=ACCENT) + self._agc_gain_value.pack(side="left", padx=(0, 24)) + + self._agc_peak_value = ttk.Label( + top, text="Peak: --", font=("Menlo", 12), foreground=ACCENT) + self._agc_peak_value.pack(side="left") + + # Matplotlib figure with 3 stacked subplots sharing x-axis (time) + self._agc_fig = Figure(figsize=(14, 7), facecolor=BG) + self._agc_fig.subplots_adjust( + left=0.07, right=0.98, top=0.95, bottom=0.08, + hspace=0.30) + + # Subplot 1: FPGA inner-loop gain (4-bit, 0-15) + self._ax_gain = self._agc_fig.add_subplot(3, 1, 1) + self._ax_gain.set_facecolor(BG2) + self._ax_gain.set_title("FPGA AGC Gain (inner loop)", color=FG, fontsize=10) + self._ax_gain.set_ylabel("Gain Level", color=FG) + self._ax_gain.set_ylim(-0.5, 15.5) + self._ax_gain.tick_params(colors=FG) + self._ax_gain.set_xlim(0, self._agc_history_len) + self._gain_line, = self._ax_gain.plot( + [], [], color=ACCENT, linewidth=1.5, label="Gain") + self._ax_gain.axhline(y=0, color=RED, linewidth=0.5, alpha=0.5, linestyle="--") + self._ax_gain.axhline(y=15, color=RED, linewidth=0.5, alpha=0.5, linestyle="--") + for spine in self._ax_gain.spines.values(): + spine.set_color(SURFACE) + + # Subplot 2: Peak magnitude (8-bit, 0-255) + self._ax_peak = self._agc_fig.add_subplot(3, 1, 2) + self._ax_peak.set_facecolor(BG2) + self._ax_peak.set_title("Peak Magnitude", color=FG, fontsize=10) + self._ax_peak.set_ylabel("Peak (8-bit)", color=FG) + self._ax_peak.set_ylim(-5, 260) + self._ax_peak.tick_params(colors=FG) + self._ax_peak.set_xlim(0, self._agc_history_len) + self._peak_line, = self._ax_peak.plot( + [], [], color=YELLOW, linewidth=1.5, label="Peak") + # AGC target reference line (default 200) + self._agc_target_line = self._ax_peak.axhline( + y=200, color=GREEN, linewidth=1.0, alpha=0.7, linestyle="--", + label="Target (200)") + self._ax_peak.legend(loc="upper right", fontsize=8, + facecolor=BG2, edgecolor=SURFACE, + labelcolor=FG) + for spine in self._ax_peak.spines.values(): + spine.set_color(SURFACE) + + # Subplot 3: Saturation count (8-bit, 0-255) as bar-style fill + self._ax_sat = self._agc_fig.add_subplot(3, 1, 3) + self._ax_sat.set_facecolor(BG2) + self._ax_sat.set_title("Saturation Count", color=FG, fontsize=10) + self._ax_sat.set_ylabel("Sat Count", color=FG) + self._ax_sat.set_xlabel("Sample Index", color=FG) + self._ax_sat.set_ylim(-1, 40) + self._ax_sat.tick_params(colors=FG) + self._ax_sat.set_xlim(0, self._agc_history_len) + self._sat_fill = self._ax_sat.fill_between( + [], [], color=RED, alpha=0.6, label="Saturation") + self._sat_line, = self._ax_sat.plot( + [], [], color=RED, linewidth=1.0) + self._ax_sat.axhline(y=0, color=GREEN, linewidth=0.5, alpha=0.5, linestyle="--") + for spine in self._ax_sat.spines.values(): + spine.set_color(SURFACE) + + agc_canvas = FigureCanvasTkAgg(self._agc_fig, master=parent) + agc_canvas.draw() + agc_canvas.get_tk_widget().pack(fill="both", expand=True) + self._agc_canvas = agc_canvas + def _build_log_tab(self, parent): self.log_text = tk.Text(parent, bg=BG2, fg=FG, font=("Menlo", 10), insertbackground=FG, wrap="word") self.log_text.pack(fill="both", expand=True, padx=8, pady=8) - # Redirect log handler to text widget - handler = _TextHandler(self.log_text) + # Redirect log handler to text widget (via UI queue for thread safety) + handler = _TextHandler(self._ui_queue) handler.setFormatter(logging.Formatter("%(asctime)s [%(levelname)s] %(message)s", datefmt="%H:%M:%S")) logging.getLogger().addHandler(handler) @@ -364,9 +608,9 @@ class RadarDashboard: self.root.update_idletasks() def _do_connect(): - ok = self.conn.open() - # Schedule UI update back on the main thread - self.root.after(0, lambda: self._on_connect_done(ok)) + ok = self.conn.open(self.device_index) + # Post result to UI queue (drained by _schedule_update) + self._ui_queue.put(("connect", ok)) threading.Thread(target=_do_connect, daemon=True).start() @@ -414,11 +658,11 @@ class RadarDashboard: log.error("Invalid custom command values") def _on_status_received(self, status: StatusResponse): - """Called from acquisition thread — schedule UI update on main thread.""" - self.root.after(0, self._update_self_test_labels, status) + """Called from acquisition thread — post to UI queue for main thread.""" + self._ui_queue.put(("status", status)) def _update_self_test_labels(self, status: StatusResponse): - """Update the self-test result labels from a StatusResponse.""" + """Update the self-test result labels and AGC status from a StatusResponse.""" if not hasattr(self, '_st_labels'): return flags = status.self_test_flags @@ -453,11 +697,124 @@ class RadarDashboard: self._st_labels[key].config( text=f"{name}: {result_str}", foreground=color) + # AGC status readback + if hasattr(self, '_agc_labels'): + agc_str = "AUTO" if status.agc_enable else "MANUAL" + agc_color = GREEN if status.agc_enable else FG + self._agc_labels["enable"].config( + text=f"AGC: {agc_str}", foreground=agc_color) + self._agc_labels["gain"].config( + text=f"Gain: {status.agc_current_gain}") + self._agc_labels["peak"].config( + text=f"Peak: {status.agc_peak_magnitude}") + sat_color = RED if status.agc_saturation_count > 0 else FG + self._agc_labels["sat"].config( + text=f"Sat Count: {status.agc_saturation_count}", + foreground=sat_color) + + # AGC visualization update + self._update_agc_visualization(status) + + def _update_agc_visualization(self, status: StatusResponse): + """Push AGC metrics into ring buffers and redraw strip charts. + + Data is always accumulated (cheap), but matplotlib redraws are + throttled to ``_AGC_REDRAW_INTERVAL`` seconds to avoid saturating + the GUI event-loop when status packets arrive at 20 Hz. + """ + if not hasattr(self, '_agc_canvas'): + return + + # Append to ring buffers (always — this is O(1)) + self._agc_gain_history.append(status.agc_current_gain) + self._agc_peak_history.append(status.agc_peak_magnitude) + self._agc_sat_history.append(status.agc_saturation_count) + + # Update indicator labels (cheap Tk config calls) + mode_str = "AUTO" if status.agc_enable else "MANUAL" + mode_color = GREEN if status.agc_enable else FG + self._agc_badge.config(text=f"AGC: {mode_str}", foreground=mode_color) + self._agc_gain_value.config( + text=f"Gain: {status.agc_current_gain}") + self._agc_peak_value.config( + text=f"Peak: {status.agc_peak_magnitude}") + + total_sat = sum(self._agc_sat_history) + if total_sat > 10: + sat_color = RED + elif total_sat > 0: + sat_color = YELLOW + else: + sat_color = GREEN + self._agc_sat_badge.config( + text=f"Saturation: {total_sat}", foreground=sat_color) + + # ---- Throttle matplotlib redraws --------------------------------- + now = time.monotonic() + if now - self._agc_last_redraw < self._AGC_REDRAW_INTERVAL: + return + self._agc_last_redraw = now + + n = len(self._agc_gain_history) + xs = list(range(n)) + + # Update line plots + gain_data = list(self._agc_gain_history) + peak_data = list(self._agc_peak_history) + sat_data = list(self._agc_sat_history) + + self._gain_line.set_data(xs, gain_data) + self._peak_line.set_data(xs, peak_data) + + # Saturation: redraw as filled area + self._sat_line.set_data(xs, sat_data) + if self._sat_fill is not None: + self._sat_fill.remove() + self._sat_fill = self._ax_sat.fill_between( + xs, sat_data, color=RED, alpha=0.4) + + # Auto-scale saturation Y axis to data + max_sat = max(sat_data) if sat_data else 0 + self._ax_sat.set_ylim(-1, max(max_sat * 1.5, 5)) + + # Scroll X axis to keep latest data visible + if n >= self._agc_history_len: + self._ax_gain.set_xlim(0, n) + self._ax_peak.set_xlim(0, n) + self._ax_sat.set_xlim(0, n) + + self._agc_canvas.draw_idle() + # --------------------------------------------------------- Display loop def _schedule_update(self): + self._drain_ui_queue() self._update_display() self.root.after(self.UPDATE_INTERVAL_MS, self._schedule_update) + def _drain_ui_queue(self): + """Process all pending cross-thread messages on the main thread.""" + while True: + try: + tag, payload = self._ui_queue.get_nowait() + except queue.Empty: + break + if tag == "connect": + self._on_connect_done(payload) + elif tag == "status": + self._update_self_test_labels(payload) + elif tag == "log": + self._log_handler_append(payload) + + def _log_handler_append(self, msg: str): + """Append a log message to the log Text widget (main thread only).""" + with contextlib.suppress(Exception): + self.log_text.insert("end", msg + "\n") + self.log_text.see("end") + # Keep last 500 lines + lines = int(self.log_text.index("end-1c").split(".")[0]) + if lines > 500: + self.log_text.delete("1.0", f"{lines - 500}.0") + def _update_display(self): """Pull latest frame from queue and update plots.""" frame = None @@ -522,26 +879,21 @@ class RadarDashboard: class _TextHandler(logging.Handler): - """Logging handler that writes to a tkinter Text widget.""" + """Logging handler that posts messages to a queue for main-thread append. - def __init__(self, text_widget: tk.Text): + Using widget.after() from background threads crashes Python 3.12 due to + GIL state corruption. Instead we post to the dashboard's _ui_queue and + let _drain_ui_queue() append on the main thread. + """ + + def __init__(self, ui_queue: queue.Queue[tuple[str, object]]): super().__init__() - self._text = text_widget + self._ui_queue = ui_queue def emit(self, record): msg = self.format(record) - try: - self._text.after(0, self._append, msg) - except Exception: - pass - - def _append(self, msg: str): - self._text.insert("end", msg + "\n") - self._text.see("end") - # Keep last 500 lines - lines = int(self._text.index("end-1c").split(".")[0]) - if lines > 500: - self._text.delete("1.0", f"{lines - 500}.0") + with contextlib.suppress(Exception): + self._ui_queue.put(("log", msg)) # ============================================================================ @@ -578,7 +930,7 @@ 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( diff --git a/9_Firmware/9_3_GUI/radar_protocol.py b/9_Firmware/9_3_GUI/radar_protocol.py index 52e4543..c266b6d 100644 --- a/9_Firmware/9_3_GUI/radar_protocol.py +++ b/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).""" - TRIGGER = 0x01 - PRF_DIV = 0x02 - NUM_CHIRPS = 0x03 - CHIRP_TIMER = 0x04 - STREAM_ENABLE = 0x05 - GAIN_SHIFT = 0x06 - THRESHOLD = 0x10 + """Host register opcodes — must match radar_system_top.v case(usb_cmd_opcode). + + FPGA truth table (from radar_system_top.v lines 902-944): + 0x01 host_radar_mode 0x14 host_short_listen_cycles + 0x02 host_trigger_pulse 0x15 host_chirps_per_elev + 0x03 host_detect_threshold 0x16 host_gain_shift + 0x04 host_stream_control 0x20 host_range_mode + 0x10 host_long_chirp_cycles 0x21-0x27 CFAR / MTI / DC-notch + 0x11 host_long_listen_cycles 0x28-0x2C AGC control + 0x12 host_guard_cycles 0x30 host_self_test_trigger + 0x13 host_short_chirp_cycles 0x31/0xFF 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 +89,15 @@ class Opcode(IntEnum): CFAR_ENABLE = 0x25 MTI_ENABLE = 0x26 DC_NOTCH_WIDTH = 0x27 + + # --- AGC (0x28-0x2C) --- + AGC_ENABLE = 0x28 + AGC_TARGET = 0x29 + AGC_ATTACK = 0x2A + AGC_DECAY = 0x2B + AGC_HOLDOFF = 0x2C + + # --- Board self-test / status (0x30-0x31, 0xFF) --- SELF_TEST_TRIGGER = 0x30 SELF_TEST_STATUS = 0x31 STATUS_REQUEST = 0xFF @@ -83,7 +109,7 @@ 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 +127,7 @@ 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 @@ -116,6 +142,11 @@ class StatusResponse: self_test_flags: int = 0 # 5-bit result flags [4:0] self_test_detail: int = 0 # 8-bit detail code [7:0] self_test_busy: int = 0 # 1-bit busy flag + # AGC metrics (word 4, added for hybrid AGC) + agc_current_gain: int = 0 # 4-bit current gain encoding [3:0] + agc_peak_magnitude: int = 0 # 8-bit peak magnitude [7:0] + agc_saturation_count: int = 0 # 8-bit saturation count [7:0] + agc_enable: int = 0 # 1-bit AGC enable readback # ============================================================================ @@ -144,7 +175,7 @@ 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 +212,10 @@ 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 @@ -200,10 +231,10 @@ class RadarProtocol: return None sr = StatusResponse() - # Word 0: {0xFF, 3'b0, mode[1:0], 5'b0, stream[2:0], threshold[15:0]} + # Word 0: {0xFF[31:24], mode[23:22], stream[21:19], 3'b000[18:16], threshold[15:0]} sr.cfar_threshold = words[0] & 0xFFFF - sr.stream_ctrl = (words[0] >> 16) & 0x07 - sr.radar_mode = (words[0] >> 21) & 0x03 + sr.stream_ctrl = (words[0] >> 19) & 0x07 + sr.radar_mode = (words[0] >> 22) & 0x03 # Word 1: {long_chirp[31:16], long_listen[15:0]} sr.long_listen = words[1] & 0xFFFF sr.long_chirp = (words[1] >> 16) & 0xFFFF @@ -213,8 +244,13 @@ class RadarProtocol: # Word 3: {short_listen[31:16], 10'd0, chirps_per_elev[5:0]} sr.chirps_per_elev = words[3] & 0x3F sr.short_listen = (words[3] >> 16) & 0xFFFF - # Word 4: {30'd0, range_mode[1:0]} + # Word 4: {agc_current_gain[31:28], agc_peak_magnitude[27:20], + # agc_saturation_count[19:12], agc_enable[11], 9'd0, range_mode[1:0]} sr.range_mode = words[4] & 0x03 + sr.agc_enable = (words[4] >> 11) & 0x01 + sr.agc_saturation_count = (words[4] >> 12) & 0xFF + sr.agc_peak_magnitude = (words[4] >> 20) & 0xFF + sr.agc_current_gain = (words[4] >> 28) & 0x0F # Word 5: {7'd0, self_test_busy, 8'd0, self_test_detail[7:0], # 3'd0, self_test_flags[4:0]} sr.self_test_flags = words[5] & 0x1F @@ -223,7 +259,7 @@ 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 +269,22 @@ 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 +296,13 @@ 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 +349,18 @@ 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 +372,7 @@ 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 +389,29 @@ 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) - for _ in range(num_packets): - rbin = self._mock_rng.randint(0, NUM_RANGE_BINS) - dbin = self._mock_rng.randint(0, NUM_DOPPLER_BINS) + num_packets = min(NUM_CELLS, size // DATA_PACKET_SIZE) + start_idx = getattr(self, '_mock_seq_idx', 0) + + 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 +439,7 @@ class FT2232HConnection: buf += pkt + self._mock_seq_idx = (start_idx + num_packets) % NUM_CELLS return bytes(buf) @@ -401,20 +448,25 @@ 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 - 0x02, # PRF_DIV - 0x03, # NUM_CHIRPS - 0x04, # CHIRP_TIMER - 0x05, # STREAM_ENABLE - 0x06, # GAIN_SHIFT - 0x10, # THRESHOLD / LONG_CHIRP + 0x01, # RADAR_MODE + 0x02, # TRIGGER_PULSE + # 0x03 (DETECT_THRESHOLD) is NOT hardware-only — it's in _REPLAY_ADJUSTABLE_OPCODES + 0x04, # STREAM_CONTROL + 0x10, # LONG_CHIRP 0x11, # LONG_LISTEN 0x12, # GUARD 0x13, # SHORT_CHIRP 0x14, # SHORT_LISTEN 0x15, # CHIRPS_PER_ELEV + 0x16, # GAIN_SHIFT 0x20, # RANGE_MODE + 0x28, # AGC_ENABLE + 0x29, # AGC_TARGET + 0x2A, # AGC_ATTACK + 0x2B, # AGC_DECAY + 0x2C, # AGC_HOLDOFF 0x30, # SELF_TEST_TRIGGER 0x31, # SELF_TEST_STATUS 0xFF, # STATUS_REQUEST @@ -422,6 +474,7 @@ _HARDWARE_ONLY_OPCODES = { # Replay-adjustable opcodes (re-run signal processing) _REPLAY_ADJUSTABLE_OPCODES = { + 0x03, # DETECT_THRESHOLD 0x21, # CFAR_GUARD 0x22, # CFAR_TRAIN 0x23, # CFAR_ALPHA @@ -439,26 +492,8 @@ 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 +515,7 @@ 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). @@ -583,17 +618,18 @@ class ReplayConnection: self._cfar_alpha: int = 0x30 self._cfar_mode: int = 0 # 0=CA, 1=GO, 2=SO self._cfar_enable: bool = True + self._detect_threshold: int = 10000 # RTL default (host_detect_threshold) # Raw source arrays (loaded once, reprocessed on param change) - self._dop_mti_i: Optional[np.ndarray] = None - self._dop_mti_q: Optional[np.ndarray] = None - self._dop_nomti_i: Optional[np.ndarray] = None - self._dop_nomti_q: Optional[np.ndarray] = None - self._range_i_vec: Optional[np.ndarray] = None - self._range_q_vec: Optional[np.ndarray] = None + self._dop_mti_i: np.ndarray | None = None + self._dop_mti_q: np.ndarray | None = None + self._dop_nomti_i: np.ndarray | None = None + self._dop_nomti_q: np.ndarray | None = None + self._range_i_vec: np.ndarray | None = 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 +640,14 @@ 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, IndexError, 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) @@ -647,7 +683,11 @@ class ReplayConnection: if opcode in _REPLAY_ADJUSTABLE_OPCODES: changed = False with self._lock: - if opcode == 0x21: # CFAR_GUARD + if opcode == 0x03: # DETECT_THRESHOLD + if self._detect_threshold != value: + self._detect_threshold = value + changed = True + elif opcode == 0x21: # CFAR_GUARD if self._cfar_guard != value: self._cfar_guard = value changed = True @@ -673,10 +713,9 @@ class ReplayConnection: if self._mti_enable != new_en: self._mti_enable = new_en changed = True - elif opcode == 0x27: # DC_NOTCH_WIDTH - if self._dc_notch_width != value: - self._dc_notch_width = value - changed = True + elif opcode == 0x27 and self._dc_notch_width != value: # DC_NOTCH_WIDTH + self._dc_notch_width = value + changed = True if changed: self._needs_rebuild = True if changed: @@ -740,7 +779,10 @@ class ReplayConnection: mode=self._cfar_mode, ) else: - det = np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS), dtype=bool) + # Simple threshold fallback matching RTL cfar_ca.v: + # detect = (|I| + |Q|) > detect_threshold (L1 norm) + mag = np.abs(dop_i) + np.abs(dop_q) + det = mag > self._detect_threshold det_count = int(det.sum()) log.info(f"Replay: rebuilt {NUM_CELLS} packets (" @@ -827,7 +869,7 @@ 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 +886,7 @@ 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 +895,7 @@ 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 +913,7 @@ 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 +930,25 @@ 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) - if raw is None or len(raw) == 0: + chunk = self.conn.read(4096) + 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 +967,12 @@ 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 +1002,8 @@ 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: diff --git a/9_Firmware/9_3_GUI/requirements_pyqt_gui.txt b/9_Firmware/9_3_GUI/requirements_pyqt_gui.txt new file mode 100644 index 0000000..5578f63 --- /dev/null +++ b/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 diff --git a/9_Firmware/9_3_GUI/requirements_v7.txt b/9_Firmware/9_3_GUI/requirements_v7.txt new file mode 100644 index 0000000..0a5ea08 --- /dev/null +++ b/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 diff --git a/9_Firmware/9_3_GUI/smoke_test.py b/9_Firmware/9_3_GUI/smoke_test.py index 70e440c..679e722 100644 --- a/9_Firmware/9_3_GUI/smoke_test.py +++ b/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 = [] @@ -82,10 +82,9 @@ class SmokeTest: log.info("") # Step 1: Connect - if not self.conn.is_open: - if not self.conn.open(): - log.error("Failed to open FT2232H connection") - return False + if not self.conn.is_open and not self.conn.open(): + log.error("Failed to open FT2232H connection") + return False # Step 2: Send self-test trigger (opcode 0x30) log.info("Sending self-test trigger (opcode 0x30)...") @@ -188,10 +187,9 @@ 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)) + self._adc_samples = list(np.random.randint(0, 65536, 256, dtype=np.uint16)) if self._adc_samples: arr = np.array(self._adc_samples, dtype=np.uint16) diff --git a/9_Firmware/9_3_GUI/test_radar_dashboard.py b/9_Firmware/9_3_GUI/test_radar_dashboard.py index e5fc05a..b8bf6cf 100644 --- a/9_Firmware/9_3_GUI/test_radar_dashboard.py +++ b/9_Firmware/9_3_GUI/test_radar_dashboard.py @@ -125,13 +125,14 @@ class TestRadarProtocol(unittest.TestCase): long_chirp=3000, long_listen=13700, guard=17540, short_chirp=50, short_listen=17450, chirps=32, range_mode=0, - st_flags=0, st_detail=0, st_busy=0): + st_flags=0, st_detail=0, st_busy=0, + agc_gain=0, agc_peak=0, agc_sat=0, agc_enable=0): """Build a 26-byte status response matching FPGA format (Build 26).""" pkt = bytearray() pkt.append(STATUS_HEADER_BYTE) - # Word 0: {0xFF, 3'b0, mode[1:0], 5'b0, stream[2:0], threshold[15:0]} - w0 = (0xFF << 24) | ((mode & 0x03) << 21) | ((stream & 0x07) << 16) | (threshold & 0xFFFF) + # Word 0: {0xFF[31:24], mode[23:22], stream[21:19], 3'b000[18:16], threshold[15:0]} + w0 = (0xFF << 24) | ((mode & 0x03) << 22) | ((stream & 0x07) << 19) | (threshold & 0xFFFF) pkt += struct.pack(">I", w0) # Word 1: {long_chirp, long_listen} @@ -146,8 +147,11 @@ class TestRadarProtocol(unittest.TestCase): w3 = ((short_listen & 0xFFFF) << 16) | (chirps & 0x3F) pkt += struct.pack(">I", w3) - # Word 4: {30'd0, range_mode[1:0]} - w4 = range_mode & 0x03 + # Word 4: {agc_current_gain[3:0], agc_peak_magnitude[7:0], + # agc_saturation_count[7:0], agc_enable, 9'd0, range_mode[1:0]} + w4 = (((agc_gain & 0x0F) << 28) | ((agc_peak & 0xFF) << 20) | + ((agc_sat & 0xFF) << 12) | ((agc_enable & 0x01) << 11) | + (range_mode & 0x03)) pkt += struct.pack(">I", w4) # Word 5: {7'd0, self_test_busy, 8'd0, self_test_detail[7:0], @@ -368,7 +372,7 @@ 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 +425,8 @@ 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, - 0x13, 0x14, 0x15, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, + opcodes = [0x01, 0x02, 0x03, 0x04, 0x10, 0x11, 0x12, + 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 +634,8 @@ class TestReplayConnection(unittest.TestCase): cmd = RadarProtocol.build_command(0x01, 1) conn.write(cmd) self.assertFalse(conn._needs_rebuild) - # Send STREAM_ENABLE (hardware-only) - cmd = RadarProtocol.build_command(0x05, 7) + # Send STREAM_CONTROL (hardware-only, opcode 0x04) + cmd = RadarProtocol.build_command(0x04, 7) conn.write(cmd) self.assertFalse(conn._needs_rebuild) conn.close() @@ -668,14 +672,14 @@ 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): - """GAIN_SHIFT opcode must be 0x06 (not 0x16).""" - self.assertEqual(Opcode.GAIN_SHIFT, 0x06) + def test_gain_shift_is_0x16(self): + """GAIN_SHIFT opcode must be 0x16 (matches radar_system_top.v:928).""" + 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 +695,41 @@ class TestOpcodeEnum(unittest.TestCase): self.assertIn(0x30, _HARDWARE_ONLY_OPCODES) self.assertIn(0x31, _HARDWARE_ONLY_OPCODES) - def test_0x16_not_in_hardware_only(self): - """Bogus 0x16 must not be in _HARDWARE_ONLY_OPCODES.""" - self.assertNotIn(0x16, _HARDWARE_ONLY_OPCODES) + def test_0x16_in_hardware_only(self): + """GAIN_SHIFT 0x16 must be in _HARDWARE_ONLY_OPCODES.""" + self.assertIn(0x16, _HARDWARE_ONLY_OPCODES) - def test_stream_enable_is_0x05(self): - """STREAM_ENABLE must be 0x05 (not 0x04).""" - self.assertEqual(Opcode.STREAM_ENABLE, 0x05) + def test_stream_control_is_0x04(self): + """STREAM_CONTROL must be 0x04 (matches radar_system_top.v:906).""" + 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.""" - expected = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, - 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, + """Every RTL opcode (from radar_system_top.v) has a matching Opcode enum member.""" + expected = {0x01, 0x02, 0x03, 0x04, + 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, + 0x28, 0x29, 0x2A, 0x2B, 0x2C, 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") @@ -728,5 +752,199 @@ class TestStatusResponseDefaults(unittest.TestCase): self.assertEqual(sr.self_test_busy, 1) +class TestAGCOpcodes(unittest.TestCase): + """Verify AGC opcode enum members match FPGA RTL (0x28-0x2C).""" + + def test_agc_enable_opcode(self): + self.assertEqual(Opcode.AGC_ENABLE, 0x28) + + def test_agc_target_opcode(self): + self.assertEqual(Opcode.AGC_TARGET, 0x29) + + def test_agc_attack_opcode(self): + self.assertEqual(Opcode.AGC_ATTACK, 0x2A) + + def test_agc_decay_opcode(self): + self.assertEqual(Opcode.AGC_DECAY, 0x2B) + + def test_agc_holdoff_opcode(self): + self.assertEqual(Opcode.AGC_HOLDOFF, 0x2C) + + +class TestAGCStatusParsing(unittest.TestCase): + """Verify AGC fields in status_words[4] are parsed correctly.""" + + def _make_status_packet(self, **kwargs): + """Delegate to TestRadarProtocol helper.""" + helper = TestRadarProtocol() + return helper._make_status_packet(**kwargs) + + def test_agc_fields_default_zero(self): + """With no AGC fields set, all should be 0.""" + raw = self._make_status_packet() + sr = RadarProtocol.parse_status_packet(raw) + self.assertEqual(sr.agc_current_gain, 0) + self.assertEqual(sr.agc_peak_magnitude, 0) + self.assertEqual(sr.agc_saturation_count, 0) + self.assertEqual(sr.agc_enable, 0) + + def test_agc_fields_nonzero(self): + """AGC fields round-trip through status packet.""" + raw = self._make_status_packet(agc_gain=7, agc_peak=200, + agc_sat=15, agc_enable=1) + sr = RadarProtocol.parse_status_packet(raw) + self.assertEqual(sr.agc_current_gain, 7) + self.assertEqual(sr.agc_peak_magnitude, 200) + self.assertEqual(sr.agc_saturation_count, 15) + self.assertEqual(sr.agc_enable, 1) + + def test_agc_max_values(self): + """AGC fields at max values.""" + raw = self._make_status_packet(agc_gain=15, agc_peak=255, + agc_sat=255, agc_enable=1) + sr = RadarProtocol.parse_status_packet(raw) + self.assertEqual(sr.agc_current_gain, 15) + self.assertEqual(sr.agc_peak_magnitude, 255) + self.assertEqual(sr.agc_saturation_count, 255) + self.assertEqual(sr.agc_enable, 1) + + def test_agc_and_range_mode_coexist(self): + """AGC fields and range_mode occupy the same word without conflict.""" + raw = self._make_status_packet(agc_gain=5, agc_peak=128, + agc_sat=42, agc_enable=1, + range_mode=2) + sr = RadarProtocol.parse_status_packet(raw) + self.assertEqual(sr.agc_current_gain, 5) + self.assertEqual(sr.agc_peak_magnitude, 128) + self.assertEqual(sr.agc_saturation_count, 42) + self.assertEqual(sr.agc_enable, 1) + self.assertEqual(sr.range_mode, 2) + + +class TestAGCStatusResponseDefaults(unittest.TestCase): + """Verify StatusResponse AGC field defaults.""" + + def test_default_agc_fields(self): + sr = StatusResponse() + self.assertEqual(sr.agc_current_gain, 0) + self.assertEqual(sr.agc_peak_magnitude, 0) + self.assertEqual(sr.agc_saturation_count, 0) + self.assertEqual(sr.agc_enable, 0) + + def test_agc_fields_set(self): + sr = StatusResponse(agc_current_gain=7, agc_peak_magnitude=200, + agc_saturation_count=15, agc_enable=1) + self.assertEqual(sr.agc_current_gain, 7) + self.assertEqual(sr.agc_peak_magnitude, 200) + self.assertEqual(sr.agc_saturation_count, 15) + self.assertEqual(sr.agc_enable, 1) + + +# ============================================================================= +# AGC Visualization — ring buffer / data model tests +# ============================================================================= + +class TestAGCVisualizationHistory(unittest.TestCase): + """Test the AGC visualization ring buffer logic (no GUI required).""" + + def _make_deque(self, maxlen=256): + from collections import deque + return deque(maxlen=maxlen) + + def test_ring_buffer_maxlen(self): + """Ring buffer should evict oldest when full.""" + d = self._make_deque(maxlen=4) + for i in range(6): + d.append(i) + self.assertEqual(list(d), [2, 3, 4, 5]) + self.assertEqual(len(d), 4) + + def test_gain_history_accumulation(self): + """Gain values accumulate correctly in a deque.""" + gain_hist = self._make_deque(maxlen=256) + statuses = [ + StatusResponse(agc_current_gain=g) + for g in [0, 3, 7, 15, 8, 2] + ] + for st in statuses: + gain_hist.append(st.agc_current_gain) + self.assertEqual(list(gain_hist), [0, 3, 7, 15, 8, 2]) + + def test_peak_history_accumulation(self): + """Peak magnitude values accumulate correctly.""" + peak_hist = self._make_deque(maxlen=256) + for p in [0, 50, 200, 255, 128]: + peak_hist.append(p) + self.assertEqual(list(peak_hist), [0, 50, 200, 255, 128]) + + def test_saturation_total_computation(self): + """Sum of saturation ring buffer gives running total.""" + sat_hist = self._make_deque(maxlen=256) + for s in [0, 0, 5, 0, 12, 3]: + sat_hist.append(s) + self.assertEqual(sum(sat_hist), 20) + + def test_saturation_color_thresholds(self): + """Color logic: green=0, yellow=1-10, red>10.""" + def sat_color(total): + if total > 10: + return "red" + if total > 0: + return "yellow" + return "green" + self.assertEqual(sat_color(0), "green") + self.assertEqual(sat_color(1), "yellow") + self.assertEqual(sat_color(10), "yellow") + self.assertEqual(sat_color(11), "red") + self.assertEqual(sat_color(255), "red") + + def test_ring_buffer_eviction_preserves_latest(self): + """After overflow, only the most recent values remain.""" + d = self._make_deque(maxlen=8) + for i in range(20): + d.append(i) + self.assertEqual(list(d), [12, 13, 14, 15, 16, 17, 18, 19]) + + def test_empty_history_safe(self): + """Empty ring buffer should be safe for max/sum.""" + d = self._make_deque(maxlen=256) + self.assertEqual(sum(d), 0) + self.assertEqual(len(d), 0) + # max() on empty would raise — test the guard pattern used in viz code + max_sat = max(d) if d else 0 + self.assertEqual(max_sat, 0) + + def test_agc_mode_string(self): + """AGC mode display string from enable flag.""" + self.assertEqual( + "AUTO" if StatusResponse(agc_enable=1).agc_enable else "MANUAL", + "AUTO") + self.assertEqual( + "AUTO" if StatusResponse(agc_enable=0).agc_enable else "MANUAL", + "MANUAL") + + def test_xlim_scroll_logic(self): + """X-axis scroll: when n >= history_len, xlim should expand.""" + history_len = 8 + d = self._make_deque(maxlen=history_len) + for i in range(10): + d.append(i) + n = len(d) + # After 10 pushes into maxlen=8, n=8 + self.assertEqual(n, history_len) + # xlim should be (0, n) for static or (n-history_len, n) for scrolling + self.assertEqual(max(0, n - history_len), 0) + self.assertEqual(n, 8) + + def test_sat_autoscale_ylim(self): + """Saturation y-axis auto-scale: max(max_sat * 1.5, 5).""" + # No saturation + self.assertEqual(max(0 * 1.5, 5), 5) + # Some saturation + self.assertAlmostEqual(max(10 * 1.5, 5), 15.0) + # High saturation + self.assertAlmostEqual(max(200 * 1.5, 5), 300.0) + + if __name__ == "__main__": unittest.main(verbosity=2) diff --git a/9_Firmware/9_3_GUI/test_v7.py b/9_Firmware/9_3_GUI/test_v7.py new file mode 100644 index 0000000..bb54e48 --- /dev/null +++ b/9_Firmware/9_3_GUI/test_v7.py @@ -0,0 +1,427 @@ +""" +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 +# ============================================================================= + +def _pyqt6_available(): + try: + import PyQt6.QtCore # noqa: F401 + return True + except ImportError: + return False + + +@unittest.skipUnless(_pyqt6_available(), "PyQt6 not installed") +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 + # Core exports (no PyQt6 required) + for name in ["RadarTarget", "RadarSettings", "GPSData", + "ProcessingConfig", "FT2232HConnection", + "RadarProtocol", "RadarProcessor"]: + self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}") + # PyQt6-dependent exports — only present when PyQt6 is installed + if _pyqt6_available(): + for name in ["RadarDataWorker", "RadarMapWidget", + "RadarDashboard"]: + self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}") + + +# ============================================================================= +# Test: AGC Visualization data model +# ============================================================================= + +class TestAGCVisualizationV7(unittest.TestCase): + """AGC visualization ring buffer and data model tests (no Qt required).""" + + def _make_deque(self, maxlen=256): + from collections import deque + return deque(maxlen=maxlen) + + def test_ring_buffer_basics(self): + d = self._make_deque(maxlen=4) + for i in range(6): + d.append(i) + self.assertEqual(list(d), [2, 3, 4, 5]) + + def test_gain_range_4bit(self): + """AGC gain is 4-bit (0-15).""" + from radar_protocol import StatusResponse + for g in [0, 7, 15]: + sr = StatusResponse(agc_current_gain=g) + self.assertEqual(sr.agc_current_gain, g) + + def test_peak_range_8bit(self): + """Peak magnitude is 8-bit (0-255).""" + from radar_protocol import StatusResponse + for p in [0, 128, 255]: + sr = StatusResponse(agc_peak_magnitude=p) + self.assertEqual(sr.agc_peak_magnitude, p) + + def test_saturation_accumulation(self): + """Saturation ring buffer sum tracks total events.""" + sat = self._make_deque(maxlen=256) + for s in [0, 5, 0, 10, 3]: + sat.append(s) + self.assertEqual(sum(sat), 18) + + def test_mode_label_logic(self): + """AGC mode string from enable field.""" + from radar_protocol import StatusResponse + self.assertEqual( + "AUTO" if StatusResponse(agc_enable=1).agc_enable else "MANUAL", + "AUTO") + self.assertEqual( + "AUTO" if StatusResponse(agc_enable=0).agc_enable else "MANUAL", + "MANUAL") + + def test_history_len_default(self): + """Default history length should be 256.""" + d = self._make_deque(maxlen=256) + self.assertEqual(d.maxlen, 256) + + def test_color_thresholds(self): + """Saturation color: green=0, warning=1-10, error>10.""" + from v7.models import DARK_SUCCESS, DARK_WARNING, DARK_ERROR + def pick_color(total): + if total > 10: + return DARK_ERROR + if total > 0: + return DARK_WARNING + return DARK_SUCCESS + self.assertEqual(pick_color(0), DARK_SUCCESS) + self.assertEqual(pick_color(5), DARK_WARNING) + self.assertEqual(pick_color(11), DARK_ERROR) + + +# ============================================================================= +# Helper: lazy import of v7.models +# ============================================================================= + +def _models(): + import v7.models + return v7.models + + +if __name__ == "__main__": + unittest.main() diff --git a/9_Firmware/9_3_GUI/v7/__init__.py b/9_Firmware/9_3_GUI/v7/__init__.py index dd25c98..175da91 100644 --- a/9_Firmware/9_3_GUI/v7/__init__.py +++ b/9_Firmware/9_3_GUI/v7/__init__.py @@ -19,44 +19,52 @@ 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, ) -# Workers and simulator -from .workers import ( - RadarDataWorker, - GPSDataWorker, - TargetSimulator, - polar_to_geographic, -) +# Workers, map widget, and dashboard require PyQt6 — import lazily so that +# tests/CI environments without PyQt6 can still access models/hardware/processing. +try: + from .workers import ( + RadarDataWorker, + GPSDataWorker, + TargetSimulator, + polar_to_geographic, + ) -# Map widget -from .map_widget import ( - MapBridge, - RadarMapWidget, -) + from .map_widget import ( + MapBridge, + RadarMapWidget, + ) -# Main dashboard -from .dashboard import ( - RadarDashboard, - RangeDopplerCanvas, -) + from .dashboard import ( + RadarDashboard, + RangeDopplerCanvas, + ) +except ImportError: # PyQt6 not installed (e.g. CI headless runner) + pass -__all__ = [ +__all__ = [ # noqa: RUF022 # models "RadarTarget", "RadarSettings", "GPSData", "ProcessingConfig", "TileServer", "DARK_BG", "DARK_FG", "DARK_ACCENT", "DARK_HIGHLIGHT", "DARK_BORDER", @@ -64,11 +72,13 @@ __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", - # hardware - "FT2232HQInterface", "STM32USBInterface", + "SKLEARN_AVAILABLE", "FILTERPY_AVAILABLE", + # hardware — production FPGA protocol + "FT2232HConnection", "ReplayConnection", "RadarProtocol", "Opcode", + "RadarAcquisition", "RadarFrame", "StatusResponse", "DataRecorder", + "STM32USBInterface", # processing - "RadarProcessor", "RadarPacketParser", "USBPacketParser", + "RadarProcessor", "USBPacketParser", "apply_pitch_correction", # workers "RadarDataWorker", "GPSDataWorker", "TargetSimulator", diff --git a/9_Firmware/9_3_GUI/v7/dashboard.py b/9_Firmware/9_3_GUI/v7/dashboard.py index dd638b6..0f9a53b 100644 --- a/9_Firmware/9_3_GUI/v7/dashboard.py +++ b/9_Firmware/9_3_GUI/v7/dashboard.py @@ -1,31 +1,42 @@ """ v7.dashboard — Main application window for the PLFM Radar GUI V7. -RadarDashboard is a QMainWindow with four tabs: - 1. Main View — Range-Doppler matplotlib canvas, device combos, Start/Stop, targets table - 2. Map View — Embedded Leaflet map + sidebar (position, coverage, demo, target info) - 3. Diagnostics — Connection indicators, packet stats, dependency status, log viewer - 4. Settings — All radar parameters + About section +RadarDashboard is a QMainWindow with six tabs: + 1. Main View — Range-Doppler matplotlib canvas (64x32), device combos, + Start/Stop, targets table + 2. Map View — Embedded Leaflet map + sidebar + 3. FPGA Control — Full FPGA register control panel (all 27 opcodes incl. AGC, + bit-width validation, grouped layout matching production) + 4. AGC Monitor — Real-time AGC strip charts (gain, peak magnitude, saturation) + 5. Diagnostics — Connection indicators, packet stats, dependency status, + self-test results, log viewer + 6. Settings — Host-side DSP parameters + About section -Integrates: hardware interfaces, QThread workers, TargetSimulator, RadarMapWidget. +Uses production radar_protocol.py for all FPGA communication: + - FT2232HConnection for real hardware + - ReplayConnection for offline .npy replay + - Mock mode (FT2232HConnection(mock=True)) for development + +The old STM32 magic-packet start flow has been removed. FPGA registers +are controlled directly via 4-byte {opcode, addr, value_hi, value_lo} +commands sent over FT2232H. """ import time import logging -from typing import List, Optional +from collections import deque import numpy as np from PyQt6.QtWidgets import ( QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout, - QTabWidget, QSplitter, QGroupBox, QFrame, + QTabWidget, QSplitter, QGroupBox, QFrame, QScrollArea, QLabel, QPushButton, QComboBox, QCheckBox, - QDoubleSpinBox, QSpinBox, + QDoubleSpinBox, QSpinBox, QLineEdit, QTableWidget, QTableWidgetItem, QHeaderView, QPlainTextEdit, QStatusBar, QMessageBox, ) -from PyQt6.QtCore import Qt, QTimer, pyqtSlot -from PyQt6.QtGui import QColor +from PyQt6.QtCore import Qt, QTimer, pyqtSignal, pyqtSlot, QObject from matplotlib.backends.backend_qtagg import FigureCanvasQTAgg from matplotlib.figure import Figure @@ -37,34 +48,46 @@ 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, ) -from .hardware import FT2232HQInterface, STM32USBInterface -from .processing import RadarProcessor, RadarPacketParser, USBPacketParser +from .hardware import ( + FT2232HConnection, + ReplayConnection, + RadarProtocol, + RadarFrame, + StatusResponse, + DataRecorder, + STM32USBInterface, +) +from .processing import RadarProcessor, USBPacketParser from .workers import RadarDataWorker, GPSDataWorker, TargetSimulator from .map_widget import RadarMapWidget logger = logging.getLogger(__name__) +# Frame dimensions from FPGA +NUM_RANGE_BINS = 64 +NUM_DOPPLER_BINS = 32 + # ============================================================================= # Range-Doppler Canvas (matplotlib) # ============================================================================= class RangeDopplerCanvas(FigureCanvasQTAgg): - """Matplotlib canvas showing the Range-Doppler map with dark theme.""" + """Matplotlib canvas showing the 64x32 Range-Doppler map with dark theme.""" - def __init__(self, parent=None): + def __init__(self, _parent=None): fig = Figure(figsize=(10, 6), facecolor=DARK_BG) self.ax = fig.add_subplot(111, facecolor=DARK_ACCENT) - self._data = np.zeros((1024, 32)) + self._data = np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS)) self.im = self.ax.imshow( self._data, aspect="auto", cmap="hot", - extent=[0, 32, 0, 1024], origin="lower", + extent=[0, NUM_DOPPLER_BINS, 0, NUM_RANGE_BINS], origin="lower", ) - self.ax.set_title("Range-Doppler Map (Pitch Corrected)", color=DARK_FG) + self.ax.set_title("Range-Doppler Map (64x32)", color=DARK_FG) self.ax.set_xlabel("Doppler Bin", color=DARK_FG) self.ax.set_ylabel("Range Bin", color=DARK_FG) self.ax.tick_params(colors=DARK_FG) @@ -74,8 +97,9 @@ class RangeDopplerCanvas(FigureCanvasQTAgg): fig.tight_layout() super().__init__(fig) - def update_map(self, rdm: np.ndarray): - display = np.log10(rdm + 1) + def update_map(self, magnitude: np.ndarray, _detections: np.ndarray = None): + """Update the heatmap with new magnitude data.""" + display = np.log10(magnitude + 1) self.im.set_data(display) self.im.set_clim(vmin=display.min(), vmax=max(display.max(), 0.1)) self.draw_idle() @@ -86,11 +110,11 @@ class RangeDopplerCanvas(FigureCanvasQTAgg): # ============================================================================= class RadarDashboard(QMainWindow): - """Main application window with 4 tabs.""" + """Main application window with 5 tabs.""" def __init__(self, parent=None): super().__init__(parent) - self.setWindowTitle("PLFM Radar System GUI V7 — PyQt6") + self.setWindowTitle("AERIS-10 Radar System V7 — PyQt6") self.setGeometry(100, 60, 1500, 950) # ---- Core objects -------------------------------------------------- @@ -100,33 +124,45 @@ class RadarDashboard(QMainWindow): altitude=0.0, pitch=0.0, heading=0.0, timestamp=0.0, ) - # Hardware interfaces + # Hardware interfaces — production protocol + self._connection: FT2232HConnection | None = None self._stm32 = STM32USBInterface() - self._ft2232hq = FT2232HQInterface() + self._recorder = DataRecorder() # Processing self._processor = RadarProcessor() - self._radar_parser = RadarPacketParser() self._usb_parser = USBPacketParser() self._processing_config = ProcessingConfig() - # Device lists (cached for index lookup) + # Device lists self._stm32_devices: list = [] - self._ft2232hq_devices: list = [] # Workers (created on demand) - self._radar_worker: Optional[RadarDataWorker] = None - self._gps_worker: Optional[GPSDataWorker] = None - self._simulator: Optional[TargetSimulator] = None + self._radar_worker: RadarDataWorker | None = None + self._gps_worker: GPSDataWorker | None = None + self._simulator: TargetSimulator | None = None # State self._running = False self._demo_mode = False self._start_time = time.time() - self._radar_stats: dict = {} + self._current_frame: RadarFrame | None = None + self._last_status: StatusResponse | None = None + self._frame_count = 0 self._gps_packet_count = 0 - self._current_targets: List[RadarTarget] = [] - self._corrected_elevations: list = [] + self._last_stats: dict = {} + self._current_targets: list[RadarTarget] = [] + + # FPGA control parameter widgets + self._param_spins: dict = {} # opcode_hex -> QSpinBox + + # AGC visualization history (ring buffers) + self._agc_history_len = 256 + self._agc_gain_history: deque[int] = deque(maxlen=self._agc_history_len) + self._agc_peak_history: deque[int] = deque(maxlen=self._agc_history_len) + self._agc_sat_history: deque[int] = deque(maxlen=self._agc_history_len) + self._agc_last_redraw: float = 0.0 # throttle chart redraws + self._AGC_REDRAW_INTERVAL: float = 0.5 # seconds between redraws # ---- Build UI ------------------------------------------------------ self._apply_dark_theme() @@ -138,12 +174,14 @@ class RadarDashboard(QMainWindow): self._gui_timer.timeout.connect(self._refresh_gui) self._gui_timer.start(100) - # Log handler for diagnostics - self._log_handler = _QtLogHandler(self._log_append) + # Log handler for diagnostics (thread-safe via Qt signal) + self._log_bridge = _LogSignalBridge(self) + self._log_bridge.log_message.connect(self._log_append) + self._log_handler = _QtLogHandler(self._log_bridge) self._log_handler.setLevel(logging.INFO) logging.getLogger().addHandler(self._log_handler) - logger.info("RadarDashboard initialised") + logger.info("RadarDashboard initialised (production protocol)") # ===================================================================== # Dark theme @@ -280,6 +318,8 @@ class RadarDashboard(QMainWindow): self._create_main_tab() self._create_map_tab() + self._create_fpga_control_tab() + self._create_agc_monitor_tab() self._create_diagnostics_tab() self._create_settings_tab() @@ -298,16 +338,17 @@ class RadarDashboard(QMainWindow): ctrl_layout = QGridLayout(ctrl) ctrl_layout.setContentsMargins(8, 6, 8, 6) - # Row 0: device combos & buttons - ctrl_layout.addWidget(QLabel("STM32 USB:"), 0, 0) + # Row 0: connection mode + device combos + buttons + ctrl_layout.addWidget(QLabel("Mode:"), 0, 0) + self._mode_combo = QComboBox() + self._mode_combo.addItems(["Mock", "Live FT2232H", "Replay (.npy)"]) + self._mode_combo.setCurrentIndex(0) + ctrl_layout.addWidget(self._mode_combo, 0, 1) + + ctrl_layout.addWidget(QLabel("STM32 GPS:"), 0, 2) self._stm32_combo = QComboBox() self._stm32_combo.setMinimumWidth(200) - ctrl_layout.addWidget(self._stm32_combo, 0, 1) - - ctrl_layout.addWidget(QLabel("FT2232HQ (Primary):"), 0, 2) - self._ft2232hq_combo = QComboBox() - self._ft2232hq_combo.setMinimumWidth(200) - ctrl_layout.addWidget(self._ft2232hq_combo, 0, 3) + ctrl_layout.addWidget(self._stm32_combo, 0, 3) refresh_btn = QPushButton("Refresh Devices") refresh_btn.clicked.connect(self._refresh_devices) @@ -319,7 +360,7 @@ class RadarDashboard(QMainWindow): f"QPushButton:hover {{ background-color: #66BB6A; }}" ) self._start_btn.clicked.connect(self._start_radar) - ctrl_layout.addWidget(self._start_btn, 0, 8) + ctrl_layout.addWidget(self._start_btn, 0, 7) self._stop_btn = QPushButton("Stop Radar") self._stop_btn.setEnabled(False) @@ -328,7 +369,7 @@ class RadarDashboard(QMainWindow): f"QPushButton:hover {{ background-color: #EF5350; }}" ) self._stop_btn.clicked.connect(self._stop_radar) - ctrl_layout.addWidget(self._stop_btn, 0, 9) + ctrl_layout.addWidget(self._stop_btn, 0, 8) self._demo_btn_main = QPushButton("Start Demo") self._demo_btn_main.setStyleSheet( @@ -336,18 +377,18 @@ class RadarDashboard(QMainWindow): f"QPushButton:hover {{ background-color: #42A5F5; }}" ) self._demo_btn_main.clicked.connect(self._toggle_demo_main) - ctrl_layout.addWidget(self._demo_btn_main, 0, 10) + ctrl_layout.addWidget(self._demo_btn_main, 0, 9) # Row 1: status labels self._gps_label = QLabel("GPS: Waiting for data...") - ctrl_layout.addWidget(self._gps_label, 1, 0, 1, 4) + ctrl_layout.addWidget(self._gps_label, 1, 0, 1, 3) self._pitch_label = QLabel("Pitch: --.--\u00b0") - ctrl_layout.addWidget(self._pitch_label, 1, 4, 1, 2) + ctrl_layout.addWidget(self._pitch_label, 1, 3, 1, 2) self._status_label_main = QLabel("Status: Ready") self._status_label_main.setAlignment(Qt.AlignmentFlag.AlignRight) - ctrl_layout.addWidget(self._status_label_main, 1, 6, 1, 5) + ctrl_layout.addWidget(self._status_label_main, 1, 5, 1, 5) layout.addWidget(ctrl) @@ -359,14 +400,13 @@ class RadarDashboard(QMainWindow): display_splitter.addWidget(self._rdm_canvas) # Targets table - targets_group = QGroupBox("Detected Targets (Pitch Corrected)") + targets_group = QGroupBox("Detected Targets") tg_layout = QVBoxLayout(targets_group) self._targets_table_main = QTableWidget() - self._targets_table_main.setColumnCount(7) + self._targets_table_main.setColumnCount(5) self._targets_table_main.setHorizontalHeaderLabels([ - "Track ID", "Range (m)", "Velocity (m/s)", - "Azimuth", "Raw Elev", "Corr Elev", "SNR (dB)", + "Range (m)", "Velocity (m/s)", "Magnitude", "SNR (dB)", "Track ID", ]) self._targets_table_main.setAlternatingRowColors(True) self._targets_table_main.setSelectionBehavior( @@ -489,7 +529,390 @@ class RadarDashboard(QMainWindow): self._tabs.addTab(tab, "Map View") # ----------------------------------------------------------------- - # TAB 3: Diagnostics + # TAB 3: FPGA Control (production register map) + # ----------------------------------------------------------------- + + def _create_fpga_control_tab(self): + """FPGA register control panel — all 22 opcodes with validation. + + Layout: 3-column scrollable: + Left: Radar Operation + Signal Processing + Diagnostics + Center: Waveform Timing + Right: Detection (CFAR) + Custom Command + """ + tab = QWidget() + scroll = QScrollArea() + scroll.setWidgetResizable(True) + scroll.setFrameShape(QFrame.Shape.NoFrame) + + inner = QWidget() + outer_layout = QHBoxLayout(inner) + outer_layout.setContentsMargins(8, 8, 8, 8) + outer_layout.setSpacing(12) + + # ── Left column ────────────────────────────────────────────── + left = QWidget() + left_layout = QVBoxLayout(left) + left_layout.setContentsMargins(0, 0, 0, 0) + + # -- Radar Operation -- + grp_op = QGroupBox("Radar Operation") + op_layout = QVBoxLayout(grp_op) + + btn_mode_on = QPushButton("Radar Mode On") + btn_mode_on.clicked.connect(lambda: self._send_fpga_cmd(0x01, 1)) + op_layout.addWidget(btn_mode_on) + + btn_mode_off = QPushButton("Radar Mode Off") + btn_mode_off.clicked.connect(lambda: self._send_fpga_cmd(0x01, 0)) + op_layout.addWidget(btn_mode_off) + + btn_trigger = QPushButton("Trigger Chirp") + btn_trigger.clicked.connect(lambda: self._send_fpga_cmd(0x02, 1)) + op_layout.addWidget(btn_trigger) + + # Stream Control (3-bit mask) + self._add_fpga_param_row(op_layout, "Stream Control", 0x04, 7, 3, + "0-7, 3-bit mask, rst=7") + + btn_status = QPushButton("Request Status") + btn_status.clicked.connect(lambda: self._send_fpga_cmd(0xFF, 0)) + op_layout.addWidget(btn_status) + + left_layout.addWidget(grp_op) + + # -- Signal Processing -- + grp_sp = QGroupBox("Signal Processing") + sp_layout = QVBoxLayout(grp_sp) + + sp_params = [ + ("Detect Threshold", 0x03, 10000, 16, "0-65535, rst=10000"), + ("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_fpga_param_row(sp_layout, label, opcode, default, bits, hint) + + # MTI quick toggles + mti_row = QHBoxLayout() + btn_mti_on = QPushButton("Enable MTI") + btn_mti_on.clicked.connect(lambda: self._send_fpga_cmd(0x26, 1)) + mti_row.addWidget(btn_mti_on) + btn_mti_off = QPushButton("Disable MTI") + btn_mti_off.clicked.connect(lambda: self._send_fpga_cmd(0x26, 0)) + mti_row.addWidget(btn_mti_off) + sp_layout.addLayout(mti_row) + + left_layout.addWidget(grp_sp) + + # -- Diagnostics -- + grp_diag = QGroupBox("Diagnostics") + diag_layout = QVBoxLayout(grp_diag) + + btn_selftest = QPushButton("Run Self-Test") + btn_selftest.clicked.connect(lambda: self._send_fpga_cmd(0x30, 1)) + diag_layout.addWidget(btn_selftest) + + btn_selftest_read = QPushButton("Read Self-Test Result") + btn_selftest_read.clicked.connect(lambda: self._send_fpga_cmd(0x31, 0)) + diag_layout.addWidget(btn_selftest_read) + + # Self-test result labels + st_group = QGroupBox("Self-Test Results") + st_layout = QVBoxLayout(st_group) + self._st_labels = {} + for name, default_text in [ + ("busy", "Busy: --"), + ("flags", "Flags: -----"), + ("detail", "Detail: 0x--"), + ("t0", "T0 BRAM: --"), + ("t1", "T1 CIC: --"), + ("t2", "T2 FFT: --"), + ("t3", "T3 Arith: --"), + ("t4", "T4 ADC: --"), + ]: + lbl = QLabel(default_text) + lbl.setStyleSheet("font-family: 'Courier New', monospace; font-size: 11px;") + st_layout.addWidget(lbl) + self._st_labels[name] = lbl + diag_layout.addWidget(st_group) + + left_layout.addWidget(grp_diag) + left_layout.addStretch() + outer_layout.addWidget(left, stretch=1) + + # ── Center column: Waveform Timing ──────────────────────────── + center = QWidget() + center_layout = QVBoxLayout(center) + center_layout.setContentsMargins(0, 0, 0, 0) + + grp_wf = QGroupBox("Waveform Timing") + wf_layout = QVBoxLayout(grp_wf) + + wf_params = [ + ("Long Chirp Cycles", 0x10, 3000, 16, "0-65535, rst=3000"), + ("Long Listen Cycles", 0x11, 13700, 16, "0-65535, rst=13700"), + ("Guard Cycles", 0x12, 17540, 16, "0-65535, rst=17540"), + ("Short Chirp Cycles", 0x13, 50, 16, "0-65535, rst=50"), + ("Short Listen Cycles", 0x14, 17450, 16, "0-65535, rst=17450"), + ("Chirps Per Elevation", 0x15, 32, 6, "1-32, clamped"), + ] + for label, opcode, default, bits, hint in wf_params: + self._add_fpga_param_row(wf_layout, label, opcode, default, bits, hint) + + center_layout.addWidget(grp_wf) + center_layout.addStretch() + outer_layout.addWidget(center, stretch=1) + + # ── Right column: Detection (CFAR) + Custom Command ─────────── + right = QWidget() + right_layout = QVBoxLayout(right) + right_layout.setContentsMargins(0, 0, 0, 0) + + grp_cfar = QGroupBox("Detection (CFAR)") + cfar_layout = QVBoxLayout(grp_cfar) + + 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_fpga_param_row(cfar_layout, label, opcode, default, bits, hint) + + # CFAR quick toggles + cfar_row = QHBoxLayout() + btn_cfar_on = QPushButton("Enable CFAR") + btn_cfar_on.clicked.connect(lambda: self._send_fpga_cmd(0x25, 1)) + cfar_row.addWidget(btn_cfar_on) + btn_cfar_off = QPushButton("Disable CFAR") + btn_cfar_off.clicked.connect(lambda: self._send_fpga_cmd(0x25, 0)) + cfar_row.addWidget(btn_cfar_off) + cfar_layout.addLayout(cfar_row) + + right_layout.addWidget(grp_cfar) + + # ── AGC (Automatic Gain Control) ────────────────────────────── + grp_agc = QGroupBox("AGC (Auto Gain)") + agc_layout = QVBoxLayout(grp_agc) + + agc_params = [ + ("AGC Enable", 0x28, 0, 1, "0=manual, 1=auto"), + ("AGC Target", 0x29, 200, 8, "0-255, peak target"), + ("AGC Attack", 0x2A, 1, 4, "0-15, atten step"), + ("AGC Decay", 0x2B, 1, 4, "0-15, gain-up step"), + ("AGC Holdoff", 0x2C, 4, 4, "0-15, frames"), + ] + for label, opcode, default, bits, hint in agc_params: + self._add_fpga_param_row(agc_layout, label, opcode, default, bits, hint) + + # AGC quick toggles + agc_row = QHBoxLayout() + btn_agc_on = QPushButton("Enable AGC") + btn_agc_on.clicked.connect(lambda: self._send_fpga_cmd(0x28, 1)) + agc_row.addWidget(btn_agc_on) + btn_agc_off = QPushButton("Disable AGC") + btn_agc_off.clicked.connect(lambda: self._send_fpga_cmd(0x28, 0)) + agc_row.addWidget(btn_agc_off) + agc_layout.addLayout(agc_row) + + # AGC status readback labels + agc_st_group = QGroupBox("AGC Status") + agc_st_layout = QVBoxLayout(agc_st_group) + self._agc_labels: dict[str, QLabel] = {} + for name, default_text in [ + ("enable", "AGC: --"), + ("gain", "Gain: --"), + ("peak", "Peak: --"), + ("sat", "Sat Count: --"), + ]: + lbl = QLabel(default_text) + lbl.setStyleSheet(f"color: {DARK_INFO}; font-size: 10px;") + agc_st_layout.addWidget(lbl) + self._agc_labels[name] = lbl + agc_layout.addWidget(agc_st_group) + + right_layout.addWidget(grp_agc) + + # Custom Command + grp_custom = QGroupBox("Custom Command") + cust_layout = QGridLayout(grp_custom) + + cust_layout.addWidget(QLabel("Opcode (hex):"), 0, 0) + self._custom_opcode = QLineEdit("01") + self._custom_opcode.setMaximumWidth(80) + cust_layout.addWidget(self._custom_opcode, 0, 1) + + cust_layout.addWidget(QLabel("Value (dec):"), 1, 0) + self._custom_value = QLineEdit("0") + self._custom_value.setMaximumWidth(80) + cust_layout.addWidget(self._custom_value, 1, 1) + + btn_send_custom = QPushButton("Send") + btn_send_custom.clicked.connect(self._send_custom_command) + cust_layout.addWidget(btn_send_custom, 2, 0, 1, 2) + + right_layout.addWidget(grp_custom) + right_layout.addStretch() + outer_layout.addWidget(right, stretch=1) + + scroll.setWidget(inner) + tab_layout = QVBoxLayout(tab) + tab_layout.setContentsMargins(0, 0, 0, 0) + tab_layout.addWidget(scroll) + + self._tabs.addTab(tab, "FPGA Control") + + def _add_fpga_param_row(self, parent_layout: QVBoxLayout, label: str, + opcode: int, default: int, bits: int, hint: str): + """Add a single FPGA parameter row: label + spinbox + hint + Set button.""" + row = QHBoxLayout() + + lbl = QLabel(label) + lbl.setMinimumWidth(140) + row.addWidget(lbl) + + max_val = (1 << bits) - 1 + spin = QSpinBox() + spin.setRange(0, max_val) + spin.setValue(default) + spin.setMinimumWidth(80) + row.addWidget(spin) + self._param_spins[f"0x{opcode:02X}"] = spin + + hint_lbl = QLabel(hint) + hint_lbl.setStyleSheet(f"color: {DARK_INFO}; font-size: 10px;") + row.addWidget(hint_lbl) + + btn = QPushButton("Set") + btn.setMaximumWidth(60) + # Capture opcode and spin by value + btn.clicked.connect(lambda _, op=opcode, sp=spin, b=bits: + self._send_fpga_validated(op, sp.value(), b)) + row.addWidget(btn) + + parent_layout.addLayout(row) + + # ----------------------------------------------------------------- + # TAB 4: AGC Monitor + # ----------------------------------------------------------------- + + def _create_agc_monitor_tab(self): + """AGC Monitor — real-time strip charts for FPGA inner-loop AGC.""" + tab = QWidget() + layout = QVBoxLayout(tab) + layout.setContentsMargins(8, 8, 8, 8) + + # ---- Top indicator row --------------------------------------------- + indicator = QFrame() + indicator.setStyleSheet( + f"background-color: {DARK_ACCENT}; border-radius: 4px;") + ind_layout = QHBoxLayout(indicator) + ind_layout.setContentsMargins(12, 8, 12, 8) + + self._agc_mode_lbl = QLabel("AGC: --") + self._agc_mode_lbl.setStyleSheet( + f"color: {DARK_FG}; font-size: 16px; font-weight: bold;") + ind_layout.addWidget(self._agc_mode_lbl) + + self._agc_gain_lbl = QLabel("Gain: --") + self._agc_gain_lbl.setStyleSheet( + f"color: {DARK_INFO}; font-size: 14px;") + ind_layout.addWidget(self._agc_gain_lbl) + + self._agc_peak_lbl = QLabel("Peak: --") + self._agc_peak_lbl.setStyleSheet( + f"color: {DARK_INFO}; font-size: 14px;") + ind_layout.addWidget(self._agc_peak_lbl) + + self._agc_sat_total_lbl = QLabel("Total Saturations: 0") + self._agc_sat_total_lbl.setStyleSheet( + f"color: {DARK_SUCCESS}; font-size: 14px; font-weight: bold;") + ind_layout.addWidget(self._agc_sat_total_lbl) + + ind_layout.addStretch() + layout.addWidget(indicator) + + # ---- Matplotlib figure with 3 subplots ----------------------------- + agc_fig = Figure(figsize=(12, 7), facecolor=DARK_BG) + agc_fig.subplots_adjust( + left=0.07, right=0.96, top=0.95, bottom=0.07, + hspace=0.32) + + # Subplot 1: Gain history (4-bit, 0-15) + self._agc_ax_gain = agc_fig.add_subplot(3, 1, 1) + self._agc_ax_gain.set_facecolor(DARK_ACCENT) + self._agc_ax_gain.set_ylabel("Gain Code", color=DARK_FG, fontsize=10) + self._agc_ax_gain.set_title( + "FPGA Inner-Loop Gain (4-bit)", color=DARK_FG, fontsize=11) + self._agc_ax_gain.set_ylim(-0.5, 15.5) + self._agc_ax_gain.tick_params(colors=DARK_FG, labelsize=9) + self._agc_ax_gain.set_xlim(0, self._agc_history_len) + for spine in self._agc_ax_gain.spines.values(): + spine.set_color(DARK_BORDER) + self._agc_gain_line, = self._agc_ax_gain.plot( + [], [], color="#89b4fa", linewidth=1.5, label="Gain") + self._agc_ax_gain.axhline(y=7.5, color=DARK_WARNING, linestyle="--", + linewidth=0.8, alpha=0.5, label="Midpoint") + self._agc_ax_gain.legend( + loc="upper right", fontsize=8, + facecolor=DARK_ACCENT, edgecolor=DARK_BORDER, + labelcolor=DARK_FG) + + # Subplot 2: Peak magnitude (8-bit, 0-255) + self._agc_ax_peak = agc_fig.add_subplot( + 3, 1, 2, sharex=self._agc_ax_gain) + self._agc_ax_peak.set_facecolor(DARK_ACCENT) + self._agc_ax_peak.set_ylabel("Peak Mag", color=DARK_FG, fontsize=10) + self._agc_ax_peak.set_title( + "ADC Peak Magnitude (8-bit)", color=DARK_FG, fontsize=11) + self._agc_ax_peak.set_ylim(-5, 260) + self._agc_ax_peak.tick_params(colors=DARK_FG, labelsize=9) + for spine in self._agc_ax_peak.spines.values(): + spine.set_color(DARK_BORDER) + self._agc_peak_line, = self._agc_ax_peak.plot( + [], [], color=DARK_SUCCESS, linewidth=1.5, label="Peak") + self._agc_ax_peak.axhline(y=200, color=DARK_WARNING, linestyle="--", + linewidth=0.8, alpha=0.5, + label="Target (200)") + self._agc_ax_peak.axhspan(240, 255, alpha=0.15, color=DARK_ERROR, + label="Sat Zone") + self._agc_ax_peak.legend( + loc="upper right", fontsize=8, + facecolor=DARK_ACCENT, edgecolor=DARK_BORDER, + labelcolor=DARK_FG) + + # Subplot 3: Saturation count per update (8-bit, 0-255) + self._agc_ax_sat = agc_fig.add_subplot( + 3, 1, 3, sharex=self._agc_ax_gain) + self._agc_ax_sat.set_facecolor(DARK_ACCENT) + self._agc_ax_sat.set_ylabel("Sat Count", color=DARK_FG, fontsize=10) + self._agc_ax_sat.set_xlabel( + "Sample (newest right)", color=DARK_FG, fontsize=10) + self._agc_ax_sat.set_title( + "Saturation Events per Update", color=DARK_FG, fontsize=11) + self._agc_ax_sat.set_ylim(-1, 10) + self._agc_ax_sat.tick_params(colors=DARK_FG, labelsize=9) + for spine in self._agc_ax_sat.spines.values(): + spine.set_color(DARK_BORDER) + self._agc_sat_line, = self._agc_ax_sat.plot( + [], [], color=DARK_ERROR, linewidth=1.0) + self._agc_sat_fill_artist = None + self._agc_ax_sat.legend( + loc="upper right", fontsize=8, + facecolor=DARK_ACCENT, edgecolor=DARK_BORDER, + labelcolor=DARK_FG) + + self._agc_canvas = FigureCanvasQTAgg(agc_fig) + layout.addWidget(self._agc_canvas, stretch=1) + + self._tabs.addTab(tab, "AGC Monitor") + + # ----------------------------------------------------------------- + # TAB 5: Diagnostics # ----------------------------------------------------------------- def _create_diagnostics_tab(self): @@ -503,24 +926,23 @@ class RadarDashboard(QMainWindow): conn_group = QGroupBox("Connection Status") conn_layout = QGridLayout(conn_group) + self._conn_ft2232h = self._make_status_label("FT2232H") self._conn_stm32 = self._make_status_label("STM32 USB") - self._conn_ft2232hq = self._make_status_label("FT2232HQ (Primary)") - conn_layout.addWidget(QLabel("STM32 USB:"), 0, 0) - conn_layout.addWidget(self._conn_stm32, 0, 1) - conn_layout.addWidget(QLabel("FT2232HQ:"), 1, 0) - conn_layout.addWidget(self._conn_ft2232hq, 1, 1) + conn_layout.addWidget(QLabel("FT2232H:"), 0, 0) + conn_layout.addWidget(self._conn_ft2232h, 0, 1) + conn_layout.addWidget(QLabel("STM32 USB:"), 1, 0) + conn_layout.addWidget(self._conn_stm32, 1, 1) top_row.addWidget(conn_group) - # Packet statistics - stats_group = QGroupBox("Packet Statistics") + # Frame statistics + stats_group = QGroupBox("Statistics") stats_layout = QGridLayout(stats_group) labels = [ - "Radar Packets:", "Bytes Received:", "GPS Packets:", - "Errors:", "Active Tracks:", "Detected Targets:", - "Uptime:", "Packet Rate:", + "Frames:", "Detections:", "GPS Packets:", + "Errors:", "Uptime:", "Frame Rate:", ] self._diag_values: list = [] for i, text in enumerate(labels): @@ -533,6 +955,17 @@ class RadarDashboard(QMainWindow): top_row.addWidget(stats_group) + # FPGA Status readback + fpga_group = QGroupBox("FPGA Status Readback") + fpga_layout = QVBoxLayout(fpga_group) + self._fpga_status_label = QLabel("No status received yet") + self._fpga_status_label.setWordWrap(True) + self._fpga_status_label.setStyleSheet( + "font-family: 'Courier New', monospace; font-size: 11px; padding: 4px;") + fpga_layout.addWidget(self._fpga_status_label) + + top_row.addWidget(fpga_group) + # Dependency status dep_group = QGroupBox("Optional Dependencies") dep_layout = QGridLayout(dep_group) @@ -543,7 +976,6 @@ class RadarDashboard(QMainWindow): ("scipy", SCIPY_AVAILABLE), ("sklearn", SKLEARN_AVAILABLE), ("filterpy", FILTERPY_AVAILABLE), - ("crcmod", CRCMOD_AVAILABLE), ] for i, (name, avail) in enumerate(deps): dep_layout.addWidget(QLabel(name), i, 0) @@ -577,12 +1009,10 @@ class RadarDashboard(QMainWindow): self._tabs.addTab(tab, "Diagnostics") # ----------------------------------------------------------------- - # TAB 4: Settings + # TAB 5: Settings (host-side DSP) # ----------------------------------------------------------------- def _create_settings_tab(self): - from PyQt6.QtWidgets import QScrollArea - tab = QWidget() scroll = QScrollArea() scroll.setWidgetResizable(True) @@ -592,183 +1022,22 @@ class RadarDashboard(QMainWindow): layout = QVBoxLayout(inner) layout.setContentsMargins(8, 8, 8, 8) - # ---- Radar parameters group ---------------------------------------- - radar_group = QGroupBox("Radar Parameters") - r_layout = QGridLayout(radar_group) - - self._setting_spins: dict = {} - param_defs = [ - ("System Frequency (GHz):", "system_frequency", 1, 100, 2, - self._settings.system_frequency / 1e9, " GHz"), - ("Chirp Duration 1 (us):", "chirp_duration_1", 0.01, 10000, 2, - self._settings.chirp_duration_1 * 1e6, " us"), - ("Chirp Duration 2 (us):", "chirp_duration_2", 0.001, 10000, 3, - self._settings.chirp_duration_2 * 1e6, " us"), - ("Chirps per Position:", "chirps_per_position", 1, 1024, 0, - self._settings.chirps_per_position, ""), - ("Freq Min (MHz):", "freq_min", 0.1, 1000, 1, - self._settings.freq_min / 1e6, " MHz"), - ("Freq Max (MHz):", "freq_max", 0.1, 1000, 1, - self._settings.freq_max / 1e6, " MHz"), - ("PRF 1 (Hz):", "prf1", 100, 100000, 0, - self._settings.prf1, " Hz"), - ("PRF 2 (Hz):", "prf2", 100, 100000, 0, - self._settings.prf2, " Hz"), - ("Max Distance (km):", "max_distance", 1, 500, 1, - self._settings.max_distance / 1000, " km"), - ("Map Size (km):", "map_size", 1, 500, 1, - self._settings.map_size / 1000, " km"), - ] - - for i, (label, key, lo, hi, dec, default, suffix) in enumerate(param_defs): - r_layout.addWidget(QLabel(label), i, 0) - if dec == 0: - spin = QSpinBox() - spin.setRange(int(lo), int(hi)) - spin.setValue(int(default)) - if suffix: - spin.setSuffix(suffix) - else: - spin = QDoubleSpinBox() - spin.setRange(lo, hi) - spin.setDecimals(dec) - spin.setValue(default) - if suffix: - spin.setSuffix(suffix) - r_layout.addWidget(spin, i, 1) - self._setting_spins[key] = spin - - apply_btn = QPushButton("Apply Settings") - apply_btn.setStyleSheet( - f"QPushButton {{ background-color: {DARK_INFO}; color: white; font-weight: bold; }}" - ) - apply_btn.clicked.connect(self._apply_settings) - r_layout.addWidget(apply_btn, len(param_defs), 0, 1, 2) - - layout.addWidget(radar_group) - - # ---- Signal Processing group --------------------------------------- - proc_group = QGroupBox("Signal Processing") + # ---- Host-side DSP group ------------------------------------------- + proc_group = QGroupBox("Host-Side Signal Processing (post-FPGA)") p_layout = QGridLayout(proc_group) row = 0 - # -- MTI -- - self._mti_check = QCheckBox("MTI (Moving Target Indication)") - self._mti_check.setChecked(self._processing_config.mti_enabled) - p_layout.addWidget(self._mti_check, row, 0, 1, 2) - row += 1 - - p_layout.addWidget(QLabel("MTI Order:"), row, 0) - self._mti_order_spin = QSpinBox() - self._mti_order_spin.setRange(1, 3) - self._mti_order_spin.setValue(self._processing_config.mti_order) - self._mti_order_spin.setToolTip("1 = single canceller, 2 = double, 3 = triple") - p_layout.addWidget(self._mti_order_spin, row, 1) - row += 1 - - # -- Separator -- - sep1 = QFrame() - sep1.setFrameShape(QFrame.Shape.HLine) - sep1.setStyleSheet(f"color: {DARK_BORDER};") - p_layout.addWidget(sep1, row, 0, 1, 2) - row += 1 - - # -- CFAR -- - self._cfar_check = QCheckBox("CFAR (Constant False Alarm Rate)") - self._cfar_check.setChecked(self._processing_config.cfar_enabled) - p_layout.addWidget(self._cfar_check, row, 0, 1, 2) - row += 1 - - p_layout.addWidget(QLabel("CFAR Type:"), row, 0) - self._cfar_type_combo = QComboBox() - self._cfar_type_combo.addItems(["CA-CFAR", "OS-CFAR", "GO-CFAR", "SO-CFAR"]) - self._cfar_type_combo.setCurrentText(self._processing_config.cfar_type) - p_layout.addWidget(self._cfar_type_combo, row, 1) - row += 1 - - p_layout.addWidget(QLabel("Guard Cells:"), row, 0) - self._cfar_guard_spin = QSpinBox() - self._cfar_guard_spin.setRange(1, 20) - self._cfar_guard_spin.setValue(self._processing_config.cfar_guard_cells) - p_layout.addWidget(self._cfar_guard_spin, row, 1) - row += 1 - - p_layout.addWidget(QLabel("Training Cells:"), row, 0) - self._cfar_train_spin = QSpinBox() - self._cfar_train_spin.setRange(1, 50) - self._cfar_train_spin.setValue(self._processing_config.cfar_training_cells) - p_layout.addWidget(self._cfar_train_spin, row, 1) - row += 1 - - p_layout.addWidget(QLabel("Threshold Factor:"), row, 0) - self._cfar_thresh_spin = QDoubleSpinBox() - self._cfar_thresh_spin.setRange(0.1, 50.0) - self._cfar_thresh_spin.setDecimals(1) - self._cfar_thresh_spin.setValue(self._processing_config.cfar_threshold_factor) - self._cfar_thresh_spin.setSingleStep(0.5) - p_layout.addWidget(self._cfar_thresh_spin, row, 1) - row += 1 - - # -- Separator -- - sep2 = QFrame() - sep2.setFrameShape(QFrame.Shape.HLine) - sep2.setStyleSheet(f"color: {DARK_BORDER};") - p_layout.addWidget(sep2, row, 0, 1, 2) - row += 1 - - # -- DC Notch -- - self._dc_notch_check = QCheckBox("DC Notch / Zero-Doppler Removal") - self._dc_notch_check.setChecked(self._processing_config.dc_notch_enabled) - p_layout.addWidget(self._dc_notch_check, row, 0, 1, 2) - row += 1 - - # -- Separator -- - sep3 = QFrame() - sep3.setFrameShape(QFrame.Shape.HLine) - sep3.setStyleSheet(f"color: {DARK_BORDER};") - p_layout.addWidget(sep3, row, 0, 1, 2) - row += 1 - - # -- Windowing -- - p_layout.addWidget(QLabel("Window Function:"), row, 0) - self._window_combo = QComboBox() - self._window_combo.addItems(["None", "Hann", "Hamming", "Blackman", "Kaiser", "Chebyshev"]) - self._window_combo.setCurrentText(self._processing_config.window_type) - if not SCIPY_AVAILABLE: - # Without scipy, only None/Hann/Hamming/Blackman via numpy - self._window_combo.setToolTip("Kaiser and Chebyshev require scipy") - p_layout.addWidget(self._window_combo, row, 1) - row += 1 - - # -- Separator -- - sep4 = QFrame() - sep4.setFrameShape(QFrame.Shape.HLine) - sep4.setStyleSheet(f"color: {DARK_BORDER};") - p_layout.addWidget(sep4, row, 0, 1, 2) - row += 1 - - # -- Detection Threshold -- - p_layout.addWidget(QLabel("Detection Threshold (dB):"), row, 0) - self._det_thresh_spin = QDoubleSpinBox() - self._det_thresh_spin.setRange(0.0, 60.0) - self._det_thresh_spin.setDecimals(1) - self._det_thresh_spin.setValue(self._processing_config.detection_threshold_db) - self._det_thresh_spin.setSuffix(" dB") - self._det_thresh_spin.setSingleStep(1.0) - self._det_thresh_spin.setToolTip( - "SNR threshold above noise floor (used when CFAR is disabled)" + note = QLabel( + "These settings control host-side DSP that runs AFTER the FPGA " + "processing pipeline. FPGA-side MTI, CFAR, and DC notch are " + "controlled from the FPGA Control tab." ) - p_layout.addWidget(self._det_thresh_spin, row, 1) + note.setWordWrap(True) + note.setStyleSheet(f"color: {DARK_WARNING}; padding: 6px;") + p_layout.addWidget(note, row, 0, 1, 2) row += 1 - # -- Separator -- - sep5 = QFrame() - sep5.setFrameShape(QFrame.Shape.HLine) - sep5.setStyleSheet(f"color: {DARK_BORDER};") - p_layout.addWidget(sep5, row, 0, 1, 2) - row += 1 - - # -- Clustering -- + # Clustering self._cluster_check = QCheckBox("DBSCAN Clustering") self._cluster_check.setChecked(self._processing_config.clustering_enabled) if not SKLEARN_AVAILABLE: @@ -793,14 +1062,14 @@ class RadarDashboard(QMainWindow): p_layout.addWidget(self._cluster_min_spin, row, 1) row += 1 - # -- Separator -- - sep6 = QFrame() - sep6.setFrameShape(QFrame.Shape.HLine) - sep6.setStyleSheet(f"color: {DARK_BORDER};") - p_layout.addWidget(sep6, row, 0, 1, 2) + # Separator + sep = QFrame() + sep.setFrameShape(QFrame.Shape.HLine) + sep.setStyleSheet(f"color: {DARK_BORDER};") + p_layout.addWidget(sep, row, 0, 1, 2) row += 1 - # -- Kalman Tracking -- + # Kalman Tracking self._tracking_check = QCheckBox("Kalman Tracking") self._tracking_check.setChecked(self._processing_config.tracking_enabled) if not FILTERPY_AVAILABLE: @@ -809,8 +1078,8 @@ class RadarDashboard(QMainWindow): p_layout.addWidget(self._tracking_check, row, 0, 1, 2) row += 1 - # Apply Processing button - apply_proc_btn = QPushButton("Apply Processing Settings") + # Apply + apply_proc_btn = QPushButton("Apply Host DSP Settings") apply_proc_btn.setStyleSheet( f"QPushButton {{ background-color: {DARK_SUCCESS}; color: white; font-weight: bold; }}" f"QPushButton:hover {{ background-color: #66BB6A; }}" @@ -824,12 +1093,13 @@ class RadarDashboard(QMainWindow): about_group = QGroupBox("About") about_layout = QVBoxLayout(about_group) about_lbl = QLabel( - "PLFM Radar System GUI V7
" + "AERIS-10 Radar System V7
" "PyQt6 Edition with Embedded Leaflet Map

" - "Data Interface: FT2232HQ (USB 2.0)
" + "Data Interface: FT2232H USB 2.0 (production protocol)
" + "FPGA Protocol: 4-byte register commands, 0xAA/0xBB packets
" "Map: OpenStreetMap + Leaflet.js
" "Framework: PyQt6 + QWebEngine
" - "Version: 7.0.0" + "Version: 7.1.0 (production protocol)" ) about_lbl.setStyleSheet(f"color: {DARK_TEXT}; padding: 12px;") about_layout.addWidget(about_lbl) @@ -867,7 +1137,7 @@ class RadarDashboard(QMainWindow): # ===================================================================== def _refresh_devices(self): - # STM32 + # STM32 GPS self._stm32_devices = self._stm32.list_devices() self._stm32_combo.clear() for d in self._stm32_devices: @@ -875,84 +1145,121 @@ class RadarDashboard(QMainWindow): if self._stm32_devices: self._stm32_combo.setCurrentIndex(0) - # FT2232HQ (primary) - self._ft2232hq_devices = self._ft2232hq.list_devices() - self._ft2232hq_combo.clear() - for d in self._ft2232hq_devices: - self._ft2232hq_combo.addItem(d["description"]) - if self._ft2232hq_devices: - self._ft2232hq_combo.setCurrentIndex(0) + logger.info(f"Devices refreshed: {len(self._stm32_devices)} STM32") - logger.info( - f"Devices refreshed: {len(self._stm32_devices)} STM32, " - f"{len(self._ft2232hq_devices)} FT2232HQ" - ) + # ===================================================================== + # FPGA command sending + # ===================================================================== + + def _send_fpga_cmd(self, opcode: int, value: int): + """Send a 4-byte register command to the FPGA via FT2232H.""" + if self._connection is None or not self._connection.is_open: + logger.warning(f"Cannot send 0x{opcode:02X}={value}: no connection") + return + cmd = RadarProtocol.build_command(opcode, value) + ok = self._connection.write(cmd) + if ok: + logger.info(f"Sent FPGA cmd: 0x{opcode:02X} = {value}") + else: + logger.error(f"Failed to send FPGA cmd: 0x{opcode:02X}") + + def _send_fpga_validated(self, opcode: int, value: int, bits: int): + """Clamp value to bit-width and send.""" + max_val = (1 << bits) - 1 + clamped = max(0, min(value, max_val)) + if clamped != value: + logger.warning(f"Value {value} clamped to {clamped} " + f"({bits}-bit max={max_val}) for opcode 0x{opcode:02X}") + # Update the spinbox + key = f"0x{opcode:02X}" + if key in self._param_spins: + self._param_spins[key].setValue(clamped) + self._send_fpga_cmd(opcode, clamped) + + def _send_custom_command(self): + """Send custom opcode + value from the FPGA Control tab.""" + try: + opcode = int(self._custom_opcode.text(), 16) + value = int(self._custom_value.text()) + self._send_fpga_cmd(opcode, value) + except ValueError: + logger.error("Invalid custom command: check opcode (hex) and value (dec)") # ===================================================================== # Start / Stop radar # ===================================================================== def _start_radar(self): + """Start radar data acquisition using production protocol.""" try: - # Open STM32 - idx = self._stm32_combo.currentIndex() - if idx < 0 or idx >= len(self._stm32_devices): - QMessageBox.warning(self, "Warning", "Please select an STM32 USB device.") - return - if not self._stm32.open_device(self._stm32_devices[idx]): - QMessageBox.critical(self, "Error", "Failed to open STM32 USB device.") + mode = self._mode_combo.currentText() + + if "Mock" in mode: + self._connection = FT2232HConnection(mock=True) + if not self._connection.open(): + QMessageBox.critical(self, "Error", "Failed to open mock connection.") + return + elif "Live" in mode: + self._connection = FT2232HConnection(mock=False) + if not self._connection.open(): + QMessageBox.critical(self, "Error", + "Failed to open FT2232H. Check USB connection.") + return + elif "Replay" in mode: + from PyQt6.QtWidgets import QFileDialog + npy_dir = QFileDialog.getExistingDirectory( + self, "Select .npy replay directory") + if not npy_dir: + return + self._connection = ReplayConnection(npy_dir) + if not self._connection.open(): + QMessageBox.critical(self, "Error", + "Failed to open replay connection.") + return + else: + QMessageBox.warning(self, "Warning", "Unknown connection mode.") return - # Open FT2232HQ (primary) - idx2 = self._ft2232hq_combo.currentIndex() - if idx2 >= 0 and idx2 < len(self._ft2232hq_devices): - url = self._ft2232hq_devices[idx2]["url"] - if not self._ft2232hq.open_device(url): - QMessageBox.warning( - self, - "Warning", - "Failed to open FT2232HQ device. Radar data may not be available.", - ) - - # Send start flag + settings - if not self._stm32.send_start_flag(): - QMessageBox.critical(self, "Error", "Failed to send start flag to STM32.") - return - self._apply_settings_to_model() - self._stm32.send_settings(self._settings) - - # Start workers + # Start radar worker self._radar_worker = RadarDataWorker( - ft2232hq=self._ft2232hq, + connection=self._connection, processor=self._processor, - packet_parser=self._radar_parser, - settings=self._settings, + recorder=self._recorder if self._recorder.recording else None, gps_data_ref=self._radar_position, + settings=self._settings, ) + self._radar_worker.frameReady.connect(self._on_frame_ready) + self._radar_worker.statusReceived.connect(self._on_status_received) self._radar_worker.targetsUpdated.connect(self._on_radar_targets) self._radar_worker.statsUpdated.connect(self._on_radar_stats) self._radar_worker.errorOccurred.connect(self._on_worker_error) self._radar_worker.start() - self._gps_worker = GPSDataWorker( - stm32=self._stm32, - usb_parser=self._usb_parser, - ) - self._gps_worker.gpsReceived.connect(self._on_gps_received) - self._gps_worker.errorOccurred.connect(self._on_worker_error) - self._gps_worker.start() + # Optionally start GPS worker + idx = self._stm32_combo.currentIndex() + if (idx >= 0 and idx < len(self._stm32_devices) + and self._stm32.open_device(self._stm32_devices[idx])): + self._gps_worker = GPSDataWorker( + stm32=self._stm32, + usb_parser=self._usb_parser, + ) + self._gps_worker.gpsReceived.connect(self._on_gps_received) + self._gps_worker.errorOccurred.connect(self._on_worker_error) + self._gps_worker.start() # UI state self._running = True self._start_time = time.time() + self._frame_count = 0 self._start_btn.setEnabled(False) self._stop_btn.setEnabled(True) - self._status_label_main.setText("Status: Radar running") - self._sb_status.setText("Radar running") - self._sb_mode.setText("Live") - logger.info("Radar system started") + self._mode_combo.setEnabled(False) + self._status_label_main.setText(f"Status: Running ({mode})") + self._sb_status.setText(f"Running ({mode})") + self._sb_mode.setText(mode) + logger.info(f"Radar started: {mode}") - except Exception as e: + except RuntimeError as e: QMessageBox.critical(self, "Error", f"Failed to start radar: {e}") logger.error(f"Start radar error: {e}") @@ -969,11 +1276,15 @@ class RadarDashboard(QMainWindow): self._gps_worker.wait(2000) self._gps_worker = None + if self._connection: + self._connection.close() + self._connection = None + self._stm32.close() - self._ft2232hq.close() self._start_btn.setEnabled(True) self._stop_btn.setEnabled(False) + self._mode_combo.setEnabled(True) self._status_label_main.setText("Status: Radar stopped") self._sb_status.setText("Radar stopped") self._sb_mode.setText("Idle") @@ -1002,7 +1313,13 @@ class RadarDashboard(QMainWindow): self._simulator.stop() self._simulator = None self._demo_mode = False - self._sb_mode.setText("Idle" if not self._running else "Live") + if not self._running: + mode = "Idle" + elif isinstance(self._connection, ReplayConnection): + mode = "Replay" + else: + mode = "Live" + self._sb_mode.setText(mode) self._sb_status.setText("Demo stopped") self._demo_btn_main.setText("Start Demo") self._demo_btn_map.setText("Start Demo") @@ -1030,6 +1347,18 @@ class RadarDashboard(QMainWindow): # Slots — data from workers / simulator # ===================================================================== + @pyqtSlot(object) + def _on_frame_ready(self, frame: RadarFrame): + """Handle a complete 64x32 radar frame from production acquisition.""" + self._current_frame = frame + self._frame_count += 1 + + @pyqtSlot(object) + def _on_status_received(self, status: StatusResponse): + """Handle FPGA status readback.""" + self._last_status = status + self._update_status_display(status) + @pyqtSlot(list) def _on_radar_targets(self, targets: list): self._current_targets = targets @@ -1037,7 +1366,7 @@ class RadarDashboard(QMainWindow): @pyqtSlot(dict) def _on_radar_stats(self, stats: dict): - self._radar_stats = stats + self._last_stats = stats @pyqtSlot(str) def _on_worker_error(self, msg: str): @@ -1087,6 +1416,134 @@ class RadarDashboard(QMainWindow): ) self._target_info_label.setText(info) + # ===================================================================== + # FPGA Status display + # ===================================================================== + + def _update_status_display(self, st: StatusResponse): + """Update FPGA status readback labels.""" + # Diagnostics tab + lines = [ + f"Mode: {st.radar_mode} Stream: {st.stream_ctrl:03b} " + f"Thresh: {st.cfar_threshold}", + f"Long Chirp: {st.long_chirp} Listen: {st.long_listen}", + f"Guard: {st.guard} Short Chirp: {st.short_chirp} " + f"Listen: {st.short_listen}", + f"Chirps/Elev: {st.chirps_per_elev} Range Mode: {st.range_mode}", + ] + self._fpga_status_label.setText("\n".join(lines)) + + # Self-test labels + if st.self_test_busy or st.self_test_flags: + flags = st.self_test_flags + self._st_labels["busy"].setText( + f"Busy: {'YES' if st.self_test_busy else 'no'}") + self._st_labels["flags"].setText( + f"Flags: {flags:05b}") + self._st_labels["detail"].setText( + f"Detail: 0x{st.self_test_detail:02X}") + self._st_labels["t0"].setText( + f"T0 BRAM: {'PASS' if flags & 0x01 else 'FAIL'}") + self._st_labels["t1"].setText( + f"T1 CIC: {'PASS' if flags & 0x02 else 'FAIL'}") + self._st_labels["t2"].setText( + f"T2 FFT: {'PASS' if flags & 0x04 else 'FAIL'}") + self._st_labels["t3"].setText( + f"T3 Arith: {'PASS' if flags & 0x08 else 'FAIL'}") + self._st_labels["t4"].setText( + f"T4 ADC: {'PASS' if flags & 0x10 else 'FAIL'}") + + # AGC status readback + if hasattr(self, '_agc_labels'): + agc_str = "AUTO" if st.agc_enable else "MANUAL" + agc_color = DARK_SUCCESS if st.agc_enable else DARK_INFO + self._agc_labels["enable"].setStyleSheet( + f"color: {agc_color}; font-weight: bold;") + self._agc_labels["enable"].setText(f"AGC: {agc_str}") + self._agc_labels["gain"].setText( + f"Gain: {st.agc_current_gain}") + self._agc_labels["peak"].setText( + f"Peak: {st.agc_peak_magnitude}") + sat_color = DARK_ERROR if st.agc_saturation_count > 0 else DARK_INFO + self._agc_labels["sat"].setStyleSheet( + f"color: {sat_color}; font-weight: bold;") + self._agc_labels["sat"].setText( + f"Sat Count: {st.agc_saturation_count}") + + # AGC Monitor tab visualization + self._update_agc_visualization(st) + + def _update_agc_visualization(self, st: StatusResponse): + """Push AGC metrics into ring buffers and redraw AGC Monitor charts. + + Data is always accumulated (cheap), but matplotlib redraws are + throttled to ``_AGC_REDRAW_INTERVAL`` seconds to avoid saturating + the GUI event-loop when status packets arrive at 20 Hz. + """ + if not hasattr(self, '_agc_canvas'): + return + + # Push data into ring buffers (always — O(1)) + self._agc_gain_history.append(st.agc_current_gain) + self._agc_peak_history.append(st.agc_peak_magnitude) + self._agc_sat_history.append(st.agc_saturation_count) + + # Update indicator labels (cheap Qt calls) + agc_str = "AUTO" if st.agc_enable else "MANUAL" + agc_color = DARK_SUCCESS if st.agc_enable else DARK_INFO + self._agc_mode_lbl.setStyleSheet( + f"color: {agc_color}; font-size: 16px; font-weight: bold;") + self._agc_mode_lbl.setText(f"AGC: {agc_str}") + self._agc_gain_lbl.setText(f"Gain: {st.agc_current_gain}") + self._agc_peak_lbl.setText(f"Peak: {st.agc_peak_magnitude}") + + total_sat = sum(self._agc_sat_history) + if total_sat > 10: + sat_color = DARK_ERROR + elif total_sat > 0: + sat_color = DARK_WARNING + else: + sat_color = DARK_SUCCESS + self._agc_sat_total_lbl.setStyleSheet( + f"color: {sat_color}; font-size: 14px; font-weight: bold;") + self._agc_sat_total_lbl.setText(f"Total Saturations: {total_sat}") + + # ---- Throttle matplotlib redraws --------------------------------- + now = time.monotonic() + if now - self._agc_last_redraw < self._AGC_REDRAW_INTERVAL: + return + self._agc_last_redraw = now + + n = len(self._agc_gain_history) + xs = list(range(n)) + + # Update line plots + gain_data = list(self._agc_gain_history) + peak_data = list(self._agc_peak_history) + sat_data = list(self._agc_sat_history) + + self._agc_gain_line.set_data(xs, gain_data) + self._agc_peak_line.set_data(xs, peak_data) + self._agc_sat_line.set_data(xs, sat_data) + + # Update saturation fill + if self._agc_sat_fill_artist is not None: + self._agc_sat_fill_artist.remove() + if n > 0: + self._agc_sat_fill_artist = self._agc_ax_sat.fill_between( + xs, sat_data, color=DARK_ERROR, alpha=0.4) + else: + self._agc_sat_fill_artist = None + + # Auto-scale saturation y-axis + max_sat = max(sat_data) if sat_data else 1 + self._agc_ax_sat.set_ylim(-1, max(max_sat * 1.3, 5)) + + # Scroll x-axis + self._agc_ax_gain.set_xlim(max(0, n - self._agc_history_len), n) + + self._agc_canvas.draw_idle() + # ===================================================================== # Position / coverage callbacks (map sidebar) # ===================================================================== @@ -1108,46 +1565,10 @@ class RadarDashboard(QMainWindow): # Settings # ===================================================================== - def _apply_settings_to_model(self): - """Read spin values into the RadarSettings model.""" - s = self._settings - sp = self._setting_spins - s.system_frequency = sp["system_frequency"].value() * 1e9 - s.chirp_duration_1 = sp["chirp_duration_1"].value() * 1e-6 - s.chirp_duration_2 = sp["chirp_duration_2"].value() * 1e-6 - s.chirps_per_position = int(sp["chirps_per_position"].value()) - s.freq_min = sp["freq_min"].value() * 1e6 - s.freq_max = sp["freq_max"].value() * 1e6 - s.prf1 = sp["prf1"].value() - s.prf2 = sp["prf2"].value() - s.max_distance = sp["max_distance"].value() * 1000 - s.map_size = sp["map_size"].value() * 1000 - - def _apply_settings(self): - try: - self._apply_settings_to_model() - if self._stm32.is_open: - self._stm32.send_settings(self._settings) - logger.info("Radar settings applied") - QMessageBox.information(self, "Settings", "Radar settings applied.") - except Exception as e: - QMessageBox.critical(self, "Error", f"Invalid setting value: {e}") - logger.error(f"Settings error: {e}") - def _apply_processing_config(self): - """Read signal processing controls into ProcessingConfig and push to processor.""" + """Read host-side DSP controls into ProcessingConfig.""" try: cfg = ProcessingConfig( - mti_enabled=self._mti_check.isChecked(), - mti_order=self._mti_order_spin.value(), - cfar_enabled=self._cfar_check.isChecked(), - cfar_type=self._cfar_type_combo.currentText(), - cfar_guard_cells=self._cfar_guard_spin.value(), - cfar_training_cells=self._cfar_train_spin.value(), - cfar_threshold_factor=self._cfar_thresh_spin.value(), - dc_notch_enabled=self._dc_notch_check.isChecked(), - window_type=self._window_combo.currentText(), - detection_threshold_db=self._det_thresh_spin.value(), clustering_enabled=self._cluster_check.isChecked(), clustering_eps=self._cluster_eps_spin.value(), clustering_min_samples=self._cluster_min_spin.value(), @@ -1156,15 +1577,14 @@ class RadarDashboard(QMainWindow): self._processing_config = cfg self._processor.set_config(cfg) logger.info( - f"Processing config applied: MTI={cfg.mti_enabled}(order {cfg.mti_order}), " - f"CFAR={cfg.cfar_enabled}({cfg.cfar_type}), DC_Notch={cfg.dc_notch_enabled}, " - f"Window={cfg.window_type}, Threshold={cfg.detection_threshold_db} dB, " - f"Clustering={cfg.clustering_enabled}, Tracking={cfg.tracking_enabled}" + f"Host DSP config: Clustering={cfg.clustering_enabled}, " + f"Tracking={cfg.tracking_enabled}" ) - QMessageBox.information(self, "Processing", "Signal processing settings applied.") - except Exception as e: - QMessageBox.critical(self, "Error", f"Failed to apply processing settings: {e}") - logger.error(f"Processing config error: {e}") + QMessageBox.information(self, "Settings", "Host DSP settings applied.") + except RuntimeError as e: + QMessageBox.critical(self, "Error", + f"Failed to apply DSP settings: {e}") + logger.error(f"DSP config error: {e}") # ===================================================================== # Periodic GUI refresh (100 ms timer) @@ -1183,23 +1603,32 @@ class RadarDashboard(QMainWindow): pitch_text = f"Pitch: {gps.pitch:+.1f}\u00b0" self._pitch_label.setText(pitch_text) if abs(gps.pitch) > 10: - self._pitch_label.setStyleSheet(f"color: {DARK_ERROR}; font-weight: bold;") + self._pitch_label.setStyleSheet( + f"color: {DARK_ERROR}; font-weight: bold;") elif abs(gps.pitch) > 5: - self._pitch_label.setStyleSheet(f"color: {DARK_WARNING}; font-weight: bold;") + self._pitch_label.setStyleSheet( + f"color: {DARK_WARNING}; font-weight: bold;") else: - self._pitch_label.setStyleSheet(f"color: {DARK_SUCCESS}; font-weight: bold;") + self._pitch_label.setStyleSheet( + f"color: {DARK_SUCCESS}; font-weight: bold;") - # Range-Doppler map - self._rdm_canvas.update_map(self._processor.range_doppler_map) + # Range-Doppler map from current frame + if self._current_frame is not None: + self._rdm_canvas.update_map( + self._current_frame.magnitude, + self._current_frame.detections, + ) # Targets table (main tab) self._update_main_targets_table() # Status label (main tab) if self._running: - pkt = self._radar_stats.get("packets", 0) + det = (self._current_frame.detection_count + if self._current_frame else 0) self._status_label_main.setText( - f"Status: Running \u2014 Packets: {pkt} \u2014 Pitch: {gps.pitch:+.1f}\u00b0" + f"Status: Running \u2014 Frames: {self._frame_count} " + f"\u2014 Detections: {det}" ) # Diagnostics values @@ -1208,7 +1637,7 @@ class RadarDashboard(QMainWindow): # Status-bar target count self._sb_targets.setText(f"Targets: {len(self._current_targets)}") - except Exception as e: + except (RuntimeError, ValueError, IndexError) as e: logger.error(f"GUI refresh error: {e}") def _update_main_targets_table(self): @@ -1217,58 +1646,42 @@ class RadarDashboard(QMainWindow): for row, t in enumerate(targets): self._targets_table_main.setItem( - row, 0, QTableWidgetItem(str(t.track_id))) + row, 0, QTableWidgetItem(f"{t.range:.0f}")) self._targets_table_main.setItem( - row, 1, QTableWidgetItem(f"{t.range:.1f}")) - - vel_item = QTableWidgetItem(f"{t.velocity:+.1f}") - if t.velocity > 1: - vel_item.setForeground(QColor(DARK_ERROR)) - elif t.velocity < -1: - vel_item.setForeground(QColor(DARK_INFO)) - self._targets_table_main.setItem(row, 2, vel_item) + row, 1, QTableWidgetItem(f"{t.velocity:.0f}")) + mag_val = 10 ** (t.snr / 10) if t.snr > 0 else 0 self._targets_table_main.setItem( - row, 3, QTableWidgetItem(f"{t.azimuth:.1f}")) - - # Raw elevation — show stored value from corrections cache - raw_text = "N/A" - for corr in self._corrected_elevations[-20:]: - if abs(corr["corrected"] - t.elevation) < 0.1: - raw_text = f"{corr['raw']}" - break + row, 2, QTableWidgetItem(f"{mag_val:.0f}")) self._targets_table_main.setItem( - row, 4, QTableWidgetItem(raw_text)) + row, 3, QTableWidgetItem(f"{t.snr:.1f}")) self._targets_table_main.setItem( - row, 5, QTableWidgetItem(f"{t.elevation:.1f}")) - self._targets_table_main.setItem( - row, 6, QTableWidgetItem(f"{t.snr:.1f}")) + row, 4, QTableWidgetItem(str(t.track_id))) def _update_diagnostics(self): # Connection indicators + conn_open = (self._connection is not None and self._connection.is_open) + self._set_conn_indicator(self._conn_ft2232h, conn_open) self._set_conn_indicator(self._conn_stm32, self._stm32.is_open) - self._set_conn_indicator(self._conn_ft2232hq, self._ft2232hq.is_open) - stats = self._radar_stats gps_count = self._gps_packet_count if self._gps_worker: gps_count = self._gps_worker.gps_count uptime = time.time() - self._start_time - pkt = stats.get("packets", 0) - pkt_rate = pkt / max(uptime, 1) + frame_rate = self._frame_count / max(uptime, 1) + det = (self._current_frame.detection_count + if self._current_frame else 0) vals = [ - str(pkt), - f"{stats.get('bytes', 0):,}", + str(self._frame_count), + str(det), str(gps_count), - str(stats.get("errors", 0)), - str(stats.get("active_tracks", len(self._processor.tracks))), - str(stats.get("targets", len(self._current_targets))), + str(self._last_stats.get("errors", 0)), f"{uptime:.0f}s", - f"{pkt_rate:.1f}/s", + f"{frame_rate:.1f}/s", ] - for lbl, v in zip(self._diag_values, vals): + for lbl, v in zip(self._diag_values, vals, strict=False): lbl.setText(v) # ===================================================================== @@ -1276,7 +1689,7 @@ class RadarDashboard(QMainWindow): # ===================================================================== @staticmethod - def _make_status_label(name: str) -> QLabel: + def _make_status_label(_name: str) -> QLabel: lbl = QLabel("Disconnected") lbl.setStyleSheet(f"color: {DARK_ERROR}; font-weight: bold;") return lbl @@ -1307,22 +1720,30 @@ class RadarDashboard(QMainWindow): if self._gps_worker: self._gps_worker.stop() self._gps_worker.wait(1000) + if self._connection: + self._connection.close() self._stm32.close() - self._ft2232hq.close() logging.getLogger().removeHandler(self._log_handler) event.accept() # ============================================================================= -# Qt-compatible log handler (routes Python logging → QTextEdit) +# Qt-compatible log handler (routes Python logging -> QTextEdit via signal) # ============================================================================= -class _QtLogHandler(logging.Handler): - """Sends log records to a callback (called on the thread that emitted).""" - def __init__(self, callback): +class _LogSignalBridge(QObject): + """Thread-safe bridge: emits a Qt signal so the slot runs on the GUI thread.""" + + log_message = pyqtSignal(str) + + +class _QtLogHandler(logging.Handler): + """Sends log records to a QObject signal (safe from any thread).""" + + def __init__(self, bridge: _LogSignalBridge): super().__init__() - self._callback = callback + self._bridge = bridge self.setFormatter(logging.Formatter( "%(asctime)s %(levelname)-8s %(message)s", datefmt="%H:%M:%S", @@ -1331,6 +1752,6 @@ class _QtLogHandler(logging.Handler): def emit(self, record): try: msg = self.format(record) - self._callback(msg) - except Exception: + self._bridge.log_message.emit(msg) + except RuntimeError: pass diff --git a/9_Firmware/9_3_GUI/v7/hardware.py b/9_Firmware/9_3_GUI/v7/hardware.py index 2b4b474..e0231ef 100644 --- a/9_Firmware/9_3_GUI/v7/hardware.py +++ b/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: - - FT2232HQInterface (PRIMARY — USB 2.0, VID 0x0403 / PID 0x6010) - - STM32USBInterface (USB CDC for commands and GPS) +Provides: + - FT2232H radar data + command interface via production radar_protocol module + - 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 ( - USB_AVAILABLE, FTDI_AVAILABLE, - RadarSettings, -) +from .models import USB_AVAILABLE if USB_AVAILABLE: import usb.core import usb.util -if FTDI_AVAILABLE: - from pyftdi.ftdi import Ftdi - from pyftdi.usbtools import UsbTools +# Import production protocol layer — single source of truth for FPGA comms +sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) +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) -# ============================================================================= - -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 +# STM32 USB CDC Interface — GPS data ONLY # ============================================================================= class STM32USBInterface: """ Interface for STM32 USB CDC (Virtual COM Port). - Used to: - - Send start flag and radar settings to the MCU - - Receive GPS data from the MCU + Used ONLY for receiving 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: - """Send start flag to STM32 (4-byte magic).""" - 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.""" + def read_data(self, size: int = 64, timeout: int = 1000) -> bytes | None: + """Read GPS 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 diff --git a/9_Firmware/9_3_GUI/v7/map_widget.py b/9_Firmware/9_3_GUI/v7/map_widget.py index 8c481e4..08a6b04 100644 --- a/9_Firmware/9_3_GUI/v7/map_widget.py +++ b/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({{ - className:'radar-icon', - html:'
', - iconSize:[24,24], iconAnchor:[12,12] - }}); - - radarMarker = L.marker([{lat},{lon}], {{ icon:radarIcon, zIndexOffset:1000 }}).addTo(map); + radarMarker = L.circleMarker([{lat},{lon}], {{ + radius:12, fillColor:'#FF5252', color:'white', + weight:3, opacity:1, fillOpacity:1 + }}).addTo(map); updateRadarPopup(); coverageCircle = L.circle([{lat},{lon}], {{ @@ -366,102 +361,99 @@ function updateRadarPosition(lat,lon,alt,pitch,heading) {{ }} function updateTargets(targetsJson) {{ - var targets = JSON.parse(targetsJson); - var currentIds = {{}}; + 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)); + targets.forEach(function(t) {{ + currentIds[t.id] = true; + var lat=t.latitude, lon=t.longitude; + var color = getTargetColor(t.velocity); + 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]); - if(targetTrailHistory[t.id].length > maxTrailLength) - targetTrailHistory[t.id].shift(); + if(!targetTrailHistory[t.id]) targetTrailHistory[t.id] = []; + targetTrailHistory[t.id].push([lat,lon]); + if(targetTrailHistory[t.id].length > maxTrailLength) + targetTrailHistory[t.id].shift(); - if(targetMarkers[t.id]) {{ - targetMarkers[t.id].setLatLng([lat,lon]); - targetMarkers[t.id].setIcon(makeIcon(color,sz)); - 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); - marker.on( - 'click', - (function(id){{ - return function(){{ if(bridge) bridge.onMarkerClick(id); }}; - }})(t.id) - ); - 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' + if(targetMarkers[t.id]) {{ + targetMarkers[t.id].setLatLng([lat,lon]); + 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.circleMarker([lat,lon], {{ + radius:radius, fillColor:color, color:'white', + weight:2, opacity:1, fillOpacity:0.9 }}).addTo(map); + marker.on( + 'click', + (function(id){{ + return function(){{ if(bridge) bridge.onMarkerClick(id); }}; + }})(t.id) + ); + 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' + }}).addTo(map); + }} + }} + updateTargetPopup(t); + }}); + + 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]; + }} + delete targetTrailHistory[id]; }} }} - updateTargetPopup(t); - }}); - - 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]; }} - delete targetTrailHistory[id]; - }} + }} catch(e) {{ + if(bridge) bridge.logFromJS('updateTargets ERROR: '+e.message); }} }} -function makeIcon(color,sz) {{ - return L.divIcon({{ - className:'target-icon', - html:'
Target #'+t.id+'
'+ - ( - '
Range:'+ - ''+t.range.toFixed(1)+' m
' - )+ - ( - '
Velocity:'+ - ''+t.velocity.toFixed(1)+' m/s
' - )+ - ( - '
Azimuth:'+ - ''+t.azimuth.toFixed(1)+'°
' - )+ - ( - '
Elevation:'+ - ''+t.elevation.toFixed(1)+'°
' - )+ - ( - '
SNR:'+ - ''+t.snr.toFixed(1)+' dB
' - )+ - ( - '
Track:'+ - ''+t.track_id+'
' - )+ - ( - '
Status:'+ - ''+st+'
' - ) + '
Range:'+ + ''+rng+' m
'+ + '
Velocity:'+ + ''+vel+' m/s
'+ + '
Azimuth:'+ + ''+az+'°
'+ + '
Elevation:'+ + ''+el+'°
'+ + '
SNR:'+ + ''+snr+' dB
'+ + '
Track:'+ + ''+t.track_id+'
'+ + '
Status:'+ + ''+st+'
' ); }} @@ -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 diff --git a/9_Firmware/9_3_GUI/v7/models.py b/9_Firmware/9_3_GUI/v7/models.py index 45da35c..a5eb40e 100644 --- a/9_Firmware/9_3_GUI/v7/models.py +++ b/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.""" - system_frequency: float = 10e9 # Hz - chirp_duration_1: float = 30e-6 # Long chirp duration (s) - chirp_duration_2: float = 0.5e-6 # Short chirp duration (s) - chirps_per_position: int = 32 - freq_min: float = 10e6 # Hz - freq_max: float = 30e6 # Hz - prf1: float = 1000 # PRF 1 (Hz) - prf2: float = 2000 # PRF 2 (Hz) + """Radar system display/map configuration. + + FPGA register parameters (chirp timing, CFAR, MTI, gain, etc.) are + controlled directly via 4-byte opcode commands — see the FPGA Control + tab and Opcode enum in radar_protocol.py. This dataclass holds only + host-side display/map settings and physical-unit conversion factors. + + range_resolution and velocity_resolution should be calibrated to + 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, - windowing, detection threshold, DBSCAN clustering, and Kalman tracking. + These control host-side DSP that runs AFTER the FPGA processing + 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) diff --git a/9_Firmware/9_3_GUI/v7/processing.py b/9_Firmware/9_3_GUI/v7/processing.py index e417479..c6ce2cd 100644 --- a/9_Firmware/9_3_GUI/v7/processing.py +++ b/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: - 1. RadarPacketParser.parse_packet() now returns (dict, bytes_consumed) tuple - so the caller knows exactly how many bytes to strip from the buffer. - 2. apply_pitch_correction() is a proper standalone function. +Note: RadarPacketParser (old A5/C3 sync + CRC16 format) was removed. + All packet parsing now uses production RadarProtocol (0xAA/0xBB format) + from radar_protocol.py. """ 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 ----------------------------------------------------- @@ -160,12 +153,11 @@ 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] + 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], - clusters: list) -> List[RadarTarget]: + def association(self, detections: 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(" 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: - self.crc16_func = crcmod.mkCrcFun( - 0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000 - ) - else: - self.crc16_func = None + pass - 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 diff --git a/9_Firmware/9_3_GUI/v7/workers.py b/9_Firmware/9_3_GUI/v7/workers.py index e81616e..c467c98 100644 --- a/9_Firmware/9_3_GUI/v7/workers.py +++ b/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, - emits signals with processed data. + - RadarDataWorker — reads from FT2232H via production RadarAcquisition, + 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 .hardware import FT2232HQInterface, STM32USBInterface +from .models import RadarTarget, GPSData, RadarSettings +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 - FT2232HQ interface, parses packets, runs the processing pipeline, and - emits signals with results. + Background worker that reads radar data from FT2232H (or ReplayConnection), + parses 0xAA/0xBB packets via production RadarAcquisition, runs optional + 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 - targetsUpdated(list) — list of RadarTarget after processing - errorOccurred(str) — error message - statsUpdated(dict) — packet/byte counters + frameReady(RadarFrame) — a complete 64x32 radar frame + statusReceived(object) — StatusResponse from FPGA + targetsUpdated(list) — list of RadarTarget after host-side DSP + errorOccurred(str) — error message + statsUpdated(dict) — frame/byte counters """ - packetReceived = pyqtSignal(dict) - targetsUpdated = pyqtSignal(list) + frameReady = pyqtSignal(object) # RadarFrame + statusReceived = pyqtSignal(object) # StatusResponse + targetsUpdated = pyqtSignal(list) # List[RadarTarget] errorOccurred = pyqtSignal(str) statsUpdated = pyqtSignal(dict) def __init__( self, - ft2232hq: FT2232HQInterface, - processor: RadarProcessor, - packet_parser: RadarPacketParser, - settings: RadarSettings, - gps_data_ref: GPSData, + connection, # FT2232HConnection or ReplayConnection + processor: RadarProcessor | None = None, + recorder: DataRecorder | None = None, + gps_data_ref: GPSData | None = None, + settings: RadarSettings | None = None, parent=None, ): super().__init__(parent) - self._ft2232hq = ft2232hq + self._connection = connection self._processor = processor - self._parser = packet_parser - self._settings = settings + self._recorder = recorder 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) - if data: - buffer.extend(data) - self._byte_count += len(data) + # Poll for complete frames from production acquisition + frame: RadarFrame = self._frame_queue.get(timeout=0.1) + self._frame_count += 1 - # Parse as many packets as possible - while len(buffer) >= 6: - 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 + # Emit raw frame + self.frameReady.emit(frame) - pkt, consumed = result - buffer = buffer[consumed:] - self._packet_count += 1 + # Run host-side DSP if processor is configured + if self._processor is not None: + targets = self._run_host_dsp(frame) + if targets: + self.targetsUpdated.emit(targets) - # Process the packet - self._process_packet(pkt) - self.packetReceived.emit(pkt) + # Emit stats + self.statsUpdated.emit({ + "frames": self._frame_count, + "detection_count": frame.detection_count, + "errors": self._error_count, + }) - # Emit stats periodically - self.statsUpdated.emit({ - "packets": self._packet_count, - "bytes": self._byte_count, - "errors": self._error_count, - "active_tracks": len(self._processor.tracks), - "targets": len(self._processor.detected_targets), - }) - else: - self.msleep(10) - except Exception as e: + except queue.Empty: + 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): - """Route a parsed packet through the processing pipeline.""" - try: - if pkt["type"] == "range": - range_m = pkt["range"] * 0.1 - raw_elev = pkt["elevation"] + logger.info("RadarDataWorker stopped") + + def _on_status(self, status: StatusResponse): + """Callback from production RadarAcquisition on status packet.""" + self.statusReceived.emit(status) + + 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) - target = RadarTarget( - id=pkt["chirp"], - range=range_m, - velocity=0, - azimuth=pkt["azimuth"], - elevation=corr_elev, - snr=20.0, - timestamp=pkt["timestamp"], + # 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, ) - self._update_rdm(target) - elif pkt["type"] == "doppler": - lam = 3e8 / self._settings.system_frequency - velocity = (pkt["doppler_real"] / 32767.0) * ( - self._settings.prf1 * lam / 2 - ) - self._update_velocity(pkt, velocity) + target = RadarTarget( + id=len(targets), + range=range_m, + velocity=velocity_ms, + azimuth=azimuth, + elevation=corr_elev, + latitude=lat, + longitude=lon, + snr=snr, + timestamp=frame.timestamp, + ) + targets.append(target) - elif pkt["type"] == "detection": - 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}") + # DBSCAN clustering + if cfg.clustering_enabled and len(targets) > 0: + clusters = self._processor.clustering( + targets, cfg.clustering_eps, cfg.clustering_min_samples) + # Associate and track + if cfg.tracking_enabled: + targets = self._processor.association(targets, clusters) + self._processor.tracking(targets) - 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 + return targets # ============================================================================= @@ -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 diff --git a/9_Firmware/tests/cross_layer/.gitignore b/9_Firmware/tests/cross_layer/.gitignore new file mode 100644 index 0000000..3dbdaec --- /dev/null +++ b/9_Firmware/tests/cross_layer/.gitignore @@ -0,0 +1,12 @@ +# Simulation outputs (generated by iverilog TB) +cmd_results.txt +data_packet.txt +status_packet.txt +*.vcd +*.vvp + +# Compiled C stub +stm32_stub + +# Python +__pycache__/ diff --git a/9_Firmware/tests/cross_layer/contract_parser.py b/9_Firmware/tests/cross_layer/contract_parser.py new file mode 100644 index 0000000..a0220ff --- /dev/null +++ b/9_Firmware/tests/cross_layer/contract_parser.py @@ -0,0 +1,795 @@ +""" +Cross-layer contract parsers. + +Extracts interface contracts (opcodes, bit widths, reset defaults, packet +layouts) directly from the source files of each layer: + - Python GUI: radar_protocol.py + - FPGA RTL: radar_system_top.v, usb_data_interface_ft2232h.v, + usb_data_interface.v + - STM32 MCU: RadarSettings.cpp, main.cpp + +These parsers do NOT define the expected values — they discover what each +layer actually implements, so the test can compare layers against ground +truth and find bugs where both sides are wrong (like the 0x06 phantom +opcode or the status_words[0] 37-bit truncation). +""" + +from __future__ import annotations + +import re +from dataclasses import dataclass, field +from pathlib import Path + +# --------------------------------------------------------------------------- +# Repository layout (relative to repo root) +# --------------------------------------------------------------------------- +REPO_ROOT = Path(__file__).resolve().parents[3] +GUI_DIR = REPO_ROOT / "9_Firmware" / "9_3_GUI" +FPGA_DIR = REPO_ROOT / "9_Firmware" / "9_2_FPGA" +MCU_DIR = REPO_ROOT / "9_Firmware" / "9_1_Microcontroller" +MCU_LIB_DIR = MCU_DIR / "9_1_1_C_Cpp_Libraries" +MCU_CODE_DIR = MCU_DIR / "9_1_3_C_Cpp_Code" +XDC_DIR = FPGA_DIR / "constraints" + + +# =================================================================== +# Data structures +# =================================================================== + +@dataclass +class OpcodeEntry: + """One opcode as declared in a single layer.""" + name: str + value: int + register: str = "" # Verilog register name it writes to + bit_slice: str = "" # e.g. "[3:0]", "[15:0]", "[0]" + bit_width: int = 0 # derived from bit_slice + reset_default: int | None = None + is_pulse: bool = False # True for trigger/request opcodes + + +@dataclass +class StatusWordField: + """One field inside a status_words[] entry.""" + name: str + word_index: int + msb: int # bit position in the 32-bit word (0-indexed from LSB) + lsb: int + width: int + + +@dataclass +class DataPacketField: + """One field in the 11-byte data packet.""" + name: str + byte_start: int # first byte index (0 = header) + byte_end: int # last byte index (inclusive) + width_bits: int + + +@dataclass +class PacketConstants: + """Header/footer/size constants for a packet type.""" + header: int + footer: int + size: int + + +@dataclass +class SettingsField: + """One field in the STM32 SET...END settings packet.""" + name: str + offset: int # byte offset from start of payload (after "SET") + size: int # bytes + c_type: str # "double" or "uint32_t" + + +@dataclass +class GpioPin: + """A GPIO pin with direction.""" + name: str + pin_id: str # e.g. "PD8", "H11" + direction: str # "output" or "input" + layer: str # "stm32" or "fpga" + + +@dataclass +class ConcatWidth: + """Result of counting bits in a Verilog concatenation.""" + total_bits: int + target_bits: int # width of the register being assigned to + fragments: list[tuple[str, int]] = field(default_factory=list) + truncated: bool = False + + +# =================================================================== +# Python layer parser +# =================================================================== + +def parse_python_opcodes(filepath: Path | None = None) -> dict[int, OpcodeEntry]: + """Parse the Opcode enum from radar_protocol.py. + Returns {opcode_value: OpcodeEntry}. + """ + if filepath is None: + filepath = GUI_DIR / "radar_protocol.py" + text = filepath.read_text() + + # Find the Opcode class body + match = re.search(r'class Opcode\b.*?(?=\nclass |\Z)', text, re.DOTALL) + if not match: + raise ValueError(f"Could not find 'class Opcode' in {filepath}") + + opcodes: dict[int, OpcodeEntry] = {} + for m in re.finditer(r'(\w+)\s*=\s*(0x[0-9a-fA-F]+)', match.group()): + name = m.group(1) + value = int(m.group(2), 16) + opcodes[value] = OpcodeEntry(name=name, value=value) + return opcodes + + +def parse_python_packet_constants(filepath: Path | None = None) -> dict[str, PacketConstants]: + """Extract HEADER_BYTE, FOOTER_BYTE, STATUS_HEADER_BYTE, packet sizes.""" + if filepath is None: + filepath = GUI_DIR / "radar_protocol.py" + text = filepath.read_text() + + def _find(pattern: str) -> int: + m = re.search(pattern, text) + if not m: + raise ValueError(f"Pattern not found: {pattern}") + val = m.group(1) + return int(val, 16) if val.startswith("0x") else int(val) + + header = _find(r'HEADER_BYTE\s*=\s*(0x[0-9a-fA-F]+|\d+)') + footer = _find(r'FOOTER_BYTE\s*=\s*(0x[0-9a-fA-F]+|\d+)') + status_header = _find(r'STATUS_HEADER_BYTE\s*=\s*(0x[0-9a-fA-F]+|\d+)') + data_size = _find(r'DATA_PACKET_SIZE\s*=\s*(\d+)') + status_size = _find(r'STATUS_PACKET_SIZE\s*=\s*(\d+)') + + return { + "data": PacketConstants(header=header, footer=footer, size=data_size), + "status": PacketConstants(header=status_header, footer=footer, size=status_size), + } + + +def parse_python_data_packet_fields(filepath: Path | None = None) -> list[DataPacketField]: + """ + Extract byte offsets from parse_data_packet() by finding struct.unpack_from calls. + Returns fields in byte order. + """ + if filepath is None: + filepath = GUI_DIR / "radar_protocol.py" + text = filepath.read_text() + + # Find parse_data_packet method body + match = re.search( + r'def parse_data_packet\(.*?\).*?(?=\n @|\n def |\nclass |\Z)', + text, re.DOTALL + ) + if not match: + raise ValueError("Could not find parse_data_packet()") + + body = match.group() + fields: list[DataPacketField] = [] + + # Match patterns like: range_q = _to_signed16(struct.unpack_from(">H", raw, 1)[0]) + for m in re.finditer( + r'(\w+)\s*=\s*_to_signed16\(struct\.unpack_from\("(>[HIBhib])", raw, (\d+)\)', + body + ): + name = m.group(1) + fmt = m.group(2) + offset = int(m.group(3)) + fmt_char = fmt[-1].upper() + size = {"H": 2, "I": 4, "B": 1}[fmt_char] + fields.append(DataPacketField( + name=name, byte_start=offset, + byte_end=offset + size - 1, + width_bits=size * 8 + )) + + # Match detection = raw[9] & 0x01 + for m in re.finditer(r'(\w+)\s*=\s*raw\[(\d+)\]\s*&\s*(0x[0-9a-fA-F]+|\d+)', body): + name = m.group(1) + offset = int(m.group(2)) + fields.append(DataPacketField( + name=name, byte_start=offset, byte_end=offset, width_bits=1 + )) + + fields.sort(key=lambda f: f.byte_start) + return fields + + +def parse_python_status_fields(filepath: Path | None = None) -> list[StatusWordField]: + """ + Extract bit shift/mask operations from parse_status_packet(). + Returns the fields with word index and bit positions as Python sees them. + """ + if filepath is None: + filepath = GUI_DIR / "radar_protocol.py" + text = filepath.read_text() + + match = re.search( + r'def parse_status_packet\(.*?\).*?(?=\n @|\n def |\nclass |\Z)', + text, re.DOTALL + ) + if not match: + raise ValueError("Could not find parse_status_packet()") + + body = match.group() + fields: list[StatusWordField] = [] + + # Pattern: sr.field = (words[N] >> S) & MASK # noqa: ERA001 + for m in re.finditer( + r'sr\.(\w+)\s*=\s*\(words\[(\d+)\]\s*>>\s*(\d+)\)\s*&\s*(0x[0-9a-fA-F]+|\d+)', + body + ): + name = m.group(1) + word_idx = int(m.group(2)) + shift = int(m.group(3)) + mask_str = m.group(4) + mask = int(mask_str, 16) if mask_str.startswith("0x") else int(mask_str) + width = mask.bit_length() + fields.append(StatusWordField( + name=name, word_index=word_idx, + msb=shift + width - 1, lsb=shift, width=width + )) + + # Pattern: sr.field = words[N] & MASK (no shift) + for m in re.finditer( + r'sr\.(\w+)\s*=\s*words\[(\d+)\]\s*&\s*(0x[0-9a-fA-F]+|\d+)', + body + ): + name = m.group(1) + word_idx = int(m.group(2)) + mask_str = m.group(3) + mask = int(mask_str, 16) if mask_str.startswith("0x") else int(mask_str) + width = mask.bit_length() + # Skip if already captured by the shift pattern + if not any(f.name == name and f.word_index == word_idx for f in fields): + fields.append(StatusWordField( + name=name, word_index=word_idx, + msb=width - 1, lsb=0, width=width + )) + + return fields + + +# =================================================================== +# Verilog layer parser +# =================================================================== + +def _parse_bit_slice(s: str) -> int: + """Parse '[15:0]' -> 16, '[0]' -> 1, '' -> 16 (full cmd_value).""" + m = re.match(r'\[(\d+):(\d+)\]', s) + if m: + return int(m.group(1)) - int(m.group(2)) + 1 + m = re.match(r'\[(\d+)\]', s) + if m: + return 1 + return 16 # default: full 16-bit cmd_value + + +def parse_verilog_opcodes(filepath: Path | None = None) -> dict[int, OpcodeEntry]: + """ + Parse the opcode case statement from radar_system_top.v. + Returns {opcode_value: OpcodeEntry}. + """ + if filepath is None: + filepath = FPGA_DIR / "radar_system_top.v" + text = filepath.read_text() + + # Find the command decode case block + # Pattern: case statement with 8'hXX opcodes + opcodes: dict[int, OpcodeEntry] = {} + + # Pattern 1: Simple assignment — 8'hXX: register <= rhs; + for m in re.finditer( + r"8'h([0-9a-fA-F]{2})\s*:\s*(\w+)\s*<=\s*(.*?)(?:;|$)", + text, re.MULTILINE + ): + value = int(m.group(1), 16) + register = m.group(2) + rhs = m.group(3).strip() + + # Determine if it's a pulse (assigned literal 1) + is_pulse = rhs in ("1", "1'b1") + + # Extract bit slice from the RHS (e.g., usb_cmd_value[3:0]) + bit_slice = "" + slice_m = re.search(r'usb_cmd_value(\[\d+(?::\d+)?\])', rhs) + if slice_m: + bit_slice = slice_m.group(1) + elif "usb_cmd_value" in rhs: + bit_slice = "[15:0]" # full width + + bit_width = _parse_bit_slice(bit_slice) if bit_slice else 0 + + opcodes[value] = OpcodeEntry( + name=register, + value=value, + register=register, + bit_slice=bit_slice, + bit_width=bit_width, + is_pulse=is_pulse, + ) + + # Pattern 2: begin...end blocks — 8'hXX: begin ... register <= ... end + # These are used for opcodes with validation logic (e.g., 0x15 clamp) + for m in re.finditer( + r"8'h([0-9a-fA-F]{2})\s*:\s*begin\b(.*?)end\b", + text, re.DOTALL + ): + value = int(m.group(1), 16) + if value in opcodes: + continue # Already captured by pattern 1 + body = m.group(2) + + # Find the first register assignment (host_xxx <=) + assign_m = re.search(r'(host_\w+)\s*<=\s*(.+?);', body) + if not assign_m: + continue + + register = assign_m.group(1) + rhs = assign_m.group(2).strip() + + bit_slice = "" + slice_m = re.search(r'usb_cmd_value(\[\d+(?::\d+)?\])', body) + if slice_m: + bit_slice = slice_m.group(1) + elif "usb_cmd_value" in body: + bit_slice = "[15:0]" + + bit_width = _parse_bit_slice(bit_slice) if bit_slice else 0 + + opcodes[value] = OpcodeEntry( + name=register, + value=value, + register=register, + bit_slice=bit_slice, + bit_width=bit_width, + is_pulse=False, + ) + + return opcodes + + +def parse_verilog_reset_defaults(filepath: Path | None = None) -> dict[str, int]: + """ + Parse the reset block from radar_system_top.v. + Returns {register_name: reset_value}. + """ + if filepath is None: + filepath = FPGA_DIR / "radar_system_top.v" + text = filepath.read_text() + + defaults: dict[str, int] = {} + + # Match patterns like: host_radar_mode <= 2'b01; + # Also: host_detect_threshold <= 16'd10000; + for m in re.finditer( + r'(host_\w+)\s*<=\s*(\d+\'[bdho][0-9a-fA-F_]+|\d+)\s*;', + text + ): + reg = m.group(1) + val_str = m.group(2) + + # Parse Verilog literal + if "'" in val_str: + base_char = val_str.split("'")[1][0].lower() + digits = val_str.split("'")[1][1:].replace("_", "") + base = {"b": 2, "d": 10, "h": 16, "o": 8}[base_char] + value = int(digits, base) + else: + value = int(val_str) + + # Only keep first occurrence (the reset block comes before the + # opcode decode which also has <= assignments) + if reg not in defaults: + defaults[reg] = value + + return defaults + + +def parse_verilog_register_widths(filepath: Path | None = None) -> dict[str, int]: + """ + Parse register declarations from radar_system_top.v. + Returns {register_name: bit_width}. + """ + if filepath is None: + filepath = FPGA_DIR / "radar_system_top.v" + text = filepath.read_text() + + widths: dict[str, int] = {} + + # Match: reg [15:0] host_detect_threshold; + # Also: reg host_trigger_pulse; + for m in re.finditer( + r'reg\s+(?:\[\s*(\d+)\s*:\s*(\d+)\s*\]\s+)?(host_\w+)\s*;', + text + ): + width = int(m.group(1)) - int(m.group(2)) + 1 if m.group(1) is not None else 1 + widths[m.group(3)] = width + + return widths + + +def parse_verilog_packet_constants( + filepath: Path | None = None, +) -> dict[str, PacketConstants]: + """Extract HEADER, FOOTER, STATUS_HEADER, packet size localparams.""" + if filepath is None: + filepath = FPGA_DIR / "usb_data_interface_ft2232h.v" + text = filepath.read_text() + + def _find(pattern: str) -> int: + m = re.search(pattern, text) + if not m: + raise ValueError(f"Pattern not found in {filepath}: {pattern}") + val = m.group(1) + # Parse Verilog literals: 8'hAA → 0xAA, 5'd11 → 11 + vlog_m = re.match(r"\d+'h([0-9a-fA-F]+)", val) + if vlog_m: + return int(vlog_m.group(1), 16) + vlog_m = re.match(r"\d+'d(\d+)", val) + if vlog_m: + return int(vlog_m.group(1)) + return int(val, 16) if val.startswith("0x") else int(val) + + header_val = _find(r"localparam\s+HEADER\s*=\s*(\d+'h[0-9a-fA-F]+)") + footer_val = _find(r"localparam\s+FOOTER\s*=\s*(\d+'h[0-9a-fA-F]+)") + status_hdr = _find(r"localparam\s+STATUS_HEADER\s*=\s*(\d+'h[0-9a-fA-F]+)") + + data_size = _find(r"DATA_PKT_LEN\s*=\s*(\d+'d\d+)") + status_size = _find(r"STATUS_PKT_LEN\s*=\s*(\d+'d\d+)") + + return { + "data": PacketConstants(header=header_val, footer=footer_val, size=data_size), + "status": PacketConstants(header=status_hdr, footer=footer_val, size=status_size), + } + + +def count_concat_bits(concat_expr: str, port_widths: dict[str, int]) -> ConcatWidth: + """ + Count total bits in a Verilog concatenation expression like: + {8'hFF, 3'b000, status_radar_mode, 5'b00000, status_stream_ctrl, status_cfar_threshold} + + Uses port_widths to resolve signal widths. Returns ConcatWidth. + """ + # Remove outer braces + inner = concat_expr.strip().strip("{}") + fragments: list[tuple[str, int]] = [] + total = 0 + + for part in re.split(r',\s*', inner): + part = part.strip() + if not part: + continue + + # Literal: N'bXXX, N'dXXX, N'hXX, or just a decimal + lit_match = re.match(r"(\d+)'[bdhoBDHO]", part) + if lit_match: + w = int(lit_match.group(1)) + fragments.append((part, w)) + total += w + continue + + # Signal with bit select: sig[M:N] or sig[N] + sel_match = re.match(r'(\w+)\[(\d+):(\d+)\]', part) + if sel_match: + w = int(sel_match.group(2)) - int(sel_match.group(3)) + 1 + fragments.append((part, w)) + total += w + continue + + sel_match = re.match(r'(\w+)\[(\d+)\]', part) + if sel_match: + fragments.append((part, 1)) + total += 1 + continue + + # Bare signal: look up in port_widths + if part in port_widths: + w = port_widths[part] + fragments.append((part, w)) + total += w + else: + # Unknown width — flag it + fragments.append((part, -1)) + total = -1 # Can't compute + + return ConcatWidth( + total_bits=total, + target_bits=32, + fragments=fragments, + truncated=total > 32 if total > 0 else False, + ) + + +def parse_verilog_status_word_concats( + filepath: Path | None = None, +) -> dict[int, str]: + """ + Extract the raw concatenation expression for each status_words[N] assignment. + Returns {word_index: concat_expression_string}. + """ + if filepath is None: + filepath = FPGA_DIR / "usb_data_interface_ft2232h.v" + text = filepath.read_text() + + results: dict[int, str] = {} + + # Multi-line concat: status_words[N] <= {... }; + # We need to handle multi-line expressions + for m in re.finditer( + r'status_words\[(\d+)\]\s*<=\s*(\{[^;]+\})\s*;', + text, re.DOTALL + ): + idx = int(m.group(1)) + expr = m.group(2) + # Strip single-line comments before normalizing whitespace + expr = re.sub(r'//[^\n]*', '', expr) + # Normalize whitespace + expr = re.sub(r'\s+', ' ', expr).strip() + results[idx] = expr + + return results + + +def get_usb_interface_port_widths(filepath: Path | None = None) -> dict[str, int]: + """ + Parse port declarations from usb_data_interface_ft2232h.v module header. + Returns {port_name: bit_width}. + """ + if filepath is None: + filepath = FPGA_DIR / "usb_data_interface_ft2232h.v" + text = filepath.read_text() + + widths: dict[str, int] = {} + + # Match: input wire [15:0] status_cfar_threshold, + # Also: input wire status_self_test_busy + for m in re.finditer( + r'(?:input|output)\s+(?:wire|reg)\s+(?:\[\s*(\d+)\s*:\s*(\d+)\s*\]\s+)?(\w+)', + text + ): + width = int(m.group(1)) - int(m.group(2)) + 1 if m.group(1) is not None else 1 + widths[m.group(3)] = width + + return widths + + +def parse_verilog_data_mux( + filepath: Path | None = None, +) -> list[DataPacketField]: + """ + Parse the data_pkt_byte mux from usb_data_interface_ft2232h.v. + Returns fields with byte positions and signal names. + """ + if filepath is None: + filepath = FPGA_DIR / "usb_data_interface_ft2232h.v" + text = filepath.read_text() + + # Find the data mux case block + match = re.search( + r'always\s+@\(\*\)\s+begin\s+case\s*\(wr_byte_idx\)(.*?)endcase', + text, re.DOTALL + ) + if not match: + raise ValueError("Could not find data_pkt_byte mux") + + mux_body = match.group(1) + entries: list[tuple[int, str]] = [] + + for m in re.finditer( + r"5'd(\d+)\s*:\s*data_pkt_byte\s*=\s*(.+?);", + mux_body + ): + idx = int(m.group(1)) + expr = m.group(2).strip() + entries.append((idx, expr)) + + # Group consecutive bytes by signal root name + fields: list[DataPacketField] = [] + i = 0 + while i < len(entries): + idx, expr = entries[i] + if expr == "HEADER" or expr == "FOOTER": + i += 1 + continue + + # Extract signal name (e.g., range_profile_cap from range_profile_cap[31:24]) + sig_match = re.match(r'(\w+?)(?:\[|$)', expr) + if not sig_match: + i += 1 + continue + + signal = sig_match.group(1) + start_byte = idx + end_byte = idx + + # Find consecutive bytes of the same signal + j = i + 1 + while j < len(entries): + next_idx, next_expr = entries[j] + if next_expr.startswith(signal): + end_byte = next_idx + j += 1 + else: + break + + n_bytes = end_byte - start_byte + 1 + fields.append(DataPacketField( + name=signal.replace("_cap", ""), + byte_start=start_byte, + byte_end=end_byte, + width_bits=n_bytes * 8, + )) + i = j + + return fields + + +# =================================================================== +# STM32 / C layer parser +# =================================================================== + +def parse_stm32_settings_fields( + filepath: Path | None = None, +) -> list[SettingsField]: + """ + Parse RadarSettings::parseFromUSB to extract field order, offsets, types. + """ + if filepath is None: + filepath = MCU_LIB_DIR / "RadarSettings.cpp" + + if not filepath.exists(): + return [] # MCU code not available (CI might not have it) + + text = filepath.read_text(encoding="latin-1") + + fields: list[SettingsField] = [] + + # Look for memcpy + shift patterns that extract doubles and uint32s + # Pattern for doubles: loop reading 8 bytes big-endian + # Pattern for uint32: 4 bytes big-endian + # We'll parse the assignment targets in order + + # Find the parseFromUSB function + match = re.search( + r'parseFromUSB\s*\(.*?\)\s*\{(.*?)^\}', + text, re.DOTALL | re.MULTILINE + ) + if not match: + return fields + + body = match.group(1) + + # The fields are extracted sequentially from the payload. + # Look for variable assignments that follow the memcpy/extraction pattern. + # Based on known code: extractDouble / extractUint32 patterns + field_names = [ + ("system_frequency", 8, "double"), + ("chirp_duration_1", 8, "double"), + ("chirp_duration_2", 8, "double"), + ("chirps_per_position", 4, "uint32_t"), + ("freq_min", 8, "double"), + ("freq_max", 8, "double"), + ("prf1", 8, "double"), + ("prf2", 8, "double"), + ("max_distance", 8, "double"), + ("map_size", 8, "double"), + ] + + offset = 0 + for name, size, ctype in field_names: + # Verify the field name appears in the function body + if name in body or name.replace("_", "") in body.lower(): + fields.append(SettingsField( + name=name, offset=offset, size=size, c_type=ctype + )) + offset += size + + return fields + + +def parse_stm32_start_flag( + filepath: Path | None = None, +) -> list[int]: + """Parse the USB start flag bytes from USBHandler.cpp.""" + if filepath is None: + filepath = MCU_LIB_DIR / "USBHandler.cpp" + + if not filepath.exists(): + return [] + + text = filepath.read_text() + + # Look for the start flag array, e.g. {23, 46, 158, 237} + match = re.search(r'start_flag.*?=\s*\{([^}]+)\}', text, re.DOTALL) + if not match: + # Try alternate patterns + match = re.search(r'\{(\s*\d+\s*,\s*\d+\s*,\s*\d+\s*,\s*\d+\s*)\}', text) + if not match: + return [] + + return [int(x.strip()) for x in match.group(1).split(",") if x.strip().isdigit()] + + +# =================================================================== +# GPIO parser +# =================================================================== + +def parse_xdc_gpio_pins(filepath: Path | None = None) -> list[GpioPin]: + """Parse XDC constraints for DIG_* pin assignments.""" + if filepath is None: + filepath = XDC_DIR / "xc7a50t_ftg256.xdc" + + if not filepath.exists(): + return [] + + text = filepath.read_text() + pins: list[GpioPin] = [] + + # Match: set_property PACKAGE_PIN XX [get_ports {signal_name}] + for m in re.finditer( + r'set_property\s+PACKAGE_PIN\s+(\w+)\s+\[get_ports\s+\{?(\w+)\}?\]', + text + ): + pin = m.group(1) + signal = m.group(2) + if any(kw in signal for kw in ("stm32_", "reset_n", "dig_")): + # Determine direction from signal name + if signal in ("stm32_new_chirp", "stm32_new_elevation", + "stm32_new_azimuth", "stm32_mixers_enable"): + direction = "input" # FPGA receives these + elif signal == "reset_n": + direction = "input" + else: + direction = "unknown" + pins.append(GpioPin( + name=signal, pin_id=pin, direction=direction, layer="fpga" + )) + + return pins + + +def parse_stm32_gpio_init(filepath: Path | None = None) -> list[GpioPin]: + """Parse STM32 GPIO initialization for PD8-PD15 directions.""" + if filepath is None: + filepath = MCU_CODE_DIR / "main.cpp" + + if not filepath.exists(): + return [] + + text = filepath.read_text() + pins: list[GpioPin] = [] + + # Look for GPIO_InitStruct.Pin and GPIO_InitStruct.Mode patterns + # This is approximate — STM32 HAL GPIO init is complex + # Look for PD8-PD15 configuration (output vs input) + + # Pattern: GPIO_PIN_8 | GPIO_PIN_9 ... with Mode = OUTPUT + # We'll find blocks that configure GPIOD pins + for m in re.finditer( + r'GPIO_InitStruct\.Pin\s*=\s*([^;]+);.*?' + r'GPIO_InitStruct\.Mode\s*=\s*(\w+)', + text, re.DOTALL + ): + pin_expr = m.group(1) + mode = m.group(2) + + direction = "output" if "OUTPUT" in mode else "input" + + # Extract individual pin numbers + for pin_m in re.finditer(r'GPIO_PIN_(\d+)', pin_expr): + pin_num = int(pin_m.group(1)) + if 8 <= pin_num <= 15: + pins.append(GpioPin( + name=f"PD{pin_num}", + pin_id=f"PD{pin_num}", + direction=direction, + layer="stm32" + )) + + return pins diff --git a/9_Firmware/tests/cross_layer/stm32_settings_stub.cpp b/9_Firmware/tests/cross_layer/stm32_settings_stub.cpp new file mode 100644 index 0000000..853b327 --- /dev/null +++ b/9_Firmware/tests/cross_layer/stm32_settings_stub.cpp @@ -0,0 +1,86 @@ +/** + * stm32_settings_stub.cpp + * + * Standalone stub that wraps the real RadarSettings class. + * Reads a binary settings packet from a file (argv[1]), + * parses it using RadarSettings::parseFromUSB(), and prints + * all parsed field=value pairs to stdout. + * + * Compile: c++ -std=c++11 -o stm32_settings_stub stm32_settings_stub.cpp \ + * ../../9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.cpp \ + * -I../../9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ + * + * Usage: ./stm32_settings_stub packet.bin + * Prints: field=value lines (one per field) + * Exit code: 0 if parse succeeded, 1 if failed + */ + +#include "RadarSettings.h" +#include +#include + +int main(int argc, char* argv[]) { + if (argc != 2) { + fprintf(stderr, "Usage: %s \n", argv[0]); + return 2; + } + + // Read binary packet from file + FILE* f = fopen(argv[1], "rb"); + if (!f) { + fprintf(stderr, "ERROR: Cannot open %s\n", argv[1]); + return 2; + } + + fseek(f, 0, SEEK_END); + long file_size = ftell(f); + fseek(f, 0, SEEK_SET); + + if (file_size <= 0 || file_size > 4096) { + fprintf(stderr, "ERROR: Invalid file size %ld\n", file_size); + fclose(f); + return 2; + } + + uint8_t* buf = (uint8_t*)malloc(file_size); + if (!buf) { + fprintf(stderr, "ERROR: malloc failed\n"); + fclose(f); + return 2; + } + + size_t nread = fread(buf, 1, file_size, f); + fclose(f); + + if ((long)nread != file_size) { + fprintf(stderr, "ERROR: Short read (%zu of %ld)\n", nread, file_size); + free(buf); + return 2; + } + + // Parse using the real RadarSettings class + RadarSettings settings; + bool ok = settings.parseFromUSB(buf, (uint32_t)file_size); + free(buf); + + if (!ok) { + printf("parse_ok=false\n"); + return 1; + } + + // Print all fields with full precision + // Python orchestrator will compare these against expected values + printf("parse_ok=true\n"); + printf("system_frequency=%.17g\n", settings.getSystemFrequency()); + printf("chirp_duration_1=%.17g\n", settings.getChirpDuration1()); + printf("chirp_duration_2=%.17g\n", settings.getChirpDuration2()); + printf("chirps_per_position=%u\n", settings.getChirpsPerPosition()); + printf("freq_min=%.17g\n", settings.getFreqMin()); + printf("freq_max=%.17g\n", settings.getFreqMax()); + printf("prf1=%.17g\n", settings.getPRF1()); + printf("prf2=%.17g\n", settings.getPRF2()); + printf("max_distance=%.17g\n", settings.getMaxDistance()); + printf("map_size=%.17g\n", settings.getMapSize()); + + return 0; +} diff --git a/9_Firmware/tests/cross_layer/tb_cross_layer_ft2232h.v b/9_Firmware/tests/cross_layer/tb_cross_layer_ft2232h.v new file mode 100644 index 0000000..94d0a82 --- /dev/null +++ b/9_Firmware/tests/cross_layer/tb_cross_layer_ft2232h.v @@ -0,0 +1,714 @@ +`timescale 1ns / 1ps + +/** + * tb_cross_layer_ft2232h.v + * + * Cross-layer contract testbench for the FT2232H USB interface. + * Exercises three packet types with known distinctive values and dumps + * captured bytes to text files that the Python orchestrator can parse. + * + * Exercise A: Command round-trip (Host -> FPGA) + * - Send every opcode through the 4-byte read FSM + * - Dump cmd_opcode, cmd_addr, cmd_value to cmd_results.txt + * + * Exercise B: Data packet generation (FPGA -> Host) + * - Inject known range/doppler/cfar values + * - Capture all 11 output bytes + * - Dump to data_packet.txt + * + * Exercise C: Status packet generation (FPGA -> Host) + * - Set all status inputs to known non-zero values + * - Trigger status request + * - Capture all 26 output bytes + * - Dump to status_packet.txt + */ + +module tb_cross_layer_ft2232h; + + // Clock periods + localparam CLK_PERIOD = 10.0; // 100 MHz system clock + localparam FT_CLK_PERIOD = 16.67; // 60 MHz FT2232H clock + + // ---- Signals ---- + reg clk; + reg reset_n; + reg ft_reset_n; + + // Radar data inputs + reg [31:0] range_profile; + reg range_valid; + reg [15:0] doppler_real; + reg [15:0] doppler_imag; + reg doppler_valid; + reg cfar_detection; + reg cfar_valid; + + // FT2232H physical interface + wire [7:0] ft_data; + reg ft_rxf_n; + reg ft_txe_n; + wire ft_rd_n; + wire ft_wr_n; + wire ft_oe_n; + wire ft_siwu; + reg ft_clk; + + // Host-side bus driver (for command injection) + reg [7:0] host_data_drive; + reg host_data_drive_en; + assign ft_data = host_data_drive_en ? host_data_drive : 8'hZZ; + + // Pulldown to avoid X during idle + pulldown pd[7:0] (ft_data); + + // DUT command outputs + wire [31:0] cmd_data; + wire cmd_valid; + wire [7:0] cmd_opcode; + wire [7:0] cmd_addr; + wire [15:0] cmd_value; + + // Stream control + reg [2:0] stream_control; + + // Status inputs + reg status_request; + reg [15:0] status_cfar_threshold; + reg [2:0] status_stream_ctrl; + reg [1:0] status_radar_mode; + reg [15:0] status_long_chirp; + reg [15:0] status_long_listen; + reg [15:0] status_guard; + reg [15:0] status_short_chirp; + reg [15:0] status_short_listen; + reg [5:0] status_chirps_per_elev; + reg [1:0] status_range_mode; + reg [4:0] status_self_test_flags; + reg [7:0] status_self_test_detail; + reg status_self_test_busy; + reg [3:0] status_agc_current_gain; + reg [7:0] status_agc_peak_magnitude; + reg [7:0] status_agc_saturation_count; + reg status_agc_enable; + + // ---- Clock generators ---- + always #(CLK_PERIOD / 2) clk = ~clk; + always #(FT_CLK_PERIOD / 2) ft_clk = ~ft_clk; + + // ---- DUT instantiation ---- + usb_data_interface_ft2232h uut ( + .clk (clk), + .reset_n (reset_n), + .ft_reset_n (ft_reset_n), + .range_profile (range_profile), + .range_valid (range_valid), + .doppler_real (doppler_real), + .doppler_imag (doppler_imag), + .doppler_valid (doppler_valid), + .cfar_detection (cfar_detection), + .cfar_valid (cfar_valid), + .ft_data (ft_data), + .ft_rxf_n (ft_rxf_n), + .ft_txe_n (ft_txe_n), + .ft_rd_n (ft_rd_n), + .ft_wr_n (ft_wr_n), + .ft_oe_n (ft_oe_n), + .ft_siwu (ft_siwu), + .ft_clk (ft_clk), + .cmd_data (cmd_data), + .cmd_valid (cmd_valid), + .cmd_opcode (cmd_opcode), + .cmd_addr (cmd_addr), + .cmd_value (cmd_value), + .stream_control (stream_control), + .status_request (status_request), + .status_cfar_threshold (status_cfar_threshold), + .status_stream_ctrl (status_stream_ctrl), + .status_radar_mode (status_radar_mode), + .status_long_chirp (status_long_chirp), + .status_long_listen (status_long_listen), + .status_guard (status_guard), + .status_short_chirp (status_short_chirp), + .status_short_listen (status_short_listen), + .status_chirps_per_elev (status_chirps_per_elev), + .status_range_mode (status_range_mode), + .status_self_test_flags (status_self_test_flags), + .status_self_test_detail(status_self_test_detail), + .status_self_test_busy (status_self_test_busy), + .status_agc_current_gain (status_agc_current_gain), + .status_agc_peak_magnitude (status_agc_peak_magnitude), + .status_agc_saturation_count(status_agc_saturation_count), + .status_agc_enable (status_agc_enable) + ); + + // ---- Test bookkeeping ---- + integer pass_count; + integer fail_count; + integer test_num; + integer cmd_file; + integer data_file; + integer status_file; + + // ---- Check task ---- + task check; + input cond; + input [511:0] label; + begin + test_num = test_num + 1; + if (cond) begin + $display("[PASS] Test %0d: %0s", test_num, label); + pass_count = pass_count + 1; + end else begin + $display("[FAIL] Test %0d: %0s", test_num, label); + fail_count = fail_count + 1; + end + end + endtask + + // ---- Helper: apply reset ---- + task apply_reset; + begin + reset_n = 0; + ft_reset_n = 0; + range_profile = 32'h0; + range_valid = 0; + doppler_real = 16'h0; + doppler_imag = 16'h0; + doppler_valid = 0; + cfar_detection = 0; + cfar_valid = 0; + ft_rxf_n = 1; // No host data available + ft_txe_n = 0; // TX FIFO ready + host_data_drive = 8'h0; + host_data_drive_en = 0; + stream_control = 3'b111; + status_request = 0; + status_cfar_threshold = 16'd0; + status_stream_ctrl = 3'b000; + status_radar_mode = 2'b00; + status_long_chirp = 16'd0; + status_long_listen = 16'd0; + status_guard = 16'd0; + status_short_chirp = 16'd0; + status_short_listen = 16'd0; + status_chirps_per_elev = 6'd0; + status_range_mode = 2'b00; + status_self_test_flags = 5'b00000; + status_self_test_detail = 8'd0; + status_self_test_busy = 1'b0; + status_agc_current_gain = 4'd0; + status_agc_peak_magnitude = 8'd0; + status_agc_saturation_count = 8'd0; + status_agc_enable = 1'b0; + repeat (6) @(posedge ft_clk); + reset_n = 1; + ft_reset_n = 1; + // Wait for stream_control CDC to propagate + repeat (8) @(posedge ft_clk); + end + endtask + + // ---- Helper: send one 4-byte command via FT2232H read path ---- + // + // FT2232H read FSM cycle-by-cycle: + // Cycle 0 (RD_IDLE): sees !ft_rxf_n → ft_oe_n<=0, → RD_OE_ASSERT + // Cycle 1 (RD_OE_ASSERT): sees !ft_rxf_n → ft_rd_n<=0, → RD_READING + // Cycle 2 (RD_READING): samples ft_data=byte0, cnt 0→1 + // Cycle 3 (RD_READING): samples ft_data=byte1, cnt 1→2 + // Cycle 4 (RD_READING): samples ft_data=byte2, cnt 2→3 + // Cycle 5 (RD_READING): samples ft_data=byte3, cnt=3→0, → RD_DEASSERT + // Cycle 6 (RD_DEASSERT): ft_oe_n<=1, → RD_PROCESS + // Cycle 7 (RD_PROCESS): cmd_valid<=1, decode, → RD_IDLE + // + // Data must be stable BEFORE the sampling posedge. We use #1 after + // posedge to change data in the "delta after" region. + task send_command_ft2232h; + input [7:0] byte0; // opcode + input [7:0] byte1; // addr + input [7:0] byte2; // value_hi + input [7:0] byte3; // value_lo + begin + // Pre-drive byte0 and signal data available + @(posedge ft_clk); #1; + host_data_drive = byte0; + host_data_drive_en = 1; + ft_rxf_n = 0; + + // Cycle 0: RD_IDLE sees !ft_rxf_n, goes to OE_ASSERT + @(posedge ft_clk); #1; + + // Cycle 1: RD_OE_ASSERT, ft_rd_n goes low, goes to RD_READING + @(posedge ft_clk); #1; + + // Cycle 2: RD_READING, byte0 is sampled, cnt 0→1 + // Now change to byte1 for next sample + @(posedge ft_clk); #1; + host_data_drive = byte1; + + // Cycle 3: RD_READING, byte1 is sampled, cnt 1→2 + @(posedge ft_clk); #1; + host_data_drive = byte2; + + // Cycle 4: RD_READING, byte2 is sampled, cnt 2→3 + @(posedge ft_clk); #1; + host_data_drive = byte3; + + // Cycle 5: RD_READING, byte3 is sampled, cnt=3, → RD_DEASSERT + @(posedge ft_clk); #1; + + // Cycle 6: RD_DEASSERT, ft_oe_n←1, → RD_PROCESS + @(posedge ft_clk); #1; + + // Cycle 7: RD_PROCESS, cmd decoded, cmd_valid←1, → RD_IDLE + @(posedge ft_clk); #1; + + // cmd_valid was asserted at cycle 7's posedge. cmd_opcode/addr/value + // are now valid (registered outputs hold until next RD_PROCESS). + + // Release bus + host_data_drive_en = 0; + host_data_drive = 8'h0; + ft_rxf_n = 1; + + // Settle + repeat (2) @(posedge ft_clk); + end + endtask + + // ---- Helper: capture N write bytes from the DUT ---- + // Monitors ft_wr_n and ft_data_out, captures bytes into array. + // Used for data packets (11 bytes) and status packets (26 bytes). + reg [7:0] captured_bytes [0:31]; + integer capture_count; + + task capture_write_bytes; + input integer expected_count; + integer timeout; + begin + capture_count = 0; + timeout = 0; + + while (capture_count < expected_count && timeout < 2000) begin + @(posedge ft_clk); #1; + timeout = timeout + 1; + // DUT drives byte when ft_wr_n=0 and ft_data_oe=1 + // Sample AFTER posedge so registered outputs are settled + if (!ft_wr_n && uut.ft_data_oe) begin + captured_bytes[capture_count] = uut.ft_data_out; + capture_count = capture_count + 1; + end + end + end + endtask + + // ---- Helper: pulse range_valid with CDC wait ---- + // Toggle CDC needs 3 sync stages + edge detect = 4+ ft_clk cycles. + // Use 12 for safety margin. + task assert_range_valid; + input [31:0] data; + begin + @(posedge clk); #1; + range_profile = data; + range_valid = 1; + @(posedge clk); #1; + range_valid = 0; + // Wait for toggle CDC propagation + repeat (12) @(posedge ft_clk); + end + endtask + + // ---- Helper: pulse doppler_valid ---- + task pulse_doppler; + input [15:0] dr; + input [15:0] di; + begin + @(posedge clk); #1; + doppler_real = dr; + doppler_imag = di; + doppler_valid = 1; + @(posedge clk); #1; + doppler_valid = 0; + repeat (12) @(posedge ft_clk); + end + endtask + + // ---- Helper: pulse cfar_valid ---- + task pulse_cfar; + input det; + begin + @(posedge clk); #1; + cfar_detection = det; + cfar_valid = 1; + @(posedge clk); #1; + cfar_valid = 0; + repeat (12) @(posedge ft_clk); + end + endtask + + // ---- Helper: pulse status_request ---- + task pulse_status_request; + begin + @(posedge clk); #1; + status_request = 1; + @(posedge clk); #1; + status_request = 0; + // Wait for toggle CDC propagation + repeat (12) @(posedge ft_clk); + end + endtask + + // ================================================================ + // Main stimulus + // ================================================================ + integer i; + + initial begin + $dumpfile("tb_cross_layer_ft2232h.vcd"); + $dumpvars(0, tb_cross_layer_ft2232h); + + clk = 0; + ft_clk = 0; + pass_count = 0; + fail_count = 0; + test_num = 0; + + // ============================================================ + // EXERCISE A: Command Round-Trip + // Send commands with known opcode/addr/value, verify decoding. + // Dump results to cmd_results.txt for Python validation. + // ============================================================ + $display("\n=== EXERCISE A: Command Round-Trip ==="); + apply_reset; + + cmd_file = $fopen("cmd_results.txt", "w"); + $fwrite(cmd_file, "# opcode_sent addr_sent value_sent opcode_got addr_got value_got\n"); + + // Test all real opcodes from radar_system_top.v + // Format: opcode, addr=0x00, value + + // Basic control + send_command_ft2232h(8'h01, 8'h00, 8'h00, 8'h02); // RADAR_MODE=2 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h01, 8'h00, 16'h0002, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h01 && cmd_value === 16'h0002, + "Cmd 0x01: RADAR_MODE=2"); + + send_command_ft2232h(8'h02, 8'h00, 8'h00, 8'h01); // TRIGGER_PULSE + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h02, 8'h00, 16'h0001, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h02 && cmd_value === 16'h0001, + "Cmd 0x02: TRIGGER_PULSE"); + + send_command_ft2232h(8'h03, 8'h00, 8'h27, 8'h10); // DETECT_THRESHOLD=10000 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h03, 8'h00, 16'h2710, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h03 && cmd_value === 16'h2710, + "Cmd 0x03: DETECT_THRESHOLD=10000"); + + send_command_ft2232h(8'h04, 8'h00, 8'h00, 8'h07); // STREAM_CONTROL=7 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h04, 8'h00, 16'h0007, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h04 && cmd_value === 16'h0007, + "Cmd 0x04: STREAM_CONTROL=7"); + + // Chirp timing + send_command_ft2232h(8'h10, 8'h00, 8'h0B, 8'hB8); // LONG_CHIRP=3000 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h10, 8'h00, 16'h0BB8, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h10 && cmd_value === 16'h0BB8, + "Cmd 0x10: LONG_CHIRP=3000"); + + send_command_ft2232h(8'h11, 8'h00, 8'h35, 8'h84); // LONG_LISTEN=13700 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h11, 8'h00, 16'h3584, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h11 && cmd_value === 16'h3584, + "Cmd 0x11: LONG_LISTEN=13700"); + + send_command_ft2232h(8'h12, 8'h00, 8'h44, 8'h84); // GUARD=17540 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h12, 8'h00, 16'h4484, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h12 && cmd_value === 16'h4484, + "Cmd 0x12: GUARD=17540"); + + send_command_ft2232h(8'h13, 8'h00, 8'h00, 8'h32); // SHORT_CHIRP=50 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h13, 8'h00, 16'h0032, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h13 && cmd_value === 16'h0032, + "Cmd 0x13: SHORT_CHIRP=50"); + + send_command_ft2232h(8'h14, 8'h00, 8'h44, 8'h2A); // SHORT_LISTEN=17450 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h14, 8'h00, 16'h442A, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h14 && cmd_value === 16'h442A, + "Cmd 0x14: SHORT_LISTEN=17450"); + + send_command_ft2232h(8'h15, 8'h00, 8'h00, 8'h20); // CHIRPS_PER_ELEV=32 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h15, 8'h00, 16'h0020, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h15 && cmd_value === 16'h0020, + "Cmd 0x15: CHIRPS_PER_ELEV=32"); + + // Digital gain + send_command_ft2232h(8'h16, 8'h00, 8'h00, 8'h05); // GAIN_SHIFT=5 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h16, 8'h00, 16'h0005, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h16 && cmd_value === 16'h0005, + "Cmd 0x16: GAIN_SHIFT=5"); + + // Signal processing + send_command_ft2232h(8'h20, 8'h00, 8'h00, 8'h01); // RANGE_MODE=1 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h20, 8'h00, 16'h0001, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h20 && cmd_value === 16'h0001, + "Cmd 0x20: RANGE_MODE=1"); + + send_command_ft2232h(8'h21, 8'h00, 8'h00, 8'h03); // CFAR_GUARD=3 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h21, 8'h00, 16'h0003, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h21 && cmd_value === 16'h0003, + "Cmd 0x21: CFAR_GUARD=3"); + + send_command_ft2232h(8'h22, 8'h00, 8'h00, 8'h0C); // CFAR_TRAIN=12 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h22, 8'h00, 16'h000C, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h22 && cmd_value === 16'h000C, + "Cmd 0x22: CFAR_TRAIN=12"); + + send_command_ft2232h(8'h23, 8'h00, 8'h00, 8'h30); // CFAR_ALPHA=0x30 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h23, 8'h00, 16'h0030, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h23 && cmd_value === 16'h0030, + "Cmd 0x23: CFAR_ALPHA=0x30"); + + send_command_ft2232h(8'h24, 8'h00, 8'h00, 8'h01); // CFAR_MODE=1 (GO) + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h24, 8'h00, 16'h0001, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h24 && cmd_value === 16'h0001, + "Cmd 0x24: CFAR_MODE=1"); + + send_command_ft2232h(8'h25, 8'h00, 8'h00, 8'h01); // CFAR_ENABLE=1 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h25, 8'h00, 16'h0001, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h25 && cmd_value === 16'h0001, + "Cmd 0x25: CFAR_ENABLE=1"); + + send_command_ft2232h(8'h26, 8'h00, 8'h00, 8'h01); // MTI_ENABLE=1 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h26, 8'h00, 16'h0001, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h26 && cmd_value === 16'h0001, + "Cmd 0x26: MTI_ENABLE=1"); + + send_command_ft2232h(8'h27, 8'h00, 8'h00, 8'h03); // DC_NOTCH_WIDTH=3 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h27, 8'h00, 16'h0003, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h27 && cmd_value === 16'h0003, + "Cmd 0x27: DC_NOTCH_WIDTH=3"); + + // AGC registers (0x28-0x2C) + send_command_ft2232h(8'h28, 8'h00, 8'h00, 8'h01); // AGC_ENABLE=1 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h28, 8'h00, 16'h0001, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h28 && cmd_value === 16'h0001, + "Cmd 0x28: AGC_ENABLE=1"); + + send_command_ft2232h(8'h29, 8'h00, 8'h00, 8'hC8); // AGC_TARGET=200 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h29, 8'h00, 16'h00C8, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h29 && cmd_value === 16'h00C8, + "Cmd 0x29: AGC_TARGET=200"); + + send_command_ft2232h(8'h2A, 8'h00, 8'h00, 8'h02); // AGC_ATTACK=2 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h2A, 8'h00, 16'h0002, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h2A && cmd_value === 16'h0002, + "Cmd 0x2A: AGC_ATTACK=2"); + + send_command_ft2232h(8'h2B, 8'h00, 8'h00, 8'h03); // AGC_DECAY=3 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h2B, 8'h00, 16'h0003, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h2B && cmd_value === 16'h0003, + "Cmd 0x2B: AGC_DECAY=3"); + + send_command_ft2232h(8'h2C, 8'h00, 8'h00, 8'h06); // AGC_HOLDOFF=6 + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h2C, 8'h00, 16'h0006, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h2C && cmd_value === 16'h0006, + "Cmd 0x2C: AGC_HOLDOFF=6"); + + // Self-test / status + send_command_ft2232h(8'h30, 8'h00, 8'h00, 8'h01); // SELF_TEST_TRIGGER + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h30, 8'h00, 16'h0001, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h30 && cmd_value === 16'h0001, + "Cmd 0x30: SELF_TEST_TRIGGER"); + + send_command_ft2232h(8'h31, 8'h00, 8'h00, 8'h01); // SELF_TEST_STATUS + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h31, 8'h00, 16'h0001, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h31 && cmd_value === 16'h0001, + "Cmd 0x31: SELF_TEST_STATUS"); + + send_command_ft2232h(8'hFF, 8'h00, 8'h00, 8'h00); // STATUS_REQUEST + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'hFF, 8'h00, 16'h0000, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'hFF && cmd_value === 16'h0000, + "Cmd 0xFF: STATUS_REQUEST"); + + // Non-zero addr test + send_command_ft2232h(8'h01, 8'hAB, 8'hCD, 8'hEF); // addr=0xAB, value=0xCDEF + $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n", + 8'h01, 8'hAB, 16'hCDEF, cmd_opcode, cmd_addr, cmd_value); + check(cmd_opcode === 8'h01 && cmd_addr === 8'hAB && cmd_value === 16'hCDEF, + "Cmd 0x01 with addr=0xAB, value=0xCDEF"); + + $fclose(cmd_file); + + // ============================================================ + // EXERCISE B: Data Packet Generation + // Inject known values, capture 11-byte output. + // ============================================================ + $display("\n=== EXERCISE B: Data Packet Generation ==="); + apply_reset; + ft_txe_n = 0; // TX FIFO ready + + // Use distinctive values that make truncation/swap bugs obvious + // range_profile = {Q[15:0], I[15:0]} = {0xCAFE, 0xBEEF} + // doppler_real = 0x1234, doppler_imag = 0x5678 + // cfar_detection = 1 + + // First inject doppler and cfar so pending flags are set + pulse_doppler(16'h1234, 16'h5678); + pulse_cfar(1'b1); + + // Now inject range_valid which triggers the write FSM. + // CRITICAL: Must capture bytes IN PARALLEL with the trigger, + // because the write FSM starts sending bytes ~3-4 ft_clk cycles + // after the toggle CDC propagates. If we wait for CDC propagation + // first, capture_write_bytes misses the early bytes. + fork + assert_range_valid(32'hCAFE_BEEF); + capture_write_bytes(11); + join + + check(capture_count === 11, + "Data packet: captured 11 bytes"); + + // Dump captured bytes to file + data_file = $fopen("data_packet.txt", "w"); + $fwrite(data_file, "# byte_index hex_value\n"); + for (i = 0; i < capture_count; i = i + 1) begin + $fwrite(data_file, "%0d %02x\n", i, captured_bytes[i]); + end + $fclose(data_file); + + // Verify locally too + check(captured_bytes[0] === 8'hAA, + "Data pkt: byte 0 = 0xAA (header)"); + check(captured_bytes[1] === 8'hCA, + "Data pkt: byte 1 = 0xCA (range MSB = Q high)"); + check(captured_bytes[2] === 8'hFE, + "Data pkt: byte 2 = 0xFE (range Q low)"); + check(captured_bytes[3] === 8'hBE, + "Data pkt: byte 3 = 0xBE (range I high)"); + check(captured_bytes[4] === 8'hEF, + "Data pkt: byte 4 = 0xEF (range I low)"); + check(captured_bytes[5] === 8'h12, + "Data pkt: byte 5 = 0x12 (doppler_real MSB)"); + check(captured_bytes[6] === 8'h34, + "Data pkt: byte 6 = 0x34 (doppler_real LSB)"); + check(captured_bytes[7] === 8'h56, + "Data pkt: byte 7 = 0x56 (doppler_imag MSB)"); + check(captured_bytes[8] === 8'h78, + "Data pkt: byte 8 = 0x78 (doppler_imag LSB)"); + check(captured_bytes[9] === 8'h01, + "Data pkt: byte 9 = 0x01 (cfar_detection=1)"); + check(captured_bytes[10] === 8'h55, + "Data pkt: byte 10 = 0x55 (footer)"); + + // ============================================================ + // EXERCISE C: Status Packet Generation + // Set known status values, trigger readback, capture 26 bytes. + // Uses distinctive non-zero values to detect truncation/swap. + // ============================================================ + $display("\n=== EXERCISE C: Status Packet Generation ==="); + apply_reset; + ft_txe_n = 0; + + // Set known distinctive status values + status_cfar_threshold = 16'hABCD; + status_stream_ctrl = 3'b101; + status_radar_mode = 2'b11; // Use 0b11 to test both bits + status_long_chirp = 16'h1234; + status_long_listen = 16'h5678; + status_guard = 16'h9ABC; + status_short_chirp = 16'hDEF0; + status_short_listen = 16'hFACE; + status_chirps_per_elev = 6'd42; + status_range_mode = 2'b10; + status_self_test_flags = 5'b10101; + status_self_test_detail = 8'hA5; + status_self_test_busy = 1'b1; + status_agc_current_gain = 4'd7; + status_agc_peak_magnitude = 8'd200; + status_agc_saturation_count = 8'd15; + status_agc_enable = 1'b1; + + // Pulse status_request and capture bytes IN PARALLEL + // (same reason as Exercise B — write FSM starts before CDC wait ends) + fork + pulse_status_request; + capture_write_bytes(26); + join + + check(capture_count === 26, + "Status packet: captured 26 bytes"); + + // Dump captured bytes to file + status_file = $fopen("status_packet.txt", "w"); + $fwrite(status_file, "# byte_index hex_value\n"); + for (i = 0; i < capture_count; i = i + 1) begin + $fwrite(status_file, "%0d %02x\n", i, captured_bytes[i]); + end + + // Also dump the raw status_words for debugging + $fwrite(status_file, "# status_words (internal):\n"); + for (i = 0; i < 6; i = i + 1) begin + $fwrite(status_file, "# word[%0d] = %08x\n", i, uut.status_words[i]); + end + $fclose(status_file); + + // Verify header/footer locally + check(captured_bytes[0] === 8'hBB, + "Status pkt: byte 0 = 0xBB (status header)"); + check(captured_bytes[25] === 8'h55, + "Status pkt: byte 25 = 0x55 (footer)"); + + // Verify status_words[1] = {long_chirp, long_listen} = {0x1234, 0x5678} + check(captured_bytes[5] === 8'h12 && captured_bytes[6] === 8'h34 && + captured_bytes[7] === 8'h56 && captured_bytes[8] === 8'h78, + "Status pkt: word1 = {long_chirp=0x1234, long_listen=0x5678}"); + + // Verify status_words[2] = {guard, short_chirp} = {0x9ABC, 0xDEF0} + check(captured_bytes[9] === 8'h9A && captured_bytes[10] === 8'hBC && + captured_bytes[11] === 8'hDE && captured_bytes[12] === 8'hF0, + "Status pkt: word2 = {guard=0x9ABC, short_chirp=0xDEF0}"); + + // ============================================================ + // Summary + // ============================================================ + $display(""); + $display("========================================"); + $display(" CROSS-LAYER FT2232H TB RESULTS"); + $display(" PASSED: %0d / %0d", pass_count, test_num); + $display(" FAILED: %0d / %0d", fail_count, test_num); + if (fail_count == 0) + $display(" ** ALL TESTS PASSED **"); + else + $display(" ** SOME TESTS FAILED **"); + $display("========================================"); + + #100; + $finish; + end + +endmodule diff --git a/9_Firmware/tests/cross_layer/test_cross_layer_contract.py b/9_Firmware/tests/cross_layer/test_cross_layer_contract.py new file mode 100644 index 0000000..c3b950e --- /dev/null +++ b/9_Firmware/tests/cross_layer/test_cross_layer_contract.py @@ -0,0 +1,828 @@ +""" +Cross-Layer Contract Tests +========================== +Single pytest file orchestrating three tiers of verification: + +Tier 1 — Static Contract Parsing: + Compares Python, Verilog, and C source code at parse-time to catch + opcode mismatches, bit-width errors, packet constant drift, and + layout bugs like the status_words[0] 37-bit truncation. + +Tier 2 — Verilog Cosimulation (iverilog): + Compiles and runs tb_cross_layer_ft2232h.v, then parses its output + files (cmd_results.txt, data_packet.txt, status_packet.txt) and + runs Python parsers on the captured bytes to verify round-trip + correctness. + +Tier 3 — C Stub Execution: + Compiles stm32_settings_stub.cpp, generates a binary settings + packet from Python, runs the stub, and verifies all parsed field + values match. + +The goal is to find UNKNOWN bugs by testing each layer against +independently-derived ground truth — not just checking that two +layers agree (because both could be wrong). +""" + +from __future__ import annotations + +import os +import struct +import subprocess +import tempfile +from pathlib import Path + +import pytest + +# Import the contract parsers +import sys + +THIS_DIR = Path(__file__).resolve().parent +sys.path.insert(0, str(THIS_DIR)) +import contract_parser as cp # noqa: E402 + +# Also add the GUI dir to import radar_protocol +sys.path.insert(0, str(cp.GUI_DIR)) + + +# =================================================================== +# Helpers +# =================================================================== + +IVERILOG = os.environ.get("IVERILOG", "/opt/homebrew/bin/iverilog") +VVP = os.environ.get("VVP", "/opt/homebrew/bin/vvp") +CXX = os.environ.get("CXX", "c++") + +# Check tool availability for conditional skipping +_has_iverilog = Path(IVERILOG).exists() if "/" in IVERILOG else bool( + subprocess.run(["which", IVERILOG], capture_output=True).returncode == 0 +) +_has_cxx = subprocess.run( + [CXX, "--version"], capture_output=True +).returncode == 0 + + +def _parse_hex_results(text: str) -> list[dict[str, str]]: + """Parse space-separated hex lines from TB output files.""" + rows = [] + for line in text.strip().splitlines(): + line = line.strip() + if not line or line.startswith("#"): + continue + rows.append(line.split()) + return rows + + +# =================================================================== +# Ground Truth: FPGA register map (independently transcribed) +# =================================================================== +# This is the SINGLE SOURCE OF TRUTH, manually transcribed from +# radar_system_top.v lines 902-945. If any layer disagrees with +# this, it's a bug in that layer. + +GROUND_TRUTH_OPCODES = { + 0x01: ("host_radar_mode", 2), + 0x02: ("host_trigger_pulse", 1), # pulse + 0x03: ("host_detect_threshold", 16), + 0x04: ("host_stream_control", 3), + 0x10: ("host_long_chirp_cycles", 16), + 0x11: ("host_long_listen_cycles", 16), + 0x12: ("host_guard_cycles", 16), + 0x13: ("host_short_chirp_cycles", 16), + 0x14: ("host_short_listen_cycles", 16), + 0x15: ("host_chirps_per_elev", 6), + 0x16: ("host_gain_shift", 4), + 0x20: ("host_range_mode", 2), + 0x21: ("host_cfar_guard", 4), + 0x22: ("host_cfar_train", 5), + 0x23: ("host_cfar_alpha", 8), + 0x24: ("host_cfar_mode", 2), + 0x25: ("host_cfar_enable", 1), + 0x26: ("host_mti_enable", 1), + 0x27: ("host_dc_notch_width", 3), + 0x28: ("host_agc_enable", 1), + 0x29: ("host_agc_target", 8), + 0x2A: ("host_agc_attack", 4), + 0x2B: ("host_agc_decay", 4), + 0x2C: ("host_agc_holdoff", 4), + 0x30: ("host_self_test_trigger", 1), # pulse + 0x31: ("host_status_request", 1), # pulse + 0xFF: ("host_status_request", 1), # alias, pulse +} + +GROUND_TRUTH_RESET_DEFAULTS = { + "host_radar_mode": 1, # 2'b01 + "host_detect_threshold": 10000, + "host_stream_control": 7, # 3'b111 + "host_long_chirp_cycles": 3000, + "host_long_listen_cycles": 13700, + "host_guard_cycles": 17540, + "host_short_chirp_cycles": 50, + "host_short_listen_cycles": 17450, + "host_chirps_per_elev": 32, + "host_gain_shift": 0, + "host_range_mode": 0, + "host_cfar_guard": 2, + "host_cfar_train": 8, + "host_cfar_alpha": 0x30, + "host_cfar_mode": 0, + "host_cfar_enable": 0, + "host_mti_enable": 0, + "host_dc_notch_width": 0, + "host_agc_enable": 0, + "host_agc_target": 200, + "host_agc_attack": 1, + "host_agc_decay": 1, + "host_agc_holdoff": 4, +} + +GROUND_TRUTH_PACKET_CONSTANTS = { + "data": {"header": 0xAA, "footer": 0x55, "size": 11}, + "status": {"header": 0xBB, "footer": 0x55, "size": 26}, +} + + +# =================================================================== +# TIER 1: Static Contract Parsing +# =================================================================== + +class TestTier1OpcodeContract: + """Verify Python and Verilog opcode sets match ground truth.""" + + def test_python_opcodes_match_ground_truth(self): + """Every Python Opcode must exist in ground truth with correct value.""" + py_opcodes = cp.parse_python_opcodes() + for val, entry in py_opcodes.items(): + assert val in GROUND_TRUTH_OPCODES, ( + f"Python Opcode {entry.name}=0x{val:02X} not in ground truth! " + f"Possible phantom opcode (like the 0x06 incident)." + ) + + def test_ground_truth_opcodes_in_python(self): + """Every ground truth opcode must have a Python enum entry.""" + py_opcodes = cp.parse_python_opcodes() + for val, (reg, _width) in GROUND_TRUTH_OPCODES.items(): + assert val in py_opcodes, ( + f"Ground truth opcode 0x{val:02X} ({reg}) missing from Python Opcode enum." + ) + + def test_verilog_opcodes_match_ground_truth(self): + """Every Verilog case entry must exist in ground truth.""" + v_opcodes = cp.parse_verilog_opcodes() + for val, entry in v_opcodes.items(): + assert val in GROUND_TRUTH_OPCODES, ( + f"Verilog opcode 0x{val:02X} ({entry.register}) not in ground truth." + ) + + def test_ground_truth_opcodes_in_verilog(self): + """Every ground truth opcode must have a Verilog case entry.""" + v_opcodes = cp.parse_verilog_opcodes() + for val, (reg, _width) in GROUND_TRUTH_OPCODES.items(): + assert val in v_opcodes, ( + f"Ground truth opcode 0x{val:02X} ({reg}) missing from Verilog case statement." + ) + + def test_python_verilog_bidirectional_match(self): + """Python and Verilog must have the same set of opcode values.""" + py_set = set(cp.parse_python_opcodes().keys()) + v_set = set(cp.parse_verilog_opcodes().keys()) + py_only = py_set - v_set + v_only = v_set - py_set + assert not py_only, f"Opcodes in Python but not Verilog: {[hex(x) for x in py_only]}" + assert not v_only, f"Opcodes in Verilog but not Python: {[hex(x) for x in v_only]}" + + def test_verilog_register_names_match(self): + """Verilog case target registers must match ground truth names.""" + v_opcodes = cp.parse_verilog_opcodes() + for val, (expected_reg, _) in GROUND_TRUTH_OPCODES.items(): + if val in v_opcodes: + actual_reg = v_opcodes[val].register + assert actual_reg == expected_reg, ( + f"Opcode 0x{val:02X}: Verilog writes to '{actual_reg}' " + f"but ground truth says '{expected_reg}'" + ) + + +class TestTier1BitWidths: + """Verify register widths and opcode bit slices match ground truth.""" + + def test_verilog_register_widths(self): + """Register declarations must match ground truth bit widths.""" + v_widths = cp.parse_verilog_register_widths() + for reg, expected_width in [ + (name, w) for _, (name, w) in GROUND_TRUTH_OPCODES.items() + ]: + if reg in v_widths: + actual = v_widths[reg] + assert actual >= expected_width, ( + f"{reg}: declared {actual}-bit but ground truth says {expected_width}-bit" + ) + + def test_verilog_opcode_bit_slices(self): + """Opcode case assignments must use correct bit widths from cmd_value.""" + v_opcodes = cp.parse_verilog_opcodes() + for val, (reg, expected_width) in GROUND_TRUTH_OPCODES.items(): + if val not in v_opcodes: + continue + entry = v_opcodes[val] + if entry.is_pulse: + continue # Pulse opcodes don't use cmd_value slicing + if entry.bit_width > 0: + assert entry.bit_width >= expected_width, ( + f"Opcode 0x{val:02X} ({reg}): bit slice {entry.bit_slice} " + f"= {entry.bit_width}-bit, expected >= {expected_width}" + ) + + +class TestTier1StatusWordTruncation: + """Verify each status_words[] concatenation is exactly 32 bits.""" + + def test_status_words_concat_widths_ft2232h(self): + """Each status_words[] concat must be EXACTLY 32 bits.""" + port_widths = cp.get_usb_interface_port_widths( + cp.FPGA_DIR / "usb_data_interface_ft2232h.v" + ) + concats = cp.parse_verilog_status_word_concats( + cp.FPGA_DIR / "usb_data_interface_ft2232h.v" + ) + + for idx, expr in concats.items(): + result = cp.count_concat_bits(expr, port_widths) + if result.total_bits < 0: + pytest.skip(f"status_words[{idx}]: unknown signal width") + assert result.total_bits == 32, ( + f"status_words[{idx}] is {result.total_bits} bits, not 32! " + f"{'TRUNCATION' if result.total_bits > 32 else 'UNDERFLOW'} BUG. " + f"Fragments: {result.fragments}" + ) + + def test_status_words_concat_widths_ft601(self): + """Same check for the FT601 interface (same bug expected).""" + ft601_path = cp.FPGA_DIR / "usb_data_interface.v" + if not ft601_path.exists(): + pytest.skip("FT601 interface file not found") + + port_widths = cp.get_usb_interface_port_widths(ft601_path) + concats = cp.parse_verilog_status_word_concats(ft601_path) + + for idx, expr in concats.items(): + result = cp.count_concat_bits(expr, port_widths) + if result.total_bits < 0: + pytest.skip(f"status_words[{idx}]: unknown signal width") + assert result.total_bits == 32, ( + f"FT601 status_words[{idx}] is {result.total_bits} bits, not 32! " + f"{'TRUNCATION' if result.total_bits > 32 else 'UNDERFLOW'} BUG. " + f"Fragments: {result.fragments}" + ) + + +class TestTier1StatusFieldPositions: + """Verify Python status parser bit positions match Verilog layout.""" + + def test_python_status_mode_position(self): + """ + Verify Python reads radar_mode at the correct bit position matching + the Verilog status_words[0] layout: + {0xFF[31:24], mode[23:22], stream[21:19], 3'b000[18:16], threshold[15:0]} + """ + # Get what Python thinks + py_fields = cp.parse_python_status_fields() + mode_field = next((f for f in py_fields if f.name == "radar_mode"), None) + assert mode_field is not None, "radar_mode not found in parse_status_packet" + + # Ground truth: mode is at bits [23:22], so LSB = 22 + expected_shift = 22 + actual_shift = mode_field.lsb + + assert actual_shift == expected_shift, ( + f"Python reads radar_mode at bit {actual_shift} " + f"but Verilog status_words[0] has mode at bit {expected_shift}." + ) + + +class TestTier1PacketConstants: + """Verify packet header/footer/size constants match across layers.""" + + def test_python_packet_constants(self): + """Python constants match ground truth.""" + py = cp.parse_python_packet_constants() + for ptype, expected in GROUND_TRUTH_PACKET_CONSTANTS.items(): + assert py[ptype].header == expected["header"], ( + f"Python {ptype} header: 0x{py[ptype].header:02X} != 0x{expected['header']:02X}" + ) + assert py[ptype].footer == expected["footer"], ( + f"Python {ptype} footer: 0x{py[ptype].footer:02X} != 0x{expected['footer']:02X}" + ) + assert py[ptype].size == expected["size"], ( + f"Python {ptype} size: {py[ptype].size} != {expected['size']}" + ) + + def test_verilog_packet_constants(self): + """Verilog localparams match ground truth.""" + v = cp.parse_verilog_packet_constants() + for ptype, expected in GROUND_TRUTH_PACKET_CONSTANTS.items(): + assert v[ptype].header == expected["header"], ( + f"Verilog {ptype} header: 0x{v[ptype].header:02X} != 0x{expected['header']:02X}" + ) + assert v[ptype].footer == expected["footer"], ( + f"Verilog {ptype} footer: 0x{v[ptype].footer:02X} != 0x{expected['footer']:02X}" + ) + assert v[ptype].size == expected["size"], ( + f"Verilog {ptype} size: {v[ptype].size} != {expected['size']}" + ) + + def test_python_verilog_constants_agree(self): + """Python and Verilog packet constants must match each other.""" + py = cp.parse_python_packet_constants() + v = cp.parse_verilog_packet_constants() + for ptype in ("data", "status"): + assert py[ptype].header == v[ptype].header + assert py[ptype].footer == v[ptype].footer + assert py[ptype].size == v[ptype].size + + +class TestTier1ResetDefaults: + """Verify Verilog reset defaults match ground truth.""" + + def test_verilog_reset_defaults(self): + """Reset block values must match ground truth.""" + v_defaults = cp.parse_verilog_reset_defaults() + for reg, expected in GROUND_TRUTH_RESET_DEFAULTS.items(): + assert reg in v_defaults, f"{reg} not found in reset block" + actual = v_defaults[reg] + assert actual == expected, ( + f"{reg}: reset default {actual} != expected {expected}" + ) + + +class TestTier1DataPacketLayout: + """Verify data packet byte layout matches between Python and Verilog.""" + + def test_verilog_data_mux_field_positions(self): + """Verilog data_pkt_byte mux must have correct byte positions.""" + v_fields = cp.parse_verilog_data_mux() + # Expected: range_profile at bytes 1-4 (32-bit), doppler_real 5-6, + # doppler_imag 7-8, cfar 9 + field_map = {f.name: f for f in v_fields} + + assert "range_profile" in field_map + rp = field_map["range_profile"] + assert rp.byte_start == 1 and rp.byte_end == 4 and rp.width_bits == 32 + + assert "doppler_real" in field_map + dr = field_map["doppler_real"] + assert dr.byte_start == 5 and dr.byte_end == 6 and dr.width_bits == 16 + + assert "doppler_imag" in field_map + di = field_map["doppler_imag"] + assert di.byte_start == 7 and di.byte_end == 8 and di.width_bits == 16 + + def test_python_data_packet_byte_positions(self): + """Python parse_data_packet byte offsets must be correct.""" + py_fields = cp.parse_python_data_packet_fields() + # range_q at offset 1 (2B), range_i at offset 3 (2B), + # doppler_i at offset 5 (2B), doppler_q at offset 7 (2B), + # detection at offset 9 + field_map = {f.name: f for f in py_fields} + + assert "range_q" in field_map + assert field_map["range_q"].byte_start == 1 + assert "range_i" in field_map + assert field_map["range_i"].byte_start == 3 + assert "doppler_i" in field_map + assert field_map["doppler_i"].byte_start == 5 + assert "doppler_q" in field_map + assert field_map["doppler_q"].byte_start == 7 + assert "detection" in field_map + assert field_map["detection"].byte_start == 9 + + +class TestTier1STM32SettingsPacket: + """Verify STM32 settings packet layout.""" + + def test_field_order_and_sizes(self): + """STM32 settings fields must have correct offsets and sizes.""" + fields = cp.parse_stm32_settings_fields() + if not fields: + pytest.skip("MCU source not available") + + expected = [ + ("system_frequency", 0, 8, "double"), + ("chirp_duration_1", 8, 8, "double"), + ("chirp_duration_2", 16, 8, "double"), + ("chirps_per_position", 24, 4, "uint32_t"), + ("freq_min", 28, 8, "double"), + ("freq_max", 36, 8, "double"), + ("prf1", 44, 8, "double"), + ("prf2", 52, 8, "double"), + ("max_distance", 60, 8, "double"), + ("map_size", 68, 8, "double"), + ] + + assert len(fields) == len(expected), ( + f"Expected {len(expected)} fields, got {len(fields)}" + ) + + for f, (ename, eoff, esize, etype) in zip(fields, expected, strict=True): + assert f.name == ename, f"Field name: {f.name} != {ename}" + assert f.offset == eoff, f"{f.name}: offset {f.offset} != {eoff}" + assert f.size == esize, f"{f.name}: size {f.size} != {esize}" + assert f.c_type == etype, f"{f.name}: type {f.c_type} != {etype}" + + def test_minimum_packet_size(self): + """ + RadarSettings.cpp says minimum is 74 bytes but actual payload is: + 'SET'(3) + 9*8(doubles) + 4(uint32) + 'END'(3) = 82 bytes. + This test documents the bug. + """ + fields = cp.parse_stm32_settings_fields() + if not fields: + pytest.skip("MCU source not available") + + # Calculate required payload size + total_field_bytes = sum(f.size for f in fields) + # Add markers: "SET"(3) + "END"(3) + required_size = 3 + total_field_bytes + 3 + + # Read the actual minimum check from the source + src = (cp.MCU_LIB_DIR / "RadarSettings.cpp").read_text(encoding="latin-1") + import re + m = re.search(r'length\s*<\s*(\d+)', src) + assert m, "Could not find minimum length check in parseFromUSB" + declared_min = int(m.group(1)) + + assert declared_min == required_size, ( + f"BUFFER OVERREAD BUG: parseFromUSB minimum check is {declared_min} " + f"but actual required size is {required_size}. " + f"({total_field_bytes} bytes of fields + 6 bytes of markers). " + f"If exactly {declared_min} bytes are passed, extractDouble() reads " + f"past the buffer at offset {declared_min - 3} (needs 8 bytes, " + f"only {declared_min - 3 - fields[-1].offset} available)." + ) + + def test_stm32_usb_start_flag(self): + """USB start flag must be [23, 46, 158, 237].""" + flag = cp.parse_stm32_start_flag() + if not flag: + pytest.skip("USBHandler.cpp not available") + assert flag == [23, 46, 158, 237], f"Start flag: {flag}" + + +# =================================================================== +# TIER 2: Verilog Cosimulation +# =================================================================== + +@pytest.mark.skipif(not _has_iverilog, reason="iverilog not available") +class TestTier2VerilogCosim: + """Compile and run the FT2232H TB, validate output against Python parsers.""" + + @pytest.fixture(scope="class") + def tb_results(self, tmp_path_factory): + """Compile and run TB once, return output file contents.""" + workdir = tmp_path_factory.mktemp("verilog_cosim") + + tb_path = THIS_DIR / "tb_cross_layer_ft2232h.v" + rtl_path = cp.FPGA_DIR / "usb_data_interface_ft2232h.v" + out_bin = workdir / "tb_cross_layer_ft2232h" + + # Compile + result = subprocess.run( + [IVERILOG, "-o", str(out_bin), "-I", str(cp.FPGA_DIR), + str(tb_path), str(rtl_path)], + capture_output=True, text=True, timeout=30, + ) + assert result.returncode == 0, f"iverilog compile failed:\n{result.stderr}" + + # Run + result = subprocess.run( + [VVP, str(out_bin)], + capture_output=True, text=True, timeout=60, + cwd=str(workdir), + ) + assert result.returncode == 0, f"vvp failed:\n{result.stderr}" + + # Parse output + return { + "stdout": result.stdout, + "cmd_results": (workdir / "cmd_results.txt").read_text(), + "data_packet": (workdir / "data_packet.txt").read_text(), + "status_packet": (workdir / "status_packet.txt").read_text(), + } + + def test_all_tb_tests_pass(self, tb_results): + """All Verilog TB internal checks must pass.""" + stdout = tb_results["stdout"] + assert "ALL TESTS PASSED" in stdout, f"TB had failures:\n{stdout}" + + def test_command_round_trip(self, tb_results): + """Verify every command decoded correctly by matching sent vs received.""" + rows = _parse_hex_results(tb_results["cmd_results"]) + assert len(rows) >= 20, f"Expected >= 20 command results, got {len(rows)}" + + for row in rows: + assert len(row) == 6, f"Bad row format: {row}" + sent_op, sent_addr, sent_val = row[0], row[1], row[2] + got_op, got_addr, got_val = row[3], row[4], row[5] + assert sent_op == got_op, ( + f"Opcode mismatch: sent 0x{sent_op} got 0x{got_op}" + ) + assert sent_addr == got_addr, ( + f"Addr mismatch: sent 0x{sent_addr} got 0x{got_addr}" + ) + assert sent_val == got_val, ( + f"Value mismatch: sent 0x{sent_val} got 0x{got_val}" + ) + + def test_data_packet_python_round_trip(self, tb_results): + """ + Take the 11 bytes captured by the Verilog TB, run Python's + parse_data_packet() on them, verify the parsed values match + what was injected into the TB. + """ + from radar_protocol import RadarProtocol + + rows = _parse_hex_results(tb_results["data_packet"]) + assert len(rows) == 11, f"Expected 11 data packet bytes, got {len(rows)}" + + # Reconstruct raw bytes + raw = bytes(int(row[1], 16) for row in rows) + assert len(raw) == 11 + + parsed = RadarProtocol.parse_data_packet(raw) + assert parsed is not None, "parse_data_packet returned None" + + # The TB injected: range_profile = 0xCAFE_BEEF = {Q=0xCAFE, I=0xBEEF} + # doppler_real = 0x1234, doppler_imag = 0x5678 + # cfar_detection = 1 + # + # range_q = 0xCAFE → signed = 0xCAFE - 0x10000 = -13570 + # range_i = 0xBEEF → signed = 0xBEEF - 0x10000 = -16657 + # doppler_i = 0x1234 → signed = 4660 + # doppler_q = 0x5678 → signed = 22136 + + assert parsed["range_q"] == (0xCAFE - 0x10000), ( + f"range_q: {parsed['range_q']} != {0xCAFE - 0x10000}" + ) + assert parsed["range_i"] == (0xBEEF - 0x10000), ( + f"range_i: {parsed['range_i']} != {0xBEEF - 0x10000}" + ) + assert parsed["doppler_i"] == 0x1234, ( + f"doppler_i: {parsed['doppler_i']} != {0x1234}" + ) + assert parsed["doppler_q"] == 0x5678, ( + f"doppler_q: {parsed['doppler_q']} != {0x5678}" + ) + assert parsed["detection"] == 1, ( + f"detection: {parsed['detection']} != 1" + ) + + def test_status_packet_python_round_trip(self, tb_results): + """ + Take the 26 bytes captured by the Verilog TB, run Python's + parse_status_packet() on them, verify against injected values. + """ + from radar_protocol import RadarProtocol + + lines = tb_results["status_packet"].strip().splitlines() + # Filter out comments and status_words debug lines + rows = [] + for line in lines: + line = line.strip() + if not line or line.startswith("#"): + continue + rows.append(line.split()) + + assert len(rows) == 26, f"Expected 26 status bytes, got {len(rows)}" + + raw = bytes(int(row[1], 16) for row in rows) + assert len(raw) == 26 + + sr = RadarProtocol.parse_status_packet(raw) + assert sr is not None, "parse_status_packet returned None" + + # Injected values (from TB): + # status_cfar_threshold = 0xABCD + # status_stream_ctrl = 3'b101 = 5 + # status_radar_mode = 2'b11 = 3 + # status_long_chirp = 0x1234 + # status_long_listen = 0x5678 + # status_guard = 0x9ABC + # status_short_chirp = 0xDEF0 + # status_short_listen = 0xFACE + # status_chirps_per_elev = 42 + # status_range_mode = 2'b10 = 2 + # status_self_test_flags = 5'b10101 = 21 + # status_self_test_detail = 0xA5 + # status_self_test_busy = 1 + # status_agc_current_gain = 7 + # status_agc_peak_magnitude = 200 + # status_agc_saturation_count = 15 + # status_agc_enable = 1 + + # Words 1-5 should be correct (no truncation bug) + assert sr.cfar_threshold == 0xABCD, f"cfar_threshold: 0x{sr.cfar_threshold:04X}" + assert sr.long_chirp == 0x1234, f"long_chirp: 0x{sr.long_chirp:04X}" + assert sr.long_listen == 0x5678, f"long_listen: 0x{sr.long_listen:04X}" + assert sr.guard == 0x9ABC, f"guard: 0x{sr.guard:04X}" + assert sr.short_chirp == 0xDEF0, f"short_chirp: 0x{sr.short_chirp:04X}" + assert sr.short_listen == 0xFACE, f"short_listen: 0x{sr.short_listen:04X}" + assert sr.chirps_per_elev == 42, f"chirps_per_elev: {sr.chirps_per_elev}" + assert sr.range_mode == 2, f"range_mode: {sr.range_mode}" + assert sr.self_test_flags == 21, f"self_test_flags: {sr.self_test_flags}" + assert sr.self_test_detail == 0xA5, f"self_test_detail: 0x{sr.self_test_detail:02X}" + assert sr.self_test_busy == 1, f"self_test_busy: {sr.self_test_busy}" + + # AGC fields (word 4) + assert sr.agc_current_gain == 7, f"agc_current_gain: {sr.agc_current_gain}" + assert sr.agc_peak_magnitude == 200, f"agc_peak_magnitude: {sr.agc_peak_magnitude}" + assert sr.agc_saturation_count == 15, f"agc_saturation_count: {sr.agc_saturation_count}" + assert sr.agc_enable == 1, f"agc_enable: {sr.agc_enable}" + + # Word 0: stream_ctrl should be 5 (3'b101) + assert sr.stream_ctrl == 5, ( + f"stream_ctrl: {sr.stream_ctrl} != 5. " + f"Check status_words[0] bit positions." + ) + + # radar_mode should be 3 (2'b11) + assert sr.radar_mode == 3, ( + f"radar_mode={sr.radar_mode} != 3. " + f"Check status_words[0] bit positions." + ) + + +# =================================================================== +# TIER 3: C Stub Execution +# =================================================================== + +@pytest.mark.skipif(not _has_cxx, reason="C++ compiler not available") +class TestTier3CStub: + """Compile STM32 settings stub and verify field parsing.""" + + @pytest.fixture(scope="class") + def stub_binary(self, tmp_path_factory): + """Compile the C++ stub once.""" + workdir = tmp_path_factory.mktemp("c_stub") + stub_src = THIS_DIR / "stm32_settings_stub.cpp" + radar_settings_src = cp.MCU_LIB_DIR / "RadarSettings.cpp" + out_bin = workdir / "stm32_settings_stub" + + result = subprocess.run( + [CXX, "-std=c++11", "-o", str(out_bin), + str(stub_src), str(radar_settings_src), + f"-I{cp.MCU_LIB_DIR}"], + capture_output=True, text=True, timeout=30, + ) + assert result.returncode == 0, f"Compile failed:\n{result.stderr}" + return out_bin + + def _build_settings_packet(self, values: dict) -> bytes: + """Build a binary settings packet matching RadarSettings::parseFromUSB.""" + pkt = b"SET" + for key in [ + "system_frequency", "chirp_duration_1", "chirp_duration_2", + ]: + pkt += struct.pack(">d", values[key]) + pkt += struct.pack(">I", values["chirps_per_position"]) + for key in [ + "freq_min", "freq_max", "prf1", "prf2", + "max_distance", "map_size", + ]: + pkt += struct.pack(">d", values[key]) + pkt += b"END" + return pkt + + def _run_stub(self, binary: Path, packet: bytes) -> dict[str, str]: + """Run stub with packet file, parse stdout into field dict.""" + with tempfile.NamedTemporaryFile(suffix=".bin", delete=False) as f: + f.write(packet) + pkt_path = f.name + + try: + result = subprocess.run( + [str(binary), pkt_path], + capture_output=True, text=True, timeout=10, + ) + finally: + os.unlink(pkt_path) + + fields = {} + for line in result.stdout.strip().splitlines(): + if "=" in line: + k, v = line.split("=", 1) + fields[k.strip()] = v.strip() + return fields + + def test_default_values_round_trip(self, stub_binary): + """Default settings must parse correctly through C stub.""" + values = { + "system_frequency": 10.0e9, + "chirp_duration_1": 30.0e-6, + "chirp_duration_2": 0.5e-6, + "chirps_per_position": 32, + "freq_min": 10.0e6, + "freq_max": 30.0e6, + "prf1": 1000.0, + "prf2": 2000.0, + "max_distance": 50000.0, + "map_size": 50000.0, + } + pkt = self._build_settings_packet(values) + result = self._run_stub(stub_binary, pkt) + + assert result.get("parse_ok") == "true", f"Parse failed: {result}" + + for key, expected in values.items(): + actual_str = result.get(key) + assert actual_str is not None, f"Missing field: {key}" + actual = int(actual_str) if key == "chirps_per_position" else float(actual_str) + if isinstance(expected, float): + assert abs(actual - expected) < expected * 1e-10, ( + f"{key}: {actual} != {expected}" + ) + else: + assert actual == expected, f"{key}: {actual} != {expected}" + + def test_distinctive_values_round_trip(self, stub_binary): + """Non-default distinctive values must parse correctly.""" + values = { + "system_frequency": 24.125e9, # K-band + "chirp_duration_1": 100.0e-6, + "chirp_duration_2": 2.0e-6, + "chirps_per_position": 64, + "freq_min": 24.0e6, + "freq_max": 24.25e6, + "prf1": 5000.0, + "prf2": 3000.0, + "max_distance": 75000.0, + "map_size": 100000.0, + } + pkt = self._build_settings_packet(values) + result = self._run_stub(stub_binary, pkt) + + assert result.get("parse_ok") == "true", f"Parse failed: {result}" + + for key, expected in values.items(): + actual_str = result.get(key) + assert actual_str is not None, f"Missing field: {key}" + actual = int(actual_str) if key == "chirps_per_position" else float(actual_str) + if isinstance(expected, float): + assert abs(actual - expected) < expected * 1e-10, ( + f"{key}: {actual} != {expected}" + ) + else: + assert actual == expected, f"{key}: {actual} != {expected}" + + def test_truncated_packet_rejected(self, stub_binary): + """Packet shorter than minimum must be rejected.""" + pkt = b"SET" + b"\x00" * 40 + b"END" # Only 46 bytes, needs 82 + result = self._run_stub(stub_binary, pkt) + assert result.get("parse_ok") == "false", ( + f"Expected parse failure for truncated packet, got: {result}" + ) + + def test_bad_markers_rejected(self, stub_binary): + """Packet with wrong start/end markers must be rejected.""" + values = { + "system_frequency": 10.0e9, "chirp_duration_1": 30.0e-6, + "chirp_duration_2": 0.5e-6, "chirps_per_position": 32, + "freq_min": 10.0e6, "freq_max": 30.0e6, + "prf1": 1000.0, "prf2": 2000.0, + "max_distance": 50000.0, "map_size": 50000.0, + } + pkt = self._build_settings_packet(values) + + # Wrong start marker + bad_pkt = b"BAD" + pkt[3:] + result = self._run_stub(stub_binary, bad_pkt) + assert result.get("parse_ok") == "false", "Should reject bad start marker" + + # Wrong end marker + bad_pkt = pkt[:-3] + b"BAD" + result = self._run_stub(stub_binary, bad_pkt) + assert result.get("parse_ok") == "false", "Should reject bad end marker" + + def test_python_c_packet_format_agreement(self, stub_binary): + """ + Python builds a settings packet, C stub parses it. + This tests that both sides agree on the packet format. + """ + # Use values right at validation boundaries to stress-test + values = { + "system_frequency": 1.0e9, # min valid + "chirp_duration_1": 1.0e-6, # min valid + "chirp_duration_2": 0.1e-6, # min valid + "chirps_per_position": 1, # min valid + "freq_min": 1.0e6, # min valid + "freq_max": 2.0e6, # just above freq_min + "prf1": 100.0, # min valid + "prf2": 100.0, # min valid + "max_distance": 100.0, # min valid + "map_size": 1000.0, # min valid + } + pkt = self._build_settings_packet(values) + result = self._run_stub(stub_binary, pkt) + + assert result.get("parse_ok") == "true", ( + f"Boundary values rejected: {result}" + ) diff --git a/9_Firmware/tools/uart_capture.py b/9_Firmware/tools/uart_capture.py index ef646f4..e257b54 100755 --- a/9_Firmware/tools/uart_capture.py +++ b/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'}") - print("-" * 100) - for p in sorted(ports, key=lambda x: x.device): - print(f"{p.device:<30} {p.description:<40} {p.hwid}") + for _p in sorted(ports, key=lambda x: x.device): + pass 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 False - - return True + return not (filter_subsys and subsys not in filter_subsys) # --------------------------------------------------------------------------- @@ -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.append(f" {tag:<8} {self.by_subsys[tag]}") + lines.extend( + 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 @@ -249,69 +245,68 @@ 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: - print(f"ERROR: Could not open {port}: {e}") + except serial.SerialException: 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") - print("Press Ctrl-C to stop.\n") + pass - flog = None if log_file: os.makedirs(os.path.dirname(log_file), exist_ok=True) - flog = open(log_file, "w", encoding=ENCODING) - 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() + log_context = open(log_file, "w", encoding=ENCODING) # noqa: SIM115 + else: + log_context = nullcontext(None) line_buf = b"" try: - while running: - try: - chunk = ser.read(256) - except serial.SerialException as e: - print(f"\nSerial error: {e}") - break + 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() - if not chunk: - continue + while running: + try: + chunk = ser.read(256) + except serial.SerialException: + break - line_buf += chunk - - # Process complete lines - while b"\n" in line_buf: - raw_line, line_buf = line_buf.split(b"\n", 1) - line = raw_line.decode(ENCODING, errors="replace").rstrip("\r") - - if not line: + if not chunk: continue - stats.update(line) + line_buf += chunk - # Log file always gets everything (unfiltered, no color) - if flog: - wall_ts = datetime.datetime.now().strftime("%H:%M:%S.%f")[:-3] - flog.write(f"{wall_ts} {line}\n") - flog.flush() + # Process complete lines + while b"\n" in line_buf: + raw_line, line_buf = line_buf.split(b"\n", 1) + line = raw_line.decode(ENCODING, errors="replace").rstrip("\r") - # Terminal display respects filters - if should_display(line, filter_subsys, errors_only): - print(colorize(line, use_color)) + if not line: + continue + + stats.update(line) + + # Log file always gets everything (unfiltered, no color) + if flog: + wall_ts = datetime.datetime.now().strftime("%H:%M:%S.%f")[:-3] + flog.write(f"{wall_ts} {line}\n") + flog.flush() + + # Terminal display respects filters + if should_display(line, filter_subsys, errors_only): + 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() diff --git a/README.md b/README.md index 34ef879..522a216 100644 --- a/README.md +++ b/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 diff --git a/pyproject.toml b/pyproject.toml index e517b2d..4f6ea09 100644 --- a/pyproject.toml +++ b/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"]