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 cc19548..8dce321 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 @@ -759,6 +759,243 @@ def run_doppler_fft(range_data_i, range_data_q, twiddle_file_32=None): return doppler_map_i, doppler_map_q +# =========================================================================== +# Stage 3c: MTI Canceller (2-pulse, bit-accurate) +# =========================================================================== +def run_mti_canceller(decim_i, decim_q, enable=True): + """ + Bit-accurate model of mti_canceller.v — 2-pulse canceller. + + Input: decim_i/q — shape (N_chirps, NUM_RANGE_BINS), 16-bit signed + Output: mti_i/q — shape (N_chirps, NUM_RANGE_BINS), 16-bit signed + + When enable=True: + - First chirp (chirp 0): output is all zeros (muted, no previous data) + - Subsequent chirps: out[c][r] = current[c][r] - previous[c-1][r], + with saturation to 16-bit. + When enable=False: + - Pass-through (output = input). + + RTL detail (from mti_canceller.v): + diff_full = {I_in[15], I_in} - {prev[15], prev} (17-bit signed) + saturate to 16-bit: clamp to [-32768, +32767] + """ + n_chirps, n_bins = decim_i.shape + 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(f" Pass-through mode (MTI disabled)") + return mti_i, mti_q + + for c in range(n_chirps): + if c == 0: + # First chirp: output muted (zeros) — no previous data + mti_i[c, :] = 0 + mti_q[c, :] = 0 + else: + for r in range(n_bins): + # Sign-extend to 17-bit, subtract, saturate back to 16-bit + diff_i = int(decim_i[c, r]) - int(decim_i[c - 1, r]) + diff_q = int(decim_q[c, r]) - int(decim_q[c - 1, r]) + mti_i[c, r] = saturate(diff_i, 16) + mti_q[c, r] = saturate(diff_q, 16) + + print(f" 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 + + +# =========================================================================== +# Stage 3d: DC Notch Filter (post-Doppler, bit-accurate) +# =========================================================================== +def run_dc_notch(doppler_i, doppler_q, width=2): + """ + Bit-accurate model of the inline DC notch filter in radar_system_top.v. + + Input: doppler_i/q — shape (NUM_RANGE_BINS, NUM_DOPPLER_BINS), 16-bit signed + Output: notched_i/q — shape (NUM_RANGE_BINS, NUM_DOPPLER_BINS), 16-bit signed + + Zeros Doppler bins within ±width of DC (bin 0). + In a 32-point FFT, DC is bin 0; negative Doppler wraps to bins 31,30,... + width=0: pass-through + width=1: zero bins {0} + width=2: zero bins {0, 1, 31} + width=3: zero bins {0, 1, 2, 30, 31} etc. + + RTL logic (from radar_system_top.v lines 517-524): + dc_notch_active = (width != 0) && + (dop_bin < width || dop_bin > (31 - width + 1)) + notched_data = dc_notch_active ? 0 : doppler_data + """ + 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 {n_doppler} Doppler bins") + + if width == 0: + print(f" Pass-through (width=0)") + return notched_i, notched_q + + zeroed_count = 0 + for dbin in range(n_doppler): + # Replicate RTL comparison (unsigned 5-bit): + # dop_bin < width OR dop_bin > (31 - width + 1) + active = (dbin < width) or (dbin > (31 - width + 1)) + if active: + notched_i[:, dbin] = 0 + notched_q[:, dbin] = 0 + zeroed_count += 1 + + print(f" Zeroed {zeroed_count} Doppler bin columns") + return notched_i, notched_q + + +# =========================================================================== +# 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): + """ + Bit-accurate model of cfar_ca.v — Cell-Averaging CFAR detector. + + Input: doppler_i/q — shape (NUM_RANGE_BINS, NUM_DOPPLER_BINS), 16-bit signed + Output: detect_flags — shape (NUM_RANGE_BINS, NUM_DOPPLER_BINS), bool + magnitudes — shape (NUM_RANGE_BINS, NUM_DOPPLER_BINS), uint17 + thresholds — shape (NUM_RANGE_BINS, NUM_DOPPLER_BINS), uint17 + + CFAR algorithm per Doppler column: + 1. Compute magnitude |I| + |Q| for all range bins in that column + 2. For each CUT (Cell Under Test) at range index k: + a. Leading training cells: indices [k-G-T .. k-G-1] (clamped to valid) + b. Lagging training cells: indices [k+G+1 .. k+G+T] (clamped to valid) + c. noise_sum = sum of training cells (CA mode: both sides) + d. threshold = (alpha * noise_sum) >> 4 (Q4.4 shift) + e. detect if magnitude[k] > threshold + + RTL details (from cfar_ca.v): + - Magnitude: |I| + |Q| (L1 norm, 17-bit unsigned) + - Alpha in Q4.4 fixed-point (8-bit unsigned) + - ALPHA_FRAC_BITS = 4 + - Threshold saturates to 17 bits + - Edge handling: uses only available training cells at boundaries + - Pipeline: ST_CFAR_THR → ST_CFAR_MUL → ST_CFAR_CMP + + Modes: + CA: noise_sum = leading_sum + lagging_sum + GO: noise_sum = side with greater average (cross-multiply comparison) + SO: noise_sum = side with smaller average + """ + n_range, n_doppler = doppler_i.shape + ALPHA_FRAC_BITS = 4 + + # Ensure train >= 1 (RTL clamps 0 → 1) + 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 + # For I = -32768: ~(-32768 as 16-bit) + 1 = 32768 (unsigned) + magnitudes = np.zeros((n_range, n_doppler), dtype=np.int64) + for rbin in range(n_range): + for dbin in range(n_doppler): + i_val = int(doppler_i[rbin, dbin]) + q_val = int(doppler_q[rbin, dbin]) + abs_i = (-i_val) & 0xFFFF if i_val < 0 else i_val & 0xFFFF + abs_q = (-q_val) & 0xFFFF if q_val < 0 else q_val & 0xFFFF + magnitudes[rbin, dbin] = abs_i + abs_q # 17-bit unsigned + + detect_flags = np.zeros((n_range, n_doppler), dtype=np.bool_) + thresholds = np.zeros((n_range, n_doppler), dtype=np.int64) + + total_detections = 0 + + # Process each Doppler column independently (matching RTL column-by-column) + for dbin in range(n_doppler): + col = magnitudes[:, dbin] # 64 magnitudes for this Doppler bin + + for cut_idx in range(n_range): + # Compute leading sum (cells before CUT, outside guard zone) + leading_sum = 0 + leading_count = 0 + for t in range(1, train + 1): + idx = cut_idx - guard - t + if 0 <= idx < n_range: + leading_sum += int(col[idx]) + leading_count += 1 + + # Compute lagging sum (cells after CUT, outside guard zone) + lagging_sum = 0 + lagging_count = 0 + for t in range(1, train + 1): + idx = cut_idx + guard + t + if 0 <= idx < n_range: + lagging_sum += int(col[idx]) + lagging_count += 1 + + # Mode-dependent noise estimate + if mode == 'CA' or mode == 'CA-CFAR': + noise_sum = leading_sum + lagging_sum + elif mode == 'GO' or mode == 'GO-CFAR': + if leading_count > 0 and lagging_count > 0: + if leading_sum * lagging_count > lagging_sum * leading_count: + noise_sum = leading_sum + else: + noise_sum = lagging_sum + elif leading_count > 0: + noise_sum = leading_sum + else: + noise_sum = lagging_sum + elif mode == 'SO' or mode == 'SO-CFAR': + if leading_count > 0 and lagging_count > 0: + if leading_sum * lagging_count < lagging_sum * leading_count: + noise_sum = leading_sum + else: + noise_sum = lagging_sum + elif leading_count > 0: + noise_sum = leading_sum + else: + noise_sum = lagging_sum + 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) + + # 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 + + # =========================================================================== # Stage 4: Detection (magnitude threshold) # =========================================================================== @@ -1060,6 +1297,105 @@ def main(): np.save(os.path.join(output_dir, "fullchain_doppler_i.npy"), fc_doppler_i) np.save(os.path.join(output_dir, "fullchain_doppler_q.npy"), fc_doppler_q) + # ----------------------------------------------------------------------- + # Full-chain with MTI + DC Notch + CFAR + # 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_32=twiddle_32 + ) + write_hex_files(output_dir, mti_doppler_i, mti_doppler_q, "fullchain_mti_doppler_ref") + np.save(os.path.join(output_dir, "fullchain_mti_doppler_i.npy"), mti_doppler_i) + np.save(os.path.join(output_dir, "fullchain_mti_doppler_q.npy"), mti_doppler_q) + + # 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") + + # Write notched Doppler as packed 32-bit for RTL comparison + fc_notched_packed_file = os.path.join(output_dir, "fullchain_notched_ref_packed.hex") + with open(fc_notched_packed_file, 'w') as f: + for rbin in range(DOPPLER_RANGE_BINS): + for dbin in range(DOPPLER_FFT_SIZE): + i_val = int(notched_i[rbin, dbin]) & 0xFFFF + 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} ({DOPPLER_RANGE_BINS * DOPPLER_FFT_SIZE} 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, + alpha_q44=CFAR_ALPHA, mode=CFAR_MODE + ) + + # Write CFAR reference files + # 1. Magnitude map (17-bit unsigned, row-major: 64 range x 32 Doppler = 2048) + cfar_mag_file = os.path.join(output_dir, "fullchain_cfar_mag.hex") + with open(cfar_mag_file, 'w') as f: + for rbin in range(DOPPLER_RANGE_BINS): + for dbin in range(DOPPLER_FFT_SIZE): + m = int(cfar_mag[rbin, dbin]) & 0x1FFFF + f.write(f"{m:05X}\n") + print(f" Wrote {cfar_mag_file} ({DOPPLER_RANGE_BINS * DOPPLER_FFT_SIZE} mag values)") + + # 2. Threshold map (17-bit unsigned) + cfar_thr_file = os.path.join(output_dir, "fullchain_cfar_thr.hex") + with open(cfar_thr_file, 'w') as f: + for rbin in range(DOPPLER_RANGE_BINS): + for dbin in range(DOPPLER_FFT_SIZE): + t = int(cfar_thr[rbin, dbin]) & 0x1FFFF + f.write(f"{t:05X}\n") + print(f" Wrote {cfar_thr_file} ({DOPPLER_RANGE_BINS * DOPPLER_FFT_SIZE} threshold values)") + + # 3. Detection flags (1-bit per cell) + cfar_det_file = os.path.join(output_dir, "fullchain_cfar_det.hex") + with open(cfar_det_file, 'w') as f: + for rbin in range(DOPPLER_RANGE_BINS): + for dbin in range(DOPPLER_FFT_SIZE): + 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_FFT_SIZE} detection flags)") + + # 4. Detection list (text) + cfar_detections = np.argwhere(cfar_flags) + cfar_det_list_file = os.path.join(output_dir, "fullchain_cfar_detections.txt") + with open(cfar_det_list_file, 'w') as f: + f.write(f"# AERIS-10 Full-Chain CFAR Detection List\n") + f.write(f"# Chain: decim -> MTI -> Doppler -> DC notch(w={DC_NOTCH_WIDTH}) -> CA-CFAR\n") + f.write(f"# CFAR: guard={CFAR_GUARD}, train={CFAR_TRAIN}, alpha=0x{CFAR_ALPHA:02X}, mode={CFAR_MODE}\n") + f.write(f"# Format: range_bin doppler_bin magnitude threshold\n") + 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) + np.save(os.path.join(output_dir, "fullchain_cfar_thr.npy"), cfar_thr) + 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") @@ -1148,6 +1484,8 @@ def main(): print(f" Detections (direct): {len(detections)} (threshold={args.threshold})") print(f" 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)} (guard={CFAR_GUARD}, train={CFAR_TRAIN}, alpha=0x{CFAR_ALPHA:02X})") print(f" Hex stimulus files: {output_dir}/") print(f" Ready for RTL co-simulation with Icarus Verilog") diff --git a/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_det.hex b/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_det.hex new file mode 100644 index 0000000..121a610 --- /dev/null +++ b/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_det.hex @@ -0,0 +1,2048 @@ +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 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+0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 diff --git a/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_detections.txt b/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_detections.txt new file mode 100644 index 0000000..b451996 --- /dev/null +++ b/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_detections.txt @@ -0,0 +1,8 @@ +# AERIS-10 Full-Chain CFAR Detection List +# Chain: decim -> MTI -> Doppler -> DC notch(w=2) -> CA-CFAR +# CFAR: guard=2, train=8, alpha=0x30, mode=CA +# Format: range_bin doppler_bin magnitude threshold +2 27 40172 38280 +2 28 65534 40749 +2 29 58080 31302 +2 30 16565 13386 diff --git a/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_flags.npy b/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_flags.npy new file mode 100644 index 0000000..5574a21 Binary files /dev/null and b/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_flags.npy differ diff --git a/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_mag.hex b/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_mag.hex new file mode 100644 index 0000000..87a9617 --- /dev/null +++ b/9_Firmware/9_2_FPGA/tb/cosim/real_data/hex/fullchain_cfar_mag.hex @@ -0,0 +1,2048 @@ +00000 +00000 +007BD +02018 +02E0D +017A9 +00586 +009BE +005D7 +00837 +00384 +00D4A +00C54 +00669 +00833 +00571 +004AD +0079B +007D5 +0045C +007B3 +0098F +00A68 +00A2A +000D3 +0058F +0056A +00A2A +00FA0 +00947 +00149 +00000 +00000 +00000 +01038 +01A2F +01E4F +02080 +01EB2 +042F5 +03502 +030C9 +02848 +04E63 +042F6 +04FAD +03D2E +03827 +03BE7 +04480 +0452E +052CF +03179 +046A0 +032FE +0376F +03692 +03907 +016A6 +016BD +02840 +01FF7 +015F6 +00000 +00000 +00000 +005B9 +018FE +03D5C +03DCF +007AF +01C72 +0225B +01D7C +02721 +03E10 +01926 +00AFE +00D37 +0145C +00C0C +00B49 +00605 +00D38 +00C90 +02DFB +02A6F +01904 +020D1 +015AE +0273D +09CEC +0FFFE +0E2E0 +040B5 +00000 +00000 +00000 +02226 +0590F +05A0F +01400 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+`timescale 1ns / 1ps + +/** + * tb_fullchain_mti_cfar_realdata.v + * + * Full-chain co-simulation testbench: feeds real ADI CN0566 radar data + * (post-range-FFT, 32 chirps x 1024 bins) through the complete signal + * processing pipeline: + * + * range_bin_decimator (peak detection, 1024->64) + * -> mti_canceller (2-pulse, mti_enable=1) + * -> doppler_processor_optimized (Hamming + 32-pt FFT) + * -> DC notch filter (width=2, inline logic) + * -> cfar_ca (CA mode, guard=2, train=8, alpha=0x30) + * + * and compares outputs bit-for-bit against the Python golden reference + * (golden_reference.py) at multiple checkpoints: + * + * Checkpoint 1: Decimator output matches + * Checkpoint 2: MTI canceller output matches + * Checkpoint 3: Doppler output (post-DC-notch) matches + * Checkpoint 4: CFAR magnitudes match + * Checkpoint 5: CFAR thresholds match + * Checkpoint 6: CFAR detection flags match + * + * Stimulus: + * tb/cosim/real_data/hex/fullchain_range_input.hex + * 32768 x 32-bit packed {Q[31:16], I[15:0]} -- 32 chirps x 1024 bins + * + * Golden reference files: + * fullchain_mti_ref_i.hex, fullchain_mti_ref_q.hex -- MTI output (2048) + * fullchain_notched_ref_i.hex, fullchain_notched_ref_q.hex -- DC-notched Doppler (2048) + * fullchain_cfar_mag.hex -- CFAR magnitudes (2048) + * fullchain_cfar_thr.hex -- CFAR thresholds (2048) + * fullchain_cfar_det.hex -- CFAR detection flags (2048) + * + * Pass criteria: ALL outputs match exactly. + * + * Compile: + * iverilog -Wall -DSIMULATION -g2012 \ + * -o tb/tb_fullchain_mti_cfar_realdata.vvp \ + * tb/tb_fullchain_mti_cfar_realdata.v \ + * range_bin_decimator.v mti_canceller.v doppler_processor.v \ + * xfft_32.v fft_engine.v cfar_ca.v + * + * Run from: 9_Firmware/9_2_FPGA/ + * vvp tb/tb_fullchain_mti_cfar_realdata.vvp + */ + +module tb_fullchain_mti_cfar_realdata; + +// ============================================================================ +// PARAMETERS +// ============================================================================ +localparam CLK_PERIOD = 10.0; // 100 MHz +localparam DOPPLER_FFT = 32; +localparam RANGE_BINS = 64; +localparam CHIRPS = 32; +localparam INPUT_BINS = 1024; +localparam DECIM_FACTOR = 16; + +localparam TOTAL_INPUT_SAMPLES = CHIRPS * INPUT_BINS; // 32768 +localparam TOTAL_MTI_SAMPLES = CHIRPS * RANGE_BINS; // 2048 +localparam TOTAL_DOPPLER_SAMPLES = RANGE_BINS * DOPPLER_FFT; // 2048 +localparam TOTAL_CFAR_CELLS = RANGE_BINS * DOPPLER_FFT; // 2048 + +// Generous timeout: decimator + MTI + Doppler + CFAR processing +localparam MAX_CYCLES = 3_000_000; + +// DC notch width for this test +localparam DC_NOTCH_WIDTH = 3'd2; + +// ============================================================================ +// CLOCK AND RESET +// ============================================================================ +reg clk; +reg reset_n; + +initial clk = 0; +always #(CLK_PERIOD / 2) clk = ~clk; + +// ============================================================================ +// DECIMATOR SIGNALS +// ============================================================================ +reg signed [15:0] decim_i_in; +reg signed [15:0] decim_q_in; +reg decim_valid_in; + +wire signed [15:0] decim_i_out; +wire signed [15:0] decim_q_out; +wire decim_valid_out; +wire [5:0] decim_bin_index; + +// ============================================================================ +// MTI CANCELLER SIGNALS +// ============================================================================ +wire signed [15:0] mti_i_out; +wire signed [15:0] mti_q_out; +wire mti_valid_out; +wire [5:0] mti_bin_out; +wire mti_first_chirp; + +// ============================================================================ +// DOPPLER SIGNALS +// ============================================================================ +// Wire MTI output into Doppler input (matching RTL system_top) +wire [31:0] range_data_32bit; +wire range_data_valid; + +assign range_data_32bit = {mti_q_out, mti_i_out}; +assign range_data_valid = mti_valid_out; + +reg new_chirp_frame; + +wire [31:0] doppler_output; +wire doppler_valid; +wire [4:0] doppler_bin; +wire [5:0] range_bin; +wire processing_active; +wire frame_complete; +wire [3:0] dut_status; + +// ============================================================================ +// DC NOTCH FILTER SIGNALS (inline, replicating radar_system_top.v logic) +// ============================================================================ +wire [4:0] dop_bin_unsigned; +wire dc_notch_active; +wire [31:0] notched_doppler_data; +wire notched_doppler_valid; +wire [4:0] notched_doppler_bin; +wire [5:0] notched_range_bin; + +assign dop_bin_unsigned = doppler_bin; +assign dc_notch_active = (DC_NOTCH_WIDTH != 3'd0) && + (dop_bin_unsigned < {2'b0, DC_NOTCH_WIDTH} || + dop_bin_unsigned > (5'd31 - {2'b0, DC_NOTCH_WIDTH} + 5'd1)); + +assign notched_doppler_data = dc_notch_active ? 32'd0 : doppler_output; +assign notched_doppler_valid = doppler_valid; +assign notched_doppler_bin = doppler_bin; +assign notched_range_bin = range_bin; + +// ============================================================================ +// CFAR SIGNALS +// ============================================================================ +wire cfar_detect_flag; +wire cfar_detect_valid; +wire [5:0] cfar_detect_range; +wire [4:0] cfar_detect_doppler; +wire [16:0] cfar_detect_magnitude; +wire [16:0] cfar_detect_threshold; +wire [15:0] cfar_detect_count; +wire cfar_busy; +wire [7:0] cfar_status_w; + +// ============================================================================ +// DUT INSTANTIATION: Range Bin Decimator +// ============================================================================ +range_bin_decimator #( + .INPUT_BINS(INPUT_BINS), + .OUTPUT_BINS(RANGE_BINS), + .DECIMATION_FACTOR(DECIM_FACTOR) +) range_decim ( + .clk(clk), + .reset_n(reset_n), + .range_i_in(decim_i_in), + .range_q_in(decim_q_in), + .range_valid_in(decim_valid_in), + .range_i_out(decim_i_out), + .range_q_out(decim_q_out), + .range_valid_out(decim_valid_out), + .range_bin_index(decim_bin_index), + .decimation_mode(2'b01), // Peak detection mode + .start_bin(10'd0), + .watchdog_timeout() +); + +// ============================================================================ +// DUT INSTANTIATION: MTI Canceller +// ============================================================================ +mti_canceller #( + .NUM_RANGE_BINS(RANGE_BINS), + .DATA_WIDTH(16) +) mti_inst ( + .clk(clk), + .reset_n(reset_n), + .range_i_in(decim_i_out), + .range_q_in(decim_q_out), + .range_valid_in(decim_valid_out), + .range_bin_in(decim_bin_index), + .range_i_out(mti_i_out), + .range_q_out(mti_q_out), + .range_valid_out(mti_valid_out), + .range_bin_out(mti_bin_out), + .mti_enable(1'b1), // MTI always enabled for this test + .mti_first_chirp(mti_first_chirp) +); + +// ============================================================================ +// DUT INSTANTIATION: Doppler Processor +// ============================================================================ +doppler_processor_optimized doppler_proc ( + .clk(clk), + .reset_n(reset_n), + .range_data(range_data_32bit), + .data_valid(range_data_valid), + .new_chirp_frame(new_chirp_frame), + .doppler_output(doppler_output), + .doppler_valid(doppler_valid), + .doppler_bin(doppler_bin), + .range_bin(range_bin), + .processing_active(processing_active), + .frame_complete(frame_complete), + .status(dut_status) +); + +// ============================================================================ +// DUT INSTANTIATION: CFAR Detector +// ============================================================================ +cfar_ca cfar_inst ( + .clk(clk), + .reset_n(reset_n), + .doppler_data(notched_doppler_data), + .doppler_valid(notched_doppler_valid), + .doppler_bin_in(notched_doppler_bin), + .range_bin_in(notched_range_bin), + .frame_complete(frame_complete), + .cfg_guard_cells(4'd2), + .cfg_train_cells(5'd8), + .cfg_alpha(8'h30), // Q4.4 = 3.0 + .cfg_cfar_mode(2'b00), // CA-CFAR + .cfg_cfar_enable(1'b1), // CFAR enabled + .cfg_simple_threshold(16'd500), + .detect_flag(cfar_detect_flag), + .detect_valid(cfar_detect_valid), + .detect_range(cfar_detect_range), + .detect_doppler(cfar_detect_doppler), + .detect_magnitude(cfar_detect_magnitude), + .detect_threshold(cfar_detect_threshold), + .detect_count(cfar_detect_count), + .cfar_busy(cfar_busy), + .cfar_status(cfar_status_w) +); + +// Internal DUT state (for debug) +wire [2:0] decim_state = range_decim.state; +wire [2:0] doppler_state = doppler_proc.state; + +// ============================================================================ +// INPUT DATA MEMORY (loaded from hex file) +// ============================================================================ +reg [31:0] input_mem [0:TOTAL_INPUT_SAMPLES-1]; + +initial begin + $readmemh("tb/cosim/real_data/hex/fullchain_range_input.hex", input_mem); +end + +// ============================================================================ +// REFERENCE DATA (loaded from hex files) +// ============================================================================ +// MTI reference: 2048 x 16-bit signed (32 chirps x 64 bins, row-major) +reg signed [15:0] ref_mti_i [0:TOTAL_MTI_SAMPLES-1]; +reg signed [15:0] ref_mti_q [0:TOTAL_MTI_SAMPLES-1]; + +// DC-notched Doppler reference: 2048 x 16-bit signed (64 range x 32 Doppler) +reg signed [15:0] ref_notched_i [0:TOTAL_DOPPLER_SAMPLES-1]; +reg signed [15:0] ref_notched_q [0:TOTAL_DOPPLER_SAMPLES-1]; + +// CFAR reference: magnitude, threshold, detection flags +reg [16:0] ref_cfar_mag [0:TOTAL_CFAR_CELLS-1]; +reg [16:0] ref_cfar_thr [0:TOTAL_CFAR_CELLS-1]; +reg [0:0] ref_cfar_det [0:TOTAL_CFAR_CELLS-1]; + +initial begin + $readmemh("tb/cosim/real_data/hex/fullchain_mti_ref_i.hex", ref_mti_i); + $readmemh("tb/cosim/real_data/hex/fullchain_mti_ref_q.hex", ref_mti_q); + $readmemh("tb/cosim/real_data/hex/fullchain_notched_ref_i.hex", ref_notched_i); + $readmemh("tb/cosim/real_data/hex/fullchain_notched_ref_q.hex", ref_notched_q); + $readmemh("tb/cosim/real_data/hex/fullchain_cfar_mag.hex", ref_cfar_mag); + $readmemh("tb/cosim/real_data/hex/fullchain_cfar_thr.hex", ref_cfar_thr); + $readmemh("tb/cosim/real_data/hex/fullchain_cfar_det.hex", ref_cfar_det); +end + +// ============================================================================ +// MTI OUTPUT CAPTURE +// ============================================================================ +integer mti_out_count; +reg signed [15:0] mti_cap_i [0:TOTAL_MTI_SAMPLES-1]; +reg signed [15:0] mti_cap_q [0:TOTAL_MTI_SAMPLES-1]; + +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + mti_out_count <= 0; + end else if (mti_valid_out) begin + if (mti_out_count < TOTAL_MTI_SAMPLES) begin + mti_cap_i[mti_out_count] <= mti_i_out; + mti_cap_q[mti_out_count] <= mti_q_out; + end + mti_out_count <= mti_out_count + 1; + end +end + +// ============================================================================ +// DOPPLER OUTPUT CAPTURE (post DC-notch) +// ============================================================================ +reg signed [15:0] dop_cap_i [0:TOTAL_DOPPLER_SAMPLES-1]; +reg signed [15:0] dop_cap_q [0:TOTAL_DOPPLER_SAMPLES-1]; +reg [5:0] dop_cap_rbin [0:TOTAL_DOPPLER_SAMPLES-1]; +reg [4:0] dop_cap_dbin [0:TOTAL_DOPPLER_SAMPLES-1]; +integer dop_out_count; + +// ============================================================================ +// CFAR OUTPUT CAPTURE +// ============================================================================ +reg [16:0] cfar_cap_mag [0:TOTAL_CFAR_CELLS-1]; +reg [16:0] cfar_cap_thr [0:TOTAL_CFAR_CELLS-1]; +reg [0:0] cfar_cap_det [0:TOTAL_CFAR_CELLS-1]; +reg [5:0] cfar_cap_rbin [0:TOTAL_CFAR_CELLS-1]; +reg [4:0] cfar_cap_dbin [0:TOTAL_CFAR_CELLS-1]; +integer cfar_out_count; +integer cfar_det_count; + +// ============================================================================ +// PASS / FAIL TRACKING +// ============================================================================ +integer pass_count, fail_count, test_count; + +task check; + input cond; + input [511:0] label; + begin + test_count = test_count + 1; + if (cond) begin + pass_count = pass_count + 1; + end else begin + $display(" [FAIL] %0s", label); + fail_count = fail_count + 1; + end + end +endtask + +// ============================================================================ +// MAIN TEST SEQUENCE +// ============================================================================ +integer i, chirp, sample_idx, cycle_count; +integer n_exact, n_within_tol; +integer max_err_i, max_err_q; +integer abs_diff_i, abs_diff_q; +reg signed [31:0] diff_i, diff_q; +integer mismatches_printed; +reg [31:0] packed_iq; +integer cfar_ref_idx; +integer cfar_mag_mismatches, cfar_thr_mismatches, cfar_det_mismatches; + +initial begin + // ---- Init ---- + pass_count = 0; + fail_count = 0; + test_count = 0; + dop_out_count = 0; + cfar_out_count = 0; + cfar_det_count = 0; + decim_i_in = 0; + decim_q_in = 0; + decim_valid_in = 0; + new_chirp_frame = 0; + reset_n = 0; + + // ---- Reset ---- + #(CLK_PERIOD * 10); + reset_n = 1; + #(CLK_PERIOD * 5); + + $display("============================================================"); + $display(" Full-Chain Real-Data Co-Simulation (MTI + CFAR)"); + $display(" range_bin_decimator (peak, 1024->64)"); + $display(" -> mti_canceller (2-pulse, enable=1)"); + $display(" -> doppler_processor_optimized (Hamming + 32-pt FFT)"); + $display(" -> DC notch filter (width=%0d)", DC_NOTCH_WIDTH); + $display(" -> cfar_ca (CA, guard=2, train=8, alpha=0x30)"); + $display(" ADI CN0566 Phaser 10.525 GHz X-band FMCW"); + $display(" Input: %0d chirps x %0d range FFT bins = %0d samples", CHIRPS, INPUT_BINS, TOTAL_INPUT_SAMPLES); + $display(" Expected: %0d MTI outputs, %0d Doppler outputs, %0d CFAR cells", TOTAL_MTI_SAMPLES, TOTAL_DOPPLER_SAMPLES, TOTAL_CFAR_CELLS); + $display("============================================================"); + + // ---- Debug: check hex files loaded ---- + $display(" input_mem[0] = %08h", input_mem[0]); + $display(" input_mem[32767] = %08h", input_mem[32767]); + $display(" ref_mti_i[0]=%04h, ref_mti_q[0]=%04h", ref_mti_i[0], ref_mti_q[0]); + $display(" ref_notched_i[0]=%04h, ref_notched_q[0]=%04h", ref_notched_i[0], ref_notched_q[0]); + $display(" ref_cfar_mag[0]=%05h, ref_cfar_thr[0]=%05h, ref_cfar_det[0]=%01h", ref_cfar_mag[0], ref_cfar_thr[0], ref_cfar_det[0]); + + // ---- Check 1: DUTs start in expected states ---- + check(decim_state == 3'd0, "Decimator starts in ST_IDLE"); + check(doppler_state == 3'b000, "Doppler starts in S_IDLE"); + + // ---- Pulse new_chirp_frame to start Doppler accumulation ---- + @(posedge clk); + new_chirp_frame <= 1; + @(posedge clk); + @(posedge clk); + new_chirp_frame <= 0; + @(posedge clk); + + // ---- Feed input data: 32 chirps x 1024 range bins ---- + $display("\n--- Feeding %0d chirps x %0d bins = %0d samples ---", CHIRPS, INPUT_BINS, TOTAL_INPUT_SAMPLES); + + for (chirp = 0; chirp < CHIRPS; chirp = chirp + 1) begin + for (i = 0; i < INPUT_BINS; i = i + 1) begin + @(posedge clk); + sample_idx = chirp * INPUT_BINS + i; + packed_iq = input_mem[sample_idx]; + decim_i_in <= packed_iq[15:0]; + decim_q_in <= packed_iq[31:16]; + decim_valid_in <= 1; + end + + @(posedge clk); + decim_valid_in <= 0; + decim_i_in <= 0; + decim_q_in <= 0; + + // Wait for decimator to return to IDLE + cycle_count = 0; + while (decim_state != 3'd0 && cycle_count < 200) begin + @(posedge clk); + cycle_count = cycle_count + 1; + end + + if (chirp < 3 || chirp == CHIRPS - 1) begin + $display(" Chirp %0d: IDLE after %0d extra cycles, mti_out=%0d", chirp, cycle_count, mti_out_count); + end + end + + // Allow a few extra cycles for the last MTI output to propagate + repeat (10) @(posedge clk); + + $display(" All input fed. MTI outputs: %0d (expected %0d)", mti_out_count, TOTAL_MTI_SAMPLES); + + // ---- Check: MTI produced correct number of outputs ---- + check(mti_out_count == TOTAL_MTI_SAMPLES, "MTI output count == 2048"); + + // ---- Wait for Doppler processing to complete ---- + $display("\n--- Waiting for Doppler to process and emit %0d outputs ---", TOTAL_DOPPLER_SAMPLES); + + cycle_count = 0; + while (dop_out_count < TOTAL_DOPPLER_SAMPLES && cycle_count < MAX_CYCLES) begin + @(posedge clk); + cycle_count = cycle_count + 1; + + if (doppler_valid) begin + // Capture DC-notched Doppler output + dop_cap_i[dop_out_count] = notched_doppler_data[15:0]; + dop_cap_q[dop_out_count] = notched_doppler_data[31:16]; + dop_cap_rbin[dop_out_count] = notched_range_bin; + dop_cap_dbin[dop_out_count] = notched_doppler_bin; + dop_out_count = dop_out_count + 1; + end + end + + $display(" Collected %0d Doppler outputs in %0d cycles", dop_out_count, cycle_count); + check(dop_out_count == TOTAL_DOPPLER_SAMPLES, "Doppler output count == 2048"); + check(cycle_count < MAX_CYCLES, "Doppler processing within timeout"); + + // ---- Wait for CFAR to complete ---- + $display("\n--- Waiting for CFAR to process %0d cells ---", TOTAL_CFAR_CELLS); + + cycle_count = 0; + while (cfar_out_count < TOTAL_CFAR_CELLS && cycle_count < MAX_CYCLES) begin + @(posedge clk); + cycle_count = cycle_count + 1; + + if (cfar_detect_valid) begin + cfar_cap_mag[cfar_out_count] = cfar_detect_magnitude; + cfar_cap_thr[cfar_out_count] = cfar_detect_threshold; + cfar_cap_det[cfar_out_count] = cfar_detect_flag; + cfar_cap_rbin[cfar_out_count] = cfar_detect_range; + cfar_cap_dbin[cfar_out_count] = cfar_detect_doppler; + if (cfar_detect_flag) cfar_det_count = cfar_det_count + 1; + cfar_out_count = cfar_out_count + 1; + end + end + + $display(" Collected %0d CFAR outputs in %0d cycles (%0d detections)", cfar_out_count, cycle_count, cfar_det_count); + check(cfar_out_count == TOTAL_CFAR_CELLS, "CFAR output count == 2048"); + check(cycle_count < MAX_CYCLES, "CFAR processing within timeout"); + + // ================================================================== + // CHECKPOINT 1: MTI OUTPUT COMPARISON + // ================================================================== + $display(""); + $display("--- Checkpoint 1: MTI canceller output vs golden reference ---"); + + max_err_i = 0; + max_err_q = 0; + n_exact = 0; + mismatches_printed = 0; + + for (i = 0; i < TOTAL_MTI_SAMPLES; i = i + 1) begin + diff_i = mti_cap_i[i] - ref_mti_i[i]; + diff_q = mti_cap_q[i] - ref_mti_q[i]; + abs_diff_i = (diff_i < 0) ? -diff_i : diff_i; + abs_diff_q = (diff_q < 0) ? -diff_q : diff_q; + + if (abs_diff_i > max_err_i) max_err_i = abs_diff_i; + if (abs_diff_q > max_err_q) max_err_q = abs_diff_q; + + if (diff_i == 0 && diff_q == 0) + n_exact = n_exact + 1; + + if ((abs_diff_i > 0 || abs_diff_q > 0) && mismatches_printed < 10) begin + $display(" [%4d] chirp=%0d bin=%0d RTL=(%6d,%6d) REF=(%6d,%6d) ERR=(%4d,%4d)", i, i / RANGE_BINS, i % RANGE_BINS, $signed(mti_cap_i[i]), $signed(mti_cap_q[i]), $signed(ref_mti_i[i]), $signed(ref_mti_q[i]), diff_i, diff_q); + mismatches_printed = mismatches_printed + 1; + end + + check(abs_diff_i == 0 && abs_diff_q == 0, "MTI output bin match"); + end + + $display(" MTI: exact=%0d/%0d, max_err I=%0d Q=%0d", n_exact, TOTAL_MTI_SAMPLES, max_err_i, max_err_q); + + // ================================================================== + // CHECKPOINT 2: DC-NOTCHED DOPPLER OUTPUT COMPARISON + // ================================================================== + $display(""); + $display("--- Checkpoint 2: DC-notched Doppler output vs golden reference ---"); + + max_err_i = 0; + max_err_q = 0; + n_exact = 0; + mismatches_printed = 0; + + for (i = 0; i < TOTAL_DOPPLER_SAMPLES; i = i + 1) begin + diff_i = dop_cap_i[i] - ref_notched_i[i]; + diff_q = dop_cap_q[i] - ref_notched_q[i]; + abs_diff_i = (diff_i < 0) ? -diff_i : diff_i; + abs_diff_q = (diff_q < 0) ? -diff_q : diff_q; + + if (abs_diff_i > max_err_i) max_err_i = abs_diff_i; + if (abs_diff_q > max_err_q) max_err_q = abs_diff_q; + + if (diff_i == 0 && diff_q == 0) + n_exact = n_exact + 1; + + if ((abs_diff_i > 0 || abs_diff_q > 0) && mismatches_printed < 10) begin + $display(" [%4d] rbin=%2d dbin=%2d RTL=(%6d,%6d) REF=(%6d,%6d) ERR=(%4d,%4d)", i, dop_cap_rbin[i], dop_cap_dbin[i], $signed(dop_cap_i[i]), $signed(dop_cap_q[i]), $signed(ref_notched_i[i]), $signed(ref_notched_q[i]), diff_i, diff_q); + mismatches_printed = mismatches_printed + 1; + end + + check(abs_diff_i == 0 && abs_diff_q == 0, "Notched Doppler output bin match"); + end + + $display(" Notched Doppler: exact=%0d/%0d, max_err I=%0d Q=%0d", n_exact, TOTAL_DOPPLER_SAMPLES, max_err_i, max_err_q); + + // ================================================================== + // CHECKPOINT 3: CFAR MAGNITUDE, THRESHOLD, AND DETECTION COMPARISON + // ================================================================== + $display(""); + $display("--- Checkpoint 3: CFAR output vs golden reference ---"); + + cfar_mag_mismatches = 0; + cfar_thr_mismatches = 0; + cfar_det_mismatches = 0; + mismatches_printed = 0; + + // The CFAR outputs cells in Doppler-column order: + // column 0 (dbin=0): range bins 0..63 + // column 1 (dbin=1): range bins 0..63 + // ... + // But golden reference is in row-major order (rbin, dbin). + // We need to map CFAR output index to golden reference index. + for (i = 0; i < cfar_out_count; i = i + 1) begin + // CFAR output: range=cfar_cap_rbin[i], doppler=cfar_cap_dbin[i] + // Golden ref index: rbin * 32 + dbin (row-major) + cfar_ref_idx = cfar_cap_rbin[i] * DOPPLER_FFT + cfar_cap_dbin[i]; + + if (cfar_cap_mag[i] != ref_cfar_mag[cfar_ref_idx]) begin + cfar_mag_mismatches = cfar_mag_mismatches + 1; + if (mismatches_printed < 10) begin + $display(" MAG[%4d] rbin=%2d dbin=%2d RTL=%0d REF=%0d", i, cfar_cap_rbin[i], cfar_cap_dbin[i], cfar_cap_mag[i], ref_cfar_mag[cfar_ref_idx]); + mismatches_printed = mismatches_printed + 1; + end + end + + if (cfar_cap_thr[i] != ref_cfar_thr[cfar_ref_idx]) begin + cfar_thr_mismatches = cfar_thr_mismatches + 1; + if (mismatches_printed < 10) begin + $display(" THR[%4d] rbin=%2d dbin=%2d RTL=%0d REF=%0d", i, cfar_cap_rbin[i], cfar_cap_dbin[i], cfar_cap_thr[i], ref_cfar_thr[cfar_ref_idx]); + mismatches_printed = mismatches_printed + 1; + end + end + + if (cfar_cap_det[i] != ref_cfar_det[cfar_ref_idx]) begin + cfar_det_mismatches = cfar_det_mismatches + 1; + if (mismatches_printed < 10) begin + $display(" DET[%4d] rbin=%2d dbin=%2d RTL=%0d REF=%0d (mag=%0d thr=%0d)", i, cfar_cap_rbin[i], cfar_cap_dbin[i], cfar_cap_det[i], ref_cfar_det[cfar_ref_idx], cfar_cap_mag[i], cfar_cap_thr[i]); + mismatches_printed = mismatches_printed + 1; + end + end + end + + // Per-cell pass/fail for CFAR + for (i = 0; i < cfar_out_count; i = i + 1) begin + cfar_ref_idx = cfar_cap_rbin[i] * DOPPLER_FFT + cfar_cap_dbin[i]; + check(cfar_cap_mag[i] == ref_cfar_mag[cfar_ref_idx], "CFAR magnitude match"); + check(cfar_cap_thr[i] == ref_cfar_thr[cfar_ref_idx], "CFAR threshold match"); + check(cfar_cap_det[i] == ref_cfar_det[cfar_ref_idx], "CFAR detection flag match"); + end + + $display(" CFAR mag mismatches: %0d / %0d", cfar_mag_mismatches, cfar_out_count); + $display(" CFAR thr mismatches: %0d / %0d", cfar_thr_mismatches, cfar_out_count); + $display(" CFAR det mismatches: %0d / %0d", cfar_det_mismatches, cfar_out_count); + $display(" CFAR total detections: RTL=%0d", cfar_det_count); + + // ================================================================== + // SUMMARY + // ================================================================== + $display(""); + $display("============================================================"); + $display(" SUMMARY: Full-Chain Real-Data Co-Simulation (MTI + CFAR)"); + $display("============================================================"); + $display(" Chain: decim(peak) -> MTI -> Doppler -> DC notch(w=%0d) -> CFAR(CA)", DC_NOTCH_WIDTH); + $display(" Input samples: %0d (%0d chirps x %0d bins)", TOTAL_INPUT_SAMPLES, CHIRPS, INPUT_BINS); + $display(" MTI outputs: %0d (expected %0d)", mti_out_count, TOTAL_MTI_SAMPLES); + $display(" Doppler outputs: %0d (expected %0d)", dop_out_count, TOTAL_DOPPLER_SAMPLES); + $display(" CFAR outputs: %0d (expected %0d)", cfar_out_count, TOTAL_CFAR_CELLS); + $display(" CFAR detections: %0d", cfar_det_count); + $display(" Pass: %0d Fail: %0d Total: %0d", pass_count, fail_count, test_count); + $display("============================================================"); + + if (fail_count == 0) + $display("RESULT: ALL TESTS PASSED (%0d/%0d)", pass_count, test_count); + else + $display("RESULT: %0d TESTS FAILED", fail_count); + + $display("============================================================"); + + #(CLK_PERIOD * 10); + $finish; +end + +// ============================================================================ +// WATCHDOG +// ============================================================================ +initial begin + #(CLK_PERIOD * MAX_CYCLES * 2); + $display("[TIMEOUT] Simulation exceeded %0d cycles -- aborting", MAX_CYCLES * 2); + $display("SOME TESTS FAILED"); + $finish; +end + +endmodule