fix: align all range/carrier/velocity values to PLFM hardware + FPGA bug fixes

- Correct carrier from 10.525/10 GHz to 10.5 GHz (verified ADF4382 config)
- Correct range-per-bin from 4.8/5.6/781.25 m to 24.0 m (matched-filter)
- Correct velocity resolution from 1.484 to 2.67 m/s/bin (PRI-based)
- Correct processing rate from 4 MSPS to 100 MSPS (post-DDC)
- Correct max range from 307/5000/50000 m to 1536 m (64 bins x 24 m)
- Add WaveformConfig.pri_s field (167 us PRI for velocity calculation)
- Fix short chirp chirp_complete deadlock (Bug A)
- Remove dead short_chirp ports, rename long_chirp to ref_chirp (Bug B)
- Fix stale latency comment 2159 -> 3187 cycles (Bug C)
- Create radar_params.vh as single source of truth for FPGA parameters
- Lower RadarSettings.cpp map_size validation bound from 1000 to 100
- Add PLFM hardware constants to golden_reference.py
- Update all GUI versions, tests, and cross-layer contracts

All 244 tests passing (167 Python + 21 MCU + 29 cross-layer + 27 FPGA)

9_Firmware/9_3_GUI/v7/models.py

@@ -108,12 +108,12 @@ class RadarSettings:
     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)
+    system_frequency: float = 10.5e9    # Hz (PLFM TX LO, verified from ADF4382 config)
+    range_resolution: float = 24.0     # Meters per decimated range bin (c/(2*100MSPS)*16)
+    velocity_resolution: float = 2.67  # m/s per Doppler bin (lam/(2*32*167us))
+    max_distance: float = 1536         # Max detection range (m) -- 64 bins x 24 m (3 km mode)
+    map_size: float = 1536             # Map display size (m)
+    coverage_radius: float = 1536      # Map coverage radius (m)
 
 
 @dataclass
@@ -196,42 +196,44 @@ class TileServer(Enum):
 class WaveformConfig:
     """Physical waveform parameters for converting bins to SI units.
 
-    Encapsulates the radar waveform so that range/velocity resolution
+    Encapsulates the PLFM radar waveform so that range/velocity resolution
     can be derived automatically instead of hardcoded in RadarSettings.
 
-    Defaults match the ADI CN0566 Phaser capture parameters used in
-    the golden_reference cosim (4 MSPS, 500 MHz BW, 300 us chirp).
+    Defaults match the PLFM hardware: 100 MSPS post-DDC processing rate,
+    20 MHz chirp bandwidth, 30 us long chirp, 167 us PRI, 10.5 GHz carrier.
+    The receiver uses matched-filter pulse compression (NOT deramped FMCW),
+    so range-per-bin = c / (2 * fs_processing) * decimation_factor.
     """
 
-    sample_rate_hz: float = 4e6          # ADC sample rate
-    bandwidth_hz: float = 500e6          # Chirp bandwidth
-    chirp_duration_s: float = 300e-6     # Chirp ramp time
-    center_freq_hz: float = 10.525e9     # Carrier frequency
-    n_range_bins: int = 64               # After decimation
+    sample_rate_hz: float = 100e6        # Post-DDC processing rate (400 MSPS / 4)
+    bandwidth_hz: float = 20e6           # Chirp bandwidth (Phase 1 target: 30 MHz)
+    chirp_duration_s: float = 30e-6      # Long chirp ramp (informational only)
+    pri_s: float = 167e-6               # Pulse repetition interval (chirp + listen)
+    center_freq_hz: float = 10.5e9       # TX LO carrier (verified: ADF4382 config)
+    n_range_bins: int = 64               # After decimation (3 km mode)
     n_doppler_bins: int = 32             # After Doppler FFT
     fft_size: int = 1024                 # Pre-decimation FFT length
     decimation_factor: int = 16          # 1024 → 64
 
     @property
     def range_resolution_m(self) -> float:
-        """Meters per decimated range bin (FMCW deramped baseband).
+        """Meters per decimated range bin (matched-filter receiver).
 
-        For deramped FMCW: bin spacing = c * Fs * T / (2 * N_FFT * BW).
+        For matched-filter pulse compression: bin spacing = c / (2 * fs).
         After decimation the bin spacing grows by *decimation_factor*.
+        This is independent of chirp bandwidth (BW affects resolution, not
+        bin spacing).
         """
         c = 299_792_458.0
-        raw_bin = (
-            c * self.sample_rate_hz * self.chirp_duration_s
-            / (2.0 * self.fft_size * self.bandwidth_hz)
-        )
+        raw_bin = c / (2.0 * self.sample_rate_hz)
         return raw_bin * self.decimation_factor
 
     @property
     def velocity_resolution_mps(self) -> float:
-        """m/s per Doppler bin.  lambda / (2 * n_doppler * chirp_duration)."""
+        """m/s per Doppler bin.  lambda / (2 * n_doppler * PRI)."""
         c = 299_792_458.0
         wavelength = c / self.center_freq_hz
-        return wavelength / (2.0 * self.n_doppler_bins * self.chirp_duration_s)
+        return wavelength / (2.0 * self.n_doppler_bins * self.pri_s)
 
     @property
     def max_range_m(self) -> float: