feat: CI test suite phases A+B, WaveformConfig separation, dead golden code cleanup

- Phase A: Remove self-blessing golden test from FPGA regression, wire
  MF co-sim (4 scenarios) into run_regression.sh, add opcode count guards
  to cross-layer tests (+3 tests)
- Phase B: Add radar_params.vh parser and architectural param consistency
  tests (+7 tests), add banned stale-value pattern scanner (+1 test)
- Separate WaveformConfig.range_resolution_m (physical, bandwidth-dependent)
  from bin_spacing_m (sample-rate dependent); rename all callers
- Remove 151 lines of dead golden generate/compare code from
  tb_radar_receiver_final.v; testbench now runs structural + bounds only
- Untrack generated MF co-sim CSV files, gitignore tb/golden/ directory

CI: 256 tests total (168 python + 40 cross-layer + 27 FPGA + 21 MCU), all green

9_Firmware/9_3_GUI/v7/models.py

@@ -105,11 +105,11 @@ class RadarSettings:
     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
+    range_bin_spacing and velocity_resolution should be calibrated to
     the actual waveform parameters.
     """
     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)
+    range_bin_spacing: 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)
@@ -216,18 +216,30 @@ class WaveformConfig:
     decimation_factor: int = 16          # 1024 → 64
 
     @property
-    def range_resolution_m(self) -> float:
+    def bin_spacing_m(self) -> float:
         """Meters per decimated range bin (matched-filter receiver).
 
         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).
+        This is independent of chirp bandwidth (BW affects physical
+        resolution, not bin spacing).
         """
         c = 299_792_458.0
         raw_bin = c / (2.0 * self.sample_rate_hz)
         return raw_bin * self.decimation_factor
 
+    @property
+    def range_resolution_m(self) -> float:
+        """Physical range resolution in meters, set by chirp bandwidth.
+
+        range_resolution = c / (2 * BW).
+        At 20 MHz BW → 7.5 m; at 30 MHz BW → 5.0 m.
+        This is distinct from bin_spacing_m (which depends on sample rate
+        and decimation factor, not bandwidth).
+        """
+        c = 299_792_458.0
+        return c / (2.0 * self.bandwidth_hz)
+
     @property
     def velocity_resolution_mps(self) -> float:
         """m/s per Doppler bin.  lambda / (2 * n_doppler * PRI)."""
@@ -238,7 +250,7 @@ class WaveformConfig:
     @property
     def max_range_m(self) -> float:
         """Maximum unambiguous range in meters."""
-        return self.range_resolution_m * self.n_range_bins
+        return self.bin_spacing_m * self.n_range_bins
 
     @property
     def max_velocity_mps(self) -> float:

9_Firmware/9_3_GUI/v7/processing.py

@@ -490,7 +490,7 @@ def polar_to_geographic(
 
 def extract_targets_from_frame(
     frame,
-    range_resolution: float = 1.0,
+    bin_spacing: float = 1.0,
     velocity_resolution: float = 1.0,
     gps: GPSData | None = None,
 ) -> list[RadarTarget]:
@@ -503,8 +503,8 @@ def extract_targets_from_frame(
     ----------
     frame : RadarFrame
         Frame with populated ``detections``, ``magnitude``, ``range_doppler_i/q``.
-    range_resolution : float
-        Meters per range bin.
+    bin_spacing : float
+        Meters per range bin (bin spacing, NOT bandwidth-limited resolution).
     velocity_resolution : float
         m/s per Doppler bin.
     gps : GPSData | None
@@ -525,7 +525,7 @@ def extract_targets_from_frame(
         mag = float(frame.magnitude[rbin, dbin])
         snr = 10.0 * math.log10(max(mag, 1.0)) if mag > 0 else 0.0
 
-        range_m = float(rbin) * range_resolution
+        range_m = float(rbin) * bin_spacing
         velocity_ms = float(dbin - doppler_center) * velocity_resolution
 
         lat, lon, azimuth, elevation = 0.0, 0.0, 0.0, 0.0

9_Firmware/9_3_GUI/v7/workers.py

@@ -169,7 +169,7 @@ class RadarDataWorker(QThread):
         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
+        Bin-to-physical conversion uses RadarSettings.range_bin_spacing
         and velocity_resolution (should be calibrated to actual waveform).
         """
         targets: list[RadarTarget] = []
@@ -180,7 +180,7 @@ class RadarDataWorker(QThread):
 
         # Extract detections from FPGA CFAR flags
         det_indices = np.argwhere(frame.detections > 0)
-        r_res = self._settings.range_resolution
+        r_res = self._settings.range_bin_spacing
         v_res = self._settings.velocity_resolution
 
         for idx in det_indices:
@@ -559,7 +559,7 @@ class ReplayWorker(QThread):
         # Target extraction
         targets = self._extract_targets(
             frame,
-            range_resolution=self._waveform.range_resolution_m,
+            bin_spacing=self._waveform.bin_spacing_m,
             velocity_resolution=self._waveform.velocity_resolution_mps,
             gps=self._gps,
         )