FlintyLemming/PLFM_RADAR
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Production fixes 1-7: detection bugs, cfar→threshold rename, digital gain control, Doppler mismatch protection, decimator watchdog, bypass_mode dead code removal, range-mode register (21/21 regression PASS)

Browse Source 
Fix 1: Combinational magnitude + non-sticky detection flag (tb: 23/23)
Fix 2: Rename all cfar_* signals to detect_*/threshold_* (honest naming)
Fix 3: New rx_gain_control.v between DDC and FFT, opcode 0x16 (tb: 33/33)
Fix 4: Clamp host_chirps_per_elev to DOPPLER_FFT_SIZE, error flag (E2E: 54/54)
Fix 5: Decimator watchdog timeout, 256-cycle limit (tb: 63/63)
Fix 6: Remove bypass_mode dead code from ddc_400m.v (DDC tb: 21/21)
Fix 7: Range-mode register 0x20 with status readback (USB tb: 77/77)
This commit is contained in:
Jason
2026-03-20 04:38:35 +02:00
parent 0b0643619c
commit e93bc33c6c
19 changed files with 5296 additions and 4214 deletions
Download Patch File Download Diff File Expand all files Collapse all files
9_Firmware/9_2_FPGA/radar_system_top.v
+90 -34
View File
@@ -161,8 +161,8 @@ wire rx_range_valid;
wire [15:0] rx_doppler_real;
wire [15:0] rx_doppler_imag;
wire rx_doppler_data_valid;
reg rx_cfar_detection;
reg rx_cfar_valid;
reg rx_detect_flag; // Threshold detection result (was rx_cfar_detection)
reg rx_detect_valid; // Detection valid pulse (was rx_cfar_valid)
// Data packing for USB
wire [31:0] usb_range_profile;
@@ -170,8 +170,8 @@ wire usb_range_valid;
wire [15:0] usb_doppler_real;
wire [15:0] usb_doppler_imag;
wire usb_doppler_valid;
wire usb_cfar_detection;
wire usb_cfar_valid;
wire usb_detect_flag; // (was usb_cfar_detection)
wire usb_detect_valid; // (was usb_cfar_valid)
// System status
reg [3:0] status_reg;
@@ -188,9 +188,14 @@ wire [15:0] usb_cmd_value;
// Declared here (before rx_inst) so Icarus Verilog can resolve forward refs.
reg [1:0] host_radar_mode;
reg host_trigger_pulse;
reg [15:0] host_cfar_threshold;
reg [15:0] host_detect_threshold; // (was host_cfar_threshold)
reg [2:0] host_stream_control;
// Fix 3: Digital gain control register
// [3]=direction: 0=amplify, 1=attenuate. [2:0]=shift amount 0..7.
// Default 0x00 = pass-through (no gain change).
reg [3:0] host_gain_shift;
// Gap 2: Host-configurable chirp timing registers
// These override the compile-time defaults in radar_mode_controller when
// written via USB command. Defaults match the parameter values in
@@ -203,6 +208,22 @@ reg [15:0] host_short_listen_cycles; // Opcode 0x14 (default 17450)
reg [5:0] host_chirps_per_elev; // Opcode 0x15 (default 32)
reg host_status_request; // Opcode 0xFF (self-clearing pulse)
// Fix 4: Doppler/chirps mismatch protection
// DOPPLER_FFT_SIZE is compile-time (32). If host sets chirps_per_elev to a
// different value, Doppler accumulation is corrupted. Clamp at command decode
// and flag the mismatch so the host knows.
localparam DOPPLER_FFT_SIZE = 32; // Must match doppler_processor parameter
reg chirps_mismatch_error; // Set if host tried to set chirps != FFT size
// Fix 7: Range-mode register (opcode 0x20)
// Future-proofing for 3km/10km antenna switching.
// 2'b00 = Auto (default — system selects based on scene)
// 2'b01 = Short-range (3km)
// 2'b10 = Long-range (10km)
// 2'b11 = Reserved
// Currently a configuration store only — antenna/timing switching TBD.
reg [1:0] host_range_mode;
// ============================================================================
// CLOCK BUFFERING
// ============================================================================
@@ -446,6 +467,8 @@ radar_receiver_final rx_inst (
.host_short_chirp_cycles(host_short_chirp_cycles),
.host_short_listen_cycles(host_short_listen_cycles),
.host_chirps_per_elev(host_chirps_per_elev),
// Fix 3: digital gain control
.host_gain_shift(host_gain_shift),
// 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.
@@ -464,30 +487,43 @@ assign rx_doppler_real = rx_doppler_output[15:0];
assign rx_doppler_imag = rx_doppler_output[31:16];
assign rx_doppler_data_valid = rx_doppler_valid;
// For this implementation, we'll create a simple CFAR detection simulation
// In a real system, this would come from a CFAR module
reg [7:0] cfar_counter;
reg [16:0] cfar_mag; // Approximate magnitude for threshold detection
// ============================================================================
// THRESHOLD DETECTOR (renamed from misleading "CFAR" — this is NOT CFAR)
// ============================================================================
// Simple magnitude threshold: |I|+|Q| > host_detect_threshold
// This is a placeholder until real CFAR (Gap 1) is implemented.
//
// BUG FIXES applied (Build 22):
// 1. cfar_mag was registered (<=) then compared in same always block,
// causing one-cycle-lag: comparison used PREVIOUS sample's magnitude.
// FIX: compute magnitude combinationally (wire), compare same cycle.
// 2. rx_cfar_detection was never cleared on non-detect cycles — stayed
// latched high after first detection until system reset.
// FIX: clear detection flag every cycle, set only on actual detect.
// Combinational magnitude: no pipeline lag
wire [16:0] detect_mag;
wire [15:0] detect_abs_i = rx_doppler_real[15] ? (~rx_doppler_real + 16'd1) : rx_doppler_real;
wire [15:0] detect_abs_q = rx_doppler_imag[15] ? (~rx_doppler_imag + 16'd1) : rx_doppler_imag;
assign detect_mag = {1'b0, detect_abs_i} + {1'b0, detect_abs_q};
reg [7:0] detect_counter;
always @(posedge clk_100m_buf or negedge sys_reset_n) begin
if (!sys_reset_n) begin
cfar_counter <= 8'd0;
rx_cfar_detection <= 1'b0;
rx_cfar_valid <= 1'b0;
cfar_mag <= 17'd0;
detect_counter <= 8'd0;
rx_detect_flag <= 1'b0;
rx_detect_valid <= 1'b0;
end else begin
rx_cfar_valid <= 1'b0;
// Default: clear every cycle (fixes sticky detection bug)
rx_detect_flag <= 1'b0;
rx_detect_valid <= 1'b0;
// Simple threshold detection on doppler magnitude
if (rx_doppler_valid) begin
// Calculate approximate magnitude (|I| + |Q|)
cfar_mag <= (rx_doppler_real[15] ? -rx_doppler_real : rx_doppler_real) +
(rx_doppler_imag[15] ? -rx_doppler_imag : rx_doppler_imag);
// Threshold detection (Gap 2: uses host-configurable threshold)
if (cfar_mag > {1'b0, host_cfar_threshold}) begin
rx_cfar_detection <= 1'b1;
rx_cfar_valid <= 1'b1;
cfar_counter <= cfar_counter + 1;
// Compare combinational magnitude against threshold (same cycle)
if (detect_mag > {1'b0, host_detect_threshold}) begin
rx_detect_flag <= 1'b1;
rx_detect_valid <= 1'b1;
detect_counter <= detect_counter + 1;
end
end
end
@@ -505,8 +541,8 @@ assign usb_doppler_real = rx_doppler_real;
assign usb_doppler_imag = rx_doppler_imag;
assign usb_doppler_valid = rx_doppler_valid;
assign usb_cfar_detection = rx_cfar_detection;
assign usb_cfar_valid = rx_cfar_valid;
assign usb_detect_flag = rx_detect_flag;
assign usb_detect_valid = rx_detect_valid;
// ============================================================================
// USB DATA INTERFACE INSTANTIATION
@@ -523,8 +559,8 @@ usb_data_interface usb_inst (
.doppler_real(usb_doppler_real),
.doppler_imag(usb_doppler_imag),
.doppler_valid(usb_doppler_valid),
.cfar_detection(usb_cfar_detection),
.cfar_valid(usb_cfar_valid),
.cfar_detection(usb_detect_flag),
.cfar_valid(usb_detect_valid),
// FT601 Interface
.ft601_data(ft601_data),
@@ -554,7 +590,7 @@ usb_data_interface usb_inst (
// Gap 2: Status readback inputs
.status_request(host_status_request),
.status_cfar_threshold(host_cfar_threshold),
.status_cfar_threshold(host_detect_threshold),
.status_stream_ctrl(host_stream_control),
.status_radar_mode(host_radar_mode),
.status_long_chirp(host_long_chirp_cycles),
@@ -562,7 +598,8 @@ usb_data_interface usb_inst (
.status_guard(host_guard_cycles),
.status_short_chirp(host_short_chirp_cycles),
.status_short_listen(host_short_listen_cycles),
.status_chirps_per_elev(host_chirps_per_elev)
.status_chirps_per_elev(host_chirps_per_elev),
.status_range_mode(host_range_mode)
);
// ============================================================================
@@ -608,15 +645,16 @@ wire cmd_valid_100m = cmd_valid_toggle_100m ^ cmd_valid_toggle_100m_prev;
// Sample cmd_data fields when CDC'd valid pulse arrives. Data is stable
// because the read FSM holds cmd_opcode/addr/value until the next command.
// NOTE: reg declarations for host_radar_mode, host_trigger_pulse,
// host_cfar_threshold, host_stream_control are in INTERNAL SIGNALS section
// host_detect_threshold, host_stream_control are in INTERNAL SIGNALS section
// above (before rx_inst) to avoid Icarus Verilog forward-reference errors.
always @(posedge clk_100m_buf or negedge sys_reset_n) begin
if (!sys_reset_n) begin
host_radar_mode <= 2'b01; // Default: auto-scan
host_trigger_pulse <= 1'b0;
host_cfar_threshold <= 16'd10000; // Default threshold
host_detect_threshold <= 16'd10000; // Default threshold
host_stream_control <= 3'b111; // Default: all streams enabled
host_gain_shift <= 4'd0; // Default: pass-through (no gain change)
// Gap 2: chirp timing defaults (match radar_mode_controller parameters)
host_long_chirp_cycles <= 16'd3000;
host_long_listen_cycles <= 16'd13700;
@@ -625,6 +663,8 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
host_short_listen_cycles <= 16'd17450;
host_chirps_per_elev <= 6'd32;
host_status_request <= 1'b0;
chirps_mismatch_error <= 1'b0;
host_range_mode <= 2'b00; // Default: auto
end else begin
host_trigger_pulse <= 1'b0; // Self-clearing pulse
host_status_request <= 1'b0; // Self-clearing pulse
@@ -632,7 +672,7 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
case (usb_cmd_opcode)
8'h01: host_radar_mode <= usb_cmd_value[1:0];
8'h02: host_trigger_pulse <= 1'b1;
8'h03: host_cfar_threshold <= usb_cmd_value;
8'h03: host_detect_threshold <= usb_cmd_value;
8'h04: host_stream_control <= usb_cmd_value[2:0];
// Gap 2: chirp timing configuration
8'h10: host_long_chirp_cycles <= usb_cmd_value;
@@ -640,7 +680,23 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
8'h12: host_guard_cycles <= usb_cmd_value;
8'h13: host_short_chirp_cycles <= usb_cmd_value;
8'h14: host_short_listen_cycles <= usb_cmd_value;
8'h15: host_chirps_per_elev <= usb_cmd_value[5:0];
8'h15: begin
// Fix 4: Clamp chirps_per_elev to DOPPLER_FFT_SIZE.
// If host requests a different value, clamp and set error flag.
if (usb_cmd_value[5:0] > DOPPLER_FFT_SIZE[5:0]) begin
host_chirps_per_elev <= DOPPLER_FFT_SIZE[5:0];
chirps_mismatch_error <= 1'b1;
end else if (usb_cmd_value[5:0] == 6'd0) begin
host_chirps_per_elev <= DOPPLER_FFT_SIZE[5:0];
chirps_mismatch_error <= 1'b1;
end else begin
host_chirps_per_elev <= usb_cmd_value[5:0];
// Clear error only if value matches FFT size exactly
chirps_mismatch_error <= (usb_cmd_value[5:0] != DOPPLER_FFT_SIZE[5:0]);
end
end
8'h16: host_gain_shift <= usb_cmd_value[3:0]; // Fix 3: digital gain
8'h20: host_range_mode <= usb_cmd_value[1:0]; // Fix 7: range mode
8'hFF: host_status_request <= 1'b1; // Gap 2: status readback
default: ;
endcase