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feat: 2048-pt FFT upgrade with decimation=4, 512 output bins, 6m spacing

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Complete cross-layer upgrade from 1024-pt/64-bin to 2048-pt/512-bin FFT:

FPGA RTL (14+ modules):
- radar_params.vh: FFT_SIZE=2048, RANGE_BINS=512, 9-bit range, 6-bit stream
- fft_engine.v: 2048-pt FFT with XPM BRAM
- chirp_memory_loader_param.v: 2 segments x 2048 (was 4 x 1024)
- matched_filter_multi_segment.v: BRAM inference for overlap_cache, explicit ov_waddr
- mti_canceller.v: BRAM inference for prev_i/q arrays (was fabric FFs)
- doppler_processor.v: 16384-deep memory, 14-bit addressing
- cfar_ca.v: 512 rows, indentation fix
- radar_receiver_final.v: rising-edge detector for frame_complete, 11-bit sample_addr
- range_bin_decimator.v: 512 output bins
- usb_data_interface_ft2232h.v: bulk per-frame with Manhattan magnitude
- radar_mode_controller.v: XOR edge detector for toggle signals
- rx_gain_control.v: updated for new bin count

Python GUI + Protocol (8 files):
- radar_protocol.py: 512-bin bulk frame parser, LSB-first bitmap
- GUI_V65_Tk.py, v7/*.py: updated for 512 bins, 6m range resolution

Golden data + tests:
- All .hex/.csv/.npy golden references regenerated for 2048/512
- fft_twiddle_2048.mem added
- Deleted stale seg2/seg3 chirp mem files
- 9 new bulk frame cross-layer tests, deleted 6 stale per-sample tests
- Deleted stale tb_cross_layer_ft2232h.v and dead contract_parser functions
- Updated validate_mem_files.py for 2048/2-segment config

MCU: RadarSettings.cpp max_distance/map_size 1536->3072

All 4 CI jobs pass: 285 tests, 0 failures, 0 skips
This commit is contained in:
Jason
2026-04-16 17:27:55 +05:45
parent affa40a9d3
commit e9705e40b7
178 changed files with 687738 additions and 122880 deletions
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9_Firmware/9_2_FPGA/radar_mode_controller.v
+144 -40
View File
@@ -1,5 +1,7 @@
`timescale 1ns / 1ps
`include "radar_params.vh"
/**
* radar_mode_controller.v
*
@@ -18,12 +20,18 @@
* - 32 chirps per elevation
* - 31 elevations per azimuth
* - 50 azimuths per full scan
* - Each chirp: Long chirp → Listen → Guard → Short chirp → Listen
*
* Modes of operation:
* Chirp sequence depends on range_mode (host_range_mode, opcode 0x20):
* range_mode 2'b00 (3 km): All short chirps only. Long chirp blind zone
* (4500 m) exceeds 3 km max range, so long chirps are useless.
* range_mode 2'b01 (long-range): Dual chirp — Long chirp → Listen → Guard
* → Short chirp → Listen. First half of chirps_per_elev are long, second
* half are short (blind-zone fill).
*
* Modes of operation (host_radar_mode, opcode 0x01):
* mode[1:0]:
* 2'b00 = STM32-driven (pass through stm32 toggle signals)
* 2'b01 = Free-running auto-scan (internal timing)
* 2'b01 = Free-running auto-scan (internal timing, short chirps only)
* 2'b10 = Single-chirp (fire one chirp per trigger, for debug)
* 2'b11 = Reserved
*
@@ -31,9 +39,9 @@
*/
module radar_mode_controller #(
parameter CHIRPS_PER_ELEVATION = 32,
parameter CHIRPS_PER_ELEVATION = `RP_DEF_CHIRPS_PER_ELEV,
parameter ELEVATIONS_PER_AZIMUTH = 31,
parameter AZIMUTHS_PER_SCAN = 50,
parameter AZIMUTHS_PER_SCAN = 50,
// Timing in 100 MHz clock cycles
// Long chirp: 30us = 3000 cycles at 100 MHz
@@ -41,18 +49,24 @@ module radar_mode_controller #(
// Guard: 175.4us = 17540 cycles
// Short chirp: 0.5us = 50 cycles
// Short listen: 174.5us = 17450 cycles
parameter LONG_CHIRP_CYCLES = 3000,
parameter LONG_LISTEN_CYCLES = 13700,
parameter GUARD_CYCLES = 17540,
parameter SHORT_CHIRP_CYCLES = 50,
parameter SHORT_LISTEN_CYCLES = 17450
parameter LONG_CHIRP_CYCLES = `RP_DEF_LONG_CHIRP_CYCLES,
parameter LONG_LISTEN_CYCLES = `RP_DEF_LONG_LISTEN_CYCLES,
parameter GUARD_CYCLES = `RP_DEF_GUARD_CYCLES,
parameter SHORT_CHIRP_CYCLES = `RP_DEF_SHORT_CHIRP_CYCLES,
parameter SHORT_LISTEN_CYCLES = `RP_DEF_SHORT_LISTEN_CYCLES
) (
input wire clk,
input wire reset_n,
// Mode selection
// Mode selection (host_radar_mode, opcode 0x01)
input wire [1:0] mode, // 00=STM32, 01=auto, 10=single, 11=rsvd
// Range mode (host_range_mode, opcode 0x20)
// Determines chirp type selection in pass-through and auto-scan modes.
// 2'b00 = 3 km (all short chirps — long blind zone > max range)
// 2'b01 = Long-range (dual chirp: first half long, second half short)
input wire [1:0] range_mode,
// STM32 pass-through inputs (active in mode 00)
input wire stm32_new_chirp,
input wire stm32_new_elevation,
@@ -61,10 +75,8 @@ module radar_mode_controller #(
// Single-chirp trigger (active in mode 10)
input wire trigger,
// Gap 2: Runtime-configurable timing inputs from host USB commands.
// Runtime-configurable timing inputs from host USB commands.
// When connected, these override the compile-time parameters.
// When left at default (tied to parameter values at instantiation),
// behavior is identical to pre-Gap-2.
input wire [15:0] cfg_long_chirp_cycles,
input wire [15:0] cfg_long_listen_cycles,
input wire [15:0] cfg_guard_cycles,
@@ -156,7 +168,7 @@ always @(posedge clk or negedge reset_n) begin
if (!reset_n) begin
scan_state <= S_IDLE;
timer <= 18'd0;
use_long_chirp <= 1'b1;
use_long_chirp <= 1'b0; // Default short chirp (safe for 3 km mode)
mc_new_chirp <= 1'b0;
mc_new_elevation <= 1'b0;
mc_new_azimuth <= 1'b0;
@@ -172,7 +184,12 @@ always @(posedge clk or negedge reset_n) begin
// ================================================================
// MODE 00: STM32-driven pass-through
// The STM32 firmware controls timing; we just detect toggle edges
// and forward them to the receiver chain.
// and forward them to the receiver chain. Chirp type is determined
// by range_mode:
// range_mode 00 (3 km): ALL chirps are short (long blind zone
// 4500 m exceeds 3072 m max range, so long chirps are useless).
// range_mode 01 (long-range): First half of chirps_per_elev are
// long, second half are short (blind-zone fill).
// ================================================================
2'b00: begin
// Reset auto-scan state
@@ -182,9 +199,29 @@ always @(posedge clk or negedge reset_n) begin
// Pass through toggle signals
if (stm32_chirp_toggle) begin
mc_new_chirp <= ~mc_new_chirp; // Toggle output
use_long_chirp <= 1'b1; // Default to long chirp
// Track chirp count (Gap 2: use runtime cfg_chirps_per_elev)
// Determine chirp type based on range_mode
case (range_mode)
`RP_RANGE_MODE_3KM: begin
// 3 km mode: all short chirps
use_long_chirp <= 1'b0;
end
`RP_RANGE_MODE_LONG: begin
// Long-range: first half long, second half short.
// chirps_per_elev is typically 32 (16 long + 16 short).
// Use cfg_chirps_per_elev[5:1] as the halfway point.
if (chirp_count < {1'b0, cfg_chirps_per_elev[5:1]})
use_long_chirp <= 1'b1;
else
use_long_chirp <= 1'b0;
end
default: begin
// Reserved modes: default to short chirp (safe)
use_long_chirp <= 1'b0;
end
endcase
// Track chirp count
if (chirp_count < cfg_chirps_per_elev - 1)
chirp_count <= chirp_count + 1;
else
@@ -217,21 +254,33 @@ always @(posedge clk or negedge reset_n) begin
// ================================================================
// MODE 01: Free-running auto-scan
// Internally generates chirp timing matching the transmitter.
// For 3 km mode (range_mode 00): short chirps only. The long chirp
// blind zone (4500 m) exceeds the 3072 m max range, making long
// chirps useless. State machine skips S_LONG_CHIRP/LISTEN/GUARD.
// For long-range mode (range_mode 01): full dual-chirp sequence.
// NOTE: Auto-scan is primarily for bench testing without STM32.
// ================================================================
2'b01: begin
case (scan_state)
S_IDLE: begin
// Start first chirp immediately
scan_state <= S_LONG_CHIRP;
timer <= 18'd0;
use_long_chirp <= 1'b1;
mc_new_chirp <= ~mc_new_chirp; // Toggle to start chirp
chirp_count <= 6'd0;
timer <= 18'd0;
chirp_count <= 6'd0;
elevation_count <= 6'd0;
azimuth_count <= 6'd0;
azimuth_count <= 6'd0;
mc_new_chirp <= ~mc_new_chirp; // Toggle to start chirp
// For 3 km mode, skip directly to short chirp
if (range_mode == `RP_RANGE_MODE_3KM) begin
scan_state <= S_SHORT_CHIRP;
use_long_chirp <= 1'b0;
end else begin
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
end
`ifdef SIMULATION
$display("[MODE_CTRL] Auto-scan starting");
$display("[MODE_CTRL] Auto-scan starting, range_mode=%0d", range_mode);
`endif
end
@@ -285,13 +334,19 @@ always @(posedge clk or negedge reset_n) begin
S_ADVANCE: begin
// Advance chirp/elevation/azimuth counters
// (Gap 2: use runtime cfg_chirps_per_elev)
if (chirp_count < cfg_chirps_per_elev - 1) begin
// Next chirp in current elevation
chirp_count <= chirp_count + 1;
mc_new_chirp <= ~mc_new_chirp;
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
// For 3 km mode: short chirps only, skip long phases
if (range_mode == `RP_RANGE_MODE_3KM) begin
scan_state <= S_SHORT_CHIRP;
use_long_chirp <= 1'b0;
end else begin
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
end
end else begin
chirp_count <= 6'd0;
@@ -300,8 +355,14 @@ always @(posedge clk or negedge reset_n) begin
elevation_count <= elevation_count + 1;
mc_new_chirp <= ~mc_new_chirp;
mc_new_elevation <= ~mc_new_elevation;
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
if (range_mode == `RP_RANGE_MODE_3KM) begin
scan_state <= S_SHORT_CHIRP;
use_long_chirp <= 1'b0;
end else begin
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
end
end else begin
elevation_count <= 6'd0;
@@ -311,8 +372,14 @@ always @(posedge clk or negedge reset_n) begin
mc_new_chirp <= ~mc_new_chirp;
mc_new_elevation <= ~mc_new_elevation;
mc_new_azimuth <= ~mc_new_azimuth;
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
if (range_mode == `RP_RANGE_MODE_3KM) begin
scan_state <= S_SHORT_CHIRP;
use_long_chirp <= 1'b0;
end else begin
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
end
end else begin
// Full scan complete — restart
azimuth_count <= 6'd0;
@@ -320,8 +387,14 @@ always @(posedge clk or negedge reset_n) begin
mc_new_chirp <= ~mc_new_chirp;
mc_new_elevation <= ~mc_new_elevation;
mc_new_azimuth <= ~mc_new_azimuth;
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
if (range_mode == `RP_RANGE_MODE_3KM) begin
scan_state <= S_SHORT_CHIRP;
use_long_chirp <= 1'b0;
end else begin
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
end
`ifdef SIMULATION
$display("[MODE_CTRL] Full scan complete, restarting");
@@ -337,16 +410,27 @@ always @(posedge clk or negedge reset_n) begin
// ================================================================
// MODE 10: Single-chirp (debug mode)
// Fire one long chirp per trigger pulse, no scanning.
// Fire one chirp per trigger pulse, no scanning.
// Chirp type depends on range_mode:
// 3 km: short chirp only
// Long-range: long chirp (for testing long-chirp path)
// ================================================================
2'b10: begin
case (scan_state)
S_IDLE: begin
if (trigger_pulse) begin
scan_state <= S_LONG_CHIRP;
timer <= 18'd0;
use_long_chirp <= 1'b1;
mc_new_chirp <= ~mc_new_chirp;
timer <= 18'd0;
mc_new_chirp <= ~mc_new_chirp;
if (range_mode == `RP_RANGE_MODE_3KM) begin
// 3 km: fire short chirp
scan_state <= S_SHORT_CHIRP;
use_long_chirp <= 1'b0;
end else begin
// Long-range: fire long chirp
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
end
end
end
@@ -363,7 +447,27 @@ always @(posedge clk or negedge reset_n) begin
if (timer < cfg_long_listen_cycles - 1)
timer <= timer + 1;
else begin
// Single chirp done, return to idle
// Single long chirp done, return to idle
timer <= 18'd0;
scan_state <= S_IDLE;
end
end
S_SHORT_CHIRP: begin
use_long_chirp <= 1'b0;
if (timer < cfg_short_chirp_cycles - 1)
timer <= timer + 1;
else begin
timer <= 18'd0;
scan_state <= S_SHORT_LISTEN;
end
end
S_SHORT_LISTEN: begin
if (timer < cfg_short_listen_cycles - 1)
timer <= timer + 1;
else begin
// Single short chirp done, return to idle
timer <= 18'd0;
scan_state <= S_IDLE;
end