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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_receiver_final.v
+55 -37
View File
@@ -1,5 +1,7 @@
`timescale 1ns / 1ps
`include "radar_params.vh"
module radar_receiver_final (
input wire clk, // 100MHz
input wire reset_n,
@@ -17,17 +19,22 @@ module radar_receiver_final (
output wire [31:0] doppler_output,
output wire doppler_valid,
output wire [4:0] doppler_bin,
output wire [5:0] range_bin,
output wire [`RP_RANGE_BIN_BITS-1:0] range_bin, // 9-bit
// Matched filter range profile output (for USB)
output wire signed [15:0] range_profile_i_out,
output wire signed [15:0] range_profile_q_out,
output wire range_profile_valid_out,
// Raw matched-filter output (debug/bring-up)
output wire signed [15:0] range_profile_i_out,
output wire signed [15:0] range_profile_q_out,
output wire range_profile_valid_out,
// Decimated 512-bin range profile (for USB bulk frames / downstream consumers)
output wire [15:0] decimated_range_mag_out,
output wire decimated_range_valid_out,
// Host command inputs (Gap 4: USB Read Path, CDC-synchronized)
// CDC-synchronized in radar_system_top.v before reaching here
input wire [1:0] host_mode, // Radar mode: 00=STM32, 01=auto-scan, 10=single-chirp
input wire host_trigger, // Single-chirp trigger pulse (1 clk cycle)
input wire [1:0] host_range_mode, // Range mode: 00=3km (short only), 01=long-range (dual chirp)
// Gap 2: Host-configurable chirp timing (CDC-synchronized in radar_system_top.v)
input wire [15:0] host_long_chirp_cycles,
@@ -116,20 +123,36 @@ wire [31:0] doppler_spectrum;
wire doppler_spectrum_valid;
wire [4:0] doppler_bin_out;
wire doppler_processing;
wire doppler_frame_done;
// frame_complete from doppler_processor is a LEVEL signal (high whenever
// state == S_IDLE && !frame_buffer_full). Downstream consumers (USB FT2232H,
// AGC, CFAR) expect a single-cycle PULSE. Convert here at the source so all
// consumers are safe.
wire doppler_frame_done_level; // raw level from doppler_processor
reg doppler_frame_done_prev;
wire doppler_frame_done; // rising-edge pulse (1 clk cycle)
always @(posedge clk or negedge reset_n) begin
if (!reset_n)
doppler_frame_done_prev <= 1'b0;
else
doppler_frame_done_prev <= doppler_frame_done_level;
end
assign doppler_frame_done = doppler_frame_done_level & ~doppler_frame_done_prev;
assign doppler_frame_done_out = doppler_frame_done;
// ========== RANGE BIN DECIMATOR SIGNALS ==========
wire signed [15:0] decimated_range_i;
wire signed [15:0] decimated_range_q;
wire decimated_range_valid;
wire [5:0] decimated_range_bin;
wire [`RP_RANGE_BIN_BITS-1:0] decimated_range_bin; // 9-bit
// ========== MTI CANCELLER SIGNALS ==========
wire signed [15:0] mti_range_i;
wire signed [15:0] mti_range_q;
wire mti_range_valid;
wire [5:0] mti_range_bin;
wire [`RP_RANGE_BIN_BITS-1:0] mti_range_bin; // 9-bit
wire mti_first_chirp;
// ========== RADAR MODE CONTROLLER SIGNALS ==========
@@ -147,6 +170,7 @@ radar_mode_controller rmc (
.clk(clk),
.reset_n(reset_n),
.mode(host_mode), // Controlled by host via USB (default: 2'b01 auto-scan)
.range_mode(host_range_mode), // Range mode: 00=3km, 01=long-range (drives chirp type)
.stm32_new_chirp(stm32_new_chirp_rx),
.stm32_new_elevation(stm32_new_elevation_rx),
.stm32_new_azimuth(stm32_new_azimuth_rx),
@@ -265,7 +289,7 @@ rx_gain_control gain_ctrl (
);
// 3. Dual Chirp Memory Loader
wire [9:0] sample_addr_from_chain;
wire [10:0] sample_addr_from_chain;
chirp_memory_loader_param chirp_mem (
.clk(clk),
@@ -279,18 +303,6 @@ chirp_memory_loader_param chirp_mem (
.mem_ready(mem_ready)
);
// Sample address generator
reg [9:0] sample_addr_reg;
always @(posedge clk or negedge reset_n) begin
if (!reset_n) begin
sample_addr_reg <= 0;
end else if (mem_request) begin
sample_addr_reg <= sample_addr_reg + 1;
if (sample_addr_reg == 1023) sample_addr_reg <= 0;
end
end
// sample_addr_wire removed — was unused implicit wire (synthesis warning)
// 4. CRITICAL: Reference Chirp Latency Buffer
// This aligns reference data with FFT output (3187 cycle delay)
// TODO: verify empirically during hardware bring-up with correlation test
@@ -321,9 +333,15 @@ wire signed [15:0] range_profile_q;
wire range_valid;
// Expose matched filter output to top level for USB range profile
assign range_profile_i_out = range_profile_i;
assign range_profile_q_out = range_profile_q;
assign range_profile_valid_out = range_valid;
assign range_profile_i_out = range_profile_i;
assign range_profile_q_out = range_profile_q;
assign range_profile_valid_out = range_valid;
// Manhattan magnitude: |I| + |Q|, saturated to 16 bits
wire [15:0] abs_mti_i = mti_range_i[15] ? (~mti_range_i + 16'd1) : mti_range_i;
wire [15:0] abs_mti_q = mti_range_q[15] ? (~mti_range_q + 16'd1) : mti_range_q;
wire [16:0] manhattan_sum = {1'b0, abs_mti_i} + {1'b0, abs_mti_q};
assign decimated_range_mag_out = manhattan_sum[16] ? 16'hFFFF : manhattan_sum[15:0];
assign decimated_range_valid_out = mti_range_valid;
matched_filter_multi_segment mf_dual (
.clk(clk),
@@ -348,11 +366,11 @@ matched_filter_multi_segment mf_dual (
);
// ========== CRITICAL: RANGE BIN DECIMATOR ==========
// Convert 1024 range bins to 64 bins for Doppler
// Convert 2048 range bins to 512 bins for Doppler
range_bin_decimator #(
.INPUT_BINS(1024),
.OUTPUT_BINS(64),
.DECIMATION_FACTOR(16)
.INPUT_BINS(`RP_FFT_SIZE), // 2048
.OUTPUT_BINS(`RP_NUM_RANGE_BINS), // 512
.DECIMATION_FACTOR(`RP_DECIMATION_FACTOR) // 4
) range_decim (
.clk(clk),
.reset_n(reset_n),
@@ -364,7 +382,7 @@ range_bin_decimator #(
.range_valid_out(decimated_range_valid),
.range_bin_index(decimated_range_bin),
.decimation_mode(2'b01), // Peak detection mode
.start_bin(10'd0),
.start_bin(11'd0),
.watchdog_timeout() // Diagnostic — unconnected (monitored via ILA if needed)
);
@@ -373,8 +391,8 @@ range_bin_decimator #(
// H(z) = 1 - z^{-1} → null at DC Doppler, removes stationary clutter.
// When host_mti_enable=0: transparent pass-through.
mti_canceller #(
.NUM_RANGE_BINS(64),
.DATA_WIDTH(16)
.NUM_RANGE_BINS(`RP_NUM_RANGE_BINS), // 512
.DATA_WIDTH(`RP_DATA_WIDTH) // 16
) mti_inst (
.clk(clk),
.reset_n(reset_n),
@@ -427,11 +445,11 @@ assign range_data_32bit = {mti_range_q, mti_range_i};
assign range_data_valid = mti_range_valid;
// ========== DOPPLER PROCESSOR ==========
doppler_processor_optimized #(
.DOPPLER_FFT_SIZE(16),
.RANGE_BINS(64),
.CHIRPS_PER_FRAME(32),
.CHIRPS_PER_SUBFRAME(16)
doppler_processor_optimized #(
.DOPPLER_FFT_SIZE(`RP_DOPPLER_FFT_SIZE), // 16
.RANGE_BINS(`RP_NUM_RANGE_BINS), // 512
.CHIRPS_PER_FRAME(`RP_CHIRPS_PER_FRAME), // 32
.CHIRPS_PER_SUBFRAME(`RP_CHIRPS_PER_SUBFRAME) // 16
) doppler_proc (
.clk(clk),
.reset_n(reset_n),
@@ -447,7 +465,7 @@ doppler_processor_optimized #(
// Status
.processing_active(doppler_processing),
.frame_complete(doppler_frame_done),
.frame_complete(doppler_frame_done_level),
.status()
);