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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_system_top.v
+38 -27
View File
@@ -1,5 +1,7 @@
`timescale 1ns / 1ps
`include "radar_params.vh"
/**
* radar_system_top.v
*
@@ -122,7 +124,7 @@ module radar_system_top (
output wire [31:0] dbg_doppler_data,
output wire dbg_doppler_valid,
output wire [4:0] dbg_doppler_bin,
output wire [5:0] dbg_range_bin,
output wire [`RP_RANGE_BIN_BITS-1:0] dbg_range_bin,
// System status
output wire [3:0] system_status,
@@ -176,11 +178,13 @@ wire tx_current_chirp_sync_valid;
wire [31:0] rx_doppler_output;
wire rx_doppler_valid;
wire [4:0] rx_doppler_bin;
wire [5:0] rx_range_bin;
wire [31:0] rx_range_profile;
wire rx_range_valid;
wire [15:0] rx_doppler_real;
wire [15:0] rx_doppler_imag;
wire [`RP_RANGE_BIN_BITS-1:0] rx_range_bin;
wire [31:0] rx_range_profile;
wire rx_range_valid;
wire [15:0] rx_range_profile_decimated;
wire rx_range_profile_decimated_valid;
wire [15:0] rx_doppler_real;
wire [15:0] rx_doppler_imag;
wire rx_doppler_data_valid;
reg rx_detect_flag; // Threshold detection result (was rx_cfar_detection)
reg rx_detect_valid; // Detection valid pulse (was rx_cfar_valid)
@@ -223,7 +227,7 @@ wire [15:0] usb_cmd_value;
reg [1:0] host_radar_mode;
reg host_trigger_pulse;
reg [15:0] host_detect_threshold; // (was host_cfar_threshold)
reg [2:0] host_stream_control;
reg [5:0] host_stream_control;
// Fix 3: Digital gain control register
// [3]=direction: 0=amplify, 1=attenuate. [2:0]=shift amount 0..7.
@@ -250,13 +254,12 @@ reg host_status_request; // Opcode 0xFF (self-clearing pulse)
localparam DOPPLER_FRAME_CHIRPS = 32; // Total chirps per Doppler frame
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)
// Range-mode register (opcode 0x20)
// Controls chirp type selection in the mode controller:
// 2'b00 = 3 km mode (all short chirps — long blind zone > max range)
// 2'b01 = Long-range (dual chirp: first half long, second half short)
// 2'b10 = Reserved
// 2'b11 = Reserved
// Currently a configuration store only — antenna/timing switching TBD.
reg [1:0] host_range_mode;
// CFAR configuration registers (host-configurable via USB)
@@ -519,14 +522,16 @@ radar_receiver_final rx_inst (
.doppler_bin(rx_doppler_bin),
.range_bin(rx_range_bin),
// Matched filter range profile (for USB)
.range_profile_i_out(rx_range_profile[15:0]),
.range_profile_q_out(rx_range_profile[31:16]),
.range_profile_valid_out(rx_range_valid),
// Range-profile outputs
.range_profile_i_out(rx_range_profile[15:0]),
.range_profile_q_out(rx_range_profile[31:16]),
.range_profile_valid_out(rx_range_valid),
.decimated_range_mag_out(rx_range_profile_decimated),
.decimated_range_valid_out(rx_range_profile_decimated_valid),
// Host command inputs (Gap 4: USB Read Path)
.host_mode(host_radar_mode),
.host_trigger(host_trigger_pulse),
.host_range_mode(host_range_mode),
// Gap 2: Host-configurable chirp timing
.host_long_chirp_cycles(host_long_chirp_cycles),
.host_long_listen_cycles(host_long_listen_cycles),
@@ -596,7 +601,7 @@ assign dc_notch_active = (host_dc_notch_width != 3'd0) &&
wire [31:0] notched_doppler_data = dc_notch_active ? 32'd0 : rx_doppler_output;
wire notched_doppler_valid = rx_doppler_valid;
wire [4:0] notched_doppler_bin = rx_doppler_bin;
wire [5:0] notched_range_bin = rx_range_bin;
wire [`RP_RANGE_BIN_BITS-1:0] notched_range_bin = rx_range_bin;
// ============================================================================
// CFAR DETECTOR (replaces simple threshold detector)
@@ -607,7 +612,7 @@ wire [5:0] notched_range_bin = rx_range_bin;
wire cfar_detect_flag;
wire cfar_detect_valid;
wire [5:0] cfar_detect_range;
wire [`RP_RANGE_BIN_BITS-1:0] cfar_detect_range;
wire [4:0] cfar_detect_doppler;
wire [16:0] cfar_detect_magnitude;
wire [16:0] cfar_detect_threshold;
@@ -698,9 +703,10 @@ end
// DATA PACKING FOR USB
// ============================================================================
// Range profile from matched filter output (wired through radar_receiver_final)
assign usb_range_profile = rx_range_profile;
assign usb_range_valid = rx_range_valid;
// USB range profile must match the advertised 512-bin frame payload, so source it
// from the decimated range stream that feeds Doppler rather than raw MF samples.
assign usb_range_profile = {16'd0, rx_range_profile_decimated};
assign usb_range_valid = rx_range_profile_decimated_valid;
assign usb_doppler_real = rx_doppler_real;
assign usb_doppler_imag = rx_doppler_imag;
@@ -803,6 +809,11 @@ end else begin : gen_ft2232h
.cfar_detection(usb_detect_flag),
.cfar_valid(usb_detect_valid),
// Bulk frame protocol inputs
.range_bin_in(notched_range_bin),
.doppler_bin_in(notched_doppler_bin),
.frame_complete(rx_frame_complete),
// FT2232H Interface
.ft_data(ft_data),
.ft_rxf_n(ft_rxf_n),
@@ -911,7 +922,7 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
host_radar_mode <= 2'b01; // Default: auto-scan
host_trigger_pulse <= 1'b0;
host_detect_threshold <= 16'd10000; // Default threshold
host_stream_control <= 3'b111; // Default: all streams enabled
host_stream_control <= `RP_STREAM_CTRL_DEFAULT; // Default: all streams, mag-only mode
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;
@@ -922,7 +933,7 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
host_chirps_per_elev <= 6'd32;
host_status_request <= 1'b0;
chirps_mismatch_error <= 1'b0;
host_range_mode <= 2'b00; // Default: auto
host_range_mode <= 2'b00; // Default: 3 km mode (all short chirps)
// CFAR defaults (disabled by default — backward-compatible)
host_cfar_guard <= 4'd2; // 2 guard cells each side
host_cfar_train <= 5'd8; // 8 training cells each side
@@ -949,7 +960,7 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
8'h01: host_radar_mode <= usb_cmd_value[1:0];
8'h02: host_trigger_pulse <= 1'b1;
8'h03: host_detect_threshold <= usb_cmd_value;
8'h04: host_stream_control <= usb_cmd_value[2:0];
8'h04: host_stream_control <= usb_cmd_value[5:0];
// Gap 2: chirp timing configuration
8'h10: host_long_chirp_cycles <= usb_cmd_value;
8'h11: host_long_listen_cycles <= usb_cmd_value;
@@ -972,7 +983,7 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
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'h20: host_range_mode <= usb_cmd_value[1:0]; // Range mode
// CFAR configuration opcodes
8'h21: host_cfar_guard <= usb_cmd_value[3:0];
8'h22: host_cfar_train <= usb_cmd_value[4:0];