GUI: add self-test UI, fix opcode mismatches (0x16->0x06, 0x04->0x05), update status parsing to 6-word/26-byte format
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Jason
@@ -10,7 +10,7 @@ Matches usb_data_interface.v packet format exactly.
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USB Packet Protocol:
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TX (FPGA→Host):
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Data packet: [0xAA] [range 4×32b] [doppler 4×32b] [det 1B] [0x55]
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Status packet: [0xBB] [status 5×32b] [0x55]
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Status packet: [0xBB] [status 6×32b] [0x55]
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RX (Host→FPGA):
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Command word: {opcode[31:24], addr[23:16], value[15:0]}
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"""
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@@ -47,29 +47,30 @@ WATERFALL_DEPTH = 64
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class Opcode(IntEnum):
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"""Host register opcodes (matches radar_system_top.v command decode)."""
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TRIGGER = 0x01
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PRF_DIV = 0x02
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NUM_CHIRPS = 0x03
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CHIRP_TIMER = 0x04
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STREAM_ENABLE = 0x05
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GAIN_SHIFT = 0x06
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THRESHOLD = 0x10
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LONG_CHIRP = 0x10
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LONG_LISTEN = 0x11
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GUARD = 0x12
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SHORT_CHIRP = 0x13
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SHORT_LISTEN = 0x14
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CHIRPS_PER_ELEV = 0x15
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DIGITAL_GAIN = 0x16
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RANGE_MODE = 0x20
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CFAR_GUARD = 0x21
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CFAR_TRAIN = 0x22
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CFAR_ALPHA = 0x23
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CFAR_MODE = 0x24
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CFAR_ENABLE = 0x25
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MTI_ENABLE = 0x26
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DC_NOTCH_WIDTH = 0x27
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STATUS_REQUEST = 0xFF
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TRIGGER = 0x01
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PRF_DIV = 0x02
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NUM_CHIRPS = 0x03
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CHIRP_TIMER = 0x04
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STREAM_ENABLE = 0x05
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GAIN_SHIFT = 0x06
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THRESHOLD = 0x10
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LONG_CHIRP = 0x10
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LONG_LISTEN = 0x11
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GUARD = 0x12
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SHORT_CHIRP = 0x13
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SHORT_LISTEN = 0x14
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CHIRPS_PER_ELEV = 0x15
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RANGE_MODE = 0x20
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CFAR_GUARD = 0x21
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CFAR_TRAIN = 0x22
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CFAR_ALPHA = 0x23
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CFAR_MODE = 0x24
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CFAR_ENABLE = 0x25
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MTI_ENABLE = 0x26
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DC_NOTCH_WIDTH = 0x27
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SELF_TEST_TRIGGER = 0x30
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SELF_TEST_STATUS = 0x31
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STATUS_REQUEST = 0xFF
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# ============================================================================
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@@ -96,7 +97,7 @@ class RadarFrame:
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@dataclass
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class StatusResponse:
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"""Parsed status response from FPGA."""
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"""Parsed status response from FPGA (8-word packet as of Build 26)."""
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radar_mode: int = 0
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stream_ctrl: int = 0
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cfar_threshold: int = 0
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@@ -107,6 +108,10 @@ class StatusResponse:
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short_listen: int = 0
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chirps_per_elev: int = 0
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range_mode: int = 0
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# Self-test results (word 5, added in Build 26)
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self_test_flags: int = 0 # 5-bit result flags [4:0]
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self_test_detail: int = 0 # 8-bit detail code [7:0]
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self_test_busy: int = 0 # 1-bit busy flag
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# ============================================================================
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@@ -197,19 +202,19 @@ class RadarProtocol:
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def parse_status_packet(raw: bytes) -> Optional[StatusResponse]:
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"""
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Parse a status response packet.
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Format: [0xBB] [5×4B status words] [0x55] = 1 + 20 + 1 = 22 bytes
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Format: [0xBB] [6×4B status words] [0x55] = 1 + 24 + 1 = 26 bytes
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"""
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if len(raw) < 22:
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if len(raw) < 26:
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return None
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if raw[0] != STATUS_HEADER_BYTE:
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return None
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words = []
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for i in range(5):
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for i in range(6):
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w = struct.unpack_from(">I", raw, 1 + i * 4)[0]
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words.append(w)
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if raw[21] != FOOTER_BYTE:
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if raw[25] != FOOTER_BYTE:
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return None
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sr = StatusResponse()
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@@ -228,6 +233,11 @@ class RadarProtocol:
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sr.short_listen = (words[3] >> 16) & 0xFFFF
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# Word 4: {30'd0, range_mode[1:0]}
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sr.range_mode = words[4] & 0x03
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# Word 5: {7'd0, self_test_busy, 8'd0, self_test_detail[7:0],
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# 3'd0, self_test_flags[4:0]}
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sr.self_test_flags = words[5] & 0x1F
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sr.self_test_detail = (words[5] >> 8) & 0xFF
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sr.self_test_busy = (words[5] >> 24) & 0x01
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return sr
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@staticmethod
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@@ -248,8 +258,8 @@ class RadarProtocol:
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else:
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break
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elif buf[i] == STATUS_HEADER_BYTE:
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# Status packet: 22 bytes
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end = i + 22
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# Status packet: 26 bytes (6 words + header + footer)
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end = i + 26
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if end <= len(buf):
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packets.append((i, end, "status"))
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i = end
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@@ -423,8 +433,9 @@ _HARDWARE_ONLY_OPCODES = {
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0x13, # SHORT_CHIRP
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0x14, # SHORT_LISTEN
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0x15, # CHIRPS_PER_ELEV
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0x16, # DIGITAL_GAIN
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0x20, # RANGE_MODE
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0x30, # SELF_TEST_TRIGGER
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0x31, # SELF_TEST_STATUS
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0xFF, # STATUS_REQUEST
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}
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@@ -873,11 +884,13 @@ class RadarAcquisition(threading.Thread):
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"""
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def __init__(self, connection: FT601Connection, frame_queue: queue.Queue,
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recorder: Optional[DataRecorder] = None):
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recorder: Optional[DataRecorder] = None,
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status_callback=None):
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super().__init__(daemon=True)
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self.conn = connection
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self.frame_queue = frame_queue
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self.recorder = recorder
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self._status_callback = status_callback
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self._stop_event = threading.Event()
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self._frame = RadarFrame()
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self._sample_idx = 0
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@@ -903,7 +916,17 @@ class RadarAcquisition(threading.Thread):
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elif ptype == "status":
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status = RadarProtocol.parse_status_packet(raw[start:end])
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if status is not None:
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log.info(f"Status: mode={status.radar_mode} stream={status.stream_ctrl}")
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log.info(f"Status: mode={status.radar_mode} "
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f"stream={status.stream_ctrl}")
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if status.self_test_busy or status.self_test_flags:
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log.info(f"Self-test: busy={status.self_test_busy} "
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f"flags=0b{status.self_test_flags:05b} "
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f"detail=0x{status.self_test_detail:02X}")
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if self._status_callback is not None:
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try:
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self._status_callback(status)
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except Exception as e:
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log.error(f"Status callback error: {e}")
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log.info("Acquisition thread stopped")
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