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feat: hybrid AGC (FPGA phases 1-3 + GUI phase 6) with timing fix

Browse Source 
FPGA:
- rx_gain_control.v rewritten: per-frame peak/saturation tracking,
  auto-shift AGC with attack/decay/holdoff, signed gain -7 to +7
- New registers 0x28-0x2C (agc_enable/target/attack/decay/holdoff)
- status_words[4] carries AGC metrics (gain, peak, sat_count, enable)
- DIG_5 GPIO outputs saturation flag for STM32 outer loop
- Both USB interfaces (FT601 + FT2232H) updated with AGC status ports

Timing fix (WNS +0.001ns -> +0.045ns, 45x improvement):
- CIC max_fanout 4->16 on valid pipeline registers
- +200ps setup uncertainty on 400MHz domain
- ExtraNetDelay_high placement + AggressiveExplore routing

GUI:
- AGC opcodes + status parsing in radar_protocol.py
- AGC control groups in both tkinter and V7 PyQt dashboards
- 11 new AGC tests (103/103 GUI tests pass)

Cross-layer:
- AGC opcodes/defaults/status assertions added (29/29 pass)
- contract_parser.py: fixed comment stripping in concat parser

All tests green: 25 FPGA + 103 GUI + 29 cross-layer = 157 pass
This commit is contained in:
Jason
2026-04-13 19:24:11 +05:45
parent 23b2beee53
commit ffba27a10a
19 changed files with 863 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files
9_Firmware/9_3_GUI/radar_dashboard.py
+54 -1
View File
@@ -379,6 +379,44 @@ class RadarDashboard:
command=lambda: self._send_cmd(0x25, 0)).pack(
side="left", expand=True, fill="x", padx=(2, 0))
# ── AGC (Automatic Gain Control) ──────────────────────────────
grp_agc = ttk.LabelFrame(right, text="AGC (Auto Gain)", padding=10)
grp_agc.pack(fill="x", pady=(0, 8))
agc_params = [
("AGC Enable", 0x28, "0", 1, "0=manual, 1=auto"),
("AGC Target", 0x29, "200", 8, "0-255, peak target"),
("AGC Attack", 0x2A, "1", 4, "0-15, atten step"),
("AGC Decay", 0x2B, "1", 4, "0-15, gain-up step"),
("AGC Holdoff", 0x2C, "4", 4, "0-15, frames"),
]
for label, opcode, default, bits, hint in agc_params:
self._add_param_row(grp_agc, label, opcode, default, bits, hint)
# AGC quick toggle
agc_row = ttk.Frame(grp_agc)
agc_row.pack(fill="x", pady=2)
ttk.Button(agc_row, text="Enable AGC",
command=lambda: self._send_cmd(0x28, 1)).pack(
side="left", expand=True, fill="x", padx=(0, 2))
ttk.Button(agc_row, text="Disable AGC",
command=lambda: self._send_cmd(0x28, 0)).pack(
side="left", expand=True, fill="x", padx=(2, 0))
# AGC status readback labels
agc_st = ttk.LabelFrame(grp_agc, text="AGC Status", padding=6)
agc_st.pack(fill="x", pady=(4, 0))
self._agc_labels = {}
for name, default_text in [
("enable", "AGC: --"),
("gain", "Gain: --"),
("peak", "Peak: --"),
("sat", "Sat Count: --"),
]:
lbl = ttk.Label(agc_st, text=default_text, font=("Menlo", 9))
lbl.pack(anchor="w")
self._agc_labels[name] = lbl
# ── Custom Command (advanced / debug) ─────────────────────────
grp_cust = ttk.LabelFrame(right, text="Custom Command", padding=10)
grp_cust.pack(fill="x", pady=(0, 8))
@@ -521,7 +559,7 @@ class RadarDashboard:
self.root.after(0, self._update_self_test_labels, status)
def _update_self_test_labels(self, status: StatusResponse):
"""Update the self-test result labels from a StatusResponse."""
"""Update the self-test result labels and AGC status from a StatusResponse."""
if not hasattr(self, '_st_labels'):
return
flags = status.self_test_flags
@@ -556,6 +594,21 @@ class RadarDashboard:
self._st_labels[key].config(
text=f"{name}: {result_str}", foreground=color)
# AGC status readback
if hasattr(self, '_agc_labels'):
agc_str = "AUTO" if status.agc_enable else "MANUAL"
agc_color = GREEN if status.agc_enable else FG
self._agc_labels["enable"].config(
text=f"AGC: {agc_str}", foreground=agc_color)
self._agc_labels["gain"].config(
text=f"Gain: {status.agc_current_gain}")
self._agc_labels["peak"].config(
text=f"Peak: {status.agc_peak_magnitude}")
sat_color = RED if status.agc_saturation_count > 0 else FG
self._agc_labels["sat"].config(
text=f"Sat Count: {status.agc_saturation_count}",
foreground=sat_color)
# --------------------------------------------------------- Display loop
def _schedule_update(self):
self._update_display()
9_Firmware/9_3_GUI/radar_protocol.py
+21 -4
View File
@@ -59,9 +59,9 @@ class Opcode(IntEnum):
0x03 host_detect_threshold 0x16 host_gain_shift
0x04 host_stream_control 0x20 host_range_mode
0x10 host_long_chirp_cycles 0x21-0x27 CFAR / MTI / DC-notch
0x11 host_long_listen_cycles 0x30 host_self_test_trigger
0x12 host_guard_cycles 0x31 host_status_request
0x13 host_short_chirp_cycles 0xFF host_status_request
0x11 host_long_listen_cycles 0x28-0x2C AGC control
0x12 host_guard_cycles 0x30 host_self_test_trigger
0x13 host_short_chirp_cycles 0x31/0xFF host_status_request
"""
# --- Basic control (0x01-0x04) ---
RADAR_MODE = 0x01 # 2-bit mode select
@@ -90,6 +90,13 @@ class Opcode(IntEnum):
MTI_ENABLE = 0x26
DC_NOTCH_WIDTH = 0x27
# --- AGC (0x28-0x2C) ---
AGC_ENABLE = 0x28
AGC_TARGET = 0x29
AGC_ATTACK = 0x2A
AGC_DECAY = 0x2B
AGC_HOLDOFF = 0x2C
# --- Board self-test / status (0x30-0x31, 0xFF) ---
SELF_TEST_TRIGGER = 0x30
SELF_TEST_STATUS = 0x31
@@ -135,6 +142,11 @@ class StatusResponse:
self_test_flags: int = 0 # 5-bit result flags [4:0]
self_test_detail: int = 0 # 8-bit detail code [7:0]
self_test_busy: int = 0 # 1-bit busy flag
# AGC metrics (word 4, added for hybrid AGC)
agc_current_gain: int = 0 # 4-bit current gain encoding [3:0]
agc_peak_magnitude: int = 0 # 8-bit peak magnitude [7:0]
agc_saturation_count: int = 0 # 8-bit saturation count [7:0]
agc_enable: int = 0 # 1-bit AGC enable readback
# ============================================================================
@@ -232,8 +244,13 @@ class RadarProtocol:
# Word 3: {short_listen[31:16], 10'd0, chirps_per_elev[5:0]}
sr.chirps_per_elev = words[3] & 0x3F
sr.short_listen = (words[3] >> 16) & 0xFFFF
# Word 4: {30'd0, range_mode[1:0]}
# Word 4: {agc_current_gain[31:28], agc_peak_magnitude[27:20],
# agc_saturation_count[19:12], agc_enable[11], 9'd0, range_mode[1:0]}
sr.range_mode = words[4] & 0x03
sr.agc_enable = (words[4] >> 11) & 0x01
sr.agc_saturation_count = (words[4] >> 12) & 0xFF
sr.agc_peak_magnitude = (words[4] >> 20) & 0xFF
sr.agc_current_gain = (words[4] >> 28) & 0x0F
# Word 5: {7'd0, self_test_busy, 8'd0, self_test_detail[7:0],
# 3'd0, self_test_flags[4:0]}
sr.self_test_flags = words[5] & 0x1F
9_Firmware/9_3_GUI/test_radar_dashboard.py
+96 -3
View File
@@ -125,7 +125,8 @@ class TestRadarProtocol(unittest.TestCase):
long_chirp=3000, long_listen=13700,
guard=17540, short_chirp=50,
short_listen=17450, chirps=32, range_mode=0,
st_flags=0, st_detail=0, st_busy=0):
st_flags=0, st_detail=0, st_busy=0,
agc_gain=0, agc_peak=0, agc_sat=0, agc_enable=0):
"""Build a 26-byte status response matching FPGA format (Build 26)."""
pkt = bytearray()
pkt.append(STATUS_HEADER_BYTE)
@@ -146,8 +147,11 @@ class TestRadarProtocol(unittest.TestCase):
w3 = ((short_listen & 0xFFFF) << 16) | (chirps & 0x3F)
pkt += struct.pack(">I", w3)
# Word 4: {30'd0, range_mode[1:0]}
w4 = range_mode & 0x03
# Word 4: {agc_current_gain[3:0], agc_peak_magnitude[7:0],
# agc_saturation_count[7:0], agc_enable, 9'd0, range_mode[1:0]}
w4 = (((agc_gain & 0x0F) << 28) | ((agc_peak & 0xFF) << 20) |
((agc_sat & 0xFF) << 12) | ((agc_enable & 0x01) << 11) |
(range_mode & 0x03))
pkt += struct.pack(">I", w4)
# Word 5: {7'd0, self_test_busy, 8'd0, self_test_detail[7:0],
@@ -723,6 +727,7 @@ class TestOpcodeEnum(unittest.TestCase):
expected = {0x01, 0x02, 0x03, 0x04,
0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16,
0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27,
0x28, 0x29, 0x2A, 0x2B, 0x2C,
0x30, 0x31, 0xFF}
enum_values = {int(m) for m in Opcode}
for op in expected:
@@ -747,5 +752,93 @@ class TestStatusResponseDefaults(unittest.TestCase):
self.assertEqual(sr.self_test_busy, 1)
class TestAGCOpcodes(unittest.TestCase):
"""Verify AGC opcode enum members match FPGA RTL (0x28-0x2C)."""
def test_agc_enable_opcode(self):
self.assertEqual(Opcode.AGC_ENABLE, 0x28)
def test_agc_target_opcode(self):
self.assertEqual(Opcode.AGC_TARGET, 0x29)
def test_agc_attack_opcode(self):
self.assertEqual(Opcode.AGC_ATTACK, 0x2A)
def test_agc_decay_opcode(self):
self.assertEqual(Opcode.AGC_DECAY, 0x2B)
def test_agc_holdoff_opcode(self):
self.assertEqual(Opcode.AGC_HOLDOFF, 0x2C)
class TestAGCStatusParsing(unittest.TestCase):
"""Verify AGC fields in status_words[4] are parsed correctly."""
def _make_status_packet(self, **kwargs):
"""Delegate to TestRadarProtocol helper."""
helper = TestRadarProtocol()
return helper._make_status_packet(**kwargs)
def test_agc_fields_default_zero(self):
"""With no AGC fields set, all should be 0."""
raw = self._make_status_packet()
sr = RadarProtocol.parse_status_packet(raw)
self.assertEqual(sr.agc_current_gain, 0)
self.assertEqual(sr.agc_peak_magnitude, 0)
self.assertEqual(sr.agc_saturation_count, 0)
self.assertEqual(sr.agc_enable, 0)
def test_agc_fields_nonzero(self):
"""AGC fields round-trip through status packet."""
raw = self._make_status_packet(agc_gain=7, agc_peak=200,
agc_sat=15, agc_enable=1)
sr = RadarProtocol.parse_status_packet(raw)
self.assertEqual(sr.agc_current_gain, 7)
self.assertEqual(sr.agc_peak_magnitude, 200)
self.assertEqual(sr.agc_saturation_count, 15)
self.assertEqual(sr.agc_enable, 1)
def test_agc_max_values(self):
"""AGC fields at max values."""
raw = self._make_status_packet(agc_gain=15, agc_peak=255,
agc_sat=255, agc_enable=1)
sr = RadarProtocol.parse_status_packet(raw)
self.assertEqual(sr.agc_current_gain, 15)
self.assertEqual(sr.agc_peak_magnitude, 255)
self.assertEqual(sr.agc_saturation_count, 255)
self.assertEqual(sr.agc_enable, 1)
def test_agc_and_range_mode_coexist(self):
"""AGC fields and range_mode occupy the same word without conflict."""
raw = self._make_status_packet(agc_gain=5, agc_peak=128,
agc_sat=42, agc_enable=1,
range_mode=2)
sr = RadarProtocol.parse_status_packet(raw)
self.assertEqual(sr.agc_current_gain, 5)
self.assertEqual(sr.agc_peak_magnitude, 128)
self.assertEqual(sr.agc_saturation_count, 42)
self.assertEqual(sr.agc_enable, 1)
self.assertEqual(sr.range_mode, 2)
class TestAGCStatusResponseDefaults(unittest.TestCase):
"""Verify StatusResponse AGC field defaults."""
def test_default_agc_fields(self):
sr = StatusResponse()
self.assertEqual(sr.agc_current_gain, 0)
self.assertEqual(sr.agc_peak_magnitude, 0)
self.assertEqual(sr.agc_saturation_count, 0)
self.assertEqual(sr.agc_enable, 0)
def test_agc_fields_set(self):
sr = StatusResponse(agc_current_gain=7, agc_peak_magnitude=200,
agc_saturation_count=15, agc_enable=1)
self.assertEqual(sr.agc_current_gain, 7)
self.assertEqual(sr.agc_peak_magnitude, 200)
self.assertEqual(sr.agc_saturation_count, 15)
self.assertEqual(sr.agc_enable, 1)
if __name__ == "__main__":
unittest.main(verbosity=2)
9_Firmware/9_3_GUI/v7/dashboard.py
+60 -1
View File
@@ -5,7 +5,7 @@ RadarDashboard is a QMainWindow with five tabs:
1. Main View — Range-Doppler matplotlib canvas (64x32), device combos,
Start/Stop, targets table
2. Map View — Embedded Leaflet map + sidebar
3. FPGA Control — Full FPGA register control panel (all 22 opcodes,
3. FPGA Control — Full FPGA register control panel (all 27 opcodes incl. AGC,
bit-width validation, grouped layout matching production)
4. Diagnostics — Connection indicators, packet stats, dependency status,
self-test results, log viewer
@@ -681,6 +681,48 @@ class RadarDashboard(QMainWindow):
right_layout.addWidget(grp_cfar)
# ── AGC (Automatic Gain Control) ──────────────────────────────
grp_agc = QGroupBox("AGC (Auto Gain)")
agc_layout = QVBoxLayout(grp_agc)
agc_params = [
("AGC Enable", 0x28, 0, 1, "0=manual, 1=auto"),
("AGC Target", 0x29, 200, 8, "0-255, peak target"),
("AGC Attack", 0x2A, 1, 4, "0-15, atten step"),
("AGC Decay", 0x2B, 1, 4, "0-15, gain-up step"),
("AGC Holdoff", 0x2C, 4, 4, "0-15, frames"),
]
for label, opcode, default, bits, hint in agc_params:
self._add_fpga_param_row(agc_layout, label, opcode, default, bits, hint)
# AGC quick toggles
agc_row = QHBoxLayout()
btn_agc_on = QPushButton("Enable AGC")
btn_agc_on.clicked.connect(lambda: self._send_fpga_cmd(0x28, 1))
agc_row.addWidget(btn_agc_on)
btn_agc_off = QPushButton("Disable AGC")
btn_agc_off.clicked.connect(lambda: self._send_fpga_cmd(0x28, 0))
agc_row.addWidget(btn_agc_off)
agc_layout.addLayout(agc_row)
# AGC status readback labels
agc_st_group = QGroupBox("AGC Status")
agc_st_layout = QVBoxLayout(agc_st_group)
self._agc_labels: dict[str, QLabel] = {}
for name, default_text in [
("enable", "AGC: --"),
("gain", "Gain: --"),
("peak", "Peak: --"),
("sat", "Sat Count: --"),
]:
lbl = QLabel(default_text)
lbl.setStyleSheet(f"color: {DARK_INFO}; font-size: 10px;")
agc_st_layout.addWidget(lbl)
self._agc_labels[name] = lbl
agc_layout.addWidget(agc_st_group)
right_layout.addWidget(grp_agc)
# Custom Command
grp_custom = QGroupBox("Custom Command")
cust_layout = QGridLayout(grp_custom)
@@ -1276,6 +1318,23 @@ class RadarDashboard(QMainWindow):
self._st_labels["t4"].setText(
f"T4 ADC: {'PASS' if flags & 0x10 else 'FAIL'}")
# AGC status readback
if hasattr(self, '_agc_labels'):
agc_str = "AUTO" if st.agc_enable else "MANUAL"
agc_color = DARK_SUCCESS if st.agc_enable else DARK_INFO
self._agc_labels["enable"].setStyleSheet(
f"color: {agc_color}; font-weight: bold;")
self._agc_labels["enable"].setText(f"AGC: {agc_str}")
self._agc_labels["gain"].setText(
f"Gain: {st.agc_current_gain}")
self._agc_labels["peak"].setText(
f"Peak: {st.agc_peak_magnitude}")
sat_color = DARK_ERROR if st.agc_saturation_count > 0 else DARK_INFO
self._agc_labels["sat"].setStyleSheet(
f"color: {sat_color}; font-weight: bold;")
self._agc_labels["sat"].setText(
f"Sat Count: {st.agc_saturation_count}")
# =====================================================================
# Position / coverage callbacks (map sidebar)
# =====================================================================