FlintyLemming/PLFM_RADAR
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fix(rtl,gui,cosim,formal): adapt surrounding files for dual 16-pt FFT (follow-up to PR #33)

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- radar_system_top.v: DC notch now masks to dop_bin[3:0] per sub-frame so both sub-frames get their DC zeroed correctly; rename DOPPLER_FFT_SIZE → DOPPLER_FRAME_CHIRPS to avoid confusion with the per-FFT size (now 16)
- radar_dashboard.py: remove fftshift (crosses sub-frame boundary), display raw Doppler bins, remove dead velocity constants
- golden_reference.py: model dual 16-pt FFT with per-sub-frame Hamming window, update DC notch and CFAR to match RTL
- fv_doppler_processor.sby: reference xfft_16.v / fft_twiddle_16.mem, raise BMC depth to 512 and cover to 1024
- fv_radar_mode_controller.sby: raise cover depth to 600
- fv_radar_mode_controller.v: pin cfg_* to reduced constants (documented as single-config proof), fix Property 5 mode guard, strengthen Cover 1
- STALE_NOTICE.md: document that real-data hex files are stale and need regeneration with external dataset

Closes #39
This commit is contained in:
Serhii
2026-04-06 23:15:50 +03:00
parent 22758fa370
commit ffc89f0bbd
8 changed files with 218 additions and 215 deletions
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9_Firmware/9_2_FPGA/radar_system_top.v
+35 -29
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@@ -217,11 +217,12 @@ reg [5:0] host_chirps_per_elev; // Opcode 0x15 (default 32)
reg host_status_request; // Opcode 0xFF (self-clearing pulse)
// Fix 4: Doppler/chirps mismatch protection
// DOPPLER_FFT_SIZE is compile-time (32). If host sets chirps_per_elev to a
// different value, Doppler accumulation is corrupted. Clamp at command decode
// and flag the mismatch so the host knows.
localparam DOPPLER_FFT_SIZE = 32; // Must match doppler_processor parameter
reg chirps_mismatch_error; // Set if host tried to set chirps != FFT size
// DOPPLER_FRAME_CHIRPS is the fixed chirp count expected by the staggered-PRI
// Doppler path (16 long + 16 short). If host sets chirps_per_elev to a
// different value, Doppler accumulation is corrupted. Clamp at command decode
// and flag the mismatch so the host knows.
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.
@@ -532,16 +533,21 @@ assign rx_doppler_data_valid = rx_doppler_valid;
// ============================================================================
// DC NOTCH FILTER (post-Doppler-FFT, pre-CFAR)
// ============================================================================
// Zeros out Doppler bins within ±host_dc_notch_width of DC (bin 0).
// In a 32-point FFT, DC is bin 0; negative Doppler wraps to bins 31,30,...
// notch_width=1 → zero bins {0}. notch_width=2 → zero bins {0,1,31}. etc.
// When host_dc_notch_width=0: pass-through (no zeroing).
wire dc_notch_active;
wire [4:0] dop_bin_unsigned = rx_doppler_bin;
assign dc_notch_active = (host_dc_notch_width != 3'd0) &&
(dop_bin_unsigned < {2'b0, host_dc_notch_width} ||
dop_bin_unsigned > (5'd31 - {2'b0, host_dc_notch_width} + 5'd1));
// Zeros out Doppler bins within ±host_dc_notch_width of DC for BOTH
// sub-frames in the dual 16-pt FFT architecture.
// doppler_bin[4:0] = {sub_frame, bin[3:0]}:
// Sub-frame 0: bins 0-15, DC = bin 0, wrap = bin 15
// Sub-frame 1: bins 16-31, DC = bin 16, wrap = bin 31
// notch_width=1 → zero bins {0,16}. notch_width=2 → zero bins
// {0,1,15,16,17,31}. etc.
// When host_dc_notch_width=0: pass-through (no zeroing).
wire dc_notch_active;
wire [4:0] dop_bin_unsigned = rx_doppler_bin;
wire [3:0] bin_within_sf = dop_bin_unsigned[3:0];
assign dc_notch_active = (host_dc_notch_width != 3'd0) &&
(bin_within_sf < {1'b0, host_dc_notch_width} ||
bin_within_sf > (4'd15 - {1'b0, host_dc_notch_width} + 4'd1));
// Notched Doppler data: zero I/Q when in notch zone, pass through otherwise
wire [31:0] notched_doppler_data = dc_notch_active ? 32'd0 : rx_doppler_output;
@@ -814,19 +820,19 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
8'h13: host_short_chirp_cycles <= usb_cmd_value;
8'h14: host_short_listen_cycles <= usb_cmd_value;
8'h15: begin
// Fix 4: Clamp chirps_per_elev to DOPPLER_FFT_SIZE.
// If host requests a different value, clamp and set error flag.
if (usb_cmd_value[5:0] > DOPPLER_FFT_SIZE[5:0]) begin
host_chirps_per_elev <= DOPPLER_FFT_SIZE[5:0];
chirps_mismatch_error <= 1'b1;
end else if (usb_cmd_value[5:0] == 6'd0) begin
host_chirps_per_elev <= DOPPLER_FFT_SIZE[5:0];
chirps_mismatch_error <= 1'b1;
end else begin
host_chirps_per_elev <= usb_cmd_value[5:0];
// Clear error only if value matches FFT size exactly
chirps_mismatch_error <= (usb_cmd_value[5:0] != DOPPLER_FFT_SIZE[5:0]);
end
// Fix 4: Clamp chirps_per_elev to the fixed Doppler frame size.
// If host requests a different value, clamp and set error flag.
if (usb_cmd_value[5:0] > DOPPLER_FRAME_CHIRPS[5:0]) begin
host_chirps_per_elev <= DOPPLER_FRAME_CHIRPS[5:0];
chirps_mismatch_error <= 1'b1;
end else if (usb_cmd_value[5:0] == 6'd0) begin
host_chirps_per_elev <= DOPPLER_FRAME_CHIRPS[5:0];
chirps_mismatch_error <= 1'b1;
end else begin
host_chirps_per_elev <= usb_cmd_value[5:0];
// Clear error only if value matches FFT size exactly
chirps_mismatch_error <= (usb_cmd_value[5:0] != DOPPLER_FRAME_CHIRPS[5:0]);
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
@@ -912,4 +918,4 @@ always @(posedge clk_100m_buf) begin
end
`endif
endmodule
endmodule