- Bandwidth 500 MHz -> 20 MHz, sample rate 4 MHz -> 100 MHz (DDC output)
- Range formula: deramped FMCW -> matched-filter c/(2*Fs)*decimation
- Velocity formula: use PRI (167 us) and chirps_per_subframe (16)
- Carrier frequency: 10.525 GHz -> 10.5 GHz per radar_scene.py
- Range per bin: 4.8 m -> 24 m, max range: 307 m -> 1536 m
- Fix simulator target spawn range to match new coverage (50-1400 m)
- Remove dead BANDWIDTH constant, add SAMPLE_RATE to V65 Tk
- All 174 tests pass, ruff clean
- Add deprecation headers to GUI_V6.py and GUI_V6_Demo.py
- Mark V6 as deprecated in GUI_versions.txt
- Update README.md: replace V6 GIF reference with V65 PNG
- Add FT2232H production notice banner to docs/index.html
- Add FT601Connection in radar_protocol.py using ftd3xx library with
proper setChipConfiguration re-enumeration handling (close, wait 2s,
re-open) and 4-byte write alignment
- Add USB Interface dropdown to V65 Tk GUI (FT2232H default, FT601 option)
- Add USB Interface combo to V7 PyQt dashboard with Live/File mode toggle
- Fix mock frame_start bit 7 in both FT2232H and FT601 connections
- Use FPGA range data from USB packets instead of recomputing in Python
- Export FT601Connection from v7/hardware.py and v7/__init__.py
- Add 7 FT601Connection tests (91 total in test_GUI_V65_Tk.py)
- Add ERROR_COUNT sentinel to SystemError_t enum
- Change error_strings[] to static const char* const
- Add static_assert to enforce enum/array sync at compile time
- Add runtime bounds check with fallback for invalid error codes
- Add all missing test binary names to .gitignore
checkSystemHealth()'s internal watchdog (pre-fix step 9) had two linked
defects that, combined with the previous commit's escalation of
ERROR_WATCHDOG_TIMEOUT to Emergency_Stop(), would false-latch AERIS-10:
1. Cold-start false trip:
static uint32_t last_health_check = 0;
if (HAL_GetTick() - last_health_check > 60000) { trip; }
On the first call, last_health_check == 0, so the subtraction
against a seeded-zero sentinel exceeds 60 000 ms as soon as the MCU
has been up >60 s -- normal after the ADAR1000 / AD9523 / ADF4382
init sequence -- and the watchdog trips spuriously.
2. Stale timestamp after early returns:
last_health_check = HAL_GetTick(); // at END of function
Every earlier sub-check (IMU, BMP180, GPS, PA Idq, temperature) has
an `if (fault) return current_error;` path that skips the update.
After ~60 s of transient faults, the next clean call compares
against a long-stale last_health_check and trips.
With ERROR_WATCHDOG_TIMEOUT now escalating to Emergency_Stop(), either
failure mode would cut the RF rails on a perfectly healthy system.
Fix: move the watchdog check to function ENTRY. A dedicated cold-start
branch seeds the timestamp on the first call without checking. On every
subsequent call, the elapsed delta is captured first and
last_health_check is updated BEFORE any sub-check runs, so early returns
no longer leave a stale value. 32-bit tick-wrap semantics are preserved
because the subtraction remains on uint32_t.
Add test_gap3_health_watchdog_cold_start.c covering cold-start, paced
main-loop, stall detection, boundary (exactly 60 000 ms), recovery
after trip, and 32-bit HAL_GetTick() wrap -- wired into tests/Makefile
alongside the existing gap-3 safety tests.
- Rename ERROR_STEPPER_FAULT → ERROR_STEPPER_MOTOR to match main.cpp enum
- Update critical-error predicate to include ERROR_TEMPERATURE_HIGH and
ERROR_WATCHDOG_TIMEOUT (was testing stale pre-fix logic)
- Test 4 now asserts overtemp DOES trigger e-stop (previously asserted opposite)
- Add Test 5 (watchdog triggers e-stop) and Test 6 (memory alloc does not)
- Add ERROR_MEMORY_ALLOC and ERROR_WATCHDOG_TIMEOUT to local enum
- 7 tests, all pass
The previous commit accidentally introduced the literal 2-byte sequence
'\r' at the end of two backslash-continuation lines (TESTS_STANDALONE
and the .PHONY list). GNU make on Linux treats that as text rather than
a line continuation, which orphans the following line with leading
spaces and aborts CI with:
Makefile:68: *** missing separator (did you mean TAB instead of 8 spaces?)
Strip the extraneous 'r' so each continuation ends with a real backslash
+ LF.
handleSystemError() only called Emergency_Stop() for error codes in
[ERROR_RF_PA_OVERCURRENT .. ERROR_POWER_SUPPLY] (9..13). Two critical
faults were left out of the gate and fell through to attemptErrorRecovery()'s
default log-and-continue branch:
- ERROR_TEMPERATURE_HIGH (14): raised by checkSystemHealth() when the
hottest of 8 PA thermal sensors exceeds 75 C. Without cutting bias
(DAC CLR) and the PA 5V0/5V5/RFPA_VDD rails, the 10 W GaN QPA2962
stages remain biased in an overtemperature state -- a thermal-runaway
path in AERIS-10E.
- ERROR_WATCHDOG_TIMEOUT (16): indicates the health-check loop has
stalled (>60 s since last pass). Transmitter state is unknown;
relying on IWDG to reset the MCU re-runs startup and re-energises
the PA rails rather than latching the safe state.
Fix: extend the critical-error predicate so these two codes also trigger
Emergency_Stop(). Add test_gap3_overtemp_emergency_stop.c covering all
17 SystemError_t values (must-trigger and must-not-trigger), wired into
tests/Makefile alongside the existing gap-3 safety tests.
Rename radar_dashboard.py -> GUI_V65_Tk.py and add core feature parity
with the v7 PyQt dashboard while keeping Tkinter as the framework:
Replay mode:
- _ReplayController with threading.Event-based play/pause/stop
- Reuses v7.ReplayEngine and v7.SoftwareFPGA for all 3 input formats
- Dual dispatch routes FPGA control opcodes to SoftwareFPGA during
raw IQ replay; non-routable opcodes show user-visible status message
- Seek slider with re-emit guard, speed combo, loop checkbox
- close() properly releases engine file handles on stop/reload
Demo mode:
- DemoTarget kinematics scaled to physical range grid (~307m max)
- DemoSimulator generates synthetic RadarFrames with Gaussian blobs
- Targets table (ttk.Treeview) updates from demo target list
Mode exclusion (bidirectional):
- Connect stops active demo/replay before starting acquisition
- Replay load stops previous controller and demo before loading
- Demo start stops active replay; refuses if live-connected
- --live/--replay/--demo in mutually exclusive CLI arg group
Bug fixes:
- seek() now increments past emitted frame to prevent re-emit on resume
- Failed replay load nulls controller ref to prevent dangling state
Tests: 17 new tests for DemoTarget, DemoSimulator, _ReplayController
CI: all 4 jobs pass (167+21+25+29 = 242 tests)
Add SoftwareFPGA class that imports golden_reference functions to
replicate the FPGA pipeline in software, enabling bit-accurate replay
of raw IQ, FPGA co-sim, and HDF5 recordings through the same
dashboard path as live data.
New modules: software_fpga.py, replay.py (ReplayEngine + 3 loaders)
Enhanced: WaveformConfig model, extract_targets_from_frame() in
processing, ReplayWorker with thread-safe playback controls,
dashboard replay UI with transport controls and dual-dispatch
FPGA parameter routing.
Removed: ReplayConnection (from radar_protocol, hardware, dashboard,
tests) — replaced by the unified replay architecture.
150/150 tests pass, ruff clean.
Bug #1 — Range calibration for Raw IQ Replay:
- Add WaveformConfig dataclass (models.py) with FMCW waveform params
(fs, BW, T_chirp, fc) and methods to compute range/velocity resolution
- Add waveform parameter spinboxes to playback controls (dashboard.py)
- Auto-parse waveform params from ADI phaser filename convention
- Create replay-specific RadarSettings with correct calibration instead
of using FPGA defaults (781.25 m/bin → 0.334 m/bin for ADI phaser)
- Add 4 unit tests validating WaveformConfig math
Bug #2 — Demo + radar mutual exclusion:
- _start_demo() now refuses if radar is running (_running=True)
- _start_radar() stops demo first if _demo_mode is active
- Demo buttons disabled while radar/replay is running, re-enabled on stop
Bug #3 — Refactor adi_agc_analysis.py:
- Remove 60+ lines of duplicated AGC functions (signed_to_encoding,
encoding_to_signed, clamp_gain, apply_gain_shift)
- Import from v7.agc_sim canonical implementation
- Rewrite simulate_agc() to use process_agc_frame() in a loop
- Rewrite process_frame_rd() to use quantize_iq() from agc_sim
- workers.py: Only emit playbackStateChanged on state transitions to
prevent stale 'playing' signal from overwriting pause button text
- dashboard.py: Force C locale on all QDoubleSpinBox instances so
comma-decimal locales don't break numeric input; add missing
'Saturation' legend label to AGC chart
- map_widget.py: Enable LocalContentCanAccessRemoteUrls and set HTTP
base URL so Leaflet CDN tiles/scripts load correctly in QtWebEngine
State machine fixes:
1. Raw IQ replay EOF now calls _stop_radar() to fully restore UI
2. Worker thread finished signal triggers UI recovery on crash/exit
3. _stop_radar() stops demo simulator to prevent cross-mode interference
4. _stop_demo() correctly identifies Mock mode via combo text
5. Demo start no longer clobbers status bar when acquisition is running
6. _stop_radar() resets playback button text, frame counter, file label
7. _start_raw_iq_replay() error path cleans up stale controller/worker
8. _refresh_gui() preserves Raw IQ paused status instead of overwriting
Map/location:
- RawIQReplayWorker now receives _radar_position (GPSData ref) so
targets get real lat/lon projected from the virtual radar position
- Added heading control to Map tab sidebar (0-360 deg, wrapping)
- Manual lat/lon/heading changes in Map tab apply to replay targets
Ruff clean, 120/120 tests pass.
Add a 4th connection mode to the V7 dashboard that loads raw complex IQ
captures (.npy) and runs the full FPGA signal processing chain in software:
quantize → AGC → Range FFT → Doppler FFT → MTI → DC notch → CFAR.
Implementation (7 steps):
- v7/agc_sim.py: bit-accurate AGC runtime extracted from adi_agc_analysis.py
- v7/processing.py: RawIQFrameProcessor (full signal chain) + shared
extract_targets_from_frame() for bin-to-physical conversion
- v7/raw_iq_replay.py: RawIQReplayController with thread-safe playback
state machine (play/pause/stop/step/seek/loop/FPS)
- v7/workers.py: RawIQReplayWorker (QThread) emitting same signals as
RadarDataWorker + playback state/index signals
- v7/dashboard.py: mode combo entry, playback controls UI, dynamic
RangeDopplerCanvas that adapts to any frame size
Bug fixes included:
- RangeDopplerCanvas no longer hardcodes 64x32; resizes dynamically
- Doppler centre bin uses n_doppler//2 instead of hardcoded 16
- Shared target extraction eliminates duplicate code between workers
Ruff clean, 120/120 tests pass.
v7/__init__.py: wrap workers/map_widget/dashboard imports in try/except
so CI runners without PyQt6 can still test models, processing, hardware.
test_v7.py: skip TestPolarToGeographic when PyQt6 unavailable, split
TestV7Init.test_key_exports into core vs PyQt6-dependent assertions.
Replace all cross-thread root.after() calls with a queue.Queue drained by
the main thread's _schedule_update() timer. _TextHandler no longer holds a
widget reference; log append runs on the main thread via _drain_ui_queue().
Also adds adi_agc_analysis.py — one-off bit-accurate RTL AGC simulation
for ADI CN0566 raw IQ captures (throwaway diagnostic script).
Implements the STM32 outer-loop AGC (ADAR1000_AGC) that reads the FPGA
saturation flag on DIG_5/PD13 once per radar frame and adjusts the
ADAR1000 VGA common gain across all 16 RX channels.
Phase 4 — ADAR1000_AGC class (new files):
- ADAR1000_AGC.h/.cpp: attack/recovery/holdoff logic, per-channel
calibration offsets, effectiveGain() with OOB safety
- test_agc_outer_loop.cpp: 13 tests covering saturation, holdoff,
recovery, clamping, calibration, SPI spy, reset, mixed sequences
Phase 5 — main.cpp integration:
- Added #include and global outerAgc instance
- AGC update+applyGain call between runRadarPulseSequence() and
HAL_IWDG_Refresh() in main loop
Build system & shim fixes:
- Makefile: added CXX/CXXFLAGS, C++ object rules, TESTS_WITH_CXX in
ALL_TESTS (21 total tests)
- stm32_hal_mock.h: const uint8_t* for HAL_UART_Transmit (C++ compat),
__NOP() macro for host builds
- shims/main.h + real main.h: FPGA_DIG5_SAT pin defines
All tests passing: MCU 21/21, GUI 92/92, cross-layer 29/29.
Bug 1 (FPGA): status_words[0] was 37 bits (8+3+2+5+3+16), silently
truncated to 32. Restructured to {0xFF, mode[1:0], stream[2:0],
3'b000, threshold[15:0]} = 32 bits exactly. Fixed in both
usb_data_interface_ft2232h.v and usb_data_interface.v.
Bug 2 (Python): radar_mode extracted at bit 21 but was actually at
bit 24 after truncation — always returned 0. Updated shift/mask in
parse_status_packet() to match new layout (mode>>22, stream>>19).
Bug 3 (STM32): parseFromUSB() minimum size check was 74 bytes but
9 doubles + uint32 + markers = 82 bytes. Buffer overread on last
fields when 74-81 bytes passed.
All 166 tests pass (29 cross-layer, 92 GUI, 20 MCU, 25 FPGA).
Three-tier test orchestrator validates opcode maps, bit widths, packet
layouts, and round-trip correctness across FPGA RTL, Python GUI, and
STM32 firmware. Catches 3 real bugs:
- status_words[0] 37-bit truncation in both USB interfaces
- Python radar_mode readback at wrong bit position (bit 21 vs 24)
- RadarSettings.cpp buffer overread (min check 74 vs required 82)
29 tests: 24 pass, 5 xfail (documenting confirmed bugs).
4th CI job added: cross-layer-tests (Python + iverilog + cc).
Swap the verbose Alpha disclaimer paragraph for a simple
"Features: Work in Progress" badge next to the existing
Alpha badge, per review feedback from @JJassonn69.
Badge links to the issues page for current status.
The replay _replay_dc_notch() was treating all 32 Doppler bins as a
single frame, only zeroing bins at the global edges ({0,1,31} for
width=2). The RTL uses dual 16-point sub-frames where each sub-frame
has its own DC, so the notch must use bin_within_sf = dbin & 0xF.
This fixes test_replay_packets_parseable which was seeing 5 detections
instead of the expected 4, due to a spurious hit at (range=2, doppler=15)
surviving CFAR.
Regenerate all real-data golden reference hex files against the current
dual 16-point FFT Doppler architecture (staggered-PRI sub-frames).
The old hex files were generated against the previous 32-point single-FFT
architecture and caused 2048/2048 mismatches in both strict real-data TBs.
Changes:
- Regenerate doppler_ref_i/q.hex, fullchain_doppler_ref_i/q.hex, and all
downstream golden files (MTI, DC notch, CFAR) via golden_reference.py
- Add tb_doppler_realdata (exact-match, ADI CN0566 data) to regression
- Add tb_fullchain_realdata (exact-match, decim->Doppler chain) to regression
- Both TBs now pass: 2048/2048 bins exact match, MAX_ERROR=0
- Update CI comment: 23 -> 25 testbenches
- Fill in STALE_NOTICE.md with regeneration instructions
Regression: 25/25 pass, 0 fail, 0 skip. ruff check: 0 errors.
Resolve all 374 ruff errors across 36 Python files (E501, E702, E722,
E741, F821, F841, invalid-syntax) bringing `ruff check .` to zero
errors repo-wide with line-length=100.
Rewrite CI workflow to use uv for dependency management, whole-repo
`ruff check .`, py_compile syntax gate, and merged python-tests job.
Add pyproject.toml with ruff config and uv dependency groups.
CI structure proposed by hcm444.
Remove unused imports (deque, sys, Opcode, struct, _REPLAY_ADJUSTABLE_OPCODES)
across 4 active Python files and refactor semicolons to separate statements
in radar_protocol.py. Add ruff lint job to CI workflow targeting only the
active files (excludes legacy GUI_V*.py and v7/).
Core hardware works, but GPS/map integration, attitude correction,
and beam steering UI are not yet complete — callers deserve to know
before they build on those features.
Closes gap 10.5 from reality-check review.
Jason
3aLaee
NawfalMotii79
volcan88
Serhii