Added BOM and Gerbers

BOM and Gerbers, ready to be sent to PCB manufacturer

4_Schematics and Boards Layout/4_6_Schematics/MainBoard/RADAR_Main_Board.brd

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4_Schematics and Boards Layout/4_7_Production Files/Gerber_Main_Board/RADAR_Main_Board.csv

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+"24";"100nF";"CC0201";"C0201";"C24, C25, C26, C27, C28, C29, C30, C32, C33, C34, C35, C50, C256, C257, C279, C281, C298, C302, C303, C304, C305, C306, C307, C310";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"34";"100pF";"CC0201";"C0201";"C66, C68, C73, C79, C81, C124, C130, C132, C137, C139, C145, C147, C152, C161, C167, C169, C174, C183, C200, C202, C207, C209, C214, C216, C221, C223, C228, C230, C235, C237, C242, C244, C249, C251";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"2";"103pF";"CC0201";"C0201";"C60, C63";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"1";"106pF";"CC0201";"C0201";"C141";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"4";"107.3nH";"LL0201";"L0201";"L22, L25, L26, L27";"INDUCTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"L";"";"";
+"9";"10k";"RR0201";"R0201";"R39, R40, R83, R84, R111, R123, R145, R151, R153";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"16";"10nF";"CC0201";"C0201";"C102, C103, C104, C105, C106, C107, C114, C115, C116, C117, C118, C119, C120, C121, C122, C123";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"2";"10uF";"CC0201";"C0201";"C37, C40";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"12";"10µF";"C-EUC0805";"C0805";"C75, C77, C312, C316, C319, C323, C326, C330, C333, C336, C338, C340";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"88";"";"";"";"";"";"C";"";"";
+"1";"115R";"R-EU_R0201";"R0201";"R14";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"";"";"";"";"R";"";"";
+"2";"12nH";"LL0201";"L0201";"L2, L8";"INDUCTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"L";"";"";
+"2";"12pF";"CC0201";"C0201";"C184, C185";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"37";"142-0731-211";"142-0731-211";"1420731211";"J1, J18, J20, J22, J23, J24, J25, J26, J27, J28, J29, J30, J31, J32, J33, J34, J35, J36, J37, J38, J39, J40, J41, J42, J43, J44, J45, J46, J47, J48, J49, J50, J51, J52, J53, J54, J55";"SMA Connector Jack, Female Socket 50 Ohms Through Hole Solder";"";"";"";"";"SMA Connector Jack, Female Socket 50 Ohms Through Hole Solder";"9.8852mm";"Cinch Connectivity Solutions";"142-0731-211";"";"";"530-142-0731-211";"https://www.mouser.co.uk/ProductDetail/Johnson-Cinch-Connectivity-Solutions/142-0731-211?qs=HFfMDpzxxd0OVzI3hm9tuA%3D%3D";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"2";"159nH";"LL0201";"L0201";"L3, L4";"INDUCTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"L";"";"";
+"2";"18pF";"CC0201";"C0201";"C272, C274";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"1";"1k";"R-EU_R0402";"R0402";"R37";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"";"";"";"";"R";"";"";
+"49";"1k";"RR0201";"R0201";"R41, R43, R55, R56, R57, R58, R59, R61, R82, R85, R86, R87, R88, R93, R94, R99, R100, R101, R102, R107, R108, R109, R118, R124, R125, R126, R127, R128, R129, R130, R131, R133, R134, R135, R136, R137, R138, R139, R140, R144, R147, R148, R149, R167, R168, R169, R170, R171, R172";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"1";"1k2_1%";"RR0201";"R0201";"R60";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"7";"1nF";"C-EUC0402";"C0402";"C314, C318, C321, C325, C328, C332, C335";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"18";"";"";"";"";"";"C";"";"";
+"51";"1pF";"CC0201";"C0201";"C70, C71, C72, C83, C84, C85, C126, C128, C129, C134, C135, C136, C142, C143, C144, C149, C150, C151, C163, C165, C166, C171, C172, C173, C197, C198, C199, C204, C205, C206, C211, C212, C213, C218, C219, C220, C225, C226, C227, C232, C233, C234, C239, C240, C241, C246, C247, C248, C253, C254, C255";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"16";"1uF";"CC0201";"C0201";"C86, C87, C88, C89, C90, C91, C92, C93, C94, C95, C96, C97, C98, C99, C100, C101";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"3";"1µF";"CC0201";"C0201";"C276, C296, C300";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"1";"2.2k";"RR0201";"R0201";"R146";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"3";"2.2uF";"CC0201";"C0201";"C22, C23, C164";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"16";"2.443k";"RR0201";"R0201";"R89, R90, R91, R92, R95, R96, R97, R98, R103, R104, R105, R106, R119, R120, R121, R122";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"1";"2.7pF";"C-EUC0402";"C0402";"C3";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"18";"";"";"";"";"";"C";"";"";
+"2";"2.7pF";"CC0201";"C0201";"C18, C19";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"4";"200R";"RR0201";"R0201";"R16, R17, R20, R21";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"1";"20k";"R-EU_R0402";"R0402";"R38";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"";"";"";"";"R";"";"";
+"40";"22-23-2021";"22-23-2021";"22-23-2021";"X1, X4, X5, X6, X7, X8, X9, X10, X11, X12, X13, X14, X15, X16, X17, X18, X19, X20, X21, X22, X24, X54, X55, X56, X_1, X_2, X_3, X_4, X_5, X_6, X_7, X_8, X_9, X_10, X_11, X_12, X_13, X_14, X_15, X_16";".100" (2.54mm) Center Header - 2 Pin";"";"";"";"";"";"";"";"";"MOLEX";"";"";"";"";"22-23-2021";"1462926";"25C3832";"";"40";"";"";"";"";"";"";"";"";
+"16";"22-23-2031";"22-23-2031";"22-23-2031";"X3, X38, X39, X40, X41, X42, X43, X44, X45, X46, X47, X48, X49, X50, X51, X52";".100" (2.54mm) Center Header - 3 Pin";"";"";"";"";"";"";"";"";"MOLEX";"";"";"";"";"22-23-2031";"1462950";"30C0862";"";"35";"";"";"";"";"";"";"";"";
+"11";"22.1k";"RR0201";"R0201";"R154, R155, R156, R157, R158, R159, R160, R161, R162, R163, R164";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"13";"22R";"RR0201";"R0201";"R23, R24, R25, R26, R27, R28, R29, R30, R49, R51, R62, R63, R64";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"2";"22pF";"CC0201";"C0201";"C308, C309";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"5";"22µF";"C-EUC1206";"C1206";"C283, C311, C315, C322, C329";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"54";"";"";"";"";"";"C";"";"";
+"2";"24R";"R-EU_R0402";"R0402";"R1, R13";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"";"";"";"";"R";"";"";
+"2";"25R";"RR0201";"R0201";"R165, R166";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"4";"25pF";"CC0201";"C0201";"C64, C65, C268, C270";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"1";"3.3uF";"CC0201";"C0201";"C191";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"2";"32.8pF";"CC0201";"C0201";"C59, C127";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"1";"3k2";"RR0201";"R0201";"R33";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"2";"4.3k";"R-EU_R0201";"R0201";"R15, R32";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"";"";"";"";"R";"";"";
+"2";"4.3pF";"CC0201";"C0201";"C20, C21";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"27";"4.7k";"RR0201";"R0201";"R42, R44, R45, R46, R47, R48, R50, R52, R53, R54, R65, R66, R67, R68, R69, R70, R71, R72, R73, R74, R75, R76, R77, R117, R141, R142, R143";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"16";"4.7nF";"CC0201";"C0201";"C261, C263, C265, C267, C269, C271, C273, C275, C280, C282, C284, C286, C288, C290, C292, C294";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"8";"4.7uF";"CC0201";"C0201";"C108, C109, C153, C154, C177, C178, C287, C289";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"2";"4.7uF 35V";"4.7UF-POLAR-EIA3528-35V-10%(TANT)";"EIA3528";"C186, C187";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"CAP-13916";"";"";"";"";"";"4.7uF 35V";
+"1";"47nF";"CC0201";"C0201";"C31";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"4";"47uF";"CC0201";"C0201";"C17, C55, C176, C285";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"4";"500R";"RR0201";"R0201";"R110, R112, R113, R114";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"3";"50R";"RR0201";"R0201";"R31, R115, R116";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"4";"50nH";"LL0201";"L0201";"L9, L10, L24, L28";"INDUCTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"L";"";"";
+"1";"56R";"R-EU_R0201";"R0201";"R22";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"";"";"";"";"R";"";"";
+"3";"5R";"RR0201";"R0201";"R132, R150, R152";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"2";"7.8pF";"CC0201";"C0201";"C61, C62";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"C";"";"";
+"1";"830R";"R-EU_R0402";"R0402";"R36";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"";"";"";"";"R";"";"";
+"4";"840R";"RR0201";"R0201";"R78, R79, R80, R81";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"NONE";"R";"";"";
+"2";"AD8352ACPZ-R7";"AD8352ACPZ-R7";"CP_16_3_ADI";"U4, U8";"";"";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"https://www.analog.com/media/en/technical-documentation/data-sheets/ad8352.pdf";"2 GHz Ultralow Distortion Differential RF/IF Amplifier";"";"Analog Devices Inc";"AD8352ACPZ-R7";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"1";"AD9484BCPZ-500";"AD9484BCPZ-500";"CP_56_5_ADI";"U1";"";"";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"https://www.analog.com/media/en/technical-documentation/data-sheets/AD9484.pdf";"8-Bit, 500 MSPS, 1.8 V Analog-to-Digital Converter";"";"Analog Devices Inc";"AD9484BCPZ-500";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"1";"AD9708AR";"AD9708AR";"RW_28_ADI";"U3";"";"";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"";"AD9708AR";"";"Analog Devices Inc";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"4";"ADAR1000ACCZN";"ADAR1000ACCZN";"CC-88-1_ADI";"ADAR1_, ADAR2_, ADAR3_, ADAR4_";"";"";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"";"ADAR1000ACCZN";"";"Analog Devices Inc";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"RF";"";
+"3";"ADS7830IPWR";"ADS7830IPWR";"PW16";"U10, U88, U89";"";"";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"https://www.ti.com/lit/gpn/ads7830";"8-Bit, 8-Channel Sampling A/D Converter with I2C Interface 16-TSSOP -40 to 85";"";"Texas Instruments";"ADS7830IPWR";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"16";"ADTR1107ACCZ";"ADTR1107ACCZ";"CC-24-8_ADI";"ADTR1107_1, ADTR1107_2, ADTR1107_3, ADTR1107_4, ADTR1107_5, ADTR1107_6, ADTR1107_7, ADTR1107_8, ADTR1107_9, ADTR1107_10, ADTR1107_11, ADTR1107_12, ADTR1107_13, ADTR1107_14, ADTR1107_15, ADTR1107_16";"";"";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"";"ADTR1107ACCZ";"";"Analog Devices Inc";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"RF";"";
+"1";"AT93C46A-10SQ-2.7";"AT93C46A-10SQ-2.7";"SOIC8";"IC1";"Three-wire Automotive Temperature Serial EEPROM 1K (64 x 16)";"";"";"";"";"";"";"";"";"";"";"";"";"";"AT93C46DN-SH-B";"1455086";"58M3879";"";"0";"";"";"";"";"";"";"";"";
+"5";"BLM15HB121SN1";"BLM15HB121SN1";"0402";"L5, L6, L7, L19, L20";"EMIFIL (R) Chip Ferrite Bead for GHz Noise";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"";"";"";"";"";"";"";
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+"4";"Blue";"LED-BLUE0603";"LED-0603";"D2, D3, D4, D5";"Blue SMD LED";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"DIO-08575";"";"";"";"";"";"Blue";
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+"2";"DAC5578SRGET";"DAC5578SRGET";"RGE24_2P7X2P7";"U7, U69";"";"";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"https://www.ti.com/lit/gpn/dac5578";"8-bit, Octal Channel, Ultra-Low Glitch, Voltage Output, 2-Wire Interface DAC 24-VQFN -40 to 125";"";"Texas Instruments";"DAC5578SRGET";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"1";"ECS-120-10-36B2-JTN-TR";"CRYSTAL-12MHZ";"CRYSTAL-SMD-2X2.5MM";"Y1";"12.0MHz Crystal";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"XTAL-15540";"";"";"";"";"";"";
+"1";"EP4RKU+";"EP4RKU+";"DG1677-2_MNC";"U16";"";"";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"";"EP4RKU+";"";"Mini Circuits";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"1";"FT2232HQ";"FT2232HQ";"64QFN_FT2232HQ_FTD";"U6";"";"";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"";"";"";"";"FT2232HQ";"";"FTDI, Future Technology Devices International Ltd";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"16";"INA241A3IDGKRDGK0008A-MFG";"INA241A3IDGKRDGK0008A-MFG";"DGK0008A-MFG";"U11, U73, U74, U75, U76, U77, U78, U79, U80, U81, U82, U83, U84, U85, U86, U87";"";"";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"";"-5-V to 110-V bidirectional ultraprecise current sense amplifier with enhanced PWM rejection 8-VSSOP -40 to 125";"";"Texas Instruments";"INA241A3IDGKR";"";"";"";"";"";"";"";"";"";"";"";"";"RefDes";"";"";"";"TYPE";"";
+"2";"LTC5552IUDBTRMPBF";"LTC5552IUDBTRMPBF";"UDB_12_ADI";"U5, U13";"";"";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"";"LTC5552IUDB#TRMPBF";"";"Analog Devices Inc";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"17";"M3SWA2-34DR+";"M3SWA2-34DR+";"16_QFN";"RF_SW_1, RF_SW_2, RF_SW_3, RF_SW_4, RF_SW_5, RF_SW_6, RF_SW_7, RF_SW_8, RF_SW_9, RF_SW_10, RF_SW_11, RF_SW_12, RF_SW_13, RF_SW_14, RF_SW_15, RF_SW_16, U$1";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"2";"MINI-USB-32005-201";"MINI-USB-32005-201";"32005-201";"X2, X53";"MINI USB-B Conector";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"unknown";"unknown";"";"5";"";"";"";"";"";"";"";"";
+"1";"MOMENTARY-SWITCH-SPST-SMD-4.6X2.8MM";"MOMENTARY-SWITCH-SPST-SMD-4.6X2.8MM";"TACTILE_SWITCH_SMD_4.6X2.8MM";"S1";"Momentary Switch (Pushbutton) - SPST";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"SWCH-15606";"";"";"";"";"";"";
+"1";"MT25QL01GBBB8E12-0AUT";"MT25QL01GBBB8E12-0AUT";"BGA24_MT25QL_MRN";"U9";"";"";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"";"MT25QL01GBBB8E12-0AUT";"";"Micron";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
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+"1";"NX3225GD-8MHZ-STD-CRA-3";"NX3225GD-8MHZ-STD-CRA-3";"XTAL_NX3225GD-8MHZ-STD-CRA-3_N";"XTAL1";"";"";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"";"NX3225GD-8MHZ-STD-CRA-3";"";"NDK";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
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+"1";"STM32F746ZGT7";"STM32F746ZGT7";"LQFP-144_STM";"U2";"";"";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"";"STM32F746ZGT7";"";"STMicroelectronics";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"34";"SZMMSZ5232BT1G";"SZMMSZ5232BT1G";"SOD-123_ONS";"U14, U15, U17, U37, U38, U39, U40, U41, U43, U44, U45, U46, U47, U48, U49, U50, U51, U52, U53, U54, U55, U56, U57, U58, U59, U60, U61, U62, U63, U64, U65, U66, U67, U68";"";"";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"";"SZMMSZ5232BT1G";"";"onsemi";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"1";"XC7A50T-2FTG256I";"XC7A50T-2FTG256I";"BGA256C100P16X16_1700X1700X155";"U42";"Artix-7 Field Programmable Gate Array (FPGA) IC 170 2764800 52160 256-LBGA  Check availability";"In Stock";"https://www.snapeda.com/parts/XC7A50T-2FTG256I/Xilinx/view-part/?ref=eda";"";"";"                                                      Artix-7 Field Programmable Gate Array (FPGA) IC 170 2764800 52160 256-LBGA                                              ";"";"";"";"Xilinx Inc.";"";"";"";"XC7A50T-2FTG256I";"";"";"";"LBGA-256 Xilinx Inc.";"";"None";"";"";"https://www.snapeda.com/parts/XC7A50T-2FTG256I/Xilinx/view-part/?ref=snap";"";"";"";"";

4_Schematics and Boards Layout/4_7_Production Files/Gerber_Main_Board/RADAR_Main_Board.dri

@@ -1,8 +1,8 @@
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-Drill Station Info File: C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/MainBoard_Test/RADAR_Main_Board.dri
+Drill Station Info File: C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/MainBoard_Prod_V2/RADAR_Main_Board.dri
 
- Date              : 06/04/2026 22:10
+ Date              : 19/04/2026 23:21
  Drills            : generated
  Device            : Excellon drill station, coordinate format 2.5 inch
 
@@ -27,8 +27,8 @@ Drills used:
 
  Code  Size       used
 
- T01   0.0059inch  1609
+ T01   0.0059inch  1604
- T02   0.0079inch  1892
+ T02   0.0079inch  2243
  T03   0.0100inch    18
  T04   0.0118inch   355
  T05   0.0138inch   113
@@ -43,8 +43,8 @@ Drills used:
  T14   0.0472inch     4
  T15   0.1260inch     8
 
-Total number of drills: 4438
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 Plotfiles:
 
- C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/MainBoard_Test/RADAR_Main_Board.drd
+ C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/MainBoard_Prod_V2/RADAR_Main_Board.drd

4_Schematics and Boards Layout/4_7_Production Files/Gerber_Main_Board/RADAR_Main_Board.gpi

@@ -1,9 +1,9 @@
 Generated by EAGLE CAM Processor 7.4.0
 
-Photoplotter Info File: C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/MainBoard_Test/RADAR_Main_Board.gpi
+Photoplotter Info File: C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/MainBoard_Prod_V2/RADAR_Main_Board.gpi
 
- Date              : 06/04/2026 22:41
+ Date              : 19/04/2026 23:50
- Plotfile          : C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/MainBoard_Test/RADAR_Main_Board.bsk
+ Plotfile          : C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/MainBoard_Prod_V2/RADAR_Main_Board.bsk
  Apertures         : generated: 
  Device            : Gerber RS-274-X photoplotter, coordinate format 2.5 inch
 

4_Schematics and Boards Layout/4_7_Production Files/Gerber_PA/RF_PA.L1

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4_Schematics and Boards Layout/4_7_Production Files/Gerber_PA/RF_PA.L2

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4_Schematics and Boards Layout/4_7_Production Files/Gerber_PA/RF_PA.L3

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4_Schematics and Boards Layout/4_7_Production Files/Gerber_PA/RF_PA.L4

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-X59071Y43126
-X59071Y45291
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 X73835Y50606
 X73835Y52772
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@@ -113,19 +83,62 @@ X71276Y85449
 X69307Y82693
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 X74228Y88402
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 T02
-X76000Y51197
-X79937Y51197
-X83874Y51197
-X87811Y51197
-X91748Y51197
-X95685Y51197
-X95685Y44685
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-X87811Y45276
-X83874Y45276
-X79937Y45276
-X76000Y45276
 X54150Y45079
 X50213Y45079
 X46276Y45079
@@ -138,24 +151,25 @@ X42339Y51000
 X46276Y51000
 X50213Y51000
 X54150Y51000
+X76000Y51197
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 T03
-X50409Y39386
+X78756Y38205
-X49819Y33874
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-X50409Y26787
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-X55724Y29150
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-X80921Y33283
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@@ -317,6 +331,17 @@ X8087Y52969
 X40567Y25016
 X43520Y28756
 X42929Y31709
+X49819Y33874
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+X55724Y29150
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4_Schematics and Boards Layout/4_7_Production Files/Gerber_PA/RF_PA.dri

@@ -2,14 +2,14 @@ Generated by EAGLE CAM Processor 7.4.0
 
 Drill Station Info File: C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/PowerAmplifierBoard/RF_PA.dri
 
- Date              : 05/04/2026 00:08
+ Date              : 19/04/2026 01:42
  Drills            : generated
  Device            : Excellon drill station, coordinate format 2.5 inch
 
 Parameter settings:
 
- Tolerance Drill + :  2.50 %
+ Tolerance Drill + :  0.00 %
- Tolerance Drill - :  2.50 %
+ Tolerance Drill - :  0.00 %
  Rotate            : no
  Mirror            : no
  Optimize          : yes
@@ -27,7 +27,7 @@ Drills used:
 
  Code  Size       used
 
- T01   0.0059inch   103
+ T01   0.0059inch   128
  T02   0.0079inch    24
  T03   0.0138inch   215
  T04   0.0394inch     5
@@ -35,7 +35,7 @@ Drills used:
  T06   0.0520inch     2
  T07   0.1260inch     7
 
-Total number of drills: 364
+Total number of drills: 389
 
 Plotfiles:
 

4_Schematics and Boards Layout/4_7_Production Files/Gerber_PA/RF_PA.gpi

@@ -2,7 +2,7 @@ Generated by EAGLE CAM Processor 7.4.0
 
 Photoplotter Info File: C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/PowerAmplifierBoard/RF_PA.gpi
 
- Date              : 05/04/2026 00:07
+ Date              : 19/04/2026 01:42
  Plotfile          : C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/PowerAmplifierBoard/RF_PA.fab
  Apertures         : generated: 
  Device            : Gerber RS-274-X photoplotter, coordinate format 2.5 inch

4_Schematics and Boards Layout/4_7_Production Files/Gerber_PowerBoard/PowerBoard.bsk

@@ -0,0 +1,10 @@
+G75*
+%MOIN*%
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+%FSLAX25Y25*%
+%IPPOS*%
+%LPD*%
+%AMOC8*
+5,1,8,0,0,1.08239X$1,22.5*
+%
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4_Schematics and Boards Layout/4_7_Production Files/Gerber_PowerBoard/PowerBoard.bsp

@@ -0,0 +1,10 @@
+G75*
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4_Schematics and Boards Layout/4_7_Production Files/Gerber_PowerBoard/PowerBoard.csv

@@ -0,0 +1,29 @@
+"Qty";"Value";"Device";"Package";"Parts";"Description";"COPYRIGHT";"DATASHEET";"DESCRIPTION";"HEIGHT";"MANUFACTURER_NAME";"MANUFACTURER_PART_NUMBER";"MF";"MFR_NAME";"MOUSER_PART_NUMBER";"MOUSER_PRICE-STOCK";"MPN";"OC_FARNELL";"OC_NEWARK";"POPULARITY";"REFDES";"SPICEPREFIX";"TYPE";
+"1";"";"AK300/2";"AK300/2";"X1";"CONNECTOR";"";"";"";"";"";"";"";"";"";"";"";"unknown";"unknown";"16";"";"";"";
+"1";"";"MA10-2";"MA10-2";"SV1";"PIN HEADER";"";"";"";"";"";"";"";"";"";"";"";"unknown";"unknown";"3";"";"";"";
+"21";"0.1µF";"C-EUC0805";"C0805";"C1, C6, C12, C18, C29, C30, C36, C42, C54, C60, C66, C71, C76, C77, C83, C89, C109, C119, C129, C144, C154";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"88";"";"C";"";
+"27";"10k";"R-EU_M0805";"M0805";"R2, R4, R6, R8, R10, R12, R14, R16, R18, R20, R22, R24, R26, R28, R30, R32, R34, R36, R38, R40, R42, R44, R46, R48, R50, R52, R56";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"4";"10nF";"C-EUC0603";"C0603";"C150, C152, C160, C162";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"73";"";"C";"";
+"4";"10µF";"C-EUC0603";"C0603";"C151, C153, C161, C163";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"73";"";"C";"";
+"60";"10µF";"C-EUC0805";"C0805";"C4, C5, C9, C10, C15, C16, C21, C22, C24, C25, C28, C33, C34, C39, C40, C45, C46, C50, C51, C52, C53, C57, C58, C63, C64, C69, C70, C74, C75, C80, C81, C86, C87, C92, C93, C94, C95, C108, C112, C113, C114, C115, C118, C122, C123, C124, C125, C128, C132, C133, C134, C135, C138, C139, C140, C143, C147, C148, C157, C158";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"88";"";"C";"";
+"2";"11.5k";"R-EU_M0805";"M0805";"R54, R58";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"4";"12k";"R-EU_M0805";"M0805";"R9, R35, R43, R47";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"1";"13.7k";"R-EU_M0805";"M0805";"R3";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"12";"1µF";"C-EUC0805";"C0805";"C26, C27, C106, C107, C116, C117, C126, C127, C136, C137, C141, C142";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"88";"";"C";"";
+"2";"2.2µH";"POWER_INDUCTOR";"IND_VLP8040T-1R0N_TDK";"U$1, U$2";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"35";"22-23-2021";"22-23-2021";"22-23-2021";"X2, X3, X4, X5, X6, X7, X8, X9, X10, X11, X12, X13, X14, X15, X16, X17, X18, X19, X20, X21, X22, X23, X24, X25, X26, X27, X28, X29, X30, X31, X32, X33, X34, X35, X36";".100" (2.54mm) Center Header - 2 Pin";"";"";"";"";"";"";"MOLEX";"";"";"";"22-23-2021";"1462926";"25C3832";"40";"";"";"";
+"52";"22µF";"C-EUC0603";"C0603";"C2, C3, C7, C8, C11, C13, C14, C17, C19, C20, C23, C31, C32, C35, C37, C38, C41, C43, C44, C47, C48, C49, C55, C56, C59, C61, C62, C65, C67, C68, C72, C73, C78, C79, C82, C84, C85, C88, C90, C91, C110, C111, C120, C121, C130, C131, C145, C146, C149, C155, C156, C159";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"73";"";"C";"";
+"1";"23.4k";"R-EU_M0805";"M0805";"R49";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"1";"2k";"R-EU_M0805";"M0805";"R39";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"1";"3.09k";"R-EU_M0805";"M0805";"R1";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"19";"3.3µH";"POWER_INDUCTOR";"IND_VLP8040T-1R0N_TDK";"U$3, U$4, U$5, U$6, U$7, U$8, U$9, U$10, U$11, U$12, U$13, U$14, U$15, U$16, U$17, U$18, U$19, U$20, U$21";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";"";
+"6";"32.2k";"R-EU_M0805";"M0805";"R5, R7, R11, R13, R15, R19";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"1";"34.8k";"R-EU_M0805";"M0805";"R21";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"2";"35.7k";"R-EU_M0805";"M0805";"R53, R57";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"11";"56.2k";"R-EU_M0805";"M0805";"R17, R23, R25, R27, R29, R31, R37, R41, R45, R51, R55";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"1";"61.9k";"R-EU_M0805";"M0805";"R33";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"";"45";"";"R";"";
+"6";"ADM7151ACPZ-04-R7";"ADM7151ACPZ-04-R7";"CP_8_11_ADI";"U5, U23, U25, U27, U29, U30";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"https://www.analog.com/media/en/technical-documentation/data-sheets/ADM7151.pdf";"800 mA Ultralow Noise, High PSRR, RF Linear Regulator";"";"Analog Devices Inc";"ADM7151ACPZ-04-R7";"";"";"";"";"";"";"";"";"";"";"";
+"5";"LM2662MX/NOPB";"LM2662MX/NOPB";"M08A";"U18, U19, U20, U21, U22";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"";"LM2662MX/NOPB";"";"Texas Instruments";"";"";"";"";"";"";"";"";"LM2662M";
+"10";"T521W476M020ATE045";"T521W476M020ATE045";"T521W";"C96, C97, C98, C99, C100, C101, C102, C103, C104, C105";"T521, Tantalum, Polymer Tantalum, Commercial Grade, 47 uF, 20%, 20 VDC, 105C, -55C, 105C, SMD, Polymer, Molded, Low Profile/ESR, NonCombustible, 2,000 Hrs, 9 % , 45 mOhms, 94 uA, 222.95 mg, 7343, 1.4mm, Height Max = 1.5mm, 1000, 52  Weeks";"";"";"T521, Tantalum, Polymer Tantalum, Commercial Grade, 47 uF, 20%, 20 VDC, 105C, -55C, 105C, SMD, Polymer, Molded, Low Profile/ESR, NonCombustible, 2,000 Hrs, 9 % , 45 mOhms, 94 uA, 222.95 mg, 7343, 1.4mm, Height Max = 1.5mm, 1000, 52  Weeks";"1.5mm";"KEMET";"T521W476M020ATE045";"";"";"80-T521W476M20ATE045";"https://www.mouser.co.uk/ProductDetail/KEMET/T521W476M020ATE045?qs=Ad%252Bh9aq9FyVtchBw1jwoFA%3D%3D";"";"";"";"";"";"";"";
+"21";"TPS562208DDCT";"TPS562208DDCT";"DDC0006A_N";"U1, U2, U3, U4, U6, U7, U8, U9, U10, U11, U12, U13, U14, U15, U16, U17, U24, U26, U28, U31, U33";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"https://www.ti.com/lit/gpn/tps562208";"4.5 V to 17 V input, 2 A output, synchronous step-down converter in FCCM mode 6-SOT-23-THIN -40 to 125";"";"Texas Instruments";"TPS562208DDCT";"";"";"";"";"";"";"";"";"RefDes";"";"TYPE";
+"2";"TPS7A8300RGRR";"TPS7A8300RGRR";"RGR20_2P05X2P05_TEX";"U32, U34";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"https://www.ti.com/lit/gpn/tps7a8300";"2-A, low-VIN, low-2-A, low-VIN, low-noise, ultra-low-dropout voltage regulator with power good wi 20-VQFN -40 to 125";"";"Texas Instruments";"TPS7A8300RGRR";"";"";"";"";"";"";"";"";"";"";"";

4_Schematics and Boards Layout/4_7_Production Files/Gerber_PowerBoard/PowerBoard.dri

@@ -2,7 +2,7 @@ Generated by EAGLE CAM Processor 7.4.0
 
 Drill Station Info File: C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/PowerBoard/PowerBoard.dri
 
- Date              : 04/04/2026 22:46
+ Date              : 19/04/2026 19:18
  Drills            : generated
  Device            : Excellon drill station, coordinate format 2.5 inch
 

4_Schematics and Boards Layout/4_7_Production Files/Gerber_PowerBoard/PowerBoard.gpi

@@ -0,0 +1,36 @@
+Generated by EAGLE CAM Processor 7.4.0
+
+Photoplotter Info File: C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/PowerBoard/PowerBoard.gpi
+
+ Date              : 19/04/2026 19:21
+ Plotfile          : C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/PowerBoard/PowerBoard.bsp
+ Apertures         : generated: 
+ Device            : Gerber RS-274-X photoplotter, coordinate format 2.5 inch
+
+Parameter settings:
+
+ Emulate Apertures : no
+ Tolerance Draw  + :  0.00 %
+ Tolerance Draw  - :  0.00 %
+ Tolerance Flash + :  0.00 %
+ Tolerance Flash - :  0.00 %
+ Rotate            : no
+ Mirror            : no
+ Optimize          : yes
+ Auto fit          : yes
+ OffsetX           : 0inch
+ OffsetY           : 0inch
+
+Plotfile Info:
+
+ Coordinate Format : 2.5
+ Coordinate Units  : Inch
+ Data Mode         : Absolute
+ Zero Suppression  : None
+ End Of Block      : *
+
+Apertures used:
+
+ Code     Shape     Size                  used
+
+

4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.L1

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 X0213551Y0178118D03*
 X0223000Y0177921D03*
 X0223197Y0167882D03*

4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.L2

@@ -134,8 +134,10 @@ X0045441Y0113945D03*
 X0023000Y0123906D03*
 X0023000Y0133906D03*
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@@ -182,14 +184,10 @@ X0294063Y0355677D03*
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-X0086386Y0388748D03*
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 D15*
 X0005717Y0400126D02*
 X0005717Y0009654D01*

4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.L3

@@ -136,8 +136,10 @@ X0045441Y0113945D03*
 X0023000Y0123906D03*
 X0023000Y0133906D03*
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@@ -184,96 +186,48 @@ X0294063Y0355677D03*
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-X0136976Y0228217D03*
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-X0086386Y0388748D03*
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 D15*
-X0179299Y0276740D03*
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-X0179102Y0272016D03*
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-X0183433Y0265323D03*
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-X0186189Y0265323D03*
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-X0186189Y0262567D03*
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-X0183433Y0262567D03*
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-X0174181Y0235795D03*
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4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.L4

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4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.L5

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4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.L6

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4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.csv

@@ -0,0 +1,41 @@
+"Qty";"Value";"Device";"Package";"Parts";"Description";"COPYRIGHT";"DESCRIPTION";"HEIGHT";"MANUFACTURER_NAME";"MANUFACTURER_PART_NUMBER";"MF";"MFR_NAME";"MOUSER_PART_NUMBER";"MOUSER_PRICE-STOCK";"MPN";"OC_FARNELL";"OC_NEWARK";"POPULARITY";"PROD_ID";"SPICEPREFIX";"VALUE";
+"3";"";"C-EUC0201";"C0201";"C4, C5, C7";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"5";"";"L-EUL5650M";"L5650M";"L9, L10, L11, L12, L13";"INDUCTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"L";"";
+"1";"";"PINHD-2X6";"2X06";"JP1";"PIN HEADER";"";"";"";"";"";"";"";"";"";"";"";"";"8";"";"";"";
+"1";"";"PINHD-2X7";"2X07";"JP2";"PIN HEADER";"";"";"";"";"";"";"";"";"";"";"";"";"8";"";"";"";
+"25";"0.1µF";"C-EUC0201";"C0201";"C16, C18, C20, C22, C24, C26, C28, C30, C32, C34, C35, C36, C37, C41, C42, C43, C44, C64, C65, C66, C67, C87, C88, C90, C91";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"1";"0.1µf";"C-EUC0201";"C0201";"C92";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"2";"0.33µF";"C-EUC0201";"C0201";"C2, C6";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"2";"0.47µF";"C-EUC0201";"C0201";"C9, C10";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"1";"0.47µf";"C-EUC0201";"C0201";"C3";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"3";"0.65k";"R-EU_R0201";"R0201";"R6, R8, R10";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"R";"";
+"9";"0R";"R-EU_R0201";"R0201";"R5, R14, R15, R19, R20, R27, R28, R32, R33";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"R";"";
+"8";"1.3nH";"L-USL0201";"L0201";"L1, L2, L3, L4, L5, L6, L7, L8";"INDUCTOR, American symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"L";"";
+"1";"1000pF";"C-EUC0201";"C0201";"C8";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"4";"100R";"R-EU_R0201";"R0201";"R1, R12, R13, R26";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"R";"";
+"2";"10nF";"C-EUC0201";"C0201";"C61, C84";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"3";"10nF";"C-EUC0402";"C0402";"C15, C17, C19";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"18";"";"C";"";
+"6";"10pF";"C-EUC0201";"C0201";"C1, C62, C63, C85, C86, C89";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"5";"10µF";"C-EUC1210";"C1210";"C23, C27, C31, C45, C47";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"11";"142-0731-211";"142-0731-211";"1420731211";"J1, J2, J5, J6, J7, J8, J9, J10, J11, J12, J13";"SMA Connector Jack, Female Socket 50 Ohms Through Hole Solder";"";"SMA Connector Jack, Female Socket 50 Ohms Through Hole Solder";"9.8852mm";"Cinch Connectivity Solutions";"142-0731-211";"";"";"530-142-0731-211";"https://www.mouser.co.uk/ProductDetail/Johnson-Cinch-Connectivity-Solutions/142-0731-211?qs=HFfMDpzxxd0OVzI3hm9tuA%3D%3D";"";"";"";"";"";"";"";
+"6";"1k";"R-EU_R0201";"R0201";"R2, R3, R4, R7, R9, R11";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"R";"";
+"10";"1µF";"C-EUC0201";"C0201";"C11, C12, C13, C14, C59, C68, C69, C70, C71, C82";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"8";"200k";"R-EU_R0201";"R0201";"R22, R23, R24, R25, R35, R36, R37, R38";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"R";"";
+"6";"22-23-2021";"22-23-2021";"22-23-2021";"X10, X11, X12, X13, X14, X15";".100" (2.54mm) Center Header - 2 Pin";"";"";"";"";"";"MOLEX";"";"";"";"22-23-2021";"1462926";"25C3832";"40";"";"";"";
+"3";"22R";"R-EU_R0201";"R0201";"R39, R40, R41";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"R";"";
+"6";"22µF";"C-EUC1210";"C1210";"C21, C25, C29, C33, C46, C51";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"2";"30R";"R-EU_R0201";"R0201";"R17, R30";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"R";"";
+"2";"31pF";"C-EUC0201";"C0201";"C60, C83";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"2";"330R";"R-EU_R0201";"R0201";"R18, R31";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"R";"";
+"20";"4.7µF";"C-EUC0201";"C0201";"C38, C39, C40, C48, C49, C50, C55, C56, C57, C58, C72, C73, C74, C75, C76, C77, C78, C79, C80, C81";"CAPACITOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"C";"";
+"2";"500R";"R-EU_R0201";"R0201";"R21, R34";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"R";"";
+"2";"931R";"R-EU_R0201";"R0201";"R16, R29";"RESISTOR, European symbol";"";"";"";"";"";"";"";"";"";"";"";"";"0";"";"R";"";
+"1";"AD9523BCPZ";"AD9523BCPZ";"QFN50P1000X1000X100-73N";"IC1";"AD9523BCPZ, PLL Clock Driver Dual, 72-Pin LFCSP VQ";"";"AD9523BCPZ, PLL Clock Driver Dual, 72-Pin LFCSP VQ";"mm";"Analog Devices";"AD9523BCPZ";"";"";"584-AD9523BCPZ";"https://www.mouser.com/Search/Refine.aspx?Keyword=584-AD9523BCPZ";"";"";"";"";"";"";"";
+"2";"ADF4382ABCCZ";"ADF4382ABCCZ";"CC-48-10_ADI";"U1, U6";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"ADF4382ABCCZ";"";"Analog Devices Inc";"";"";"";"";"";"";"";"";"";
+"4";"ATS1005-3DB-FD-T05";"ATS1005-3DB-FD-T05";"SMT_DB-FD-T05_SUS";"U4, U5, U8, U10";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"";"";"Susumu";"ATS1005-3DB-FD-T05";"";"";"";"";"";"";"";"";"";"";"";
+"2";"CJT-T-P-HH-ST-TH1";"CJT-T-P-HH-ST-TH1";"CONN_CJT-T-P-XX-ST-TH1_SAI";"J3, J4";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"";"";"Samtec Inc";"CJT-T-P-HH-ST-TH1";"";"";"";"";"";"";"";"";"";"";"";
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+"1";"ECOC-2522-100.000-3HC";"ECOC-2522-100.000-3HC";"SMD5_ECOC-2522_25P4X22_ECS";"X4";"";"Copyright (C) 2025 Ultra Librarian. All rights reserved.";"";"";"ECS International";"ECOC-2522-100.000-3HC";"";"";"";"";"";"";"";"";"";"";"";
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+"2";"Green";"LED-GREEN-0603-WE";"LED-0603";"D1, D2";"Green SMD LED";"";"";"";"";"";"";"";"";"";"";"";"";"";"DIO-16512";"";"Green";
+"4";"MTX2-143+";"MTX2-143+";"DQ1225_MNC";"U2, U3, U7, U9";"";"Copyright (C) 2024 Ultra Librarian. All rights reserved.";"";"";"";"MTX2-143+";"";"Mini Circuits";"";"";"";"";"";"";"";"";"";

4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.drd

@@ -798,8 +798,6 @@ X127429Y228217
 X118177Y228118
 X109220Y227921
 X100854Y226740
-X102724Y234713
-X102724Y234713
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 X102823Y255579
 X102528Y264437

4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.dri

@@ -2,7 +2,7 @@ Generated by EAGLE CAM Processor 7.4.0
 
 Drill Station Info File: C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/FrequencySynthesizerBoard/Clocks_Freq_Synth_board.dri
 
- Date              : 05/04/2026 01:09
+ Date              : 19/04/2026 21:57
  Drills            : generated
  Device            : Excellon drill station, coordinate format 2.5 inch
 
@@ -33,13 +33,13 @@ Drills used:
  T04   0.0197inch    34
  T05   0.0250inch     4
  T06   0.0330inch     8
- T07   0.0394inch    84
+ T07   0.0394inch    82
  T08   0.0400inch    26
  T09   0.0470inch    44
  T10   0.0787inch     1
  T11   0.1260inch     4
 
-Total number of drills: 909
+Total number of drills: 907
 
 Plotfiles:
 

4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.gpi

@@ -2,7 +2,7 @@ Generated by EAGLE CAM Processor 7.4.0
 
 Photoplotter Info File: C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/FrequencySynthesizerBoard/Clocks_Freq_Synth_board.gpi
 
- Date              : 05/04/2026 01:12
+ Date              : 19/04/2026 21:58
  Plotfile          : C:/Users/dell/Desktop/CrowdSupply/RADAR_V6/4_Schematics and Boards Layout/4_6_Schematics/FrequencySynthesizerBoard/Clocks_Freq_Synth_board.bsk
  Apertures         : generated: 
  Device            : Gerber RS-274-X photoplotter, coordinate format 2.5 inch

4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.mnt

@@ -0,0 +1,174 @@
+C1 48.37 59.91  90 10pF C0201
+C2 31.74 13.52   0 0.33ｵF C0201
+C3 49.46 45.72   0 0.47ｵf C0201
+C4 49.48 43.39   0  C0201
+C5 49.52 42.39   0  C0201
+C6 49.52 41.92   0 0.33ｵF C0201
+C7 49.51 40.39   0  C0201
+C8 49.51 39.87   0 1000pF C0201
+C9 48.76 37.89  90 0.47ｵF C0201
+C10 48.63 39.42   0 0.47ｵF C0201
+C11 47.37 50.30 270 1ｵF C0201
+C12 46.81 50.30 270 1ｵF C0201
+C13 45.40 50.35 270 1ｵF C0201
+C14 44.82 50.35 270 1ｵF C0201
+C15 86.78 30.16   0 10nF C0402
+C16 49.07 44.65  90 0.1ｵF C0201
+C17 64.58 24.27 270 10nF C0402
+C18 50.57 34.64 180 0.1ｵF C0201
+C19 52.86 24.27 270 10nF C0402
+C20 55.66 34.54   0 0.1ｵF C0201
+C21 10.00 30.60 270 22ｵF C1210
+C22 58.71 34.53   0 0.1ｵF C0201
+C23 21.00 30.50 270 10ｵF C1210
+C24 62.13 37.42   0 0.1ｵF C0201
+C25 35.40  4.90 270 22ｵF C1210
+C26 61.84 40.65  90 0.1ｵF C0201
+C27 45.90  5.30 270 10ｵF C1210
+C28 62.06 43.41   0 0.1ｵF C0201
+C29 81.20  4.90 270 22ｵF C1210
+C30 57.71 46.83   0 0.1ｵF C0201
+C31 70.50  5.00 270 10ｵF C1210
+C32 54.48 46.90  90 0.1ｵF C0201
+C33 18.10 95.10  90 22ｵF C1210
+C34 49.20 38.86 180 0.1ｵF C0201
+C35 57.21 34.54   0 0.1ｵF C0201
+C36 61.16 34.74   0 0.1ｵF C0201
+C37 62.20 38.96   0 0.1ｵF C0201
+C38 42.23 55.44 180 4.7ｵF C0201
+C39 42.56 52.07 270 4.7ｵF C0201
+C40 46.11 50.52   0 4.7ｵF C0201
+C41 62.26 41.88   0 0.1ｵF C0201
+C42 61.85 45.25  90 0.1ｵF C0201
+C43 56.56 46.73   0 0.1ｵF C0201
+C44 52.33 46.82 180 0.1ｵF C0201
+C45 19.40 85.70 180 10ｵF C1210
+C46 34.30 93.80 270 22ｵF C1210
+C47 30.90 86.70   0 10ｵF C1210
+C48 48.11 50.54   0 4.7ｵF C0201
+C49 48.11 50.06   0 4.7ｵF C0201
+C50 51.64 53.12 270 4.7ｵF C0201
+C51 87.70 87.30  90 22ｵF C1210
+C55 44.21 59.60   0 4.7ｵF C0201
+C56 51.86 59.44 180 4.7ｵF C0201
+C57 51.69 57.60  90 4.7ｵF C0201
+C58 51.62 54.17 270 4.7ｵF C0201
+C59 49.65 49.57  90 1ｵF C0201
+C60 52.95 54.60  90 31pF C0201
+C61 53.66 52.04   0 10nF C0201
+C62 49.86 50.62 270 10pF C0201
+C63 45.84 61.00  90 10pF C0201
+C64 46.57 61.00  90 0.1ｵF C0201
+C65 45.15 61.00  90 0.1ｵF C0201
+C66 49.11 59.94  90 0.1ｵF C0201
+C67 47.66 59.94  90 0.1ｵF C0201
+C68 61.74 50.36 270 1ｵF C0201
+C69 61.19 50.33 270 1ｵF C0201
+C70 59.82 50.03 270 1ｵF C0201
+C71 59.19 50.02 270 1ｵF C0201
+C72 66.00 53.21 270 4.7ｵF C0201
+C73 66.10 54.16 270 4.7ｵF C0201
+C74 66.04 57.61  90 4.7ｵF C0201
+C75 64.72 59.83 180 4.7ｵF C0201
+C76 58.07 59.64   0 4.7ｵF C0201
+C77 56.62 55.38 180 4.7ｵF C0201
+C78 56.92 52.33 180 4.7ｵF C0201
+C79 60.47 50.84   0 4.7ｵF C0201
+C80 62.25 50.66 270 4.7ｵF C0201
+C81 62.70 50.66 270 4.7ｵF C0201
+C82 64.80 49.14 180 1ｵF C0201
+C83 67.62 55.61  90 31pF C0201
+C84 68.70 54.96  90 10nF C0201
+C85 63.74 50.66 270 10pF C0201
+C86 60.20 61.00  90 10pF C0201
+C87 60.94 61.00  90 0.1ｵF C0201
+C88 59.44 61.00  90 0.1ｵF C0201
+C89 62.70 59.91  90 10pF C0201
+C90 63.47 59.91  90 0.1ｵF C0201
+C91 61.97 59.91  90 0.1ｵF C0201
+C92 16.93 67.92 180 0.1ｵf C0201
+D1 41.75 59.88  90 Green LED-0603
+D2 56.83 60.61  90 Green LED-0603
+FB1 68.41 56.87 180 FBMH1608HL601-T BEADC1608X90N
+FB2 53.58 56.01 180 FBMH1608HL601-T BEADC1608X90N
+FB3 52.06 49.65   0 FBMH1608HL601-T BEADC1608X90N
+FB4 63.46 48.33 270 FBMH1608HL601-T BEADC1608X90N
+IC1 55.70 40.67   0 AD9523BCPZ QFN50P1000X1000X100-73N
+J1 52.94 90.00   0 142-0731-211 1420731211
+J2 92.86 49.36  90 142-0731-211 1420731211
+J5 64.56 17.84   0 142-0731-211 1420731211
+J6 52.79 18.27   0 142-0731-211 1420731211
+J7 92.71 30.20  90 142-0731-211 1420731211
+J8 92.71 16.28   0 142-0731-211 1420731211
+J9  9.85 82.37 180 142-0731-211 1420731211
+J10 45.93 74.00   0 142-0731-211 1420731211
+J11 60.20 74.00   0 142-0731-211 1420731211
+J12 74.38 71.98  45 142-0731-211 1420731211
+J13 11.67 67.91  90 142-0731-211 1420731211
+L1 48.80 59.32   0 1.3nH L0201
+L2 46.29 60.40   0 1.3nH L0201
+L3 45.44 60.40   0 1.3nH L0201
+L4 47.95 59.32   0 1.3nH L0201
+L5 60.67 60.40   0 1.3nH L0201
+L6 59.77 60.40   0 1.3nH L0201
+L7 63.17 59.31   0 1.3nH L0201
+L8 62.27 59.31   0 1.3nH L0201
+L9 15.40 31.90 180  L5650M
+L10 40.80  6.20 180  L5650M
+L11 75.80  6.30   0  L5650M
+L12 22.20 91.00  90  L5650M
+L13 29.60 92.70  90  L5650M
+R1 61.47 51.11   0 100R R0201
+R2  7.14 58.81 180 1k R0201
+R3  7.38 59.72 270 1k R0201
+R4 31.78 14.16   0 1k R0201
+R5 48.02 38.16   0 0R R0201
+R6 16.38 13.37 270 0.65k R0201
+R7 16.37 12.32 270 1k R0201
+R8 13.86 21.50  90 0.65k R0201
+R9 13.82 22.69  90 1k R0201
+R10 16.36 21.55  90 0.65k R0201
+R11 16.42 22.70  90 1k R0201
+R12 47.11 51.07   0 100R R0201
+R13 45.11 51.07   0 100R R0201
+R14 51.74 56.17 270 0R R0201
+R15 51.96 55.04   0 0R R0201
+R16 52.78 53.71 180 931R R0201
+R17 52.48 52.85  90 30R R0201
+R18 52.71 52.07   0 330R R0201
+R19 51.62 50.89   0 0R R0201
+R20 50.61 50.88   0 0R R0201
+R21 42.53 57.17 270 500R R0201
+R22 41.78 56.69 270 200k R0201
+R23 41.34 55.73  90 200k R0201
+R24 42.32 54.09 270 200k R0201
+R25 41.39 54.64 270 200k R0201
+R26 59.47 51.16   0 100R R0201
+R27 65.87 56.55   0 0R R0201
+R28 65.90 55.35   0 0R R0201
+R29 66.92 55.36 180 931R R0201
+R30 67.63 54.52  90 30R R0201
+R31 68.47 54.26   0 330R R0201
+R32 65.46 50.90   0 0R R0201
+R33 64.54 50.90   0 0R R0201
+R34 56.82 58.21 270 500R R0201
+R35 56.94 56.71 270 200k R0201
+R36 55.84 56.16 270 200k R0201
+R37 56.84 54.16 270 200k R0201
+R38 56.24 54.61 270 200k R0201
+R39 63.22 41.38   0 22R R0201
+R40 59.45 33.47 270 22R R0201
+R41 57.97 33.47 270 22R R0201
+U1 47.12 55.12 180 ADF4382ABCCZ CC-48-10_ADI
+U2 45.91 65.00 270 MTX2-143+ DQ1225_MNC
+U3 52.91 64.38 270 MTX2-143+ DQ1225_MNC
+U4 45.91 68.00 180 ATS1005-3DB-FD-T05 SMT_DB-FD-T05_SUS
+U5 52.94 68.68 180 ATS1005-3DB-FD-T05 SMT_DB-FD-T05_SUS
+U6 61.48 55.12 180 ADF4382ABCCZ CC-48-10_ADI
+U7 60.21 65.00 270 MTX2-143+ DQ1225_MNC
+U8 60.20 68.00 180 ATS1005-3DB-FD-T05 SMT_DB-FD-T05_SUS
+U9 67.91 65.62 225 MTX2-143+ DQ1225_MNC
+U10 70.09 67.84 135 ATS1005-3DB-FD-T05 SMT_DB-FD-T05_SUS
+X4 23.07 49.95   0 ECOC-2522-100.000-3HC SMD5_ECOC-2522_25P4X22_ECS
+X5 34.12 31.62  90 CVHD-950-50.000 SMD4_CVHD-950_CRX
+X6 33.87 19.97  90 CVHD-950-50.000 SMD4_CVHD-950_CRX

4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.smb

@@ -159,8 +159,6 @@ X0127429Y0228217D03*
 X0118177Y0228118D03*
 X0109220Y0227921D03*
 X0100854Y0226740D03*
-X0102724Y0234713D03*
-X0102724Y0234713D03*
 X0102724Y0243571D03*
 X0102823Y0255579D03*
 X0102528Y0264437D03*

4_Schematics and Boards Layout/4_7_Production Files/Gerber_freq_synth/Clocks_Freq_Synth_board.smt

@@ -1334,10 +1334,8 @@ X0102528Y0273197D03*
 X0102528Y0264437D03*
 X0102823Y0255579D03*
 X0102724Y0243571D03*
-X0102724Y0234713D03*
-X0102724Y0234713D03*
-X0100854Y0226740D03*
 X0109220Y0227921D03*
+X0100854Y0226740D03*
 X0118177Y0228118D03*
 X0127429Y0228217D03*
 X0136976Y0228217D03*

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_AGC.cpp

@@ -18,7 +18,7 @@ ADAR1000_AGC::ADAR1000_AGC()
     , min_gain(0)
     , max_gain(127)
     , holdoff_frames(4)
-    , enabled(true)
+    , enabled(false)
     , holdoff_counter(0)
     , last_saturated(false)
     , saturation_event_count(0)

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.cpp

@@ -20,18 +20,71 @@ static const struct {
     {ADAR_4_CS_3V3_GPIO_Port, ADAR_4_CS_3V3_Pin}  // ADAR1000 #4
 };
 
-// Vector Modulator lookup tables
+// ADAR1000 Vector Modulator lookup tables (128-state phase grid, 2.8125 deg step).
+//
+// Source: Analog Devices ADAR1000 datasheet Rev. B, Tables 13-16, page 34
+//   (7_Components Datasheets and Application notes/ADAR1000.pdf)
+// Cross-checked against the ADI Linux mainline driver (GPL-2.0, NOT vendored):
+//   https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/
+//     drivers/iio/beamformer/adar1000.c  (adar1000_phase_values[])
+// The 128 byte values themselves are factual data from the datasheet and are
+// not subject to copyright; only the ADI driver code is GPL.
+//
+// Byte format (per datasheet):
+//   bit  [7:6] reserved (0)
+//   bit  [5]   polarity:  1 = positive lobe (sign(I) or sign(Q) >= 0)
+//                          0 = negative lobe
+//   bits [4:0] 5-bit unsigned magnitude (0..31)
+// At magnitude=0 the polarity bit is physically meaningless; the datasheet
+// uses POL=1 (e.g. VM_Q at 0 deg = 0x20, VM_I at 90 deg = 0x21).
+//
+// Index mapping is uniform: VM_I[k] / VM_Q[k] correspond to phase angle
+// k * 360/128 = k * 2.8125 degrees.  Callers index as VM_*[phase % 128].
 const uint8_t ADAR1000Manager::VM_I[128] = {
-    // ... (same as in your original file)
+    0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3E, 0x3E, 0x3D,  // [  0]   0.0000 deg
+    0x3D, 0x3C, 0x3C, 0x3B, 0x3A, 0x39, 0x38, 0x37,  // [  8]  22.5000 deg
+    0x36, 0x35, 0x34, 0x33, 0x32, 0x30, 0x2F, 0x2E,  // [ 16]  45.0000 deg
+    0x2C, 0x2B, 0x2A, 0x28, 0x27, 0x25, 0x24, 0x22,  // [ 24]  67.5000 deg
+    0x21, 0x01, 0x03, 0x04, 0x06, 0x07, 0x08, 0x0A,  // [ 32]  90.0000 deg
+    0x0B, 0x0D, 0x0E, 0x0F, 0x11, 0x12, 0x13, 0x14,  // [ 40] 112.5000 deg
+    0x16, 0x17, 0x18, 0x19, 0x19, 0x1A, 0x1B, 0x1C,  // [ 48] 135.0000 deg
+    0x1C, 0x1D, 0x1E, 0x1E, 0x1E, 0x1F, 0x1F, 0x1F,  // [ 56] 157.5000 deg
+    0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1E, 0x1E, 0x1D,  // [ 64] 180.0000 deg
+    0x1D, 0x1C, 0x1C, 0x1B, 0x1A, 0x19, 0x18, 0x17,  // [ 72] 202.5000 deg
+    0x16, 0x15, 0x14, 0x13, 0x12, 0x10, 0x0F, 0x0E,  // [ 80] 225.0000 deg
+    0x0C, 0x0B, 0x0A, 0x08, 0x07, 0x05, 0x04, 0x02,  // [ 88] 247.5000 deg
+    0x01, 0x21, 0x23, 0x24, 0x26, 0x27, 0x28, 0x2A,  // [ 96] 270.0000 deg
+    0x2B, 0x2D, 0x2E, 0x2F, 0x31, 0x32, 0x33, 0x34,  // [104] 292.5000 deg
+    0x36, 0x37, 0x38, 0x39, 0x39, 0x3A, 0x3B, 0x3C,  // [112] 315.0000 deg
+    0x3C, 0x3D, 0x3E, 0x3E, 0x3E, 0x3F, 0x3F, 0x3F,  // [120] 337.5000 deg
 };
 
 const uint8_t ADAR1000Manager::VM_Q[128] = {
-    // ... (same as in your original file)
+    0x20, 0x21, 0x23, 0x24, 0x26, 0x27, 0x28, 0x2A,  // [  0]   0.0000 deg
+    0x2B, 0x2D, 0x2E, 0x2F, 0x30, 0x31, 0x33, 0x34,  // [  8]  22.5000 deg
+    0x35, 0x36, 0x37, 0x38, 0x38, 0x39, 0x3A, 0x3A,  // [ 16]  45.0000 deg
+    0x3B, 0x3C, 0x3C, 0x3C, 0x3D, 0x3D, 0x3D, 0x3D,  // [ 24]  67.5000 deg
+    0x3D, 0x3D, 0x3D, 0x3D, 0x3D, 0x3C, 0x3C, 0x3C,  // [ 32]  90.0000 deg
+    0x3B, 0x3A, 0x3A, 0x39, 0x38, 0x38, 0x37, 0x36,  // [ 40] 112.5000 deg
+    0x35, 0x34, 0x33, 0x31, 0x30, 0x2F, 0x2E, 0x2D,  // [ 48] 135.0000 deg
+    0x2B, 0x2A, 0x28, 0x27, 0x26, 0x24, 0x23, 0x21,  // [ 56] 157.5000 deg
+    0x20, 0x01, 0x03, 0x04, 0x06, 0x07, 0x08, 0x0A,  // [ 64] 180.0000 deg
+    0x0B, 0x0D, 0x0E, 0x0F, 0x10, 0x11, 0x13, 0x14,  // [ 72] 202.5000 deg
+    0x15, 0x16, 0x17, 0x18, 0x18, 0x19, 0x1A, 0x1A,  // [ 80] 225.0000 deg
+    0x1B, 0x1C, 0x1C, 0x1C, 0x1D, 0x1D, 0x1D, 0x1D,  // [ 88] 247.5000 deg
+    0x1D, 0x1D, 0x1D, 0x1D, 0x1D, 0x1C, 0x1C, 0x1C,  // [ 96] 270.0000 deg
+    0x1B, 0x1A, 0x1A, 0x19, 0x18, 0x18, 0x17, 0x16,  // [104] 292.5000 deg
+    0x15, 0x14, 0x13, 0x11, 0x10, 0x0F, 0x0E, 0x0D,  // [112] 315.0000 deg
+    0x0B, 0x0A, 0x08, 0x07, 0x06, 0x04, 0x03, 0x01,  // [120] 337.5000 deg
 };
 
-const uint8_t ADAR1000Manager::VM_GAIN[128] = {
+// NOTE: a VM_GAIN[128] table previously existed here as a placeholder but was
-    // ... (same as in your original file)
+// never populated and never read.  The ADAR1000 vector modulator has no
-};
+// separate gain register: phase-state magnitude is encoded directly in
+// bits [4:0] of the VM_I/VM_Q bytes above.  Per-channel VGA gain is a
+// distinct register (CHx_RX_GAIN at 0x10-0x13, CHx_TX_GAIN at 0x1C-0x1F)
+// written with the user-supplied byte directly by adarSetRxVgaGain() /
+// adarSetTxVgaGain().  Do not reintroduce a VM_GAIN[] array.
 
 ADAR1000Manager::ADAR1000Manager() {
     for (int i = 0; i < 4; ++i) {

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.h

@@ -116,10 +116,12 @@ public:
     bool beam_sweeping_active_ = false;
     uint32_t last_beam_update_time_ = 0;
 
-    // Lookup tables
+    // Vector Modulator lookup tables (see ADAR1000_Manager.cpp for provenance).
-    static const uint8_t VM_I[128];
+    // Indexed as VM_*[phase % 128] on a uniform 2.8125 deg grid.
+    // No VM_GAIN[] table exists: VM magnitude is bits [4:0] of the I/Q bytes
+    // themselves; per-channel VGA gain uses a separate register.
+    static const uint8_t VM_I[128];
     static const uint8_t VM_Q[128];
-    static const uint8_t VM_GAIN[128];
 
     // Named defaults for the ADTR1107 and ADAR1000 power sequence.
     static constexpr uint8_t kDefaultTxVgaGain = 0x7F;

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adar1000.c

@@ -1,693 +0,0 @@
-/**
- * MIT License
- * 
- * Copyright (c) 2020 Jimmy Pentz
- *
- * Reach me at: github.com/jgpentz, jpentz1(at)gmail.com
- * 
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sells
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- * 
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-/* ADAR1000 4-Channel, X Band and Ku Band Beamformer */
-// ----------------------------------------------------------------------------
-// Includes
-// ----------------------------------------------------------------------------
-#include "main.h"
-#include "stm32f7xx_hal.h"
-#include "stm32f7xx_hal_spi.h"
-#include "stm32f7xx_hal_gpio.h"
-#include "adar1000.h"
-
-
-// ----------------------------------------------------------------------------
-// Preprocessor Definitions and Constants
-// ----------------------------------------------------------------------------
-// VM_GAIN is 15 dB of gain in 128 steps. ~0.12 dB per step.
-// A 15 dB attenuator can be applied on top of these values.
-const uint8_t VM_GAIN[128] = {
-	0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F,
-	0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1a, 0x1b, 0x1c, 0x1d, 0x1e, 0x1f,
-	0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x2b, 0x2c, 0x2d, 0x2e, 0x2f,
-	0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3a, 0x3b, 0x3c, 0x3d, 0x3e, 0x3f,
-	0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4a, 0x4b, 0x4c, 0x4d, 0x4e, 0x4f,
-	0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5a, 0x5b, 0x5c, 0x5d, 0x5e, 0x5f,
-	0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6a, 0x6b, 0x6c, 0x6d, 0x6e, 0x6f,
-	0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, 0x7b, 0x7c, 0x7d, 0x7e, 0x7f,
-};
-
-// VM_I and VM_Q are the settings for the vector modulator. 128 steps in 360 degrees. ~2.813 degrees per step.
-const uint8_t VM_I[128] = {
-	0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3E, 0x3E, 0x3D, 0x3D, 0x3C, 0x3C, 0x3B, 0x3A, 0x39, 0x38, 0x37,
-	0x36, 0x35, 0x34, 0x33, 0x32, 0x30, 0x2F, 0x2E, 0x2C, 0x2B, 0x2A, 0x28, 0x27, 0x25, 0x24, 0x22,
-	0x21, 0x01, 0x03, 0x04, 0x06, 0x07, 0x08, 0x0A, 0x0B, 0x0D, 0x0E, 0x0F, 0x11, 0x12, 0x13, 0x14,
-	0x16, 0x17, 0x18, 0x19, 0x19, 0x1A, 0x1B, 0x1C, 0x1C, 0x1D, 0x1E, 0x1E, 0x1E, 0x1F, 0x1F, 0x1F,
-	0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1E, 0x1E, 0x1D, 0x1D, 0x1C, 0x1C, 0x1B, 0x1A, 0x19, 0x18, 0x17,
-	0x16, 0x15, 0x14, 0x13, 0x12, 0x10, 0x0F, 0x0E, 0x0C, 0x0B, 0x0A, 0x08, 0x07, 0x05, 0x04, 0x02,
-	0x01, 0x21, 0x23, 0x24, 0x26, 0x27, 0x28, 0x2A, 0x2B, 0x2D, 0x2E, 0x2F, 0x31, 0x32, 0x33, 0x34,
-	0x36, 0x37, 0x38, 0x39, 0x39, 0x3A, 0x3B, 0x3C, 0x3C, 0x3D, 0x3E, 0x3E, 0x3E, 0x3F, 0x3F, 0x3F,
-};
-
-const uint8_t VM_Q[128] = {
-	0x20, 0x21, 0x23, 0x24, 0x26, 0x27, 0x28, 0x2A, 0x2B, 0x2D, 0x2E, 0x2F, 0x30, 0x31, 0x33, 0x34,
-	0x35, 0x36, 0x37, 0x38, 0x38, 0x39, 0x3A, 0x3A, 0x3B, 0x3C, 0x3C, 0x3C, 0x3D, 0x3D, 0x3D, 0x3D,
-	0x3D, 0x3D, 0x3D, 0x3D, 0x3D, 0x3C, 0x3C, 0x3C, 0x3B, 0x3A, 0x3A, 0x39, 0x38, 0x38, 0x37, 0x36,
-	0x35, 0x34, 0x33, 0x31, 0x30, 0x2F, 0x2E, 0x2D, 0x2B, 0x2A, 0x28, 0x27, 0x26, 0x24, 0x23, 0x21,
-	0x20, 0x01, 0x03, 0x04, 0x06, 0x07, 0x08, 0x0A, 0x0B, 0x0D, 0x0E, 0x0F, 0x10, 0x11, 0x13, 0x14,
-	0x15, 0x16, 0x17, 0x18, 0x18, 0x19, 0x1A, 0x1A, 0x1B, 0x1C, 0x1C, 0x1C, 0x1D, 0x1D, 0x1D, 0x1D,
-	0x1D, 0x1D, 0x1D, 0x1D, 0x1D, 0x1C, 0x1C, 0x1C, 0x1B, 0x1A, 0x1A, 0x19, 0x18, 0x18, 0x17, 0x16,
-	0x15, 0x14, 0x13, 0x11, 0x10, 0x0F, 0x0E, 0x0D, 0x0B, 0x0A, 0x08, 0x07, 0x06, 0x04, 0x03, 0x01,
-};
-
-
-// ----------------------------------------------------------------------------
-// Function Definitions
-// ----------------------------------------------------------------------------
-/**
- * @brief	Initialize the ADC on the ADAR by setting the ADC with a 2 MHz clk, 
- *			and then enable it.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- *						if this set to BROADCAST_ON.
- *
- * @warning	This is setup to only read temperature sensor data, not the power detectors.
- */
-void Adar_AdcInit(const AdarDevice * p_adar, uint8_t broadcast)
-{
-	uint8_t data;
-
-	data = ADAR1000_ADC_2MHZ_CLK | ADAR1000_ADC_EN;
-
-	Adar_Write(p_adar, REG_ADC_CONTROL, data, broadcast);
-}
-
-
-/**
- * @brief	Read a byte of data from the ADAR.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- *						if this set to BROADCAST_ON.
- *
- * @return	Returns a byte of data that has been converted from the temperature sensor.
- *
- * @warning	This is setup to only read temperature sensor data, not the power detectors.
- */
-uint8_t Adar_AdcRead(const AdarDevice * p_adar, uint8_t broadcast)
-{
-	uint8_t data;
-
-    // Start the ADC conversion
-	Adar_Write(p_adar, REG_ADC_CONTROL, ADAR1000_ADC_ST_CONV, broadcast);
-
-    // This is blocking for now... wait until data is converted, then read it
-	while (!(Adar_Read(p_adar, REG_ADC_CONTROL) & 0x01))
-	{
-	}
-
-	data = Adar_Read(p_adar, REG_ADC_OUT);
-
-	return(data);
-}
-
-
-/**
- * @brief	Requests the device info from a specific ADAR and stores it in the
- *			provided AdarDeviceInfo struct.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param   info[out]	Struct that contains the device info fields.
- *
- * @return	Returns ADAR_ERROR_NOERROR if information was successfully received and stored in the struct.
- */
-uint8_t Adar_GetDeviceInfo(const AdarDevice * p_adar, AdarDeviceInfo * info)
-{
-	*((uint8_t *)info) = Adar_Read(p_adar, 0x002);
-	info->chip_type = Adar_Read(p_adar, 0x003);
-	info->product_id = ((uint16_t)Adar_Read(p_adar, 0x004)) << 8;
-	info->product_id |= ((uint16_t)Adar_Read(p_adar, 0x005)) & 0x00ff;
-	info->scratchpad = Adar_Read(p_adar, 0x00A);
-	info->spi_rev = Adar_Read(p_adar, 0x00B);
-	info->vendor_id = ((uint16_t)Adar_Read(p_adar, 0x00C)) << 8;
-	info->vendor_id |= ((uint16_t)Adar_Read(p_adar, 0x00D)) & 0x00ff;
-	info->rev_id = Adar_Read(p_adar, 0x045);
-
-	return(ADAR_ERROR_NOERROR);
-}
-
-
-/**
- * @brief	Read the data that is stored in a single ADAR register.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param	mem_addr	Memory address of the register you wish to read from.
- *
- * @return	Returns the byte of data that is stored in the desired register.
- *
- * @warning	This function will clear ADDR_ASCN bits.
- * @warning The ADAR does not allow for block reads.
- */
-uint8_t Adar_Read(const AdarDevice * p_adar, uint32_t mem_addr)
-{
-	uint8_t instruction[3];
-
-    // Set SDO active
-	Adar_Write(p_adar, REG_INTERFACE_CONFIG_A, INTERFACE_CONFIG_A_SDO_ACTIVE, 0);
-
-	instruction[0] = 0x80 | ((p_adar->dev_addr & 0x03) << 5);
-	instruction[0] |= ((0xff00 & mem_addr) >> 8);
-	instruction[1] = (0xff & mem_addr);
-	instruction[2] = 0x00;
-
-	p_adar->Transfer(instruction, p_adar->p_rx_buffer, ADAR1000_RD_SIZE);
-
-    // Set SDO Inactive
-	Adar_Write(p_adar, REG_INTERFACE_CONFIG_A, 0, 0);
-
-	return(p_adar->p_rx_buffer[2]);
-}
-
-
-/**
- * @brief	Block memory write to an ADAR device.
- *
- * @pre		ADDR_ASCN bits in register zero must be set!
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param	mem_addr  	Memory address of the register you wish to read from.
- * @param	p_data    	Pointer to block of data to transfer (must have two unused bytes preceding the data for instruction).
- * @param	size      	Size of data in bytes, including the two additional leading bytes.
- *
- * @warning First two bytes of data will be corrupted if you do not provide two unused leading bytes!
- */
-void Adar_ReadBlock(const AdarDevice * p_adar, uint16_t mem_addr, uint8_t * p_data, uint32_t size)
-{
-    // Set SDO active
-	Adar_Write(p_adar, REG_INTERFACE_CONFIG_A, INTERFACE_CONFIG_A_SDO_ACTIVE | INTERFACE_CONFIG_A_ADDR_ASCN, 0);
-
-    // Prepare command
-	p_data[0] = 0x80 | ((p_adar->dev_addr & 0x03) << 5);
-	p_data[0] |= ((mem_addr) >> 8) & 0x1F;
-	p_data[1] = (0xFF & mem_addr);
-
-    // Start the transfer
-	p_adar->Transfer(p_data, p_data, size);
-
-	Adar_Write(p_adar, REG_INTERFACE_CONFIG_A, 0, 0);
-    // Return nothing since we assume this is non-blocking and won't wait around
-}
-
-
-/**
- * @brief	Sets the Rx/Tx bias currents for the LNA, VM, and VGA to be in either
- *			low power setting or nominal setting.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param	p_bias[in]	An AdarBiasCurrents struct filled with bias settings
- *						as seen in the datasheet Table 6. SPI Settings for 
- *						Different Power	Modules
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- *						if this set to BROADCAST_ON.
- *
- * @return	Returns ADAR_ERR_NOERROR if the bias currents were set 
- */
-uint8_t Adar_SetBiasCurrents(const AdarDevice * p_adar, AdarBiasCurrents * p_bias, uint8_t broadcast)
-{
-	uint8_t bias = 0;
-
-    // RX LNA/VGA/VM bias
-	bias = (p_bias->rx_lna & 0x0f);
-	Adar_Write(p_adar, REG_BIAS_CURRENT_RX_LNA, bias, broadcast); // RX LNA bias
-	bias = (p_bias->rx_vga & 0x07 << 3) | (p_bias->rx_vm & 0x07);
-	Adar_Write(p_adar, REG_BIAS_CURRENT_RX, bias, broadcast);     // RX VM/VGA bias
-
-    // TX VGA/VM/DRV bias
-	bias = (p_bias->tx_vga & 0x07 << 3) | (p_bias->tx_vm & 0x07);
-	Adar_Write(p_adar, REG_BIAS_CURRENT_TX, bias, broadcast);     // TX VM/VGA bias
-	bias = (p_bias->tx_drv & 0x07);
-	Adar_Write(p_adar, REG_BIAS_CURRENT_TX_DRV, bias, broadcast); // TX DRV bias
-	
-	return(ADAR_ERROR_NOERROR);
-}
-
-
-/**
- * @brief	Set the bias ON and bias OFF voltages for the four PA's and one LNA.
- *
- * @pre		This will set all 5 bias ON values and all 5 bias OFF values at once.
- * 			To enable these bias values, please see the data sheet and ensure that the BIAS_CTRL,
- * 			LNA_BIAS_OUT_EN, TR_SOURCE, TX_EN, RX_EN, TR (input to chip), and PA_ON (input to chip)
- * 			bits have all been properly set.
- *
- * @param	p_adar[in]		Adar pointer Which specifies the device and what function 
- *							to use for SPI transfer.
- * @param 	bias_on_voltage   Array that contains the bias ON voltages.
- * @param 	bias_off_voltage  Array that contains the bias OFF voltages.
- *
- * @return	Returns ADAR_ERR_NOERROR if the bias currents were set 
- */
-uint8_t Adar_SetBiasVoltages(const AdarDevice * p_adar, uint8_t bias_on_voltage[5], uint8_t bias_off_voltage[5])
-{
-	Adar_SetBit(p_adar, 0x30, 6, BROADCAST_OFF);
-	Adar_SetBit(p_adar, 0x31, 2, BROADCAST_OFF);
-	Adar_SetBit(p_adar, 0x38, 5, BROADCAST_OFF);
-	Adar_Write(p_adar, REG_PA_CH1_BIAS_ON,bias_on_voltage[0], BROADCAST_OFF);
-	Adar_Write(p_adar, REG_PA_CH2_BIAS_ON,bias_on_voltage[1], BROADCAST_OFF);
-	Adar_Write(p_adar, REG_PA_CH3_BIAS_ON,bias_on_voltage[2], BROADCAST_OFF);
-	Adar_Write(p_adar, REG_PA_CH4_BIAS_ON,bias_on_voltage[3], BROADCAST_OFF);
-
-	Adar_Write(p_adar, REG_PA_CH1_BIAS_OFF,bias_off_voltage[0], BROADCAST_OFF);
-	Adar_Write(p_adar, REG_PA_CH2_BIAS_OFF,bias_off_voltage[1], BROADCAST_OFF);
-	Adar_Write(p_adar, REG_PA_CH3_BIAS_OFF,bias_off_voltage[2], BROADCAST_OFF);
-	Adar_Write(p_adar, REG_PA_CH4_BIAS_OFF,bias_off_voltage[3], BROADCAST_OFF);
-
-	Adar_SetBit(p_adar, 0x30, 4, BROADCAST_OFF);
-	Adar_SetBit(p_adar, 0x30, 6, BROADCAST_OFF);
-	Adar_SetBit(p_adar, 0x31, 2, BROADCAST_OFF);
-	Adar_SetBit(p_adar, 0x38, 5, BROADCAST_OFF);
-	Adar_Write(p_adar, REG_LNA_BIAS_ON,bias_on_voltage[4], BROADCAST_OFF);
-	Adar_Write(p_adar, REG_LNA_BIAS_OFF,bias_off_voltage[4], BROADCAST_OFF);
-
-	Adar_ResetBit(p_adar, 0x30, 7, BROADCAST_OFF);
-	Adar_SetBit(p_adar, 0x31, 2, BROADCAST_OFF);
-	Adar_SetBit(p_adar, 0x31, 4, BROADCAST_OFF);
-	Adar_SetBit(p_adar, 0x31, 7, BROADCAST_OFF);
-	
-	return(ADAR_ERROR_NOERROR);
-}
-
-
-/**
- * @brief	Setup the ADAR to use settings that are transferred over SPI.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- *						if this set to BROADCAST_ON.
- *
- * @return	Returns ADAR_ERR_NOERROR if the bias currents were set 
- */
-uint8_t Adar_SetRamBypass(const AdarDevice * p_adar, uint8_t broadcast)
-{
-	uint8_t data;
-
-	data = (MEM_CTRL_BIAS_RAM_BYPASS | MEM_CTRL_BEAM_RAM_BYPASS);
-
-	Adar_Write(p_adar, REG_MEM_CTL, data, broadcast);
-
-	return(ADAR_ERROR_NOERROR);
-}
-
-
-/**
- * @brief	Set the VGA gain value of a Receive channel in dB.
- *
- * @param	p_adar[in]		Adar pointer Which specifies the device and what function 
- *							to use for SPI transfer.
- * @param 	channel			Channel in which to set the gain (1-4).
- * @param 	vga_gain_db		Gain to be applied to the channel, ranging from 0 - 30 dB. 
- *							(Intended operation >16 dB).
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- *						if this set to BROADCAST_ON.
- *
- * @return 	Returns ADAR_ERROR_NOERROR if the gain was successfully set. 
- * 					ADAR_ERROR_FAILED if an invalid channel was selected.
- *
- * @warning 0 dB or 15 dB step attenuator may also be turned on, which is why intended operation is >16 dB.
- */
-uint8_t Adar_SetRxVgaGain(const AdarDevice * p_adar, uint8_t channel, uint8_t vga_gain_db, uint8_t broadcast)
-{
-	uint8_t	 vga_gain_bits = (uint8_t)(255*vga_gain_db/16);
-	uint32_t mem_addr = 0;
-
-	if((channel == 0) || (channel > 4))
-	{
-		return(ADAR_ERROR_FAILED);
-	}
-
-	mem_addr = REG_CH1_RX_GAIN + (channel & 0x03);
-
-    // Set gain
-	Adar_Write(p_adar, mem_addr, vga_gain_bits, broadcast);
-
-    // Load the new setting
-	Adar_Write(p_adar, REG_LOAD_WORKING, 0x1, broadcast);
-
-	return(ADAR_ERROR_NOERROR);
-}
-
-
-/**
- * @brief	Set the phase of a given receive channel using the I/Q vector modulator.
- *
- * @pre		According to the given @param phase, this sets the polarity (bit 5) and gain (bits 4-0)
- * 			of the @param channel, and then loads them into the working register.
- * 			A vector modulator I/Q look-up table has been provided at the beginning of this library.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param	channel   	Channel in which to set the gain (1-4).
- * @param	phase     	Byte that is used to set the polarity (bit 5) and gain (bits 4-0).
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- *						if this set to BROADCAST_ON.
- *
- * @return 	Returns ADAR_ERROR_NOERROR if the phase was successfully set. 
- * 					ADAR_ERROR_FAILED if an invalid channel was selected.
- *
- * @note    To obtain your phase:
- *          phase = degrees * 128;
- *          phase /= 360;
- */
-uint8_t Adar_SetRxPhase(const AdarDevice * p_adar, uint8_t channel, uint8_t phase, uint8_t broadcast)
-{
-	uint8_t	 i_val = 0;
-	uint8_t	 q_val = 0;
-	uint32_t mem_addr_i, mem_addr_q;
-
-	if((channel == 0) || (channel > 4))
-	{
-		return(ADAR_ERROR_FAILED);
-	}
-
-	//phase = phase % 128;
-	i_val = VM_I[phase];
-	q_val = VM_Q[phase];
-
-	mem_addr_i = REG_CH1_RX_PHS_I + (channel & 0x03) * 2;
-	mem_addr_q = REG_CH1_RX_PHS_Q + (channel & 0x03) * 2;
-
-	Adar_Write(p_adar, mem_addr_i, i_val, broadcast);
-	Adar_Write(p_adar, mem_addr_q, q_val, broadcast);
-	Adar_Write(p_adar, REG_LOAD_WORKING, 0x1, broadcast);
-
-	return(ADAR_ERROR_NOERROR);
-}
-
-
-/**
- * @brief	Set the VGA gain value of a Tx channel in dB.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- *						if this set to BROADCAST_ON.
- *
- * @return 	Returns ADAR_ERROR_NOERROR if the bias was successfully set. 
- * 					ADAR_ERROR_FAILED if an invalid channel was selected.
- *
- * @warning 0 dB or 15 dB step attenuator may also be turned on, which is why intended operation is >16 dB.
- */
-uint8_t Adar_SetTxBias(const AdarDevice * p_adar, uint8_t broadcast)
-{
-	uint8_t	 vga_bias_bits;
-	uint8_t	 drv_bias_bits;
-	uint32_t mem_vga_bias;
-	uint32_t mem_drv_bias;
-
-	mem_vga_bias = REG_BIAS_CURRENT_TX;
-	mem_drv_bias = REG_BIAS_CURRENT_TX_DRV;
-
-    // Set bias to nom
-	vga_bias_bits = 0x2D;
-	drv_bias_bits = 0x06;
-
-    // Set bias
-	Adar_Write(p_adar, mem_vga_bias, vga_bias_bits, broadcast);
-    // Set bias
-	Adar_Write(p_adar, mem_drv_bias, drv_bias_bits, broadcast);
-
-    // Load the new setting
-	Adar_Write(p_adar, REG_LOAD_WORKING, 0x2, broadcast);
-
-	return(ADAR_ERROR_NOERROR);
-}
-
-
-/**
- * @brief	Set the VGA gain value of a Tx channel.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param 	channel     Tx channel in which to set the gain, ranging from 1 - 4.
- * @param 	gain   		Gain to be applied to the channel, ranging from 0 - 127,
- *						plus the MSb 15dB attenuator (Intended operation >16 dB).
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- *						if this set to BROADCAST_ON.
- *
- * @return 	Returns ADAR_ERROR_NOERROR if the gain was successfully set. 
- * 					ADAR_ERROR_FAILED if an invalid channel was selected.
- *
- * @warning 0 dB or 15 dB step attenuator may also be turned on, which is why intended operation is >16 dB.
- */
-uint8_t Adar_SetTxVgaGain(const AdarDevice * p_adar, uint8_t channel, uint8_t gain, uint8_t broadcast)
-{
-	uint32_t mem_addr;
-	
-	if((channel == 0) || (channel > 4))
-	{
-		return(ADAR_ERROR_FAILED);
-	}
-
-	mem_addr = REG_CH1_TX_GAIN + (channel & 0x03);
-
-    // Set gain
-	Adar_Write(p_adar, mem_addr, gain, broadcast);
-
-    // Load the new setting
-	Adar_Write(p_adar, REG_LOAD_WORKING, LD_WRK_REGS_LDTX_OVERRIDE, broadcast);
-
-	return(ADAR_ERROR_NOERROR);
-}
-
-
-/**
- * @brief 	Set the phase of a given transmit channel using the I/Q vector modulator.
- *
- * @pre		According to the given @param phase, this sets the polarity (bit 5) and gain (bits 4-0)
- * 			of the @param channel, and then loads them into the working register.
- * 			A vector modulator I/Q look-up table has been provided at the beginning of this library.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param 	channel   	Channel in which to set the gain (1-4).
- * @param 	phase     	Byte that is used to set the polarity (bit 5) and gain (bits 4-0).
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- *						if this set to BROADCAST_ON.
- *
- * @return 	Returns ADAR_ERROR_NOERROR if the phase was successfully set. 
- * 					ADAR_ERROR_FAILED if an invalid channel was selected.
- *
- * @note    To obtain your phase:
- *          phase = degrees * 128;
- *          phase /= 360;
- */
-uint8_t Adar_SetTxPhase(const AdarDevice * p_adar, uint8_t channel, uint8_t phase, uint8_t broadcast)
-{
-	uint8_t	 i_val = 0;
-	uint8_t	 q_val = 0;
-	uint32_t mem_addr_i, mem_addr_q;
-
-	if((channel == 0) || (channel > 4))
-	{
-		return(ADAR_ERROR_FAILED);
-	}
-
-	//phase = phase % 128;
-	i_val = VM_I[phase];
-	q_val = VM_Q[phase];
-
-	mem_addr_i = REG_CH1_TX_PHS_I + (channel & 0x03) * 2;
-	mem_addr_q = REG_CH1_TX_PHS_Q + (channel & 0x03) * 2;
-
-	Adar_Write(p_adar, mem_addr_i, i_val, broadcast);
-	Adar_Write(p_adar, mem_addr_q, q_val, broadcast);
-	Adar_Write(p_adar, REG_LOAD_WORKING, 0x1, broadcast);
-
-	return(ADAR_ERROR_NOERROR);
-}
-
-
-/**
- * @brief 	Reset the whole ADAR device.
- *
- * @param	p_adar[in]	ADAR pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- */
-void Adar_SoftReset(const AdarDevice * p_adar)
-{
-	uint8_t instruction[3];
-
-	instruction[0] = ((p_adar->dev_addr & 0x03) << 5);
-	instruction[1] = 0x00;
-	instruction[2] = 0x81;
-
-	p_adar->Transfer(instruction, NULL, sizeof(instruction));
-}
-
-
-/**
- * @brief 	Reset ALL ADAR devices in the SPI chain.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- */
-void Adar_SoftResetAll(const AdarDevice * p_adar)
-{
-	uint8_t instruction[3];
-
-	instruction[0] = 0x08;
-	instruction[1] = 0x00;
-	instruction[2] = 0x81;
-
-	p_adar->Transfer(instruction, NULL, sizeof(instruction));
-}
-
-
-/**
- * @brief 	Write a byte of @param data to the register located at @param mem_addr.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param 	mem_addr  	Memory address of the register you wish to read from.
- * @param 	data      	Byte of data to be stored in the register.
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- 						if this set to BROADCAST_ON.
- *
- * @warning If writing the same data to multiple registers, use ADAR_WriteBlock.
- */
-void Adar_Write(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t data, uint8_t broadcast)
-{
-	uint8_t instruction[3];
-	
-	if (broadcast)
-	{
-		instruction[0] = 0x08;
-	}
-	else
-	{
-		instruction[0] = ((p_adar->dev_addr & 0x03) << 5);
-	}
-
-	instruction[0] |= (0x1F00 & mem_addr) >> 8;
-	instruction[1] = (0xFF & mem_addr);
-	instruction[2] = data;
-
-	p_adar->Transfer(instruction, NULL, sizeof(instruction));
-}
-
-
-/**
- * @brief 	Block memory write to an ADAR device.
- *
- * @pre 	ADDR_ASCN BITS IN REGISTER ZERO MUST BE SET!
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param	mem_addr 	Memory address of the register you wish to read from.
- * @param	p_data[in]  Pointer to block of data to transfer (must have two unused bytes 
- 						preceding the data for instruction).
- * @param	size      	Size of data in bytes, including the two additional leading bytes.
- *
- * @warning First two bytes of data will be corrupted if you do not provide two unused leading bytes!
- */
-void Adar_WriteBlock(const AdarDevice * p_adar, uint16_t mem_addr, uint8_t * p_data, uint32_t size)
-{
-    // Prepare command
-	p_data[0] = ((p_adar->dev_addr & 0x03) << 5);
-	p_data[0] |= ((mem_addr) >> 8) & 0x1F;
-	p_data[1] = (0xFF & mem_addr);
-
-    // Start the transfer
-	p_adar->Transfer(p_data, NULL, size);
-
-    // Return nothing since we assume this is non-blocking and won't wait around
-}
-
-
-/**
- * @brief	Set contents of the INTERFACE_CONFIG_A register.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param 	flags     	#INTERFACE_CONFIG_A_SOFTRESET, #INTERFACE_CONFIG_A_LSB_FIRST,
- *                  	#INTERFACE_CONFIG_A_ADDR_ASCN, #INTERFACE_CONFIG_A_SDO_ACTIVE
- * @param 	broadcast	Send the message as a broadcast to all ADARs in the SPI chain
- *						if this set to BROADCAST_ON.
- */
-void Adar_WriteConfigA(const AdarDevice * p_adar, uint8_t flags, uint8_t broadcast)
-{
-	Adar_Write(p_adar, 0x00, flags, broadcast);
-}
-
-
-/**
- * @brief 	Write a byte of @param data to the register located at @param mem_addr and
- *			then read from the device and verify that the register was correctly set.
- *
- * @param	p_adar[in]	Adar pointer Which specifies the device and what function 
- *						to use for SPI transfer.
- * @param 	mem_addr  	Memory address of the register you wish to read from.
- * @param 	data      	Byte of data to be stored in the register.
- *
- * @return	Returns the number of attempts that it took to successfully write to a register,
- *			starting from zero.
- * @warning This function currently only supports writes to a single regiter in a single ADAR.
- */
-uint8_t Adar_WriteVerify(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t data)
-{
-	uint8_t rx_data;
-
-	for (uint8_t ii = 0; ii < 3; ii++)
-	{
-		Adar_Write(p_adar, mem_addr, data, 0);
-
-		// Can't read back from an ADAR with HW address 0
-		if (!((p_adar->dev_addr) % 4))
-		{
-			return(ADAR_ERROR_INVALIDADDR);
-		}
-		rx_data = Adar_Read(p_adar, mem_addr);
-		if (rx_data == data)
-		{
-			return(ii);
-		}
-	}
-
-	return(ADAR_ERROR_FAILED);
-}
-
-void Adar_SetBit(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t bit, uint8_t broadcast)
-	{
-		uint8_t temp = Adar_Read(p_adar, mem_addr);
-		uint8_t data = temp|(1<<bit);
-		Adar_Write(p_adar,mem_addr, data,broadcast);
-	}
-
-void Adar_ResetBit(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t bit, uint8_t broadcast)
-	{
-		uint8_t temp = Adar_Read(p_adar, mem_addr);
-		uint8_t data = temp&~(1<<bit);
-		Adar_Write(p_adar,mem_addr, data,broadcast);
-	}
-

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adar1000.h

@@ -1,294 +0,0 @@
-/**
- * MIT License
- * 
- * Copyright (c) 2020 Jimmy Pentz
- *
- * Reach me at: github.com/jgpentz, jpentz1( at )gmail.com
- * 
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sells
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- * 
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-/* ADAR1000 4-Channel, X Band and Ku Band Beamformer */
-#ifndef LIB_ADAR1000_H_
-#define LIB_ADAR1000_H_
-
-#ifndef NULL
-#define NULL    (0)
-#endif
-
-// ----------------------------------------------------------------------------
-// Includes
-// ----------------------------------------------------------------------------
-#include "main.h"
-#include "stm32f7xx_hal.h"
-#include "stm32f7xx_hal_spi.h"
-#include "stm32f7xx_hal_gpio.h"
-#include <stdbool.h>
-#include <stdint.h>
-#include <string.h>
-
-#ifdef __cplusplus
-extern "C" {  // Prevent C++ name mangling
-#endif
-
-
-
-
-// ----------------------------------------------------------------------------
-// Datatypes
-// ----------------------------------------------------------------------------
-extern SPI_HandleTypeDef hspi1;
-extern const uint8_t VM_GAIN[128];
-extern const uint8_t VM_I[128];
-extern const uint8_t VM_Q[128];
-
-/// A function pointer prototype for a SPI transfer, the 3 parameters would be
-/// p_txData, p_rxData, and size (number of bytes to transfer), respectively.
-typedef uint32_t (*Adar_SpiTransfer)( uint8_t *, uint8_t *, uint32_t);
-
-typedef struct
- {
- 	uint8_t			 dev_addr; 		///< 2-bit device hardware address, 0x00, 0x01, 0x10, 0x11
- 	Adar_SpiTransfer Transfer;		///< Function pointer to the function used for SPI transfers
- 	uint8_t *		 p_rx_buffer;	///< Data buffer to store received bytes into
- }const AdarDevice;
-
-
-/// Use this to store bias current values into, as seen in the datasheet 
-/// Table 6. SPI Settings for Different Power Modules
-typedef struct
-{
-	uint8_t rx_lna;		///< nominal:  8, low power: 5
-	uint8_t rx_vm;		///< nominal:  5, low power: 2
-	uint8_t rx_vga;		///< nominal: 10, low power: 3
-	uint8_t tx_vm;		///< nominal:  5, low power: 2
-	uint8_t tx_vga;		///< nominal:  5, low power: 5
-	uint8_t tx_drv;		///< nominal:  6, low power: 3
-} AdarBiasCurrents;
-
-/// Useful for queries regarding the device info
-typedef struct
-{
-	uint8_t	 norm_operating_mode : 2;
-	uint8_t	 cust_operating_mode : 2;
-	uint8_t	 dev_status : 4;
-	uint8_t	 chip_type;
-	uint16_t product_id;
-	uint8_t	 scratchpad;
-	uint8_t	 spi_rev;
-	uint16_t vendor_id;
-	uint8_t	 rev_id;
-} AdarDeviceInfo;
-
-/// Return types for functions in this library
-typedef enum {
-	ADAR_ERROR_NOERROR		= 0,
-	ADAR_ERROR_FAILED		= 1,
-	ADAR_ERROR_INVALIDADDR	= 2,
-} AdarErrorCodes;
-
-
-// ----------------------------------------------------------------------------
-// Function Prototypes
-// ----------------------------------------------------------------------------
-void Adar_AdcInit(const AdarDevice * p_adar, uint8_t broadcast_bit);
-
-uint8_t Adar_AdcRead(const AdarDevice * p_adar, uint8_t broadcast_bit);
-
-uint8_t Adar_GetDeviceInfo(const AdarDevice * p_adar, AdarDeviceInfo * info);
-
-uint8_t Adar_Read(const AdarDevice * p_adar, uint32_t mem_addr);
-
-void Adar_ReadBlock(const AdarDevice * p_adar, uint16_t mem_addr, uint8_t * p_data, uint32_t size);
-
-uint8_t Adar_SetBiasCurrents(const AdarDevice * p_adar, AdarBiasCurrents * p_bias, uint8_t broadcast_bit);
-
-uint8_t Adar_SetBiasVoltages(const AdarDevice * p_adar, uint8_t bias_on_voltage[5], uint8_t bias_off_voltage[5]);
-
-uint8_t Adar_SetRamBypass(const AdarDevice * p_adar, uint8_t broadcast_bit);
-
-uint8_t Adar_SetRxVgaGain(const AdarDevice * p_adar, uint8_t channel, uint8_t vga_gain_db, uint8_t broadcast_bit);
-
-uint8_t Adar_SetRxPhase(const AdarDevice * p_adar, uint8_t channel, uint8_t phase, uint8_t broadcast_bit);
-
-uint8_t Adar_SetTxBias(const AdarDevice * p_adar, uint8_t broadcast_bit);
-
-uint8_t Adar_SetTxVgaGain(const AdarDevice * p_adar, uint8_t channel, uint8_t vga_gain_db, uint8_t broadcast_bit);
-
-uint8_t Adar_SetTxPhase(const AdarDevice * p_adar, uint8_t channel, uint8_t phase, uint8_t broadcast_bit);
-
-void Adar_SoftReset(const AdarDevice * p_adar);
-
-void Adar_SoftResetAll(const AdarDevice * p_adar);
-
-void Adar_Write(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t data, uint8_t broadcast_bit);
-
-void Adar_WriteBlock(const AdarDevice * p_adar, uint16_t mem_addr, uint8_t * p_data, uint32_t size);
-
-void Adar_WriteConfigA(const AdarDevice * p_adar, uint8_t flags, uint8_t broadcast);
-
-uint8_t Adar_WriteVerify(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t data);
-
-void Adar_SetBit(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t bit, uint8_t broadcast);
-
-void Adar_ResetBit(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t bit, uint8_t broadcast);
-
-
-// ----------------------------------------------------------------------------
-// Preprocessor Definitions and Constants
-// ----------------------------------------------------------------------------
-// Using BROADCAST_ON will send a command to all ADARs that share a bus
-#define BROADCAST_OFF					 0
-#define BROADCAST_ON					 1
-
-// The minimum size of a read from the ADARs consists of 3 bytes
-#define ADAR1000_RD_SIZE				 3
-
-// Address at which the TX RAM starts
-#define ADAR_TX_RAM_START_ADDR			 0x1800
-
-// ADC Defines
-#define ADAR1000_ADC_2MHZ_CLK			 0x00
-#define ADAR1000_ADC_EN					 0x60
-#define ADAR1000_ADC_ST_CONV			 0x70
-
-/* REGISTER DEFINITIONS */
-#define REG_INTERFACE_CONFIG_A			 0x000
-#define REG_INTERFACE_CONFIG_B			 0x001
-#define REG_DEV_CONFIG					 0x002
-#define REG_SCRATCHPAD					 0x00A
-#define REG_TRANSFER					 0x00F
-#define REG_CH1_RX_GAIN					 0x010
-#define REG_CH2_RX_GAIN					 0x011
-#define REG_CH3_RX_GAIN					 0x012
-#define REG_CH4_RX_GAIN					 0x013
-#define REG_CH1_RX_PHS_I				 0x014
-#define REG_CH1_RX_PHS_Q				 0x015
-#define REG_CH2_RX_PHS_I				 0x016
-#define REG_CH2_RX_PHS_Q				 0x017
-#define REG_CH3_RX_PHS_I				 0x018
-#define REG_CH3_RX_PHS_Q				 0x019
-#define REG_CH4_RX_PHS_I				 0x01A
-#define REG_CH4_RX_PHS_Q				 0x01B
-#define REG_CH1_TX_GAIN					 0x01C
-#define REG_CH2_TX_GAIN					 0x01D
-#define REG_CH3_TX_GAIN					 0x01E
-#define REG_CH4_TX_GAIN					 0x01F
-#define REG_CH1_TX_PHS_I				 0x020
-#define REG_CH1_TX_PHS_Q				 0x021
-#define REG_CH2_TX_PHS_I				 0x022
-#define REG_CH2_TX_PHS_Q				 0x023
-#define REG_CH3_TX_PHS_I				 0x024
-#define REG_CH3_TX_PHS_Q				 0x025
-#define REG_CH4_TX_PHS_I				 0x026
-#define REG_CH4_TX_PHS_Q				 0x027
-#define REG_LOAD_WORKING				 0x028
-#define REG_PA_CH1_BIAS_ON				 0x029
-#define REG_PA_CH2_BIAS_ON				 0x02A
-#define REG_PA_CH3_BIAS_ON				 0x02B
-#define REG_PA_CH4_BIAS_ON				 0x02C
-#define REG_LNA_BIAS_ON					 0x02D
-#define REG_RX_ENABLES					 0x02E
-#define REG_TX_ENABLES					 0x02F
-#define REG_MISC_ENABLES				 0x030
-#define REG_SW_CONTROL					 0x031
-#define REG_ADC_CONTROL					 0x032
-#define REG_ADC_CONTROL_TEMP_EN			 0xf0
-#define REG_ADC_OUT						 0x033
-#define REG_BIAS_CURRENT_RX_LNA			 0x034
-#define REG_BIAS_CURRENT_RX				 0x035
-#define REG_BIAS_CURRENT_TX				 0x036
-#define REG_BIAS_CURRENT_TX_DRV			 0x037
-#define REG_MEM_CTL						 0x038
-#define REG_RX_CHX_MEM					 0x039
-#define REG_TX_CHX_MEM					 0x03A
-#define REG_RX_CH1_MEM					 0x03D
-#define REG_RX_CH2_MEM					 0x03E
-#define REG_RX_CH3_MEM					 0x03F
-#define REG_RX_CH4_MEM					 0x040
-#define REG_TX_CH1_MEM					 0x041
-#define REG_TX_CH2_MEM					 0x042
-#define REG_TX_CH3_MEM					 0x043
-#define REG_TX_CH4_MEM					 0x044
-#define REG_PA_CH1_BIAS_OFF				 0x046
-#define REG_PA_CH2_BIAS_OFF				 0x047
-#define REG_PA_CH3_BIAS_OFF				 0x048
-#define REG_PA_CH4_BIAS_OFF				 0x049
-#define REG_LNA_BIAS_OFF				 0x04A
-#define REG_TX_BEAM_STEP_START			 0x04D
-#define REG_TX_BEAM_STEP_STOP			 0x04E
-#define REG_RX_BEAM_STEP_START			 0x04F
-#define REG_RX_BEAM_STEP_STOP			 0x050
-
-// REGISTER CONSTANTS
-#define INTERFACE_CONFIG_A_SOFTRESET	 	((1 << 7) | (1 << 0))
-#define INTERFACE_CONFIG_A_LSB_FIRST	 	((1 << 6) | (1 << 1))
-#define INTERFACE_CONFIG_A_ADDR_ASCN	 	((1 << 5) | (1 << 2))
-#define INTERFACE_CONFIG_A_SDO_ACTIVE		((1 << 4) | (1 << 3))
-
-#define LD_WRK_REGS_LDRX_OVERRIDE		   	(1 << 0)
-#define LD_WRK_REGS_LDTX_OVERRIDE		   	(1 << 1)
-
-#define RX_ENABLES_TX_VGA_EN			   	(1 << 0)
-#define RX_ENABLES_TX_VM_EN				   	(1 << 1)
-#define RX_ENABLES_TX_DRV_EN			   	(1 << 2)
-#define RX_ENABLES_CH3_TX_EN			   	(1 << 3)
-#define RX_ENABLES_CH2_TX_EN			   	(1 << 4)
-#define RX_ENABLES_CH1_TX_EN			   	(1 << 5)
-#define RX_ENABLES_CH0_TX_EN			   	(1 << 6)
-
-#define TX_ENABLES_TX_VGA_EN			   	(1 << 0)
-#define TX_ENABLES_TX_VM_EN				   	(1 << 1)
-#define TX_ENABLES_TX_DRV_EN			   	(1 << 2)
-#define TX_ENABLES_CH3_TX_EN			   	(1 << 3)
-#define TX_ENABLES_CH2_TX_EN			   	(1 << 4)
-#define TX_ENABLES_CH1_TX_EN			   	(1 << 5)
-#define TX_ENABLES_CH0_TX_EN			   	(1 << 6)
-
-#define MISC_ENABLES_CH4_DET_EN			   	(1 << 0)
-#define MISC_ENABLES_CH3_DET_EN			   	(1 << 1)
-#define MISC_ENABLES_CH2_DET_EN			   	(1 << 2)
-#define MISC_ENABLES_CH1_DET_EN			   	(1 << 3)
-#define MISC_ENABLES_LNA_BIAS_OUT_EN	   	(1 << 4)
-#define MISC_ENABLES_BIAS_EN			   	(1 << 5)
-#define MISC_ENABLES_BIAS_CTRL			   	(1 << 6)
-#define MISC_ENABLES_SW_DRV_TR_MODE_SEL	   	(1 << 7)
-
-#define SW_CTRL_POL						   	(1 << 0)
-#define SW_CTRL_TR_SPI					   	(1 << 1)
-#define SW_CTRL_TR_SOURCE				   	(1 << 2)
-#define SW_CTRL_SW_DRV_EN_POL			   	(1 << 3)
-#define SW_CTRL_SW_DRV_EN_TR			   	(1 << 4)
-#define SW_CTRL_RX_EN					   	(1 << 5)
-#define SW_CTRL_TX_EN					   	(1 << 6)
-#define SW_CTRL_SW_DRV_TR_STATE			   	(1 << 7)
-
-#define MEM_CTRL_RX_CHX_RAM_BYPASS		   	(1 << 0)
-#define MEM_CTRL_TX_CHX_RAM_BYPASS		   	(1 << 1)
-#define MEM_CTRL_RX_BEAM_STEP_EN		   	(1 << 2)
-#define MEM_CTRL_TX_BEAM_STEP_EN		   	(1 << 3)
-#define MEM_CTRL_BIAS_RAM_BYPASS		   	(1 << 5)
-#define MEM_CTRL_BEAM_RAM_BYPASS		   	(1 << 6)
-#define MEM_CTRL_SCAN_MODE_EN			   	(1 << 7)
-
-#ifdef __cplusplus
-}  // End extern "C"
-#endif
-
-#endif /* LIB_ADAR1000_H_ */
-

9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp

@@ -21,7 +21,6 @@
 #include "usb_device.h"
 #include "USBHandler.h"
 #include "usbd_cdc_if.h"
-#include "adar1000.h"
 #include "ADAR1000_Manager.h"
 #include "ADAR1000_AGC.h"
 extern "C" {
@@ -46,7 +45,9 @@ extern "C" {
 #include <vector>
 #include "stm32_spi.h"
 #include "stm32_delay.h"
-#include "TinyGPSPlus.h"
+extern "C" {
+#include "um982_gps.h"
+}
 extern "C" {
 #include "GY_85_HAL.h"
 }
@@ -121,8 +122,8 @@ UART_HandleTypeDef huart5;
 UART_HandleTypeDef huart3;
 
 /* USER CODE BEGIN PV */
-// The TinyGPSPlus object
+// UM982 dual-antenna GPS receiver
-TinyGPSPlus gps;
+UM982_GPS_t um982;
 
 // Global data structures
 GPS_Data_t current_gps_data = {0};
@@ -173,7 +174,7 @@ float RADAR_Altitude;
 double RADAR_Longitude = 0;
 double RADAR_Latitude = 0;
 
-extern uint8_t GUI_start_flag_received;
+extern uint8_t GUI_start_flag_received;  // [STM32-006] Legacy, unused -- kept for linker compat
 
 
 //RADAR
@@ -722,16 +723,13 @@ SystemError_t checkSystemHealth(void) {
         last_bmp_check = HAL_GetTick();
     }
 
-    // 6. Check GPS Communication
+    // 6. Check GPS Communication (30s grace period from boot / last valid fix)
-    static uint32_t last_gps_fix = 0;
+    uint32_t gps_fix_age = um982_position_age(&um982);
-    if (gps.location.isUpdated()) {
+    if (gps_fix_age > 30000) {
-        last_gps_fix = HAL_GetTick();
+        current_error = ERROR_GPS_COMM;
-    }
+        DIAG_WARN("SYS", "Health check: GPS no fix for >30s (age=%lu ms)", (unsigned long)gps_fix_age);
-    if (HAL_GetTick() - last_gps_fix > 30000) {
+        return current_error;
-        current_error = ERROR_GPS_COMM;
+    }
-        DIAG_WARN("SYS", "Health check: GPS no fix for >30s");
-        return current_error;
-    }
 
     // 7. Check RF Power Amplifier Current
     if (PowerAmplifier) {
@@ -1056,20 +1054,7 @@ static inline void delay_ms(uint32_t ms) { HAL_Delay(ms); }
 
 
 
-// This custom version of delay() ensures that the gps object
+// smartDelay removed -- replaced by non-blocking um982_process() in main loop
-// is being "fed".
-static void smartDelay(unsigned long ms)
-{
-    uint32_t start = HAL_GetTick();
-    uint8_t ch;
-
-    do {
-        // While there is new data available in UART (non-blocking)
-        if (HAL_UART_Receive(&huart5, &ch, 1, 0) == HAL_OK) {
-            gps.encode(ch);   // Pass received byte to TinyGPS++ equivalent parser
-        }
-    } while (HAL_GetTick() - start < ms);
-}
 
 // Small helper to enable DWT cycle counter for microdelay
 static void DWT_Init(void)
@@ -1213,7 +1198,14 @@ static int configure_ad9523(void)
 
     // init ad9523 defaults (fills any missing pdata defaults)
     DIAG("CLK", "Calling ad9523_init() -- fills pdata defaults");
-    ad9523_init(&init_param);
+    {
+        int32_t init_ret = ad9523_init(&init_param);
+        DIAG("CLK", "ad9523_init() returned %ld", (long)init_ret);
+        if (init_ret != 0) {
+            DIAG_ERR("CLK", "ad9523_init() FAILED (ret=%ld)", (long)init_ret);
+            return -1;
+        }
+    }
 
     /* [Bug #2 FIXED] Removed first ad9523_setup() call that was here.
      * It wrote to the chip while still in reset — writes were lost.
@@ -1602,6 +1594,12 @@ int main(void)
     Yaw_Sensor = (180*atan2(magRawY,magRawX)/PI) - Mag_Declination;
 
     if(Yaw_Sensor<0)Yaw_Sensor+=360;
+
+    // Override magnetometer heading with UM982 dual-antenna heading when available
+    if (um982_is_heading_valid(&um982)) {
+        Yaw_Sensor = um982_get_heading(&um982);
+    }
+
     RxEst_0 = RxEst_1;
     RyEst_0 = RyEst_1;
     RzEst_0 = RzEst_1;
@@ -1777,14 +1775,38 @@ int main(void)
   	//////////////////////////////////////////////////////////////////////////////////////
     //////////////////////////////////////////GPS/////////////////////////////////////////
     //////////////////////////////////////////////////////////////////////////////////////
-  for(int i=0; i<10;i++){
+  DIAG_SECTION("GPS INIT (UM982)");
-  smartDelay(1000);
+  DIAG("GPS", "Initializing UM982 on UART5 @ 115200 (baseline=50cm, tol=3cm)");
-  RADAR_Longitude = gps.location.lng();
+  if (!um982_init(&um982, &huart5, 50.0f, 3.0f)) {
-  RADAR_Latitude = gps.location.lat();
+      DIAG_WARN("GPS", "UM982 init: no VERSIONA response -- module may need more time");
+      // Not fatal: module may still start sending NMEA data after boot
+  } else {
+      DIAG("GPS", "UM982 init OK -- VERSIONA received");
   }
 
-  //move Stepper to position 1 = 0°
+  // Collect GPS data for a few seconds (non-blocking pump)
-  HAL_GPIO_WritePin(STEPPER_CW_P_GPIO_Port, STEPPER_CW_P_Pin, GPIO_PIN_RESET);//Set stepper motor spinning direction to CCW
+  DIAG("GPS", "Pumping GPS for 5 seconds to acquire initial fix...");
+  {
+      uint32_t gps_start = HAL_GetTick();
+      while (HAL_GetTick() - gps_start < 5000) {
+          um982_process(&um982);
+          HAL_Delay(10);
+      }
+  }
+  RADAR_Longitude = um982_get_longitude(&um982);
+  RADAR_Latitude = um982_get_latitude(&um982);
+  DIAG("GPS", "Initial position: lat=%.6f lon=%.6f fix=%d sats=%d",
+       RADAR_Latitude, RADAR_Longitude,
+       um982_get_fix_quality(&um982), um982_get_num_sats(&um982));
+
+  // Re-apply heading after GPS init so the north-alignment stepper move uses
+  // UM982 dual-antenna heading when available.
+  if (um982_is_heading_valid(&um982)) {
+      Yaw_Sensor = um982_get_heading(&um982);
+  }
+
+  //move Stepper to position 1 = 0°
+  HAL_GPIO_WritePin(STEPPER_CW_P_GPIO_Port, STEPPER_CW_P_Pin, GPIO_PIN_RESET);//Set stepper motor spinning direction to CCW
   //Point Stepper to North
   for(int i= 0;i<(int)(Yaw_Sensor*Stepper_steps/360);i++){
 	  HAL_GPIO_WritePin(STEPPER_CLK_P_GPIO_Port, STEPPER_CLK_P_Pin, GPIO_PIN_SET);
@@ -1806,29 +1828,11 @@ int main(void)
       HAL_UART_Transmit(&huart3, (uint8_t*)gps_send_error, sizeof(gps_send_error) - 1, 1000);
   }
 
-  // Check if start flag was received and settings are ready
+  /* [STM32-006 FIXED] Removed blocking do-while loop that waited for
-  do{
+   * usbHandler.isStartFlagReceived().  The production V7 PyQt GUI does not
-	  if (usbHandler.isStartFlagReceived() &&
+   * send the legacy 4-byte start flag [23,46,158,237], so this loop hung
-		  usbHandler.getState() == USBHandler::USBState::READY_FOR_DATA) {
+   * the MCU at boot indefinitely.  The USB settings handshake (if ever
-
+   * re-enabled) should be handled non-blocking in the main loop. */
-		  const RadarSettings& settings = usbHandler.getSettings();
-
-		  // Use the settings to configure your radar system
-		  /*
-			  settings.getSystemFrequency();
-			  settings.getChirpDuration1();
-			  settings.getChirpDuration2();
-			  settings.getChirpsPerPosition();
-			  settings.getFreqMin();
-			  settings.getFreqMax();
-			  settings.getPRF1();
-			  settings.getPRF2();
-			  settings.getMaxDistance();
-			  */
-
-
-              }
-  }while(!usbHandler.isStartFlagReceived());
 
   /***************************************************************/
   /************RF Power Amplifier Powering up sequence************/
@@ -2053,6 +2057,18 @@ int main(void)
 	        }
 	        DIAG("SYS", "Exited safe mode blink loop -- system_emergency_state cleared");
 	    }
+
+	  //////////////////////////////////////////////////////////////////////////////////////
+	  ////////////////////////// GPS: Non-blocking NMEA processing ////////////////////////
+	  //////////////////////////////////////////////////////////////////////////////////////
+	  um982_process(&um982);
+
+	  // Update position globals continuously
+	  if (um982_is_position_valid(&um982)) {
+	      RADAR_Latitude = um982_get_latitude(&um982);
+	      RADAR_Longitude = um982_get_longitude(&um982);
+	  }
+
 	  //////////////////////////////////////////////////////////////////////////////////////
 	  ////////////////////////// Monitor ADF4382A lock status periodically//////////////////
 	  //////////////////////////////////////////////////////////////////////////////////////
@@ -2163,9 +2179,24 @@ int main(void)
 
       runRadarPulseSequence();
 
-      /* [AGC] Outer-loop AGC: read FPGA saturation flag (DIG_5 / PD13),
+      /* [AGC] Outer-loop AGC: sync enable from FPGA via DIG_6 (PD14),
-       * adjust ADAR1000 VGA common gain once per radar frame (~258 ms).
+       * then read saturation flag (DIG_5 / PD13) and adjust ADAR1000 VGA
-       * Only run when AGC is enabled — otherwise leave VGA gains untouched. */
+       * common gain once per radar frame (~258 ms).
+       * FPGA register host_agc_enable is the single source of truth —
+       * DIG_6 propagates it to MCU every frame.
+       * 2-frame confirmation debounce: only change outerAgc.enabled when
+       * two consecutive frames read the same DIG_6 value. Prevents a
+       * single-sample glitch from causing a spurious AGC state transition.
+       * Added latency: 1 extra frame (~258 ms), acceptable for control plane. */
+      {
+          bool dig6_now = (HAL_GPIO_ReadPin(FPGA_DIG6_GPIO_Port,
+                                            FPGA_DIG6_Pin) == GPIO_PIN_SET);
+          static bool dig6_prev = false;  // matches boot default (AGC off)
+          if (dig6_now == dig6_prev) {
+              outerAgc.enabled = dig6_now;
+          }
+          dig6_prev = dig6_now;
+      }
       if (outerAgc.enabled) {
           bool sat = HAL_GPIO_ReadPin(FPGA_DIG5_SAT_GPIO_Port,
                                       FPGA_DIG5_SAT_Pin) == GPIO_PIN_SET;
@@ -2603,7 +2634,7 @@ static void MX_UART5_Init(void)
 
   /* USER CODE END UART5_Init 1 */
   huart5.Instance = UART5;
-  huart5.Init.BaudRate = 9600;
+  huart5.Init.BaudRate = 115200;
   huart5.Init.WordLength = UART_WORDLENGTH_8B;
   huart5.Init.StopBits = UART_STOPBITS_1;
   huart5.Init.Parity = UART_PARITY_NONE;

9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/um982_gps.c

@@ -0,0 +1,586 @@
+/*******************************************************************************
+ * um982_gps.c -- UM982 dual-antenna GNSS receiver driver implementation
+ *
+ * See um982_gps.h for API documentation.
+ * Command syntax per Unicore N4 Command Reference EN R1.14.
+ ******************************************************************************/
+#include "um982_gps.h"
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+/* ========================= Internal helpers ========================== */
+
+/**
+ * Advance to the next comma-delimited field in an NMEA sentence.
+ * Returns pointer to the start of the next field (after the comma),
+ * or NULL if no more commas found before end-of-string or '*'.
+ *
+ * Handles empty fields (consecutive commas) correctly by returning
+ * a pointer to the character after the comma (which may be another comma).
+ */
+static const char *next_field(const char *p)
+{
+    if (p == NULL) return NULL;
+    while (*p != '\0' && *p != ',' && *p != '*') {
+        p++;
+    }
+    if (*p == ',') return p + 1;
+    return NULL;  /* End of sentence or checksum marker */
+}
+
+/**
+ * Get the length of the current field (up to next comma, '*', or '\0').
+ */
+static int field_len(const char *p)
+{
+    int len = 0;
+    if (p == NULL) return 0;
+    while (p[len] != '\0' && p[len] != ',' && p[len] != '*') {
+        len++;
+    }
+    return len;
+}
+
+/**
+ * Check if a field is non-empty (has at least one character before delimiter).
+ */
+static bool field_valid(const char *p)
+{
+    return p != NULL && field_len(p) > 0;
+}
+
+/**
+ * Parse a floating-point value from a field, returning 0.0 if empty.
+ */
+static double field_to_double(const char *p)
+{
+    if (!field_valid(p)) return 0.0;
+    return strtod(p, NULL);
+}
+
+static float field_to_float(const char *p)
+{
+    return (float)field_to_double(p);
+}
+
+static int field_to_int(const char *p)
+{
+    if (!field_valid(p)) return 0;
+    return (int)strtol(p, NULL, 10);
+}
+
+/* ========================= Checksum ================================== */
+
+bool um982_verify_checksum(const char *sentence)
+{
+    if (sentence == NULL || sentence[0] != '$') return false;
+
+    const char *p = sentence + 1;  /* Skip '$' */
+    uint8_t computed = 0;
+
+    while (*p != '\0' && *p != '*') {
+        computed ^= (uint8_t)*p;
+        p++;
+    }
+
+    if (*p != '*') return false;  /* No checksum marker found */
+    p++;  /* Skip '*' */
+
+    /* Parse 2-char hex checksum */
+    if (p[0] == '\0' || p[1] == '\0') return false;
+
+    char hex_str[3] = { p[0], p[1], '\0' };
+    unsigned long expected = strtoul(hex_str, NULL, 16);
+
+    return computed == (uint8_t)expected;
+}
+
+/* ========================= Coordinate parsing ======================== */
+
+double um982_parse_coord(const char *field, char hemisphere)
+{
+    if (field == NULL || field[0] == '\0') return NAN;
+
+    /* Find the decimal point to determine degree digit count.
+     * Latitude:  ddmm.mmmm  (dot at index 4, degrees = 2)
+     * Longitude: dddmm.mmmm (dot at index 5, degrees = 3)
+     * General:   degree_digits = dot_position - 2
+     */
+    const char *dot = strchr(field, '.');
+    if (dot == NULL) return NAN;
+
+    int dot_pos = (int)(dot - field);
+    int deg_digits = dot_pos - 2;
+
+    if (deg_digits < 1 || deg_digits > 3) return NAN;
+
+    /* Extract degree portion */
+    double degrees = 0.0;
+    for (int i = 0; i < deg_digits; i++) {
+        if (field[i] < '0' || field[i] > '9') return NAN;
+        degrees = degrees * 10.0 + (field[i] - '0');
+    }
+
+    /* Extract minutes portion (everything from deg_digits onward) */
+    double minutes = strtod(field + deg_digits, NULL);
+    if (minutes < 0.0 || minutes >= 60.0) return NAN;
+
+    double result = degrees + minutes / 60.0;
+
+    /* Apply hemisphere sign */
+    if (hemisphere == 'S' || hemisphere == 'W') {
+        result = -result;
+    }
+
+    return result;
+}
+
+/* ========================= Sentence parsers ========================== */
+
+/**
+ * Identify the NMEA sentence type by skipping the 2-char talker ID
+ * and comparing the 3-letter formatter.
+ *
+ * "$GNGGA,..." -> talker="GN", formatter="GGA"
+ * "$GPTHS,..." -> talker="GP", formatter="THS"
+ *
+ * Returns pointer to the formatter (3 chars at sentence+3), or NULL
+ * if sentence is too short.
+ */
+static const char *get_formatter(const char *sentence)
+{
+    /* sentence starts with '$', followed by 2-char talker + 3-char formatter */
+    if (sentence == NULL || strlen(sentence) < 6) return NULL;
+    return sentence + 3;  /* Skip "$XX" -> points to formatter */
+}
+
+/**
+ * Parse GGA sentence — position and fix quality.
+ *
+ * Format: $--GGA,time,lat,N/S,lon,E/W,quality,numSat,hdop,alt,M,geoidSep,M,dgpsAge,refID*XX
+ *         field:  1    2   3    4   5     6      7     8    9 10    11    12   13     14
+ */
+static void parse_gga(UM982_GPS_t *gps, const char *sentence)
+{
+    /* Skip to first field (after "$XXGGA,") */
+    const char *f = strchr(sentence, ',');
+    if (f == NULL) return;
+    f++;  /* f -> field 1 (time) */
+
+    /* Field 1: UTC time — skip for now */
+    const char *f2 = next_field(f);   /* lat */
+    const char *f3 = next_field(f2);  /* N/S */
+    const char *f4 = next_field(f3);  /* lon */
+    const char *f5 = next_field(f4);  /* E/W */
+    const char *f6 = next_field(f5);  /* quality */
+    const char *f7 = next_field(f6);  /* numSat */
+    const char *f8 = next_field(f7);  /* hdop */
+    const char *f9 = next_field(f8);  /* altitude */
+    const char *f10 = next_field(f9); /* M */
+    const char *f11 = next_field(f10); /* geoid sep */
+
+    uint32_t now = HAL_GetTick();
+
+    /* Parse fix quality first — if 0, position is meaningless */
+    gps->fix_quality = (uint8_t)field_to_int(f6);
+
+    /* Parse coordinates */
+    if (field_valid(f2) && field_valid(f3)) {
+        char hem = field_valid(f3) ? *f3 : 'N';
+        double lat = um982_parse_coord(f2, hem);
+        if (!isnan(lat)) gps->latitude = lat;
+    }
+
+    if (field_valid(f4) && field_valid(f5)) {
+        char hem = field_valid(f5) ? *f5 : 'E';
+        double lon = um982_parse_coord(f4, hem);
+        if (!isnan(lon)) gps->longitude = lon;
+    }
+
+    /* Number of satellites */
+    gps->num_satellites = (uint8_t)field_to_int(f7);
+
+    /* HDOP */
+    if (field_valid(f8)) {
+        gps->hdop = field_to_float(f8);
+    }
+
+    /* Altitude */
+    if (field_valid(f9)) {
+        gps->altitude = field_to_float(f9);
+    }
+
+    /* Geoid separation */
+    if (field_valid(f11)) {
+        gps->geoid_sep = field_to_float(f11);
+    }
+
+    gps->last_gga_tick = now;
+    if (gps->fix_quality != UM982_FIX_NONE) {
+        gps->last_fix_tick = now;
+    }
+}
+
+/**
+ * Parse RMC sentence — recommended minimum (position, speed, date).
+ *
+ * Format: $--RMC,time,status,lat,N/S,lon,E/W,speed,course,date,magVar,E/W,mode*XX
+ *         field:  1     2      3   4   5   6    7      8     9    10    11   12
+ */
+static void parse_rmc(UM982_GPS_t *gps, const char *sentence)
+{
+    const char *f = strchr(sentence, ',');
+    if (f == NULL) return;
+    f++;  /* f -> field 1 (time) */
+
+    const char *f2 = next_field(f);   /* status */
+    const char *f3 = next_field(f2);  /* lat */
+    const char *f4 = next_field(f3);  /* N/S */
+    const char *f5 = next_field(f4);  /* lon */
+    const char *f6 = next_field(f5);  /* E/W */
+    const char *f7 = next_field(f6);  /* speed knots */
+    const char *f8 = next_field(f7);  /* course true */
+
+    /* Status */
+    if (field_valid(f2)) {
+        gps->rmc_status = *f2;
+    }
+
+    /* Position (only if status = A for valid) */
+    if (field_valid(f2) && *f2 == 'A') {
+        if (field_valid(f3) && field_valid(f4)) {
+            double lat = um982_parse_coord(f3, *f4);
+            if (!isnan(lat)) gps->latitude = lat;
+        }
+        if (field_valid(f5) && field_valid(f6)) {
+            double lon = um982_parse_coord(f5, *f6);
+            if (!isnan(lon)) gps->longitude = lon;
+        }
+    }
+
+    /* Speed (knots) */
+    if (field_valid(f7)) {
+        gps->speed_knots = field_to_float(f7);
+    }
+
+    /* Course */
+    if (field_valid(f8)) {
+        gps->course_true = field_to_float(f8);
+    }
+
+    gps->last_rmc_tick = HAL_GetTick();
+}
+
+/**
+ * Parse THS sentence — true heading and status (UM982-specific).
+ *
+ * Format: $--THS,heading,mode*XX
+ *         field:    1      2
+ */
+static void parse_ths(UM982_GPS_t *gps, const char *sentence)
+{
+    const char *f = strchr(sentence, ',');
+    if (f == NULL) return;
+    f++;  /* f -> field 1 (heading) */
+
+    const char *f2 = next_field(f);  /* mode */
+
+    /* Heading */
+    if (field_valid(f)) {
+        gps->heading = field_to_float(f);
+    } else {
+        gps->heading = NAN;
+    }
+
+    /* Mode */
+    if (field_valid(f2)) {
+        gps->heading_mode = *f2;
+    } else {
+        gps->heading_mode = 'V';  /* Not valid if missing */
+    }
+
+    gps->last_ths_tick = HAL_GetTick();
+}
+
+/**
+ * Parse VTG sentence — course and speed over ground.
+ *
+ * Format: $--VTG,courseTrue,T,courseMag,M,speedKnots,N,speedKmh,K,mode*XX
+ *         field:     1      2     3      4     5      6    7     8   9
+ */
+static void parse_vtg(UM982_GPS_t *gps, const char *sentence)
+{
+    const char *f = strchr(sentence, ',');
+    if (f == NULL) return;
+    f++;  /* f -> field 1 (course true) */
+
+    const char *f2 = next_field(f);   /* T */
+    const char *f3 = next_field(f2);  /* course mag */
+    const char *f4 = next_field(f3);  /* M */
+    const char *f5 = next_field(f4);  /* speed knots */
+    const char *f6 = next_field(f5);  /* N */
+    const char *f7 = next_field(f6);  /* speed km/h */
+
+    /* Course true */
+    if (field_valid(f)) {
+        gps->course_true = field_to_float(f);
+    }
+
+    /* Speed knots */
+    if (field_valid(f5)) {
+        gps->speed_knots = field_to_float(f5);
+    }
+
+    /* Speed km/h */
+    if (field_valid(f7)) {
+        gps->speed_kmh = field_to_float(f7);
+    }
+
+    gps->last_vtg_tick = HAL_GetTick();
+}
+
+/* ========================= Sentence dispatch ========================= */
+
+void um982_parse_sentence(UM982_GPS_t *gps, const char *sentence)
+{
+    if (sentence == NULL || sentence[0] != '$') return;
+
+    /* Verify checksum before parsing */
+    if (!um982_verify_checksum(sentence)) return;
+
+    /* Check for VERSIONA response (starts with '#', not '$') -- handled separately */
+    /* Actually VERSIONA starts with '#', so it won't enter here. We check in feed(). */
+
+    /* Identify sentence type */
+    const char *fmt = get_formatter(sentence);
+    if (fmt == NULL) return;
+
+    if (strncmp(fmt, "GGA", 3) == 0) {
+        gps->initialized = true;
+        parse_gga(gps, sentence);
+    } else if (strncmp(fmt, "RMC", 3) == 0) {
+        gps->initialized = true;
+        parse_rmc(gps, sentence);
+    } else if (strncmp(fmt, "THS", 3) == 0) {
+        gps->initialized = true;
+        parse_ths(gps, sentence);
+    } else if (strncmp(fmt, "VTG", 3) == 0) {
+        gps->initialized = true;
+        parse_vtg(gps, sentence);
+    }
+    /* Other sentences silently ignored */
+}
+
+/* ========================= Command interface ========================= */
+
+bool um982_send_command(UM982_GPS_t *gps, const char *cmd)
+{
+    if (gps == NULL || gps->huart == NULL || cmd == NULL) return false;
+
+    /* Build command with \r\n termination */
+    char buf[UM982_CMD_BUF_SIZE];
+    int len = snprintf(buf, sizeof(buf), "%s\r\n", cmd);
+    if (len <= 0 || (size_t)len >= sizeof(buf)) return false;
+
+    HAL_StatusTypeDef status = HAL_UART_Transmit(
+        gps->huart, (const uint8_t *)buf, (uint16_t)len, 100);
+
+    return status == HAL_OK;
+}
+
+/* ========================= Line assembly + feed ====================== */
+
+/**
+ * Process a completed line from the line buffer.
+ */
+static void process_line(UM982_GPS_t *gps, const char *line)
+{
+    if (line == NULL || line[0] == '\0') return;
+
+    /* NMEA sentence starts with '$' */
+    if (line[0] == '$') {
+        um982_parse_sentence(gps, line);
+        return;
+    }
+
+    /* Unicore proprietary response starts with '#' (e.g. #VERSIONA) */
+    if (line[0] == '#') {
+        if (strncmp(line + 1, "VERSIONA", 8) == 0) {
+            gps->version_received = true;
+            gps->initialized = true;
+        }
+        return;
+    }
+}
+
+void um982_feed(UM982_GPS_t *gps, const uint8_t *data, uint16_t len)
+{
+    if (gps == NULL || data == NULL || len == 0) return;
+
+    for (uint16_t i = 0; i < len; i++) {
+        uint8_t ch = data[i];
+
+        /* End of line: process if we have content */
+        if (ch == '\n' || ch == '\r') {
+            if (gps->line_len > 0 && !gps->line_overflow) {
+                gps->line_buf[gps->line_len] = '\0';
+                process_line(gps, gps->line_buf);
+            }
+            gps->line_len = 0;
+            gps->line_overflow = false;
+            continue;
+        }
+
+        /* Accumulate into line buffer */
+        if (gps->line_len < UM982_LINE_BUF_SIZE - 1) {
+            gps->line_buf[gps->line_len++] = (char)ch;
+        } else {
+            gps->line_overflow = true;
+        }
+    }
+}
+
+/* ========================= UART process (production) ================= */
+
+void um982_process(UM982_GPS_t *gps)
+{
+    if (gps == NULL || gps->huart == NULL) return;
+
+    /* Read all available bytes from the UART one at a time.
+     * At 115200 baud (~11.5 KB/s) and a typical main-loop period of ~10 ms,
+     * we expect ~115 bytes per call — negligible overhead on a 168 MHz STM32.
+     *
+     * Note: batch reads (HAL_UART_Receive with Size > 1 and Timeout = 0) are
+     * NOT safe here because the HAL consumes bytes from the data register as
+     * it reads them.  If fewer than Size bytes are available, the consumed
+     * bytes are lost (HAL_TIMEOUT is returned and the caller has no way to
+     * know how many bytes were actually placed into the buffer). */
+    uint8_t ch;
+    while (HAL_UART_Receive(gps->huart, &ch, 1, 0) == HAL_OK) {
+        um982_feed(gps, &ch, 1);
+    }
+}
+
+/* ========================= Validity checks =========================== */
+
+bool um982_is_heading_valid(const UM982_GPS_t *gps)
+{
+    if (gps == NULL) return false;
+    if (isnan(gps->heading)) return false;
+
+    /* Mode must be Autonomous or Differential */
+    if (gps->heading_mode != 'A' && gps->heading_mode != 'D') return false;
+
+    /* Check age */
+    uint32_t age = HAL_GetTick() - gps->last_ths_tick;
+    return age < UM982_HEADING_TIMEOUT_MS;
+}
+
+bool um982_is_position_valid(const UM982_GPS_t *gps)
+{
+    if (gps == NULL) return false;
+    if (gps->fix_quality == UM982_FIX_NONE) return false;
+
+    /* Check age of the last valid fix */
+    uint32_t age = HAL_GetTick() - gps->last_fix_tick;
+    return age < UM982_POSITION_TIMEOUT_MS;
+}
+
+uint32_t um982_heading_age(const UM982_GPS_t *gps)
+{
+    if (gps == NULL) return UINT32_MAX;
+    return HAL_GetTick() - gps->last_ths_tick;
+}
+
+uint32_t um982_position_age(const UM982_GPS_t *gps)
+{
+    if (gps == NULL) return UINT32_MAX;
+    return HAL_GetTick() - gps->last_fix_tick;
+}
+
+/* ========================= Initialization ============================ */
+
+bool um982_init(UM982_GPS_t *gps, UART_HandleTypeDef *huart,
+                float baseline_cm, float tolerance_cm)
+{
+    if (gps == NULL || huart == NULL) return false;
+
+    /* Zero-init entire structure */
+    memset(gps, 0, sizeof(UM982_GPS_t));
+
+    gps->huart = huart;
+    gps->heading = NAN;
+    gps->heading_mode = 'V';
+    gps->rmc_status = 'V';
+    gps->speed_knots = 0.0f;
+
+    /* Seed fix timestamp so position_age() returns ~0 instead of uptime.
+     * Gives the module a full 30s grace window from init to acquire a fix
+     * before the health check fires ERROR_GPS_COMM. */
+    gps->last_fix_tick = HAL_GetTick();
+    gps->speed_kmh = 0.0f;
+    gps->course_true = 0.0f;
+
+    /* Step 1: Stop all current output to get a clean slate */
+    um982_send_command(gps, "UNLOG");
+    HAL_Delay(100);
+
+    /* Step 2: Configure heading mode
+     * Per N4 Reference 4.18: CONFIG HEADING FIXLENGTH (default mode)
+     * "The distance between ANT1 and ANT2 is fixed. They move synchronously." */
+    um982_send_command(gps, "CONFIG HEADING FIXLENGTH");
+    HAL_Delay(50);
+
+    /* Step 3: Set baseline length if specified
+     * Per N4 Reference: CONFIG HEADING LENGTH <cm> <tolerance_cm>
+     * "parameter1: Fixed baseline length (cm), valid range >= 0"
+     * "parameter2: Tolerable error margin (cm), valid range > 0" */
+    if (baseline_cm > 0.0f) {
+        char cmd[64];
+        if (tolerance_cm > 0.0f) {
+            snprintf(cmd, sizeof(cmd), "CONFIG HEADING LENGTH %.0f %.0f",
+                     baseline_cm, tolerance_cm);
+        } else {
+            snprintf(cmd, sizeof(cmd), "CONFIG HEADING LENGTH %.0f",
+                     baseline_cm);
+        }
+        um982_send_command(gps, cmd);
+        HAL_Delay(50);
+    }
+
+    /* Step 4: Enable NMEA output sentences on COM2.
+     * Per N4 Reference: "When requesting NMEA messages, users should add GP
+     * before each command name"
+     *
+     * We target COM2 because the ELT0213 board (GNSS.STORE) exposes COM2
+     * (RXD2/TXD2) on its 12-pin JST connector (pins 5 & 6).  The STM32
+     * UART5 (PC12-TX, PD2-RX) connects to these pins via JP8.
+     * COM2 defaults to 115200 baud — matching our UART5 config. */
+    um982_send_command(gps, "GPGGA COM2 1");     /* GGA at 1 Hz */
+    HAL_Delay(50);
+    um982_send_command(gps, "GPRMC COM2 1");     /* RMC at 1 Hz */
+    HAL_Delay(50);
+    um982_send_command(gps, "GPTHS COM2 0.2");   /* THS at 5 Hz (heading primary) */
+    HAL_Delay(50);
+
+    /* Step 5: Skip SAVECONFIG -- NMEA config is re-sent every boot anyway.
+     * Saving to NVM on every power cycle would wear flash.  If persistent
+     * config is needed, call um982_send_command(gps, "SAVECONFIG") once
+     * during commissioning. */
+
+    /* Step 6: Query version to verify communication */
+    gps->version_received = false;
+    um982_send_command(gps, "VERSIONA");
+
+    /* Wait for VERSIONA response (non-blocking poll) */
+    uint32_t start = HAL_GetTick();
+    while (!gps->version_received &&
+           (HAL_GetTick() - start) < UM982_INIT_TIMEOUT_MS) {
+        um982_process(gps);
+        HAL_Delay(10);
+    }
+
+    gps->initialized = gps->version_received;
+    return gps->initialized;
+}

9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/um982_gps.h

@@ -0,0 +1,213 @@
+/*******************************************************************************
+ * um982_gps.h -- UM982 dual-antenna GNSS receiver driver
+ *
+ * Parses NMEA sentences (GGA, RMC, THS, VTG) from the Unicore UM982 module
+ * and provides position, heading, and velocity data.
+ *
+ * Design principles:
+ *   - Non-blocking: process() reads available UART bytes without waiting
+ *   - Correct NMEA parsing: proper tokenizer handles empty fields
+ *   - Longitude handles 3-digit degrees (dddmm.mmmm) via decimal-point detection
+ *   - Checksum verified on every sentence
+ *   - Command syntax verified against Unicore N4 Command Reference EN R1.14
+ *
+ * Hardware: UM982 on UART5 @ 115200 baud, dual-antenna heading mode
+ ******************************************************************************/
+#ifndef UM982_GPS_H
+#define UM982_GPS_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <math.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Forward-declare the HAL UART handle type.  The real definition comes from
+ * stm32f7xx_hal.h (production) or stm32_hal_mock.h (tests). */
+#ifndef STM32_HAL_MOCK_H
+#include "stm32f7xx_hal.h"
+#else
+/* Already included via mock -- nothing to do */
+#endif
+
+/* ========================= Constants ================================= */
+
+#define UM982_RX_BUF_SIZE    512   /* Ring buffer for incoming UART bytes */
+#define UM982_LINE_BUF_SIZE   96   /* Max NMEA sentence (82 chars + margin) */
+#define UM982_CMD_BUF_SIZE   128   /* Outgoing command buffer */
+#define UM982_INIT_TIMEOUT_MS 3000 /* Timeout waiting for VERSIONA response */
+
+/* Fix quality values (from GGA field 6) */
+#define UM982_FIX_NONE       0
+#define UM982_FIX_GPS        1
+#define UM982_FIX_DGPS       2
+#define UM982_FIX_RTK_FIXED  4
+#define UM982_FIX_RTK_FLOAT  5
+
+/* Validity timeout defaults (ms) */
+#define UM982_HEADING_TIMEOUT_MS 2000
+#define UM982_POSITION_TIMEOUT_MS 5000
+
+/* ========================= Data Types ================================ */
+
+typedef struct {
+    /* Position */
+    double   latitude;       /* Decimal degrees, positive = North */
+    double   longitude;      /* Decimal degrees, positive = East */
+    float    altitude;       /* Meters above MSL */
+    float    geoid_sep;      /* Geoid separation (meters) */
+
+    /* Heading (from dual-antenna THS) */
+    float    heading;        /* True heading 0-360 degrees, NAN if invalid */
+    char     heading_mode;   /* A=autonomous, D=diff, E=est, M=manual, S=sim, V=invalid */
+
+    /* Velocity */
+    float    speed_knots;    /* Speed over ground (knots) */
+    float    speed_kmh;      /* Speed over ground (km/h) */
+    float    course_true;    /* Course over ground (degrees true) */
+
+    /* Quality */
+    uint8_t  fix_quality;    /* 0=none, 1=GPS, 2=DGPS, 4=RTK fixed, 5=RTK float */
+    uint8_t  num_satellites; /* Satellites used in fix */
+    float    hdop;           /* Horizontal dilution of precision */
+
+    /* RMC status */
+    char     rmc_status;     /* A=valid, V=warning */
+
+    /* Timestamps (HAL_GetTick() at last update) */
+    uint32_t last_fix_tick;   /* Last valid GGA fix (fix_quality > 0) */
+    uint32_t last_gga_tick;
+    uint32_t last_rmc_tick;
+    uint32_t last_ths_tick;
+    uint32_t last_vtg_tick;
+
+    /* Communication state */
+    bool     initialized;      /* VERSIONA or supported NMEA traffic seen */
+    bool     version_received; /* VERSIONA response seen */
+
+    /* ---- Internal parser state (not for external use) ---- */
+
+    /* Ring buffer */
+    uint8_t  rx_buf[UM982_RX_BUF_SIZE];
+    uint16_t rx_head;        /* Write index */
+    uint16_t rx_tail;        /* Read index */
+
+    /* Line assembler */
+    char     line_buf[UM982_LINE_BUF_SIZE];
+    uint8_t  line_len;
+    bool     line_overflow;  /* Current line exceeded buffer */
+
+    /* UART handle */
+    UART_HandleTypeDef *huart;
+
+} UM982_GPS_t;
+
+/* ========================= Public API ================================ */
+
+/**
+ * Initialize the UM982_GPS_t structure and configure the module.
+ *
+ * Sends: UNLOG, CONFIG HEADING, optional CONFIG HEADING LENGTH,
+ *        GPGGA, GPRMC, GPTHS
+ * Queries VERSIONA to verify communication.
+ *
+ * @param gps          Pointer to UM982_GPS_t instance
+ * @param huart        UART handle (e.g. &huart5)
+ * @param baseline_cm  Distance between antennas in cm (0 = use module default)
+ * @param tolerance_cm Baseline tolerance in cm (0 = use module default)
+ * @return true if VERSIONA response received within timeout
+ */
+bool um982_init(UM982_GPS_t *gps, UART_HandleTypeDef *huart,
+                float baseline_cm, float tolerance_cm);
+
+/**
+ * Process available UART data. Call from main loop — non-blocking.
+ *
+ * Reads all available bytes from UART, assembles lines, and dispatches
+ * complete NMEA sentences to the appropriate parser.
+ *
+ * @param gps  Pointer to UM982_GPS_t instance
+ */
+void um982_process(UM982_GPS_t *gps);
+
+/**
+ * Feed raw bytes directly into the parser (useful for testing).
+ * In production, um982_process() calls this internally after UART read.
+ *
+ * @param gps   Pointer to UM982_GPS_t instance
+ * @param data  Pointer to byte array
+ * @param len   Number of bytes
+ */
+void um982_feed(UM982_GPS_t *gps, const uint8_t *data, uint16_t len);
+
+/* ---- Getters ---- */
+
+static inline float    um982_get_heading(const UM982_GPS_t *gps)     { return gps->heading; }
+static inline double   um982_get_latitude(const UM982_GPS_t *gps)    { return gps->latitude; }
+static inline double   um982_get_longitude(const UM982_GPS_t *gps)   { return gps->longitude; }
+static inline float    um982_get_altitude(const UM982_GPS_t *gps)    { return gps->altitude; }
+static inline uint8_t  um982_get_fix_quality(const UM982_GPS_t *gps) { return gps->fix_quality; }
+static inline uint8_t  um982_get_num_sats(const UM982_GPS_t *gps)    { return gps->num_satellites; }
+static inline float    um982_get_hdop(const UM982_GPS_t *gps)        { return gps->hdop; }
+static inline float    um982_get_speed_knots(const UM982_GPS_t *gps) { return gps->speed_knots; }
+static inline float    um982_get_speed_kmh(const UM982_GPS_t *gps)   { return gps->speed_kmh; }
+static inline float    um982_get_course(const UM982_GPS_t *gps)      { return gps->course_true; }
+
+/**
+ * Check if heading is valid (mode A or D, and within timeout).
+ */
+bool um982_is_heading_valid(const UM982_GPS_t *gps);
+
+/**
+ * Check if position is valid (fix_quality > 0, and within timeout).
+ */
+bool um982_is_position_valid(const UM982_GPS_t *gps);
+
+/**
+ * Get age of last heading update in milliseconds.
+ */
+uint32_t um982_heading_age(const UM982_GPS_t *gps);
+
+/**
+ * Get age of the last valid position fix in milliseconds.
+ */
+uint32_t um982_position_age(const UM982_GPS_t *gps);
+
+/* ========================= Internal (exposed for testing) ============ */
+
+/**
+ * Verify NMEA checksum. Returns true if valid.
+ * Sentence must start with '$' and contain '*XX' before termination.
+ */
+bool um982_verify_checksum(const char *sentence);
+
+/**
+ * Parse a complete NMEA line (with $ prefix and *XX checksum).
+ * Dispatches to GGA/RMC/THS/VTG parsers as appropriate.
+ */
+void um982_parse_sentence(UM982_GPS_t *gps, const char *sentence);
+
+/**
+ * Parse NMEA coordinate string to decimal degrees.
+ * Works for both latitude (ddmm.mmmm) and longitude (dddmm.mmmm)
+ * by detecting the decimal point position.
+ *
+ * @param field     NMEA coordinate field (e.g. "4404.14036" or "12118.85961")
+ * @param hemisphere 'N', 'S', 'E', or 'W'
+ * @return Decimal degrees (negative for S/W), or NAN on parse error
+ */
+double um982_parse_coord(const char *field, char hemisphere);
+
+/**
+ * Send a command to the UM982. Appends \r\n automatically.
+ * @return true if UART transmit succeeded
+ */
+bool um982_send_command(UM982_GPS_t *gps, const char *cmd);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* UM982_GPS_H */

9_Firmware/9_1_Microcontroller/tests/Makefile

@@ -27,6 +27,10 @@ CXX_LIB_DIR := ../9_1_1_C_Cpp_Libraries
 CXX_SRCS    := $(CXX_LIB_DIR)/ADAR1000_AGC.cpp $(CXX_LIB_DIR)/ADAR1000_Manager.cpp
 CXX_OBJS    := ADAR1000_AGC.o ADAR1000_Manager.o
 
+# GPS driver source
+GPS_SRC := ../9_1_3_C_Cpp_Code/um982_gps.c
+GPS_OBJ := um982_gps.o
+
 # Real source files compiled against mock headers
 REAL_SRC := ../9_1_1_C_Cpp_Libraries/adf4382a_manager.c
 
@@ -74,7 +78,10 @@ TESTS_WITH_PLATFORM := test_bug11_platform_spi_transmit_only
 # C++ tests (AGC outer loop)
 TESTS_WITH_CXX := test_agc_outer_loop
 
-ALL_TESTS := $(TESTS_WITH_REAL) $(TESTS_MOCK_ONLY) $(TESTS_STANDALONE) $(TESTS_WITH_PLATFORM) $(TESTS_WITH_CXX)
+# GPS driver tests (need mocks + GPS source + -lm)
+TESTS_GPS := test_um982_gps
+
+ALL_TESTS := $(TESTS_WITH_REAL) $(TESTS_MOCK_ONLY) $(TESTS_STANDALONE) $(TESTS_WITH_PLATFORM) $(TESTS_WITH_CXX) $(TESTS_GPS)
 
 .PHONY: all build test clean \
         $(addprefix test_,bug1 bug2 bug3 bug4 bug5 bug6 bug7 bug8 bug9 bug10 bug11 bug12 bug13 bug14 bug15) \
@@ -193,6 +200,20 @@ test_agc_outer_loop: test_agc_outer_loop.cpp $(CXX_OBJS) $(MOCK_OBJS)
 test_agc: test_agc_outer_loop
 	./test_agc_outer_loop
 
+# --- GPS driver rules ---
+
+$(GPS_OBJ): $(GPS_SRC)
+	$(CC) $(CFLAGS) $(INCLUDES) -I../9_1_3_C_Cpp_Code -c $< -o $@
+
+# Note: test includes um982_gps.c directly for white-box testing (static fn access)
+test_um982_gps: test_um982_gps.c $(MOCK_OBJS)
+	$(CC) $(CFLAGS) $(INCLUDES) -I../9_1_3_C_Cpp_Code $< $(MOCK_OBJS) -lm -o $@
+
+# Convenience target
+.PHONY: test_gps
+test_gps: test_um982_gps
+	./test_um982_gps
+
 # --- Individual test targets ---
 
 test_bug1: test_bug1_timed_sync_init_ordering

9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.c

@@ -21,6 +21,7 @@ SPI_HandleTypeDef  hspi4 = { .id = 4 };
 I2C_HandleTypeDef  hi2c1 = { .id = 1 };
 I2C_HandleTypeDef  hi2c2 = { .id = 2 };
 UART_HandleTypeDef huart3 = { .id = 3 };
+UART_HandleTypeDef huart5 = { .id = 5 };  /* GPS UART */
 ADC_HandleTypeDef  hadc3 = { .id = 3 };
 TIM_HandleTypeDef  htim3 = { .id = 3 };
 
@@ -34,6 +35,26 @@ uint32_t mock_tick = 0;
 /* ========================= Printf control ========================= */
 int mock_printf_enabled = 0;
 
+/* ========================= Mock UART TX capture =================== */
+uint8_t  mock_uart_tx_buf[MOCK_UART_TX_BUF_SIZE];
+uint16_t mock_uart_tx_len = 0;
+
+/* ========================= Mock UART RX buffer ==================== */
+#define MOCK_UART_RX_SLOTS 8
+
+static struct {
+    uint32_t uart_id;
+    uint8_t  buf[MOCK_UART_RX_BUF_SIZE];
+    uint16_t head;
+    uint16_t tail;
+} mock_uart_rx[MOCK_UART_RX_SLOTS];
+
+void mock_uart_tx_clear(void)
+{
+    mock_uart_tx_len = 0;
+    memset(mock_uart_tx_buf, 0, sizeof(mock_uart_tx_buf));
+}
+
 /* ========================= Mock GPIO read ========================= */
 #define GPIO_READ_TABLE_SIZE 32
 static struct {
@@ -49,6 +70,9 @@ void spy_reset(void)
     mock_tick = 0;
     mock_printf_enabled = 0;
     memset(gpio_read_table, 0, sizeof(gpio_read_table));
+    memset(mock_uart_rx, 0, sizeof(mock_uart_rx));
+    mock_uart_tx_len = 0;
+    memset(mock_uart_tx_buf, 0, sizeof(mock_uart_tx_buf));
 }
 
 const SpyRecord *spy_get(int index)
@@ -185,6 +209,83 @@ HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, const uint8_t *pD
         .value = Timeout,
         .extra = huart
     });
+    /* Capture TX data for test inspection */
+    for (uint16_t i = 0; i < Size && mock_uart_tx_len < MOCK_UART_TX_BUF_SIZE; i++) {
+        mock_uart_tx_buf[mock_uart_tx_len++] = pData[i];
+    }
+    return HAL_OK;
+}
+
+/* ========================= Mock UART RX helpers ====================== */
+
+/* find_rx_slot, mock_uart_rx_load, etc. use the mock_uart_rx declared above */
+
+static int find_rx_slot(UART_HandleTypeDef *huart)
+{
+    if (huart == NULL) return -1;
+    /* Find existing slot */
+    for (int i = 0; i < MOCK_UART_RX_SLOTS; i++) {
+        if (mock_uart_rx[i].uart_id == huart->id && mock_uart_rx[i].head != mock_uart_rx[i].tail) {
+            return i;
+        }
+        if (mock_uart_rx[i].uart_id == huart->id) {
+            return i;
+        }
+    }
+    /* Find empty slot */
+    for (int i = 0; i < MOCK_UART_RX_SLOTS; i++) {
+        if (mock_uart_rx[i].uart_id == 0) {
+            mock_uart_rx[i].uart_id = huart->id;
+            return i;
+        }
+    }
+    return -1;
+}
+
+void mock_uart_rx_load(UART_HandleTypeDef *huart, const uint8_t *data, uint16_t len)
+{
+    int slot = find_rx_slot(huart);
+    if (slot < 0) return;
+    mock_uart_rx[slot].uart_id = huart->id;
+    for (uint16_t i = 0; i < len; i++) {
+        uint16_t next = (mock_uart_rx[slot].head + 1) % MOCK_UART_RX_BUF_SIZE;
+        if (next == mock_uart_rx[slot].tail) break;  /* Buffer full */
+        mock_uart_rx[slot].buf[mock_uart_rx[slot].head] = data[i];
+        mock_uart_rx[slot].head = next;
+    }
+}
+
+void mock_uart_rx_clear(UART_HandleTypeDef *huart)
+{
+    int slot = find_rx_slot(huart);
+    if (slot < 0) return;
+    mock_uart_rx[slot].head = 0;
+    mock_uart_rx[slot].tail = 0;
+}
+
+HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData,
+                                    uint16_t Size, uint32_t Timeout)
+{
+    (void)Timeout;
+    int slot = find_rx_slot(huart);
+    if (slot < 0) return HAL_TIMEOUT;
+
+    for (uint16_t i = 0; i < Size; i++) {
+        if (mock_uart_rx[slot].head == mock_uart_rx[slot].tail) {
+            return HAL_TIMEOUT;  /* No more data */
+        }
+        pData[i] = mock_uart_rx[slot].buf[mock_uart_rx[slot].tail];
+        mock_uart_rx[slot].tail = (mock_uart_rx[slot].tail + 1) % MOCK_UART_RX_BUF_SIZE;
+    }
+
+    spy_push((SpyRecord){
+        .type  = SPY_UART_RX,
+        .port  = NULL,
+        .pin   = Size,
+        .value = Timeout,
+        .extra = huart
+    });
+
     return HAL_OK;
 }
 

9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.h

@@ -105,6 +105,7 @@ typedef struct {
 extern SPI_HandleTypeDef  hspi1, hspi4;
 extern I2C_HandleTypeDef  hi2c1, hi2c2;
 extern UART_HandleTypeDef huart3;
+extern UART_HandleTypeDef huart5;  /* GPS UART */
 extern ADC_HandleTypeDef  hadc3;
 extern TIM_HandleTypeDef  htim3;  /* Timer for DELADJ PWM */
 
@@ -139,6 +140,7 @@ typedef enum {
     SPY_TIM_SET_COMPARE,
     SPY_SPI_TRANSMIT_RECEIVE,
     SPY_SPI_TRANSMIT,
+    SPY_UART_RX,
 } SpyCallType;
 
 typedef struct {
@@ -187,6 +189,23 @@ void          HAL_GPIO_TogglePin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin);
 uint32_t      HAL_GetTick(void);
 void          HAL_Delay(uint32_t Delay);
 HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size, uint32_t Timeout);
+HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout);
+
+/* ========================= Mock UART RX buffer ======================= */
+
+/* Inject bytes into the mock UART RX buffer for a specific UART handle.
+ * HAL_UART_Receive will return these bytes one at a time. */
+#define MOCK_UART_RX_BUF_SIZE 2048
+
+void mock_uart_rx_load(UART_HandleTypeDef *huart, const uint8_t *data, uint16_t len);
+void mock_uart_rx_clear(UART_HandleTypeDef *huart);
+
+/* Capture buffer for UART TX data (to verify commands sent to GPS module) */
+#define MOCK_UART_TX_BUF_SIZE 2048
+
+extern uint8_t  mock_uart_tx_buf[MOCK_UART_TX_BUF_SIZE];
+extern uint16_t mock_uart_tx_len;
+void mock_uart_tx_clear(void);
 
 /* ========================= SPI stubs ============================== */
 

9_Firmware/9_1_Microcontroller/tests/test_agc_outer_loop.cpp

@@ -50,7 +50,7 @@ static void test_defaults()
     assert(agc.min_gain == 0);
     assert(agc.max_gain == 127);
     assert(agc.holdoff_frames == 4);
-    assert(agc.enabled == true);
+    assert(agc.enabled == false);  // disabled by default — FPGA DIG_6 is source of truth
     assert(agc.holdoff_counter == 0);
     assert(agc.last_saturated == false);
     assert(agc.saturation_event_count == 0);
@@ -67,6 +67,7 @@ static void test_defaults()
 static void test_saturation_reduces_gain()
 {
     ADAR1000_AGC agc;
+    agc.enabled = true;  // default is OFF; enable for this test
     uint8_t initial = agc.agc_base_gain;  // 30
 
     agc.update(true);  // saturation
@@ -82,6 +83,7 @@ static void test_saturation_reduces_gain()
 static void test_holdoff_prevents_early_gain_up()
 {
     ADAR1000_AGC agc;
+    agc.enabled = true;  // default is OFF; enable for this test
     agc.update(true);  // saturate once -> gain = 26
     uint8_t after_sat = agc.agc_base_gain;
 
@@ -101,6 +103,7 @@ static void test_holdoff_prevents_early_gain_up()
 static void test_recovery_after_holdoff()
 {
     ADAR1000_AGC agc;
+    agc.enabled = true;  // default is OFF; enable for this test
     agc.update(true);  // saturate -> gain = 26
     uint8_t after_sat = agc.agc_base_gain;
 
@@ -119,6 +122,7 @@ static void test_recovery_after_holdoff()
 static void test_min_gain_clamp()
 {
     ADAR1000_AGC agc;
+    agc.enabled = true;  // default is OFF; enable for this test
     agc.min_gain = 10;
     agc.agc_base_gain = 12;
     agc.gain_step_down = 4;
@@ -136,6 +140,7 @@ static void test_min_gain_clamp()
 static void test_max_gain_clamp()
 {
     ADAR1000_AGC agc;
+    agc.enabled = true;  // default is OFF; enable for this test
     agc.max_gain = 32;
     agc.agc_base_gain = 31;
     agc.gain_step_up = 2;
@@ -226,6 +231,7 @@ static void test_apply_gain_spi()
 static void test_reset_preserves_config()
 {
     ADAR1000_AGC agc;
+    agc.enabled = true;  // default is OFF; enable for this test
     agc.agc_base_gain = 42;
     agc.gain_step_down = 8;
     agc.cal_offset[3] = -5;
@@ -255,6 +261,7 @@ static void test_reset_preserves_config()
 static void test_saturation_counter()
 {
     ADAR1000_AGC agc;
+    agc.enabled = true;  // default is OFF; enable for this test
 
     for (int i = 0; i < 10; ++i) {
         agc.update(true);
@@ -274,6 +281,7 @@ static void test_saturation_counter()
 static void test_mixed_sequence()
 {
     ADAR1000_AGC agc;
+    agc.enabled = true;  // default is OFF; enable for this test
     agc.agc_base_gain = 30;
     agc.gain_step_down = 4;
     agc.gain_step_up = 1;

9_Firmware/9_1_Microcontroller/tests/test_um982_gps.c

@@ -0,0 +1,853 @@
+/*******************************************************************************
+ * test_um982_gps.c -- Unit tests for UM982 GPS driver
+ *
+ * Tests NMEA parsing, checksum validation, coordinate parsing, init sequence,
+ * and validity tracking. Uses the mock HAL infrastructure for UART.
+ *
+ * Build: see Makefile target test_um982_gps
+ * Run:   ./test_um982_gps
+ ******************************************************************************/
+#include "stm32_hal_mock.h"
+#include "../9_1_3_C_Cpp_Code/um982_gps.h"
+#include "../9_1_3_C_Cpp_Code/um982_gps.c"  /* Include .c directly for white-box testing */
+
+#include <stdio.h>
+#include <string.h>
+#include <assert.h>
+#include <math.h>
+
+/* ========================= Test helpers ============================== */
+
+static int tests_passed = 0;
+static int tests_failed = 0;
+
+#define TEST(name) \
+    do { printf("  [TEST] %-55s ", name); } while(0)
+
+#define PASS() \
+    do { printf("PASS\n"); tests_passed++; } while(0)
+
+#define FAIL(msg) \
+    do { printf("FAIL: %s\n", msg); tests_failed++; } while(0)
+
+#define ASSERT_TRUE(expr, msg) \
+    do { if (!(expr)) { FAIL(msg); return; } } while(0)
+
+#define ASSERT_FALSE(expr, msg) \
+    do { if (expr) { FAIL(msg); return; } } while(0)
+
+#define ASSERT_EQ_INT(a, b, msg) \
+    do { if ((a) != (b)) { \
+        char _buf[256]; \
+        snprintf(_buf, sizeof(_buf), "%s (got %d, expected %d)", msg, (int)(a), (int)(b)); \
+        FAIL(_buf); return; \
+    } } while(0)
+
+#define ASSERT_NEAR(a, b, tol, msg) \
+    do { if (fabs((double)(a) - (double)(b)) > (tol)) { \
+        char _buf[256]; \
+        snprintf(_buf, sizeof(_buf), "%s (got %.8f, expected %.8f)", msg, (double)(a), (double)(b)); \
+        FAIL(_buf); return; \
+    } } while(0)
+
+#define ASSERT_NAN(val, msg) \
+    do { if (!isnan(val)) { FAIL(msg); return; } } while(0)
+
+static UM982_GPS_t gps;
+
+static void reset_gps(void)
+{
+    spy_reset();
+    memset(&gps, 0, sizeof(gps));
+    gps.huart = &huart5;
+    gps.heading = NAN;
+    gps.heading_mode = 'V';
+    gps.rmc_status = 'V';
+}
+
+/* ========================= Checksum tests ============================ */
+
+static void test_checksum_valid(void)
+{
+    TEST("checksum: valid GGA");
+    ASSERT_TRUE(um982_verify_checksum(
+        "$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47"),
+        "should be valid");
+    PASS();
+}
+
+static void test_checksum_valid_ths(void)
+{
+    TEST("checksum: valid THS");
+    ASSERT_TRUE(um982_verify_checksum("$GNTHS,341.3344,A*1F"),
+        "should be valid");
+    PASS();
+}
+
+static void test_checksum_invalid(void)
+{
+    TEST("checksum: invalid (wrong value)");
+    ASSERT_FALSE(um982_verify_checksum("$GNTHS,341.3344,A*FF"),
+        "should be invalid");
+    PASS();
+}
+
+static void test_checksum_missing_star(void)
+{
+    TEST("checksum: missing * marker");
+    ASSERT_FALSE(um982_verify_checksum("$GNTHS,341.3344,A"),
+        "should be invalid");
+    PASS();
+}
+
+static void test_checksum_null(void)
+{
+    TEST("checksum: NULL input");
+    ASSERT_FALSE(um982_verify_checksum(NULL), "should be false");
+    PASS();
+}
+
+static void test_checksum_no_dollar(void)
+{
+    TEST("checksum: missing $ prefix");
+    ASSERT_FALSE(um982_verify_checksum("GNTHS,341.3344,A*1F"),
+        "should be invalid without $");
+    PASS();
+}
+
+/* ========================= Coordinate parsing tests ================== */
+
+static void test_coord_latitude_north(void)
+{
+    TEST("coord: latitude 4404.14036 N");
+    double lat = um982_parse_coord("4404.14036", 'N');
+    /* 44 + 04.14036/60 = 44.069006 */
+    ASSERT_NEAR(lat, 44.069006, 0.000001, "latitude");
+    PASS();
+}
+
+static void test_coord_latitude_south(void)
+{
+    TEST("coord: latitude 3358.92500 S (negative)");
+    double lat = um982_parse_coord("3358.92500", 'S');
+    ASSERT_TRUE(lat < 0.0, "should be negative for S");
+    ASSERT_NEAR(lat, -(33.0 + 58.925/60.0), 0.000001, "latitude");
+    PASS();
+}
+
+static void test_coord_longitude_3digit(void)
+{
+    TEST("coord: longitude 12118.85961 W (3-digit degrees)");
+    double lon = um982_parse_coord("12118.85961", 'W');
+    /* 121 + 18.85961/60 = 121.314327 */
+    ASSERT_TRUE(lon < 0.0, "should be negative for W");
+    ASSERT_NEAR(lon, -(121.0 + 18.85961/60.0), 0.000001, "longitude");
+    PASS();
+}
+
+static void test_coord_longitude_east(void)
+{
+    TEST("coord: longitude 11614.19729 E");
+    double lon = um982_parse_coord("11614.19729", 'E');
+    ASSERT_TRUE(lon > 0.0, "should be positive for E");
+    ASSERT_NEAR(lon, 116.0 + 14.19729/60.0, 0.000001, "longitude");
+    PASS();
+}
+
+static void test_coord_empty(void)
+{
+    TEST("coord: empty string returns NAN");
+    ASSERT_NAN(um982_parse_coord("", 'N'), "should be NAN");
+    PASS();
+}
+
+static void test_coord_null(void)
+{
+    TEST("coord: NULL returns NAN");
+    ASSERT_NAN(um982_parse_coord(NULL, 'N'), "should be NAN");
+    PASS();
+}
+
+static void test_coord_no_dot(void)
+{
+    TEST("coord: no decimal point returns NAN");
+    ASSERT_NAN(um982_parse_coord("440414036", 'N'), "should be NAN");
+    PASS();
+}
+
+/* ========================= GGA parsing tests ========================= */
+
+static void test_parse_gga_full(void)
+{
+    TEST("GGA: full sentence with all fields");
+    reset_gps();
+    mock_set_tick(1000);
+
+    um982_parse_sentence(&gps,
+        "$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
+
+    ASSERT_NEAR(gps.latitude, 44.069006, 0.0001, "latitude");
+    ASSERT_NEAR(gps.longitude, -(121.0 + 18.85961/60.0), 0.0001, "longitude");
+    ASSERT_EQ_INT(gps.fix_quality, 1, "fix quality");
+    ASSERT_EQ_INT(gps.num_satellites, 12, "num sats");
+    ASSERT_NEAR(gps.hdop, 0.98, 0.01, "hdop");
+    ASSERT_NEAR(gps.altitude, 1113.0, 0.1, "altitude");
+    ASSERT_NEAR(gps.geoid_sep, -21.3, 0.1, "geoid sep");
+    PASS();
+}
+
+static void test_parse_gga_rtk_fixed(void)
+{
+    TEST("GGA: RTK fixed (quality=4)");
+    reset_gps();
+
+    um982_parse_sentence(&gps,
+        "$GNGGA,023634.00,4004.73871635,N,11614.19729418,E,4,28,0.7,61.0988,M,-8.4923,M,,*5D");
+
+    ASSERT_EQ_INT(gps.fix_quality, 4, "RTK fixed");
+    ASSERT_EQ_INT(gps.num_satellites, 28, "num sats");
+    ASSERT_NEAR(gps.latitude, 40.0 + 4.73871635/60.0, 0.0000001, "latitude");
+    ASSERT_NEAR(gps.longitude, 116.0 + 14.19729418/60.0, 0.0000001, "longitude");
+    PASS();
+}
+
+static void test_parse_gga_no_fix(void)
+{
+    TEST("GGA: no fix (quality=0)");
+    reset_gps();
+
+    /* Compute checksum for this sentence */
+    um982_parse_sentence(&gps,
+        "$GNGGA,235959.00,,,,,0,00,99.99,,,,,,*79");
+
+    ASSERT_EQ_INT(gps.fix_quality, 0, "no fix");
+    PASS();
+}
+
+/* ========================= RMC parsing tests ========================= */
+
+static void test_parse_rmc_valid(void)
+{
+    TEST("RMC: valid position and speed");
+    reset_gps();
+    mock_set_tick(2000);
+
+    um982_parse_sentence(&gps,
+        "$GNRMC,001031.00,A,4404.13993,N,12118.86023,W,0.146,,100117,,,A*7B");
+
+    ASSERT_EQ_INT(gps.rmc_status, 'A', "status");
+    ASSERT_NEAR(gps.latitude, 44.0 + 4.13993/60.0, 0.0001, "latitude");
+    ASSERT_NEAR(gps.longitude, -(121.0 + 18.86023/60.0), 0.0001, "longitude");
+    ASSERT_NEAR(gps.speed_knots, 0.146, 0.001, "speed");
+    PASS();
+}
+
+static void test_parse_rmc_void(void)
+{
+    TEST("RMC: void status (no valid fix)");
+    reset_gps();
+    gps.latitude = 12.34;  /* Pre-set to check it doesn't get overwritten */
+
+    um982_parse_sentence(&gps,
+        "$GNRMC,235959.00,V,,,,,,,100117,,,N*64");
+
+    ASSERT_EQ_INT(gps.rmc_status, 'V', "void status");
+    ASSERT_NEAR(gps.latitude, 12.34, 0.001, "lat should not change on void");
+    PASS();
+}
+
+/* ========================= THS parsing tests ========================= */
+
+static void test_parse_ths_autonomous(void)
+{
+    TEST("THS: autonomous heading 341.3344");
+    reset_gps();
+    mock_set_tick(3000);
+
+    um982_parse_sentence(&gps, "$GNTHS,341.3344,A*1F");
+
+    ASSERT_NEAR(gps.heading, 341.3344, 0.001, "heading");
+    ASSERT_EQ_INT(gps.heading_mode, 'A', "mode");
+    PASS();
+}
+
+static void test_parse_ths_not_valid(void)
+{
+    TEST("THS: not valid mode");
+    reset_gps();
+
+    um982_parse_sentence(&gps, "$GNTHS,,V*10");
+
+    ASSERT_NAN(gps.heading, "heading should be NAN when empty");
+    ASSERT_EQ_INT(gps.heading_mode, 'V', "mode V");
+    PASS();
+}
+
+static void test_parse_ths_zero(void)
+{
+    TEST("THS: heading exactly 0.0000");
+    reset_gps();
+
+    um982_parse_sentence(&gps, "$GNTHS,0.0000,A*19");
+
+    ASSERT_NEAR(gps.heading, 0.0, 0.001, "heading zero");
+    ASSERT_EQ_INT(gps.heading_mode, 'A', "mode A");
+    PASS();
+}
+
+static void test_parse_ths_360_boundary(void)
+{
+    TEST("THS: heading near 360");
+    reset_gps();
+
+    um982_parse_sentence(&gps, "$GNTHS,359.9999,D*13");
+
+    ASSERT_NEAR(gps.heading, 359.9999, 0.001, "heading near 360");
+    ASSERT_EQ_INT(gps.heading_mode, 'D', "mode D");
+    PASS();
+}
+
+/* ========================= VTG parsing tests ========================= */
+
+static void test_parse_vtg(void)
+{
+    TEST("VTG: course and speed");
+    reset_gps();
+
+    um982_parse_sentence(&gps,
+        "$GPVTG,220.86,T,,M,2.550,N,4.724,K,A*34");
+
+    ASSERT_NEAR(gps.course_true, 220.86, 0.01, "course");
+    ASSERT_NEAR(gps.speed_knots, 2.550, 0.001, "speed knots");
+    ASSERT_NEAR(gps.speed_kmh, 4.724, 0.001, "speed kmh");
+    PASS();
+}
+
+/* ========================= Talker ID tests =========================== */
+
+static void test_talker_gp(void)
+{
+    TEST("talker: GP prefix parses correctly");
+    reset_gps();
+
+    um982_parse_sentence(&gps, "$GPTHS,123.4567,A*07");
+
+    ASSERT_NEAR(gps.heading, 123.4567, 0.001, "heading with GP");
+    PASS();
+}
+
+static void test_talker_gl(void)
+{
+    TEST("talker: GL prefix parses correctly");
+    reset_gps();
+
+    um982_parse_sentence(&gps, "$GLTHS,123.4567,A*1B");
+
+    ASSERT_NEAR(gps.heading, 123.4567, 0.001, "heading with GL");
+    PASS();
+}
+
+/* ========================= Feed / line assembly tests ================ */
+
+static void test_feed_single_sentence(void)
+{
+    TEST("feed: single complete sentence with CRLF");
+    reset_gps();
+    mock_set_tick(5000);
+
+    const char *data = "$GNTHS,341.3344,A*1F\r\n";
+    um982_feed(&gps, (const uint8_t *)data, (uint16_t)strlen(data));
+
+    ASSERT_NEAR(gps.heading, 341.3344, 0.001, "heading");
+    PASS();
+}
+
+static void test_feed_multiple_sentences(void)
+{
+    TEST("feed: multiple sentences in one chunk");
+    reset_gps();
+    mock_set_tick(5000);
+
+    const char *data =
+        "$GNTHS,100.0000,A*18\r\n"
+        "$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47\r\n";
+    um982_feed(&gps, (const uint8_t *)data, (uint16_t)strlen(data));
+
+    ASSERT_NEAR(gps.heading, 100.0, 0.01, "heading from THS");
+    ASSERT_EQ_INT(gps.fix_quality, 1, "fix from GGA");
+    PASS();
+}
+
+static void test_feed_partial_then_complete(void)
+{
+    TEST("feed: partial bytes then complete");
+    reset_gps();
+    mock_set_tick(5000);
+
+    const char *part1 = "$GNTHS,200.";
+    const char *part2 = "5000,A*1E\r\n";
+    um982_feed(&gps, (const uint8_t *)part1, (uint16_t)strlen(part1));
+    /* Heading should not be set yet */
+    ASSERT_NAN(gps.heading, "should be NAN before complete");
+
+    um982_feed(&gps, (const uint8_t *)part2, (uint16_t)strlen(part2));
+    ASSERT_NEAR(gps.heading, 200.5, 0.01, "heading after complete");
+    PASS();
+}
+
+static void test_feed_bad_checksum_rejected(void)
+{
+    TEST("feed: bad checksum sentence is rejected");
+    reset_gps();
+    mock_set_tick(5000);
+
+    const char *data = "$GNTHS,999.0000,A*FF\r\n";
+    um982_feed(&gps, (const uint8_t *)data, (uint16_t)strlen(data));
+
+    ASSERT_NAN(gps.heading, "heading should remain NAN");
+    PASS();
+}
+
+static void test_feed_versiona_response(void)
+{
+    TEST("feed: VERSIONA response sets flag");
+    reset_gps();
+
+    const char *data = "#VERSIONA,79,GPS,FINE,2326,378237000,15434,0,18,889;\"UM982\"\r\n";
+    um982_feed(&gps, (const uint8_t *)data, (uint16_t)strlen(data));
+
+    ASSERT_TRUE(gps.version_received, "version_received should be true");
+    ASSERT_TRUE(gps.initialized, "VERSIONA should mark communication alive");
+    PASS();
+}
+
+/* ========================= Validity / age tests ====================== */
+
+static void test_heading_valid_within_timeout(void)
+{
+    TEST("validity: heading valid within timeout");
+    reset_gps();
+    mock_set_tick(10000);
+
+    um982_parse_sentence(&gps, "$GNTHS,341.3344,A*1F");
+
+    /* Still at tick 10000 */
+    ASSERT_TRUE(um982_is_heading_valid(&gps), "should be valid");
+    PASS();
+}
+
+static void test_heading_invalid_after_timeout(void)
+{
+    TEST("validity: heading invalid after 2s timeout");
+    reset_gps();
+    mock_set_tick(10000);
+
+    um982_parse_sentence(&gps, "$GNTHS,341.3344,A*1F");
+
+    /* Advance past timeout */
+    mock_set_tick(12500);
+    ASSERT_FALSE(um982_is_heading_valid(&gps), "should be invalid after 2.5s");
+    PASS();
+}
+
+static void test_heading_invalid_mode_v(void)
+{
+    TEST("validity: heading invalid with mode V");
+    reset_gps();
+    mock_set_tick(10000);
+
+    um982_parse_sentence(&gps, "$GNTHS,,V*10");
+
+    ASSERT_FALSE(um982_is_heading_valid(&gps), "mode V is invalid");
+    PASS();
+}
+
+static void test_position_valid(void)
+{
+    TEST("validity: position valid with fix quality 1");
+    reset_gps();
+    mock_set_tick(10000);
+
+    um982_parse_sentence(&gps,
+        "$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
+
+    ASSERT_TRUE(um982_is_position_valid(&gps), "should be valid");
+    PASS();
+}
+
+static void test_position_invalid_no_fix(void)
+{
+    TEST("validity: position invalid with no fix");
+    reset_gps();
+    mock_set_tick(10000);
+
+    um982_parse_sentence(&gps,
+        "$GNGGA,235959.00,,,,,0,00,99.99,,,,,,*79");
+
+    ASSERT_FALSE(um982_is_position_valid(&gps), "no fix = invalid");
+    PASS();
+}
+
+static void test_position_age_uses_last_valid_fix(void)
+{
+    TEST("age: position age uses last valid fix, not no-fix GGA");
+    reset_gps();
+
+    mock_set_tick(10000);
+    um982_parse_sentence(&gps,
+        "$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
+
+    mock_set_tick(12000);
+    um982_parse_sentence(&gps,
+        "$GNGGA,235959.00,,,,,0,00,99.99,,,,,,*79");
+
+    mock_set_tick(12500);
+    ASSERT_EQ_INT(um982_position_age(&gps), 2500, "age should still be from last valid fix");
+    ASSERT_FALSE(um982_is_position_valid(&gps), "latest no-fix GGA should invalidate position");
+    PASS();
+}
+
+static void test_heading_age(void)
+{
+    TEST("age: heading age computed correctly");
+    reset_gps();
+    mock_set_tick(10000);
+
+    um982_parse_sentence(&gps, "$GNTHS,341.3344,A*1F");
+
+    mock_set_tick(10500);
+    uint32_t age = um982_heading_age(&gps);
+    ASSERT_EQ_INT(age, 500, "age should be 500ms");
+    PASS();
+}
+
+/* ========================= Send command tests ======================== */
+
+static void test_send_command_appends_crlf(void)
+{
+    TEST("send_command: appends \\r\\n");
+    reset_gps();
+
+    um982_send_command(&gps, "GPGGA COM2 1");
+
+    /* Check that TX buffer contains "GPGGA COM2 1\r\n" */
+    const char *expected = "GPGGA COM2 1\r\n";
+    ASSERT_TRUE(mock_uart_tx_len == strlen(expected), "TX length");
+    ASSERT_TRUE(memcmp(mock_uart_tx_buf, expected, strlen(expected)) == 0,
+        "TX content should be 'GPGGA COM2 1\\r\\n'");
+    PASS();
+}
+
+static void test_send_command_null_safety(void)
+{
+    TEST("send_command: NULL gps returns false");
+    ASSERT_FALSE(um982_send_command(NULL, "RESET"), "should return false");
+    PASS();
+}
+
+/* ========================= Init sequence tests ======================= */
+
+static void test_init_sends_correct_commands(void)
+{
+    TEST("init: sends correct command sequence");
+    spy_reset();
+    mock_uart_tx_clear();
+
+    /* Pre-load VERSIONA response so init succeeds */
+    const char *ver_resp = "#VERSIONA,79,GPS,FINE,2326,378237000,15434,0,18,889;\"UM982\"\r\n";
+    mock_uart_rx_load(&huart5, (const uint8_t *)ver_resp, (uint16_t)strlen(ver_resp));
+
+    UM982_GPS_t init_gps;
+    bool ok = um982_init(&init_gps, &huart5, 50.0f, 3.0f);
+
+    ASSERT_TRUE(ok, "init should succeed");
+    ASSERT_TRUE(init_gps.initialized, "should be initialized");
+
+    /* Verify TX buffer contains expected commands */
+    const char *tx = (const char *)mock_uart_tx_buf;
+    ASSERT_TRUE(strstr(tx, "UNLOG\r\n") != NULL, "should send UNLOG");
+    ASSERT_TRUE(strstr(tx, "CONFIG HEADING FIXLENGTH\r\n") != NULL, "should send CONFIG HEADING");
+    ASSERT_TRUE(strstr(tx, "CONFIG HEADING LENGTH 50 3\r\n") != NULL, "should send LENGTH");
+    ASSERT_TRUE(strstr(tx, "GPGGA COM2 1\r\n") != NULL, "should enable GGA");
+    ASSERT_TRUE(strstr(tx, "GPRMC COM2 1\r\n") != NULL, "should enable RMC");
+    ASSERT_TRUE(strstr(tx, "GPTHS COM2 0.2\r\n") != NULL, "should enable THS at 5Hz");
+    ASSERT_TRUE(strstr(tx, "SAVECONFIG\r\n") == NULL, "should NOT save config (NVM wear)");
+    ASSERT_TRUE(strstr(tx, "VERSIONA\r\n") != NULL, "should query version");
+
+    /* Verify command order: UNLOG should come before GPGGA */
+    const char *unlog_pos = strstr(tx, "UNLOG\r\n");
+    const char *gpgga_pos = strstr(tx, "GPGGA COM2 1\r\n");
+    ASSERT_TRUE(unlog_pos < gpgga_pos, "UNLOG should precede GPGGA");
+
+    PASS();
+}
+
+static void test_init_no_baseline(void)
+{
+    TEST("init: baseline=0 skips LENGTH command");
+    spy_reset();
+    mock_uart_tx_clear();
+
+    const char *ver_resp = "#VERSIONA,79,GPS,FINE,2326,378237000,15434,0,18,889;\"UM982\"\r\n";
+    mock_uart_rx_load(&huart5, (const uint8_t *)ver_resp, (uint16_t)strlen(ver_resp));
+
+    UM982_GPS_t init_gps;
+    um982_init(&init_gps, &huart5, 0.0f, 0.0f);
+
+    const char *tx = (const char *)mock_uart_tx_buf;
+    ASSERT_TRUE(strstr(tx, "CONFIG HEADING LENGTH") == NULL, "should NOT send LENGTH");
+    PASS();
+}
+
+static void test_init_fails_no_version(void)
+{
+    TEST("init: fails if no VERSIONA response");
+    spy_reset();
+    mock_uart_tx_clear();
+
+    /* Don't load any RX data — init should timeout */
+    UM982_GPS_t init_gps;
+    bool ok = um982_init(&init_gps, &huart5, 50.0f, 3.0f);
+
+    ASSERT_FALSE(ok, "init should fail without version response");
+    ASSERT_FALSE(init_gps.initialized, "should not be initialized");
+    PASS();
+}
+
+static void test_nmea_traffic_sets_initialized_without_versiona(void)
+{
+    TEST("init state: supported NMEA traffic sets initialized");
+    reset_gps();
+
+    ASSERT_FALSE(gps.initialized, "should start uninitialized");
+    um982_parse_sentence(&gps, "$GNTHS,341.3344,A*1F");
+    ASSERT_TRUE(gps.initialized, "supported NMEA should mark communication alive");
+    PASS();
+}
+
+/* ========================= Edge case tests =========================== */
+
+static void test_empty_fields_handled(void)
+{
+    TEST("edge: GGA with empty lat/lon fields");
+    reset_gps();
+    gps.latitude = 99.99;
+    gps.longitude = 99.99;
+
+    /* GGA with empty position fields (no fix) */
+    um982_parse_sentence(&gps,
+        "$GNGGA,235959.00,,,,,0,00,99.99,,,,,,*79");
+
+    ASSERT_EQ_INT(gps.fix_quality, 0, "no fix");
+    /* Latitude/longitude should not be updated (fields are empty) */
+    ASSERT_NEAR(gps.latitude, 99.99, 0.01, "lat unchanged");
+    ASSERT_NEAR(gps.longitude, 99.99, 0.01, "lon unchanged");
+    PASS();
+}
+
+static void test_sentence_too_short(void)
+{
+    TEST("edge: sentence too short to have formatter");
+    reset_gps();
+    /* Should not crash */
+    um982_parse_sentence(&gps, "$GN");
+    um982_parse_sentence(&gps, "$");
+    um982_parse_sentence(&gps, "");
+    um982_parse_sentence(&gps, NULL);
+    PASS();
+}
+
+static void test_line_overflow(void)
+{
+    TEST("edge: oversized line is dropped");
+    reset_gps();
+
+    /* Create a line longer than UM982_LINE_BUF_SIZE */
+    char big[200];
+    memset(big, 'X', sizeof(big));
+    big[0] = '$';
+    big[198] = '\n';
+    big[199] = '\0';
+
+    um982_feed(&gps, (const uint8_t *)big, 199);
+    /* Should not crash, heading should still be NAN */
+    ASSERT_NAN(gps.heading, "no valid data from overflow");
+    PASS();
+}
+
+static void test_process_via_mock_uart(void)
+{
+    TEST("process: reads from mock UART RX buffer");
+    reset_gps();
+    mock_set_tick(5000);
+
+    /* Load data into mock UART RX */
+    const char *data = "$GNTHS,275.1234,D*18\r\n";
+    mock_uart_rx_load(&huart5, (const uint8_t *)data, (uint16_t)strlen(data));
+
+    /* Call process() which reads from UART */
+    um982_process(&gps);
+
+    ASSERT_NEAR(gps.heading, 275.1234, 0.001, "heading via process()");
+    ASSERT_EQ_INT(gps.heading_mode, 'D', "mode D");
+    PASS();
+}
+
+/* ========================= PR #68 bug regression tests =============== */
+
+/* These tests specifically verify the bugs found in the reverted PR #68 */
+
+static void test_regression_sentence_id_with_gn_prefix(void)
+{
+    TEST("regression: GN-prefixed GGA is correctly identified");
+    reset_gps();
+
+    /* PR #68 bug: strncmp(sentence, "GGA", 3) compared "GNG" vs "GGA" — never matched.
+     * Our fix: skip 2-char talker ID, compare at sentence+3. */
+    um982_parse_sentence(&gps,
+        "$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
+
+    ASSERT_EQ_INT(gps.fix_quality, 1, "GGA should parse with GN prefix");
+    ASSERT_NEAR(gps.latitude, 44.069006, 0.001, "latitude should be parsed");
+    PASS();
+}
+
+static void test_regression_longitude_3digit_degrees(void)
+{
+    TEST("regression: 3-digit longitude degrees parsed correctly");
+    reset_gps();
+
+    /* PR #68 bug: hardcoded 2-digit degrees for longitude.
+     * 12118.85961 should be 121° 18.85961' = 121.314327° */
+    um982_parse_sentence(&gps,
+        "$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
+
+    ASSERT_NEAR(gps.longitude, -(121.0 + 18.85961/60.0), 0.0001,
+        "longitude 121° should not be parsed as 12°");
+    ASSERT_TRUE(gps.longitude < -100.0, "longitude should be > 100 degrees");
+    PASS();
+}
+
+static void test_regression_hemisphere_no_ptr_corrupt(void)
+{
+    TEST("regression: hemisphere parsing doesn't corrupt field pointer");
+    reset_gps();
+
+    /* PR #68 bug: GGA/RMC hemisphere cases manually advanced ptr,
+     * desynchronizing from field counter. Our parser uses proper tokenizer. */
+    um982_parse_sentence(&gps,
+        "$GNGGA,001043.00,4404.14036,N,12118.85961,W,1,12,0.98,1113.0,M,-21.3,M*47");
+
+    /* After lat/lon, remaining fields should be correct */
+    ASSERT_EQ_INT(gps.num_satellites, 12, "sats after hemisphere");
+    ASSERT_NEAR(gps.hdop, 0.98, 0.01, "hdop after hemisphere");
+    ASSERT_NEAR(gps.altitude, 1113.0, 0.1, "altitude after hemisphere");
+    PASS();
+}
+
+static void test_regression_rmc_also_parsed(void)
+{
+    TEST("regression: RMC sentence is actually parsed (not dead code)");
+    reset_gps();
+
+    /* PR #68 bug: identifySentence never matched GGA/RMC, so position
+     * parsing was dead code. */
+    um982_parse_sentence(&gps,
+        "$GNRMC,001031.00,A,4404.13993,N,12118.86023,W,0.146,,100117,,,A*7B");
+
+    ASSERT_TRUE(gps.latitude > 44.0, "RMC lat should be parsed");
+    ASSERT_TRUE(gps.longitude < -121.0, "RMC lon should be parsed");
+    ASSERT_NEAR(gps.speed_knots, 0.146, 0.001, "RMC speed");
+    PASS();
+}
+
+/* ========================= Main ====================================== */
+
+int main(void)
+{
+    printf("=== UM982 GPS Driver Tests ===\n\n");
+
+    printf("--- Checksum ---\n");
+    test_checksum_valid();
+    test_checksum_valid_ths();
+    test_checksum_invalid();
+    test_checksum_missing_star();
+    test_checksum_null();
+    test_checksum_no_dollar();
+
+    printf("\n--- Coordinate Parsing ---\n");
+    test_coord_latitude_north();
+    test_coord_latitude_south();
+    test_coord_longitude_3digit();
+    test_coord_longitude_east();
+    test_coord_empty();
+    test_coord_null();
+    test_coord_no_dot();
+
+    printf("\n--- GGA Parsing ---\n");
+    test_parse_gga_full();
+    test_parse_gga_rtk_fixed();
+    test_parse_gga_no_fix();
+
+    printf("\n--- RMC Parsing ---\n");
+    test_parse_rmc_valid();
+    test_parse_rmc_void();
+
+    printf("\n--- THS Parsing ---\n");
+    test_parse_ths_autonomous();
+    test_parse_ths_not_valid();
+    test_parse_ths_zero();
+    test_parse_ths_360_boundary();
+
+    printf("\n--- VTG Parsing ---\n");
+    test_parse_vtg();
+
+    printf("\n--- Talker IDs ---\n");
+    test_talker_gp();
+    test_talker_gl();
+
+    printf("\n--- Feed / Line Assembly ---\n");
+    test_feed_single_sentence();
+    test_feed_multiple_sentences();
+    test_feed_partial_then_complete();
+    test_feed_bad_checksum_rejected();
+    test_feed_versiona_response();
+
+    printf("\n--- Validity / Age ---\n");
+    test_heading_valid_within_timeout();
+    test_heading_invalid_after_timeout();
+    test_heading_invalid_mode_v();
+    test_position_valid();
+    test_position_invalid_no_fix();
+    test_position_age_uses_last_valid_fix();
+    test_heading_age();
+
+    printf("\n--- Send Command ---\n");
+    test_send_command_appends_crlf();
+    test_send_command_null_safety();
+
+    printf("\n--- Init Sequence ---\n");
+    test_init_sends_correct_commands();
+    test_init_no_baseline();
+    test_init_fails_no_version();
+    test_nmea_traffic_sets_initialized_without_versiona();
+
+    printf("\n--- Edge Cases ---\n");
+    test_empty_fields_handled();
+    test_sentence_too_short();
+    test_line_overflow();
+    test_process_via_mock_uart();
+
+    printf("\n--- PR #68 Regression ---\n");
+    test_regression_sentence_id_with_gn_prefix();
+    test_regression_longitude_3digit_degrees();
+    test_regression_hemisphere_no_ptr_corrupt();
+    test_regression_rmc_also_parsed();
+
+    printf("\n===============================================\n");
+    printf("  Results: %d passed, %d failed (of %d total)\n",
+           tests_passed, tests_failed, tests_passed + tests_failed);
+    printf("===============================================\n");
+
+    return tests_failed > 0 ? 1 : 0;
+}

9_Firmware/9_2_FPGA/constraints/xc7a50t_ftg256.xdc

@@ -225,7 +225,7 @@ set_property IOSTANDARD LVCMOS33 [get_ports {stm32_mixers_enable}]
 
 # DIG_5 = H11, DIG_6 = G12, DIG_7 = H12 — FPGA→STM32 status outputs
 # DIG_5: AGC saturation flag (PD13 on STM32)
-# DIG_6: reserved (PD14)
+# DIG_6: AGC enable flag (PD14) — mirrors FPGA host_agc_enable to STM32
 # DIG_7: reserved (PD15)
 set_property PACKAGE_PIN H11 [get_ports {gpio_dig5}]
 set_property PACKAGE_PIN G12 [get_ports {gpio_dig6}]

9_Firmware/9_2_FPGA/radar_receiver_final.v

@@ -11,8 +11,10 @@ module radar_receiver_final (
     input wire adc_dco_n,            // Data Clock Output N (400MHz LVDS)
 	 output wire adc_pwdn,
     
-    // Chirp counter from transmitter (for frame sync and matched filter)
+    // Chirp counter from transmitter (for matched filter indexing)
     input wire [5:0] chirp_counter,
+    // Frame-start pulse from transmitter (CDC-synchronized, 1 clk_100m cycle)
+    input wire tx_frame_start,
     
     output wire [31:0] doppler_output,
     output wire doppler_valid,
@@ -392,32 +394,31 @@ mti_canceller #(
     .mti_first_chirp(mti_first_chirp)
 );
 
-// ========== FRAME SYNC USING chirp_counter ==========
+// ========== FRAME SYNC FROM TRANSMITTER ==========
-reg [5:0] chirp_counter_prev;
+// [FPGA-001 FIXED] Use the authoritative new_chirp_frame signal from the
+// transmitter (via plfm_chirp_controller_enhanced), CDC-synchronized to
+// clk_100m in radar_system_top.  Previous code tried to derive frame
+// boundaries from chirp_counter == 0, but that counter comes from the
+// transmitter path (plfm_chirp_controller_enhanced) which does NOT wrap
+// at chirps_per_elev — it overflows to N and only wraps at 6-bit rollover
+// (64).  This caused frame pulses at half the expected rate for N=32.
+reg tx_frame_start_prev;
 reg new_frame_pulse;
 
 always @(posedge clk or negedge reset_n) begin
     if (!reset_n) begin
-        chirp_counter_prev <= 6'd0;
+        tx_frame_start_prev <= 1'b0;
         new_frame_pulse <= 1'b0;
     end else begin
-        // Default: no pulse
         new_frame_pulse <= 1'b0;
         
-        // Dynamic frame detection using host_chirps_per_elev.
+        // Edge detect: tx_frame_start is a toggle-CDC derived pulse that
-        // Detect frame boundary when chirp_counter changes AND is a
+        // may be 1 clock wide.  Capture rising edge for clean 1-cycle pulse.
-        // multiple of host_chirps_per_elev (0, N, 2N, 3N, ...).
+        if (tx_frame_start && !tx_frame_start_prev) begin
-        // Uses a modulo counter that resets at host_chirps_per_elev.
+            new_frame_pulse <= 1'b1;
-        if (chirp_counter != chirp_counter_prev) begin
-            if (chirp_counter == 6'd0 ||
-                chirp_counter == host_chirps_per_elev ||
-                chirp_counter == {host_chirps_per_elev, 1'b0}) begin
-                new_frame_pulse <= 1'b1;
-            end
         end
         
-        // Store previous value
+        tx_frame_start_prev <= tx_frame_start;
-        chirp_counter_prev <= chirp_counter;
     end
 end
 
@@ -483,14 +484,6 @@ always @(posedge clk or negedge reset_n) begin
             `endif
             chirps_in_current_frame <= 0;
         end
-        
-        // Monitor chirp counter pattern
-        if (chirp_counter != chirp_counter_prev) begin
-            `ifdef SIMULATION
-            $display("[TOP] chirp_counter: %0d ? %0d", 
-                     chirp_counter_prev, chirp_counter);
-            `endif
-        end
     end
 end
 

9_Firmware/9_2_FPGA/radar_system_top.v

@@ -130,7 +130,7 @@ module radar_system_top (
     // FPGA→STM32 GPIO outputs (DIG_5..DIG_7 on 50T board)
     // Used by STM32 outer AGC loop to read saturation state without USB polling.
     output wire gpio_dig5,          // DIG_5 (H11→PD13): AGC saturation flag (1=clipping detected)
-    output wire gpio_dig6,          // DIG_6 (G12→PD14): reserved (tied low)
+    output wire gpio_dig6,          // DIG_6 (G12→PD14): AGC enable flag (mirrors host_agc_enable)
     output wire gpio_dig7           // DIG_7 (H12→PD15): reserved (tied low)
 );
 
@@ -505,6 +505,8 @@ radar_receiver_final rx_inst (
     
     // Chirp counter from transmitter (CDC-synchronized from 120 MHz domain)
     .chirp_counter(tx_current_chirp_sync),
+    // Frame-start pulse from transmitter (CDC-synchronized toggle→pulse)
+    .tx_frame_start(tx_new_chirp_frame_sync),
     
     // ADC Physical Interface
     .adc_d_p(adc_d_p),
@@ -1035,9 +1037,11 @@ assign system_status = status_reg;
 // ============================================================================
 // DIG_5: AGC saturation flag — high when per-frame saturation_count > 0.
 //        STM32 reads PD13 to detect clipping and adjust ADAR1000 VGA gain.
-// DIG_6, DIG_7: Reserved (tied low for future use).
+// DIG_6: AGC enable flag — mirrors host_agc_enable so STM32 outer-loop AGC
+//        tracks the FPGA register as single source of truth.
+// DIG_7: Reserved (tied low for future use).
 assign gpio_dig5 = (rx_agc_saturation_count != 8'd0);
-assign gpio_dig6 = 1'b0;
+assign gpio_dig6 = host_agc_enable;
 assign gpio_dig7 = 1'b0;
 
 // ============================================================================

9_Firmware/9_2_FPGA/tb/cosim/fpga_model.py

@@ -291,9 +291,12 @@ class Mixer:
         Convert 8-bit unsigned ADC to 18-bit signed.
         RTL: adc_signed_w = {1'b0, adc_data, {9{1'b0}}} -
                             {1'b0, {8{1'b1}}, {9{1'b0}}} / 2
-        = (adc_data << 9) - (0xFF << 9) / 2
+
-        = (adc_data << 9) - (0xFF << 8)  [integer division]
+        Verilog '/' binds tighter than '-', so the division applies
-        = (adc_data << 9) - 0x7F80
+        only to the second concatenation:
+            {1'b0, 8'hFF, 9'b0} = 0x1FE00
+            0x1FE00 / 2 = 0xFF00 = 65280
+        Result: (adc_data << 9) - 0xFF00
         """
         adc_data_8bit = adc_data_8bit & 0xFF
         # {1'b0, adc_data, 9'b0} = adc_data << 9, zero-padded to 18 bits

9_Firmware/9_2_FPGA/tb/cosim/real_data/golden_reference.py

@@ -290,9 +290,9 @@ def run_ddc(adc_samples):
     for n in range(n_samples):
         # ADC sign conversion: RTL does offset binary → signed 18-bit
         # adc_signed_w = {1'b0, adc_data, 9'b0} - {1'b0, 8'hFF, 9'b0}/2
-        # Simplified: center around zero, scale to 18-bit
+        # Exact: (adc_val << 9) - 0xFF00, where 0xFF00 = {1'b0,8'hFF,9'b0}/2
         adc_val = int(adc_samples[n])
-        adc_signed = (adc_val - 128) << 9  # Approximate RTL sign conversion to 18-bit
+        adc_signed = (adc_val << 9) - 0xFF00  # Exact RTL: {1'b0,adc,9'b0} - {1'b0,8'hFF,9'b0}/2
         adc_signed = saturate(adc_signed, 18)
         
         # NCO lookup (ignoring dithering for golden reference)

9_Firmware/9_2_FPGA/tb/tb_radar_receiver_final.v

@@ -96,15 +96,31 @@ end
 reg [5:0] chirp_counter;
 reg mc_new_chirp_prev;
 
+// Frame-start pulse: mirrors the real transmitter's new_chirp_frame signal.
+// In the real system this fires on IDLE→LONG_CHIRP transitions in the chirp
+// controller.  Here we derive it from the mode controller's chirp_count
+// wrapping back to 0 (which wraps correctly at cfg_chirps_per_elev).
+reg tx_frame_start;
+reg [5:0] rmc_chirp_prev;
+
 always @(posedge clk_100m or negedge reset_n) begin
     if (!reset_n) begin
         chirp_counter <= 6'd0;
         mc_new_chirp_prev <= 1'b0;
+        tx_frame_start <= 1'b0;
+        rmc_chirp_prev <= 6'd0;
     end else begin
         mc_new_chirp_prev <= dut.mc_new_chirp;
         if (dut.mc_new_chirp != mc_new_chirp_prev) begin
             chirp_counter <= chirp_counter + 1;
         end
+        
+        // Detect when the internal mode controller's chirp_count wraps to 0
+        tx_frame_start <= 1'b0;
+        if (dut.rmc_chirp_count == 6'd0 && rmc_chirp_prev != 6'd0) begin
+            tx_frame_start <= 1'b1;
+        end
+        rmc_chirp_prev <= dut.rmc_chirp_count;
     end
 end
 
@@ -128,6 +144,7 @@ radar_receiver_final dut (
     .adc_pwdn(),
 
     .chirp_counter(chirp_counter),
+    .tx_frame_start(tx_frame_start),
 
     .doppler_output(doppler_output),
     .doppler_valid(doppler_valid),

9_Firmware/tests/cross_layer/adar1000_vm_reference.py

@@ -0,0 +1,216 @@
+"""ADAR1000 vector-modulator ground-truth table and firmware parser.
+
+This module is a pure data + helpers library imported by the cross-layer
+test suite (`9_Firmware/tests/cross_layer/test_cross_layer_contract.py`,
+class `TestTier2Adar1000VmTableGroundTruth`). It has no CLI entry point
+and no side effects on import beyond the structural assertion on the
+table length.
+
+Ground-truth source
+-------------------
+The 128-entry `(I, Q)` byte pairs below are transcribed from the ADAR1000
+datasheet Rev. B, Tables 13-16, page 34 ("Phase Shifter Programming"),
+which is the primary normative reference. The same values appear in the
+Analog Devices Linux beamformer driver
+(`drivers/iio/beamformer/adar1000.c`, `adar1000_phase_values[]`) and were
+cross-checked against that driver as a secondary, independent
+transcription. The byte values are factual data (5-bit unsigned magnitude
+in bits[4:0], polarity bit at bit[5], bits[7:6] reserved zero); no
+copyrightable creative expression. Only the datasheet is the
+licensing-relevant source.
+
+PLFM_RADAR firmware indexing convention
+---------------------------------------
+`adarSetRxPhase` / `adarSetTxPhase` in
+`9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.cpp`
+write `VM_I[phase % 128]` and `VM_Q[phase % 128]` to the chip. Each index
+N corresponds to commanded beam phase `N * 360/128 = N * 2.8125 deg`. The
+ADI table is also on a uniform 2.8125 deg grid (verified by
+`check_uniform_2p8125_deg_step` below), so a 1:1 mapping is correct:
+PLFM index N == ADI table row N.
+"""
+
+from __future__ import annotations
+
+import re
+
+# ----------------------------------------------------------------------------
+# Ground truth: ADAR1000 datasheet Rev. B Tables 13-16 p.34
+# Each entry: (angle_int_deg, angle_frac_x10000, vm_byte_I, vm_byte_Q)
+# ----------------------------------------------------------------------------
+GROUND_TRUTH: list[tuple[int, int, int, int]] = [
+    (0, 0, 0x3F, 0x20), (2, 8125, 0x3F, 0x21), (5, 6250, 0x3F, 0x23),
+    (8, 4375, 0x3F, 0x24), (11, 2500, 0x3F, 0x26), (14, 625, 0x3E, 0x27),
+    (16, 8750, 0x3E, 0x28), (19, 6875, 0x3D, 0x2A), (22, 5000, 0x3D, 0x2B),
+    (25, 3125, 0x3C, 0x2D), (28, 1250, 0x3C, 0x2E), (30, 9375, 0x3B, 0x2F),
+    (33, 7500, 0x3A, 0x30), (36, 5625, 0x39, 0x31), (39, 3750, 0x38, 0x33),
+    (42, 1875, 0x37, 0x34), (45, 0, 0x36, 0x35), (47, 8125, 0x35, 0x36),
+    (50, 6250, 0x34, 0x37), (53, 4375, 0x33, 0x38), (56, 2500, 0x32, 0x38),
+    (59, 625, 0x30, 0x39), (61, 8750, 0x2F, 0x3A), (64, 6875, 0x2E, 0x3A),
+    (67, 5000, 0x2C, 0x3B), (70, 3125, 0x2B, 0x3C), (73, 1250, 0x2A, 0x3C),
+    (75, 9375, 0x28, 0x3C), (78, 7500, 0x27, 0x3D), (81, 5625, 0x25, 0x3D),
+    (84, 3750, 0x24, 0x3D), (87, 1875, 0x22, 0x3D), (90, 0, 0x21, 0x3D),
+    (92, 8125, 0x01, 0x3D), (95, 6250, 0x03, 0x3D), (98, 4375, 0x04, 0x3D),
+    (101, 2500, 0x06, 0x3D), (104, 625, 0x07, 0x3C), (106, 8750, 0x08, 0x3C),
+    (109, 6875, 0x0A, 0x3C), (112, 5000, 0x0B, 0x3B), (115, 3125, 0x0D, 0x3A),
+    (118, 1250, 0x0E, 0x3A), (120, 9375, 0x0F, 0x39), (123, 7500, 0x11, 0x38),
+    (126, 5625, 0x12, 0x38), (129, 3750, 0x13, 0x37), (132, 1875, 0x14, 0x36),
+    (135, 0, 0x16, 0x35), (137, 8125, 0x17, 0x34), (140, 6250, 0x18, 0x33),
+    (143, 4375, 0x19, 0x31), (146, 2500, 0x19, 0x30), (149, 625, 0x1A, 0x2F),
+    (151, 8750, 0x1B, 0x2E), (154, 6875, 0x1C, 0x2D), (157, 5000, 0x1C, 0x2B),
+    (160, 3125, 0x1D, 0x2A), (163, 1250, 0x1E, 0x28), (165, 9375, 0x1E, 0x27),
+    (168, 7500, 0x1E, 0x26), (171, 5625, 0x1F, 0x24), (174, 3750, 0x1F, 0x23),
+    (177, 1875, 0x1F, 0x21), (180, 0, 0x1F, 0x20), (182, 8125, 0x1F, 0x01),
+    (185, 6250, 0x1F, 0x03), (188, 4375, 0x1F, 0x04), (191, 2500, 0x1F, 0x06),
+    (194, 625, 0x1E, 0x07), (196, 8750, 0x1E, 0x08), (199, 6875, 0x1D, 0x0A),
+    (202, 5000, 0x1D, 0x0B), (205, 3125, 0x1C, 0x0D), (208, 1250, 0x1C, 0x0E),
+    (210, 9375, 0x1B, 0x0F), (213, 7500, 0x1A, 0x10), (216, 5625, 0x19, 0x11),
+    (219, 3750, 0x18, 0x13), (222, 1875, 0x17, 0x14), (225, 0, 0x16, 0x15),
+    (227, 8125, 0x15, 0x16), (230, 6250, 0x14, 0x17), (233, 4375, 0x13, 0x18),
+    (236, 2500, 0x12, 0x18), (239, 625, 0x10, 0x19), (241, 8750, 0x0F, 0x1A),
+    (244, 6875, 0x0E, 0x1A), (247, 5000, 0x0C, 0x1B), (250, 3125, 0x0B, 0x1C),
+    (253, 1250, 0x0A, 0x1C), (255, 9375, 0x08, 0x1C), (258, 7500, 0x07, 0x1D),
+    (261, 5625, 0x05, 0x1D), (264, 3750, 0x04, 0x1D), (267, 1875, 0x02, 0x1D),
+    (270, 0, 0x01, 0x1D), (272, 8125, 0x21, 0x1D), (275, 6250, 0x23, 0x1D),
+    (278, 4375, 0x24, 0x1D), (281, 2500, 0x26, 0x1D), (284, 625, 0x27, 0x1C),
+    (286, 8750, 0x28, 0x1C), (289, 6875, 0x2A, 0x1C), (292, 5000, 0x2B, 0x1B),
+    (295, 3125, 0x2D, 0x1A), (298, 1250, 0x2E, 0x1A), (300, 9375, 0x2F, 0x19),
+    (303, 7500, 0x31, 0x18), (306, 5625, 0x32, 0x18), (309, 3750, 0x33, 0x17),
+    (312, 1875, 0x34, 0x16), (315, 0, 0x36, 0x15), (317, 8125, 0x37, 0x14),
+    (320, 6250, 0x38, 0x13), (323, 4375, 0x39, 0x11), (326, 2500, 0x39, 0x10),
+    (329, 625, 0x3A, 0x0F), (331, 8750, 0x3B, 0x0E), (334, 6875, 0x3C, 0x0D),
+    (337, 5000, 0x3C, 0x0B), (340, 3125, 0x3D, 0x0A), (343, 1250, 0x3E, 0x08),
+    (345, 9375, 0x3E, 0x07), (348, 7500, 0x3E, 0x06), (351, 5625, 0x3F, 0x04),
+    (354, 3750, 0x3F, 0x03), (357, 1875, 0x3F, 0x01),
+]
+
+assert len(GROUND_TRUTH) == 128, f"GROUND_TRUTH must have 128 entries, has {len(GROUND_TRUTH)}"
+
+VM_I_REF: list[int] = [row[2] for row in GROUND_TRUTH]
+VM_Q_REF: list[int] = [row[3] for row in GROUND_TRUTH]
+
+
+# ----------------------------------------------------------------------------
+# Structural-invariant checks on the embedded ground-truth transcription.
+# These defend against typos during the copy-paste from the datasheet / ADI
+# driver. Each function returns a list of error strings (empty == pass) so
+# callers (the pytest class) can assert-on-empty with a useful message.
+# ----------------------------------------------------------------------------
+def check_byte_format(label: str, table: list[int]) -> list[str]:
+    """Each byte must have bits[7:6] == 0 (reserved)."""
+    errors = []
+    for i, byte in enumerate(table):
+        if byte & 0xC0:
+            errors.append(f"{label}[{i}]=0x{byte:02X}: reserved bits[7:6] non-zero")
+    return errors
+
+
+def check_uniform_2p8125_deg_step() -> list[str]:
+    """Angles must form a uniform 2.8125 deg grid: angle[N] == N * 2.8125."""
+    errors = []
+    for i, (deg_int, deg_frac, _, _) in enumerate(GROUND_TRUTH):
+        # angle in units of 1/10000 degree; 2.8125 deg = 28125/10000 exactly
+        angle_e4 = deg_int * 10000 + deg_frac
+        expected_e4 = i * 28125
+        if angle_e4 != expected_e4:
+            errors.append(
+                f"GROUND_TRUTH[{i}]: angle {deg_int}.{deg_frac:04d} deg "
+                f"(={angle_e4}/10000) != expected {expected_e4}/10000 "
+                f"(=i*2.8125)"
+            )
+    return errors
+
+
+def check_quadrant_symmetry() -> list[str]:
+    """Angle and angle+180 deg must have inverted polarity bits but identical
+    magnitudes. Index offset 64 corresponds to 180 deg on the 128-step grid.
+
+    Exemption: when magnitude is zero the polarity bit is physically
+    meaningless (sign of zero is undefined for the IQ phasor projection).
+    The datasheet uses POL=1 for both 0 and 180 deg Q components (both
+    encode Q=0). Skip the polarity assertion for zero-magnitude entries.
+    """
+    errors = []
+    POL = 0x20
+    MAG = 0x1F
+    for i in range(64):
+        j = i + 64
+        mag_i_a, mag_i_b = VM_I_REF[i] & MAG, VM_I_REF[j] & MAG
+        if mag_i_a != mag_i_b:
+            errors.append(
+                f"VM_I[{i}]=0x{VM_I_REF[i]:02X} vs VM_I[{j}]=0x{VM_I_REF[j]:02X}: "
+                f"180 deg pair has different magnitude"
+            )
+        if mag_i_a != 0 and (VM_I_REF[i] & POL) == (VM_I_REF[j] & POL):
+            errors.append(
+                f"VM_I[{i}]=0x{VM_I_REF[i]:02X} vs VM_I[{j}]=0x{VM_I_REF[j]:02X}: "
+                f"180 deg pair has same polarity (should be inverted, mag={mag_i_a})"
+            )
+        mag_q_a, mag_q_b = VM_Q_REF[i] & MAG, VM_Q_REF[j] & MAG
+        if mag_q_a != mag_q_b:
+            errors.append(
+                f"VM_Q[{i}]=0x{VM_Q_REF[i]:02X} vs VM_Q[{j}]=0x{VM_Q_REF[j]:02X}: "
+                f"180 deg pair has different magnitude"
+            )
+        if mag_q_a != 0 and (VM_Q_REF[i] & POL) == (VM_Q_REF[j] & POL):
+            errors.append(
+                f"VM_Q[{i}]=0x{VM_Q_REF[i]:02X} vs VM_Q[{j}]=0x{VM_Q_REF[j]:02X}: "
+                f"180 deg pair has same polarity (should be inverted, mag={mag_q_a})"
+            )
+    return errors
+
+
+def check_cardinal_points() -> list[str]:
+    """Spot-check cardinal phase points against datasheet expectations."""
+    errors = []
+    expectations = [
+        (0,  0x3F, 0x20, "0 deg: max +I, ~zero Q"),
+        (32, 0x21, 0x3D, "90 deg: ~zero I, max +Q"),
+        (64, 0x1F, 0x20, "180 deg: max -I, ~zero Q"),
+        (96, 0x01, 0x1D, "270 deg: ~zero I, max -Q"),
+    ]
+    for idx, exp_i, exp_q, desc in expectations:
+        if VM_I_REF[idx] != exp_i or VM_Q_REF[idx] != exp_q:
+            errors.append(
+                f"index {idx} ({desc}): expected (0x{exp_i:02X}, 0x{exp_q:02X}), "
+                f"got (0x{VM_I_REF[idx]:02X}, 0x{VM_Q_REF[idx]:02X})"
+            )
+    return errors
+
+
+# ----------------------------------------------------------------------------
+# Parse VM_I[] / VM_Q[] from firmware C++ source.
+# ----------------------------------------------------------------------------
+ARRAY_RE = re.compile(
+    r"const\s+uint8_t\s+ADAR1000Manager::(?P<name>VM_I|VM_Q|VM_GAIN)\s*"
+    r"\[\s*128\s*\]\s*=\s*\{(?P<body>[^}]*)\}\s*;",
+    re.DOTALL,
+)
+HEX_RE = re.compile(r"0[xX][0-9a-fA-F]{1,2}")
+
+
+def parse_array(source: str, name: str) -> list[int] | None:
+    """Extract a 128-entry uint8_t array from C++ source by name.
+
+    Returns None if the array is not found. Returns a list (possibly shorter
+    than 128) of the parsed bytes if found; caller is responsible for length
+    validation.
+
+    LIMITATION (intentional, see PR fix/adar1000-vm-tables review finding #2):
+    ARRAY_RE uses `[^}]*` for the body, which terminates at the first `}`.
+    This is sufficient for the *flat* `const uint8_t NAME[128] = { ... };`
+    declarations VM_I/VM_Q use today, but it would mis-parse if the array
+    body ever contained nested braces (e.g. designated initialisers, struct
+    aggregates, or macro-expansions producing braces). If the firmware ever
+    needs such a form for the VM tables, replace ARRAY_RE with a balanced
+    brace-counting parser. Until then, the current regex is preferred for
+    its simplicity and the round-trip tests will catch any silent breakage.
+    """
+    for m in ARRAY_RE.finditer(source):
+        if m.group("name") != name:
+            continue
+        body = m.group("body")
+        body = re.sub(r"//[^\n]*", "", body)
+        body = re.sub(r"/\*.*?\*/", "", body, flags=re.DOTALL)
+        return [int(tok, 16) for tok in HEX_RE.findall(body)]
+    return None

9_Firmware/tests/cross_layer/contract_parser.py

@@ -515,6 +515,7 @@ def count_concat_bits(concat_expr: str, port_widths: dict[str, int]) -> ConcatWi
             # Unknown width — flag it
             fragments.append((part, -1))
             total = -1  # Can't compute
+            break
 
     return ConcatWidth(
         total_bits=total,

9_Firmware/tests/cross_layer/test_cross_layer_contract.py

@@ -27,6 +27,7 @@ layers agree (because both could be wrong).
 from __future__ import annotations
 
 import os
+import re
 import struct
 import subprocess
 import tempfile
@@ -40,6 +41,7 @@ import sys
 THIS_DIR = Path(__file__).resolve().parent
 sys.path.insert(0, str(THIS_DIR))
 import contract_parser as cp  # noqa: E402
+import adar1000_vm_reference as adar_vm  # noqa: E402
 
 # Also add the GUI dir to import radar_protocol
 sys.path.insert(0, str(cp.GUI_DIR))
@@ -49,8 +51,8 @@ sys.path.insert(0, str(cp.GUI_DIR))
 # Helpers
 # ===================================================================
 
-IVERILOG = os.environ.get("IVERILOG", "/opt/homebrew/bin/iverilog")
+IVERILOG = os.environ.get("IVERILOG", "iverilog")
-VVP = os.environ.get("VVP", "/opt/homebrew/bin/vvp")
+VVP = os.environ.get("VVP", "vvp")
 CXX = os.environ.get("CXX", "c++")
 
 # Check tool availability for conditional skipping
@@ -61,6 +63,92 @@ _has_cxx = subprocess.run(
     [CXX, "--version"], capture_output=True
 ).returncode == 0
 
+# In CI, missing tools must be a hard failure — never silently skip.
+_in_ci = os.environ.get("GITHUB_ACTIONS") == "true"
+if _in_ci:
+    if not _has_iverilog:
+        raise RuntimeError(
+            "iverilog is required in CI but was not found. "
+            "Ensure 'apt-get install iverilog' ran and IVERILOG/VVP are on PATH."
+        )
+    if not _has_cxx:
+        raise RuntimeError(
+            "C++ compiler is required in CI but was not found. "
+            "Ensure build-essential is installed."
+        )
+
+
+def _strip_cxx_comments_and_strings(src: str) -> str:
+    """Return src with all C/C++ comments and string/char literals removed.
+
+    Tokenising state machine with four states:
+      * CODE              — default; watches for `"`, `'`, `//`, `/*`
+      * STRING ("...")    — handles `\\"` and `\\\\` escapes
+      * CHAR   ('...')    — handles `\\'` and `\\\\` escapes
+      * LINE_COMMENT      — until next `\\n`
+      * BLOCK_COMMENT     — until next `*/`
+
+    Used by test_vm_gain_table_is_not_reintroduced to ensure the substring
+    "VM_GAIN" appearing only inside an explanatory comment or a string
+    literal does NOT count as code reintroduction. We replace stripped
+    regions with a single space so token boundaries (and line counts, by
+    approximation — newlines preserved) are not collapsed.
+    """
+    out: list[str] = []
+    i = 0
+    n = len(src)
+    CODE, STRING, CHAR, LINE_C, BLOCK_C = 0, 1, 2, 3, 4
+    state = CODE
+    while i < n:
+        c = src[i]
+        nxt = src[i + 1] if i + 1 < n else ""
+        if state == CODE:
+            if c == "/" and nxt == "/":
+                state = LINE_C
+                i += 2
+            elif c == "/" and nxt == "*":
+                state = BLOCK_C
+                i += 2
+            elif c == '"':
+                state = STRING
+                i += 1
+            elif c == "'":
+                state = CHAR
+                i += 1
+            else:
+                out.append(c)
+                i += 1
+        elif state == STRING:
+            if c == "\\" and i + 1 < n:
+                i += 2  # skip escape pair (handles \" and \\)
+            elif c == '"':
+                state = CODE
+                i += 1
+            else:
+                i += 1
+        elif state == CHAR:
+            if c == "\\" and i + 1 < n:
+                i += 2
+            elif c == "'":
+                state = CODE
+                i += 1
+            else:
+                i += 1
+        elif state == LINE_C:
+            if c == "\n":
+                out.append("\n")  # preserve line numbering
+                state = CODE
+            i += 1
+        elif state == BLOCK_C:
+            if c == "*" and nxt == "/":
+                state = CODE
+                i += 2
+            else:
+                if c == "\n":
+                    out.append("\n")
+                i += 1
+    return "".join(out)
+
 
 def _parse_hex_results(text: str) -> list[dict[str, str]]:
     """Parse space-separated hex lines from TB output files."""
@@ -355,6 +443,188 @@ class TestTier1ResetDefaults:
             )
 
 
+class TestTier1AgcCrossLayerInvariant:
+    """
+    Verify AGC enable/disable is consistent across FPGA, MCU, and GUI layers.
+
+    System-level invariant: the FPGA register host_agc_enable is the single
+    source of truth for AGC state. It propagates to MCU via DIG_6 GPIO and
+    to GUI via status word 4 bit[11]. At boot, all layers must agree AGC=OFF.
+    At runtime, the MCU must read DIG_6 every frame to sync its outer-loop AGC.
+    """
+
+    def test_fpga_dig6_drives_agc_enable(self):
+        """FPGA must drive gpio_dig6 from host_agc_enable, NOT tied low."""
+        rtl = (cp.FPGA_DIR / "radar_system_top.v").read_text()
+        # Must find: assign gpio_dig6 = host_agc_enable;
+        assert re.search(
+            r'assign\s+gpio_dig6\s*=\s*host_agc_enable\s*;', rtl
+        ), "gpio_dig6 must be driven by host_agc_enable (not tied low)"
+        # Must NOT have the old tied-low pattern
+        assert not re.search(
+            r"assign\s+gpio_dig6\s*=\s*1'b0\s*;", rtl
+        ), "gpio_dig6 must NOT be tied low — it carries AGC enable"
+
+    def test_fpga_agc_enable_boot_default_off(self):
+        """FPGA host_agc_enable must reset to 0 (AGC off at boot)."""
+        v_defaults = cp.parse_verilog_reset_defaults()
+        assert "host_agc_enable" in v_defaults, (
+            "host_agc_enable not found in reset block"
+        )
+        assert v_defaults["host_agc_enable"] == 0, (
+            f"host_agc_enable reset default is {v_defaults['host_agc_enable']}, "
+            "expected 0 (AGC off at boot)"
+        )
+
+    def test_mcu_agc_constructor_default_off(self):
+        """MCU ADAR1000_AGC constructor must default enabled=false."""
+        agc_cpp = (cp.MCU_LIB_DIR / "ADAR1000_AGC.cpp").read_text()
+        # The constructor initializer list must have enabled(false)
+        assert re.search(
+            r'enabled\s*\(\s*false\s*\)', agc_cpp
+        ), "ADAR1000_AGC constructor must initialize enabled(false)"
+        assert not re.search(
+            r'enabled\s*\(\s*true\s*\)', agc_cpp
+        ), "ADAR1000_AGC constructor must NOT initialize enabled(true)"
+
+    def test_mcu_reads_dig6_before_agc_gate(self):
+        """MCU main loop must read DIG_6 GPIO to sync outerAgc.enabled."""
+        main_cpp = (cp.MCU_CODE_DIR / "main.cpp").read_text()
+        # DIG_6 must be read via HAL_GPIO_ReadPin
+        assert re.search(
+            r'HAL_GPIO_ReadPin\s*\(\s*FPGA_DIG6', main_cpp,
+        ), "main.cpp must read DIG_6 GPIO via HAL_GPIO_ReadPin"
+        # outerAgc.enabled must be assigned from the DIG_6 reading
+        # (may be indirect via debounce variable like dig6_now)
+        assert re.search(
+            r'outerAgc\.enabled\s*=', main_cpp,
+        ), "main.cpp must assign outerAgc.enabled from DIG_6 state"
+
+    def test_boot_invariant_all_layers_agc_off(self):
+        """
+        At boot, all three layers must agree: AGC is OFF.
+        - FPGA: host_agc_enable resets to 0 -> DIG_6 low
+        - MCU: ADAR1000_AGC.enabled defaults to false
+        - GUI: reads status word 4 bit[11] = 0 -> reports MANUAL
+        """
+        # FPGA
+        v_defaults = cp.parse_verilog_reset_defaults()
+        assert v_defaults.get("host_agc_enable") == 0
+
+        # MCU
+        agc_cpp = (cp.MCU_LIB_DIR / "ADAR1000_AGC.cpp").read_text()
+        assert re.search(r'enabled\s*\(\s*false\s*\)', agc_cpp)
+
+        # GUI: status word 4 bit[11] is host_agc_enable, which resets to 0.
+        # Verify the GUI parses bit[11] of status word 4 as the AGC flag.
+        gui_py = (cp.GUI_DIR / "radar_protocol.py").read_text()
+        assert re.search(
+            r'words\[4\].*>>\s*11|status_words\[4\].*>>\s*11',
+            gui_py,
+        ), "GUI must parse AGC status from words[4] bit[11]"
+
+    def test_status_word4_agc_bit_matches_dig6_source(self):
+        """
+        Status word 4 bit[11] and DIG_6 must both derive from host_agc_enable.
+        This guarantees the GUI status display can never lie about MCU AGC state.
+        """
+        rtl = (cp.FPGA_DIR / "radar_system_top.v").read_text()
+
+        # DIG_6 driven by host_agc_enable
+        assert re.search(
+            r'assign\s+gpio_dig6\s*=\s*host_agc_enable\s*;', rtl
+        )
+
+        # Status word 4 must contain host_agc_enable (may be named
+        # status_agc_enable at the USB interface port boundary).
+        # Also verify the top-level wiring connects them.
+        usb_ft2232h = (cp.FPGA_DIR / "usb_data_interface_ft2232h.v").read_text()
+        usb_ft601 = (cp.FPGA_DIR / "usb_data_interface.v").read_text()
+
+        # USB interfaces use the port name status_agc_enable
+        found_in_ft2232h = "status_agc_enable" in usb_ft2232h
+        found_in_ft601 = "status_agc_enable" in usb_ft601
+
+        assert found_in_ft2232h or found_in_ft601, (
+            "status_agc_enable must appear in at least one USB interface's "
+            "status word to guarantee GUI status matches DIG_6"
+        )
+
+        # Verify top-level wiring: status_agc_enable port is connected
+        # to host_agc_enable (same signal that drives DIG_6)
+        assert re.search(
+            r'\.status_agc_enable\s*\(\s*host_agc_enable\s*\)', rtl
+        ), (
+            "Top-level must wire .status_agc_enable(host_agc_enable) "
+            "so status word and DIG_6 derive from the same signal"
+        )
+
+    def test_mcu_dig6_debounce_guards_enable_assignment(self):
+        """
+        MCU must apply a 2-frame confirmation debounce before mutating
+        outerAgc.enabled from DIG_6 reads. A naive assignment straight from
+        the latest GPIO sample would let a single-cycle glitch flip the AGC
+        state for one frame — defeating the debounce claim in the PR body.
+        """
+        main_cpp = (cp.MCU_CODE_DIR / "main.cpp").read_text()
+
+        # (1) Current-frame DIG_6 sample must be captured in a local variable
+        # so it can be compared against the previous-frame value.
+        now_match = re.search(
+            r'(bool|int|uint8_t)\s+(\w*dig6\w*)\s*=\s*[^;]*?'
+            r'HAL_GPIO_ReadPin\s*\(\s*FPGA_DIG6[^;]*;',
+            main_cpp,
+            re.DOTALL,
+        )
+        assert now_match, (
+            "DIG_6 read must be stored in a local variable (e.g. `dig6_now`) "
+            "so the current sample can be compared against the previous frame"
+        )
+        now_var = now_match.group(2)
+
+        # (2) Previous-frame state must persist across iterations via static
+        # storage, and must default to false (matches FPGA boot: AGC off).
+        prev_match = re.search(
+            r'static\s+(bool|int|uint8_t)\s+(\w*dig6\w*)\s*=\s*(false|0)\s*;',
+            main_cpp,
+        )
+        assert prev_match, (
+            "A static previous-frame variable (e.g. "
+            "`static bool dig6_prev = false;`) must exist, initialized to "
+            "false so the debounce starts in sync with the FPGA boot default"
+        )
+        prev_var = prev_match.group(2)
+        assert prev_var != now_var, (
+            f"Current and previous DIG_6 variables must be distinct "
+            f"(both are '{now_var}')"
+        )
+
+        # (3) outerAgc.enabled assignment must be gated by now == prev.
+        guarded_assign = re.search(
+            rf'if\s*\(\s*{now_var}\s*==\s*{prev_var}\s*\)\s*\{{[^}}]*?'
+            rf'outerAgc\.enabled\s*=\s*{now_var}\s*;',
+            main_cpp,
+            re.DOTALL,
+        )
+        assert guarded_assign, (
+            f"`outerAgc.enabled = {now_var};` must be inside "
+            f"`if ({now_var} == {prev_var}) {{ ... }}` — the confirmation "
+            "guard that absorbs single-sample GPIO glitches. A naive "
+            "assignment without this guard reintroduces the glitch bug."
+        )
+
+        # (4) Previous-frame variable must advance each frame.
+        prev_update = re.search(
+            rf'{prev_var}\s*=\s*{now_var}\s*;',
+            main_cpp,
+        )
+        assert prev_update, (
+            f"`{prev_var} = {now_var};` must run each frame so the "
+            "debounce window slides forward; without it the guard is "
+            "stuck and enable changes never confirm"
+        )
+
+
 class TestTier1DataPacketLayout:
     """Verify data packet byte layout matches between Python and Verilog."""
 
@@ -468,6 +738,204 @@ class TestTier1STM32SettingsPacket:
         assert flag == [23, 46, 158, 237], f"Start flag: {flag}"
 
 
+# ===================================================================
+# TIER 2: ADAR1000 Vector Modulator Lookup-Table Ground Truth
+# ===================================================================
+#
+# Cross-layer contract: the firmware constants
+#   ADAR1000Manager::VM_I[128] / VM_Q[128]
+# (in 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.cpp)
+# MUST equal the byte values published in the ADAR1000 datasheet Rev. B,
+# Tables 13-16 page 34 ("Phase Shifter Programming"), on a uniform 2.8125 deg
+# grid (index N == phase N * 360/128 deg).
+#
+# Independent ground truth lives in tools/verify_adar1000_vm_tables.py
+# (transcribed from the datasheet, cross-checked against the ADI Linux
+# beamformer driver as a secondary source). This test imports that
+# reference and asserts a byte-exact match.
+#
+# Historical bug guarded against: from initial commit through PR #94 the
+# arrays shipped as empty placeholders ("// ... (same as in your original
+# file)"), so every adarSetRxPhase / adarSetTxPhase call wrote I=Q=0 and
+# beam steering was non-functional. A separate VM_GAIN[128] table was
+# declared but never read anywhere; this test also enforces its removal so
+# it cannot be reintroduced and silently shadow real bugs.
+
+class TestTier2Adar1000VmTableGroundTruth:
+    """Firmware ADAR1000 VM_I/VM_Q must match datasheet ground truth byte-exact."""
+
+    @pytest.fixture(scope="class")
+    def cpp_source(self):
+        path = (
+            cp.REPO_ROOT
+            / "9_Firmware"
+            / "9_1_Microcontroller"
+            / "9_1_1_C_Cpp_Libraries"
+            / "ADAR1000_Manager.cpp"
+        )
+        assert path.is_file(), f"Firmware source missing: {path}"
+        return path.read_text()
+
+    def test_ground_truth_table_shape(self):
+        """Sanity-check the imported reference (defends against import-path mishap)."""
+        gt = adar_vm.GROUND_TRUTH
+        assert len(gt) == 128, "Ground-truth table must have exactly 128 entries"
+        # Each row is (deg_int, deg_frac_e4, vm_i_byte, vm_q_byte)
+        for k, row in enumerate(gt):
+            assert len(row) == 4, f"Row {k} malformed: {row}"
+            assert 0 <= row[2] <= 0xFF, f"VM_I[{k}] out of byte range: {row[2]:#x}"
+            assert 0 <= row[3] <= 0xFF, f"VM_Q[{k}] out of byte range: {row[3]:#x}"
+            # Byte format: bits[7:6] reserved zero, bits[5] polarity, bits[4:0] mag
+            assert (row[2] & 0xC0) == 0, f"VM_I[{k}] reserved bits set: {row[2]:#x}"
+            assert (row[3] & 0xC0) == 0, f"VM_Q[{k}] reserved bits set: {row[3]:#x}"
+
+    def test_ground_truth_byte_format(self):
+        """Transcription self-check: every VM_I/VM_Q byte has reserved bits clear."""
+        errors = adar_vm.check_byte_format("VM_I_REF", adar_vm.VM_I_REF)
+        errors += adar_vm.check_byte_format("VM_Q_REF", adar_vm.VM_Q_REF)
+        assert not errors, (
+            "Byte-format violations in embedded GROUND_TRUTH (likely transcription "
+            "typo from ADAR1000 datasheet Tables 13-16):\n  " + "\n  ".join(errors)
+        )
+
+    def test_ground_truth_uniform_2p8125_deg_grid(self):
+        """Transcription self-check: angles form a uniform 2.8125 deg grid.
+
+        This is the assumption that lets the firmware use `VM_*[phase % 128]`
+        as a direct index (no nearest-neighbour search). If the embedded
+        angles drift off the grid, the firmware's indexing model is wrong.
+        """
+        errors = adar_vm.check_uniform_2p8125_deg_step()
+        assert not errors, (
+            "Non-uniform angle grid in GROUND_TRUTH:\n  " + "\n  ".join(errors)
+        )
+
+    def test_ground_truth_quadrant_symmetry(self):
+        """Transcription self-check: phi and phi+180 deg have same magnitude,
+        opposite polarity. Catches swapped/rotated rows in the table.
+        """
+        errors = adar_vm.check_quadrant_symmetry()
+        assert not errors, (
+            "Quadrant-symmetry violation in GROUND_TRUTH (table rows may be "
+            "transposed or mis-transcribed):\n  " + "\n  ".join(errors)
+        )
+
+    def test_ground_truth_cardinal_points(self):
+        """Transcription self-check: the four cardinal phases (0, 90, 180,
+        270 deg) match the datasheet-published extrema exactly.
+        """
+        errors = adar_vm.check_cardinal_points()
+        assert not errors, (
+            "Cardinal-point mismatch in GROUND_TRUTH vs ADAR1000 datasheet "
+            "Tables 13-16:\n  " + "\n  ".join(errors)
+        )
+
+    def test_firmware_vm_i_matches_datasheet(self, cpp_source):
+        gt = adar_vm.GROUND_TRUTH
+        firmware = adar_vm.parse_array(cpp_source, "VM_I")
+        assert firmware is not None, (
+            "Could not parse VM_I[128] from ADAR1000_Manager.cpp; "
+            "definition pattern may have drifted"
+        )
+        assert len(firmware) == 128, (
+            f"VM_I has {len(firmware)} entries, expected 128. "
+            "Empty placeholder regression — every phase write would emit I=0 "
+            "and beam steering would be silently broken."
+        )
+        mismatches = [
+            (k, firmware[k], gt[k][2])
+            for k in range(128)
+            if firmware[k] != gt[k][2]
+        ]
+        assert not mismatches, (
+            f"VM_I diverges from datasheet at {len(mismatches)} indices; "
+            f"first 5: {mismatches[:5]}"
+        )
+
+    def test_firmware_vm_q_matches_datasheet(self, cpp_source):
+        gt = adar_vm.GROUND_TRUTH
+        firmware = adar_vm.parse_array(cpp_source, "VM_Q")
+        assert firmware is not None, (
+            "Could not parse VM_Q[128] from ADAR1000_Manager.cpp; "
+            "definition pattern may have drifted"
+        )
+        assert len(firmware) == 128, (
+            f"VM_Q has {len(firmware)} entries, expected 128. "
+            "Empty placeholder regression — every phase write would emit Q=0."
+        )
+        mismatches = [
+            (k, firmware[k], gt[k][3])
+            for k in range(128)
+            if firmware[k] != gt[k][3]
+        ]
+        assert not mismatches, (
+            f"VM_Q diverges from datasheet at {len(mismatches)} indices; "
+            f"first 5: {mismatches[:5]}"
+        )
+
+    def test_vm_gain_table_is_not_reintroduced(self, cpp_source):
+        """Dead-code regression guard: VM_GAIN[128] must not exist as code.
+
+        The ADAR1000 vector modulator has no separate gain register; magnitude
+        is bits[4:0] of the I/Q bytes themselves. Per-channel VGA gain uses
+        registers CHx_RX_GAIN (0x10-0x13) / CHx_TX_GAIN (0x1C-0x1F) written
+        directly by adarSetRxVgaGain / adarSetTxVgaGain. A VM_GAIN[] array
+        was declared in early development, never populated, never read, and
+        was removed in PR fix/adar1000-vm-tables. Reintroducing it would
+        suggest (falsely) that an extra lookup is needed and could mask the
+        real signal path.
+
+        Uses a tokenising comment/string stripper so that the historical
+        explanation comment in the cpp file, as well as any string literal
+        containing the substring "VM_GAIN", does not trip the check.
+        """
+        stripped = _strip_cxx_comments_and_strings(cpp_source)
+        assert "VM_GAIN" not in stripped, (
+            "VM_GAIN symbol reappeared in ADAR1000_Manager.cpp executable code. "
+            "This array has no hardware backing and must not be reintroduced. "
+            "If you need to scale phase-state magnitude, modify VM_I/VM_Q "
+            "bits[4:0] directly per the datasheet."
+        )
+
+    def test_adversarial_corruption_is_detected(self):
+        """Adversarial self-test: a flipped byte in firmware MUST fail comparison.
+
+        Defends against silent bypass — e.g. a future refactor that mocks
+        parse_array() or compares len() only. We synthesise a corrupted cpp
+        source string, run the same parser, and assert mismatch is detected.
+        """
+        gt = adar_vm.GROUND_TRUTH
+        # Build a minimal valid-looking cpp snippet with one corrupted byte.
+        good_i = ", ".join(f"0x{gt[k][2]:02X}" for k in range(128))
+        good_q = ", ".join(f"0x{gt[k][3]:02X}" for k in range(128))
+        snippet_good = (
+            f"const uint8_t ADAR1000Manager::VM_I[128] = {{ {good_i} }};\n"
+            f"const uint8_t ADAR1000Manager::VM_Q[128] = {{ {good_q} }};\n"
+        )
+        # Sanity: the unmodified snippet must parse and match.
+        parsed_i = adar_vm.parse_array(snippet_good, "VM_I")
+        assert parsed_i is not None and len(parsed_i) == 128
+        assert all(parsed_i[k] == gt[k][2] for k in range(128)), (
+            "Self-test setup error: golden snippet does not match GROUND_TRUTH"
+        )
+        # Now flip the low bit of VM_I[42] and confirm detection.
+        corrupted_byte = gt[42][2] ^ 0x01
+        bad_i = ", ".join(
+            f"0x{(corrupted_byte if k == 42 else gt[k][2]):02X}"
+            for k in range(128)
+        )
+        snippet_bad = (
+            f"const uint8_t ADAR1000Manager::VM_I[128] = {{ {bad_i} }};\n"
+            f"const uint8_t ADAR1000Manager::VM_Q[128] = {{ {good_q} }};\n"
+        )
+        parsed_bad = adar_vm.parse_array(snippet_bad, "VM_I")
+        assert parsed_bad is not None and len(parsed_bad) == 128
+        assert parsed_bad[42] != gt[42][2], (
+            "Adversarial self-test FAILED: corrupted byte at index 42 was "
+            "not detected by parse_array. The cross-layer test is bypassable."
+        )
+
+
 # ===================================================================
 # TIER 2: Verilog Cosimulation
 # ===================================================================

CONTRIBUTING.md

@@ -5,140 +5,109 @@ for getting a change reviewed and merged.
 
 ## Getting started
 
-1. Fork the repository and create a topic branch from `develop`.
+1. Fork the repository and create a topic branch from `develop`. The `main` branch is for production releases only.
-2. Keep generated outputs (Vivado projects, bitstreams, build logs)
+2. Keep generated outputs (Vivado projects, bitstreams, build logs) out of version control.
-   out of version control — the `.gitignore` already covers most of
+
-   these.
+### Security Mandate: Package Installation
+Due to supply chain attack risks, **ALL package installations MUST use the `sfw` (secure firewall) prefix**.
+- Python: `sfw uv pip install <package>` (Do not use raw pip)
+- Node/JS: `sfw npm install <package>`
+- Rust/Cargo: `sfw cargo <command>`
+
+Never run bare package installation commands without the `sfw` prefix.
 
 ## Repository layout
 
 | Path | Contents |
 |------|----------|
 | `4_Schematics and Boards Layout/` | KiCad schematics, Gerbers, BOM/CPL |
+| `9_Firmware/9_1_Microcontroller/` | STM32 MCU C/C++ firmware and unit tests |
 | `9_Firmware/9_2_FPGA/` | Verilog RTL, constraints, testbenches, build scripts |
-| `9_Firmware/9_2_FPGA/formal/` | SymbiYosys formal-verification wrappers |
+| `9_Firmware/9_3_GUI/` | Python radar dashboard (Tkinter/PyQt6) and CLI tools |
-| `9_Firmware/9_2_FPGA/scripts/` | Vivado TCL build & debug scripts |
+| `9_Firmware/tests/cross_layer/` | Python-based system invariant/contract tests |
-| `9_Firmware/9_3_GUI/` | Python radar dashboard (Tkinter + matplotlib) |
 | `docs/` | GitHub Pages documentation site |
 
-## Before submitting a pull request
+## Code Standards & Tooling
 
-- **Python** — verify syntax: `python3 -m py_compile <file>`
+- **Python (GUI, Scripts, Tests)**:
-- **Verilog** — if you have Vivado, run the relevant `build*.tcl`;
+  - We use `uv` for dependency management.
-  if not, note which scripts your change affects
+  - We strictly enforce linting with `ruff`. Run `uv run ruff check .` before committing.
-- **Whitespace** — `git diff --check` should be clean
+  - Test with `pytest`.
-- Keep PRs focused: one logical change per PR is easier to review
+- **Verilog (FPGA)**:
-- **Run the regression tests** (see below)
+  - The RTL (`radar_system_top.v`) is the single source of truth for opcode values, bit widths, reset defaults, and valid ranges.
+  - Testbenches must include **adversarial validation**: actively test boundary conditions, race conditions, unexpected input sequences, and reset mid-operation.
+  - Use `iverilog` for simulation.
+- **C/C++ (MCU)**:
+  - Use `make test` for host-side unit testing (cpputest).
+- **System-Level Invariants**:
+  - Whenever adding code, verify that system-level invariants (across module, process, and chip boundaries) hold true.
 
-## Running regression tests
+## AI Usage Policy
 
-After any change, run the relevant test suites to verify nothing is
+The use of AI is permitted but we have to make sure that the quality and control of the codebase doesn't depend on the agents but the maintainer pushing the changes, meaning they are fully responsible for the code they commit.
-broken. All commands assume you are at the repository root.
 
-### Prerequisites
+1. **Human Accountability** — The committing engineer is fully responsible for AI-generated code as if they wrote it. Every PR must be understood and defensible by a human.
+2. **Mandatory Review** — No raw AI output may be committed unread. AI code must pass the same review bar as hand-written code.
+3. **Full CI Before Commit** — All AI-assisted changes must pass the complete CI suite locally (lint, unit, regression, cross-layer) before commit.
 
-| Tool | Used by | Install |
+## Running the Test Suites
-|------|---------|---------|
-| [Icarus Verilog](http://iverilog.icarus.com/) (`iverilog`) | FPGA regression | `brew install icarus-verilog` / `apt install iverilog` |
-| Python 3.8+ | GUI tests, co-sim | Usually pre-installed |
-| GNU Make | MCU tests | Usually pre-installed |
-| [SymbiYosys](https://symbiyosys.readthedocs.io/) (`sby`) | Formal verification | Optional — see SymbiYosys docs |
 
-### FPGA regression (RTL lint + unit/integration/signal-processing tests)
+We use GitHub Actions for CI, which runs four main jobs on every PR. Run these locally before pushing.
 
+### 1. Python & Linting
+```bash
+uv run ruff check .
+cd 9_Firmware/9_3_GUI
+uv run pytest test_GUI_V65_Tk.py test_v7.py -v
+```
+
+### 2. FPGA Regression
 ```bash
 cd 9_Firmware/9_2_FPGA
 bash run_regression.sh
 ```
+This runs five phases (Lint, Changed Modules, Integration, Signal Processing, Infrastructure, and **P0 Adversarial Tests**). All must pass.
 
-This runs four phases:
+### 3. MCU Unit Tests
-
-| Phase | What it checks |
-|-------|----------------|
-| 0 — Lint | `iverilog -Wall` on all production RTL + static regex checks |
-| 1 — Changed Modules | Unit tests for individual blocks (CIC, Doppler, CFAR, etc.) |
-| 2 — Integration | DDC chain, receiver golden-compare, system-top, end-to-end |
-| 3 — Signal Processing | FFT engine, NCO, FIR, matched filter chain |
-| 4 — Infrastructure | CDC modules, edge detector, USB interface, range-bin decimator, mode controller |
-
-All tests must pass (exit code 0). Advisory lint warnings (e.g., `case
-without default`) are non-blocking.
-
-### MCU unit tests
-
 ```bash
 cd 9_Firmware/9_1_Microcontroller/tests
-make clean && make all
+make clean && make
 ```
 
-Runs 20 C-based unit tests covering safety, bug-fix, and gap-3 tests.
+### 4. Cross-Layer Contract Tests
-Every test binary must exit 0.
-
-### GUI / dashboard tests
-
 ```bash
-cd 9_Firmware/9_3_GUI
+uv run pytest 9_Firmware/tests/cross_layer/test_cross_layer_contract.py -v
-python3 -m pytest test_GUI_V65_Tk.py -v
-# or without pytest:
-python3 -m unittest test_GUI_V65_Tk -v
 ```
 
-57+ protocol and rendering tests. The `test_record_and_stop` test
+## Before merging: CI checklist
-requires `h5py` and will be skipped if it is not installed.
 
-### Co-simulation (Python vs RTL golden comparison)
+All PRs must pass CI:
 
-Run from the co-sim directory after a successful FPGA regression (the
+| Job | What it checks |
-regression generates the RTL CSV outputs that the co-sim scripts compare
+|----|---------------|
-against):
+| `python-tests` | ruff clean + pytest green |
+| `mcu-tests` | make all exits 0 |
+| `fpga-regression` | run_regression.sh exits 0 |
+| `cross-layer-tests` | pytest exits 0 |
 
-```bash
+## Important Notes
-cd 9_Firmware/9_2_FPGA/tb/cosim
 
-# Validate all .mem files (twiddles, chirp ROMs, addressing)
+- **NO LEGACY COMPATIBILITY** unless explicitly requested by the maintainer.
-python3 validate_mem_files.py
+- **The FPGA RTL (`radar_system_top.v`) is the single source of truth** for opcode values, bit widths, reset defaults, and valid ranges. All other layers must align to it.
+- **Adversarial testing is mandatory**: Every test must actively try to break the code.
+- **Testbench timing**: Always add a `#1` delay after `@(posedge clk)` before driving DUT inputs with blocking assignments.
+- **Pre-fetch FIFO**: Remember `wr_full` is asserted after DEPTH+1 writes, not just DEPTH.
 
-# DDC chain: RTL vs Python model (5 scenarios)
+## Checklist Before Push
-python3 compare.py dc
-python3 compare.py single_target
-python3 compare.py multi_target
-python3 compare.py noise_only
-python3 compare.py sine_1mhz
 
-# Doppler processor: RTL vs golden reference
+- [ ] `uv run ruff check .` — no lint errors
-python3 compare_doppler.py stationary
+- [ ] `uv run pytest test_GUI_V65_Tk.py test_v7.py -v` — all pass
-
+- [ ] `cd 9_Firmware/9_2_FPGA && bash run_regression.sh` — all 5 phases pass
-# Matched filter: RTL vs Python model (4 scenarios)
+- [ ] `cd 9_Firmware/9_1_Microcontroller/tests && make clean && make` — pass
-python3 compare_mf.py all
+- [ ] `uv run pytest 9_Firmware/tests/cross_layer/test_cross_layer_contract.py` — pass
-```
+- [ ] `git diff --check` — no whitespace issues
-
+- [ ] PR targets `develop` branch
-Each script prints PASS/FAIL per scenario and exits non-zero on failure.
-
-### Formal verification (optional)
-
-Requires SymbiYosys (`sby`), Yosys, and a solver (z3 or boolector):
-
-```bash
-cd 9_Firmware/9_2_FPGA/formal
-sby -f fv_doppler_processor.sby
-sby -f fv_radar_mode_controller.sby
-```
-
-### Quick checklist
-
-Before pushing, confirm:
-
-1. `bash run_regression.sh` — all phases pass
-2. `make all` (MCU tests) — 20/20 pass
-3. `python3 -m unittest test_GUI_V65_Tk -v` — all pass
-4. `python3 validate_mem_files.py` — all checks pass
-5. `python3 compare.py dc && python3 compare_doppler.py stationary && python3 compare_mf.py all`
-6. `git diff --check` — no whitespace issues
-
-## Areas where help is especially welcome
-
-See the list in [README.md](README.md#-contributing).
 
 ## Questions?
 
-Open a GitHub issue — that way the discussion is visible to everyone.
+Open a GitHub issue — discussion is visible to everyone.

README.md

@@ -7,7 +7,6 @@
 [![Frequency: 10.5GHz](https://img.shields.io/badge/Frequency-10.5GHz-blue)](https://github.com/NawfalMotii79/PLFM_RADAR)
 [![PRs Welcome](https://img.shields.io/badge/PRs-welcome-brightgreen.svg)](https://github.com/NawfalMotii79/PLFM_RADAR/pulls)
 
-![AERIS-10 Radar System](https://raw.githubusercontent.com/NawfalMotii79/PLFM_RADAR/main/8_Utils/3fb1dabf-2c6d-4b5d-b471-48bc461ce914.jpg)
 
 AERIS-10 is an open-source, low-cost 10.5 GHz phased array radar system featuring Pulse Linear Frequency Modulated (LFM) modulation. Available in two versions (3km and 20km range), it's designed for researchers, drone developers, and serious SDR enthusiasts who want to explore and experiment with phased array radar technology.
 
@@ -47,13 +46,13 @@ The AERIS-10 main sub-systems are:
 
 - **Main Board** containing:
   - **DAC** - Generates the RADAR Chirps
-  - **2x Microwave Mixers (LT5552)** - For up-conversion and IF-down-conversion
+  - **2x Microwave Mixers (LTC5552)** - For up-conversion and IF-down-conversion
   - **4x 4-Channel Phase Shifters (ADAR1000)** - For RX and TX chain beamforming
   - **16x Front End Chips (ADTR1107)** - Used for both Low Noise Amplifying (RX) and Power Amplifying (TX) stages
   - **XC7A50T FPGA** - Handles RADAR Signal Processing on the upstream FTG256 board:
     - PLFM Chirps generation via the DAC
     - Raw ADC data read
-    - Digital Gain Control (host-configurable gain shift)
+    - Hybrid Automatic Gain Control (AGC) — cross-layer FPGA/STM32/GUI loop
     - I/Q Baseband Down-Conversion
     - Decimation
     - Filtering
@@ -68,13 +67,13 @@ The AERIS-10 main sub-systems are:
       - Clock Generator (AD9523-1)
       - 2x Frequency Synthesizers (ADF4382)
       - 4x 4-Channel Phase Shifters (ADAR1000) for RADAR pulse sequencing
-      - 2x ADS7830 ADCs (on Power Amplifier Boards) for Idq measurement
+      - 2x ADS7830 8-channel I²C ADCs (Main Board, U88 @ 0x48 / U89 @ 0x4A) for 16x Idq measurement, one per PA channel, each sensed through a 5 mΩ shunt on the PA board and an INA241A3 current-sense amplifier (x50) on the Main Board
-      - 2x DAC5578 (on Power Amplifier Boards) for Vg control
+      - 2x DAC5578 8-channel I²C DACs (Main Board, U7 @ 0x48 / U69 @ 0x49) for 16x Vg control, one per PA channel; closed-loop calibrated at boot to the target Idq
-      - GPS module for GUI map centering
+      - GPS module (UM982) for GUI map centering and per-detection position tagging
       - GY-85 IMU for pitch/roll correction of target coordinates
       - BMP180 Barometer
       - Stepper Motor
-      - 8x ADS7830 Temperature Sensors for cooling fan control
+      - 1x ADS7830 8-channel I²C ADC (Main Board, U10) reading 8 thermistors for thermal monitoring; a single GPIO (EN_DIS_COOLING) switches the cooling fans on when any channel exceeds the threshold
       - RF switches
 
 - **16x Power Amplifier Boards** - Used only for AERIS-10E version, featuring 10Watt QPA2962 GaN amplifier for extended range
@@ -92,7 +91,7 @@ The AERIS-10 main sub-systems are:
 ### Processing Pipeline
 
 1. **Waveform Generation** - DAC creates LFM chirps
-2. **Up/Down Conversion** - LT5552 mixers handle frequency translation
+2. **Up/Down Conversion** - LTC5552 mixers handle frequency translation
 3. **Beam Steering** - ADAR1000 phase shifters control 16 elements
 4. **Signal Processing (FPGA)**:
    - Raw ADC data capture
@@ -111,7 +110,7 @@ The AERIS-10 main sub-systems are:
    - Map integration
    - Radar control interface
 
-![AERIS-10 Dashboard](https://raw.githubusercontent.com/NawfalMotii79/PLFM_RADAR/main/8_Utils/GUI_V65_Tk.png)
+![AERIS-10 Dashboard](https://raw.githubusercontent.com/NawfalMotii79/PLFM_RADAR/main/8_Utils/GUI_V6.gif)
 <!-- V6 GIF removed — V6 is deprecated. V65 Tk and V7 PyQt6 are the active GUIs. -->
 
 ## 📊 Technical Specifications