fix: correct .gitignore stub name stm32_stub → stm32_settings_stub

Agent-Logs-Url: https://github.com/NawfalMotii79/PLFM_RADAR/sessions/15d36e68-be17-4ee3-b6e0-1da7de544671

Co-authored-by: JJassonn69 <83615043+JJassonn69@users.noreply.github.com>

.github/workflows/ci-tests.yml

@@ -46,9 +46,7 @@ jobs:
       - name: Unit tests
         run: >
           uv run pytest
-          9_Firmware/9_3_GUI/test_GUI_V65_Tk.py
+          9_Firmware/9_3_GUI/test_radar_dashboard.py -v --tb=short
-          9_Firmware/9_3_GUI/test_v7.py
-          -v --tb=short
 
   # ===========================================================================
   # MCU Firmware Unit Tests (20 tests)
@@ -113,4 +111,5 @@ jobs:
         run: >
           uv run pytest
           9_Firmware/tests/cross_layer/test_cross_layer_contract.py
+          9_Firmware/tests/cross_layer/test_mem_validation.py
           -v --tb=short

8_Utils/Python/LUT.py

@@ -1,24 +0,0 @@
-import numpy as np
-
-# Define parameters
-fs = 120e6  # Sampling frequency
-Ts = 1 / fs  # Sampling time
-Tb = 1e-6  # Burst time
-Tau = 30e-6  # Pulse repetition time
-fmax = 15e6  # Maximum frequency on ramp
-fmin = 1e6  # Minimum frequency on ramp
-
-# Compute number of samples per ramp
-n = int(Tb / Ts)
-N = np.arange(0, n, 1)
-
-# Compute instantaneous phase
-theta_n = 2 * np.pi * ((N**2 * Ts**2 * (fmax - fmin) / (2 * Tb)) + fmin * N * Ts)
-
-# Generate waveform and scale it to 8-bit unsigned values (0 to 255)
-y = 1 + np.sin(theta_n)  # Normalize from 0 to 2
-y_scaled = np.round(y * 127.5).astype(int)  # Scale to 8-bit range (0-255)
-
-# Print values in Verilog-friendly format
-for _i in range(n):
-    pass

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

@@ -1,116 +0,0 @@
-// ADAR1000_AGC.cpp -- STM32 outer-loop AGC implementation
-//
-// See ADAR1000_AGC.h for architecture overview.
-
-#include "ADAR1000_AGC.h"
-#include "ADAR1000_Manager.h"
-#include "diag_log.h"
-
-#include <cstring>
-
-// ---------------------------------------------------------------------------
-// Constructor -- set all config fields to safe defaults
-// ---------------------------------------------------------------------------
-ADAR1000_AGC::ADAR1000_AGC()
-    : agc_base_gain(ADAR1000Manager::kDefaultRxVgaGain) // 30
-    , gain_step_down(4)
-    , gain_step_up(1)
-    , min_gain(0)
-    , max_gain(127)
-    , holdoff_frames(4)
-    , enabled(true)
-    , holdoff_counter(0)
-    , last_saturated(false)
-    , saturation_event_count(0)
-{
-    memset(cal_offset, 0, sizeof(cal_offset));
-}
-
-// ---------------------------------------------------------------------------
-// update -- called once per frame with the FPGA DIG_5 saturation flag
-//
-// Returns true if agc_base_gain changed (caller should then applyGain).
-// ---------------------------------------------------------------------------
-void ADAR1000_AGC::update(bool fpga_saturation)
-{
-    if (!enabled)
-        return;
-
-    last_saturated = fpga_saturation;
-
-    if (fpga_saturation) {
-        // Attack: reduce gain immediately
-        saturation_event_count++;
-        holdoff_counter = 0;
-
-        if (agc_base_gain >= gain_step_down + min_gain) {
-            agc_base_gain -= gain_step_down;
-        } else {
-            agc_base_gain = min_gain;
-        }
-
-        DIAG("AGC", "SAT detected -- gain_base -> %u  (events=%lu)",
-             (unsigned)agc_base_gain, (unsigned long)saturation_event_count);
-
-    } else {
-        // Recovery: wait for holdoff, then increase gain
-        holdoff_counter++;
-
-        if (holdoff_counter >= holdoff_frames) {
-            holdoff_counter = 0;
-
-            if (agc_base_gain + gain_step_up <= max_gain) {
-                agc_base_gain += gain_step_up;
-            } else {
-                agc_base_gain = max_gain;
-            }
-
-            DIAG("AGC", "Recovery step -- gain_base -> %u", (unsigned)agc_base_gain);
-        }
-    }
-}
-
-// ---------------------------------------------------------------------------
-// applyGain -- write effective gain to all 16 RX VGA channels
-//
-// Uses the Manager's adarSetRxVgaGain which takes 1-based channel indices
-// (matching the convention in setBeamAngle).
-// ---------------------------------------------------------------------------
-void ADAR1000_AGC::applyGain(ADAR1000Manager &mgr)
-{
-    for (uint8_t dev = 0; dev < AGC_NUM_DEVICES; ++dev) {
-        for (uint8_t ch = 0; ch < AGC_NUM_CHANNELS; ++ch) {
-            uint8_t gain = effectiveGain(dev * AGC_NUM_CHANNELS + ch);
-            // Channel parameter is 1-based per Manager convention
-            mgr.adarSetRxVgaGain(dev, ch + 1, gain, BROADCAST_OFF);
-        }
-    }
-}
-
-// ---------------------------------------------------------------------------
-// resetState -- clear runtime counters, preserve configuration
-// ---------------------------------------------------------------------------
-void ADAR1000_AGC::resetState()
-{
-    holdoff_counter = 0;
-    last_saturated = false;
-    saturation_event_count = 0;
-}
-
-// ---------------------------------------------------------------------------
-// effectiveGain -- compute clamped per-channel gain
-// ---------------------------------------------------------------------------
-uint8_t ADAR1000_AGC::effectiveGain(uint8_t channel_index) const
-{
-    if (channel_index >= AGC_TOTAL_CHANNELS)
-        return min_gain;  // safety fallback — OOB channels get minimum gain
-
-    int16_t raw = static_cast<int16_t>(agc_base_gain) + cal_offset[channel_index];
-
-    if (raw < static_cast<int16_t>(min_gain))
-        return min_gain;
-    if (raw > static_cast<int16_t>(max_gain))
-        return max_gain;
-
-    return static_cast<uint8_t>(raw);
-}

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_AGC.h

@@ -1,97 +0,0 @@
-// ADAR1000_AGC.h -- STM32 outer-loop AGC for ADAR1000 RX VGA gain
-//
-// Adjusts the analog VGA common-mode gain on each ADAR1000 RX channel based on
-// the FPGA's saturation flag (DIG_5 / PD13).  Runs once per radar frame
-// (~258 ms) in the main loop, after runRadarPulseSequence().
-//
-// Architecture:
-//   - Inner loop (FPGA, per-sample): rx_gain_control auto-adjusts digital
-//     gain_shift based on peak magnitude / saturation.  Range ±42 dB.
-//   - Outer loop (THIS MODULE, per-frame): reads FPGA DIG_5 GPIO.  If
-//     saturation detected, reduces agc_base_gain immediately (attack).  If no
-//     saturation for holdoff_frames, increases agc_base_gain (decay/recovery).
-//
-// Per-channel gain formula:
-//   VGA[dev][ch] = clamp(agc_base_gain + cal_offset[dev*4+ch], min_gain, max_gain)
-//
-// The cal_offset array allows per-element calibration to correct inter-channel
-// gain imbalance.  Default is all zeros (uniform gain).
-
-#ifndef ADAR1000_AGC_H
-#define ADAR1000_AGC_H
-
-#include <stdint.h>
-
-// Forward-declare to avoid pulling in the full ADAR1000_Manager header here.
-// The .cpp includes the real header.
-class ADAR1000Manager;
-
-// Number of ADAR1000 devices
-#define AGC_NUM_DEVICES   4
-// Number of channels per ADAR1000
-#define AGC_NUM_CHANNELS  4
-// Total RX channels
-#define AGC_TOTAL_CHANNELS (AGC_NUM_DEVICES * AGC_NUM_CHANNELS)
-
-class ADAR1000_AGC {
-public:
-    // --- Configuration (public for easy field-testing / GUI override) ---
-
-    // Common-mode base gain (raw ADAR1000 register value, 0-255).
-    // Default matches ADAR1000Manager::kDefaultRxVgaGain = 30.
-    uint8_t agc_base_gain;
-
-    // Per-channel calibration offset (signed, added to agc_base_gain).
-    // Index = device*4 + channel.  Default: all 0.
-    int8_t cal_offset[AGC_TOTAL_CHANNELS];
-
-    // How much to decrease agc_base_gain per frame when saturated (attack).
-    uint8_t gain_step_down;
-
-    // How much to increase agc_base_gain per frame when recovering (decay).
-    uint8_t gain_step_up;
-
-    // Minimum allowed agc_base_gain (floor).
-    uint8_t min_gain;
-
-    // Maximum allowed agc_base_gain (ceiling).
-    uint8_t max_gain;
-
-    // Number of consecutive non-saturated frames required before gain-up.
-    uint8_t holdoff_frames;
-
-    // Master enable.  When false, update() is a no-op.
-    bool enabled;
-
-    // --- Runtime state (read-only for diagnostics) ---
-
-    // Consecutive non-saturated frame counter (resets on saturation).
-    uint8_t holdoff_counter;
-
-    // True if the last update() saw saturation.
-    bool last_saturated;
-
-    // Total saturation events since reset/construction.
-    uint32_t saturation_event_count;
-
-    // --- Methods ---
-
-    ADAR1000_AGC();
-
-    // Call once per frame after runRadarPulseSequence().
-    // fpga_saturation: result of HAL_GPIO_ReadPin(GPIOD, GPIO_PIN_13) == GPIO_PIN_SET
-    void update(bool fpga_saturation);
-
-    // Apply the current gain to all 16 RX VGA channels via the Manager.
-    void applyGain(ADAR1000Manager &mgr);
-
-    // Reset runtime state (holdoff counter, saturation count) without
-    // changing configuration.
-    void resetState();
-
-    // Compute the effective gain for a specific channel index (0-15),
-    // clamped to [min_gain, max_gain].  Useful for diagnostics.
-    uint8_t effectiveGain(uint8_t channel_index) const;
-};
-
-#endif // ADAR1000_AGC_H

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.cpp

@@ -7,8 +7,8 @@ RadarSettings::RadarSettings() {
 
 void RadarSettings::resetToDefaults() {
     system_frequency = 10.0e9;    // 10 GHz
-    chirp_duration_1 = 30.0e-6;   // 30 �s
+    chirp_duration_1 = 30.0e-6;   // 30 us
-    chirp_duration_2 = 0.5e-6;    // 0.5 �s
+    chirp_duration_2 = 0.5e-6;    // 0.5 us
     chirps_per_position = 32;
     freq_min = 10.0e6;           // 10 MHz
     freq_max = 30.0e6;           // 30 MHz

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.cpp

@@ -43,11 +43,6 @@ void USBHandler::processStartFlag(const uint8_t* data, uint32_t length) {
     // Start flag: bytes [23, 46, 158, 237]
     const uint8_t START_FLAG[] = {23, 46, 158, 237};
     
-    // Guard: need at least 4 bytes to contain a start flag.
-    // Without this, length - 4 wraps to ~4 billion (uint32_t unsigned underflow)
-    // and the loop reads far past the buffer boundary.
-    if (length < 4) return;
-    
     // Check if start flag is in the received data
     for (uint32_t i = 0; i <= length - 4; i++) {
         if (memcmp(data + i, START_FLAG, 4) == 0) {

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

@@ -23,7 +23,6 @@
 #include "usbd_cdc_if.h"
 #include "adar1000.h"
 #include "ADAR1000_Manager.h"
-#include "ADAR1000_AGC.h"
 extern "C" {
 #include "ad9523.h"
 }
@@ -46,9 +45,7 @@ extern "C" {
 #include <vector>
 #include "stm32_spi.h"
 #include "stm32_delay.h"
-extern "C" {
+#include "TinyGPSPlus.h"
-#include "um982_gps.h"
-}
 extern "C" {
 #include "GY_85_HAL.h"
 }
@@ -123,8 +120,8 @@ UART_HandleTypeDef huart5;
 UART_HandleTypeDef huart3;
 
 /* USER CODE BEGIN PV */
-// UM982 dual-antenna GPS receiver
+// The TinyGPSPlus object
-UM982_GPS_t um982;
+TinyGPSPlus gps;
 
 // Global data structures
 GPS_Data_t current_gps_data = {0};
@@ -175,7 +172,7 @@ float RADAR_Altitude;
 double RADAR_Longitude = 0;
 double RADAR_Latitude = 0;
 
-extern uint8_t GUI_start_flag_received;  // [STM32-006] Legacy, unused -- kept for linker compat
+extern uint8_t GUI_start_flag_received;
 
 
 //RADAR
@@ -227,7 +224,6 @@ extern SPI_HandleTypeDef hspi4;
 //ADAR1000
 
 ADAR1000Manager adarManager;
-ADAR1000_AGC    outerAgc;
 static uint8_t matrix1[15][16];
 static uint8_t matrix2[15][16];
 static uint8_t vector_0[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
@@ -622,8 +618,7 @@ typedef enum {
     ERROR_POWER_SUPPLY,
     ERROR_TEMPERATURE_HIGH,
     ERROR_MEMORY_ALLOC,
-    ERROR_WATCHDOG_TIMEOUT,
+    ERROR_WATCHDOG_TIMEOUT
-    ERROR_COUNT  // must be last — used for bounds checking error_strings[]
 } SystemError_t;
 
 static SystemError_t last_error = ERROR_NONE;
@@ -634,27 +629,6 @@ static bool system_emergency_state = false;
 SystemError_t checkSystemHealth(void) {
     SystemError_t current_error = ERROR_NONE;
 
-    // 0. Watchdog: detect main-loop stall (checkSystemHealth not called for >60 s).
-    //    Timestamp is captured at function ENTRY and updated unconditionally, so
-    //    any early return from a sub-check below cannot leave a stale value that
-    //    would later trip a spurious ERROR_WATCHDOG_TIMEOUT. A dedicated cold-start
-    //    branch ensures the first call after boot never trips (last_health_check==0
-    //    would otherwise make `HAL_GetTick() - 0 > 60000` true forever after the
-    //    60-s mark of the init sequence).
-    static uint32_t last_health_check = 0;
-    uint32_t now_tick = HAL_GetTick();
-    if (last_health_check == 0) {
-        last_health_check = now_tick;          // cold start: seed only
-    } else {
-        uint32_t elapsed = now_tick - last_health_check;
-        last_health_check = now_tick;          // update BEFORE any early return
-        if (elapsed > 60000) {
-            current_error = ERROR_WATCHDOG_TIMEOUT;
-            DIAG_ERR("SYS", "Health check: Watchdog timeout (>60s since last check)");
-            return current_error;
-        }
-    }
-
     // 1. Check AD9523 Clock Generator
     static uint32_t last_clock_check = 0;
     if (HAL_GetTick() - last_clock_check > 5000) {
@@ -665,7 +639,6 @@ SystemError_t checkSystemHealth(void) {
         if (s0 == GPIO_PIN_RESET || s1 == GPIO_PIN_RESET) {
             current_error = ERROR_AD9523_CLOCK;
             DIAG_ERR("CLK", "AD9523 clock health check FAILED (STATUS0=%d STATUS1=%d)", s0, s1);
-            return current_error;
         }
         last_clock_check = HAL_GetTick();
     }
@@ -676,12 +649,10 @@ SystemError_t checkSystemHealth(void) {
         if (!tx_locked) {
             current_error = ERROR_ADF4382_TX_UNLOCK;
             DIAG_ERR("LO", "Health check: TX LO UNLOCKED");
-            return current_error;
         }
         if (!rx_locked) {
             current_error = ERROR_ADF4382_RX_UNLOCK;
             DIAG_ERR("LO", "Health check: RX LO UNLOCKED");
-            return current_error;
         }
     }
 
@@ -690,14 +661,14 @@ SystemError_t checkSystemHealth(void) {
         if (!adarManager.verifyDeviceCommunication(i)) {
             current_error = ERROR_ADAR1000_COMM;
             DIAG_ERR("BF", "Health check: ADAR1000 #%d comm FAILED", i);
-            return current_error;
+            break;
         }
 
         float temp = adarManager.readTemperature(i);
         if (temp > 85.0f) {
             current_error = ERROR_ADAR1000_TEMP;
             DIAG_ERR("BF", "Health check: ADAR1000 #%d OVERTEMP %.1fC > 85C", i, temp);
-            return current_error;
+            break;
         }
     }
 
@@ -707,7 +678,6 @@ SystemError_t checkSystemHealth(void) {
         if (!GY85_Update(&imu)) {
             current_error = ERROR_IMU_COMM;
             DIAG_ERR("IMU", "Health check: GY85_Update() FAILED");
-            return current_error;
         }
         last_imu_check = HAL_GetTick();
     }
@@ -719,17 +689,18 @@ SystemError_t checkSystemHealth(void) {
         if (pressure < 30000.0 || pressure > 110000.0 || isnan(pressure)) {
             current_error = ERROR_BMP180_COMM;
             DIAG_ERR("SYS", "Health check: BMP180 pressure out of range: %.0f", pressure);
-            return current_error;
         }
         last_bmp_check = HAL_GetTick();
     }
 
-    // 6. Check GPS Communication (30s grace period from boot / last valid fix)
+    // 6. Check GPS Communication
-    uint32_t gps_fix_age = um982_position_age(&um982);
+    static uint32_t last_gps_fix = 0;
-    if (gps_fix_age > 30000) {
+    if (gps.location.isUpdated()) {
+        last_gps_fix = HAL_GetTick();
+    }
+    if (HAL_GetTick() - last_gps_fix > 30000) {
         current_error = ERROR_GPS_COMM;
-        DIAG_WARN("SYS", "Health check: GPS no fix for >30s (age=%lu ms)", (unsigned long)gps_fix_age);
+        DIAG_WARN("SYS", "Health check: GPS no fix for >30s");
-        return current_error;
     }
 
     // 7. Check RF Power Amplifier Current
@@ -738,12 +709,12 @@ SystemError_t checkSystemHealth(void) {
             if (Idq_reading[i] > 2.5f) {
                 current_error = ERROR_RF_PA_OVERCURRENT;
                 DIAG_ERR("PA", "Health check: PA ch%d OVERCURRENT Idq=%.3fA > 2.5A", i, Idq_reading[i]);
-                return current_error;
+                break;
             }
             if (Idq_reading[i] < 0.1f) {
                 current_error = ERROR_RF_PA_BIAS;
                 DIAG_ERR("PA", "Health check: PA ch%d BIAS FAULT Idq=%.3fA < 0.1A", i, Idq_reading[i]);
-                return current_error;
+                break;
             }
         }
     }
@@ -752,10 +723,15 @@ SystemError_t checkSystemHealth(void) {
     if (temperature > 75.0f) {
         current_error = ERROR_TEMPERATURE_HIGH;
         DIAG_ERR("SYS", "Health check: System OVERTEMP %.1fC > 75C", temperature);
-        return current_error;
     }
 
-    // 9. Watchdog check is performed at function entry (see step 0).
+    // 9. Simple watchdog check
+    static uint32_t last_health_check = 0;
+    if (HAL_GetTick() - last_health_check > 60000) {
+        current_error = ERROR_WATCHDOG_TIMEOUT;
+        DIAG_ERR("SYS", "Health check: Watchdog timeout (>60s since last check)");
+    }
+    last_health_check = HAL_GetTick();
 
     if (current_error != ERROR_NONE) {
         DIAG_ERR("SYS", "checkSystemHealth returning error code %d", current_error);
@@ -867,7 +843,7 @@ void handleSystemError(SystemError_t error) {
     DIAG_ERR("SYS", "handleSystemError: error=%d error_count=%lu", error, error_count);
 
     char error_msg[100];
-    static const char* const error_strings[] = {
+    const char* error_strings[] = {
         "No error",
         "AD9523 Clock failure",
         "ADF4382 TX LO unlocked",
@@ -887,16 +863,9 @@ void handleSystemError(SystemError_t error) {
         "Watchdog timeout"
     };
 
-    static_assert(sizeof(error_strings) / sizeof(error_strings[0]) == ERROR_COUNT,
-                  "error_strings[] and SystemError_t enum are out of sync");
-
-    const char* err_name = (error >= 0 && error < (int)(sizeof(error_strings) / sizeof(error_strings[0])))
-                           ? error_strings[error]
-                           : "Unknown error";
-
     snprintf(error_msg, sizeof(error_msg),
              "ERROR #%d: %s (Count: %lu)\r\n",
-             error, err_name, error_count);
+             error, error_strings[error], error_count);
     HAL_UART_Transmit(&huart3, (uint8_t*)error_msg, strlen(error_msg), 1000);
 
     // Blink LED pattern based on error code
@@ -906,23 +875,9 @@ void handleSystemError(SystemError_t error) {
         HAL_Delay(200);
     }
 
-    // Critical errors trigger emergency shutdown.
+    // Critical errors trigger emergency shutdown
-    //
+    if (error >= ERROR_RF_PA_OVERCURRENT && error <= ERROR_POWER_SUPPLY) {
-    // Safety-critical range: any fault that can damage the PAs or leave the
+        DIAG_ERR("SYS", "CRITICAL ERROR (code %d: %s) -- initiating Emergency_Stop()", error, error_strings[error]);
-    // system in an undefined state must cut the RF rails via Emergency_Stop().
-    // This covers:
-    //   ERROR_RF_PA_OVERCURRENT .. ERROR_POWER_SUPPLY (9..13) -- PA/supply faults
-    //   ERROR_TEMPERATURE_HIGH  (14) -- >75 C on the PA thermal sensors;
-    //                                  without cutting bias + 5V/5V5/RFPA rails
-    //                                  the GaN QPA2962 stage can thermal-runaway.
-    //   ERROR_WATCHDOG_TIMEOUT  (16) -- health-check loop has stalled (>60 s);
-    //                                  transmitter state is unknown, safest to
-    //                                  latch Emergency_Stop rather than rely on
-    //                                  IWDG reset (which re-energises the rails).
-    if ((error >= ERROR_RF_PA_OVERCURRENT && error <= ERROR_POWER_SUPPLY) ||
-        error == ERROR_TEMPERATURE_HIGH ||
-        error == ERROR_WATCHDOG_TIMEOUT) {
-        DIAG_ERR("SYS", "CRITICAL ERROR (code %d: %s) -- initiating Emergency_Stop()", error, err_name);
         snprintf(error_msg, sizeof(error_msg),
                  "CRITICAL ERROR! Initiating emergency shutdown.\r\n");
         HAL_UART_Transmit(&huart3, (uint8_t*)error_msg, strlen(error_msg), 1000);
@@ -964,41 +919,38 @@ bool checkSystemHealthStatus(void) {
 // Get system status for GUI
 // Get system status for GUI with 8 temperature variables
 void getSystemStatusForGUI(char* status_buffer, size_t buffer_size) {
-    // Build status string directly in the output buffer using offset-tracked
+    char temp_buffer[200];
-    // snprintf.  Each call returns the number of chars written (excluding NUL),
+    char final_status[500] = "System Status: ";
-    // so we advance 'off' and shrink 'rem' to guarantee we never overflow.
-    size_t off = 0;
-    size_t rem = buffer_size;
-    int w;
 
     // Basic status
     if (system_emergency_state) {
-        w = snprintf(status_buffer + off, rem, "System Status: EMERGENCY_STOP|");
+        strcat(final_status, "EMERGENCY_STOP|");
     } else {
-        w = snprintf(status_buffer + off, rem, "System Status: NORMAL|");
+        strcat(final_status, "NORMAL|");
     }
-    if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; }
 
     // Error information
-    w = snprintf(status_buffer + off, rem, "LastError:%d|ErrorCount:%lu|",
+    snprintf(temp_buffer, sizeof(temp_buffer), "LastError:%d|ErrorCount:%lu|",
              last_error, error_count);
-    if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; }
+    strcat(final_status, temp_buffer);
 
     // Sensor status
-    w = snprintf(status_buffer + off, rem, "IMU:%.1f,%.1f,%.1f|GPS:%.6f,%.6f|ALT:%.1f|",
+    snprintf(temp_buffer, sizeof(temp_buffer), "IMU:%.1f,%.1f,%.1f|GPS:%.6f,%.6f|ALT:%.1f|",
              Pitch_Sensor, Roll_Sensor, Yaw_Sensor,
              RADAR_Latitude, RADAR_Longitude, RADAR_Altitude);
-    if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; }
+    strcat(final_status, temp_buffer);
 
     // LO Status
     bool tx_locked, rx_locked;
     ADF4382A_CheckLockStatus(&lo_manager, &tx_locked, &rx_locked);
-    w = snprintf(status_buffer + off, rem, "LO_TX:%s|LO_RX:%s|",
+    snprintf(temp_buffer, sizeof(temp_buffer), "LO_TX:%s|LO_RX:%s|",
              tx_locked ? "LOCKED" : "UNLOCKED",
              rx_locked ? "LOCKED" : "UNLOCKED");
-    if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; }
+    strcat(final_status, temp_buffer);
 
     // Temperature readings (8 variables)
+    // You'll need to populate these temperature values from your sensors
+    // For now, I'll show how to format them - replace with actual temperature readings
     Temperature_1 = ADS7830_Measure_SingleEnded(&hadc3, 0);
     Temperature_2 = ADS7830_Measure_SingleEnded(&hadc3, 1);
     Temperature_3 = ADS7830_Measure_SingleEnded(&hadc3, 2);
@@ -1009,11 +961,11 @@ void getSystemStatusForGUI(char* status_buffer, size_t buffer_size) {
     Temperature_8 = ADS7830_Measure_SingleEnded(&hadc3, 7);
 
     // Format all 8 temperature variables
-    w = snprintf(status_buffer + off, rem,
+    snprintf(temp_buffer, sizeof(temp_buffer),
              "T1:%.1f|T2:%.1f|T3:%.1f|T4:%.1f|T5:%.1f|T6:%.1f|T7:%.1f|T8:%.1f|",
              Temperature_1, Temperature_2, Temperature_3, Temperature_4,
              Temperature_5, Temperature_6, Temperature_7, Temperature_8);
-    if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; }
+    strcat(final_status, temp_buffer);
 
     // RF Power Amplifier status (if enabled)
     if (PowerAmplifier) {
@@ -1023,17 +975,18 @@ void getSystemStatusForGUI(char* status_buffer, size_t buffer_size) {
         }
         avg_current /= 16.0f;
 
-        w = snprintf(status_buffer + off, rem, "PA_AvgCurrent:%.2f|PA_Enabled:%d|",
+        snprintf(temp_buffer, sizeof(temp_buffer), "PA_AvgCurrent:%.2f|PA_Enabled:%d|",
                  avg_current, PowerAmplifier);
-        if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; }
+        strcat(final_status, temp_buffer);
     }
 
     // Radar operation status
-    w = snprintf(status_buffer + off, rem, "BeamPos:%d|Azimuth:%d|ChirpCount:%d|",
+    snprintf(temp_buffer, sizeof(temp_buffer), "BeamPos:%d|Azimuth:%d|ChirpCount:%d|",
              n, y, m);
-    if (w > 0 && (size_t)w < rem) { off += (size_t)w; rem -= (size_t)w; }
+    strcat(final_status, temp_buffer);
 
-    // NUL termination guaranteed by snprintf, but be safe
+    // Copy to output buffer
+    strncpy(status_buffer, final_status, buffer_size - 1);
     status_buffer[buffer_size - 1] = '\0';
 }
 
@@ -1055,7 +1008,20 @@ static inline void delay_ms(uint32_t ms) { HAL_Delay(ms); }
 
 
 
-// smartDelay removed -- replaced by non-blocking um982_process() in main loop
+// This custom version of delay() ensures that the gps object
+// 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)
@@ -1199,14 +1165,7 @@ 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.
@@ -1595,12 +1554,6 @@ 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;
@@ -1776,34 +1729,10 @@ int main(void)
   	//////////////////////////////////////////////////////////////////////////////////////
     //////////////////////////////////////////GPS/////////////////////////////////////////
     //////////////////////////////////////////////////////////////////////////////////////
-  DIAG_SECTION("GPS INIT (UM982)");
+  for(int i=0; i<10;i++){
-  DIAG("GPS", "Initializing UM982 on UART5 @ 115200 (baseline=50cm, tol=3cm)");
+  smartDelay(1000);
-  if (!um982_init(&um982, &huart5, 50.0f, 3.0f)) {
+  RADAR_Longitude = gps.location.lng();
-      DIAG_WARN("GPS", "UM982 init: no VERSIONA response -- module may need more time");
+  RADAR_Latitude = gps.location.lat();
-      // Not fatal: module may still start sending NMEA data after boot
-  } else {
-      DIAG("GPS", "UM982 init OK -- VERSIONA received");
-  }
-
-  // Collect GPS data for a few seconds (non-blocking pump)
-  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°
@@ -1829,11 +1758,29 @@ int main(void)
       HAL_UART_Transmit(&huart3, (uint8_t*)gps_send_error, sizeof(gps_send_error) - 1, 1000);
   }
 
-  /* [STM32-006 FIXED] Removed blocking do-while loop that waited for
+  // Check if start flag was received and settings are ready
-   * usbHandler.isStartFlagReceived().  The production V7 PyQt GUI does not
+  do{
-   * send the legacy 4-byte start flag [23,46,158,237], so this loop hung
+	  if (usbHandler.isStartFlagReceived() &&
-   * the MCU at boot indefinitely.  The USB settings handshake (if ever
+		  usbHandler.getState() == USBHandler::USBState::READY_FOR_DATA) {
-   * 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************/
@@ -2048,28 +1995,15 @@ int main(void)
 	        HAL_UART_Transmit(&huart3, (uint8_t*)emergency_msg, strlen(emergency_msg), 1000);
 	        DIAG_ERR("SYS", "SAFE MODE ACTIVE -- blinking all LEDs, waiting for system_emergency_state clear");
 
-	        // Blink all LEDs to indicate safe mode (500ms period, visible to operator)
+	        // Blink all LEDs to indicate safe mode
 	        while (system_emergency_state) {
 	            HAL_GPIO_TogglePin(LED_1_GPIO_Port, LED_1_Pin);
 	            HAL_GPIO_TogglePin(LED_2_GPIO_Port, LED_2_Pin);
 	            HAL_GPIO_TogglePin(LED_3_GPIO_Port, LED_3_Pin);
 	            HAL_GPIO_TogglePin(LED_4_GPIO_Port, LED_4_Pin);
-	            HAL_Delay(250);
 	        }
 	        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//////////////////
 	  //////////////////////////////////////////////////////////////////////////////////////
@@ -2180,16 +2114,6 @@ int main(void)
 
       runRadarPulseSequence();
 
-      /* [AGC] Outer-loop AGC: read FPGA saturation flag (DIG_5 / PD13),
-       * adjust ADAR1000 VGA common gain once per radar frame (~258 ms).
-       * Only run when AGC is enabled — otherwise leave VGA gains untouched. */
-      if (outerAgc.enabled) {
-          bool sat = HAL_GPIO_ReadPin(FPGA_DIG5_SAT_GPIO_Port,
-                                      FPGA_DIG5_SAT_Pin) == GPIO_PIN_SET;
-          outerAgc.update(sat);
-          outerAgc.applyGain(adarManager);
-      }
-
       /* [GAP-3 FIX 2] Kick hardware watchdog — if we don't reach here within
        * ~4 s, the IWDG resets the MCU automatically. */
       HAL_IWDG_Refresh(&hiwdg);
@@ -2620,7 +2544,7 @@ static void MX_UART5_Init(void)
 
   /* USER CODE END UART5_Init 1 */
   huart5.Instance = UART5;
-  huart5.Init.BaudRate = 115200;
+  huart5.Init.BaudRate = 9600;
   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/main.h

@@ -141,15 +141,6 @@ void Error_Handler(void);
 #define EN_DIS_RFPA_VDD_GPIO_Port GPIOD
 #define EN_DIS_COOLING_Pin GPIO_PIN_7
 #define EN_DIS_COOLING_GPIO_Port GPIOD
-
-/* FPGA digital I/O (directly connected GPIOs) */
-#define FPGA_DIG5_SAT_Pin       GPIO_PIN_13
-#define FPGA_DIG5_SAT_GPIO_Port GPIOD
-#define FPGA_DIG6_Pin           GPIO_PIN_14
-#define FPGA_DIG6_GPIO_Port     GPIOD
-#define FPGA_DIG7_Pin           GPIO_PIN_15
-#define FPGA_DIG7_GPIO_Port     GPIOD
-
 #define ADF4382_RX_CE_Pin GPIO_PIN_9
 #define ADF4382_RX_CE_GPIO_Port GPIOG
 #define ADF4382_RX_CS_Pin GPIO_PIN_10

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

@@ -1,586 +0,0 @@
-/*******************************************************************************
- * 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

@@ -1,213 +0,0 @@
-/*******************************************************************************
- * 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/.gitignore

@@ -3,38 +3,18 @@
 *.dSYM/
 
 # Test binaries (built by Makefile)
-# TESTS_WITH_REAL
 test_bug1_timed_sync_init_ordering
+test_bug2_ad9523_double_setup
 test_bug3_timed_sync_noop
 test_bug4_phase_shift_before_check
 test_bug5_fine_phase_gpio_only
-test_bug9_platform_ops_null
-test_bug10_spi_cs_not_toggled
-test_bug15_htim3_dangling_extern
-
-# TESTS_MOCK_ONLY
-test_bug2_ad9523_double_setup
 test_bug6_timer_variable_collision
 test_bug7_gpio_pin_conflict
 test_bug8_uart_commented_out
-test_bug14_diag_section_args
+test_bug9_platform_ops_null
-test_gap3_emergency_stop_rails
+test_bug10_spi_cs_not_toggled
-
+test_bug11_platform_spi_transmit_only
-# TESTS_STANDALONE
 test_bug12_pa_cal_loop_inverted
 test_bug13_dac2_adc_buffer_mismatch
-test_gap3_iwdg_config
+test_bug14_diag_section_args
-test_gap3_temperature_max
+test_bug15_htim3_dangling_extern
-test_gap3_idq_periodic_reread
-test_gap3_emergency_state_ordering
-test_gap3_overtemp_emergency_stop
-test_gap3_health_watchdog_cold_start
-
-# TESTS_WITH_PLATFORM
-test_bug11_platform_spi_transmit_only
-
-# TESTS_WITH_CXX
-test_agc_outer_loop
-
-# Manual / one-off test builds
-test_um982_gps

9_Firmware/9_1_Microcontroller/tests/Makefile

@@ -16,21 +16,10 @@
 ################################################################################
 
 CC       := cc
-CXX      := c++
 CFLAGS   := -std=c11 -Wall -Wextra -Wno-unused-parameter -g -O0
-CXXFLAGS := -std=c++17 -Wall -Wextra -Wno-unused-parameter -g -O0
 # Shim headers come FIRST so they override real headers
 INCLUDES := -Ishims -I. -I../9_1_1_C_Cpp_Libraries
 
-# C++ library directory (AGC, ADAR1000 Manager)
-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
 
@@ -68,25 +57,16 @@ TESTS_STANDALONE := test_bug12_pa_cal_loop_inverted \
                     test_gap3_iwdg_config \
                     test_gap3_temperature_max \
                     test_gap3_idq_periodic_reread \
-                    test_gap3_emergency_state_ordering \
+                    test_gap3_emergency_state_ordering
-                    test_gap3_overtemp_emergency_stop \
-                    test_gap3_health_watchdog_cold_start
 
 # Tests that need platform_noos_stm32.o + mocks
 TESTS_WITH_PLATFORM := test_bug11_platform_spi_transmit_only
 
-# C++ tests (AGC outer loop)
+ALL_TESTS := $(TESTS_WITH_REAL) $(TESTS_MOCK_ONLY) $(TESTS_STANDALONE) $(TESTS_WITH_PLATFORM)
-TESTS_WITH_CXX := test_agc_outer_loop
-
-# 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) \
-        test_gap3_estop test_gap3_iwdg test_gap3_temp test_gap3_idq test_gap3_order \
+        test_gap3_estop test_gap3_iwdg test_gap3_temp test_gap3_idq test_gap3_order
-        test_gap3_overtemp test_gap3_wdog
 
 all: build test
 
@@ -172,48 +152,10 @@ test_gap3_idq_periodic_reread: test_gap3_idq_periodic_reread.c
 test_gap3_emergency_state_ordering: test_gap3_emergency_state_ordering.c
 	$(CC) $(CFLAGS) $< -o $@
 
-test_gap3_overtemp_emergency_stop: test_gap3_overtemp_emergency_stop.c
-	$(CC) $(CFLAGS) $< -o $@
-
-test_gap3_health_watchdog_cold_start: test_gap3_health_watchdog_cold_start.c
-	$(CC) $(CFLAGS) $< -o $@
-
 # Tests that need platform_noos_stm32.o + mocks
 $(TESTS_WITH_PLATFORM): %: %.c $(MOCK_OBJS) $(PLATFORM_OBJ)
 	$(CC) $(CFLAGS) $(INCLUDES) $< $(MOCK_OBJS) $(PLATFORM_OBJ) -o $@
 
-# --- C++ object rules ---
-
-ADAR1000_AGC.o: $(CXX_LIB_DIR)/ADAR1000_AGC.cpp $(CXX_LIB_DIR)/ADAR1000_AGC.h
-	$(CXX) $(CXXFLAGS) $(INCLUDES) -c $< -o $@
-
-ADAR1000_Manager.o: $(CXX_LIB_DIR)/ADAR1000_Manager.cpp $(CXX_LIB_DIR)/ADAR1000_Manager.h
-	$(CXX) $(CXXFLAGS) $(INCLUDES) -c $< -o $@
-
-# --- C++ test binary rules ---
-
-test_agc_outer_loop: test_agc_outer_loop.cpp $(CXX_OBJS) $(MOCK_OBJS)
-	$(CXX) $(CXXFLAGS) $(INCLUDES) $< $(CXX_OBJS) $(MOCK_OBJS) -o $@
-
-# Convenience target
-.PHONY: test_agc
-test_agc: test_agc_outer_loop
-	./test_agc_outer_loop
-
-# --- GPS driver rules ---
-
-$(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
@@ -276,12 +218,6 @@ test_gap3_idq: test_gap3_idq_periodic_reread
 test_gap3_order: test_gap3_emergency_state_ordering
 	./test_gap3_emergency_state_ordering
 
-test_gap3_overtemp: test_gap3_overtemp_emergency_stop
-	./test_gap3_overtemp_emergency_stop
-
-test_gap3_wdog: test_gap3_health_watchdog_cold_start
-	./test_gap3_health_watchdog_cold_start
-
 # --- Clean ---
 
 clean:

9_Firmware/9_1_Microcontroller/tests/shims/main.h

@@ -129,14 +129,6 @@ void Error_Handler(void);
 #define GYR_INT_Pin GPIO_PIN_8
 #define GYR_INT_GPIO_Port GPIOC
 
-/* FPGA digital I/O (directly connected GPIOs) */
-#define FPGA_DIG5_SAT_Pin       GPIO_PIN_13
-#define FPGA_DIG5_SAT_GPIO_Port GPIOD
-#define FPGA_DIG6_Pin           GPIO_PIN_14
-#define FPGA_DIG6_GPIO_Port     GPIOD
-#define FPGA_DIG7_Pin           GPIO_PIN_15
-#define FPGA_DIG7_GPIO_Port     GPIOD
-
 #ifdef __cplusplus
 }
 #endif

9_Firmware/9_1_Microcontroller/tests/stm32_hal_mock.c

@@ -21,7 +21,6 @@ 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 };
 
@@ -35,26 +34,6 @@ 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 {
@@ -70,9 +49,6 @@ 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)
@@ -199,7 +175,7 @@ void HAL_Delay(uint32_t Delay)
     mock_tick += Delay;
 }
 
-HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, const uint8_t *pData,
+HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, uint8_t *pData,
                                      uint16_t Size, uint32_t Timeout)
 {
     spy_push((SpyRecord){
@@ -209,83 +185,6 @@ 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

@@ -34,10 +34,6 @@ typedef uint32_t HAL_StatusTypeDef;
 
 #define HAL_MAX_DELAY 0xFFFFFFFFU
 
-#ifndef __NOP
-#define __NOP() ((void)0)
-#endif
-
 /* ========================= GPIO Types ============================ */
 
 typedef struct {
@@ -105,7 +101,6 @@ 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 */
 
@@ -140,7 +135,6 @@ typedef enum {
     SPY_TIM_SET_COMPARE,
     SPY_SPI_TRANSMIT_RECEIVE,
     SPY_SPI_TRANSMIT,
-    SPY_UART_RX,
 } SpyCallType;
 
 typedef struct {
@@ -188,24 +182,7 @@ GPIO_PinState HAL_GPIO_ReadPin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin);
 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_Transmit(UART_HandleTypeDef *huart, 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

@@ -1,361 +0,0 @@
-// test_agc_outer_loop.cpp -- C++ unit tests for ADAR1000_AGC outer-loop AGC
-//
-// Tests the STM32 outer-loop AGC class that adjusts ADAR1000 VGA gain based
-// on the FPGA's saturation flag.  Uses the existing HAL mock/spy framework.
-//
-// Build: c++ -std=c++17 ... (see Makefile TESTS_WITH_CXX rule)
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-// Shim headers override real STM32/diag headers
-#include "stm32_hal_mock.h"
-#include "ADAR1000_AGC.h"
-#include "ADAR1000_Manager.h"
-
-// ---------------------------------------------------------------------------
-// Linker symbols required by ADAR1000_Manager.cpp (pulled in via main.h shim)
-// ---------------------------------------------------------------------------
-uint8_t GUI_start_flag_received = 0;
-uint8_t USB_Buffer[64] = {0};
-extern "C" void Error_Handler(void) {}
-
-// ---------------------------------------------------------------------------
-// Helpers
-// ---------------------------------------------------------------------------
-
-static int tests_passed = 0;
-static int tests_total  = 0;
-
-#define RUN_TEST(fn)                                                           \
-    do {                                                                        \
-        tests_total++;                                                          \
-        printf("  [%2d] %-55s ", tests_total, #fn);                            \
-        fn();                                                                   \
-        tests_passed++;                                                         \
-        printf("PASS\n");                                                       \
-    } while (0)
-
-// ---------------------------------------------------------------------------
-// Test 1: Default construction matches design spec
-// ---------------------------------------------------------------------------
-static void test_defaults()
-{
-    ADAR1000_AGC agc;
-
-    assert(agc.agc_base_gain == 30);  // kDefaultRxVgaGain
-    assert(agc.gain_step_down == 4);
-    assert(agc.gain_step_up == 1);
-    assert(agc.min_gain == 0);
-    assert(agc.max_gain == 127);
-    assert(agc.holdoff_frames == 4);
-    assert(agc.enabled == true);
-    assert(agc.holdoff_counter == 0);
-    assert(agc.last_saturated == false);
-    assert(agc.saturation_event_count == 0);
-
-    // All cal offsets zero
-    for (int i = 0; i < AGC_TOTAL_CHANNELS; ++i) {
-        assert(agc.cal_offset[i] == 0);
-    }
-}
-
-// ---------------------------------------------------------------------------
-// Test 2: Saturation reduces gain by step_down
-// ---------------------------------------------------------------------------
-static void test_saturation_reduces_gain()
-{
-    ADAR1000_AGC agc;
-    uint8_t initial = agc.agc_base_gain;  // 30
-
-    agc.update(true);  // saturation
-
-    assert(agc.agc_base_gain == initial - agc.gain_step_down);  // 26
-    assert(agc.last_saturated == true);
-    assert(agc.holdoff_counter == 0);
-}
-
-// ---------------------------------------------------------------------------
-// Test 3: Holdoff prevents premature gain-up
-// ---------------------------------------------------------------------------
-static void test_holdoff_prevents_early_gain_up()
-{
-    ADAR1000_AGC agc;
-    agc.update(true);  // saturate once -> gain = 26
-    uint8_t after_sat = agc.agc_base_gain;
-
-    // Feed (holdoff_frames - 1) clear frames — should NOT increase gain
-    for (uint8_t i = 0; i < agc.holdoff_frames - 1; ++i) {
-        agc.update(false);
-        assert(agc.agc_base_gain == after_sat);
-    }
-
-    // holdoff_counter should be holdoff_frames - 1
-    assert(agc.holdoff_counter == agc.holdoff_frames - 1);
-}
-
-// ---------------------------------------------------------------------------
-// Test 4: Recovery after holdoff period
-// ---------------------------------------------------------------------------
-static void test_recovery_after_holdoff()
-{
-    ADAR1000_AGC agc;
-    agc.update(true);  // saturate -> gain = 26
-    uint8_t after_sat = agc.agc_base_gain;
-
-    // Feed exactly holdoff_frames clear frames
-    for (uint8_t i = 0; i < agc.holdoff_frames; ++i) {
-        agc.update(false);
-    }
-
-    assert(agc.agc_base_gain == after_sat + agc.gain_step_up);  // 27
-    assert(agc.holdoff_counter == 0);  // reset after recovery
-}
-
-// ---------------------------------------------------------------------------
-// Test 5: Min gain clamping
-// ---------------------------------------------------------------------------
-static void test_min_gain_clamp()
-{
-    ADAR1000_AGC agc;
-    agc.min_gain = 10;
-    agc.agc_base_gain = 12;
-    agc.gain_step_down = 4;
-
-    agc.update(true);  // 12 - 4 = 8, but min = 10
-    assert(agc.agc_base_gain == 10);
-
-    agc.update(true);  // already at min
-    assert(agc.agc_base_gain == 10);
-}
-
-// ---------------------------------------------------------------------------
-// Test 6: Max gain clamping
-// ---------------------------------------------------------------------------
-static void test_max_gain_clamp()
-{
-    ADAR1000_AGC agc;
-    agc.max_gain = 32;
-    agc.agc_base_gain = 31;
-    agc.gain_step_up = 2;
-    agc.holdoff_frames = 1;  // immediate recovery
-
-    agc.update(false);  // 31 + 2 = 33, but max = 32
-    assert(agc.agc_base_gain == 32);
-
-    agc.update(false);  // already at max
-    assert(agc.agc_base_gain == 32);
-}
-
-// ---------------------------------------------------------------------------
-// Test 7: Per-channel calibration offsets
-// ---------------------------------------------------------------------------
-static void test_calibration_offsets()
-{
-    ADAR1000_AGC agc;
-    agc.agc_base_gain = 30;
-    agc.min_gain = 0;
-    agc.max_gain = 60;
-
-    agc.cal_offset[0]  =  5;   // 30 + 5  = 35
-    agc.cal_offset[1]  = -10;  // 30 - 10 = 20
-    agc.cal_offset[15] =  40;  // 30 + 40 = 60 (clamped to max)
-
-    assert(agc.effectiveGain(0) == 35);
-    assert(agc.effectiveGain(1) == 20);
-    assert(agc.effectiveGain(15) == 60);  // clamped to max_gain
-
-    // Negative clamp
-    agc.cal_offset[2] = -50;   // 30 - 50 = -20, clamped to min_gain = 0
-    assert(agc.effectiveGain(2) == 0);
-
-    // Out-of-range index returns min_gain
-    assert(agc.effectiveGain(16) == agc.min_gain);
-}
-
-// ---------------------------------------------------------------------------
-// Test 8: Disabled AGC is a no-op
-// ---------------------------------------------------------------------------
-static void test_disabled_noop()
-{
-    ADAR1000_AGC agc;
-    agc.enabled = false;
-    uint8_t original = agc.agc_base_gain;
-
-    agc.update(true);   // should be ignored
-    assert(agc.agc_base_gain == original);
-    assert(agc.last_saturated == false);  // not updated when disabled
-    assert(agc.saturation_event_count == 0);
-
-    agc.update(false);  // also ignored
-    assert(agc.agc_base_gain == original);
-}
-
-// ---------------------------------------------------------------------------
-// Test 9: applyGain() produces correct SPI writes
-// ---------------------------------------------------------------------------
-static void test_apply_gain_spi()
-{
-    spy_reset();
-
-    ADAR1000Manager mgr;  // creates 4 devices
-    ADAR1000_AGC agc;
-    agc.agc_base_gain = 42;
-
-    agc.applyGain(mgr);
-
-    // Each channel: adarSetRxVgaGain -> adarWrite(gain) + adarWrite(LOAD_WORKING)
-    // Each adarWrite: CS_low (GPIO_WRITE) + SPI_TRANSMIT + CS_high (GPIO_WRITE)
-    // = 3 spy records per adarWrite
-    // = 6 spy records per channel
-    // = 16 channels * 6 = 96 total spy records
-
-    // Verify SPI transmit count: 2 SPI calls per channel * 16 channels = 32
-    int spi_count = spy_count_type(SPY_SPI_TRANSMIT);
-    assert(spi_count == 32);
-
-    // Verify GPIO write count: 4 GPIO writes per channel (CS low + CS high for each of 2 adarWrite calls)
-    int gpio_writes = spy_count_type(SPY_GPIO_WRITE);
-    assert(gpio_writes == 64);  // 16 ch * 2 adarWrite * 2 GPIO each
-}
-
-// ---------------------------------------------------------------------------
-// Test 10: resetState() clears counters but preserves config
-// ---------------------------------------------------------------------------
-static void test_reset_preserves_config()
-{
-    ADAR1000_AGC agc;
-    agc.agc_base_gain = 42;
-    agc.gain_step_down = 8;
-    agc.cal_offset[3] = -5;
-
-    // Generate some state
-    agc.update(true);
-    agc.update(true);
-    assert(agc.saturation_event_count == 2);
-    assert(agc.last_saturated == true);
-
-    agc.resetState();
-
-    // State cleared
-    assert(agc.holdoff_counter == 0);
-    assert(agc.last_saturated == false);
-    assert(agc.saturation_event_count == 0);
-
-    // Config preserved
-    assert(agc.agc_base_gain == 42 - 8 - 8);  // two saturations applied before reset
-    assert(agc.gain_step_down == 8);
-    assert(agc.cal_offset[3] == -5);
-}
-
-// ---------------------------------------------------------------------------
-// Test 11: Saturation counter increments correctly
-// ---------------------------------------------------------------------------
-static void test_saturation_counter()
-{
-    ADAR1000_AGC agc;
-
-    for (int i = 0; i < 10; ++i) {
-        agc.update(true);
-    }
-    assert(agc.saturation_event_count == 10);
-
-    // Clear frames don't increment saturation count
-    for (int i = 0; i < 5; ++i) {
-        agc.update(false);
-    }
-    assert(agc.saturation_event_count == 10);
-}
-
-// ---------------------------------------------------------------------------
-// Test 12: Mixed saturation/clear sequence
-// ---------------------------------------------------------------------------
-static void test_mixed_sequence()
-{
-    ADAR1000_AGC agc;
-    agc.agc_base_gain = 30;
-    agc.gain_step_down = 4;
-    agc.gain_step_up = 1;
-    agc.holdoff_frames = 3;
-
-    // Saturate: 30 -> 26
-    agc.update(true);
-    assert(agc.agc_base_gain == 26);
-    assert(agc.holdoff_counter == 0);
-
-    // 2 clear frames (not enough for recovery)
-    agc.update(false);
-    agc.update(false);
-    assert(agc.agc_base_gain == 26);
-    assert(agc.holdoff_counter == 2);
-
-    // Saturate again: 26 -> 22, counter resets
-    agc.update(true);
-    assert(agc.agc_base_gain == 22);
-    assert(agc.holdoff_counter == 0);
-    assert(agc.saturation_event_count == 2);
-
-    // 3 clear frames -> recovery: 22 -> 23
-    agc.update(false);
-    agc.update(false);
-    agc.update(false);
-    assert(agc.agc_base_gain == 23);
-    assert(agc.holdoff_counter == 0);
-
-    // 3 more clear -> 23 -> 24
-    agc.update(false);
-    agc.update(false);
-    agc.update(false);
-    assert(agc.agc_base_gain == 24);
-}
-
-// ---------------------------------------------------------------------------
-// Test 13: Effective gain with edge-case base_gain values
-// ---------------------------------------------------------------------------
-static void test_effective_gain_edge_cases()
-{
-    ADAR1000_AGC agc;
-    agc.min_gain = 5;
-    agc.max_gain = 250;
-
-    // Base gain at zero with positive offset
-    agc.agc_base_gain = 0;
-    agc.cal_offset[0] = 3;
-    assert(agc.effectiveGain(0) == 5);  // 0 + 3 = 3, clamped to min_gain=5
-
-    // Base gain at max with zero offset
-    agc.agc_base_gain = 250;
-    agc.cal_offset[0] = 0;
-    assert(agc.effectiveGain(0) == 250);
-
-    // Base gain at max with positive offset -> clamped
-    agc.agc_base_gain = 250;
-    agc.cal_offset[0] = 10;
-    assert(agc.effectiveGain(0) == 250);  // clamped to max_gain
-}
-
-// ---------------------------------------------------------------------------
-// main
-// ---------------------------------------------------------------------------
-int main()
-{
-    printf("=== ADAR1000_AGC Outer-Loop Unit Tests ===\n");
-
-    RUN_TEST(test_defaults);
-    RUN_TEST(test_saturation_reduces_gain);
-    RUN_TEST(test_holdoff_prevents_early_gain_up);
-    RUN_TEST(test_recovery_after_holdoff);
-    RUN_TEST(test_min_gain_clamp);
-    RUN_TEST(test_max_gain_clamp);
-    RUN_TEST(test_calibration_offsets);
-    RUN_TEST(test_disabled_noop);
-    RUN_TEST(test_apply_gain_spi);
-    RUN_TEST(test_reset_preserves_config);
-    RUN_TEST(test_saturation_counter);
-    RUN_TEST(test_mixed_sequence);
-    RUN_TEST(test_effective_gain_edge_cases);
-
-    printf("=== Results: %d/%d passed ===\n", tests_passed, tests_total);
-    return (tests_passed == tests_total) ? 0 : 1;
-}

9_Firmware/9_1_Microcontroller/tests/test_gap3_emergency_state_ordering.c

@@ -34,25 +34,22 @@ static void Mock_Emergency_Stop(void)
     state_was_true_when_estop_called = system_emergency_state;
 }
 
-/* Error codes (subset matching main.cpp SystemError_t) */
+/* Error codes (subset matching main.cpp) */
 typedef enum {
     ERROR_NONE = 0,
     ERROR_RF_PA_OVERCURRENT = 9,
     ERROR_RF_PA_BIAS = 10,
-    ERROR_STEPPER_MOTOR = 11,
+    ERROR_STEPPER_FAULT = 11,
     ERROR_FPGA_COMM = 12,
     ERROR_POWER_SUPPLY = 13,
     ERROR_TEMPERATURE_HIGH = 14,
-    ERROR_MEMORY_ALLOC = 15,
-    ERROR_WATCHDOG_TIMEOUT = 16,
 } SystemError_t;
 
-/* Extracted critical-error handling logic (matches post-fix main.cpp predicate) */
+/* Extracted critical-error handling logic (post-fix ordering) */
 static void simulate_handleSystemError_critical(SystemError_t error)
 {
-    if ((error >= ERROR_RF_PA_OVERCURRENT && error <= ERROR_POWER_SUPPLY) ||
+    /* Only critical errors (PA overcurrent through power supply) trigger e-stop */
-        error == ERROR_TEMPERATURE_HIGH ||
+    if (error >= ERROR_RF_PA_OVERCURRENT && error <= ERROR_POWER_SUPPLY) {
-        error == ERROR_WATCHDOG_TIMEOUT) {
         /* FIX 5: set flag BEFORE calling Emergency_Stop */
         system_emergency_state = true;
         Mock_Emergency_Stop();
@@ -96,39 +93,17 @@ int main(void)
     assert(state_was_true_when_estop_called == true);
     printf("PASS\n");
 
-    /* Test 4: Overtemp → MUST trigger e-stop (was incorrectly non-critical before fix) */
+    /* Test 4: Non-critical error → no e-stop, flag stays false */
-    printf("  Test 4: Overtemp triggers e-stop... ");
+    printf("  Test 4: Non-critical error (no e-stop)... ");
     system_emergency_state = false;
     emergency_stop_called = false;
-    state_was_true_when_estop_called = false;
     simulate_handleSystemError_critical(ERROR_TEMPERATURE_HIGH);
-    assert(emergency_stop_called == true);
-    assert(system_emergency_state == true);
-    assert(state_was_true_when_estop_called == true);
-    printf("PASS\n");
-
-    /* Test 5: Watchdog timeout → MUST trigger e-stop */
-    printf("  Test 5: Watchdog timeout triggers e-stop... ");
-    system_emergency_state = false;
-    emergency_stop_called = false;
-    state_was_true_when_estop_called = false;
-    simulate_handleSystemError_critical(ERROR_WATCHDOG_TIMEOUT);
-    assert(emergency_stop_called == true);
-    assert(system_emergency_state == true);
-    assert(state_was_true_when_estop_called == true);
-    printf("PASS\n");
-
-    /* Test 6: Non-critical error (memory alloc) → no e-stop */
-    printf("  Test 6: Non-critical error (no e-stop)... ");
-    system_emergency_state = false;
-    emergency_stop_called = false;
-    simulate_handleSystemError_critical(ERROR_MEMORY_ALLOC);
     assert(emergency_stop_called == false);
     assert(system_emergency_state == false);
     printf("PASS\n");
 
-    /* Test 7: ERROR_NONE → no e-stop */
+    /* Test 5: ERROR_NONE → no e-stop */
-    printf("  Test 7: ERROR_NONE (no action)... ");
+    printf("  Test 5: ERROR_NONE (no action)... ");
     system_emergency_state = false;
     emergency_stop_called = false;
     simulate_handleSystemError_critical(ERROR_NONE);
@@ -136,6 +111,6 @@ int main(void)
     assert(system_emergency_state == false);
     printf("PASS\n");
 
-    printf("\n=== Gap-3 Fix 5: ALL 7 TESTS PASSED ===\n\n");
+    printf("\n=== Gap-3 Fix 5: ALL TESTS PASSED ===\n\n");
     return 0;
 }

9_Firmware/9_1_Microcontroller/tests/test_gap3_health_watchdog_cold_start.c

@@ -1,132 +0,0 @@
-/*******************************************************************************
- * test_gap3_health_watchdog_cold_start.c
- *
- * Safety bug: checkSystemHealth()'s internal watchdog (step 9, pre-fix) had two
- * linked defects that, once ERROR_WATCHDOG_TIMEOUT was escalated to
- * Emergency_Stop() by the overtemp/watchdog PR, would false-latch the radar:
- *
- *   (1) Cold-start false trip:
- *         static uint32_t last_health_check = 0;
- *         if (HAL_GetTick() - last_health_check > 60000) { ... }
- *       On the very first call, last_health_check == 0, so once the MCU has
- *       been up >60 s (which is typical after the ADAR1000 / AD9523 / ADF4382
- *       init sequence) the subtraction `now - 0` exceeds 60 000 ms and the
- *       watchdog trips spuriously.
- *
- *   (2) Stale-timestamp after early returns:
- *         last_health_check = HAL_GetTick();   // at END of function
- *       Every earlier sub-check (IMU, BMP180, GPS, PA Idq, temperature) has an
- *       `if (fault) return current_error;` path that skips the update. After a
- *       cumulative 60 s of transient faults, the next clean call compares
- *       `now` against the long-stale `last_health_check` and trips.
- *
- * After fix:  Watchdog logic moved to function ENTRY. A dedicated cold-start
- *             branch seeds the timestamp on the first call without checking.
- *             On every subsequent call, the elapsed delta is captured FIRST
- *             and last_health_check is updated BEFORE any sub-check runs, so
- *             early returns no longer leave a stale value.
- *
- * Test strategy:
- *   Extract the post-fix watchdog predicate into a standalone function that
- *   takes a simulated HAL_GetTick() value and returns whether the watchdog
- *   should trip. Walk through boot + fault sequences that would have tripped
- *   the pre-fix code and assert the post-fix code does NOT trip.
- ******************************************************************************/
-#include <assert.h>
-#include <stdint.h>
-#include <stdio.h>
-
-/* --- Post-fix watchdog state + predicate, extracted verbatim --- */
-static uint32_t last_health_check = 0;
-
-/* Returns 1 iff this call should raise ERROR_WATCHDOG_TIMEOUT.
-   Updates last_health_check BEFORE returning (matches post-fix behaviour). */
-static int health_watchdog_step(uint32_t now_tick)
-{
-    if (last_health_check == 0) {
-        last_health_check = now_tick;   /* cold start: seed only, never trip */
-        return 0;
-    }
-    uint32_t elapsed = now_tick - last_health_check;
-    last_health_check = now_tick;       /* update BEFORE any early return */
-    return (elapsed > 60000) ? 1 : 0;
-}
-
-/* Test helper: reset the static state between scenarios. */
-static void reset_state(void) { last_health_check = 0; }
-
-int main(void)
-{
-    printf("=== Safety fix: checkSystemHealth() watchdog cold-start + stale-ts ===\n");
-
-    /* ---------- Scenario 1: cold-start after 60 s of init must NOT trip ---- */
-    printf("  Test 1: first call at t=75000 ms (post-init) does not trip... ");
-    reset_state();
-    assert(health_watchdog_step(75000) == 0);
-    printf("PASS\n");
-
-    /* ---------- Scenario 2: first call far beyond 60 s (PRE-FIX BUG) ------- */
-    printf("  Test 2: first call at t=600000 ms still does not trip... ");
-    reset_state();
-    assert(health_watchdog_step(600000) == 0);
-    printf("PASS\n");
-
-    /* ---------- Scenario 3: healthy main-loop pacing (10 ms period) -------- */
-    printf("  Test 3: 1000 calls at 10 ms intervals never trip... ");
-    reset_state();
-    (void)health_watchdog_step(1000);  /* seed */
-    for (int i = 1; i <= 1000; i++) {
-        assert(health_watchdog_step(1000 + i * 10) == 0);
-    }
-    printf("PASS\n");
-
-    /* ---------- Scenario 4: stale-timestamp after a burst of early returns -
-       Pre-fix bug: many early returns skipped the timestamp update, so a
-       later clean call would compare `now` against a 60+ s old value. Post-fix,
-       every call (including ones that would have early-returned in the real
-       function) updates the timestamp at the top, so this scenario is modelled
-       by calling health_watchdog_step() on every iteration of the main loop. */
-    printf("  Test 4: 70 s of 100 ms-spaced calls after seed do not trip... ");
-    reset_state();
-    (void)health_watchdog_step(50000);   /* seed mid-run */
-    for (int i = 1; i <= 700; i++) {     /* 70 s @ 100 ms */
-        int tripped = health_watchdog_step(50000 + i * 100);
-        assert(tripped == 0);
-    }
-    printf("PASS\n");
-
-    /* ---------- Scenario 5: genuine stall MUST trip ------------------------ */
-    printf("  Test 5: real 60+ s gap between calls does trip... ");
-    reset_state();
-    (void)health_watchdog_step(10000);              /* seed */
-    assert(health_watchdog_step(10000 + 60001) == 1);
-    printf("PASS\n");
-
-    /* ---------- Scenario 6: exactly 60 s gap is the boundary -- do NOT trip
-       Post-fix predicate uses strict >60000, matching the pre-fix comparator. */
-    printf("  Test 6: exactly 60000 ms gap does not trip (boundary)... ");
-    reset_state();
-    (void)health_watchdog_step(10000);
-    assert(health_watchdog_step(10000 + 60000) == 0);
-    printf("PASS\n");
-
-    /* ---------- Scenario 7: trip, then recover on next paced call ---------- */
-    printf("  Test 7: after a genuine stall+trip, next paced call does not re-trip... ");
-    reset_state();
-    (void)health_watchdog_step(5000);                      /* seed */
-    assert(health_watchdog_step(5000 + 70000) == 1);       /* stall -> trip */
-    assert(health_watchdog_step(5000 + 70000 + 10) == 0);  /* resume paced */
-    printf("PASS\n");
-
-    /* ---------- Scenario 8: HAL_GetTick() 32-bit wrap (~49.7 days) ---------
-       Because we subtract unsigned 32-bit values, wrap is handled correctly as
-       long as the true elapsed time is < 2^32 ms. */
-    printf("  Test 8: tick wrap from 0xFFFFFF00 -> 0x00000064 (200 ms span) does not trip... ");
-    reset_state();
-    (void)health_watchdog_step(0xFFFFFF00u);
-    assert(health_watchdog_step(0x00000064u) == 0);  /* elapsed = 0x164 = 356 ms */
-    printf("PASS\n");
-
-    printf("\n=== Safety fix: ALL TESTS PASSED ===\n\n");
-    return 0;
-}

9_Firmware/9_1_Microcontroller/tests/test_gap3_overtemp_emergency_stop.c

@@ -1,119 +0,0 @@
-/*******************************************************************************
- * test_gap3_overtemp_emergency_stop.c
- *
- * Safety bug: handleSystemError() did not escalate ERROR_TEMPERATURE_HIGH
- * (or ERROR_WATCHDOG_TIMEOUT) to Emergency_Stop().
- *
- * Before fix:  The critical-error gate was
- *                if (error >= ERROR_RF_PA_OVERCURRENT &&
- *                    error <= ERROR_POWER_SUPPLY) { Emergency_Stop(); }
- *              So overtemp (code 14) and watchdog timeout (code 16) fell
- *              through to attemptErrorRecovery()'s default branch (log and
- *              continue), leaving the 10 W GaN PAs biased at >75 °C.
- *
- * After fix:   The gate also matches ERROR_TEMPERATURE_HIGH and
- *              ERROR_WATCHDOG_TIMEOUT, so thermal and watchdog faults
- *              latch Emergency_Stop() exactly like PA overcurrent.
- *
- * Test strategy:
- *   Replicate the critical-error predicate and assert that every error
- *   enum value which threatens RF/power safety is accepted, and that the
- *   non-critical ones (comm, sensor, memory) are not.
- ******************************************************************************/
-#include <assert.h>
-#include <stdio.h>
-
-/* Mirror of SystemError_t from main.cpp (keep in lockstep). */
-typedef enum {
-    ERROR_NONE = 0,
-    ERROR_AD9523_CLOCK,
-    ERROR_ADF4382_TX_UNLOCK,
-    ERROR_ADF4382_RX_UNLOCK,
-    ERROR_ADAR1000_COMM,
-    ERROR_ADAR1000_TEMP,
-    ERROR_IMU_COMM,
-    ERROR_BMP180_COMM,
-    ERROR_GPS_COMM,
-    ERROR_RF_PA_OVERCURRENT,
-    ERROR_RF_PA_BIAS,
-    ERROR_STEPPER_MOTOR,
-    ERROR_FPGA_COMM,
-    ERROR_POWER_SUPPLY,
-    ERROR_TEMPERATURE_HIGH,
-    ERROR_MEMORY_ALLOC,
-    ERROR_WATCHDOG_TIMEOUT
-} SystemError_t;
-
-/* Extracted post-fix predicate: returns 1 when Emergency_Stop() must fire. */
-static int triggers_emergency_stop(SystemError_t e)
-{
-    return ((e >= ERROR_RF_PA_OVERCURRENT && e <= ERROR_POWER_SUPPLY) ||
-            e == ERROR_TEMPERATURE_HIGH ||
-            e == ERROR_WATCHDOG_TIMEOUT);
-}
-
-int main(void)
-{
-    printf("=== Safety fix: overtemp / watchdog -> Emergency_Stop() ===\n");
-
-    /* --- Errors that MUST latch Emergency_Stop --- */
-    printf("  Test 1: ERROR_RF_PA_OVERCURRENT triggers... ");
-    assert(triggers_emergency_stop(ERROR_RF_PA_OVERCURRENT));
-    printf("PASS\n");
-
-    printf("  Test 2: ERROR_RF_PA_BIAS triggers... ");
-    assert(triggers_emergency_stop(ERROR_RF_PA_BIAS));
-    printf("PASS\n");
-
-    printf("  Test 3: ERROR_STEPPER_MOTOR triggers... ");
-    assert(triggers_emergency_stop(ERROR_STEPPER_MOTOR));
-    printf("PASS\n");
-
-    printf("  Test 4: ERROR_FPGA_COMM triggers... ");
-    assert(triggers_emergency_stop(ERROR_FPGA_COMM));
-    printf("PASS\n");
-
-    printf("  Test 5: ERROR_POWER_SUPPLY triggers... ");
-    assert(triggers_emergency_stop(ERROR_POWER_SUPPLY));
-    printf("PASS\n");
-
-    printf("  Test 6: ERROR_TEMPERATURE_HIGH triggers (regression)... ");
-    assert(triggers_emergency_stop(ERROR_TEMPERATURE_HIGH));
-    printf("PASS\n");
-
-    printf("  Test 7: ERROR_WATCHDOG_TIMEOUT triggers (regression)... ");
-    assert(triggers_emergency_stop(ERROR_WATCHDOG_TIMEOUT));
-    printf("PASS\n");
-
-    /* --- Errors that MUST NOT escalate (recoverable / informational) --- */
-    printf("  Test 8: ERROR_NONE does not trigger... ");
-    assert(!triggers_emergency_stop(ERROR_NONE));
-    printf("PASS\n");
-
-    printf("  Test 9: ERROR_AD9523_CLOCK does not trigger... ");
-    assert(!triggers_emergency_stop(ERROR_AD9523_CLOCK));
-    printf("PASS\n");
-
-    printf("  Test 10: ERROR_ADF4382_TX_UNLOCK does not trigger (recoverable)... ");
-    assert(!triggers_emergency_stop(ERROR_ADF4382_TX_UNLOCK));
-    printf("PASS\n");
-
-    printf("  Test 11: ERROR_ADAR1000_COMM does not trigger... ");
-    assert(!triggers_emergency_stop(ERROR_ADAR1000_COMM));
-    printf("PASS\n");
-
-    printf("  Test 12: ERROR_IMU_COMM does not trigger... ");
-    assert(!triggers_emergency_stop(ERROR_IMU_COMM));
-    printf("PASS\n");
-
-    printf("  Test 13: ERROR_GPS_COMM does not trigger... ");
-    assert(!triggers_emergency_stop(ERROR_GPS_COMM));
-    printf("PASS\n");
-
-    printf("  Test 14: ERROR_MEMORY_ALLOC does not trigger... ");
-    assert(!triggers_emergency_stop(ERROR_MEMORY_ALLOC));
-    printf("PASS\n");
-
-    printf("\n=== Safety fix: ALL TESTS PASSED ===\n\n");
-    return 0;
-}

9_Firmware/9_1_Microcontroller/tests/test_um982_gps.c

@@ -1,853 +0,0 @@
-/*******************************************************************************
- * 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/adc_clk_mmcm.v

@@ -212,11 +212,6 @@ BUFG bufg_feedback (
 
 // ---- Output BUFG ----
 // Routes the jitter-cleaned 400 MHz CLKOUT0 onto a global clock network.
-// DONT_TOUCH prevents phys_opt_design AggressiveExplore from replicating this
-// BUFG into a cascaded chain (4 BUFGs in series observed in Build 26), which
-// added ~243ps of clock insertion delay and caused -187ps clock skew on the
-// NCO→DSP mixer critical path.
-(* DONT_TOUCH = "TRUE" *)
 BUFG bufg_clk400m (
     .I(clk_mmcm_out0),
     .O(clk_400m_out)

9_Firmware/9_2_FPGA/cic_decimator_4x_enhanced.v

@@ -66,13 +66,13 @@ reg signed [COMB_WIDTH-1:0] comb_delay [0:STAGES-1][0:COMB_DELAY-1];
 // Pipeline valid for comb stages 1-4: delayed by 1 cycle vs comb_pipe to
 // account for CREG+AREG+BREG pipeline inside comb_0_dsp (explicit DSP48E1).
 // Comb[0] result appears 1 cycle after data_valid_comb_pipe.
-(* keep = "true", max_fanout = 16 *) reg data_valid_comb_0_out;
+(* keep = "true", max_fanout = 4 *) reg data_valid_comb_0_out;
 
 // Enhanced control and monitoring
 reg [1:0] decimation_counter;
-(* keep = "true", max_fanout = 16 *) reg data_valid_delayed;
+(* keep = "true", max_fanout = 4 *) reg data_valid_delayed;
-(* keep = "true", max_fanout = 16 *) reg data_valid_comb;
+(* keep = "true", max_fanout = 4 *) reg data_valid_comb;
-(* keep = "true", max_fanout = 16 *) reg data_valid_comb_pipe;
+(* keep = "true", max_fanout = 4 *) reg data_valid_comb_pipe;
 reg [7:0] output_counter;
 reg [ACC_WIDTH-1:0] max_integrator_value;
 reg overflow_detected;

9_Firmware/9_2_FPGA/constraints/adc_clk_mmcm.xdc

@@ -83,13 +83,3 @@ set_false_path -through [get_pins rx_inst/adc/mmcm_inst/mmcm_adc_400m/LOCKED]
 # Waiving hold on these 8 paths (adc_d_p[0..7] → IDDR) is standard practice
 # for source-synchronous LVDS ADC interfaces using BUFIO capture.
 set_false_path -hold -from [get_ports {adc_d_p[*]}] -to [get_clocks adc_dco_p]
-
-# --------------------------------------------------------------------------
-# Timing margin for 400 MHz critical paths
-# --------------------------------------------------------------------------
-# Extra setup uncertainty forces Vivado to leave margin for temperature/voltage/
-# aging variation. Reduced from 200 ps to 100 ps after NCO→mixer pipeline
-# register fix eliminated the dominant timing bottleneck (WNS went from +0.002ns
-# to comfortable margin). 100 ps still provides ~4% guardband on the 2.5ns period.
-# This is additive to the existing jitter-based uncertainty (~53 ps).
-set_clock_uncertainty -setup -add 0.100 [get_clocks clk_mmcm_out0]

9_Firmware/9_2_FPGA/constraints/xc7a50t_ftg256.xdc

@@ -222,16 +222,8 @@ set_property IOSTANDARD LVCMOS33 [get_ports {stm32_new_*}]
 set_property IOSTANDARD LVCMOS33 [get_ports {stm32_mixers_enable}]
 # reset_n is DIG_4 (PD12) — constrained above in the RESET section
 
-# DIG_5 = H11, DIG_6 = G12, DIG_7 = H12 — FPGA→STM32 status outputs
+# DIG_5 = H11, DIG_6 = G12, DIG_7 = H12 — available for FPGA→STM32 status
-# DIG_5: AGC saturation flag (PD13 on STM32)
+# Currently unused in RTL. Could be connected to status outputs if needed.
-# DIG_6: reserved (PD14)
-# DIG_7: reserved (PD15)
-set_property PACKAGE_PIN H11 [get_ports {gpio_dig5}]
-set_property PACKAGE_PIN G12 [get_ports {gpio_dig6}]
-set_property PACKAGE_PIN H12 [get_ports {gpio_dig7}]
-set_property IOSTANDARD LVCMOS33 [get_ports {gpio_dig*}]
-set_property DRIVE 8 [get_ports {gpio_dig*}]
-set_property SLEW SLOW [get_ports {gpio_dig*}]
 
 # ============================================================================
 # ADC INTERFACE (LVDS — Bank 14, VCCO=3.3V)

9_Firmware/9_2_FPGA/ddc_400m.v

@@ -102,19 +102,14 @@ wire signed [17:0] debug_mixed_q_trunc;
 reg [7:0] signal_power_i, signal_power_q;
 
 // Internal mixing signals
-// Pipeline: NCO fabric reg (1) + DSP48E1 AREG/BREG (1) + MREG (1) + PREG (1) + retiming (1) = 5 cycles
+// DSP48E1 with AREG=1, BREG=1, MREG=1, PREG=1 handles all internal pipelining
-// The NCO fabric pipeline register was added to break the long NCO→DSP B-port route
+// Latency: 4 cycles (1 for AREG/BREG, 1 for MREG, 1 for PREG, 1 for post-DSP retiming)
-// (1.505ns routing in Build 26, WNS=+0.002ns). With BREG=1 still active inside the DSP,
-// total latency increases by 1 cycle (2.5ns at 400MHz — negligible for radar).
 wire signed [MIXER_WIDTH-1:0] adc_signed_w;
 reg signed [MIXER_WIDTH + NCO_WIDTH -1:0] mixed_i, mixed_q;
 reg mixed_valid;
 reg mixer_overflow_i, mixer_overflow_q;
-// Pipeline valid tracking: 5-stage shift register (1 NCO pipe + 3 DSP48E1 + 1 retiming)
+// Pipeline valid tracking: 4-stage shift register (3 for DSP48E1 + 1 for post-DSP retiming)
-reg [4:0] dsp_valid_pipe;
+reg [3:0] dsp_valid_pipe;
-// NCO→DSP pipeline registers — breaks the long NCO sin/cos → DSP48E1 B-port route
-// DONT_TOUCH prevents Vivado from absorbing these into the DSP or optimizing away
-(* DONT_TOUCH = "TRUE" *) reg signed [15:0] cos_nco_pipe, sin_nco_pipe;
 // Post-DSP retiming registers — breaks DSP48E1 CLK→P to fabric timing path
 // This extra pipeline stage absorbs the 1.866ns DSP output prop delay + routing,
 // ensuring WNS > 0 at 400 MHz regardless of placement seed
@@ -215,11 +210,11 @@ nco_400m_enhanced nco_core (
 //
 // Architecture:
 //   ADC data → sign-extend to 18b → DSP48E1 A-port (AREG=1 pipelines it)
-//   NCO cos/sin → fabric pipeline reg → DSP48E1 B-port (BREG=1 pipelines it)
+//   NCO cos/sin → sign-extend to 18b → DSP48E1 B-port (BREG=1 pipelines it)
 //   Multiply result captured by MREG=1, then output registered by PREG=1
 //   force_saturation override applied AFTER DSP48E1 output (not on input path)
 //
-// Latency: 4 clock cycles (1 NCO pipe + 1 AREG/BREG + 1 MREG + 1 PREG) + 1 retiming = 5 total
+// Latency: 3 clock cycles (AREG/BREG + MREG + PREG)
 // PREG=1 absorbs DSP48E1 CLK→P delay internally, preventing fabric timing violations
 // In simulation (Icarus), uses behavioral equivalent since DSP48E1 is Xilinx-only
 // ============================================================================
@@ -228,35 +223,24 @@ nco_400m_enhanced nco_core (
 assign adc_signed_w = {1'b0, adc_data, {(MIXER_WIDTH-ADC_WIDTH-1){1'b0}}} - 
                       {1'b0, {ADC_WIDTH{1'b1}}, {(MIXER_WIDTH-ADC_WIDTH-1){1'b0}}} / 2;
 
-// Valid pipeline: 5-stage shift register (1 NCO pipe + 3 DSP48E1 AREG+MREG+PREG + 1 retiming)
+// Valid pipeline: 4-stage shift register (3 for DSP48E1 AREG+MREG+PREG + 1 for retiming)
 always @(posedge clk_400m or negedge reset_n_400m) begin
     if (!reset_n_400m) begin
-        dsp_valid_pipe <= 5'b00000;
+        dsp_valid_pipe <= 4'b0000;
     end else begin
-        dsp_valid_pipe <= {dsp_valid_pipe[3:0], (nco_ready && adc_data_valid_i && adc_data_valid_q)};
+        dsp_valid_pipe <= {dsp_valid_pipe[2:0], (nco_ready && adc_data_valid_i && adc_data_valid_q)};
     end
 end
 
 `ifdef SIMULATION
 // ---- Behavioral model for Icarus Verilog simulation ----
-// Mimics NCO pipeline + DSP48E1 with AREG=1, BREG=1, MREG=1, PREG=1 (4-cycle DSP + 1 NCO pipe)
+// Mimics DSP48E1 with AREG=1, BREG=1, MREG=1, PREG=1 (3-cycle latency)
 reg signed [MIXER_WIDTH-1:0] adc_signed_reg;     // Models AREG
 reg signed [15:0] cos_pipe_reg, sin_pipe_reg;     // Models BREG
 reg signed [MIXER_WIDTH+NCO_WIDTH-1:0] mult_i_internal, mult_q_internal;  // Models MREG
 reg signed [MIXER_WIDTH+NCO_WIDTH-1:0] mult_i_reg, mult_q_reg;            // Models PREG
 
-// Stage 0: NCO pipeline — breaks long NCO→DSP route (matches synthesis fabric registers)
+// Stage 1: AREG/BREG equivalent
-always @(posedge clk_400m or negedge reset_n_400m) begin
-    if (!reset_n_400m) begin
-        cos_nco_pipe <= 0;
-        sin_nco_pipe <= 0;
-    end else begin
-        cos_nco_pipe <= cos_out;
-        sin_nco_pipe <= sin_out;
-    end
-end
-
-// Stage 1: AREG/BREG equivalent (uses pipelined NCO outputs)
 always @(posedge clk_400m or negedge reset_n_400m) begin
     if (!reset_n_400m) begin
         adc_signed_reg <= 0;
@@ -264,8 +248,8 @@ always @(posedge clk_400m or negedge reset_n_400m) begin
         sin_pipe_reg <= 0;
     end else begin
         adc_signed_reg <= adc_signed_w;
-        cos_pipe_reg <= cos_nco_pipe;
+        cos_pipe_reg <= cos_out;
-        sin_pipe_reg <= sin_nco_pipe;
+        sin_pipe_reg <= sin_out;
     end
 end
 
@@ -307,20 +291,6 @@ end
 // This guarantees AREG/BREG/MREG are used, achieving timing closure at 400 MHz
 wire [47:0] dsp_p_i, dsp_p_q;
 
-// NCO pipeline stage — breaks the long NCO sin/cos → DSP48E1 B-port route
-// (1.505ns routing observed in Build 26). These fabric registers are placed
-// near the DSP by the placer, splitting the route into two shorter segments.
-// DONT_TOUCH on the reg declaration (above) prevents absorption/retiming.
-always @(posedge clk_400m or negedge reset_n_400m) begin
-    if (!reset_n_400m) begin
-        cos_nco_pipe <= 0;
-        sin_nco_pipe <= 0;
-    end else begin
-        cos_nco_pipe <= cos_out;
-        sin_nco_pipe <= sin_out;
-    end
-end
-
 // DSP48E1 for I-channel mixer (adc_signed * cos_out)
 DSP48E1 #(
     // Feature control attributes
@@ -380,7 +350,7 @@ DSP48E1 #(
     .CEINMODE(1'b0),
     // Data ports
     .A({{12{adc_signed_w[MIXER_WIDTH-1]}}, adc_signed_w}),   // Sign-extend 18b to 30b
-    .B({{2{cos_nco_pipe[15]}}, cos_nco_pipe}),                // Sign-extend 16b to 18b (pipelined)
+    .B({{2{cos_out[15]}}, cos_out}),                          // Sign-extend 16b to 18b
     .C(48'b0),
     .D(25'b0),
     .CARRYIN(1'b0),
@@ -462,7 +432,7 @@ DSP48E1 #(
     .CED(1'b0),
     .CEINMODE(1'b0),
     .A({{12{adc_signed_w[MIXER_WIDTH-1]}}, adc_signed_w}),
-    .B({{2{sin_nco_pipe[15]}}, sin_nco_pipe}),
+    .B({{2{sin_out[15]}}, sin_out}),
     .C(48'b0),
     .D(25'b0),
     .CARRYIN(1'b0),
@@ -522,7 +492,7 @@ always @(posedge clk_400m or negedge reset_n_400m) begin
         mixer_overflow_q <= 0;
         saturation_count <= 0;
         overflow_detected <= 0;
-    end else if (dsp_valid_pipe[4]) begin
+    end else if (dsp_valid_pipe[3]) begin
         // Force saturation for testing (applied after DSP output, not on input path)
         if (force_saturation_sync) begin
             mixed_i <= 34'h1FFFFFFFF;

9_Firmware/9_2_FPGA/fpga_self_test.v

@@ -296,7 +296,7 @@ always @(posedge clk or negedge reset_n) begin
                     state           <= ST_DONE;
                 end
             end
-            // Timeout: if no ADC data after 1000 cycles (10 us @ 100 MHz), FAIL
+            // Timeout: if no ADC data after 10000 cycles, FAIL
             step_cnt <= step_cnt + 1;
             if (step_cnt >= 10'd1000 && adc_cap_cnt == 0) begin
                 result_flags[4] <= 1'b0;

9_Firmware/9_2_FPGA/radar_receiver_final.v

@@ -11,10 +11,8 @@ module radar_receiver_final (
     input wire adc_dco_n,            // Data Clock Output N (400MHz LVDS)
 	 output wire adc_pwdn,
     
-    // Chirp counter from transmitter (for matched filter indexing)
+    // Chirp counter from transmitter (for frame sync and matched filter)
     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,
@@ -44,13 +42,6 @@ module radar_receiver_final (
     // [2:0]=shift amount: 0..7 bits. Default 0 = pass-through.
     input wire [3:0] host_gain_shift,
 
-    // AGC configuration (opcodes 0x28-0x2C, active only when agc_enable=1)
-    input wire        host_agc_enable,      // 0x28: 0=manual, 1=auto AGC
-    input wire [7:0]  host_agc_target,      // 0x29: target peak magnitude
-    input wire [3:0]  host_agc_attack,      // 0x2A: gain-down step on clipping
-    input wire [3:0]  host_agc_decay,       // 0x2B: gain-up step when weak
-    input wire [3:0]  host_agc_holdoff,     // 0x2C: frames before gain-up
-
     // STM32 toggle signals for mode 00 (STM32-driven) pass-through.
     // These are CDC-synchronized in radar_system_top.v / radar_transmitter.v
     // before reaching this module. In mode 00, the RX mode controller uses
@@ -69,12 +60,7 @@ module radar_receiver_final (
     // ADC raw data tap (clk_100m domain, post-DDC, for self-test / debug)
     output wire [15:0] dbg_adc_i,            // DDC output I (16-bit signed, 100 MHz)
     output wire [15:0] dbg_adc_q,            // DDC output Q (16-bit signed, 100 MHz)
-    output wire        dbg_adc_valid,        // DDC output valid (100 MHz)
+    output wire        dbg_adc_valid         // DDC output valid (100 MHz)
-
-    // AGC status outputs (for status readback / STM32 outer loop)
-    output wire [7:0]  agc_saturation_count, // Per-frame clipped sample count
-    output wire [7:0]  agc_peak_magnitude,   // Per-frame peak (upper 8 bits)
-    output wire [3:0]  agc_current_gain      // Effective gain_shift encoding
 );
 
 // ========== INTERNAL SIGNALS ==========
@@ -100,9 +86,7 @@ wire adc_valid_sync;
 // Gain-controlled signals (between DDC output and matched filter)
 wire signed [15:0] gc_i, gc_q;
 wire gc_valid;
-wire [7:0] gc_saturation_count;  // Diagnostic: per-frame clipped sample counter
+wire [7:0] gc_saturation_count;  // Diagnostic: clipped sample counter
-wire [7:0] gc_peak_magnitude;    // Diagnostic: per-frame peak magnitude
-wire [3:0] gc_current_gain;      // Diagnostic: effective gain_shift
 
 // Reference signals for the processing chain
 wire [15:0] long_chirp_real, long_chirp_imag;
@@ -176,7 +160,7 @@ wire clk_400m;
 // the buffered 400MHz DCO clock via adc_dco_bufg, avoiding duplicate
 // IBUFDS instantiations on the same LVDS clock pair.
 
-// 1. ADC + CDC + Digital Gain
+// 1. ADC + CDC + AGC
 
 // CMOS Output Interface (400MHz Domain)
 wire [7:0] adc_data_cmos;  // 8-bit ADC data (CMOS, from ad9484_interface_400m)
@@ -238,10 +222,9 @@ ddc_input_interface ddc_if (
     .data_sync_error()
 );
 
-// 2b. Digital Gain Control with AGC
+// 2b. Digital Gain Control (Fix 3)
 // Host-configurable power-of-2 shift between DDC output and matched filter.
-// Default gain_shift=0, agc_enable=0 → pass-through (no behavioral change).
+// Default gain_shift=0 → pass-through (no behavioral change from baseline).
-// When agc_enable=1: auto-adjusts gain per frame based on peak/saturation.
 rx_gain_control gain_ctrl (
     .clk(clk),
     .reset_n(reset_n),
@@ -249,21 +232,10 @@ rx_gain_control gain_ctrl (
     .data_q_in(adc_q_scaled),
     .valid_in(adc_valid_sync),
     .gain_shift(host_gain_shift),
-    // AGC configuration
-    .agc_enable(host_agc_enable),
-    .agc_target(host_agc_target),
-    .agc_attack(host_agc_attack),
-    .agc_decay(host_agc_decay),
-    .agc_holdoff(host_agc_holdoff),
-    // Frame boundary from Doppler processor
-    .frame_boundary(doppler_frame_done),
-    // Outputs
     .data_i_out(gc_i),
     .data_q_out(gc_q),
     .valid_out(gc_valid),
-    .saturation_count(gc_saturation_count),
+    .saturation_count(gc_saturation_count)
-    .peak_magnitude(gc_peak_magnitude),
-    .current_gain(gc_current_gain)
 );
 
 // 3. Dual Chirp Memory Loader
@@ -394,31 +366,32 @@ mti_canceller #(
     .mti_first_chirp(mti_first_chirp)
 );
 
-// ========== FRAME SYNC FROM TRANSMITTER ==========
+// ========== FRAME SYNC USING chirp_counter ==========
-// [FPGA-001 FIXED] Use the authoritative new_chirp_frame signal from the
+reg [5:0] chirp_counter_prev;
-// 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
-        tx_frame_start_prev <= 1'b0;
+        chirp_counter_prev <= 6'd0;
         new_frame_pulse <= 1'b0;
     end else begin
+        // Default: no pulse
         new_frame_pulse <= 1'b0;
         
-        // Edge detect: tx_frame_start is a toggle-CDC derived pulse that
+        // Dynamic frame detection using host_chirps_per_elev.
-        // may be 1 clock wide.  Capture rising edge for clean 1-cycle pulse.
+        // Detect frame boundary when chirp_counter changes AND is a
-        if (tx_frame_start && !tx_frame_start_prev) begin
+        // multiple of host_chirps_per_elev (0, N, 2N, 3N, ...).
+        // Uses a modulo counter that resets at host_chirps_per_elev.
+        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
         
-        tx_frame_start_prev <= tx_frame_start;
+        // Store previous value
+        chirp_counter_prev <= chirp_counter;
     end
 end
 
@@ -484,6 +457,14 @@ 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
 
@@ -493,9 +474,4 @@ assign dbg_adc_i     = adc_i_scaled;
 assign dbg_adc_q     = adc_q_scaled;
 assign dbg_adc_valid = adc_valid_sync;
 
-// ========== AGC STATUS OUTPUTS ==========
-assign agc_saturation_count = gc_saturation_count;
-assign agc_peak_magnitude   = gc_peak_magnitude;
-assign agc_current_gain     = gc_current_gain;
-
 endmodule

9_Firmware/9_2_FPGA/radar_system_top.v

@@ -125,13 +125,7 @@ module radar_system_top (
     output wire [5:0] dbg_range_bin,
     
     // System status
-    output wire [3:0] system_status,
+    output wire [3:0] system_status
-
-    // 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_dig7           // DIG_7 (H12→PD15): reserved (tied low)
 );
 
 // ============================================================================
@@ -193,11 +187,6 @@ wire [15:0] rx_dbg_adc_i;
 wire [15:0] rx_dbg_adc_q;
 wire        rx_dbg_adc_valid;
 
-// AGC status from receiver (for status readback and GPIO)
-wire [7:0]  rx_agc_saturation_count;
-wire [7:0]  rx_agc_peak_magnitude;
-wire [3:0]  rx_agc_current_gain;
-
 // Data packing for USB
 wire [31:0] usb_range_profile;
 wire usb_range_valid;
@@ -270,13 +259,6 @@ reg        host_cfar_enable;      // Opcode 0x25: 1=CFAR, 0=simple threshold
 reg        host_mti_enable;       // Opcode 0x26: 1=MTI active, 0=pass-through
 reg [2:0]  host_dc_notch_width;   // Opcode 0x27: DC notch ±width bins (0=off, 1..7)
 
-// AGC configuration registers (host-configurable via USB, opcodes 0x28-0x2C)
-reg        host_agc_enable;       // Opcode 0x28: 0=manual gain, 1=auto AGC
-reg [7:0]  host_agc_target;       // Opcode 0x29: target peak magnitude (default 200)
-reg [3:0]  host_agc_attack;       // Opcode 0x2A: gain-down step on clipping (default 1)
-reg [3:0]  host_agc_decay;        // Opcode 0x2B: gain-up step when weak (default 1)
-reg [3:0]  host_agc_holdoff;      // Opcode 0x2C: frames to wait before gain-up (default 4)
-
 // Board bring-up self-test registers (opcode 0x30 trigger, 0x31 readback)
 reg        host_self_test_trigger;  // Opcode 0x30: self-clearing pulse
 wire       self_test_busy;
@@ -505,8 +487,6 @@ 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),
@@ -538,12 +518,6 @@ radar_receiver_final rx_inst (
     .host_chirps_per_elev(host_chirps_per_elev),
     // Fix 3: digital gain control
     .host_gain_shift(host_gain_shift),
-    // AGC configuration (opcodes 0x28-0x2C)
-    .host_agc_enable(host_agc_enable),
-    .host_agc_target(host_agc_target),
-    .host_agc_attack(host_agc_attack),
-    .host_agc_decay(host_agc_decay),
-    .host_agc_holdoff(host_agc_holdoff),
     // STM32 toggle signals for RX mode controller (mode 00 pass-through).
     // These are the raw GPIO inputs — the RX mode controller's edge detectors
     // (inside radar_mode_controller) handle debouncing/edge detection.
@@ -558,11 +532,7 @@ radar_receiver_final rx_inst (
     // ADC debug tap (for self-test / bring-up)
     .dbg_adc_i(rx_dbg_adc_i),
     .dbg_adc_q(rx_dbg_adc_q),
-    .dbg_adc_valid(rx_dbg_adc_valid),
+    .dbg_adc_valid(rx_dbg_adc_valid)
-    // AGC status outputs
-    .agc_saturation_count(rx_agc_saturation_count),
-    .agc_peak_magnitude(rx_agc_peak_magnitude),
-    .agc_current_gain(rx_agc_current_gain)
 );
 
 // ============================================================================
@@ -774,13 +744,7 @@ if (USB_MODE == 0) begin : gen_ft601
         // Self-test status readback
         .status_self_test_flags(self_test_flags_latched),
         .status_self_test_detail(self_test_detail_latched),
-        .status_self_test_busy(self_test_busy),
+        .status_self_test_busy(self_test_busy)
-
-        // AGC status readback
-        .status_agc_current_gain(rx_agc_current_gain),
-        .status_agc_peak_magnitude(rx_agc_peak_magnitude),
-        .status_agc_saturation_count(rx_agc_saturation_count),
-        .status_agc_enable(host_agc_enable)
     );
 
     // FT2232H ports unused in FT601 mode — tie off
@@ -841,13 +805,7 @@ end else begin : gen_ft2232h
         // Self-test status readback
         .status_self_test_flags(self_test_flags_latched),
         .status_self_test_detail(self_test_detail_latched),
-        .status_self_test_busy(self_test_busy),
+        .status_self_test_busy(self_test_busy)
-
-        // AGC status readback
-        .status_agc_current_gain(rx_agc_current_gain),
-        .status_agc_peak_magnitude(rx_agc_peak_magnitude),
-        .status_agc_saturation_count(rx_agc_saturation_count),
-        .status_agc_enable(host_agc_enable)
     );
 
     // FT601 ports unused in FT2232H mode — tie off
@@ -934,12 +892,6 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
         // Ground clutter removal defaults (disabled — backward-compatible)
         host_mti_enable         <= 1'b0;      // MTI off
         host_dc_notch_width     <= 3'd0;      // DC notch off
-        // AGC defaults (disabled — backward-compatible with manual gain)
-        host_agc_enable         <= 1'b0;      // AGC off (manual gain)
-        host_agc_target         <= 8'd200;    // Target peak magnitude
-        host_agc_attack         <= 4'd1;      // 1-step gain-down on clipping
-        host_agc_decay          <= 4'd1;      // 1-step gain-up when weak
-        host_agc_holdoff        <= 4'd4;      // 4 frames before gain-up
         // Self-test defaults
         host_self_test_trigger  <= 1'b0;      // Self-test idle
     end else begin
@@ -984,12 +936,6 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
                 // Ground clutter removal opcodes
                 8'h26: host_mti_enable         <= usb_cmd_value[0];
                 8'h27: host_dc_notch_width     <= usb_cmd_value[2:0];
-                // AGC configuration opcodes
-                8'h28: host_agc_enable         <= usb_cmd_value[0];
-                8'h29: host_agc_target         <= usb_cmd_value[7:0];
-                8'h2A: host_agc_attack         <= usb_cmd_value[3:0];
-                8'h2B: host_agc_decay          <= usb_cmd_value[3:0];
-                8'h2C: host_agc_holdoff        <= usb_cmd_value[3:0];
                 // Board bring-up self-test opcodes
                 8'h30: host_self_test_trigger  <= 1'b1;  // Trigger self-test
                 8'h31: host_status_request     <= 1'b1;  // Self-test readback (status alias)
@@ -1032,16 +978,6 @@ end
 
 assign system_status = status_reg;
 
-// ============================================================================
-// FPGA→STM32 GPIO OUTPUTS (DIG_5, DIG_6, DIG_7)
-// ============================================================================
-// 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).
-assign gpio_dig5 = (rx_agc_saturation_count != 8'd0);
-assign gpio_dig6 = 1'b0;
-assign gpio_dig7 = 1'b0;
-
 // ============================================================================
 // DEBUG AND VERIFICATION
 // ============================================================================

9_Firmware/9_2_FPGA/radar_system_top_50t.v

@@ -76,12 +76,7 @@ module radar_system_top_50t (
     output wire ft_rd_n,              // Read strobe (active low)
     output wire ft_wr_n,              // Write strobe (active low)
     output wire ft_oe_n,              // Output enable / bus direction
-    output wire ft_siwu,              // Send Immediate / WakeUp
+    output wire ft_siwu               // Send Immediate / WakeUp
-
-    // ===== FPGA→STM32 GPIO (Bank 15: 3.3V) =====
-    output wire gpio_dig5,            // DIG_5 (H11→PD13): AGC saturation flag
-    output wire gpio_dig6,            // DIG_6 (G12→PD14): reserved
-    output wire gpio_dig7             // DIG_7 (H12→PD15): reserved
 );
 
     // ===== Tie-off wires for unconstrained FT601 inputs (inactive with USB_MODE=1) =====
@@ -212,12 +207,7 @@ module radar_system_top_50t (
         .dbg_doppler_valid      (dbg_doppler_valid_nc),
         .dbg_doppler_bin        (dbg_doppler_bin_nc),
         .dbg_range_bin          (dbg_range_bin_nc),
-        .system_status          (system_status_nc),
+        .system_status          (system_status_nc)
-
-        // ----- FPGA→STM32 GPIO (DIG_5..DIG_7) -----
-        .gpio_dig5              (gpio_dig5),
-        .gpio_dig6              (gpio_dig6),
-        .gpio_dig7              (gpio_dig7)
     );
 
 endmodule

9_Firmware/9_2_FPGA/rx_gain_control.v

@@ -3,32 +3,19 @@
 /**
  * rx_gain_control.v
  *
- * Digital gain control with optional per-frame automatic gain control (AGC)
+ * Host-configurable digital gain control for the receive path.
- * for the receive path. Placed between DDC output and matched filter input.
+ * Placed between DDC output (ddc_input_interface) and matched filter input.
  *
- * Manual mode (agc_enable=0):
+ * Features:
- *   - Uses host_gain_shift directly (backward-compatible, no behavioral change)
+ *   - Bidirectional power-of-2 gain shift (arithmetic shift)
  *   - gain_shift[3]   = direction: 0 = left shift (amplify), 1 = right shift (attenuate)
  *   - gain_shift[2:0] = amount: 0..7 bits
- *   - Symmetric saturation to ±32767 on overflow
+ *   - Symmetric saturation to ±32767 on overflow (left shift only)
+ *   - Saturation counter: 8-bit, counts samples that clipped (wraps at 255)
+ *   - 1-cycle latency, valid-in/valid-out pipeline
+ *   - Zero-overhead pass-through when gain_shift == 0
  *
- * AGC mode (agc_enable=1):
+ * Intended insertion point in radar_receiver_final.v:
- *   - Per-frame automatic gain adjustment based on peak/saturation metrics
- *   - Internal signed gain: -7 (max attenuation) to +7 (max amplification)
- *   - On frame_boundary:
- *       * If saturation detected: gain -= agc_attack (fast, immediate)
- *       * Else if peak < target after holdoff frames: gain += agc_decay (slow)
- *       * Else: hold current gain
- *   - host_gain_shift serves as initial gain when AGC first enabled
- *
- * Status outputs (for readback via status_words):
- *   - current_gain[3:0]: effective gain_shift encoding (manual or AGC)
- *   - peak_magnitude[7:0]: per-frame peak |sample| (upper 8 bits of 15-bit value)
- *   - saturation_count[7:0]: per-frame clipped sample count (capped at 255)
- *
- * Timing: 1-cycle data latency, valid-in/valid-out pipeline.
- *
- * Insertion point in radar_receiver_final.v:
  *   ddc_input_interface → rx_gain_control → matched_filter_multi_segment
  */
 
@@ -41,75 +28,27 @@ module rx_gain_control (
     input  wire signed [15:0] data_q_in,
     input  wire               valid_in,
 
-    // Host gain configuration (from USB command opcode 0x16)
+    // Gain configuration (from host via USB command)
     // [3]   = direction: 0=amplify (left shift), 1=attenuate (right shift)
-    // [2:0]=shift amount: 0..7 bits. Default 0x00 = pass-through.
+    // [2:0] = shift amount: 0..7 bits
-    // In AGC mode: serves as initial gain on AGC enable transition.
     input  wire [3:0]  gain_shift,
 
-    // AGC configuration inputs (from host via USB, opcodes 0x28-0x2C)
-    input  wire        agc_enable,     // 0x28: 0=manual gain, 1=auto AGC
-    input  wire [7:0]  agc_target,     // 0x29: target peak magnitude (unsigned, default 200)
-    input  wire [3:0]  agc_attack,     // 0x2A: attenuation step on clipping (default 1)
-    input  wire [3:0]  agc_decay,      // 0x2B: amplification step when weak (default 1)
-    input  wire [3:0]  agc_holdoff,    // 0x2C: frames to wait before gain-up (default 4)
-
-    // Frame boundary pulse (1 clk cycle, from Doppler frame_complete)
-    input  wire        frame_boundary,
-
     // Data output (to matched filter)
     output reg  signed [15:0] data_i_out,
     output reg  signed [15:0] data_q_out,
     output reg                valid_out,
 
-    // Diagnostics / status readback
+    // Diagnostics
-    output reg  [7:0]  saturation_count,  // Per-frame clipped sample count (capped at 255)
+    output reg  [7:0]  saturation_count  // Number of clipped samples (wraps at 255)
-    output reg  [7:0]  peak_magnitude,    // Per-frame peak |sample| (upper 8 bits of 15-bit)
-    output reg  [3:0]  current_gain       // Current effective gain_shift (for status readback)
 );
 
-// =========================================================================
+// Decompose gain_shift
-// INTERNAL AGC STATE
+wire       shift_right = gain_shift[3];
-// =========================================================================
+wire [2:0] shift_amt   = gain_shift[2:0];
 
-// Signed internal gain: -7 (max attenuation) to +7 (max amplification)
+// -------------------------------------------------------------------------
-// Stored as 4-bit signed (range -8..+7, clamped to -7..+7)
+// Combinational shift + saturation
-reg signed [3:0] agc_gain;
+// -------------------------------------------------------------------------
-
-// Holdoff counter: counts frames without saturation before allowing gain-up
-reg [3:0] holdoff_counter;
-
-// Per-frame accumulators (running, reset on frame_boundary)
-reg [7:0]  frame_sat_count;    // Clipped samples this frame
-reg [14:0] frame_peak;         // Peak |sample| this frame (15-bit unsigned)
-
-// Previous AGC enable state (for detecting 0→1 transition)
-reg agc_enable_prev;
-
-// Combinational helpers for inclusive frame-boundary snapshot
-// (used when valid_in and frame_boundary coincide)
-reg wire_frame_sat_incr;
-reg wire_frame_peak_update;
-
-// =========================================================================
-// EFFECTIVE GAIN SELECTION
-// =========================================================================
-
-// Convert between signed internal gain and the gain_shift[3:0] encoding.
-//   gain_shift[3]=0, [2:0]=N → amplify by N bits (internal gain = +N)
-//   gain_shift[3]=1, [2:0]=N → attenuate by N bits (internal gain = -N)
-
-// Effective gain_shift used for the actual shift operation
-wire [3:0] effective_gain;
-assign effective_gain = agc_enable ? current_gain : gain_shift;
-
-// Decompose effective gain for shift logic
-wire       shift_right = effective_gain[3];
-wire [2:0] shift_amt   = effective_gain[2:0];
-
-// =========================================================================
-// COMBINATIONAL SHIFT + SATURATION
-// =========================================================================
 // Use wider intermediates to detect overflow on left shift.
 // 24 bits is enough: 16 + 7 shift = 23 significant bits max.
 
@@ -130,153 +69,26 @@ wire signed [15:0] sat_i = overflow_i ? (shifted_i[23] ? -16'sd32768 : 16'sd3276
 wire signed [15:0] sat_q = overflow_q ? (shifted_q[23] ? -16'sd32768 : 16'sd32767)
                                       : shifted_q[15:0];
 
-// =========================================================================
+// -------------------------------------------------------------------------
-// PEAK MAGNITUDE TRACKING (combinational)
+// Registered output stage (1-cycle latency)
-// =========================================================================
+// -------------------------------------------------------------------------
-// Absolute value of signed 16-bit: flip sign bit if negative.
-// Result is 15-bit unsigned [0, 32767]. (We ignore -32768 → 32767 edge case.)
-wire [14:0] abs_i = data_i_in[15] ? (~data_i_in[14:0] + 15'd1) : data_i_in[14:0];
-wire [14:0] abs_q = data_q_in[15] ? (~data_q_in[14:0] + 15'd1) : data_q_in[14:0];
-wire [14:0] max_iq = (abs_i > abs_q) ? abs_i : abs_q;
-
-// =========================================================================
-// SIGNED GAIN ↔ GAIN_SHIFT ENCODING CONVERSION
-// =========================================================================
-// Convert signed agc_gain to gain_shift[3:0] encoding
-function [3:0] signed_to_encoding;
-    input signed [3:0] g;
-    begin
-        if (g >= 0)
-            signed_to_encoding = {1'b0, g[2:0]};       // amplify
-        else
-            signed_to_encoding = {1'b1, (~g[2:0]) + 3'd1}; // attenuate: -g
-    end
-endfunction
-
-// Convert gain_shift[3:0] encoding to signed gain
-function signed [3:0] encoding_to_signed;
-    input [3:0] enc;
-    begin
-        if (enc[3] == 1'b0)
-            encoding_to_signed = {1'b0, enc[2:0]};     // +0..+7
-        else
-            encoding_to_signed = -$signed({1'b0, enc[2:0]}); // -1..-7
-    end
-endfunction
-
-// =========================================================================
-// CLAMPING HELPER
-// =========================================================================
-// Clamp a wider signed value to [-7, +7]
-function signed [3:0] clamp_gain;
-    input signed [4:0] val;  // 5-bit to handle overflow from add
-    begin
-        if (val > 5'sd7)
-            clamp_gain = 4'sd7;
-        else if (val < -5'sd7)
-            clamp_gain = -4'sd7;
-        else
-            clamp_gain = val[3:0];
-    end
-endfunction
-
-// =========================================================================
-// REGISTERED OUTPUT + AGC STATE MACHINE
-// =========================================================================
 always @(posedge clk or negedge reset_n) begin
     if (!reset_n) begin
-        // Data path
         data_i_out       <= 16'sd0;
         data_q_out       <= 16'sd0;
         valid_out        <= 1'b0;
-        // Status outputs
         saturation_count <= 8'd0;
-        peak_magnitude   <= 8'd0;
-        current_gain     <= 4'd0;
-        // AGC internal state
-        agc_gain         <= 4'sd0;
-        holdoff_counter  <= 4'd0;
-        frame_sat_count  <= 8'd0;
-        frame_peak       <= 15'd0;
-        agc_enable_prev  <= 1'b0;
     end else begin
-        // Track AGC enable transitions
-        agc_enable_prev <= agc_enable;
-
-        // Compute inclusive metrics: if valid_in fires this cycle,
-        // include current sample in the snapshot taken at frame_boundary.
-        // This avoids losing the last sample when valid_in and
-        // frame_boundary coincide (NBA last-write-wins would otherwise
-        // snapshot stale values then reset, dropping the sample entirely).
-        wire_frame_sat_incr = (valid_in && (overflow_i || overflow_q)
-                               && (frame_sat_count != 8'hFF));
-        wire_frame_peak_update = (valid_in && (max_iq > frame_peak));
-
-        // ---- Data pipeline (1-cycle latency) ----
         valid_out <= valid_in;
+
         if (valid_in) begin
             data_i_out <= sat_i;
             data_q_out <= sat_q;
 
-            // Per-frame saturation counting
+            // Count clipped samples (either channel clipping counts as 1)
-            if ((overflow_i || overflow_q) && (frame_sat_count != 8'hFF))
+            if ((overflow_i || overflow_q) && (saturation_count != 8'hFF))
-                frame_sat_count <= frame_sat_count + 8'd1;
+                saturation_count <= saturation_count + 8'd1;
-
-            // Per-frame peak tracking (pre-gain, measures input signal level)
-            if (max_iq > frame_peak)
-                frame_peak <= max_iq;
         end
-
-        // ---- Frame boundary: AGC update + metric snapshot ----
-        if (frame_boundary) begin
-            // Snapshot per-frame metrics INCLUDING current sample if valid_in
-            saturation_count <= wire_frame_sat_incr
-                                ? (frame_sat_count + 8'd1)
-                                : frame_sat_count;
-            peak_magnitude   <= wire_frame_peak_update
-                                ? max_iq[14:7]
-                                : frame_peak[14:7];
-
-            // Reset per-frame accumulators for next frame
-            frame_sat_count <= 8'd0;
-            frame_peak      <= 15'd0;
-
-            if (agc_enable) begin
-                // AGC auto-adjustment at frame boundary
-                // Use inclusive counts/peaks (accounting for simultaneous valid_in)
-                if (wire_frame_sat_incr || frame_sat_count > 8'd0) begin
-                    // Clipping detected: reduce gain immediately (attack)
-                    agc_gain <= clamp_gain($signed({agc_gain[3], agc_gain}) -
-                                           $signed({1'b0, agc_attack}));
-                    holdoff_counter <= agc_holdoff;  // Reset holdoff
-                end else if ((wire_frame_peak_update ? max_iq[14:7] : frame_peak[14:7])
-                             < agc_target) begin
-                    // Signal too weak: increase gain after holdoff expires
-                    if (holdoff_counter == 4'd0) begin
-                        agc_gain <= clamp_gain($signed({agc_gain[3], agc_gain}) +
-                                               $signed({1'b0, agc_decay}));
-                    end else begin
-                        holdoff_counter <= holdoff_counter - 4'd1;
-                    end
-                end else begin
-                    // Signal in good range, no saturation: hold gain
-                    // Reset holdoff so next weak frame has to wait again
-                    holdoff_counter <= agc_holdoff;
-                end
-            end
-        end
-
-        // ---- AGC enable transition: initialize from host gain ----
-        if (agc_enable && !agc_enable_prev) begin
-            agc_gain        <= encoding_to_signed(gain_shift);
-            holdoff_counter <= agc_holdoff;
-        end
-
-        // ---- Update current_gain output ----
-        if (agc_enable)
-            current_gain <= signed_to_encoding(agc_gain);
-        else
-            current_gain <= gain_shift;
     end
 end
 

9_Firmware/9_2_FPGA/scripts/50t/build_50t.tcl

@@ -120,10 +120,9 @@ set_property CLOCK_DEDICATED_ROUTE FALSE [get_nets {ft_clkout_IBUF}]
 
 # ---- Run implementation steps ----
 opt_design -directive Explore
-place_design -directive ExtraNetDelay_high
+place_design -directive Explore
-phys_opt_design -directive AggressiveExplore
-route_design -directive AggressiveExplore
 phys_opt_design -directive AggressiveExplore
+route_design -directive Explore
 phys_opt_design -directive AggressiveExplore
 
 set impl_elapsed [expr {[clock seconds] - $impl_start}]

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

@@ -1,449 +0,0 @@
-#!/usr/bin/env python3
-"""
-Co-simulation Comparison: RTL vs Python Model for AERIS-10 DDC Chain.
-
-Reads the ADC hex test vectors, runs them through the bit-accurate Python
-model (fpga_model.py), then compares the output against the RTL simulation
-CSV (from tb_ddc_cosim.v).
-
-Key considerations:
-  - The RTL DDC has LFSR phase dithering on the NCO FTW, so exact bit-match
-    is not expected. We use statistical metrics (correlation, RMS error).
-  - The CDC (gray-coded 400→100 MHz crossing) may introduce non-deterministic
-    latency offsets. We auto-align using cross-correlation.
-  - The comparison reports pass/fail based on configurable thresholds.
-
-Usage:
-    python3 compare.py [scenario]
-
-    scenario: dc, single_target, multi_target, noise_only, sine_1mhz
-              (default: dc)
-
-Author: Phase 0.5 co-simulation suite for PLFM_RADAR
-"""
-
-import math
-import os
-import sys
-
-# Add this directory to path for imports
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
-
-from fpga_model import SignalChain
-
-
-# =============================================================================
-# Configuration
-# =============================================================================
-
-# Thresholds for pass/fail
-# These are generous because of LFSR dithering and CDC latency jitter
-MAX_RMS_ERROR_LSB = 50.0     # Max RMS error in 18-bit LSBs
-MIN_CORRELATION = 0.90        # Min Pearson correlation coefficient
-MAX_LATENCY_DRIFT = 15        # Max latency offset between RTL and model (samples)
-MAX_COUNT_DIFF = 20           # Max output count difference (LFSR dithering affects CIC timing)
-
-# Scenarios
-SCENARIOS = {
-    'dc': {
-        'adc_hex': 'adc_dc.hex',
-        'rtl_csv': 'rtl_bb_dc.csv',
-        'description': 'DC input (ADC=128)',
-        # DC input: expect small outputs, but LFSR dithering adds ~+128 LSB
-        # average bias to NCO FTW which accumulates through CIC integrators
-        # as a small DC offset (~15-20 LSB in baseband). This is expected.
-        'max_rms': 25.0,        # Relaxed to account for LFSR dithering bias
-        'min_corr': -1.0,       # Correlation not meaningful for near-zero
-    },
-    'single_target': {
-        'adc_hex': 'adc_single_target.hex',
-        'rtl_csv': 'rtl_bb_single_target.csv',
-        'description': 'Single target at 500m',
-        'max_rms': MAX_RMS_ERROR_LSB,
-        'min_corr': -1.0,       # Correlation not meaningful with LFSR dithering
-    },
-    'multi_target': {
-        'adc_hex': 'adc_multi_target.hex',
-        'rtl_csv': 'rtl_bb_multi_target.csv',
-        'description': 'Multi-target (5 targets)',
-        'max_rms': MAX_RMS_ERROR_LSB,
-        'min_corr': -1.0,       # Correlation not meaningful with LFSR dithering
-    },
-    'noise_only': {
-        'adc_hex': 'adc_noise_only.hex',
-        'rtl_csv': 'rtl_bb_noise_only.csv',
-        'description': 'Noise only',
-        'max_rms': MAX_RMS_ERROR_LSB,
-        'min_corr': -1.0,       # Correlation not meaningful with LFSR dithering
-    },
-    'sine_1mhz': {
-        'adc_hex': 'adc_sine_1mhz.hex',
-        'rtl_csv': 'rtl_bb_sine_1mhz.csv',
-        'description': '1 MHz sine wave',
-        'max_rms': MAX_RMS_ERROR_LSB,
-        'min_corr': -1.0,       # Correlation not meaningful with LFSR dithering
-    },
-}
-
-
-# =============================================================================
-# Helper functions
-# =============================================================================
-
-def load_adc_hex(filepath):
-    """Load 8-bit unsigned ADC samples from hex file."""
-    samples = []
-    with open(filepath) as f:
-        for line in f:
-            line = line.strip()
-            if not line or line.startswith('//'):
-                continue
-            samples.append(int(line, 16))
-    return samples
-
-
-def load_rtl_csv(filepath):
-    """Load RTL baseband output CSV (sample_idx, baseband_i, baseband_q)."""
-    bb_i = []
-    bb_q = []
-    with open(filepath) as f:
-        f.readline()  # Skip header
-        for line in f:
-            line = line.strip()
-            if not line:
-                continue
-            parts = line.split(',')
-            bb_i.append(int(parts[1]))
-            bb_q.append(int(parts[2]))
-    return bb_i, bb_q
-
-
-def run_python_model(adc_samples):
-    """Run ADC samples through the Python DDC model.
-
-    Returns the 18-bit FIR outputs (not the 16-bit DDC interface outputs),
-    because the RTL testbench captures the FIR output directly
-    (baseband_i_reg <= fir_i_out in ddc_400m.v).
-    """
-
-    chain = SignalChain()
-    result = chain.process_adc_block(adc_samples)
-
-    # Use fir_i_raw / fir_q_raw (18-bit) to match RTL's baseband output
-    # which is the FIR output before DDC interface 18->16 rounding
-    bb_i = result['fir_i_raw']
-    bb_q = result['fir_q_raw']
-
-    return bb_i, bb_q
-
-
-def compute_rms_error(a, b):
-    """Compute RMS error between two equal-length lists."""
-    if len(a) != len(b):
-        raise ValueError(f"Length mismatch: {len(a)} vs {len(b)}")
-    if len(a) == 0:
-        return 0.0
-    sum_sq = sum((x - y) ** 2 for x, y in zip(a, b, strict=False))
-    return math.sqrt(sum_sq / len(a))
-
-
-def compute_max_abs_error(a, b):
-    """Compute maximum absolute error between two equal-length lists."""
-    if len(a) != len(b) or len(a) == 0:
-        return 0
-    return max(abs(x - y) for x, y in zip(a, b, strict=False))
-
-
-def compute_correlation(a, b):
-    """Compute Pearson correlation coefficient."""
-    n = len(a)
-    if n < 2:
-        return 0.0
-
-    mean_a = sum(a) / n
-    mean_b = sum(b) / n
-
-    cov = sum((a[i] - mean_a) * (b[i] - mean_b) for i in range(n))
-    std_a_sq = sum((x - mean_a) ** 2 for x in a)
-    std_b_sq = sum((x - mean_b) ** 2 for x in b)
-
-    if std_a_sq < 1e-10 or std_b_sq < 1e-10:
-        # Near-zero variance (e.g., DC input)
-        return 1.0 if abs(mean_a - mean_b) < 1.0 else 0.0
-
-    return cov / math.sqrt(std_a_sq * std_b_sq)
-
-
-def cross_correlate_lag(a, b, max_lag=20):
-    """
-    Find the lag that maximizes cross-correlation between a and b.
-    Returns (best_lag, best_correlation) where positive lag means b is delayed.
-    """
-    n = min(len(a), len(b))
-    if n < 10:
-        return 0, 0.0
-
-    best_lag = 0
-    best_corr = -2.0
-
-    for lag in range(-max_lag, max_lag + 1):
-        # Align: a[start_a:end_a] vs b[start_b:end_b]
-        if lag >= 0:
-            start_a = lag
-            start_b = 0
-        else:
-            start_a = 0
-            start_b = -lag
-
-        end = min(len(a) - start_a, len(b) - start_b)
-        if end < 10:
-            continue
-
-        seg_a = a[start_a:start_a + end]
-        seg_b = b[start_b:start_b + end]
-
-        corr = compute_correlation(seg_a, seg_b)
-        if corr > best_corr:
-            best_corr = corr
-            best_lag = lag
-
-    return best_lag, best_corr
-
-
-def compute_signal_stats(samples):
-    """Compute basic statistics of a signal."""
-    if not samples:
-        return {'mean': 0, 'rms': 0, 'min': 0, 'max': 0, 'count': 0}
-    n = len(samples)
-    mean = sum(samples) / n
-    rms = math.sqrt(sum(x * x for x in samples) / n)
-    return {
-        'mean': mean,
-        'rms': rms,
-        'min': min(samples),
-        'max': max(samples),
-        'count': n,
-    }
-
-
-# =============================================================================
-# Main comparison
-# =============================================================================
-
-def compare_scenario(scenario_name):
-    """Run comparison for one scenario. Returns True if passed."""
-    if scenario_name not in SCENARIOS:
-        return False
-
-    cfg = SCENARIOS[scenario_name]
-    base_dir = os.path.dirname(os.path.abspath(__file__))
-
-
-    # ---- Load ADC data ----
-    adc_path = os.path.join(base_dir, cfg['adc_hex'])
-    if not os.path.exists(adc_path):
-        return False
-    adc_samples = load_adc_hex(adc_path)
-
-    # ---- Load RTL output ----
-    rtl_path = os.path.join(base_dir, cfg['rtl_csv'])
-    if not os.path.exists(rtl_path):
-        return False
-    rtl_i, rtl_q = load_rtl_csv(rtl_path)
-
-    # ---- Run Python model ----
-    py_i, py_q = run_python_model(adc_samples)
-
-    # ---- Length comparison ----
-    len_diff = abs(len(rtl_i) - len(py_i))
-
-    # ---- Signal statistics ----
-    rtl_i_stats = compute_signal_stats(rtl_i)
-    rtl_q_stats = compute_signal_stats(rtl_q)
-    py_i_stats = compute_signal_stats(py_i)
-    py_q_stats = compute_signal_stats(py_q)
-
-
-    # ---- Trim to common length ----
-    common_len = min(len(rtl_i), len(py_i))
-    if common_len < 10:
-        return False
-
-    rtl_i_trim = rtl_i[:common_len]
-    rtl_q_trim = rtl_q[:common_len]
-    py_i_trim = py_i[:common_len]
-    py_q_trim = py_q[:common_len]
-
-    # ---- Cross-correlation to find latency offset ----
-    lag_i, _corr_i = cross_correlate_lag(rtl_i_trim, py_i_trim,
-                                        max_lag=MAX_LATENCY_DRIFT)
-    lag_q, _corr_q = cross_correlate_lag(rtl_q_trim, py_q_trim,
-                                        max_lag=MAX_LATENCY_DRIFT)
-
-    # ---- Apply latency correction ----
-    best_lag = lag_i  # Use I-channel lag (should be same as Q)
-    if abs(lag_i - lag_q) > 1:
-        # Use the average
-        best_lag = (lag_i + lag_q) // 2
-
-    if best_lag > 0:
-        # RTL is delayed relative to Python
-        aligned_rtl_i = rtl_i_trim[best_lag:]
-        aligned_rtl_q = rtl_q_trim[best_lag:]
-        aligned_py_i = py_i_trim[:len(aligned_rtl_i)]
-        aligned_py_q = py_q_trim[:len(aligned_rtl_q)]
-    elif best_lag < 0:
-        # Python is delayed relative to RTL
-        aligned_py_i = py_i_trim[-best_lag:]
-        aligned_py_q = py_q_trim[-best_lag:]
-        aligned_rtl_i = rtl_i_trim[:len(aligned_py_i)]
-        aligned_rtl_q = rtl_q_trim[:len(aligned_py_q)]
-    else:
-        aligned_rtl_i = rtl_i_trim
-        aligned_rtl_q = rtl_q_trim
-        aligned_py_i = py_i_trim
-        aligned_py_q = py_q_trim
-
-    aligned_len = min(len(aligned_rtl_i), len(aligned_py_i))
-    aligned_rtl_i = aligned_rtl_i[:aligned_len]
-    aligned_rtl_q = aligned_rtl_q[:aligned_len]
-    aligned_py_i = aligned_py_i[:aligned_len]
-    aligned_py_q = aligned_py_q[:aligned_len]
-
-
-    # ---- Error metrics (after alignment) ----
-    rms_i = compute_rms_error(aligned_rtl_i, aligned_py_i)
-    rms_q = compute_rms_error(aligned_rtl_q, aligned_py_q)
-    compute_max_abs_error(aligned_rtl_i, aligned_py_i)
-    compute_max_abs_error(aligned_rtl_q, aligned_py_q)
-    corr_i_aligned = compute_correlation(aligned_rtl_i, aligned_py_i)
-    corr_q_aligned = compute_correlation(aligned_rtl_q, aligned_py_q)
-
-
-    # ---- First/last sample comparison ----
-    for k in range(min(10, aligned_len)):
-        ei = aligned_rtl_i[k] - aligned_py_i[k]
-        eq = aligned_rtl_q[k] - aligned_py_q[k]
-
-    # ---- Write detailed comparison CSV ----
-    compare_csv_path = os.path.join(base_dir, f"compare_{scenario_name}.csv")
-    with open(compare_csv_path, 'w') as f:
-        f.write("idx,rtl_i,py_i,err_i,rtl_q,py_q,err_q\n")
-        for k in range(aligned_len):
-            ei = aligned_rtl_i[k] - aligned_py_i[k]
-            eq = aligned_rtl_q[k] - aligned_py_q[k]
-            f.write(f"{k},{aligned_rtl_i[k]},{aligned_py_i[k]},{ei},"
-                    f"{aligned_rtl_q[k]},{aligned_py_q[k]},{eq}\n")
-
-    # ---- Pass/Fail ----
-    max_rms = cfg.get('max_rms', MAX_RMS_ERROR_LSB)
-    min_corr = cfg.get('min_corr', MIN_CORRELATION)
-
-    results = []
-
-    # Check 1: Output count sanity
-    count_ok = len_diff <= MAX_COUNT_DIFF
-    results.append(('Output count match', count_ok,
-                     f"diff={len_diff} <= {MAX_COUNT_DIFF}"))
-
-    # Check 2: RMS amplitude ratio (RTL vs Python should have same power)
-    # The LFSR dithering randomizes sample phases but preserves overall
-    # signal power, so RMS amplitudes should match within ~10%.
-    rtl_rms = max(rtl_i_stats['rms'], rtl_q_stats['rms'])
-    py_rms = max(py_i_stats['rms'], py_q_stats['rms'])
-    if py_rms > 1.0 and rtl_rms > 1.0:
-        rms_ratio = max(rtl_rms, py_rms) / min(rtl_rms, py_rms)
-        rms_ratio_ok = rms_ratio <= 1.20  # Within 20%
-        results.append(('RMS amplitude ratio', rms_ratio_ok,
-                         f"ratio={rms_ratio:.3f} <= 1.20"))
-    else:
-        # Near-zero signals (DC input): check absolute RMS error
-        rms_ok = max(rms_i, rms_q) <= max_rms
-        results.append(('RMS error (low signal)', rms_ok,
-                         f"max(I={rms_i:.2f}, Q={rms_q:.2f}) <= {max_rms:.1f}"))
-
-    # Check 3: Mean DC offset match
-    # Both should have similar DC bias. For large signals (where LFSR dithering
-    # causes the NCO to walk in phase), allow the mean to differ proportionally
-    # to the signal RMS. Use max(30 LSB, 3% of signal RMS).
-    mean_err_i = abs(rtl_i_stats['mean'] - py_i_stats['mean'])
-    mean_err_q = abs(rtl_q_stats['mean'] - py_q_stats['mean'])
-    max_mean_err = max(mean_err_i, mean_err_q)
-    signal_rms = max(rtl_rms, py_rms)
-    mean_threshold = max(30.0, signal_rms * 0.03)  # 3% of signal RMS or 30 LSB
-    mean_ok = max_mean_err <= mean_threshold
-    results.append(('Mean DC offset match', mean_ok,
-                     f"max_diff={max_mean_err:.1f} <= {mean_threshold:.1f}"))
-
-    # Check 4: Correlation (skip for near-zero signals or dithered scenarios)
-    if min_corr > -0.5:
-        corr_ok = min(corr_i_aligned, corr_q_aligned) >= min_corr
-        results.append(('Correlation', corr_ok,
-                         f"min(I={corr_i_aligned:.4f}, Q={corr_q_aligned:.4f}) >= {min_corr:.2f}"))
-
-    # Check 5: Dynamic range match
-    # Peak amplitudes should be in the same ballpark
-    rtl_peak = max(abs(rtl_i_stats['min']), abs(rtl_i_stats['max']),
-                   abs(rtl_q_stats['min']), abs(rtl_q_stats['max']))
-    py_peak = max(abs(py_i_stats['min']), abs(py_i_stats['max']),
-                  abs(py_q_stats['min']), abs(py_q_stats['max']))
-    if py_peak > 10 and rtl_peak > 10:
-        peak_ratio = max(rtl_peak, py_peak) / min(rtl_peak, py_peak)
-        peak_ok = peak_ratio <= 1.50  # Within 50%
-        results.append(('Peak amplitude ratio', peak_ok,
-                         f"ratio={peak_ratio:.3f} <= 1.50"))
-
-    # Check 6: Latency offset
-    lag_ok = abs(best_lag) <= MAX_LATENCY_DRIFT
-    results.append(('Latency offset', lag_ok,
-                     f"|{best_lag}| <= {MAX_LATENCY_DRIFT}"))
-
-    # ---- Report ----
-    all_pass = True
-    for _name, ok, _detail in results:
-        if not ok:
-            all_pass = False
-
-    if all_pass:
-        pass
-    else:
-        pass
-
-    return all_pass
-
-
-def main():
-    """Run comparison for specified scenario(s)."""
-    if len(sys.argv) > 1:
-        scenario = sys.argv[1]
-        if scenario == 'all':
-            # Run all scenarios that have RTL CSV files
-            base_dir = os.path.dirname(os.path.abspath(__file__))
-            overall_pass = True
-            run_count = 0
-            pass_count = 0
-            for name, cfg in SCENARIOS.items():
-                rtl_path = os.path.join(base_dir, cfg['rtl_csv'])
-                if os.path.exists(rtl_path):
-                    ok = compare_scenario(name)
-                    run_count += 1
-                    if ok:
-                        pass_count += 1
-                    else:
-                        overall_pass = False
-                else:
-                    pass
-
-            if overall_pass:
-                pass
-            else:
-                pass
-            return 0 if overall_pass else 1
-        ok = compare_scenario(scenario)
-        return 0 if ok else 1
-    ok = compare_scenario('dc')
-    return 0 if ok else 1
-
-
-if __name__ == '__main__':
-    sys.exit(main())

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

@@ -1,340 +0,0 @@
-#!/usr/bin/env python3
-"""
-Co-simulation Comparison: RTL vs Python Model for AERIS-10 Doppler Processor.
-
-Compares the RTL Doppler output (from tb_doppler_cosim.v) against the Python
-model golden reference (from gen_doppler_golden.py).
-
-After fixing the windowing pipeline bugs in doppler_processor.v (BRAM address
-alignment and pipeline staging), the RTL achieves BIT-PERFECT match with the
-Python model.  The comparison checks:
-  1. Per-range-bin peak Doppler bin agreement (100% required)
-  2. Per-range-bin I/Q correlation (1.0 expected)
-  3. Per-range-bin magnitude spectrum correlation (1.0 expected)
-  4. Global output energy (exact match expected)
-
-Usage:
-    python3 compare_doppler.py [scenario|all]
-
-    scenario: stationary, moving, two_targets (default: stationary)
-    all: run all scenarios
-
-Author: Phase 0.5 Doppler co-simulation suite for PLFM_RADAR
-"""
-
-import math
-import os
-import sys
-
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
-
-
-# =============================================================================
-# Configuration
-# =============================================================================
-
-DOPPLER_FFT = 32
-RANGE_BINS = 64
-TOTAL_OUTPUTS = RANGE_BINS * DOPPLER_FFT  # 2048
-SUBFRAME_SIZE = 16
-
-SCENARIOS = {
-    'stationary': {
-        'golden_csv': 'doppler_golden_py_stationary.csv',
-        'rtl_csv': 'rtl_doppler_stationary.csv',
-        'description': 'Single stationary target at ~500m',
-    },
-    'moving': {
-        'golden_csv': 'doppler_golden_py_moving.csv',
-        'rtl_csv': 'rtl_doppler_moving.csv',
-        'description': 'Single moving target v=15m/s',
-    },
-    'two_targets': {
-        'golden_csv': 'doppler_golden_py_two_targets.csv',
-        'rtl_csv': 'rtl_doppler_two_targets.csv',
-        'description': 'Two targets at different ranges/velocities',
-    },
-}
-
-# Pass/fail thresholds — BIT-PERFECT match expected after pipeline fix
-PEAK_AGREEMENT_MIN = 1.00     # 100% peak Doppler bin agreement required
-MAG_CORR_MIN = 0.99           # Near-perfect magnitude correlation required
-ENERGY_RATIO_MIN = 0.999      # Energy ratio must be ~1.0 (bit-perfect)
-ENERGY_RATIO_MAX = 1.001      # Energy ratio must be ~1.0 (bit-perfect)
-
-
-# =============================================================================
-# Helper functions
-# =============================================================================
-
-def load_doppler_csv(filepath):
-    """
-    Load Doppler output CSV with columns (range_bin, doppler_bin, out_i, out_q).
-    Returns dict: {rbin: [(dbin, i, q), ...]}
-    """
-    data = {}
-    with open(filepath) as f:
-        f.readline()  # Skip header
-        for line in f:
-            line = line.strip()
-            if not line:
-                continue
-            parts = line.split(',')
-            rbin = int(parts[0])
-            dbin = int(parts[1])
-            i_val = int(parts[2])
-            q_val = int(parts[3])
-            if rbin not in data:
-                data[rbin] = []
-            data[rbin].append((dbin, i_val, q_val))
-    return data
-
-
-def extract_iq_arrays(data_dict, rbin):
-    """Extract I and Q arrays for a given range bin, ordered by doppler bin."""
-    if rbin not in data_dict:
-        return [0] * DOPPLER_FFT, [0] * DOPPLER_FFT
-    entries = sorted(data_dict[rbin], key=lambda x: x[0])
-    i_arr = [e[1] for e in entries]
-    q_arr = [e[2] for e in entries]
-    return i_arr, q_arr
-
-
-def pearson_correlation(a, b):
-    """Compute Pearson correlation coefficient."""
-    n = len(a)
-    if n < 2:
-        return 0.0
-    mean_a = sum(a) / n
-    mean_b = sum(b) / n
-    cov = sum((a[i] - mean_a) * (b[i] - mean_b) for i in range(n))
-    std_a_sq = sum((x - mean_a) ** 2 for x in a)
-    std_b_sq = sum((x - mean_b) ** 2 for x in b)
-    if std_a_sq < 1e-10 or std_b_sq < 1e-10:
-        return 1.0 if abs(mean_a - mean_b) < 1.0 else 0.0
-    return cov / math.sqrt(std_a_sq * std_b_sq)
-
-
-def magnitude_l1(i_arr, q_arr):
-    """L1 magnitude: |I| + |Q|."""
-    return [abs(i) + abs(q) for i, q in zip(i_arr, q_arr, strict=False)]
-
-
-def find_peak_bin(i_arr, q_arr):
-    """Find bin with max L1 magnitude."""
-    mags = magnitude_l1(i_arr, q_arr)
-    return max(range(len(mags)), key=lambda k: mags[k])
-
-
-def peak_bins_match(py_peak, rtl_peak):
-    """Return True if peaks match within +/-1 bin inside the same sub-frame."""
-    py_sf = py_peak // SUBFRAME_SIZE
-    rtl_sf = rtl_peak // SUBFRAME_SIZE
-    if py_sf != rtl_sf:
-        return False
-
-    py_bin = py_peak % SUBFRAME_SIZE
-    rtl_bin = rtl_peak % SUBFRAME_SIZE
-    diff = abs(py_bin - rtl_bin)
-    return diff <= 1 or diff >= SUBFRAME_SIZE - 1
-
-
-def total_energy(data_dict):
-    """Sum of I^2 + Q^2 across all range bins and Doppler bins."""
-    total = 0
-    for rbin in data_dict:
-        for (_dbin, i_val, q_val) in data_dict[rbin]:
-            total += i_val * i_val + q_val * q_val
-    return total
-
-
-# =============================================================================
-# Scenario comparison
-# =============================================================================
-
-def compare_scenario(name, config, base_dir):
-    """Compare one Doppler scenario. Returns (passed, result_dict)."""
-
-    golden_path = os.path.join(base_dir, config['golden_csv'])
-    rtl_path = os.path.join(base_dir, config['rtl_csv'])
-
-    if not os.path.exists(golden_path):
-        return False, {}
-    if not os.path.exists(rtl_path):
-        return False, {}
-
-    py_data = load_doppler_csv(golden_path)
-    rtl_data = load_doppler_csv(rtl_path)
-
-    sorted(py_data.keys())
-    sorted(rtl_data.keys())
-
-
-    # ---- Check 1: Both have data ----
-    py_total = sum(len(v) for v in py_data.values())
-    rtl_total = sum(len(v) for v in rtl_data.values())
-    if py_total == 0 or rtl_total == 0:
-        return False, {}
-
-    # ---- Check 2: Output count ----
-    count_ok = (rtl_total == TOTAL_OUTPUTS)
-
-    # ---- Check 3: Global energy ----
-    py_energy = total_energy(py_data)
-    rtl_energy = total_energy(rtl_data)
-    if py_energy > 0:
-        energy_ratio = rtl_energy / py_energy
-    else:
-        energy_ratio = 1.0 if rtl_energy == 0 else float('inf')
-
-
-    # ---- Check 4: Per-range-bin analysis ----
-    peak_agreements = 0
-    mag_correlations = []
-    i_correlations = []
-    q_correlations = []
-
-    peak_details = []
-
-    for rbin in range(RANGE_BINS):
-        py_i, py_q = extract_iq_arrays(py_data, rbin)
-        rtl_i, rtl_q = extract_iq_arrays(rtl_data, rbin)
-
-        py_peak = find_peak_bin(py_i, py_q)
-        rtl_peak = find_peak_bin(rtl_i, rtl_q)
-
-        # Peak agreement (allow +/-1 bin tolerance, but only within a sub-frame)
-        if peak_bins_match(py_peak, rtl_peak):
-            peak_agreements += 1
-
-        py_mag = magnitude_l1(py_i, py_q)
-        rtl_mag = magnitude_l1(rtl_i, rtl_q)
-
-        mag_corr = pearson_correlation(py_mag, rtl_mag)
-        corr_i = pearson_correlation(py_i, rtl_i)
-        corr_q = pearson_correlation(py_q, rtl_q)
-
-        mag_correlations.append(mag_corr)
-        i_correlations.append(corr_i)
-        q_correlations.append(corr_q)
-
-        py_rbin_energy = sum(i*i + q*q for i, q in zip(py_i, py_q, strict=False))
-        rtl_rbin_energy = sum(i*i + q*q for i, q in zip(rtl_i, rtl_q, strict=False))
-
-        peak_details.append({
-            'rbin': rbin,
-            'py_peak': py_peak,
-            'rtl_peak': rtl_peak,
-            'mag_corr': mag_corr,
-            'corr_i': corr_i,
-            'corr_q': corr_q,
-            'py_energy': py_rbin_energy,
-            'rtl_energy': rtl_rbin_energy,
-        })
-
-    peak_agreement_frac = peak_agreements / RANGE_BINS
-    avg_mag_corr = sum(mag_correlations) / len(mag_correlations)
-    avg_corr_i = sum(i_correlations) / len(i_correlations)
-    avg_corr_q = sum(q_correlations) / len(q_correlations)
-
-
-    # Show top 5 range bins by Python energy
-    top_rbins = sorted(peak_details, key=lambda x: -x['py_energy'])[:5]
-    for _d in top_rbins:
-        pass
-
-    # ---- Pass/Fail ----
-    checks = []
-
-    checks.append(('RTL output count == 2048', count_ok))
-
-    energy_ok = (ENERGY_RATIO_MIN < energy_ratio < ENERGY_RATIO_MAX)
-    checks.append((f'Energy ratio in bounds '
-                    f'({ENERGY_RATIO_MIN}-{ENERGY_RATIO_MAX})', energy_ok))
-
-    peak_ok = (peak_agreement_frac >= PEAK_AGREEMENT_MIN)
-    checks.append((f'Peak agreement >= {PEAK_AGREEMENT_MIN:.0%}', peak_ok))
-
-    # For range bins with significant energy, check magnitude correlation
-    high_energy_rbins = [d for d in peak_details
-                         if d['py_energy'] > py_energy / (RANGE_BINS * 10)]
-    if high_energy_rbins:
-        he_mag_corr = sum(d['mag_corr'] for d in high_energy_rbins) / len(high_energy_rbins)
-        he_ok = (he_mag_corr >= MAG_CORR_MIN)
-        checks.append((f'High-energy rbin avg mag_corr >= {MAG_CORR_MIN:.2f} '
-                        f'(actual={he_mag_corr:.3f})', he_ok))
-
-    all_pass = True
-    for _check_name, passed in checks:
-        if not passed:
-            all_pass = False
-
-    # ---- Write detailed comparison CSV ----
-    compare_csv = os.path.join(base_dir, f'compare_doppler_{name}.csv')
-    with open(compare_csv, 'w') as f:
-        f.write('range_bin,doppler_bin,py_i,py_q,rtl_i,rtl_q,diff_i,diff_q\n')
-        for rbin in range(RANGE_BINS):
-            py_i, py_q = extract_iq_arrays(py_data, rbin)
-            rtl_i, rtl_q = extract_iq_arrays(rtl_data, rbin)
-            for dbin in range(DOPPLER_FFT):
-                f.write(f'{rbin},{dbin},{py_i[dbin]},{py_q[dbin]},'
-                        f'{rtl_i[dbin]},{rtl_q[dbin]},'
-                        f'{rtl_i[dbin]-py_i[dbin]},{rtl_q[dbin]-py_q[dbin]}\n')
-
-    result = {
-        'scenario': name,
-        'rtl_count': rtl_total,
-        'energy_ratio': energy_ratio,
-        'peak_agreement': peak_agreement_frac,
-        'avg_mag_corr': avg_mag_corr,
-        'avg_corr_i': avg_corr_i,
-        'avg_corr_q': avg_corr_q,
-        'passed': all_pass,
-    }
-
-    return all_pass, result
-
-
-# =============================================================================
-# Main
-# =============================================================================
-
-def main():
-    base_dir = os.path.dirname(os.path.abspath(__file__))
-
-    arg = sys.argv[1].lower() if len(sys.argv) > 1 else 'stationary'
-
-    if arg == 'all':
-        run_scenarios = list(SCENARIOS.keys())
-    elif arg in SCENARIOS:
-        run_scenarios = [arg]
-    else:
-        sys.exit(1)
-
-
-    results = []
-    for name in run_scenarios:
-        passed, result = compare_scenario(name, SCENARIOS[name], base_dir)
-        results.append((name, passed, result))
-
-    # Summary
-
-
-    all_pass = True
-    for _name, passed, result in results:
-        if not result:
-            all_pass = False
-        else:
-            if not passed:
-                all_pass = False
-
-    if all_pass:
-        pass
-    else:
-        pass
-
-    sys.exit(0 if all_pass else 1)
-
-
-if __name__ == '__main__':
-    main()

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

@@ -1,330 +0,0 @@
-#!/usr/bin/env python3
-"""
-Co-simulation Comparison: RTL vs Python Model for AERIS-10 Matched Filter.
-
-Compares the RTL matched filter output (from tb_mf_cosim.v) against the
-Python model golden reference (from gen_mf_cosim_golden.py).
-
-Two modes of operation:
-  1. Synthesis branch (no -DSIMULATION): RTL uses fft_engine.v with fixed-point
-     twiddle ROM (fft_twiddle_1024.mem) and frequency_matched_filter.v. The
-     Python model was built to match this exactly. Expect BIT-PERFECT results
-     (correlation = 1.0, energy ratio = 1.0).
-
-  2. SIMULATION branch (-DSIMULATION): RTL uses behavioral FFT with floating-
-     point twiddles ($rtoi($cos*32767)) and shift-then-add conjugate multiply.
-     Python model uses fixed-point twiddles and add-then-round. Expect large
-     numerical differences; only state-machine mechanics are validated.
-
-Usage:
-    python3 compare_mf.py [scenario|all]
-
-    scenario: chirp, dc, impulse, tone5 (default: chirp)
-    all: run all scenarios
-
-Author: Phase 0.5 matched-filter co-simulation suite for PLFM_RADAR
-"""
-
-import math
-import os
-import sys
-
-sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
-
-
-# =============================================================================
-# Configuration
-# =============================================================================
-
-FFT_SIZE = 1024
-
-SCENARIOS = {
-    'chirp': {
-        'golden_csv': 'mf_golden_py_chirp.csv',
-        'rtl_csv': 'rtl_mf_chirp.csv',
-        'description': 'Radar chirp: 2 targets vs ref chirp',
-    },
-    'dc': {
-        'golden_csv': 'mf_golden_py_dc.csv',
-        'rtl_csv': 'rtl_mf_dc.csv',
-        'description': 'DC autocorrelation (I=0x1000)',
-    },
-    'impulse': {
-        'golden_csv': 'mf_golden_py_impulse.csv',
-        'rtl_csv': 'rtl_mf_impulse.csv',
-        'description': 'Impulse autocorrelation (delta at n=0)',
-    },
-    'tone5': {
-        'golden_csv': 'mf_golden_py_tone5.csv',
-        'rtl_csv': 'rtl_mf_tone5.csv',
-        'description': 'Tone autocorrelation (bin 5, amp=8000)',
-    },
-}
-
-# Thresholds for pass/fail
-# These are generous because of the fundamental twiddle arithmetic differences
-# between the SIMULATION branch (float twiddles) and Python model (fixed twiddles)
-ENERGY_CORR_MIN = 0.80       # Min correlation of magnitude spectra
-TOP_PEAK_OVERLAP_MIN = 0.50  # At least 50% of top-N peaks must overlap
-RMS_RATIO_MAX = 50.0         # Max ratio of RMS energies (generous, since gain differs)
-ENERGY_RATIO_MIN = 0.001     # Min ratio (total energy RTL / total energy Python)
-ENERGY_RATIO_MAX = 1000.0    # Max ratio
-
-
-# =============================================================================
-# Helper functions
-# =============================================================================
-
-def load_csv(filepath):
-    """Load CSV with columns (bin, out_i/range_profile_i, out_q/range_profile_q)."""
-    vals_i = []
-    vals_q = []
-    with open(filepath) as f:
-        f.readline()  # Skip header
-        for line in f:
-            line = line.strip()
-            if not line:
-                continue
-            parts = line.split(',')
-            vals_i.append(int(parts[1]))
-            vals_q.append(int(parts[2]))
-    return vals_i, vals_q
-
-
-def magnitude_spectrum(vals_i, vals_q):
-    """Compute magnitude = |I| + |Q| for each bin (L1 norm, matches RTL)."""
-    return [abs(i) + abs(q) for i, q in zip(vals_i, vals_q, strict=False)]
-
-
-def magnitude_l2(vals_i, vals_q):
-    """Compute magnitude = sqrt(I^2 + Q^2) for each bin."""
-    return [math.sqrt(i*i + q*q) for i, q in zip(vals_i, vals_q, strict=False)]
-
-
-def total_energy(vals_i, vals_q):
-    """Compute total energy (sum of I^2 + Q^2)."""
-    return sum(i*i + q*q for i, q in zip(vals_i, vals_q, strict=False))
-
-
-def rms_magnitude(vals_i, vals_q):
-    """Compute RMS of complex magnitude."""
-    n = len(vals_i)
-    if n == 0:
-        return 0.0
-    return math.sqrt(sum(i*i + q*q for i, q in zip(vals_i, vals_q, strict=False)) / n)
-
-
-def pearson_correlation(a, b):
-    """Compute Pearson correlation coefficient between two lists."""
-    n = len(a)
-    if n < 2:
-        return 0.0
-    mean_a = sum(a) / n
-    mean_b = sum(b) / n
-    cov = sum((a[i] - mean_a) * (b[i] - mean_b) for i in range(n))
-    std_a_sq = sum((x - mean_a) ** 2 for x in a)
-    std_b_sq = sum((x - mean_b) ** 2 for x in b)
-    if std_a_sq < 1e-10 or std_b_sq < 1e-10:
-        return 1.0 if abs(mean_a - mean_b) < 1.0 else 0.0
-    return cov / math.sqrt(std_a_sq * std_b_sq)
-
-
-def find_peak(vals_i, vals_q):
-    """Find the bin with the maximum L1 magnitude."""
-    mags = magnitude_spectrum(vals_i, vals_q)
-    peak_bin = 0
-    peak_mag = mags[0]
-    for i in range(1, len(mags)):
-        if mags[i] > peak_mag:
-            peak_mag = mags[i]
-            peak_bin = i
-    return peak_bin, peak_mag
-
-
-def top_n_peaks(mags, n=10):
-    """Find the top-N peak bins by magnitude. Returns set of bin indices."""
-    indexed = sorted(enumerate(mags), key=lambda x: -x[1])
-    return {idx for idx, _ in indexed[:n]}
-
-
-def spectral_peak_overlap(mags_a, mags_b, n=10):
-    """Fraction of top-N peaks from A that also appear in top-N of B."""
-    peaks_a = top_n_peaks(mags_a, n)
-    peaks_b = top_n_peaks(mags_b, n)
-    if len(peaks_a) == 0:
-        return 1.0
-    overlap = peaks_a & peaks_b
-    return len(overlap) / len(peaks_a)
-
-
-# =============================================================================
-# Comparison for one scenario
-# =============================================================================
-
-def compare_scenario(scenario_name, config, base_dir):
-    """Compare one scenario. Returns (pass/fail, result_dict)."""
-
-    golden_path = os.path.join(base_dir, config['golden_csv'])
-    rtl_path = os.path.join(base_dir, config['rtl_csv'])
-
-    if not os.path.exists(golden_path):
-        return False, {}
-    if not os.path.exists(rtl_path):
-        return False, {}
-
-    py_i, py_q = load_csv(golden_path)
-    rtl_i, rtl_q = load_csv(rtl_path)
-
-
-    if len(py_i) != FFT_SIZE or len(rtl_i) != FFT_SIZE:
-        return False, {}
-
-    # ---- Metric 1: Energy ----
-    py_energy = total_energy(py_i, py_q)
-    rtl_energy = total_energy(rtl_i, rtl_q)
-    py_rms = rms_magnitude(py_i, py_q)
-    rtl_rms = rms_magnitude(rtl_i, rtl_q)
-
-    if py_energy > 0 and rtl_energy > 0:
-        energy_ratio = rtl_energy / py_energy
-        rms_ratio = rtl_rms / py_rms
-    elif py_energy == 0 and rtl_energy == 0:
-        energy_ratio = 1.0
-        rms_ratio = 1.0
-    else:
-        energy_ratio = float('inf') if py_energy == 0 else 0.0
-        rms_ratio = float('inf') if py_rms == 0 else 0.0
-
-
-    # ---- Metric 2: Peak location ----
-    py_peak_bin, _py_peak_mag = find_peak(py_i, py_q)
-    rtl_peak_bin, _rtl_peak_mag = find_peak(rtl_i, rtl_q)
-
-
-    # ---- Metric 3: Magnitude spectrum correlation ----
-    py_mag = magnitude_l2(py_i, py_q)
-    rtl_mag = magnitude_l2(rtl_i, rtl_q)
-    mag_corr = pearson_correlation(py_mag, rtl_mag)
-
-
-    # ---- Metric 4: Top-N peak overlap ----
-    # Use L1 magnitudes for peak finding (matches RTL)
-    py_mag_l1 = magnitude_spectrum(py_i, py_q)
-    rtl_mag_l1 = magnitude_spectrum(rtl_i, rtl_q)
-    peak_overlap_10 = spectral_peak_overlap(py_mag_l1, rtl_mag_l1, n=10)
-    peak_overlap_20 = spectral_peak_overlap(py_mag_l1, rtl_mag_l1, n=20)
-
-
-    # ---- Metric 5: I and Q channel correlation ----
-    corr_i = pearson_correlation(py_i, rtl_i)
-    corr_q = pearson_correlation(py_q, rtl_q)
-
-
-    # ---- Pass/Fail Decision ----
-    # The SIMULATION branch uses floating-point twiddles ($cos/$sin) while
-    # the Python model uses the fixed-point twiddle ROM (matching synthesis).
-    # These are fundamentally different FFT implementations. We do NOT expect
-    # structural similarity (correlation, peak overlap) between them.
-    #
-    # What we CAN verify:
-    # 1. Both produce non-trivial output (state machine completes)
-    # 2. Output count is correct (1024 samples)
-    # 3. Energy is in a reasonable range (not wildly wrong)
-    #
-    # The true bit-accuracy comparison will happen when the synthesis branch
-    # is simulated (xsim on remote server) using the same fft_engine.v that
-    # the Python model was built to match.
-
-    checks = []
-
-    # Check 1: Both produce output
-    both_have_output = py_energy > 0 and rtl_energy > 0
-    checks.append(('Both produce output', both_have_output))
-
-    # Check 2: RTL produced expected sample count
-    correct_count = len(rtl_i) == FFT_SIZE
-    checks.append(('Correct output count (1024)', correct_count))
-
-    # Check 3: Energy ratio within generous bounds
-    # Allow very wide range since twiddle differences cause large gain variation
-    energy_ok = ENERGY_RATIO_MIN < energy_ratio < ENERGY_RATIO_MAX
-    checks.append((f'Energy ratio in bounds ({ENERGY_RATIO_MIN}-{ENERGY_RATIO_MAX})',
-                    energy_ok))
-
-    # Print checks
-    all_pass = True
-    for _name, passed in checks:
-        if not passed:
-            all_pass = False
-
-    result = {
-        'scenario': scenario_name,
-        'py_energy': py_energy,
-        'rtl_energy': rtl_energy,
-        'energy_ratio': energy_ratio,
-        'rms_ratio': rms_ratio,
-        'py_peak_bin': py_peak_bin,
-        'rtl_peak_bin': rtl_peak_bin,
-        'mag_corr': mag_corr,
-        'peak_overlap_10': peak_overlap_10,
-        'peak_overlap_20': peak_overlap_20,
-        'corr_i': corr_i,
-        'corr_q': corr_q,
-        'passed': all_pass,
-    }
-
-    # Write detailed comparison CSV
-    compare_csv = os.path.join(base_dir, f'compare_mf_{scenario_name}.csv')
-    with open(compare_csv, 'w') as f:
-        f.write('bin,py_i,py_q,rtl_i,rtl_q,py_mag,rtl_mag,diff_i,diff_q\n')
-        for k in range(FFT_SIZE):
-            f.write(f'{k},{py_i[k]},{py_q[k]},{rtl_i[k]},{rtl_q[k]},'
-                    f'{py_mag_l1[k]},{rtl_mag_l1[k]},'
-                    f'{rtl_i[k]-py_i[k]},{rtl_q[k]-py_q[k]}\n')
-
-    return all_pass, result
-
-
-# =============================================================================
-# Main
-# =============================================================================
-
-def main():
-    base_dir = os.path.dirname(os.path.abspath(__file__))
-
-    arg = sys.argv[1].lower() if len(sys.argv) > 1 else 'chirp'
-
-    if arg == 'all':
-        run_scenarios = list(SCENARIOS.keys())
-    elif arg in SCENARIOS:
-        run_scenarios = [arg]
-    else:
-        sys.exit(1)
-
-
-    results = []
-    for name in run_scenarios:
-        passed, result = compare_scenario(name, SCENARIOS[name], base_dir)
-        results.append((name, passed, result))
-
-    # Summary
-
-
-    all_pass = True
-    for _name, passed, result in results:
-        if not result:
-            all_pass = False
-        else:
-            if not passed:
-                all_pass = False
-
-    if all_pass:
-        pass
-    else:
-        pass
-
-    sys.exit(0 if all_pass else 1)
-
-
-if __name__ == '__main__':
-    main()

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

@@ -126,17 +126,40 @@ def write_mem_file(filename, values):
     with open(path, 'w') as f:
         for v in values:
             f.write(to_hex16(v) + '\n')
+    print(f"  Wrote {filename}: {len(values)} entries")
 
 
 def main():
+    print("=" * 60)
+    print("AERIS-10 Chirp .mem File Generator")
+    print("=" * 60)
+    print()
+    print("Parameters:")
+    print(f"  CHIRP_BW         = {CHIRP_BW/1e6:.1f} MHz")
+    print(f"  FS_SYS           = {FS_SYS/1e6:.1f} MHz")
+    print(f"  T_LONG_CHIRP     = {T_LONG_CHIRP*1e6:.1f} us")
+    print(f"  T_SHORT_CHIRP    = {T_SHORT_CHIRP*1e6:.1f} us")
+    print(f"  LONG_CHIRP_SAMPLES = {LONG_CHIRP_SAMPLES}")
+    print(f"  SHORT_CHIRP_SAMPLES = {SHORT_CHIRP_SAMPLES}")
+    print(f"  FFT_SIZE         = {FFT_SIZE}")
+    print(f"  Chirp rate (long)  = {CHIRP_BW/T_LONG_CHIRP:.3e} Hz/s")
+    print(f"  Chirp rate (short) = {CHIRP_BW/T_SHORT_CHIRP:.3e} Hz/s")
+    print(f"  Q15 scale        = {SCALE}")
+    print()
 
     # ---- Long chirp ----
+    print("Generating full long chirp (3000 samples)...")
     long_i, long_q = generate_full_long_chirp()
 
     # Verify first sample matches generate_reference_chirp_q15() from radar_scene.py
     # (which only generates the first 1024 samples)
+    print(f"  Sample[0]:    I={long_i[0]:6d}  Q={long_q[0]:6d}")
+    print(f"  Sample[1023]: I={long_i[1023]:6d}  Q={long_q[1023]:6d}")
+    print(f"  Sample[2999]: I={long_i[2999]:6d}  Q={long_q[2999]:6d}")
 
     # Segment into 4 x 1024 blocks
+    print()
+    print("Segmenting into 4 x 1024 blocks...")
     for seg in range(LONG_SEGMENTS):
         start = seg * FFT_SIZE
         end = start + FFT_SIZE
@@ -154,18 +177,27 @@ def main():
                 seg_i.append(0)
                 seg_q.append(0)
 
-        FFT_SIZE - valid_count
+        zero_count = FFT_SIZE - valid_count
+        print(f"  Seg {seg}: indices [{start}:{end-1}], "
+              f"valid={valid_count}, zeros={zero_count}")
 
         write_mem_file(f"long_chirp_seg{seg}_i.mem", seg_i)
         write_mem_file(f"long_chirp_seg{seg}_q.mem", seg_q)
 
     # ---- Short chirp ----
+    print()
+    print("Generating short chirp (50 samples)...")
     short_i, short_q = generate_short_chirp()
+    print(f"  Sample[0]:  I={short_i[0]:6d}  Q={short_q[0]:6d}")
+    print(f"  Sample[49]: I={short_i[49]:6d}  Q={short_q[49]:6d}")
 
     write_mem_file("short_chirp_i.mem", short_i)
     write_mem_file("short_chirp_q.mem", short_q)
 
     # ---- Verification summary ----
+    print()
+    print("=" * 60)
+    print("Verification:")
 
     # Cross-check seg0 against radar_scene.py generate_reference_chirp_q15()
     # That function generates exactly the first 1024 samples of the chirp
@@ -180,24 +212,33 @@ def main():
             mismatches += 1
 
     if mismatches == 0:
-        pass
+        print("  [PASS] Seg0 matches radar_scene.py generate_reference_chirp_q15()")
     else:
+        print(f"  [FAIL] Seg0 has {mismatches} mismatches vs generate_reference_chirp_q15()")
         return 1
 
     # Check magnitude envelope
-    max(math.sqrt(i*i + q*q) for i, q in zip(long_i, long_q, strict=False))
+    max_mag = max(math.sqrt(i*i + q*q) for i, q in zip(long_i, long_q, strict=False))
+    print(f"  Max magnitude: {max_mag:.1f} (expected ~{Q15_MAX * SCALE:.1f})")
+    print(f"  Magnitude ratio: {max_mag / (Q15_MAX * SCALE):.6f}")
 
     # Check seg3 zero padding
     seg3_i_path = os.path.join(MEM_DIR, 'long_chirp_seg3_i.mem')
     with open(seg3_i_path) as f:
         seg3_lines = [line.strip() for line in f if line.strip()]
     nonzero_seg3 = sum(1 for line in seg3_lines if line != '0000')
+    print(f"  Seg3 non-zero entries: {nonzero_seg3}/{len(seg3_lines)} "
+          f"(expected 0 since chirp ends at sample 2999)")
 
     if nonzero_seg3 == 0:
-        pass
+        print("  [PASS] Seg3 is all zeros (chirp 3000 samples < seg3 start 3072)")
     else:
-        pass
+        print(f"  [WARN] Seg3 has {nonzero_seg3} non-zero entries")
 
+    print()
+    print(f"Generated 10 .mem files in {os.path.abspath(MEM_DIR)}")
+    print("Run validate_mem_files.py to do full validation.")
+    print("=" * 60)
 
     return 0
 

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

@@ -51,6 +51,7 @@ def write_hex_32bit(filepath, samples):
         for (i_val, q_val) in samples:
             packed = ((q_val & 0xFFFF) << 16) | (i_val & 0xFFFF)
             f.write(f"{packed:08X}\n")
+    print(f"  Wrote {len(samples)} packed samples to {filepath}")
 
 
 def write_csv(filepath, headers, *columns):
@@ -60,6 +61,7 @@ def write_csv(filepath, headers, *columns):
         for i in range(len(columns[0])):
             row = ','.join(str(col[i]) for col in columns)
             f.write(row + '\n')
+    print(f"  Wrote {len(columns[0])} rows to {filepath}")
 
 
 def write_hex_16bit(filepath, data):
@@ -116,10 +118,15 @@ SCENARIOS = {
 
 def generate_scenario(name, targets, description, base_dir):
     """Generate input hex + golden output for one scenario."""
+    print(f"\n{'='*60}")
+    print(f"Scenario: {name} — {description}")
+    print("Model: CLEAN (dual 16-pt FFT)")
+    print(f"{'='*60}")
 
     # Generate Doppler frame (32 chirps x 64 range bins)
     frame_i, frame_q = generate_doppler_frame(targets, seed=42)
 
+    print(f"  Generated frame: {len(frame_i)} chirps x {len(frame_i[0])} range bins")
 
     # ---- Write input hex file (packed 32-bit: {Q, I}) ----
     # RTL expects data streamed chirp-by-chirp: chirp0[rb0..rb63], chirp1[rb0..rb63], ...
@@ -137,6 +144,8 @@ def generate_scenario(name, targets, description, base_dir):
     dp = DopplerProcessor()
     doppler_i, doppler_q = dp.process_frame(frame_i, frame_q)
 
+    print(f"  Doppler output: {len(doppler_i)} range bins x "
+          f"{len(doppler_i[0])} doppler bins (2 sub-frames x {DOPPLER_FFT_SIZE})")
 
     # ---- Write golden output CSV ----
     # Format: range_bin, doppler_bin, out_i, out_q
@@ -164,6 +173,7 @@ def generate_scenario(name, targets, description, base_dir):
     write_hex_32bit(golden_hex, list(zip(flat_i, flat_q, strict=False)))
 
     # ---- Find peak per range bin ----
+    print("\n  Peak Doppler bins per range bin (top 5 by magnitude):")
     peak_info = []
     for rbin in range(RANGE_BINS):
         mags = [abs(doppler_i[rbin][d]) + abs(doppler_q[rbin][d])
@@ -174,11 +184,13 @@ def generate_scenario(name, targets, description, base_dir):
 
     # Sort by magnitude descending, show top 5
     peak_info.sort(key=lambda x: -x[2])
-    for rbin, dbin, _mag in peak_info[:5]:
+    for rbin, dbin, mag in peak_info[:5]:
-        doppler_i[rbin][dbin]
+        i_val = doppler_i[rbin][dbin]
-        doppler_q[rbin][dbin]
+        q_val = doppler_q[rbin][dbin]
-        dbin // DOPPLER_FFT_SIZE
+        sf = dbin // DOPPLER_FFT_SIZE
-        dbin % DOPPLER_FFT_SIZE
+        bin_in_sf = dbin % DOPPLER_FFT_SIZE
+        print(f"    rbin={rbin:2d}, dbin={dbin:2d} (sf{sf}:{bin_in_sf:2d}), mag={mag:6d}, "
+              f"I={i_val:6d}, Q={q_val:6d}")
 
     return {
         'name': name,
@@ -190,6 +202,10 @@ def generate_scenario(name, targets, description, base_dir):
 def main():
     base_dir = os.path.dirname(os.path.abspath(__file__))
 
+    print("=" * 60)
+    print("Doppler Processor Co-Sim Golden Reference Generator")
+    print(f"Architecture: dual {DOPPLER_FFT_SIZE}-pt FFT ({DOPPLER_TOTAL_BINS} total bins)")
+    print("=" * 60)
 
     scenarios_to_run = list(SCENARIOS.keys())
 
@@ -207,9 +223,17 @@ def main():
         r = generate_scenario(name, targets, description, base_dir)
         results.append(r)
 
-    for _ in results:
+    print(f"\n{'='*60}")
-        pass
+    print("Summary:")
+    print(f"{'='*60}")
+    for r in results:
+        print(f"  {r['name']:<15s} top peak: "
+              f"rbin={r['peak_info'][0][0]}, dbin={r['peak_info'][0][1]}, "
+              f"mag={r['peak_info'][0][2]}")
 
+    print(f"\nGenerated {len(results)} scenarios.")
+    print(f"Files written to: {base_dir}")
+    print("=" * 60)
 
 
 if __name__ == '__main__':

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

@@ -75,6 +75,7 @@ def generate_case(case_name, sig_i, sig_q, ref_i, ref_q, description, outdir,
 
     Returns dict with case info and results.
     """
+    print(f"\n--- {case_name}: {description} ---")
 
     assert len(sig_i) == FFT_SIZE, f"sig_i length {len(sig_i)} != {FFT_SIZE}"
     assert len(sig_q) == FFT_SIZE
@@ -87,6 +88,8 @@ def generate_case(case_name, sig_i, sig_q, ref_i, ref_q, description, outdir,
         write_hex_16bit(os.path.join(outdir, f"mf_sig_{case_name}_q.hex"), sig_q)
         write_hex_16bit(os.path.join(outdir, f"mf_ref_{case_name}_i.hex"), ref_i)
         write_hex_16bit(os.path.join(outdir, f"mf_ref_{case_name}_q.hex"), ref_q)
+        print(f"  Wrote input hex: mf_sig_{case_name}_{{i,q}}.hex, "
+              f"mf_ref_{case_name}_{{i,q}}.hex")
 
     # Run through bit-accurate Python model
     mf = MatchedFilterChain(fft_size=FFT_SIZE)
@@ -101,6 +104,9 @@ def generate_case(case_name, sig_i, sig_q, ref_i, ref_q, description, outdir,
             peak_mag = mag
             peak_bin = k
 
+    print(f"  Output: {len(out_i)} samples")
+    print(f"  Peak bin: {peak_bin}, magnitude: {peak_mag}")
+    print(f"  Peak I={out_i[peak_bin]}, Q={out_q[peak_bin]}")
 
     # Save golden output hex
     write_hex_16bit(os.path.join(outdir, f"mf_golden_py_i_{case_name}.hex"), out_i)
@@ -129,6 +135,10 @@ def generate_case(case_name, sig_i, sig_q, ref_i, ref_q, description, outdir,
 def main():
     base_dir = os.path.dirname(os.path.abspath(__file__))
 
+    print("=" * 60)
+    print("Matched Filter Co-Sim Golden Reference Generator")
+    print("Using bit-accurate Python model (fpga_model.py)")
+    print("=" * 60)
 
     results = []
 
@@ -148,7 +158,8 @@ def main():
                           base_dir)
         results.append(r)
     else:
-        pass
+        print("\nWARNING: bb_mf_test / ref_chirp hex files not found.")
+        print("Run radar_scene.py first.")
 
     # ---- Case 2: DC autocorrelation ----
     dc_val = 0x1000  # 4096
@@ -190,9 +201,16 @@ def main():
     results.append(r)
 
     # ---- Summary ----
-    for _ in results:
+    print("\n" + "=" * 60)
-        pass
+    print("Summary:")
+    print("=" * 60)
+    for r in results:
+        print(f"  {r['case_name']:10s}: peak at bin {r['peak_bin']}, "
+              f"mag={r['peak_mag']}, I={r['peak_i']}, Q={r['peak_q']}")
 
+    print(f"\nGenerated {len(results)} golden reference cases.")
+    print("Files written to:", base_dir)
+    print("=" * 60)
 
 
 if __name__ == '__main__':

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

@@ -163,7 +163,7 @@ def generate_if_chirp(n_samples, chirp_bw=CHIRP_BW, f_if=F_IF, fs=FS_ADC):
     return chirp_i, chirp_q
 
 
-def generate_reference_chirp_q15(n_fft=FFT_SIZE, chirp_bw=CHIRP_BW, _f_if=F_IF, _fs=FS_ADC):
+def generate_reference_chirp_q15(n_fft=FFT_SIZE, chirp_bw=CHIRP_BW, f_if=F_IF, fs=FS_ADC):
     """
     Generate a reference chirp in Q15 format for the matched filter.
 
@@ -398,6 +398,7 @@ def generate_doppler_frame(targets, n_chirps=CHIRPS_PER_FRAME,
         for target in targets:
             # Which range bin does this target fall in?
             # After matched filter + range decimation:
+            # range_bin = target_delay_in_baseband_samples / decimation_factor
             delay_baseband_samples = target.delay_s * FS_SYS
             range_bin_float = delay_baseband_samples * n_range_bins / FFT_SIZE
             range_bin = round(range_bin_float)
@@ -405,6 +406,7 @@ def generate_doppler_frame(targets, n_chirps=CHIRPS_PER_FRAME,
             if range_bin < 0 or range_bin >= n_range_bins:
                 continue
 
+            # Amplitude (simplified)
             amp = target.amplitude / 4.0
 
             # Doppler phase for this chirp.
@@ -472,6 +474,7 @@ def write_hex_file(filepath, samples, bits=8):
                 val = s & ((1 << bits) - 1)
             f.write(fmt.format(val) + "\n")
 
+    print(f"  Wrote {len(samples)} samples to {filepath}")
 
 
 def write_csv_file(filepath, columns, headers=None):
@@ -491,6 +494,7 @@ def write_csv_file(filepath, columns, headers=None):
             row = [str(col[i]) for col in columns]
             f.write(",".join(row) + "\n")
 
+    print(f"  Wrote {n_rows} rows to {filepath}")
 
 
 # =============================================================================
@@ -503,6 +507,10 @@ def scenario_single_target(range_m=500, velocity=0, rcs=0, n_adc_samples=16384):
     Good for validating matched filter range response.
     """
     target = Target(range_m=range_m, velocity_mps=velocity, rcs_dbsm=rcs)
+    print(f"Scenario: Single target at {range_m}m")
+    print(f"  {target}")
+    print(f"  Beat freq: {CHIRP_BW / T_LONG_CHIRP * target.delay_s:.0f} Hz")
+    print(f"  Delay: {target.delay_samples:.1f} ADC samples")
 
     adc = generate_adc_samples([target], n_adc_samples, noise_stddev=2.0)
     return adc, [target]
@@ -517,8 +525,9 @@ def scenario_two_targets(n_adc_samples=16384):
         Target(range_m=300, velocity_mps=0, rcs_dbsm=10, phase_deg=0),
         Target(range_m=315, velocity_mps=0, rcs_dbsm=10, phase_deg=45),
     ]
-    for _t in targets:
+    print("Scenario: Two targets (range resolution test)")
-        pass
+    for t in targets:
+        print(f"  {t}")
 
     adc = generate_adc_samples(targets, n_adc_samples, noise_stddev=2.0)
     return adc, targets
@@ -535,8 +544,9 @@ def scenario_multi_target(n_adc_samples=16384):
         Target(range_m=2000, velocity_mps=50, rcs_dbsm=0, phase_deg=45),
         Target(range_m=5000, velocity_mps=-5, rcs_dbsm=-5, phase_deg=270),
     ]
-    for _t in targets:
+    print("Scenario: Multi-target (5 targets)")
-        pass
+    for t in targets:
+        print(f"  {t}")
 
     adc = generate_adc_samples(targets, n_adc_samples, noise_stddev=3.0)
     return adc, targets
@@ -546,6 +556,7 @@ def scenario_noise_only(n_adc_samples=16384, noise_stddev=5.0):
     """
     Noise-only scene — baseline for false alarm characterization.
     """
+    print(f"Scenario: Noise only (stddev={noise_stddev})")
     adc = generate_adc_samples([], n_adc_samples, noise_stddev=noise_stddev)
     return adc, []
 
@@ -554,6 +565,7 @@ def scenario_dc_tone(n_adc_samples=16384, adc_value=128):
     """
     DC input — validates CIC decimation and DC response.
     """
+    print(f"Scenario: DC tone (ADC value={adc_value})")
     return [adc_value] * n_adc_samples, []
 
 
@@ -561,6 +573,7 @@ def scenario_sine_wave(n_adc_samples=16384, freq_hz=1e6, amplitude=50):
     """
     Pure sine wave at ADC input — validates NCO/mixer frequency response.
     """
+    print(f"Scenario: Sine wave at {freq_hz/1e6:.1f} MHz, amplitude={amplitude}")
     adc = []
     for n in range(n_adc_samples):
         t = n / FS_ADC
@@ -590,35 +603,46 @@ def generate_all_test_vectors(output_dir=None):
     if output_dir is None:
         output_dir = os.path.dirname(os.path.abspath(__file__))
 
+    print("=" * 60)
+    print("Generating AERIS-10 Test Vectors")
+    print(f"Output directory: {output_dir}")
+    print("=" * 60)
 
     n_adc = 16384  # ~41 us of ADC data
 
     # --- Scenario 1: Single target ---
+    print("\n--- Scenario 1: Single Target ---")
     adc1, targets1 = scenario_single_target(range_m=500, n_adc_samples=n_adc)
     write_hex_file(os.path.join(output_dir, "adc_single_target.hex"), adc1, bits=8)
 
     # --- Scenario 2: Multi-target ---
+    print("\n--- Scenario 2: Multi-Target ---")
     adc2, targets2 = scenario_multi_target(n_adc_samples=n_adc)
     write_hex_file(os.path.join(output_dir, "adc_multi_target.hex"), adc2, bits=8)
 
     # --- Scenario 3: Noise only ---
+    print("\n--- Scenario 3: Noise Only ---")
     adc3, _ = scenario_noise_only(n_adc_samples=n_adc)
     write_hex_file(os.path.join(output_dir, "adc_noise_only.hex"), adc3, bits=8)
 
     # --- Scenario 4: DC ---
+    print("\n--- Scenario 4: DC Input ---")
     adc4, _ = scenario_dc_tone(n_adc_samples=n_adc)
     write_hex_file(os.path.join(output_dir, "adc_dc.hex"), adc4, bits=8)
 
     # --- Scenario 5: Sine wave ---
+    print("\n--- Scenario 5: 1 MHz Sine ---")
     adc5, _ = scenario_sine_wave(n_adc_samples=n_adc, freq_hz=1e6, amplitude=50)
     write_hex_file(os.path.join(output_dir, "adc_sine_1mhz.hex"), adc5, bits=8)
 
     # --- Reference chirp for matched filter ---
+    print("\n--- Reference Chirp ---")
     ref_re, ref_im = generate_reference_chirp_q15()
     write_hex_file(os.path.join(output_dir, "ref_chirp_i.hex"), ref_re, bits=16)
     write_hex_file(os.path.join(output_dir, "ref_chirp_q.hex"), ref_im, bits=16)
 
     # --- Baseband samples for matched filter test (bypass DDC) ---
+    print("\n--- Baseband Samples (bypass DDC) ---")
     bb_targets = [
         Target(range_m=500, velocity_mps=0, rcs_dbsm=10),
         Target(range_m=1500, velocity_mps=20, rcs_dbsm=5),
@@ -628,6 +652,7 @@ def generate_all_test_vectors(output_dir=None):
     write_hex_file(os.path.join(output_dir, "bb_mf_test_q.hex"), bb_q, bits=16)
 
     # --- Scenario info CSV ---
+    print("\n--- Scenario Info ---")
     with open(os.path.join(output_dir, "scenario_info.txt"), 'w') as f:
         f.write("AERIS-10 Test Vector Scenarios\n")
         f.write("=" * 60 + "\n\n")
@@ -657,7 +682,11 @@ def generate_all_test_vectors(output_dir=None):
         for t in bb_targets:
             f.write(f"  {t}\n")
 
+    print(f"\n  Wrote scenario info to {os.path.join(output_dir, 'scenario_info.txt')}")
 
+    print("\n" + "=" * 60)
+    print("ALL TEST VECTORS GENERATED")
+    print("=" * 60)
 
     return {
         'adc_single': adc1,

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

@@ -69,6 +69,7 @@ FIR_COEFFS_HEX = [
 # DDC output interface
 DDC_OUT_BITS = 16                # 18 → 16 bit with rounding + saturation
 
+# FFT (Range)
 FFT_SIZE = 1024
 FFT_DATA_W = 16
 FFT_INTERNAL_W = 32
@@ -147,15 +148,21 @@ def load_and_quantize_adi_data(data_path, config_path, frame_idx=0):
     4. Upconvert to 120 MHz IF (add I*cos - Q*sin) to create real signal
     5. Quantize to 8-bit unsigned (matching AD9484)
     """
+    print(f"[LOAD] Loading ADI dataset from {data_path}")
     data = np.load(data_path, allow_pickle=True)
     config = np.load(config_path, allow_pickle=True)
     
+    print(f"  Shape: {data.shape}, dtype: {data.dtype}")
+    print(f"  Config: sample_rate={config[0]:.0f}, IF={config[1]:.0f}, "
+          f"RF={config[2]:.0f}, chirps={config[3]:.0f}, BW={config[4]:.0f}, "
+          f"ramp={config[5]:.6f}s")
     
     # Extract one frame
     frame = data[frame_idx]  # (256, 1079) complex
     
     # Use first 32 chirps, first 1024 samples
     iq_block = frame[:DOPPLER_CHIRPS, :FFT_SIZE]  # (32, 1024) complex
+    print(f"  Using frame {frame_idx}: {DOPPLER_CHIRPS} chirps x {FFT_SIZE} samples")
     
     # The ADI data is baseband complex IQ at 4 MSPS.
     # AERIS-10 sees a real signal at 400 MSPS with 120 MHz IF.
@@ -190,6 +197,9 @@ def load_and_quantize_adi_data(data_path, config_path, frame_idx=0):
     iq_i = np.clip(iq_i, -32768, 32767)
     iq_q = np.clip(iq_q, -32768, 32767)
     
+    print(f"  Scaled to 16-bit (peak target {INPUT_PEAK_TARGET}): "
+          f"I range [{iq_i.min()}, {iq_i.max()}], "
+          f"Q range [{iq_q.min()}, {iq_q.max()}]")
     
     # Also create 8-bit ADC stimulus for DDC validation
     # Use just one chirp of real-valued data (I channel only, shifted to unsigned)
@@ -281,6 +291,7 @@ def run_ddc(adc_samples):
     # Build FIR coefficients as signed integers
     fir_coeffs = np.array([hex_to_signed(c, 18) for c in FIR_COEFFS_HEX], dtype=np.int64)
     
+    print(f"[DDC] Processing {n_samples} ADC samples at 400 MHz")
     
     # --- NCO + Mixer ---
     phase_accum = np.int64(0)
@@ -313,6 +324,7 @@ def run_ddc(adc_samples):
         # Phase accumulator update (ignore dithering for bit-accuracy)
         phase_accum = (phase_accum + NCO_PHASE_INC) & 0xFFFFFFFF
     
+    print(f"  Mixer output: I range [{mixed_i.min()}, {mixed_i.max()}]")
     
     # --- CIC Decimator (5-stage, decimate-by-4) ---
     # Integrator section (at 400 MHz rate)
@@ -320,9 +332,7 @@ def run_ddc(adc_samples):
     for n in range(n_samples):
         integrators[0][n + 1] = (integrators[0][n] + mixed_i[n]) & ((1 << CIC_ACC_WIDTH) - 1)
         for s in range(1, CIC_STAGES):
-            integrators[s][n + 1] = (
+            integrators[s][n + 1] = (integrators[s][n] + integrators[s - 1][n + 1]) & ((1 << CIC_ACC_WIDTH) - 1)
-                integrators[s][n] + integrators[s - 1][n + 1]
-            ) & ((1 << CIC_ACC_WIDTH) - 1)
     
     # Downsample by 4
     n_decimated = n_samples // CIC_DECIMATION
@@ -356,6 +366,7 @@ def run_ddc(adc_samples):
         scaled = comb[CIC_STAGES - 1][k] >> CIC_GAIN_SHIFT
         cic_output[k] = saturate(scaled, CIC_OUT_BITS)
     
+    print(f"  CIC output: {n_decimated} samples, range [{cic_output.min()}, {cic_output.max()}]")
     
     # --- FIR Filter (32-tap) ---
     delay_line = np.zeros(FIR_TAPS, dtype=np.int64)
@@ -377,6 +388,7 @@ def run_ddc(adc_samples):
         if fir_output[k] >= (1 << 17):
             fir_output[k] -= (1 << 18)
     
+    print(f"  FIR output: range [{fir_output.min()}, {fir_output.max()}]")
     
     # --- DDC Interface (18 → 16 bit) ---
     ddc_output = np.zeros(n_decimated, dtype=np.int64)
@@ -393,6 +405,7 @@ def run_ddc(adc_samples):
         else:
             ddc_output[k] = saturate(trunc + round_bit, 16)
     
+    print(f"  DDC output (16-bit): range [{ddc_output.min()}, {ddc_output.max()}]")
     
     return ddc_output
 
@@ -465,6 +478,7 @@ def run_range_fft(iq_i, iq_q, twiddle_file=None):
         # Generate twiddle factors if file not available
         cos_rom = np.round(32767 * np.cos(2 * np.pi * np.arange(N // 4) / N)).astype(np.int64)
     
+    print(f"[FFT] Running {N}-point range FFT (bit-accurate)")
     
     # Bit-reverse and sign-extend to 32-bit internal width
     def bit_reverse(val, bits):
@@ -502,6 +516,9 @@ def run_range_fft(iq_i, iq_q, twiddle_file=None):
             b_re = mem_re[addr_odd]
             b_im = mem_im[addr_odd]
             
+            # Twiddle multiply: forward FFT
+            #   prod_re = b_re * tw_cos + b_im * tw_sin
+            #   prod_im = b_im * tw_cos - b_re * tw_sin
             prod_re = b_re * tw_cos + b_im * tw_sin
             prod_im = b_im * tw_cos - b_re * tw_sin
             
@@ -524,6 +541,8 @@ def run_range_fft(iq_i, iq_q, twiddle_file=None):
         out_re[n] = saturate(mem_re[n], FFT_DATA_W)
         out_im[n] = saturate(mem_im[n], FFT_DATA_W)
     
+    print(f"  FFT output: re range [{out_re.min()}, {out_re.max()}], "
+          f"im range [{out_im.min()}, {out_im.max()}]")
     
     return out_re, out_im
 
@@ -558,6 +577,8 @@ def run_range_bin_decimator(range_fft_i, range_fft_q,
     decimated_i = np.zeros((n_chirps, output_bins), dtype=np.int64)
     decimated_q = np.zeros((n_chirps, output_bins), dtype=np.int64)
 
+    print(f"[DECIM] Decimating {n_in}→{output_bins} bins, mode={'peak' if mode==1 else 'avg' if mode==2 else 'simple'}, "
+          f"start_bin={start_bin}, {n_chirps} chirps")
 
     for c in range(n_chirps):
         # Index into input, skip start_bin
@@ -606,7 +627,7 @@ def run_range_bin_decimator(range_fft_i, range_fft_q,
                 # Averaging: sum group, then >> 4 (divide by 16)
                 sum_i = np.int64(0)
                 sum_q = np.int64(0)
-                for _ in range(decimation_factor):
+                for _s in range(decimation_factor):
                     if in_idx >= input_bins:
                         break
                     sum_i += int(range_fft_i[c, in_idx])
@@ -616,6 +637,9 @@ def run_range_bin_decimator(range_fft_i, range_fft_q,
                 decimated_i[c, obin] = int(sum_i) >> 4
                 decimated_q[c, obin] = int(sum_q) >> 4
 
+    print(f"  Decimated output: shape ({n_chirps}, {output_bins}), "
+          f"I range [{decimated_i.min()}, {decimated_i.max()}], "
+          f"Q range [{decimated_q.min()}, {decimated_q.max()}]")
 
     return decimated_i, decimated_q
 
@@ -641,6 +665,7 @@ def run_doppler_fft(range_data_i, range_data_q, twiddle_file_16=None):
     n_total = DOPPLER_TOTAL_BINS
     n_sf = CHIRPS_PER_SUBFRAME
 
+    print(f"[DOPPLER] Processing {n_range} range bins x {n_chirps} chirps → dual {n_fft}-point FFT")
 
     # Build 16-point Hamming window as signed 16-bit
     hamming = np.array([int(v) for v in HAMMING_Q15], dtype=np.int64)
@@ -650,9 +675,7 @@ def run_doppler_fft(range_data_i, range_data_q, twiddle_file_16=None):
     if twiddle_file_16 and os.path.exists(twiddle_file_16):
         cos_rom_16 = load_twiddle_rom(twiddle_file_16)
     else:
-        cos_rom_16 = np.round(
+        cos_rom_16 = np.round(32767 * np.cos(2 * np.pi * np.arange(n_fft // 4) / n_fft)).astype(np.int64)
-            32767 * np.cos(2 * np.pi * np.arange(n_fft // 4) / n_fft)
-        ).astype(np.int64)
 
     LOG2N_16 = 4
     doppler_map_i = np.zeros((n_range, n_total), dtype=np.int64)
@@ -724,6 +747,8 @@ def run_doppler_fft(range_data_i, range_data_q, twiddle_file_16=None):
                 doppler_map_i[rbin, bin_offset + n] = saturate(mem_re[n], 16)
                 doppler_map_q[rbin, bin_offset + n] = saturate(mem_im[n], 16)
 
+    print(f"  Doppler map: shape ({n_range}, {n_total}), "
+          f"I range [{doppler_map_i.min()}, {doppler_map_i.max()}]")
 
     return doppler_map_i, doppler_map_q
 
@@ -753,10 +778,12 @@ def run_mti_canceller(decim_i, decim_q, enable=True):
     mti_i = np.zeros_like(decim_i)
     mti_q = np.zeros_like(decim_q)
 
+    print(f"[MTI] 2-pulse canceller, enable={enable}, {n_chirps} chirps x {n_bins} bins")
 
     if not enable:
         mti_i[:] = decim_i
         mti_q[:] = decim_q
+        print("  Pass-through mode (MTI disabled)")
         return mti_i, mti_q
 
     for c in range(n_chirps):
@@ -772,6 +799,9 @@ def run_mti_canceller(decim_i, decim_q, enable=True):
                 mti_i[c, r] = saturate(diff_i, 16)
                 mti_q[c, r] = saturate(diff_q, 16)
 
+    print("  Chirp 0: muted (zeros)")
+    print(f"  Chirps 1-{n_chirps-1}: I range [{mti_i[1:].min()}, {mti_i[1:].max()}], "
+          f"Q range [{mti_q[1:].min()}, {mti_q[1:].max()}]")
     return mti_i, mti_q
 
 
@@ -798,12 +828,14 @@ def run_dc_notch(doppler_i, doppler_q, width=2):
       dc_notch_active = (width != 0) &&
                         (bin_within_sf < width || bin_within_sf > (15 - width + 1))
     """
-    _n_range, n_doppler = doppler_i.shape
+    n_range, n_doppler = doppler_i.shape
     notched_i = doppler_i.copy()
     notched_q = doppler_q.copy()
 
+    print(f"[DC NOTCH] width={width}, {n_range} range bins x {n_doppler} Doppler bins (dual sub-frame)")
 
     if width == 0:
+        print("  Pass-through (width=0)")
         return notched_i, notched_q
 
     zeroed_count = 0
@@ -815,6 +847,7 @@ def run_dc_notch(doppler_i, doppler_q, width=2):
             notched_q[:, dbin] = 0
             zeroed_count += 1
 
+    print(f"  Zeroed {zeroed_count} Doppler bin columns")
     return notched_i, notched_q
 
 
@@ -822,7 +855,7 @@ def run_dc_notch(doppler_i, doppler_q, width=2):
 # Stage 3e: CA-CFAR Detector (bit-accurate)
 # ===========================================================================
 def run_cfar_ca(doppler_i, doppler_q, guard=2, train=8,
-                alpha_q44=0x30, mode='CA', _simple_threshold=500):
+                alpha_q44=0x30, mode='CA', simple_threshold=500):
     """
     Bit-accurate model of cfar_ca.v — Cell-Averaging CFAR detector.
 
@@ -860,6 +893,9 @@ def run_cfar_ca(doppler_i, doppler_q, guard=2, train=8,
     if train == 0:
         train = 1
 
+    print(f"[CFAR] mode={mode}, guard={guard}, train={train}, "
+          f"alpha=0x{alpha_q44:02X} (Q4.4={alpha_q44/16:.2f}), "
+          f"{n_range} range x {n_doppler} Doppler")
 
     # Compute magnitudes: |I| + |Q| (17-bit unsigned, matching RTL L1 norm)
     # RTL: abs_i = I[15] ? (~I + 1) : I; abs_q = Q[15] ? (~Q + 1) : Q
@@ -927,6 +963,10 @@ def run_cfar_ca(doppler_i, doppler_q, guard=2, train=8,
             else:
                 noise_sum = leading_sum + lagging_sum  # Default to CA
 
+            # Threshold = (alpha * noise_sum) >> ALPHA_FRAC_BITS
+            # RTL: noise_product = r_alpha * noise_sum_reg (31-bit)
+            #      threshold = noise_product[ALPHA_FRAC_BITS +: MAG_WIDTH]
+            #      saturate if overflow
             noise_product = alpha_q44 * noise_sum
             threshold_raw = noise_product >> ALPHA_FRAC_BITS
 
@@ -934,12 +974,15 @@ def run_cfar_ca(doppler_i, doppler_q, guard=2, train=8,
             MAX_MAG = (1 << 17) - 1  # 131071
             threshold_val = MAX_MAG if threshold_raw > MAX_MAG else int(threshold_raw)
 
+            # Detection: magnitude > threshold
             if int(col[cut_idx]) > threshold_val:
                 detect_flags[cut_idx, dbin] = True
                 total_detections += 1
 
             thresholds[cut_idx, dbin] = threshold_val
 
+    print(f"  Total detections: {total_detections}")
+    print(f"  Magnitude range: [{magnitudes.min()}, {magnitudes.max()}]")
 
     return detect_flags, magnitudes, thresholds
 
@@ -953,16 +996,19 @@ def run_detection(doppler_i, doppler_q, threshold=10000):
     cfar_mag = |I| + |Q| (17-bit)
     detection if cfar_mag > threshold
     """
+    print(f"[DETECT] Running magnitude threshold detection (threshold={threshold})")
     
     mag = np.abs(doppler_i) + np.abs(doppler_q)  # L1 norm (|I| + |Q|)
     detections = np.argwhere(mag > threshold)
     
+    print(f"  {len(detections)} detections found")
     for d in detections[:20]:  # Print first 20
         rbin, dbin = d
-        mag[rbin, dbin]
+        m = mag[rbin, dbin]
+        print(f"    Range bin {rbin}, Doppler bin {dbin}: magnitude {m}")
     
     if len(detections) > 20:
-        pass
+        print(f"    ... and {len(detections) - 20} more")
     
     return mag, detections
 
@@ -976,6 +1022,7 @@ def run_float_reference(iq_i, iq_q):
     Uses the exact same RTL Hamming window coefficients (Q15) to isolate
     only the FFT fixed-point quantization error.
     """
+    print("\n[FLOAT REF] Running floating-point reference pipeline")
     
     n_chirps, n_samples = iq_i.shape[0], iq_i.shape[1] if iq_i.ndim == 2 else len(iq_i)
     
@@ -1023,6 +1070,8 @@ def write_hex_files(output_dir, iq_i, iq_q, prefix="stim"):
                 fi.write(signed_to_hex(int(iq_i[n]), 16) + '\n')
                 fq.write(signed_to_hex(int(iq_q[n]), 16) + '\n')
         
+        print(f"  Wrote {fn_i} ({n_samples} samples)")
+        print(f"  Wrote {fn_q} ({n_samples} samples)")
     
     elif iq_i.ndim == 2:
         n_rows, n_cols = iq_i.shape
@@ -1036,6 +1085,8 @@ def write_hex_files(output_dir, iq_i, iq_q, prefix="stim"):
                     fi.write(signed_to_hex(int(iq_i[r, c]), 16) + '\n')
                     fq.write(signed_to_hex(int(iq_q[r, c]), 16) + '\n')
         
+        print(f"  Wrote {fn_i} ({n_rows}x{n_cols} = {n_rows * n_cols} samples)")
+        print(f"  Wrote {fn_q} ({n_rows}x{n_cols} = {n_rows * n_cols} samples)")
 
 
 def write_adc_hex(output_dir, adc_data, prefix="adc_stim"):
@@ -1047,12 +1098,13 @@ def write_adc_hex(output_dir, adc_data, prefix="adc_stim"):
         for n in range(len(adc_data)):
             f.write(format(int(adc_data[n]) & 0xFF, '02X') + '\n')
     
+    print(f"  Wrote {fn} ({len(adc_data)} samples)")
 
 
 # ===========================================================================
 # Comparison metrics
 # ===========================================================================
-def compare_outputs(_name, fixed_i, fixed_q, float_i, float_q):
+def compare_outputs(name, fixed_i, fixed_q, float_i, float_q):
     """Compare fixed-point outputs against floating-point reference.
     
     Reports two metrics:
@@ -1068,7 +1120,7 @@ def compare_outputs(_name, fixed_i, fixed_q, float_i, float_q):
     
     # Count saturated bins
     sat_mask = (np.abs(fi) >= 32767) | (np.abs(fq) >= 32767)
-    np.sum(sat_mask)
+    n_saturated = np.sum(sat_mask)
     
     # Complex error — overall
     fixed_complex = fi + 1j * fq
@@ -1077,8 +1129,8 @@ def compare_outputs(_name, fixed_i, fixed_q, float_i, float_q):
     
     signal_power = np.mean(np.abs(ref_complex) ** 2) + 1e-30
     noise_power = np.mean(np.abs(error) ** 2) + 1e-30
-    10 * np.log10(signal_power / noise_power)
+    snr_db = 10 * np.log10(signal_power / noise_power)
-    np.max(np.abs(error))
+    max_error = np.max(np.abs(error))
     
     # Non-saturated comparison
     non_sat = ~sat_mask
@@ -1087,10 +1139,17 @@ def compare_outputs(_name, fixed_i, fixed_q, float_i, float_q):
         sig_ns = np.mean(np.abs(ref_complex[non_sat]) ** 2) + 1e-30
         noise_ns = np.mean(np.abs(error_ns) ** 2) + 1e-30
         snr_ns = 10 * np.log10(sig_ns / noise_ns)
-        np.max(np.abs(error_ns))
+        max_err_ns = np.max(np.abs(error_ns))
     else:
         snr_ns = 0.0
+        max_err_ns = 0.0
     
+    print(f"\n  [{name}] Comparison ({n} points):")
+    print(f"    Saturated:           {n_saturated}/{n} ({100.0*n_saturated/n:.2f}%)")
+    print(f"    Overall SNR:         {snr_db:.1f} dB")
+    print(f"    Overall max error:   {max_error:.1f}")
+    print(f"    Non-sat SNR:         {snr_ns:.1f} dB")
+    print(f"    Non-sat max error:   {max_err_ns:.1f}")
     
     return snr_ns  # Return the meaningful metric
 
@@ -1102,12 +1161,7 @@ def main():
     parser = argparse.ArgumentParser(description="AERIS-10 FPGA golden reference model")
     parser.add_argument('--frame', type=int, default=0, help='Frame index to process')
     parser.add_argument('--plot', action='store_true', help='Show plots')
-    parser.add_argument(
+    parser.add_argument('--threshold', type=int, default=10000, help='Detection threshold (L1 magnitude)')
-        '--threshold',
-        type=int,
-        default=10000,
-        help='Detection threshold (L1 magnitude)'
-    )
     args = parser.parse_args()
     
     # Paths
@@ -1115,14 +1169,14 @@ def main():
     fpga_dir = os.path.abspath(os.path.join(script_dir, '..', '..', '..'))
     data_base = os.path.expanduser("~/Downloads/adi_radar_data")
     amp_data = os.path.join(data_base, "amp_radar", "phaser_amp_4MSPS_500M_300u_256_m3dB.npy")
-    amp_config = os.path.join(
+    amp_config = os.path.join(data_base, "amp_radar", "phaser_amp_4MSPS_500M_300u_256_m3dB_config.npy")
-        data_base,
-        "amp_radar",
-        "phaser_amp_4MSPS_500M_300u_256_m3dB_config.npy"
-    )
     twiddle_1024 = os.path.join(fpga_dir, "fft_twiddle_1024.mem")
     output_dir = os.path.join(script_dir, "hex")
     
+    print("=" * 72)
+    print("AERIS-10 FPGA Golden Reference Model")
+    print("Using ADI CN0566 Phaser Radar Data (10.525 GHz X-band FMCW)")
+    print("=" * 72)
     
     # -----------------------------------------------------------------------
     # Load and quantize ADI data
@@ -1132,10 +1186,16 @@ def main():
     )
     
     # iq_i, iq_q: (32, 1024) int64, 16-bit range — post-DDC equivalent
+    print(f"\n{'=' * 72}")
+    print("Stage 0: Data loaded and quantized to 16-bit signed")
+    print(f"  IQ block shape: ({iq_i.shape[0]}, {iq_i.shape[1]})")
+    print(f"  ADC stimulus: {len(adc_8bit)} samples (8-bit unsigned)")
     
     # -----------------------------------------------------------------------
     # Write stimulus files
     # -----------------------------------------------------------------------
+    print(f"\n{'=' * 72}")
+    print("Writing hex stimulus files for RTL testbenches")
     
     # Post-DDC IQ for each chirp (for FFT + Doppler validation)
     write_hex_files(output_dir, iq_i, iq_q, "post_ddc")
@@ -1149,6 +1209,8 @@ def main():
     # -----------------------------------------------------------------------
     # Run range FFT on first chirp (bit-accurate)
     # -----------------------------------------------------------------------
+    print(f"\n{'=' * 72}")
+    print("Stage 2: Range FFT (1024-point, bit-accurate)")
     range_fft_i, range_fft_q = run_range_fft(iq_i[0], iq_q[0], twiddle_1024)
     write_hex_files(output_dir, range_fft_i, range_fft_q, "range_fft_chirp0")
     
@@ -1156,16 +1218,20 @@ def main():
     all_range_i = np.zeros((DOPPLER_CHIRPS, FFT_SIZE), dtype=np.int64)
     all_range_q = np.zeros((DOPPLER_CHIRPS, FFT_SIZE), dtype=np.int64)
     
+    print(f"\n  Running range FFT for all {DOPPLER_CHIRPS} chirps...")
     for c in range(DOPPLER_CHIRPS):
         ri, rq = run_range_fft(iq_i[c], iq_q[c], twiddle_1024)
         all_range_i[c] = ri
         all_range_q[c] = rq
         if (c + 1) % 8 == 0:
-            pass
+            print(f"    Chirp {c + 1}/{DOPPLER_CHIRPS} done")
     
     # -----------------------------------------------------------------------
     # Run Doppler FFT (bit-accurate) — "direct" path (first 64 bins)
     # -----------------------------------------------------------------------
+    print(f"\n{'=' * 72}")
+    print("Stage 3: Doppler FFT (dual 16-point with Hamming window)")
+    print("  [direct path: first 64 range bins, no decimation]")
     twiddle_16 = os.path.join(fpga_dir, "fft_twiddle_16.mem")
     doppler_i, doppler_q = run_doppler_fft(all_range_i, all_range_q, twiddle_file_16=twiddle_16)
     write_hex_files(output_dir, doppler_i, doppler_q, "doppler_map")
@@ -1175,6 +1241,8 @@ def main():
     # This models the actual RTL data flow:
     #   range FFT → range_bin_decimator (peak detection) → Doppler
     # -----------------------------------------------------------------------
+    print(f"\n{'=' * 72}")
+    print("Stage 2b: Range Bin Decimator (1024 → 64, peak detection)")
     
     decim_i, decim_q = run_range_bin_decimator(
         all_range_i, all_range_q,
@@ -1194,11 +1262,14 @@ def main():
                 q_val = int(all_range_q[c, b]) & 0xFFFF
                 packed = (q_val << 16) | i_val
                 f.write(f"{packed:08X}\n")
+    print(f"  Wrote {fc_input_file} ({DOPPLER_CHIRPS * FFT_SIZE} packed IQ words)")
     
     # Write decimated output reference for standalone decimator test
     write_hex_files(output_dir, decim_i, decim_q, "decimated_range")
     
     # Now run Doppler on the decimated data — this is the full-chain reference
+    print(f"\n{'=' * 72}")
+    print("Stage 3b: Doppler FFT on decimated data (full-chain path)")
     fc_doppler_i, fc_doppler_q = run_doppler_fft(
         decim_i, decim_q, twiddle_file_16=twiddle_16
     )
@@ -1213,6 +1284,7 @@ def main():
                 q_val = int(fc_doppler_q[rbin, dbin]) & 0xFFFF
                 packed = (q_val << 16) | i_val
                 f.write(f"{packed:08X}\n")
+    print(f"  Wrote {fc_doppler_packed_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} packed IQ words)")
     
     # Save numpy arrays for the full-chain path
     np.save(os.path.join(output_dir, "decimated_range_i.npy"), decim_i)
@@ -1225,12 +1297,16 @@ def main():
     # This models the complete RTL data flow:
     #   range FFT → decimator → MTI canceller → Doppler → DC notch → CFAR
     # -----------------------------------------------------------------------
+    print(f"\n{'=' * 72}")
+    print("Stage 3c: MTI Canceller (2-pulse, on decimated data)")
     mti_i, mti_q = run_mti_canceller(decim_i, decim_q, enable=True)
     write_hex_files(output_dir, mti_i, mti_q, "fullchain_mti_ref")
     np.save(os.path.join(output_dir, "fullchain_mti_i.npy"), mti_i)
     np.save(os.path.join(output_dir, "fullchain_mti_q.npy"), mti_q)
     
     # Doppler on MTI-filtered data
+    print(f"\n{'=' * 72}")
+    print("Stage 3b+c: Doppler FFT on MTI-filtered decimated data")
     mti_doppler_i, mti_doppler_q = run_doppler_fft(
         mti_i, mti_q, twiddle_file_16=twiddle_16
     )
@@ -1240,6 +1316,8 @@ def main():
     
     # DC notch on MTI-Doppler data
     DC_NOTCH_WIDTH = 2  # Default test value: zero bins {0, 1, 31}
+    print(f"\n{'=' * 72}")
+    print(f"Stage 3d: DC Notch Filter (width={DC_NOTCH_WIDTH})")
     notched_i, notched_q = run_dc_notch(mti_doppler_i, mti_doppler_q, width=DC_NOTCH_WIDTH)
     write_hex_files(output_dir, notched_i, notched_q, "fullchain_notched_ref")
     
@@ -1252,12 +1330,15 @@ def main():
                 q_val = int(notched_q[rbin, dbin]) & 0xFFFF
                 packed = (q_val << 16) | i_val
                 f.write(f"{packed:08X}\n")
+    print(f"  Wrote {fc_notched_packed_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} packed IQ words)")
     
     # CFAR on DC-notched data
     CFAR_GUARD = 2
     CFAR_TRAIN = 8
     CFAR_ALPHA = 0x30  # Q4.4 = 3.0
     CFAR_MODE = 'CA'
+    print(f"\n{'=' * 72}")
+    print(f"Stage 3e: CA-CFAR (guard={CFAR_GUARD}, train={CFAR_TRAIN}, alpha=0x{CFAR_ALPHA:02X})")
     cfar_flags, cfar_mag, cfar_thr = run_cfar_ca(
         notched_i, notched_q,
         guard=CFAR_GUARD, train=CFAR_TRAIN,
@@ -1272,6 +1353,7 @@ def main():
             for dbin in range(DOPPLER_TOTAL_BINS):
                 m = int(cfar_mag[rbin, dbin]) & 0x1FFFF
                 f.write(f"{m:05X}\n")
+    print(f"  Wrote {cfar_mag_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} mag values)")
     
     # 2. Threshold map (17-bit unsigned)
     cfar_thr_file = os.path.join(output_dir, "fullchain_cfar_thr.hex")
@@ -1280,6 +1362,7 @@ def main():
             for dbin in range(DOPPLER_TOTAL_BINS):
                 t = int(cfar_thr[rbin, dbin]) & 0x1FFFF
                 f.write(f"{t:05X}\n")
+    print(f"  Wrote {cfar_thr_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} threshold values)")
     
     # 3. Detection flags (1-bit per cell)
     cfar_det_file = os.path.join(output_dir, "fullchain_cfar_det.hex")
@@ -1288,6 +1371,7 @@ def main():
             for dbin in range(DOPPLER_TOTAL_BINS):
                 d = 1 if cfar_flags[rbin, dbin] else 0
                 f.write(f"{d:01X}\n")
+    print(f"  Wrote {cfar_det_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} detection flags)")
     
     # 4. Detection list (text)
     cfar_detections = np.argwhere(cfar_flags)
@@ -1295,14 +1379,12 @@ def main():
     with open(cfar_det_list_file, 'w') as f:
         f.write("# AERIS-10 Full-Chain CFAR Detection List\n")
         f.write(f"# Chain: decim -> MTI -> Doppler -> DC notch(w={DC_NOTCH_WIDTH}) -> CA-CFAR\n")
-        f.write(
+        f.write(f"# CFAR: guard={CFAR_GUARD}, train={CFAR_TRAIN}, alpha=0x{CFAR_ALPHA:02X}, mode={CFAR_MODE}\n")
-            f"# CFAR: guard={CFAR_GUARD}, train={CFAR_TRAIN}, "
-            f"alpha=0x{CFAR_ALPHA:02X}, mode={CFAR_MODE}\n"
-        )
         f.write("# Format: range_bin doppler_bin magnitude threshold\n")
         for det in cfar_detections:
             r, d = det
             f.write(f"{r} {d} {cfar_mag[r, d]} {cfar_thr[r, d]}\n")
+    print(f"  Wrote {cfar_det_list_file} ({len(cfar_detections)} detections)")
     
     # Save numpy arrays
     np.save(os.path.join(output_dir, "fullchain_cfar_mag.npy"), cfar_mag)
@@ -1310,6 +1392,8 @@ def main():
     np.save(os.path.join(output_dir, "fullchain_cfar_flags.npy"), cfar_flags)
     
     # Run detection on full-chain Doppler map
+    print(f"\n{'=' * 72}")
+    print("Stage 4: Detection on full-chain Doppler map")
     fc_mag, fc_detections = run_detection(fc_doppler_i, fc_doppler_q, threshold=args.threshold)
     
     # Save full-chain detection reference
@@ -1321,6 +1405,7 @@ def main():
         for d in fc_detections:
             rbin, dbin = d
             f.write(f"{rbin} {dbin} {fc_mag[rbin, dbin]}\n")
+    print(f"  Wrote {fc_det_file} ({len(fc_detections)} detections)")
     
     # Also write detection reference as hex for RTL comparison
     fc_det_mag_file = os.path.join(output_dir, "fullchain_detection_mag.hex")
@@ -1329,10 +1414,13 @@ def main():
             for dbin in range(DOPPLER_TOTAL_BINS):
                 m = int(fc_mag[rbin, dbin]) & 0x1FFFF  # 17-bit unsigned
                 f.write(f"{m:05X}\n")
+    print(f"  Wrote {fc_det_mag_file} ({DOPPLER_RANGE_BINS * DOPPLER_TOTAL_BINS} magnitude values)")
     
     # -----------------------------------------------------------------------
     # Run detection on direct-path Doppler map (for backward compatibility)
     # -----------------------------------------------------------------------
+    print(f"\n{'=' * 72}")
+    print("Stage 4b: Detection on direct-path Doppler map")
     mag, detections = run_detection(doppler_i, doppler_q, threshold=args.threshold)
     
     # Save detection list
@@ -1344,23 +1432,26 @@ def main():
         for d in detections:
             rbin, dbin = d
             f.write(f"{rbin} {dbin} {mag[rbin, dbin]}\n")
+    print(f"  Wrote {det_file} ({len(detections)} detections)")
     
     # -----------------------------------------------------------------------
     # Float reference and comparison
     # -----------------------------------------------------------------------
+    print(f"\n{'=' * 72}")
+    print("Comparison: Fixed-point vs Float reference")
     
     range_fft_float, doppler_float = run_float_reference(iq_i, iq_q)
     
     # Compare range FFT (chirp 0)
     float_range_i = np.real(range_fft_float[0, :]).astype(np.float64)
     float_range_q = np.imag(range_fft_float[0, :]).astype(np.float64)
-    compare_outputs("Range FFT", range_fft_i, range_fft_q,
+    snr_range = compare_outputs("Range FFT", range_fft_i, range_fft_q,
                                 float_range_i, float_range_q)
     
     # Compare Doppler map
     float_doppler_i = np.real(doppler_float).flatten().astype(np.float64)
     float_doppler_q = np.imag(doppler_float).flatten().astype(np.float64)
-    compare_outputs("Doppler FFT", 
+    snr_doppler = compare_outputs("Doppler FFT", 
                                    doppler_i.flatten(), doppler_q.flatten(),
                                    float_doppler_i, float_doppler_q)
     
@@ -1372,10 +1463,26 @@ def main():
     np.save(os.path.join(output_dir, "doppler_map_i.npy"), doppler_i)
     np.save(os.path.join(output_dir, "doppler_map_q.npy"), doppler_q)
     np.save(os.path.join(output_dir, "detection_mag.npy"), mag)
+    print(f"\n  Saved numpy reference files to {output_dir}/")
     
     # -----------------------------------------------------------------------
     # Summary
     # -----------------------------------------------------------------------
+    print(f"\n{'=' * 72}")
+    print("SUMMARY")
+    print(f"{'=' * 72}")
+    print(f"  ADI dataset: frame {args.frame} of amp_radar (CN0566, 10.525 GHz)")
+    print(f"  Chirps processed: {DOPPLER_CHIRPS}")
+    print(f"  Samples/chirp: {FFT_SIZE}")
+    print(f"  Range FFT: {FFT_SIZE}-point → {snr_range:.1f} dB vs float")
+    print(f"  Doppler FFT (direct): {DOPPLER_FFT_SIZE}-point Hamming → {snr_doppler:.1f} dB vs float")
+    print(f"  Detections (direct): {len(detections)} (threshold={args.threshold})")
+    print("  Full-chain decimator: 1024→64 peak detection")
+    print(f"  Full-chain detections: {len(fc_detections)} (threshold={args.threshold})")
+    print(f"  MTI+CFAR chain: decim → MTI → Doppler → DC notch(w={DC_NOTCH_WIDTH}) → CA-CFAR")
+    print(f"  CFAR detections: {len(cfar_detections)} (guard={CFAR_GUARD}, train={CFAR_TRAIN}, alpha=0x{CFAR_ALPHA:02X})")
+    print(f"  Hex stimulus files: {output_dir}/")
+    print("  Ready for RTL co-simulation with Icarus Verilog")
     
     # -----------------------------------------------------------------------
     # Optional plots
@@ -1426,10 +1533,11 @@ def main():
             plt.tight_layout()
             plot_file = os.path.join(output_dir, "golden_reference_plots.png")
             plt.savefig(plot_file, dpi=150)
+            print(f"\n  Saved plots to {plot_file}")
             plt.show()
             
         except ImportError:
-            pass
+            print("\n  [WARN] matplotlib not available, skipping plots")
 
 
 if __name__ == "__main__":

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

@@ -1,569 +0,0 @@
-#!/usr/bin/env python3
-"""
-validate_mem_files.py — Validate all .mem files against AERIS-10 radar parameters.
-
-Checks:
-  1. Structural: line counts, hex format, value ranges for all 12 .mem files
-  2. FFT twiddle files: bit-exact match against cos(2*pi*k/N) in Q15
-  3. Long chirp .mem files: reverse-engineer parameters, check for chirp structure
-  4. Short chirp .mem files: check length, value range, spectral content
-   5. latency_buffer LATENCY=3187 parameter validation
-
-Usage:
-    python3 validate_mem_files.py
-"""
-
-import math
-import os
-import sys
-
-# ============================================================================
-# AERIS-10 System Parameters (from radar_scene.py)
-# ============================================================================
-F_CARRIER = 10.5e9        # 10.5 GHz carrier
-C_LIGHT = 3.0e8
-F_IF = 120e6              # IF frequency
-CHIRP_BW = 20e6           # 20 MHz sweep
-FS_ADC = 400e6            # ADC sample rate
-FS_SYS = 100e6            # System clock (100 MHz, after CIC 4x)
-T_LONG_CHIRP = 30e-6      # 30 us long chirp
-T_SHORT_CHIRP = 0.5e-6    # 0.5 us short chirp
-CIC_DECIMATION = 4
-FFT_SIZE = 1024
-DOPPLER_FFT_SIZE = 16
-LONG_CHIRP_SAMPLES = int(T_LONG_CHIRP * FS_SYS)  # 3000 at 100 MHz
-
-# Overlap-save parameters
-OVERLAP_SAMPLES = 128
-SEGMENT_ADVANCE = FFT_SIZE - OVERLAP_SAMPLES  # 896
-LONG_SEGMENTS = 4
-
-MEM_DIR = os.path.join(os.path.dirname(__file__), '..', '..')
-
-pass_count = 0
-fail_count = 0
-warn_count = 0
-
-def check(condition, _label):
-    global pass_count, fail_count
-    if condition:
-        pass_count += 1
-    else:
-        fail_count += 1
-
-def warn(_label):
-    global warn_count
-    warn_count += 1
-
-def read_mem_hex(filename):
-    """Read a .mem file, return list of integer values (16-bit signed)."""
-    path = os.path.join(MEM_DIR, filename)
-    values = []
-    with open(path) as f:
-        for line in f:
-            line = line.strip()
-            if not line or line.startswith('//'):
-                continue
-            val = int(line, 16)
-            # Interpret as 16-bit signed
-            if val >= 0x8000:
-                val -= 0x10000
-            values.append(val)
-    return values
-
-
-# ============================================================================
-# TEST 1: Structural validation of all .mem files
-# ============================================================================
-def test_structural():
-
-    expected = {
-        # FFT twiddle files (quarter-wave cosine ROMs)
-        'fft_twiddle_1024.mem': {'lines': 256, 'desc': '1024-pt FFT quarter-wave cos ROM'},
-        'fft_twiddle_16.mem':   {'lines': 4,   'desc': '16-pt FFT quarter-wave cos ROM'},
-        # Long chirp segments (4 segments x 1024 samples each)
-        'long_chirp_seg0_i.mem': {'lines': 1024, 'desc': 'Long chirp seg 0 I'},
-        'long_chirp_seg0_q.mem': {'lines': 1024, 'desc': 'Long chirp seg 0 Q'},
-        'long_chirp_seg1_i.mem': {'lines': 1024, 'desc': 'Long chirp seg 1 I'},
-        'long_chirp_seg1_q.mem': {'lines': 1024, 'desc': 'Long chirp seg 1 Q'},
-        'long_chirp_seg2_i.mem': {'lines': 1024, 'desc': 'Long chirp seg 2 I'},
-        'long_chirp_seg2_q.mem': {'lines': 1024, 'desc': 'Long chirp seg 2 Q'},
-        'long_chirp_seg3_i.mem': {'lines': 1024, 'desc': 'Long chirp seg 3 I'},
-        'long_chirp_seg3_q.mem': {'lines': 1024, 'desc': 'Long chirp seg 3 Q'},
-        # Short chirp (50 samples)
-        'short_chirp_i.mem': {'lines': 50, 'desc': 'Short chirp I'},
-        'short_chirp_q.mem': {'lines': 50, 'desc': 'Short chirp Q'},
-    }
-
-    for fname, info in expected.items():
-        path = os.path.join(MEM_DIR, fname)
-        exists = os.path.isfile(path)
-        check(exists, f"{fname} exists")
-        if not exists:
-            continue
-
-        vals = read_mem_hex(fname)
-        check(len(vals) == info['lines'],
-              f"{fname}: {len(vals)} data lines (expected {info['lines']})")
-
-        # Check all values are in 16-bit signed range
-        in_range = all(-32768 <= v <= 32767 for v in vals)
-        check(in_range, f"{fname}: all values in [-32768, 32767]")
-
-
-# ============================================================================
-# TEST 2: FFT Twiddle Factor Validation
-# ============================================================================
-def test_twiddle_1024():
-    vals = read_mem_hex('fft_twiddle_1024.mem')
-
-    max_err = 0
-    err_details = []
-    for k in range(min(256, len(vals))):
-        angle = 2.0 * math.pi * k / 1024.0
-        expected = round(math.cos(angle) * 32767.0)
-        expected = max(-32768, min(32767, expected))
-        actual = vals[k]
-        err = abs(actual - expected)
-        if err > max_err:
-            max_err = err
-        if err > 1:
-            err_details.append((k, actual, expected, err))
-
-    check(max_err <= 1,
-          f"fft_twiddle_1024.mem: max twiddle error = {max_err} LSB (tolerance: 1)")
-    if err_details:
-        for _, _act, _exp, _e in err_details[:5]:
-            pass
-
-
-def test_twiddle_16():
-    vals = read_mem_hex('fft_twiddle_16.mem')
-
-    max_err = 0
-    for k in range(min(4, len(vals))):
-        angle = 2.0 * math.pi * k / 16.0
-        expected = round(math.cos(angle) * 32767.0)
-        expected = max(-32768, min(32767, expected))
-        actual = vals[k]
-        err = abs(actual - expected)
-        if err > max_err:
-            max_err = err
-
-    check(max_err <= 1,
-          f"fft_twiddle_16.mem: max twiddle error = {max_err} LSB (tolerance: 1)")
-
-    # Print all 4 entries for reference
-    for k in range(min(4, len(vals))):
-        angle = 2.0 * math.pi * k / 16.0
-        expected = round(math.cos(angle) * 32767.0)
-
-
-# ============================================================================
-# TEST 3: Long Chirp .mem File Analysis
-# ============================================================================
-def test_long_chirp():
-
-    # Load all 4 segments
-    all_i = []
-    all_q = []
-    for seg in range(4):
-        seg_i = read_mem_hex(f'long_chirp_seg{seg}_i.mem')
-        seg_q = read_mem_hex(f'long_chirp_seg{seg}_q.mem')
-        all_i.extend(seg_i)
-        all_q.extend(seg_q)
-
-    total_samples = len(all_i)
-    check(total_samples == 4096,
-          f"Total long chirp samples: {total_samples} (expected 4096 = 4 segs x 1024)")
-
-    # Compute magnitude envelope
-    magnitudes = [math.sqrt(i*i + q*q) for i, q in zip(all_i, all_q, strict=False)]
-    max_mag = max(magnitudes)
-    min(magnitudes)
-    sum(magnitudes) / len(magnitudes)
-
-
-    # Check if this looks like it came from generate_reference_chirp_q15
-    # That function uses 32767 * 0.9 scaling => max magnitude ~29490
-    expected_max_from_model = 32767 * 0.9
-    uses_model_scaling = max_mag > expected_max_from_model * 0.8
-    if uses_model_scaling:
-        pass
-    else:
-        warn(f"Magnitude ({max_mag:.0f}) is much lower than expected from Python model "
-             f"({expected_max_from_model:.0f}). .mem files may have unknown provenance.")
-
-    # Check non-zero content: how many samples are non-zero?
-    sum(1 for v in all_i if v != 0)
-    sum(1 for v in all_q if v != 0)
-
-    # Analyze instantaneous frequency via phase differences
-    phases = []
-    for i_val, q_val in zip(all_i, all_q, strict=False):
-        if abs(i_val) > 5 or abs(q_val) > 5:  # Skip near-zero samples
-            phases.append(math.atan2(q_val, i_val))
-        else:
-            phases.append(None)
-
-    # Compute phase differences (instantaneous frequency)
-    freq_estimates = []
-    for n in range(1, len(phases)):
-        if phases[n] is not None and phases[n-1] is not None:
-            dp = phases[n] - phases[n-1]
-            # Unwrap
-            while dp > math.pi:
-                dp -= 2 * math.pi
-            while dp < -math.pi:
-                dp += 2 * math.pi
-            # Frequency in Hz (at 100 MHz sample rate, since these are post-DDC)
-            f_inst = dp * FS_SYS / (2 * math.pi)
-            freq_estimates.append(f_inst)
-
-    if freq_estimates:
-        sum(freq_estimates[:50]) / 50 if len(freq_estimates) > 50 else freq_estimates[0]
-        sum(freq_estimates[-50:]) / 50 if len(freq_estimates) > 50 else freq_estimates[-1]
-        f_min = min(freq_estimates)
-        f_max = max(freq_estimates)
-        f_range = f_max - f_min
-
-
-        # A chirp should show frequency sweep
-        is_chirp = f_range > 0.5e6  # At least 0.5 MHz sweep
-        check(is_chirp,
-              f"Long chirp shows frequency sweep ({f_range/1e6:.2f} MHz > 0.5 MHz)")
-
-        # Check if bandwidth roughly matches expected
-        bw_match = abs(f_range - CHIRP_BW) / CHIRP_BW < 0.5  # within 50%
-        if bw_match:
-            pass
-        else:
-            warn(f"Bandwidth {f_range/1e6:.2f} MHz does NOT match expected {CHIRP_BW/1e6:.2f} MHz")
-
-    # Compare segment boundaries for overlap-save consistency
-    # In proper overlap-save, the chirp data should be segmented at 896-sample boundaries
-    # with segments being 1024-sample FFT blocks
-    for seg in range(4):
-        seg_i = read_mem_hex(f'long_chirp_seg{seg}_i.mem')
-        seg_q = read_mem_hex(f'long_chirp_seg{seg}_q.mem')
-        seg_mags = [math.sqrt(i*i + q*q) for i, q in zip(seg_i, seg_q, strict=False)]
-        sum(seg_mags) / len(seg_mags)
-        max(seg_mags)
-
-        # Check segment 3 zero-padding (chirp is 3000 samples, seg3 starts at 3072)
-        # Samples 3000-4095 should be zero (or near-zero) if chirp is exactly 3000 samples
-        if seg == 3:
-            # Seg3 covers chirp samples 3072..4095
-            # If chirp is only 3000 samples, then only samples 0..(3000-3072) = NONE are valid
-            # Actually chirp has 3000 samples total. Seg3 starts at index 3*1024=3072.
-            # So seg3 should only have 3000-3072 = -72 -> no valid chirp data!
-            # Wait, but the .mem files have 1024 lines with non-trivial data...
-            # Let's check if seg3 has significant data
-            zero_count = sum(1 for m in seg_mags if m < 2)
-            if zero_count > 500:
-                pass
-            else:
-                pass
-        else:
-            pass
-
-
-# ============================================================================
-# TEST 4: Short Chirp .mem File Analysis
-# ============================================================================
-def test_short_chirp():
-
-    short_i = read_mem_hex('short_chirp_i.mem')
-    short_q = read_mem_hex('short_chirp_q.mem')
-
-    check(len(short_i) == 50, f"Short chirp I: {len(short_i)} samples (expected 50)")
-    check(len(short_q) == 50, f"Short chirp Q: {len(short_q)} samples (expected 50)")
-
-    # Expected: 0.5 us chirp at 100 MHz = 50 samples
-    expected_samples = int(T_SHORT_CHIRP * FS_SYS)
-    check(len(short_i) == expected_samples,
-          f"Short chirp length matches T_SHORT_CHIRP * FS_SYS = {expected_samples}")
-
-    magnitudes = [math.sqrt(i*i + q*q) for i, q in zip(short_i, short_q, strict=False)]
-    max(magnitudes)
-    sum(magnitudes) / len(magnitudes)
-
-
-    # Check non-zero
-    nonzero = sum(1 for m in magnitudes if m > 1)
-    check(nonzero == len(short_i), f"All {nonzero}/{len(short_i)} samples non-zero")
-
-    # Check it looks like a chirp (phase should be quadratic)
-    phases = [math.atan2(q, i) for i, q in zip(short_i, short_q, strict=False)]
-    freq_est = []
-    for n in range(1, len(phases)):
-        dp = phases[n] - phases[n-1]
-        while dp > math.pi:
-            dp -= 2 * math.pi
-        while dp < -math.pi:
-            dp += 2 * math.pi
-        freq_est.append(dp * FS_SYS / (2 * math.pi))
-
-    if freq_est:
-        freq_est[0]
-        freq_est[-1]
-
-
-# ============================================================================
-# TEST 5: Generate Expected Chirp .mem and Compare
-# ============================================================================
-def test_chirp_vs_model():
-
-    # Generate reference using the same method as radar_scene.py
-    chirp_rate = CHIRP_BW / T_LONG_CHIRP  # Hz/s
-
-    model_i = []
-    model_q = []
-    n_chirp = min(FFT_SIZE, LONG_CHIRP_SAMPLES)  # 1024
-
-    for n in range(n_chirp):
-        t = n / FS_SYS
-        phase = math.pi * chirp_rate * t * t
-        re_val = round(32767 * 0.9 * math.cos(phase))
-        im_val = round(32767 * 0.9 * math.sin(phase))
-        model_i.append(max(-32768, min(32767, re_val)))
-        model_q.append(max(-32768, min(32767, im_val)))
-
-    # Read seg0 from .mem
-    mem_i = read_mem_hex('long_chirp_seg0_i.mem')
-    mem_q = read_mem_hex('long_chirp_seg0_q.mem')
-
-    # Compare magnitudes
-    model_mags = [math.sqrt(i*i + q*q) for i, q in zip(model_i, model_q, strict=False)]
-    mem_mags = [math.sqrt(i*i + q*q) for i, q in zip(mem_i, mem_q, strict=False)]
-
-    model_max = max(model_mags)
-    mem_max = max(mem_mags)
-
-
-    # Check if they match (they almost certainly won't based on magnitude analysis)
-    matches = sum(1 for a, b in zip(model_i, mem_i, strict=False) if a == b)
-
-    if matches > len(model_i) * 0.9:
-        pass
-    else:
-        warn(".mem files do NOT match Python model. They likely have different provenance.")
-        # Try to detect scaling
-        if mem_max > 0:
-            model_max / mem_max
-
-    # Check phase correlation (shape match regardless of scaling)
-    model_phases = [math.atan2(q, i) for i, q in zip(model_i, model_q, strict=False)]
-    mem_phases = [math.atan2(q, i) for i, q in zip(mem_i, mem_q, strict=False)]
-
-    # Compute phase differences
-    phase_diffs = []
-    for mp, fp in zip(model_phases, mem_phases, strict=False):
-        d = mp - fp
-        while d > math.pi:
-            d -= 2 * math.pi
-        while d < -math.pi:
-            d += 2 * math.pi
-        phase_diffs.append(d)
-
-    sum(phase_diffs) / len(phase_diffs)
-    max_phase_diff = max(abs(d) for d in phase_diffs)
-
-
-    phase_match = max_phase_diff < 0.5  # within 0.5 rad
-    check(
-        phase_match,
-        f"Phase shape match: max diff = {math.degrees(max_phase_diff):.1f} deg "
-        f"(tolerance: 28.6 deg)",
-    )
-
-
-# ============================================================================
-# TEST 6: Latency Buffer LATENCY=3187 Validation
-# ============================================================================
-def test_latency_buffer():
-
-    # The latency buffer delays the reference chirp data to align with
-    # the matched filter processing chain output.
-    #
-    # The total latency through the processing chain depends on the branch:
-    #
-    # SYNTHESIS branch (fft_engine.v):
-    #   - Load: 1024 cycles (input)
-    #   - Forward FFT: LOG2N=10 stages x N/2=512 butterflies x 5-cycle pipeline = variable
-    #   - Reference FFT: same
-    #   - Conjugate multiply: 1024 cycles (4-stage pipeline in frequency_matched_filter)
-    #   - Inverse FFT: same as forward
-    #   - Output: 1024 cycles
-    #   Total: roughly 3000-4000 cycles depending on pipeline fill
-    #
-    # The LATENCY=3187 value was likely determined empirically to align
-    # the reference chirp arriving at the processing chain with the
-    # correct time-domain position.
-    #
-    # Key constraint: LATENCY must be < 4096 (BRAM buffer size)
-    LATENCY = 3187
-    BRAM_SIZE = 4096
-
-    check(LATENCY < BRAM_SIZE,
-          f"LATENCY ({LATENCY}) < BRAM size ({BRAM_SIZE})")
-
-    # The fft_engine processes in stages:
-    # - LOAD: 1024 clocks (accepts input)
-    # - Per butterfly stage: 512 butterflies x 5 pipeline stages = ~2560 clocks + overhead
-    #   Actually: 512 butterflies, each takes 5 cycles = 2560 per stage, 10 stages
-    #   Total compute: 10 * 2560 = 25600 clocks
-    # But this is just for ONE FFT. The chain does 3 FFTs + multiply.
-    #
-    # For the SIMULATION branch, it's 1 clock per operation (behavioral).
-    # LATENCY=3187 doesn't apply to simulation branch behavior —
-    # it's the physical hardware pipeline latency.
-    #
-    # For synthesis: the latency_buffer feeds ref data to the chain via
-    # chirp_memory_loader_param → latency_buffer → chain.
-    # But wait — looking at radar_receiver_final.v:
-    #   - mem_request drives valid_in on the latency buffer
-    #   - The buffer delays {ref_i, ref_q} by LATENCY valid_in cycles
-    #   - The delayed output feeds long_chirp_real/imag → chain
-    #
-    # The purpose: the chain in the SYNTHESIS branch reads reference data
-    # via the long_chirp_real/imag ports DURING ST_FWD_FFT (while collecting
-    # input samples). The reference data needs to arrive LATENCY cycles
-    # after the first mem_request, where LATENCY accounts for:
-    #   - The fft_engine pipeline latency from input to output
-    #   - Specifically, the chain processes: load 1024 → FFT → FFT → multiply → IFFT → output
-    #     The reference is consumed during the second FFT (ST_REF_BITREV/BUTTERFLY)
-    #     which starts after the first FFT completes.
-
-    # For now, validate that LATENCY is reasonable (between 1000 and 4095)
-    check(1000 < LATENCY < 4095,
-          f"LATENCY={LATENCY} in reasonable range [1000, 4095]")
-
-    # Check that the module name vs parameter is consistent
-    # Module name was renamed from latency_buffer_2159 to latency_buffer
-    # to match the actual parameterized LATENCY value. No warning needed.
-
-    # Validate address arithmetic won't overflow
-    min_read_ptr = 4096 + 0 - LATENCY
-    check(min_read_ptr >= 0 and min_read_ptr < 4096,
-          f"Min read_ptr after wrap = {min_read_ptr} (valid: 0..4095)")
-
-    # The latency buffer uses valid_in gated reads, so it only counts
-    # valid samples. The number of valid_in pulses between first write
-    # and first read is LATENCY.
-
-
-# ============================================================================
-# TEST 7: Cross-check chirp memory loader addressing
-# ============================================================================
-def test_memory_addressing():
-
-    # chirp_memory_loader_param uses: long_addr = {segment_select[1:0], sample_addr[9:0]}
-    # This creates a 12-bit address: seg[1:0] ++ addr[9:0]
-    # Segment 0: addresses 0x000..0x3FF (0..1023)
-    # Segment 1: addresses 0x400..0x7FF (1024..2047)
-    # Segment 2: addresses 0x800..0xBFF (2048..3071)
-    # Segment 3: addresses 0xC00..0xFFF (3072..4095)
-
-    for seg in range(4):
-        base = seg * 1024
-        end = base + 1023
-        addr_from_concat = (seg << 10) | 0  # {seg[1:0], 10'b0}
-        addr_end = (seg << 10) | 1023
-
-        check(
-            addr_from_concat == base,
-            f"Seg {seg} base address: {{{seg}[1:0], 10'b0}} = {addr_from_concat} "
-            f"(expected {base})",
-        )
-        check(addr_end == end,
-              f"Seg {seg} end address: {{{seg}[1:0], 10'h3FF}} = {addr_end} (expected {end})")
-
-    # Memory is declared as: reg [15:0] long_chirp_i [0:4095]
-    # $readmemh loads seg0 to [0:1023], seg1 to [1024:2047], etc.
-    # Addressing via {segment_select, sample_addr} maps correctly.
-
-
-# ============================================================================
-# TEST 8: Seg3 zero-padding analysis
-# ============================================================================
-def test_seg3_padding():
-
-    # The long chirp has 3000 samples (30 us at 100 MHz).
-    # With 4 segments of 1024 samples = 4096 total memory slots.
-    # Segments are loaded contiguously into memory:
-    #   Seg0: chirp samples 0..1023
-    #   Seg1: chirp samples 1024..2047
-    #   Seg2: chirp samples 2048..3071
-    #   Seg3: chirp samples 3072..4095
-    #
-    # But the chirp only has 3000 samples! So seg3 should have:
-    #   Valid chirp data at indices 0..(3000-3072-1) = NEGATIVE
-    #   Wait — 3072 > 3000, so seg3 has NO valid chirp samples if chirp is exactly 3000.
-    #
-    # However, the overlap-save algorithm in matched_filter_multi_segment.v
-    # collects data differently:
-    #   Seg0: collect 896 DDC samples, buffer[0:895], zero-pad [896:1023]
-    #   Seg1: overlap from seg0[768:895] → buffer[0:127], collect 896 → buffer[128:1023]
-    #   ...
-    # The chirp reference is indexed by segment_select + sample_addr,
-    # so it reads ALL 1024 values for each segment regardless.
-    #
-    # If the chirp is 3000 samples but only 4*1024=4096 slots exist,
-    # the question is: do the .mem files contain 3000 samples of real chirp
-    # data spread across 4096 slots, or something else?
-
-    seg3_i = read_mem_hex('long_chirp_seg3_i.mem')
-    seg3_q = read_mem_hex('long_chirp_seg3_q.mem')
-
-    mags = [math.sqrt(i*i + q*q) for i, q in zip(seg3_i, seg3_q, strict=False)]
-
-    # Count trailing zeros (samples after chirp ends)
-    trailing_zeros = 0
-    for m in reversed(mags):
-        if m < 2:
-            trailing_zeros += 1
-        else:
-            break
-
-    nonzero = sum(1 for m in mags if m > 2)
-
-
-    if nonzero == 1024:
-        # This means the .mem files encode 4096 chirp samples, not 3000
-        # The chirp duration used for .mem generation was different from T_LONG_CHIRP
-        actual_chirp_samples = 4 * 1024  # = 4096
-        actual_duration = actual_chirp_samples / FS_SYS
-        warn(f"Chirp in .mem files appears to be {actual_chirp_samples} samples "
-             f"({actual_duration*1e6:.1f} us), not {LONG_CHIRP_SAMPLES} samples "
-             f"({T_LONG_CHIRP*1e6:.1f} us)")
-    elif trailing_zeros > 100:
-        # Some padding at end
-        3072 + (1024 - trailing_zeros)
-
-
-# ============================================================================
-# MAIN
-# ============================================================================
-def main():
-
-    test_structural()
-    test_twiddle_1024()
-    test_twiddle_16()
-    test_long_chirp()
-    test_short_chirp()
-    test_chirp_vs_model()
-    test_latency_buffer()
-    test_memory_addressing()
-    test_seg3_padding()
-
-    if fail_count == 0:
-        pass
-    else:
-        pass
-
-    return 0 if fail_count == 0 else 1
-
-
-if __name__ == '__main__':
-    sys.exit(main())

9_Firmware/9_2_FPGA/tb/gen_mf_golden_ref.py

@@ -147,6 +147,7 @@ def main():
     # =========================================================================
     # Case 2: Tone autocorrelation at bin 5
     # Signal and reference: complex tone at bin 5, amplitude 8000 (Q15)
+    # sig[n] = 8000 * exp(j * 2*pi*5*n/N)
     # Autocorrelation of a tone => peak at bin 0 (lag 0)
     # =========================================================================
     amp = 8000.0
@@ -240,12 +241,28 @@ def main():
     # =========================================================================
     # Print summary to stdout
     # =========================================================================
+    print("=" * 72)
+    print("Matched Filter Golden Reference Generator")
+    print(f"Output directory: {outdir}")
+    print(f"FFT length: {N}")
+    print("=" * 72)
 
-    for _ in summaries:
+    for s in summaries:
-        pass
+        print()
+        print(f"Case {s['case']}: {s['description']}")
+        print(f"  Peak bin:              {s['peak_bin']}")
+        print(f"  Peak magnitude (float):{s['peak_mag_float']:.6f}")
+        print(f"  Peak I (float):        {s['peak_i_float']:.6f}")
+        print(f"  Peak Q (float):        {s['peak_q_float']:.6f}")
+        print(f"  Peak I (quantized):    {s['peak_i_quant']}")
+        print(f"  Peak Q (quantized):    {s['peak_q_quant']}")
 
-    for _ in all_files:
+    print()
-        pass
+    print(f"Generated {len(all_files)} files:")
+    for fname in all_files:
+        print(f"  {fname}")
+    print()
+    print("Done.")
 
 
 if __name__ == "__main__":

9_Firmware/9_2_FPGA/tb/tb_radar_receiver_final.v

@@ -96,31 +96,15 @@ 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
 
@@ -144,7 +128,6 @@ 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/9_2_FPGA/tb/tb_rx_gain_control.v

@@ -38,20 +38,10 @@ reg signed [15:0] data_q_in;
 reg               valid_in;
 reg [3:0]         gain_shift;
 
-// AGC configuration (default: AGC disabled — manual mode)
-reg               agc_enable;
-reg [7:0]         agc_target;
-reg [3:0]         agc_attack;
-reg [3:0]         agc_decay;
-reg [3:0]         agc_holdoff;
-reg               frame_boundary;
-
 wire signed [15:0] data_i_out;
 wire signed [15:0] data_q_out;
 wire               valid_out;
 wire [7:0]         saturation_count;
-wire [7:0]         peak_magnitude;
-wire [3:0]         current_gain;
 
 rx_gain_control dut (
     .clk(clk),
@@ -60,18 +50,10 @@ rx_gain_control dut (
     .data_q_in(data_q_in),
     .valid_in(valid_in),
     .gain_shift(gain_shift),
-    .agc_enable(agc_enable),
-    .agc_target(agc_target),
-    .agc_attack(agc_attack),
-    .agc_decay(agc_decay),
-    .agc_holdoff(agc_holdoff),
-    .frame_boundary(frame_boundary),
     .data_i_out(data_i_out),
     .data_q_out(data_q_out),
     .valid_out(valid_out),
-    .saturation_count(saturation_count),
+    .saturation_count(saturation_count)
-    .peak_magnitude(peak_magnitude),
-    .current_gain(current_gain)
 );
 
 // ---------------------------------------------------------------
@@ -123,13 +105,6 @@ initial begin
     data_q_in  = 0;
     valid_in   = 0;
     gain_shift = 4'd0;
-    // AGC disabled for backward-compatible tests (Tests 1-12)
-    agc_enable     = 0;
-    agc_target     = 8'd200;
-    agc_attack     = 4'd1;
-    agc_decay      = 4'd1;
-    agc_holdoff    = 4'd4;
-    frame_boundary = 0;
 
     repeat (4) @(posedge clk);
     reset_n = 1;
@@ -177,9 +152,6 @@ initial begin
           "T3.1: I saturated to +32767");
     check(data_q_out == -16'sd32768,
           "T3.2: Q saturated to -32768");
-    // Pulse frame_boundary to snapshot the per-frame saturation count
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
     check(saturation_count == 8'd1,
           "T3.3: Saturation counter = 1 (both channels clipped counts as 1)");
 
@@ -201,9 +173,6 @@ initial begin
           "T4.1: I attenuated 4000>>2 = 1000");
     check(data_q_out == -16'sd500,
           "T4.2: Q attenuated -2000>>2 = -500");
-    // Pulse frame_boundary to snapshot (should be 0 — no clipping)
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
     check(saturation_count == 8'd0,
           "T4.3: No saturation on right shift");
 
@@ -346,18 +315,13 @@ initial begin
     valid_in = 1'b0;
     @(posedge clk); #1;
 
-    // Pulse frame_boundary to snapshot per-frame saturation count
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
     check(saturation_count == 8'd255,
           "T11.1: Counter capped at 255 after 256 saturating samples");
 
-    // One more sample + frame boundary — should still be capped at 1 (new frame)
+    // One more sample — should stay at 255
     send_sample(16'sd20000, 16'sd20000);
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
+    check(saturation_count == 8'd255,
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
+          "T11.2: Counter stays at 255 (no wrap)");
-    check(saturation_count == 8'd1,
-          "T11.2: New frame counter = 1 (single sample)");
 
     // ---------------------------------------------------------------
     // TEST 12: Reset clears everything
@@ -365,8 +329,6 @@ initial begin
     $display("");
     $display("--- Test 12: Reset clears all ---");
 
-    gain_shift = 4'd0;  // Reset gain_shift to 0 so current_gain reads 0
-    agc_enable = 0;
     reset_n = 0;
     repeat (2) @(posedge clk);
     reset_n = 1;
@@ -380,479 +342,6 @@ initial begin
           "T12.3: valid_out cleared on reset");
     check(saturation_count == 8'd0,
           "T12.4: Saturation counter cleared on reset");
-    check(current_gain == 4'd0,
-          "T12.5: current_gain cleared on reset");
-
-    // ---------------------------------------------------------------
-    // TEST 13: current_gain reflects gain_shift in manual mode
-    // ---------------------------------------------------------------
-    $display("");
-    $display("--- Test 13: current_gain tracks gain_shift (manual) ---");
-
-    gain_shift = 4'b0_011;  // amplify x8
-    @(posedge clk); @(posedge clk); #1;
-    check(current_gain == 4'b0011,
-          "T13.1: current_gain = 0x3 (amplify x8)");
-
-    gain_shift = 4'b1_010;  // attenuate /4
-    @(posedge clk); @(posedge clk); #1;
-    check(current_gain == 4'b1010,
-          "T13.2: current_gain = 0xA (attenuate /4)");
-
-    // ---------------------------------------------------------------
-    // TEST 14: Peak magnitude tracking
-    // ---------------------------------------------------------------
-    $display("");
-    $display("--- Test 14: Peak magnitude tracking ---");
-
-    reset_n = 0;
-    repeat (2) @(posedge clk);
-    reset_n = 1;
-    repeat (2) @(posedge clk);
-
-    gain_shift = 4'b0_000;  // pass-through
-    // Send samples with increasing magnitude
-    send_sample(16'sd100, 16'sd50);
-    send_sample(16'sd1000, 16'sd500);
-    send_sample(16'sd8000, 16'sd2000);   // peak = 8000
-    send_sample(16'sd200, 16'sd100);
-    // Pulse frame_boundary to snapshot
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    // peak_magnitude = upper 8 bits of 15-bit peak (8000)
-    // 8000 = 0x1F40, 15-bit = 0x1F40, [14:7] = 0x3E = 62
-    check(peak_magnitude == 8'd62,
-          "T14.1: Peak magnitude = 62 (8000 >> 7)");
-
-    // ---------------------------------------------------------------
-    // TEST 15: AGC auto gain-down on saturation
-    // ---------------------------------------------------------------
-    $display("");
-    $display("--- Test 15: AGC gain-down on saturation ---");
-
-    reset_n = 0;
-    repeat (2) @(posedge clk);
-    reset_n = 1;
-    repeat (2) @(posedge clk);
-
-    // Start with amplify x4 (gain_shift = 0x02), then enable AGC
-    gain_shift  = 4'b0_010;  // amplify x4, internal gain = +2
-    agc_enable  = 0;
-    agc_attack  = 4'd1;
-    agc_decay   = 4'd1;
-    agc_holdoff = 4'd2;
-    agc_target  = 8'd100;
-    @(posedge clk); @(posedge clk);
-
-    // Enable AGC — should initialize from gain_shift
-    agc_enable = 1;
-    @(posedge clk); @(posedge clk); @(posedge clk); #1;
-    check(current_gain == 4'b0010,
-          "T15.1: AGC initialized from gain_shift (amplify x4)");
-
-    // Send saturating samples (will clip at x4 gain)
-    send_sample(16'sd20000, 16'sd20000);
-    send_sample(16'sd20000, 16'sd20000);
-
-    // Pulse frame_boundary — AGC should reduce gain by attack=1
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    // current_gain lags agc_gain by 1 cycle (NBA), wait one extra cycle
-    @(posedge clk); #1;
-    // Internal gain was +2, attack=1 → new gain = +1 (0x01)
-    check(current_gain == 4'b0001,
-          "T15.2: AGC reduced gain to x2 after saturation");
-
-    // Another frame with saturation (20000*2 = 40000 > 32767)
-    send_sample(16'sd20000, 16'sd20000);
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    // gain was +1, attack=1 → new gain = 0 (0x00)
-    check(current_gain == 4'b0000,
-          "T15.3: AGC reduced gain to x1 (pass-through)");
-
-    // At gain 0 (pass-through), 20000 does NOT overflow 16-bit range,
-    // so no saturation occurs. Signal peak = 20000 >> 7 = 156 > target(100),
-    // so AGC correctly holds gain at 0. This is expected behavior.
-    // To test crossing into attenuation: increase attack to 3.
-    agc_attack = 4'd3;
-    // Reset and start fresh with gain +2, attack=3
-    reset_n = 0;
-    repeat (2) @(posedge clk);
-    reset_n = 1;
-    repeat (2) @(posedge clk);
-
-    gain_shift = 4'b0_010;  // amplify x4, internal gain = +2
-    agc_enable = 0;
-    @(posedge clk);
-    agc_enable = 1;
-    @(posedge clk); @(posedge clk); @(posedge clk); #1;
-
-    // Send saturating samples
-    send_sample(16'sd20000, 16'sd20000);
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    // gain was +2, attack=3 → new gain = -1 → encoding 0x09
-    check(current_gain == 4'b1001,
-          "T15.4: Large attack step crosses to attenuation (gain +2 - 3 = -1 → 0x9)");
-
-    // ---------------------------------------------------------------
-    // TEST 16: AGC auto gain-up after holdoff
-    // ---------------------------------------------------------------
-    $display("");
-    $display("--- Test 16: AGC gain-up after holdoff ---");
-
-    reset_n = 0;
-    repeat (2) @(posedge clk);
-    reset_n = 1;
-    repeat (2) @(posedge clk);
-
-    // Start with low gain, weak signal, holdoff=2
-    gain_shift  = 4'b0_000;  // pass-through (internal gain = 0)
-    agc_enable  = 0;
-    agc_attack  = 4'd1;
-    agc_decay   = 4'd1;
-    agc_holdoff = 4'd2;
-    agc_target  = 8'd100;  // target peak = 100 (in upper 8 bits = 12800 raw)
-    @(posedge clk); @(posedge clk);
-
-    agc_enable = 1;
-    @(posedge clk); @(posedge clk); #1;
-
-    // Frame 1: send weak signal (peak < target), holdoff counter = 2
-    send_sample(16'sd100, 16'sd50);  // peak=100, [14:7]=0 (very weak)
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b0000,
-          "T16.1: Gain held during holdoff (frame 1, holdoff=2)");
-
-    // Frame 2: still weak, holdoff counter decrements to 1
-    send_sample(16'sd100, 16'sd50);
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b0000,
-          "T16.2: Gain held during holdoff (frame 2, holdoff=1)");
-
-    // Frame 3: holdoff expired (was 0 at start of frame) → gain up
-    send_sample(16'sd100, 16'sd50);
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b0001,
-          "T16.3: Gain increased after holdoff expired (gain 0->1)");
-
-    // ---------------------------------------------------------------
-    // TEST 17: Repeated attacks drive gain negative, clamp at -7,
-    //          then decay recovers
-    // ---------------------------------------------------------------
-    $display("");
-    $display("--- Test 17: Repeated attack → negative clamp → decay recovery ---");
-
-    // ----- 17a: Walk gain from +7 down through zero via repeated attack -----
-    reset_n = 0;
-    repeat (2) @(posedge clk);
-    reset_n = 1;
-    repeat (2) @(posedge clk);
-
-    gain_shift  = 4'b0_111;  // amplify x128, internal gain = +7
-    agc_enable  = 0;
-    agc_attack  = 4'd2;
-    agc_decay   = 4'd1;
-    agc_holdoff = 4'd2;
-    agc_target  = 8'd100;
-    @(posedge clk);
-    agc_enable = 1;
-    @(posedge clk); @(posedge clk); @(posedge clk); #1;
-    check(current_gain == 4'b0_111,
-          "T17a.1: AGC initialized at gain +7 (0x7)");
-
-    // Frame 1: saturating at gain +7 → gain 7-2=5
-    send_sample(16'sd1000, 16'sd1000);  // 1000<<7 = 128000 → overflow
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b0_101,
-          "T17a.2: After attack: gain +5 (0x5)");
-
-    // Frame 2: still saturating at gain +5 → gain 5-2=3
-    send_sample(16'sd1000, 16'sd1000);  // 1000<<5 = 32000 → no overflow
-    send_sample(16'sd2000, 16'sd2000);  // 2000<<5 = 64000 → overflow
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b0_011,
-          "T17a.3: After attack: gain +3 (0x3)");
-
-    // Frame 3: saturating at gain +3 → gain 3-2=1
-    send_sample(16'sd5000, 16'sd5000);  // 5000<<3 = 40000 → overflow
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b0_001,
-          "T17a.4: After attack: gain +1 (0x1)");
-
-    // Frame 4: saturating at gain +1 → gain 1-2=-1 → encoding 0x9
-    send_sample(16'sd20000, 16'sd20000); // 20000<<1 = 40000 → overflow
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b1_001,
-          "T17a.5: Attack crossed zero: gain -1 (0x9)");
-
-    // Frame 5: at gain -1 (right shift 1), 20000>>>1=10000, NO overflow.
-    // peak = 20000 → [14:7]=156 > target(100) → HOLD, gain stays -1
-    send_sample(16'sd20000, 16'sd20000);
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b1_001,
-          "T17a.6: No overflow at -1, peak>target → HOLD, gain stays -1");
-
-    // ----- 17b: Max attack step clamps at -7 -----
-    $display("");
-    $display("--- Test 17b: Max attack clamps at -7 ---");
-
-    reset_n = 0;
-    repeat (2) @(posedge clk);
-    reset_n = 1;
-    repeat (2) @(posedge clk);
-
-    gain_shift  = 4'b0_011;  // amplify x8, internal gain = +3
-    agc_attack  = 4'd15;     // max attack step
-    agc_enable  = 0;
-    @(posedge clk);
-    agc_enable = 1;
-    @(posedge clk); @(posedge clk); @(posedge clk); #1;
-    check(current_gain == 4'b0_011,
-          "T17b.1: Initialized at gain +3");
-
-    // One saturating frame: gain = clamp(3 - 15) = clamp(-12) = -7 → 0xF
-    send_sample(16'sd5000, 16'sd5000);  // 5000<<3 = 40000 → overflow
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b1_111,
-          "T17b.2: Gain clamped at -7 (0xF) after max attack");
-
-    // Another frame at gain -7: 5000>>>7 = 39, peak = 5000→[14:7]=39 < target(100)
-    // → decay path, but holdoff counter was reset to 2 by the attack above
-    send_sample(16'sd5000, 16'sd5000);
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b1_111,
-          "T17b.3: Gain still -7 (holdoff active, 2→1)");
-
-    // ----- 17c: Decay recovery from -7 after holdoff -----
-    $display("");
-    $display("--- Test 17c: Decay recovery from deep negative ---");
-
-    // Holdoff was 2. After attack (frame above), holdoff=2.
-    // Frame after 17b.3: holdoff decrements to 0
-    send_sample(16'sd5000, 16'sd5000);
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b1_111,
-          "T17c.1: Gain still -7 (holdoff 1→0)");
-
-    // Now holdoff=0, next weak frame should trigger decay: -7 + 1 = -6 → 0xE
-    send_sample(16'sd5000, 16'sd5000);
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b1_110,
-          "T17c.2: Decay from -7 to -6 (0xE) after holdoff expired");
-
-    // One more decay: -6 + 1 = -5 → 0xD
-    send_sample(16'sd5000, 16'sd5000);
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-    check(current_gain == 4'b1_101,
-          "T17c.3: Decay from -6 to -5 (0xD)");
-
-    // Verify output is actually attenuated: at gain -5 (right shift 5),
-    // 5000 >>> 5 = 156
-    send_sample(16'sd5000, 16'sd0);
-    check(data_i_out == 16'sd156,
-          "T17c.4: Output correctly attenuated: 5000>>>5 = 156");
-
-    // =================================================================
-    // Test 18: valid_in + frame_boundary on the SAME cycle
-    // Verify the coincident sample is included in the frame snapshot
-    // (Bug #7 fix — previously lost due to NBA last-write-wins)
-    // =================================================================
-    $display("");
-    $display("--- Test 18: valid_in + frame_boundary simultaneous ---");
-
-    // ----- 18a: Coincident saturating sample included in sat count -----
-    reset_n = 0;
-    repeat (2) @(posedge clk);
-    reset_n = 1;
-    repeat (2) @(posedge clk);
-
-    gain_shift  = 4'b0_011;  // amplify x8 (shift left 3)
-    agc_attack  = 4'd1;
-    agc_decay   = 4'd1;
-    agc_holdoff = 4'd2;
-    agc_target  = 8'd100;
-    agc_enable  = 1;
-    @(posedge clk); @(posedge clk); @(posedge clk); #1;
-
-    // Send one normal sample first (establishes a non-zero frame)
-    send_sample(16'sd100, 16'sd100);  // small, no overflow at gain +3
-
-    // Now: assert valid_in AND frame_boundary on the SAME posedge.
-    // The sample is large enough to overflow at gain +3: 5000<<3 = 40000 > 32767
-    @(negedge clk);
-    data_i_in      = 16'sd5000;
-    data_q_in      = 16'sd5000;
-    valid_in       = 1'b1;
-    frame_boundary = 1'b1;
-    @(posedge clk); #1;  // DUT samples both signals
-    @(negedge clk);
-    valid_in       = 1'b0;
-    frame_boundary = 1'b0;
-    @(posedge clk); #1;  // let NBA settle
-    @(posedge clk); #1;
-
-    // Saturation count should be 1 (the coincident sample overflowed)
-    check(saturation_count == 8'd1,
-          "T18a.1: Coincident saturating sample counted in snapshot (sat_count=1)");
-
-    // Peak should reflect pre-gain max(|5000|,|5000|) = 5000 → [14:7] = 39
-    // (or at least >= the first sample's peak of 100→[14:7]=0)
-    check(peak_magnitude == 8'd39,
-          "T18a.2: Coincident sample peak included in snapshot (peak=39)");
-
-    // AGC should have attacked (sat > 0): gain +3 → +3-1 = +2
-    check(current_gain == 4'b0_010,
-          "T18a.3: AGC attacked on coincident saturation (gain +3 → +2)");
-
-    // ----- 18b: Coincident non-saturating peak updates snapshot -----
-    $display("");
-    $display("--- Test 18b: Coincident peak-only sample ---");
-
-    reset_n = 0;
-    agc_enable  = 0;  // deassert so transition fires with NEW gain_shift
-    repeat (2) @(posedge clk);
-    reset_n = 1;
-    repeat (2) @(posedge clk);
-
-    gain_shift  = 4'b0_000;  // no amplification (shift 0)
-    agc_attack  = 4'd1;
-    agc_decay   = 4'd1;
-    agc_holdoff = 4'd0;
-    agc_target  = 8'd200;    // high target so signal is "weak"
-    agc_enable  = 1;
-    @(posedge clk); @(posedge clk); @(posedge clk); #1;
-
-    // Send a small sample
-    send_sample(16'sd50, 16'sd50);
-
-    // Coincident frame_boundary + valid_in with a LARGER sample (not saturating)
-    @(negedge clk);
-    data_i_in      = 16'sd10000;
-    data_q_in      = 16'sd10000;
-    valid_in       = 1'b1;
-    frame_boundary = 1'b1;
-    @(posedge clk); #1;
-    @(negedge clk);
-    valid_in       = 1'b0;
-    frame_boundary = 1'b0;
-    @(posedge clk); #1;
-    @(posedge clk); #1;
-
-    // Peak should be max(|10000|,|10000|) = 10000 → [14:7] = 78
-    check(peak_magnitude == 8'd78,
-          "T18b.1: Coincident larger peak included (peak=78)");
-    // No saturation at gain 0
-    check(saturation_count == 8'd0,
-          "T18b.2: No saturation (gain=0, no overflow)");
-
-    // =================================================================
-    // Test 19: AGC enable toggle mid-frame
-    // Verify gain initializes from gain_shift and holdoff resets
-    // =================================================================
-    $display("");
-    $display("--- Test 19: AGC enable toggle mid-frame ---");
-
-    // ----- 19a: Enable AGC mid-frame, verify gain init -----
-    reset_n = 0;
-    repeat (2) @(posedge clk);
-    reset_n = 1;
-    repeat (2) @(posedge clk);
-
-    gain_shift  = 4'b0_101;  // amplify x32 (shift left 5), internal = +5
-    agc_attack  = 4'd2;
-    agc_decay   = 4'd1;
-    agc_holdoff = 4'd3;
-    agc_target  = 8'd100;
-    agc_enable  = 0;         // start disabled
-    @(posedge clk); #1;
-
-    // With AGC off, current_gain should follow gain_shift directly
-    check(current_gain == 4'b0_101,
-          "T19a.1: AGC disabled → current_gain = gain_shift (0x5)");
-
-    // Send a few samples (building up frame metrics)
-    send_sample(16'sd1000, 16'sd1000);
-    send_sample(16'sd2000, 16'sd2000);
-
-    // Toggle AGC enable ON mid-frame
-    @(negedge clk);
-    agc_enable = 1;
-    @(posedge clk); #1;
-    @(posedge clk); #1;  // let enable transition register
-
-    // Gain should initialize from gain_shift encoding (0b0_101 → +5)
-    check(current_gain == 4'b0_101,
-          "T19a.2: AGC enabled mid-frame → gain initialized from gain_shift (+5)");
-
-    // Send a saturating sample, then boundary
-    send_sample(16'sd5000, 16'sd5000);  // 5000<<5 overflows
-    @(negedge clk); frame_boundary = 1; @(posedge clk); #1;
-    @(negedge clk); frame_boundary = 0; @(posedge clk); #1;
-    @(posedge clk); #1;
-
-    // AGC should attack: gain +5 → +5-2 = +3
-    check(current_gain == 4'b0_011,
-          "T19a.3: After boundary, AGC attacked (gain +5 → +3)");
-
-    // ----- 19b: Disable AGC mid-frame, verify passthrough -----
-    $display("");
-    $display("--- Test 19b: Disable AGC mid-frame ---");
-
-    // Change gain_shift to a new value
-    @(negedge clk);
-    gain_shift = 4'b1_010;  // attenuate by 2 (right shift 2)
-    agc_enable = 0;
-    @(posedge clk); #1;
-    @(posedge clk); #1;
-
-    // With AGC off, current_gain should follow gain_shift
-    check(current_gain == 4'b1_010,
-          "T19b.1: AGC disabled → current_gain = gain_shift (0xA, atten 2)");
-
-    // Send sample: 1000 >> 2 = 250
-    send_sample(16'sd1000, 16'sd0);
-    check(data_i_out == 16'sd250,
-          "T19b.2: Output uses host gain_shift when AGC off: 1000>>2=250");
-
-    // ----- 19c: Re-enable, verify gain re-initializes -----
-    @(negedge clk);
-    gain_shift = 4'b0_010;  // amplify by 4 (shift left 2), internal = +2
-    agc_enable = 1;
-    @(posedge clk); #1;
-    @(posedge clk); #1;
-
-    check(current_gain == 4'b0_010,
-          "T19c.1: AGC re-enabled → gain re-initialized from gain_shift (+2)");
 
     // ---------------------------------------------------------------
     // SUMMARY

9_Firmware/9_2_FPGA/tb/tb_usb_data_interface.v

@@ -79,12 +79,6 @@ module tb_usb_data_interface;
     reg  [7:0]  status_self_test_detail;
     reg         status_self_test_busy;
 
-    // AGC status readback inputs
-    reg  [3:0]  status_agc_current_gain;
-    reg  [7:0]  status_agc_peak_magnitude;
-    reg  [7:0]  status_agc_saturation_count;
-    reg         status_agc_enable;
-
     // ── Clock generators (asynchronous) ────────────────────────
     always #(CLK_PERIOD / 2) clk = ~clk;
     always #(FT_CLK_PERIOD / 2) ft601_clk_in = ~ft601_clk_in;
@@ -140,13 +134,7 @@ module tb_usb_data_interface;
         // Self-test status readback
         .status_self_test_flags (status_self_test_flags),
         .status_self_test_detail(status_self_test_detail),
-        .status_self_test_busy  (status_self_test_busy),
+        .status_self_test_busy  (status_self_test_busy)
-
-        // AGC status readback
-        .status_agc_current_gain    (status_agc_current_gain),
-        .status_agc_peak_magnitude  (status_agc_peak_magnitude),
-        .status_agc_saturation_count(status_agc_saturation_count),
-        .status_agc_enable          (status_agc_enable)
     );
 
     // ── Test bookkeeping ───────────────────────────────────────
@@ -206,10 +194,6 @@ module tb_usb_data_interface;
             status_self_test_flags  = 5'b00000;
             status_self_test_detail = 8'd0;
             status_self_test_busy   = 1'b0;
-            status_agc_current_gain     = 4'd0;
-            status_agc_peak_magnitude   = 8'd0;
-            status_agc_saturation_count = 8'd0;
-            status_agc_enable           = 1'b0;
             repeat (6) @(posedge ft601_clk_in);
             reset_n = 1;
             // Wait enough cycles for stream_control CDC to propagate
@@ -918,11 +902,6 @@ module tb_usb_data_interface;
         status_self_test_flags  = 5'b11111;
         status_self_test_detail = 8'hA5;
         status_self_test_busy   = 1'b0;
-        // AGC status: gain=5, peak=180, sat_count=12, enabled
-        status_agc_current_gain     = 4'd5;
-        status_agc_peak_magnitude   = 8'd180;
-        status_agc_saturation_count = 8'd12;
-        status_agc_enable           = 1'b1;
 
         // Pulse status_request (1 cycle in clk domain — toggles status_req_toggle_100m)
         @(posedge clk);
@@ -979,8 +958,8 @@ module tb_usb_data_interface;
               "Status readback: word 2 = {guard, short_chirp}");
         check(uut.status_words[3] === {16'd17450, 10'd0, 6'd32},
               "Status readback: word 3 = {short_listen, 0, chirps_per_elev}");
-        check(uut.status_words[4] === {4'd5, 8'd180, 8'd12, 1'b1, 9'd0, 2'b10},
+        check(uut.status_words[4] === {30'd0, 2'b10},
-              "Status readback: word 4 = {agc_gain=5, peak=180, sat=12, en=1, range_mode=2}");
+              "Status readback: word 4 = range_mode=2'b10");
         // status_words[5] = {7'd0, busy, 8'd0, detail[7:0], 3'd0, flags[4:0]}
         // = {7'd0, 1'b0, 8'd0, 8'hA5, 3'd0, 5'b11111}
         check(uut.status_words[5] === {7'd0, 1'b0, 8'd0, 8'hA5, 3'd0, 5'b11111},

9_Firmware/9_2_FPGA/usb_data_interface.v

@@ -20,8 +20,8 @@ module usb_data_interface (
     // Control signals
     output reg ft601_txe_n,          // Transmit enable (active low)
     output reg ft601_rxf_n,          // Receive enable (active low)
-    input wire ft601_txe,             // TXE: Transmit FIFO Not Full (high = space available to write)
+    input wire ft601_txe,             // Transmit FIFO empty
-    input wire ft601_rxf,             // RXF: Receive FIFO Not Empty (high = data available to read)
+    input wire ft601_rxf,             // Receive FIFO full
     output reg ft601_wr_n,            // Write strobe (active low)
     output reg ft601_rd_n,            // Read strobe (active low)
     output reg ft601_oe_n,            // Output enable (active low)
@@ -77,13 +77,7 @@ module usb_data_interface (
     // Self-test status readback (opcode 0x31 / included in 0xFF status packet)
     input wire [4:0]  status_self_test_flags,  // Per-test PASS(1)/FAIL(0) latched
     input wire [7:0]  status_self_test_detail, // Diagnostic detail byte latched
-    input wire        status_self_test_busy,   // Self-test FSM still running
+    input wire        status_self_test_busy    // Self-test FSM still running
-
-    // AGC status readback
-    input wire [3:0]  status_agc_current_gain,
-    input wire [7:0]  status_agc_peak_magnitude,
-    input wire [7:0]  status_agc_saturation_count,
-    input wire        status_agc_enable
 );
 
 // USB packet structure (same as before)
@@ -273,13 +267,8 @@ always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
             status_words[2] <= {status_guard, status_short_chirp};
             // Word 3: {short_listen_cycles[15:0], chirps_per_elev[5:0], 10'b0}
             status_words[3] <= {status_short_listen, 10'd0, status_chirps_per_elev};
-            // Word 4: AGC metrics + range_mode
+            // Word 4: Fix 7 — range_mode in bits [1:0], rest reserved
-            status_words[4] <= {status_agc_current_gain,        // [31:28]
+            status_words[4] <= {30'd0, status_range_mode};
-                                status_agc_peak_magnitude,      // [27:20]
-                                status_agc_saturation_count,    // [19:12]
-                                status_agc_enable,              // [11]
-                                9'd0,                           // [10:2] reserved
-                                status_range_mode};             // [1:0]
             // Word 5: Self-test results {reserved[6:0], busy, reserved[7:0], detail[7:0], reserved[2:0], flags[4:0]}
             status_words[5] <= {7'd0, status_self_test_busy,
                                 8'd0, status_self_test_detail,

9_Firmware/9_2_FPGA/usb_data_interface_ft2232h.v

@@ -90,13 +90,7 @@ module usb_data_interface_ft2232h (
     // Self-test status readback
     input wire [4:0]  status_self_test_flags,
     input wire [7:0]  status_self_test_detail,
-    input wire        status_self_test_busy,
+    input wire        status_self_test_busy
-
-    // AGC status readback
-    input wire [3:0]  status_agc_current_gain,
-    input wire [7:0]  status_agc_peak_magnitude,
-    input wire [7:0]  status_agc_saturation_count,
-    input wire        status_agc_enable
 );
 
 // ============================================================================
@@ -287,12 +281,7 @@ always @(posedge ft_clk or negedge ft_reset_n) begin
             status_words[1] <= {status_long_chirp, status_long_listen};
             status_words[2] <= {status_guard, status_short_chirp};
             status_words[3] <= {status_short_listen, 10'd0, status_chirps_per_elev};
-            status_words[4] <= {status_agc_current_gain,        // [31:28]
+            status_words[4] <= {30'd0, status_range_mode};
-                                status_agc_peak_magnitude,      // [27:20]
-                                status_agc_saturation_count,    // [19:12]
-                                status_agc_enable,              // [11]
-                                9'd0,                           // [10:2] reserved
-                                status_range_mode};             // [1:0]
             status_words[5] <= {7'd0, status_self_test_busy,
                                 8'd0, status_self_test_detail,
                                 3'd0, status_self_test_flags};

9_Firmware/9_3_GUI/GUI_versions.txt

@@ -8,6 +8,6 @@ GUI_V5 ==> Added Mercury Color
 
 GUI_V6 ==> Added USB3 FT601 support
 
-GUI_V65_Tk ==> Board bring-up dashboard (FT2232H reader, real-time R-D heatmap, CFAR overlay, waterfall, host commands, HDF5 recording, replay, demo mode)
+radar_dashboard ==> Board bring-up dashboard (FT2232H reader, real-time R-D heatmap, CFAR overlay, waterfall, host commands, HDF5 recording)
 radar_protocol ==> Protocol layer (packet parsing, command building, FT2232H connection, data recorder, acquisition thread)
 smoke_test ==> Board bring-up smoke test host script (triggers FPGA self-test via opcode 0x30)

9_Firmware/9_3_GUI/adi_agc_analysis.py

@@ -1,338 +0,0 @@
-# ruff: noqa: T201
-#!/usr/bin/env python3
-"""
-One-off AGC saturation analysis for ADI CN0566 raw IQ captures.
-
-Bit-accurate simulation of rx_gain_control.v AGC inner loop applied
-to real captured IQ data.  Three scenarios per dataset:
-
-  Row 1 — AGC OFF:  Fixed gain_shift=0 (pass-through).  Shows raw clipping.
-  Row 2 — AGC ON:   Auto-adjusts from gain_shift=0.  Clipping clears.
-  Row 3 — AGC delayed: OFF for first half, ON at midpoint.
-           Shows the transition: clipping → AGC activates → clears.
-
-Key RTL details modelled exactly:
-  - gain_shift[3]=direction (0=amplify/left, 1=attenuate/right), [2:0]=amount
-  - Internal agc_gain is signed -7..+7
-  - Peak is measured PRE-gain (raw input |sample|, upper 8 of 15 bits)
-  - Saturation is measured POST-gain (overflow from shift)
-  - Attack: gain -= agc_attack when any sample clips (immediate)
-  - Decay: gain += agc_decay when peak < target AND holdoff expired
-  - Hold: when peak >= target AND no saturation, hold gain, reset holdoff
-
-Usage:
-  python adi_agc_analysis.py
-  python adi_agc_analysis.py --data /path/to/file.npy --label "my capture"
-"""
-
-import argparse
-import sys
-from pathlib import Path
-
-import matplotlib.pyplot as plt
-import numpy as np
-
-from v7.agc_sim import (
-    encoding_to_signed,
-    apply_gain_shift,
-    quantize_iq,
-    AGCConfig,
-    AGCState,
-    process_agc_frame,
-)
-
-# ---------------------------------------------------------------------------
-# FPGA AGC parameters (rx_gain_control.v reset defaults)
-# ---------------------------------------------------------------------------
-AGC_TARGET = 200       # host_agc_target (8-bit, default 200)
-ADC_RAIL = 4095        # 12-bit ADC max absolute value
-
-
-# ---------------------------------------------------------------------------
-# Per-frame AGC simulation using v7.agc_sim (bit-accurate to RTL)
-# ---------------------------------------------------------------------------
-
-def simulate_agc(frames: np.ndarray, agc_enabled: bool = True,
-                 enable_at_frame: int = 0,
-                 initial_gain_enc: int = 0x00) -> dict:
-    """Simulate FPGA inner-loop AGC across all frames.
-
-    Parameters
-    ----------
-    frames : (N, chirps, samples) complex — raw ADC captures (12-bit range)
-    agc_enabled : if False, gain stays fixed
-    enable_at_frame : frame index where AGC activates
-    initial_gain_enc : gain_shift[3:0] encoding when AGC enables (default 0x00 = pass-through)
-    """
-    n_frames = frames.shape[0]
-
-    # Output arrays
-    out_gain_enc = np.zeros(n_frames, dtype=int)
-    out_gain_signed = np.zeros(n_frames, dtype=int)
-    out_peak_mag = np.zeros(n_frames, dtype=int)
-    out_sat_count = np.zeros(n_frames, dtype=int)
-    out_sat_rate = np.zeros(n_frames, dtype=float)
-    out_rms_post = np.zeros(n_frames, dtype=float)
-
-    # AGC state — managed by process_agc_frame()
-    state = AGCState(
-        gain=encoding_to_signed(initial_gain_enc),
-        holdoff_counter=0,
-        was_enabled=False,
-    )
-
-    for i in range(n_frames):
-        frame_i, frame_q = quantize_iq(frames[i])
-
-        agc_active = agc_enabled and (i >= enable_at_frame)
-
-        # Build per-frame config (enable toggles at enable_at_frame)
-        config = AGCConfig(enabled=agc_active)
-
-        result = process_agc_frame(frame_i, frame_q, config, state)
-
-        # RMS of shifted signal
-        rms = float(np.sqrt(np.mean(
-            result.shifted_i.astype(np.float64)**2
-            + result.shifted_q.astype(np.float64)**2)))
-
-        total_samples = frame_i.size + frame_q.size
-        sat_rate = result.overflow_raw / total_samples if total_samples > 0 else 0.0
-
-        # Record outputs
-        out_gain_enc[i] = result.gain_enc
-        out_gain_signed[i] = result.gain_signed
-        out_peak_mag[i] = result.peak_mag_8bit
-        out_sat_count[i] = result.saturation_count
-        out_sat_rate[i] = sat_rate
-        out_rms_post[i] = rms
-
-    return {
-        "gain_enc": out_gain_enc,
-        "gain_signed": out_gain_signed,
-        "peak_mag": out_peak_mag,
-        "sat_count": out_sat_count,
-        "sat_rate": out_sat_rate,
-        "rms_post": out_rms_post,
-    }
-
-
-# ---------------------------------------------------------------------------
-# Range-Doppler processing for heatmap display
-# ---------------------------------------------------------------------------
-
-def process_frame_rd(frame: np.ndarray, gain_enc: int,
-                     n_range: int = 64,
-                     n_doppler: int = 32) -> np.ndarray:
-    """Range-Doppler magnitude for one frame with gain applied."""
-    frame_i, frame_q = quantize_iq(frame)
-    si, sq, _ = apply_gain_shift(frame_i, frame_q, gain_enc)
-
-    iq = si.astype(np.float64) + 1j * sq.astype(np.float64)
-    n_chirps, _ = iq.shape
-
-    range_fft = np.fft.fft(iq, axis=1)[:, :n_range]
-    doppler_fft = np.fft.fftshift(np.fft.fft(range_fft, axis=0), axes=0)
-    center = n_chirps // 2
-    half_d = n_doppler // 2
-    doppler_fft = doppler_fft[center - half_d:center + half_d, :]
-
-    rd_mag = np.abs(doppler_fft.real) + np.abs(doppler_fft.imag)
-    return rd_mag.T  # (n_range, n_doppler)
-
-
-# ---------------------------------------------------------------------------
-# Plotting
-# ---------------------------------------------------------------------------
-
-def plot_scenario(axes, data: np.ndarray, agc: dict, title: str,
-                  enable_frame: int = 0):
-    """Plot one AGC scenario across 5 axes."""
-    n = data.shape[0]
-    xs = np.arange(n)
-
-    # Range-Doppler heatmap
-    if enable_frame > 0 and enable_frame < n:
-        f_before = max(0, enable_frame - 1)
-        f_after = min(n - 1, n - 2)
-        rd_before = process_frame_rd(data[f_before], int(agc["gain_enc"][f_before]))
-        rd_after = process_frame_rd(data[f_after], int(agc["gain_enc"][f_after]))
-        combined = np.hstack([rd_before, rd_after])
-        im = axes[0].imshow(
-            20 * np.log10(combined + 1), aspect="auto", origin="lower",
-            cmap="inferno", interpolation="nearest")
-        axes[0].axvline(x=rd_before.shape[1] - 0.5, color="cyan",
-                        linewidth=2, linestyle="--")
-        axes[0].set_title(f"{title}\nL: f{f_before} (pre) | R: f{f_after} (post)")
-    else:
-        worst = int(np.argmax(agc["sat_count"]))
-        best = int(np.argmin(agc["sat_count"]))
-        f_show = worst if agc["sat_count"][worst] > 0 else best
-        rd = process_frame_rd(data[f_show], int(agc["gain_enc"][f_show]))
-        im = axes[0].imshow(
-            20 * np.log10(rd + 1), aspect="auto", origin="lower",
-            cmap="inferno", interpolation="nearest")
-        axes[0].set_title(f"{title}\nFrame {f_show}")
-
-    axes[0].set_xlabel("Doppler bin")
-    axes[0].set_ylabel("Range bin")
-    plt.colorbar(im, ax=axes[0], label="dB", shrink=0.8)
-
-    # Signed gain history (the real AGC state)
-    axes[1].plot(xs, agc["gain_signed"], color="#00ff88", linewidth=1.5)
-    axes[1].axhline(y=0, color="gray", linestyle=":", alpha=0.5,
-                    label="Pass-through")
-    if enable_frame > 0:
-        axes[1].axvline(x=enable_frame, color="yellow", linewidth=2,
-                        linestyle="--", label="AGC ON")
-    axes[1].set_ylim(-8, 8)
-    axes[1].set_ylabel("Gain (signed)")
-    axes[1].set_title("AGC Internal Gain (-7=max atten, +7=max amp)")
-    axes[1].legend(fontsize=7, loc="upper right")
-    axes[1].grid(True, alpha=0.3)
-
-    # Peak magnitude (PRE-gain, 8-bit)
-    axes[2].plot(xs, agc["peak_mag"], color="#ffaa00", linewidth=1.0)
-    axes[2].axhline(y=AGC_TARGET, color="cyan", linestyle="--",
-                    alpha=0.7, label=f"Target ({AGC_TARGET})")
-    axes[2].axhspan(240, 255, color="red", alpha=0.15, label="Clip zone")
-    if enable_frame > 0:
-        axes[2].axvline(x=enable_frame, color="yellow", linewidth=2,
-                        linestyle="--", alpha=0.8)
-    axes[2].set_ylim(0, 260)
-    axes[2].set_ylabel("Peak (8-bit)")
-    axes[2].set_title("Peak Magnitude (pre-gain, raw input)")
-    axes[2].legend(fontsize=7, loc="upper right")
-    axes[2].grid(True, alpha=0.3)
-
-    # Saturation count (POST-gain overflow)
-    axes[3].fill_between(xs, agc["sat_count"], color="red", alpha=0.4)
-    axes[3].plot(xs, agc["sat_count"], color="red", linewidth=0.8)
-    if enable_frame > 0:
-        axes[3].axvline(x=enable_frame, color="yellow", linewidth=2,
-                        linestyle="--", alpha=0.8)
-    axes[3].set_ylabel("Overflow Count")
-    total = int(agc["sat_count"].sum())
-    axes[3].set_title(f"Post-Gain Overflow (total={total})")
-    axes[3].grid(True, alpha=0.3)
-
-    # RMS signal level (post-gain)
-    axes[4].plot(xs, agc["rms_post"], color="#44aaff", linewidth=1.0)
-    if enable_frame > 0:
-        axes[4].axvline(x=enable_frame, color="yellow", linewidth=2,
-                        linestyle="--", alpha=0.8)
-    axes[4].set_ylabel("RMS")
-    axes[4].set_xlabel("Frame")
-    axes[4].set_title("Post-Gain RMS Level")
-    axes[4].grid(True, alpha=0.3)
-
-
-def analyze_dataset(data: np.ndarray, label: str):
-    """Run 3-scenario analysis for one dataset."""
-    n_frames = data.shape[0]
-    mid = n_frames // 2
-
-    print(f"\n{'='*60}")
-    print(f"  {label}  —  shape {data.shape}")
-    print(f"{'='*60}")
-
-    # Raw ADC stats
-    raw_sat = np.sum((np.abs(data.real) >= ADC_RAIL) |
-                     (np.abs(data.imag) >= ADC_RAIL))
-    print(f"  Raw ADC saturation: {raw_sat} samples "
-          f"({100*raw_sat/(2*data.size):.2f}%)")
-
-    # Scenario 1: AGC OFF — pass-through (gain_shift=0x00)
-    print("  [1/3] AGC OFF (gain=0, pass-through) ...")
-    agc_off = simulate_agc(data, agc_enabled=False, initial_gain_enc=0x00)
-    print(f"        Post-gain overflow: {agc_off['sat_count'].sum()} "
-          f"(should be 0 — no amplification)")
-
-    # Scenario 2: AGC ON from frame 0
-    print("  [2/3] AGC ON (from start) ...")
-    agc_on = simulate_agc(data, agc_enabled=True, enable_at_frame=0,
-                          initial_gain_enc=0x00)
-    print(f"        Final gain: {agc_on['gain_signed'][-1]} "
-          f"(enc=0x{agc_on['gain_enc'][-1]:X})")
-    print(f"        Post-gain overflow: {agc_on['sat_count'].sum()}")
-
-    # Scenario 3: AGC delayed
-    print(f"  [3/3] AGC delayed (ON at frame {mid}) ...")
-    agc_delayed = simulate_agc(data, agc_enabled=True,
-                               enable_at_frame=mid,
-                               initial_gain_enc=0x00)
-    pre_sat = int(agc_delayed["sat_count"][:mid].sum())
-    post_sat = int(agc_delayed["sat_count"][mid:].sum())
-    print(f"        Pre-AGC overflow: {pre_sat}  "
-          f"Post-AGC overflow: {post_sat}")
-
-    # Plot
-    fig, axes = plt.subplots(3, 5, figsize=(28, 14))
-    fig.suptitle(f"AERIS-10 AGC Analysis — {label}\n"
-                 f"({n_frames} frames, {data.shape[1]} chirps, "
-                 f"{data.shape[2]} samples/chirp, "
-                 f"raw ADC sat={100*raw_sat/(2*data.size):.2f}%)",
-                 fontsize=13, fontweight="bold", y=0.99)
-
-    plot_scenario(axes[0], data, agc_off, "AGC OFF (pass-through)")
-    plot_scenario(axes[1], data, agc_on, "AGC ON (from start)")
-    plot_scenario(axes[2], data, agc_delayed,
-                  f"AGC delayed (ON at frame {mid})", enable_frame=mid)
-
-    for ax, lbl in zip(axes[:, 0],
-                       ["AGC OFF", "AGC ON", "AGC DELAYED"],
-                       strict=True):
-        ax.annotate(lbl, xy=(-0.35, 0.5), xycoords="axes fraction",
-                    fontsize=13, fontweight="bold", color="white",
-                    ha="center", va="center", rotation=90)
-
-    plt.tight_layout(rect=[0.03, 0, 1, 0.95])
-    return fig
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description="AGC analysis for ADI raw IQ captures "
-                    "(bit-accurate rx_gain_control.v simulation)")
-    parser.add_argument("--amp", type=str,
-                        default=str(Path.home() / "Downloads/adi_radar_data"
-                                    "/amp_radar"
-                                    "/phaser_amp_4MSPS_500M_300u_256_m3dB.npy"),
-                        help="Path to amplified radar .npy")
-    parser.add_argument("--noamp", type=str,
-                        default=str(Path.home() / "Downloads/adi_radar_data"
-                                    "/no_amp_radar"
-                                    "/phaser_NOamp_4MSPS_500M_300u_256.npy"),
-                        help="Path to non-amplified radar .npy")
-    parser.add_argument("--data", type=str, default=None,
-                        help="Single dataset mode")
-    parser.add_argument("--label", type=str, default="Custom Data")
-    args = parser.parse_args()
-
-    plt.style.use("dark_background")
-
-    if args.data:
-        data = np.load(args.data)
-        analyze_dataset(data, args.label)
-        plt.show()
-        return
-
-    figs = []
-    for path, label in [(args.amp, "With Amplifier (-3 dB)"),
-                        (args.noamp, "No Amplifier")]:
-        if not Path(path).exists():
-            print(f"WARNING: {path} not found, skipping")
-            continue
-        data = np.load(path)
-        fig = analyze_dataset(data, label)
-        figs.append(fig)
-
-    if not figs:
-        print("No data found. Use --amp/--noamp or --data.")
-        sys.exit(1)
-
-    plt.show()
-
-
-if __name__ == "__main__":
-    main()

9_Firmware/9_3_GUI/radar_dashboard.py

@@ -0,0 +1,713 @@
+#!/usr/bin/env python3
+"""
+AERIS-10 Radar Dashboard
+===================================================
+Real-time visualization and control for the AERIS-10 phased-array radar
+via FT2232H USB 2.0 interface.
+
+Features:
+  - FT2232H USB reader with packet parsing (matches usb_data_interface_ft2232h.v)
+  - Real-time range-Doppler magnitude heatmap (64x32)
+  - CFAR detection overlay (flagged cells highlighted)
+  - Range profile waterfall plot (range vs. time)
+  - Host command sender (opcodes per radar_system_top.v:
+    0x01-0x04, 0x10-0x16, 0x20-0x27, 0x30-0x31, 0xFF)
+  - Configuration panel for all radar parameters
+  - HDF5 data recording for offline analysis
+  - Mock mode for development/testing without hardware
+
+Usage:
+  python radar_dashboard.py              # Launch with mock data
+  python radar_dashboard.py --live       # Launch with FT2232H hardware
+  python radar_dashboard.py --record     # Launch with HDF5 recording
+"""
+
+import os
+import time
+import queue
+import logging
+import argparse
+import threading
+import contextlib
+from collections import deque
+
+import numpy as np
+
+import tkinter as tk
+from tkinter import ttk, filedialog
+
+import matplotlib
+matplotlib.use("TkAgg")
+from matplotlib.figure import Figure
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+
+# Import protocol layer (no GUI deps)
+from radar_protocol import (
+    RadarProtocol, FT2232HConnection, ReplayConnection,
+    DataRecorder, RadarAcquisition,
+    RadarFrame, StatusResponse,
+    NUM_RANGE_BINS, NUM_DOPPLER_BINS, WATERFALL_DEPTH,
+)
+
+logging.basicConfig(
+    level=logging.INFO,
+    format="%(asctime)s [%(levelname)s] %(message)s",
+    datefmt="%H:%M:%S",
+)
+log = logging.getLogger("radar_dashboard")
+
+
+
+# ============================================================================
+# Dashboard GUI
+# ============================================================================
+
+# Dark theme colors
+BG = "#1e1e2e"
+BG2 = "#282840"
+FG = "#cdd6f4"
+ACCENT = "#89b4fa"
+GREEN = "#a6e3a1"
+RED = "#f38ba8"
+YELLOW = "#f9e2af"
+SURFACE = "#313244"
+
+
+class RadarDashboard:
+    """Main tkinter application: real-time radar visualization and control."""
+
+    UPDATE_INTERVAL_MS = 100  # 10 Hz display refresh
+
+    # Radar parameters used for range-axis scaling.
+    BANDWIDTH = 500e6        # Hz — chirp bandwidth
+    C = 3e8                  # m/s — speed of light
+
+    def __init__(self, root: tk.Tk, connection: FT2232HConnection,
+                 recorder: DataRecorder, device_index: int = 0):
+        self.root = root
+        self.conn = connection
+        self.recorder = recorder
+        self.device_index = device_index
+
+        self.root.title("AERIS-10 Radar Dashboard")
+        self.root.geometry("1600x950")
+        self.root.configure(bg=BG)
+
+        # Frame queue (acquisition → display)
+        self.frame_queue: queue.Queue[RadarFrame] = queue.Queue(maxsize=8)
+        self._acq_thread: RadarAcquisition | None = None
+
+        # Display state
+        self._current_frame = RadarFrame()
+        self._waterfall = deque(maxlen=WATERFALL_DEPTH)
+        for _ in range(WATERFALL_DEPTH):
+            self._waterfall.append(np.zeros(NUM_RANGE_BINS))
+
+        self._frame_count = 0
+        self._fps_ts = time.time()
+        self._fps = 0.0
+
+        # Stable colorscale — exponential moving average of vmax
+        self._vmax_ema = 1000.0
+        self._vmax_alpha = 0.15  # smoothing factor (lower = more stable)
+
+        self._build_ui()
+        self._schedule_update()
+
+    # ------------------------------------------------------------------ UI
+    def _build_ui(self):
+        style = ttk.Style()
+        style.theme_use("clam")
+        style.configure(".", background=BG, foreground=FG, fieldbackground=SURFACE)
+        style.configure("TFrame", background=BG)
+        style.configure("TLabel", background=BG, foreground=FG)
+        style.configure("TButton", background=SURFACE, foreground=FG)
+        style.configure("TLabelframe", background=BG, foreground=ACCENT)
+        style.configure("TLabelframe.Label", background=BG, foreground=ACCENT)
+        style.configure("Accent.TButton", background=ACCENT, foreground=BG)
+        style.configure("TNotebook", background=BG)
+        style.configure("TNotebook.Tab", background=SURFACE, foreground=FG,
+                         padding=[12, 4])
+        style.map("TNotebook.Tab", background=[("selected", ACCENT)],
+                  foreground=[("selected", BG)])
+
+        # Top bar
+        top = ttk.Frame(self.root)
+        top.pack(fill="x", padx=8, pady=(8, 0))
+
+        self.lbl_status = ttk.Label(top, text="DISCONNECTED", foreground=RED,
+                                     font=("Menlo", 11, "bold"))
+        self.lbl_status.pack(side="left", padx=8)
+
+        self.lbl_fps = ttk.Label(top, text="0.0 fps", font=("Menlo", 10))
+        self.lbl_fps.pack(side="left", padx=16)
+
+        self.lbl_detections = ttk.Label(top, text="Det: 0", font=("Menlo", 10))
+        self.lbl_detections.pack(side="left", padx=16)
+
+        self.lbl_frame = ttk.Label(top, text="Frame: 0", font=("Menlo", 10))
+        self.lbl_frame.pack(side="left", padx=16)
+
+        self.btn_connect = ttk.Button(top, text="Connect",
+                                       command=self._on_connect,
+                                       style="Accent.TButton")
+        self.btn_connect.pack(side="right", padx=4)
+
+        self.btn_record = ttk.Button(top, text="Record", command=self._on_record)
+        self.btn_record.pack(side="right", padx=4)
+
+        # -- Tabbed notebook layout --
+        nb = ttk.Notebook(self.root)
+        nb.pack(fill="both", expand=True, padx=8, pady=8)
+
+        tab_display = ttk.Frame(nb)
+        tab_control = ttk.Frame(nb)
+        tab_log = ttk.Frame(nb)
+        nb.add(tab_display, text="  Display  ")
+        nb.add(tab_control, text="  Control  ")
+        nb.add(tab_log, text="  Log  ")
+
+        self._build_display_tab(tab_display)
+        self._build_control_tab(tab_control)
+        self._build_log_tab(tab_log)
+
+    def _build_display_tab(self, parent):
+        # Compute physical axis limits
+        # Range resolution: dR = c / (2 * BW) per range bin
+        # But we decimate 1024→64 bins, so each bin spans 16 FFT bins.
+        # Range resolution derivation: c/(2*BW) gives ~0.3 m per FFT bin.
+        # After 1024-to-64 decimation each displayed range bin spans 16 FFT bins.
+        range_res = self.C / (2.0 * self.BANDWIDTH)  # ~0.3 m per FFT bin
+        # After decimation 1024→64, each range bin = 16 FFT bins
+        range_per_bin = range_res * 16
+        max_range = range_per_bin * NUM_RANGE_BINS
+
+        doppler_bin_lo = 0
+        doppler_bin_hi = NUM_DOPPLER_BINS
+
+        # Matplotlib figure with 3 subplots
+        self.fig = Figure(figsize=(14, 7), facecolor=BG)
+        self.fig.subplots_adjust(left=0.07, right=0.98, top=0.94, bottom=0.10,
+                                  wspace=0.30, hspace=0.35)
+
+        # Range-Doppler heatmap
+        self.ax_rd = self.fig.add_subplot(1, 3, (1, 2))
+        self.ax_rd.set_facecolor(BG2)
+        self._rd_img = self.ax_rd.imshow(
+            np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS)),
+            aspect="auto", cmap="inferno", origin="lower",
+            extent=[doppler_bin_lo, doppler_bin_hi, 0, max_range],
+            vmin=0, vmax=1000,
+        )
+        self.ax_rd.set_title("Range-Doppler Map", color=FG, fontsize=12)
+        self.ax_rd.set_xlabel("Doppler Bin (0-15: long PRI, 16-31: short PRI)", color=FG)
+        self.ax_rd.set_ylabel("Range (m)", color=FG)
+        self.ax_rd.tick_params(colors=FG)
+
+        # Save axis limits for coordinate conversions
+        self._max_range = max_range
+        self._range_per_bin = range_per_bin
+
+        # CFAR detection overlay (scatter)
+        self._det_scatter = self.ax_rd.scatter([], [], s=30, c=GREEN,
+                                                marker="x", linewidths=1.5,
+                                                zorder=5, label="CFAR Det")
+
+        # Waterfall plot (range profile vs time)
+        self.ax_wf = self.fig.add_subplot(1, 3, 3)
+        self.ax_wf.set_facecolor(BG2)
+        wf_init = np.zeros((WATERFALL_DEPTH, NUM_RANGE_BINS))
+        self._wf_img = self.ax_wf.imshow(
+            wf_init, aspect="auto", cmap="viridis", origin="lower",
+            extent=[0, max_range, 0, WATERFALL_DEPTH],
+            vmin=0, vmax=5000,
+        )
+        self.ax_wf.set_title("Range Waterfall", color=FG, fontsize=12)
+        self.ax_wf.set_xlabel("Range (m)", color=FG)
+        self.ax_wf.set_ylabel("Frame", color=FG)
+        self.ax_wf.tick_params(colors=FG)
+
+        canvas = FigureCanvasTkAgg(self.fig, master=parent)
+        canvas.draw()
+        canvas.get_tk_widget().pack(fill="both", expand=True)
+        self._canvas = canvas
+
+    def _build_control_tab(self, parent):
+        """Host command sender — organized by FPGA register groups.
+
+        Layout: scrollable canvas with three columns:
+          Left:   Quick Actions + Diagnostics (self-test)
+          Center: Waveform Timing + Signal Processing
+          Right:  Detection (CFAR) + Custom Command
+        """
+        # Scrollable wrapper for small screens
+        canvas = tk.Canvas(parent, bg=BG, highlightthickness=0)
+        scrollbar = ttk.Scrollbar(parent, orient="vertical", command=canvas.yview)
+        outer = ttk.Frame(canvas)
+        outer.bind("<Configure>",
+                   lambda _e: canvas.configure(scrollregion=canvas.bbox("all")))
+        canvas.create_window((0, 0), window=outer, anchor="nw")
+        canvas.configure(yscrollcommand=scrollbar.set)
+        canvas.pack(side="left", fill="both", expand=True, padx=8, pady=8)
+        scrollbar.pack(side="right", fill="y")
+
+        self._param_vars: dict[str, tk.StringVar] = {}
+
+        # ── Left column: Quick Actions + Diagnostics ──────────────────
+        left = ttk.Frame(outer)
+        left.grid(row=0, column=0, sticky="nsew", padx=(0, 6))
+
+        # -- Radar Operation --
+        grp_op = ttk.LabelFrame(left, text="Radar Operation", padding=10)
+        grp_op.pack(fill="x", pady=(0, 8))
+
+        ttk.Button(grp_op, text="Radar Mode On",
+                   command=lambda: self._send_cmd(0x01, 1)).pack(fill="x", pady=2)
+        ttk.Button(grp_op, text="Radar Mode Off",
+                   command=lambda: self._send_cmd(0x01, 0)).pack(fill="x", pady=2)
+        ttk.Button(grp_op, text="Trigger Chirp",
+                   command=lambda: self._send_cmd(0x02, 1)).pack(fill="x", pady=2)
+
+        # Stream Control (3-bit mask)
+        sc_row = ttk.Frame(grp_op)
+        sc_row.pack(fill="x", pady=2)
+        ttk.Label(sc_row, text="Stream Control").pack(side="left")
+        var_sc = tk.StringVar(value="7")
+        self._param_vars["4"] = var_sc
+        ttk.Entry(sc_row, textvariable=var_sc, width=6).pack(side="left", padx=6)
+        ttk.Label(sc_row, text="0-7", foreground=ACCENT,
+                  font=("Menlo", 9)).pack(side="left")
+        ttk.Button(sc_row, text="Set",
+                   command=lambda: self._send_validated(
+                       0x04, var_sc, bits=3)).pack(side="right")
+
+        ttk.Button(grp_op, text="Request Status",
+                   command=lambda: self._send_cmd(0xFF, 0)).pack(fill="x", pady=2)
+
+        # -- Signal Processing --
+        grp_sp = ttk.LabelFrame(left, text="Signal Processing", padding=10)
+        grp_sp.pack(fill="x", pady=(0, 8))
+
+        sp_params = [
+            # Format: label, opcode, default, bits, hint
+            ("Detect Threshold",  0x03, "10000", 16, "0-65535"),
+            ("Gain Shift",        0x16, "0",     4,  "0-15, dir+shift"),
+            ("MTI Enable",        0x26, "0",     1,  "0=off, 1=on"),
+            ("DC Notch Width",    0x27, "0",     3,  "0-7 bins"),
+        ]
+        for label, opcode, default, bits, hint in sp_params:
+            self._add_param_row(grp_sp, label, opcode, default, bits, hint)
+
+        # MTI quick toggle
+        mti_row = ttk.Frame(grp_sp)
+        mti_row.pack(fill="x", pady=2)
+        ttk.Button(mti_row, text="Enable MTI",
+                   command=lambda: self._send_cmd(0x26, 1)).pack(
+                       side="left", expand=True, fill="x", padx=(0, 2))
+        ttk.Button(mti_row, text="Disable MTI",
+                   command=lambda: self._send_cmd(0x26, 0)).pack(
+                       side="left", expand=True, fill="x", padx=(2, 0))
+
+        # -- Diagnostics --
+        grp_diag = ttk.LabelFrame(left, text="Diagnostics", padding=10)
+        grp_diag.pack(fill="x", pady=(0, 8))
+
+        ttk.Button(grp_diag, text="Run Self-Test",
+                   command=lambda: self._send_cmd(0x30, 1)).pack(fill="x", pady=2)
+        ttk.Button(grp_diag, text="Read Self-Test Result",
+                   command=lambda: self._send_cmd(0x31, 0)).pack(fill="x", pady=2)
+
+        st_frame = ttk.LabelFrame(grp_diag, text="Self-Test Results", padding=6)
+        st_frame.pack(fill="x", pady=(4, 0))
+        self._st_labels = {}
+        for name, default_text in [
+            ("busy", "Busy: --"),
+            ("flags", "Flags: -----"),
+            ("detail", "Detail: 0x--"),
+            ("t0", "T0 BRAM: --"),
+            ("t1", "T1 CIC:  --"),
+            ("t2", "T2 FFT:  --"),
+            ("t3", "T3 Arith: --"),
+            ("t4", "T4 ADC:  --"),
+        ]:
+            lbl = ttk.Label(st_frame, text=default_text, font=("Menlo", 9))
+            lbl.pack(anchor="w")
+            self._st_labels[name] = lbl
+
+        # ── Center column: Waveform Timing ────────────────────────────
+        center = ttk.Frame(outer)
+        center.grid(row=0, column=1, sticky="nsew", padx=6)
+
+        grp_wf = ttk.LabelFrame(center, text="Waveform Timing", padding=10)
+        grp_wf.pack(fill="x", pady=(0, 8))
+
+        wf_params = [
+            #  label                  opcode  default  bits  hint                  min   max
+            ("Long Chirp Cycles",   0x10, "3000",  16, "0-65535, rst=3000",   0,    None),
+            ("Long Listen Cycles",  0x11, "13700", 16, "0-65535, rst=13700",  0,    None),
+            ("Guard Cycles",        0x12, "17540", 16, "0-65535, rst=17540",  0,    None),
+            ("Short Chirp Cycles",  0x13, "50",    16, "0-65535, rst=50",     0,    None),
+            ("Short Listen Cycles", 0x14, "17450", 16, "0-65535, rst=17450",  0,    None),
+            ("Chirps Per Elevation", 0x15, "32",    6, "1-32, clamped",       1,    32),
+        ]
+        for label, opcode, default, bits, hint, min_v, max_v in wf_params:
+            self._add_param_row(grp_wf, label, opcode, default, bits, hint,
+                                min_val=min_v, max_val=max_v)
+
+        # ── Right column: Detection (CFAR) + Custom ───────────────────
+        right = ttk.Frame(outer)
+        right.grid(row=0, column=2, sticky="nsew", padx=(6, 0))
+
+        grp_cfar = ttk.LabelFrame(right, text="Detection (CFAR)", padding=10)
+        grp_cfar.pack(fill="x", pady=(0, 8))
+
+        cfar_params = [
+            ("CFAR Enable",       0x25, "0",  1,  "0=off, 1=on"),
+            ("CFAR Guard Cells",  0x21, "2",  4,  "0-15, rst=2"),
+            ("CFAR Train Cells",  0x22, "8",  5,  "1-31, rst=8"),
+            ("CFAR Alpha (Q4.4)", 0x23, "48", 8,  "0-255, rst=0x30=3.0"),
+            ("CFAR Mode",         0x24, "0",  2,  "0=CA 1=GO 2=SO"),
+        ]
+        for label, opcode, default, bits, hint in cfar_params:
+            self._add_param_row(grp_cfar, label, opcode, default, bits, hint)
+
+        # CFAR quick toggle
+        cfar_row = ttk.Frame(grp_cfar)
+        cfar_row.pack(fill="x", pady=2)
+        ttk.Button(cfar_row, text="Enable CFAR",
+                   command=lambda: self._send_cmd(0x25, 1)).pack(
+                       side="left", expand=True, fill="x", padx=(0, 2))
+        ttk.Button(cfar_row, text="Disable CFAR",
+                   command=lambda: self._send_cmd(0x25, 0)).pack(
+                       side="left", expand=True, fill="x", padx=(2, 0))
+
+        # ── Custom Command (advanced / debug) ─────────────────────────
+        grp_cust = ttk.LabelFrame(right, text="Custom Command", padding=10)
+        grp_cust.pack(fill="x", pady=(0, 8))
+
+        r0 = ttk.Frame(grp_cust)
+        r0.pack(fill="x", pady=2)
+        ttk.Label(r0, text="Opcode (hex)").pack(side="left")
+        self._custom_op = tk.StringVar(value="01")
+        ttk.Entry(r0, textvariable=self._custom_op, width=8).pack(
+            side="left", padx=6)
+
+        r1 = ttk.Frame(grp_cust)
+        r1.pack(fill="x", pady=2)
+        ttk.Label(r1, text="Value (dec)").pack(side="left")
+        self._custom_val = tk.StringVar(value="0")
+        ttk.Entry(r1, textvariable=self._custom_val, width=8).pack(
+            side="left", padx=6)
+
+        ttk.Button(grp_cust, text="Send",
+                   command=self._send_custom).pack(fill="x", pady=2)
+
+        # Column weights
+        outer.columnconfigure(0, weight=1)
+        outer.columnconfigure(1, weight=1)
+        outer.columnconfigure(2, weight=1)
+        outer.rowconfigure(0, weight=1)
+
+    def _add_param_row(self, parent, label: str, opcode: int,
+                       default: str, bits: int, hint: str,
+                       min_val: int = 0, max_val: int | None = None):
+        """Add a single parameter row: label, entry, hint, Set button with validation."""
+        row = ttk.Frame(parent)
+        row.pack(fill="x", pady=2)
+        ttk.Label(row, text=label).pack(side="left")
+        var = tk.StringVar(value=default)
+        self._param_vars[str(opcode)] = var
+        ttk.Entry(row, textvariable=var, width=8).pack(side="left", padx=6)
+        ttk.Label(row, text=hint, foreground=ACCENT,
+                  font=("Menlo", 9)).pack(side="left")
+        ttk.Button(row, text="Set",
+                   command=lambda: self._send_validated(
+                       opcode, var, bits=bits,
+                       min_val=min_val, max_val=max_val)).pack(side="right")
+
+    def _send_validated(self, opcode: int, var: tk.StringVar, bits: int,
+                        min_val: int = 0, max_val: int | None = None):
+        """Parse, clamp to [min_val, max_val], send command, and update the entry."""
+        try:
+            raw = int(var.get())
+        except ValueError:
+            log.error(f"Invalid value for opcode 0x{opcode:02X}: {var.get()!r}")
+            return
+        ceiling = (1 << bits) - 1 if max_val is None else max_val
+        clamped = max(min_val, min(raw, ceiling))
+        if clamped != raw:
+            log.warning(f"Value {raw} clamped to {clamped} "
+                        f"(range {min_val}-{ceiling}) for opcode 0x{opcode:02X}")
+            var.set(str(clamped))
+        self._send_cmd(opcode, clamped)
+
+    def _build_log_tab(self, parent):
+        self.log_text = tk.Text(parent, bg=BG2, fg=FG, font=("Menlo", 10),
+                                 insertbackground=FG, wrap="word")
+        self.log_text.pack(fill="both", expand=True, padx=8, pady=8)
+
+        # Redirect log handler to text widget
+        handler = _TextHandler(self.log_text)
+        handler.setFormatter(logging.Formatter("%(asctime)s [%(levelname)s] %(message)s",
+                                                datefmt="%H:%M:%S"))
+        logging.getLogger().addHandler(handler)
+
+    # ------------------------------------------------------------ Actions
+    def _on_connect(self):
+        if self.conn.is_open:
+            # Disconnect
+            if self._acq_thread is not None:
+                self._acq_thread.stop()
+                self._acq_thread.join(timeout=2)
+                self._acq_thread = None
+            self.conn.close()
+            self.lbl_status.config(text="DISCONNECTED", foreground=RED)
+            self.btn_connect.config(text="Connect")
+            log.info("Disconnected")
+            return
+
+        # Open connection in a background thread to avoid blocking the GUI
+        self.lbl_status.config(text="CONNECTING...", foreground=YELLOW)
+        self.btn_connect.config(state="disabled")
+        self.root.update_idletasks()
+
+        def _do_connect():
+            ok = self.conn.open(self.device_index)
+            # Schedule UI update back on the main thread
+            self.root.after(0, lambda: self._on_connect_done(ok))
+
+        threading.Thread(target=_do_connect, daemon=True).start()
+
+    def _on_connect_done(self, success: bool):
+        """Called on main thread after connection attempt completes."""
+        self.btn_connect.config(state="normal")
+        if success:
+            self.lbl_status.config(text="CONNECTED", foreground=GREEN)
+            self.btn_connect.config(text="Disconnect")
+            self._acq_thread = RadarAcquisition(
+                self.conn, self.frame_queue, self.recorder,
+                status_callback=self._on_status_received)
+            self._acq_thread.start()
+            log.info("Connected and acquisition started")
+        else:
+            self.lbl_status.config(text="CONNECT FAILED", foreground=RED)
+            self.btn_connect.config(text="Connect")
+
+    def _on_record(self):
+        if self.recorder.recording:
+            self.recorder.stop()
+            self.btn_record.config(text="Record")
+            return
+
+        filepath = filedialog.asksaveasfilename(
+            defaultextension=".h5",
+            filetypes=[("HDF5", "*.h5"), ("All", "*.*")],
+            initialfile=f"radar_{time.strftime('%Y%m%d_%H%M%S')}.h5",
+        )
+        if filepath:
+            self.recorder.start(filepath)
+            self.btn_record.config(text="Stop Rec")
+
+    def _send_cmd(self, opcode: int, value: int):
+        cmd = RadarProtocol.build_command(opcode, value)
+        ok = self.conn.write(cmd)
+        log.info(f"CMD 0x{opcode:02X} val={value} ({'OK' if ok else 'FAIL'})")
+
+    def _send_custom(self):
+        try:
+            op = int(self._custom_op.get(), 16)
+            val = int(self._custom_val.get())
+            self._send_cmd(op, val)
+        except ValueError:
+            log.error("Invalid custom command values")
+
+    def _on_status_received(self, status: StatusResponse):
+        """Called from acquisition thread — schedule UI update on main thread."""
+        self.root.after(0, self._update_self_test_labels, status)
+
+    def _update_self_test_labels(self, status: StatusResponse):
+        """Update the self-test result labels from a StatusResponse."""
+        if not hasattr(self, '_st_labels'):
+            return
+        flags = status.self_test_flags
+        detail = status.self_test_detail
+        busy = status.self_test_busy
+
+        busy_str = "RUNNING" if busy else "IDLE"
+        busy_color = YELLOW if busy else FG
+        self._st_labels["busy"].config(text=f"Busy: {busy_str}",
+                                        foreground=busy_color)
+        self._st_labels["flags"].config(text=f"Flags: {flags:05b}")
+        self._st_labels["detail"].config(text=f"Detail: 0x{detail:02X}")
+
+        # Individual test results (bit = 1 means PASS)
+        test_names = [
+            ("t0", "T0 BRAM"),
+            ("t1", "T1 CIC"),
+            ("t2", "T2 FFT"),
+            ("t3", "T3 Arith"),
+            ("t4", "T4 ADC"),
+        ]
+        for i, (key, name) in enumerate(test_names):
+            if busy:
+                result_str = "..."
+                color = YELLOW
+            elif flags & (1 << i):
+                result_str = "PASS"
+                color = GREEN
+            else:
+                result_str = "FAIL"
+                color = RED
+            self._st_labels[key].config(
+                text=f"{name}: {result_str}", foreground=color)
+
+    # --------------------------------------------------------- Display loop
+    def _schedule_update(self):
+        self._update_display()
+        self.root.after(self.UPDATE_INTERVAL_MS, self._schedule_update)
+
+    def _update_display(self):
+        """Pull latest frame from queue and update plots."""
+        frame = None
+        # Drain queue, keep latest
+        while True:
+            try:
+                frame = self.frame_queue.get_nowait()
+            except queue.Empty:
+                break
+
+        if frame is None:
+            return
+
+        self._current_frame = frame
+        self._frame_count += 1
+
+        # FPS calculation
+        now = time.time()
+        dt = now - self._fps_ts
+        if dt > 0.5:
+            self._fps = self._frame_count / dt
+            self._frame_count = 0
+            self._fps_ts = now
+
+        # Update labels
+        self.lbl_fps.config(text=f"{self._fps:.1f} fps")
+        self.lbl_detections.config(text=f"Det: {frame.detection_count}")
+        self.lbl_frame.config(text=f"Frame: {frame.frame_number}")
+
+        # Update range-Doppler heatmap in raw dual-subframe bin order
+        mag = frame.magnitude
+        det_shifted = frame.detections
+
+        # Stable colorscale via EMA smoothing of vmax
+        frame_vmax = float(np.max(mag)) if np.max(mag) > 0 else 1.0
+        self._vmax_ema = (self._vmax_alpha * frame_vmax +
+                          (1.0 - self._vmax_alpha) * self._vmax_ema)
+        stable_vmax = max(self._vmax_ema, 1.0)
+
+        self._rd_img.set_data(mag)
+        self._rd_img.set_clim(vmin=0, vmax=stable_vmax)
+
+        # Update CFAR overlay in raw Doppler-bin coordinates
+        det_coords = np.argwhere(det_shifted > 0)
+        if len(det_coords) > 0:
+            # det_coords[:, 0] = range bin, det_coords[:, 1] = Doppler bin
+            range_m = (det_coords[:, 0] + 0.5) * self._range_per_bin
+            doppler_bins = det_coords[:, 1] + 0.5
+            offsets = np.column_stack([doppler_bins, range_m])
+            self._det_scatter.set_offsets(offsets)
+        else:
+            self._det_scatter.set_offsets(np.empty((0, 2)))
+
+        # Update waterfall
+        self._waterfall.append(frame.range_profile.copy())
+        wf_arr = np.array(list(self._waterfall))
+        wf_max = max(np.max(wf_arr), 1.0)
+        self._wf_img.set_data(wf_arr)
+        self._wf_img.set_clim(vmin=0, vmax=wf_max)
+
+        self._canvas.draw_idle()
+
+
+class _TextHandler(logging.Handler):
+    """Logging handler that writes to a tkinter Text widget."""
+
+    def __init__(self, text_widget: tk.Text):
+        super().__init__()
+        self._text = text_widget
+
+    def emit(self, record):
+        msg = self.format(record)
+        with contextlib.suppress(Exception):
+            self._text.after(0, self._append, msg)
+
+    def _append(self, msg: str):
+        self._text.insert("end", msg + "\n")
+        self._text.see("end")
+        # Keep last 500 lines
+        lines = int(self._text.index("end-1c").split(".")[0])
+        if lines > 500:
+            self._text.delete("1.0", f"{lines - 500}.0")
+
+
+# ============================================================================
+# Entry Point
+# ============================================================================
+
+def main():
+    parser = argparse.ArgumentParser(description="AERIS-10 Radar Dashboard")
+    parser.add_argument("--live", action="store_true",
+                        help="Use real FT2232H hardware (default: mock mode)")
+    parser.add_argument("--replay", type=str, metavar="NPY_DIR",
+                        help="Replay real data from .npy directory "
+                             "(e.g. tb/cosim/real_data/hex/)")
+    parser.add_argument("--no-mti", action="store_true",
+                        help="With --replay, use non-MTI Doppler data")
+    parser.add_argument("--record", action="store_true",
+                        help="Start HDF5 recording immediately")
+    parser.add_argument("--device", type=int, default=0,
+                        help="FT2232H device index (default: 0)")
+    args = parser.parse_args()
+
+    if args.replay:
+        npy_dir = os.path.abspath(args.replay)
+        conn = ReplayConnection(npy_dir, use_mti=not args.no_mti)
+        mode_str = f"REPLAY ({npy_dir}, MTI={'OFF' if args.no_mti else 'ON'})"
+    elif args.live:
+        conn = FT2232HConnection(mock=False)
+        mode_str = "LIVE"
+    else:
+        conn = FT2232HConnection(mock=True)
+        mode_str = "MOCK"
+
+    recorder = DataRecorder()
+
+    root = tk.Tk()
+
+    dashboard = RadarDashboard(root, conn, recorder, device_index=args.device)
+
+    if args.record:
+        filepath = os.path.join(
+            os.getcwd(),
+            f"radar_{time.strftime('%Y%m%d_%H%M%S')}.h5"
+        )
+        recorder.start(filepath)
+
+    def on_closing():
+        if dashboard._acq_thread is not None:
+            dashboard._acq_thread.stop()
+            dashboard._acq_thread.join(timeout=2)
+        if conn.is_open:
+            conn.close()
+        if recorder.recording:
+            recorder.stop()
+        root.destroy()
+
+    root.protocol("WM_DELETE_WINDOW", on_closing)
+
+    log.info(f"Dashboard started (mode={mode_str})")
+    root.mainloop()
+
+
+if __name__ == "__main__":
+    main()

9_Firmware/9_3_GUI/radar_protocol.py

@@ -15,6 +15,7 @@ USB Packet Protocol (11-byte):
     Command: 4 bytes received sequentially {opcode, addr, value_hi, value_lo}
 """
 
+import os
 import struct
 import time
 import threading
@@ -58,9 +59,9 @@ class Opcode(IntEnum):
         0x03  host_detect_threshold  0x16  host_gain_shift
         0x04  host_stream_control    0x20  host_range_mode
         0x10  host_long_chirp_cycles 0x21-0x27  CFAR / MTI / DC-notch
-        0x11  host_long_listen_cycles 0x28-0x2C  AGC control
+        0x11  host_long_listen_cycles 0x30  host_self_test_trigger
-        0x12  host_guard_cycles      0x30  host_self_test_trigger
+        0x12  host_guard_cycles      0x31  host_status_request
-        0x13  host_short_chirp_cycles 0x31/0xFF  host_status_request
+        0x13  host_short_chirp_cycles 0xFF  host_status_request
     """
     # --- Basic control (0x01-0x04) ---
     RADAR_MODE          = 0x01  # 2-bit mode select
@@ -89,13 +90,6 @@ class Opcode(IntEnum):
     MTI_ENABLE          = 0x26
     DC_NOTCH_WIDTH      = 0x27
 
-    # --- AGC (0x28-0x2C) ---
-    AGC_ENABLE          = 0x28
-    AGC_TARGET          = 0x29
-    AGC_ATTACK          = 0x2A
-    AGC_DECAY           = 0x2B
-    AGC_HOLDOFF         = 0x2C
-
     # --- Board self-test / status (0x30-0x31, 0xFF) ---
     SELF_TEST_TRIGGER   = 0x30
     SELF_TEST_STATUS    = 0x31
@@ -141,11 +135,6 @@ class StatusResponse:
     self_test_flags: int = 0     # 5-bit result flags [4:0]
     self_test_detail: int = 0    # 8-bit detail code [7:0]
     self_test_busy: int = 0      # 1-bit busy flag
-    # AGC metrics (word 4, added for hybrid AGC)
-    agc_current_gain: int = 0    # 4-bit current gain encoding [3:0]
-    agc_peak_magnitude: int = 0  # 8-bit peak magnitude [7:0]
-    agc_saturation_count: int = 0  # 8-bit saturation count [7:0]
-    agc_enable: int = 0          # 1-bit AGC enable readback
 
 
 # ============================================================================
@@ -243,13 +232,8 @@ class RadarProtocol:
         # Word 3: {short_listen[31:16], 10'd0, chirps_per_elev[5:0]}
         sr.chirps_per_elev = words[3] & 0x3F
         sr.short_listen = (words[3] >> 16) & 0xFFFF
-        # Word 4: {agc_current_gain[31:28], agc_peak_magnitude[27:20],
+        # Word 4: {30'd0, range_mode[1:0]}
-        #          agc_saturation_count[19:12], agc_enable[11], 9'd0, range_mode[1:0]}
         sr.range_mode = words[4] & 0x03
-        sr.agc_enable = (words[4] >> 11) & 0x01
-        sr.agc_saturation_count = (words[4] >> 12) & 0xFF
-        sr.agc_peak_magnitude = (words[4] >> 20) & 0xFF
-        sr.agc_current_gain = (words[4] >> 28) & 0x0F
         # Word 5: {7'd0, self_test_busy, 8'd0, self_test_detail[7:0],
         #           3'd0, self_test_flags[4:0]}
         sr.self_test_flags = words[5] & 0x1F
@@ -442,7 +426,377 @@ class FT2232HConnection:
         return bytes(buf)
 
 
+# ============================================================================
+# Replay Connection — feed real .npy data through the dashboard
+# ============================================================================
 
+# Hardware-only opcodes that cannot be adjusted in replay mode
+# Values must match radar_system_top.v case(usb_cmd_opcode).
+_HARDWARE_ONLY_OPCODES = {
+    0x01,  # RADAR_MODE
+    0x02,  # TRIGGER_PULSE
+    0x03,  # DETECT_THRESHOLD
+    0x04,  # STREAM_CONTROL
+    0x10,  # LONG_CHIRP
+    0x11,  # LONG_LISTEN
+    0x12,  # GUARD
+    0x13,  # SHORT_CHIRP
+    0x14,  # SHORT_LISTEN
+    0x15,  # CHIRPS_PER_ELEV
+    0x16,  # GAIN_SHIFT
+    0x20,  # RANGE_MODE
+    0x30,  # SELF_TEST_TRIGGER
+    0x31,  # SELF_TEST_STATUS
+    0xFF,  # STATUS_REQUEST
+}
+
+# Replay-adjustable opcodes (re-run signal processing)
+_REPLAY_ADJUSTABLE_OPCODES = {
+    0x21,  # CFAR_GUARD
+    0x22,  # CFAR_TRAIN
+    0x23,  # CFAR_ALPHA
+    0x24,  # CFAR_MODE
+    0x25,  # CFAR_ENABLE
+    0x26,  # MTI_ENABLE
+    0x27,  # DC_NOTCH_WIDTH
+}
+
+
+def _saturate(val: int, bits: int) -> int:
+    """Saturate signed value to fit in 'bits' width."""
+    max_pos = (1 << (bits - 1)) - 1
+    max_neg = -(1 << (bits - 1))
+    return max(max_neg, min(max_pos, int(val)))
+
+
+def _replay_dc_notch(doppler_i: np.ndarray, doppler_q: np.ndarray,
+                     width: int) -> tuple[np.ndarray, np.ndarray]:
+    """Bit-accurate DC notch filter (matches radar_system_top.v inline).
+
+    Dual sub-frame notch: doppler_bin[4:0] = {sub_frame, bin[3:0]}.
+    Each 16-bin sub-frame has its own DC at bin 0, so we zero bins
+    where ``bin_within_sf < width`` or ``bin_within_sf > (15 - width + 1)``.
+    """
+    out_i = doppler_i.copy()
+    out_q = doppler_q.copy()
+    if width == 0:
+        return out_i, out_q
+    n_doppler = doppler_i.shape[1]
+    for dbin in range(n_doppler):
+        bin_within_sf = dbin & 0xF
+        if bin_within_sf < width or bin_within_sf > (15 - width + 1):
+            out_i[:, dbin] = 0
+            out_q[:, dbin] = 0
+    return out_i, out_q
+
+
+def _replay_cfar(doppler_i: np.ndarray, doppler_q: np.ndarray,
+                 guard: int, train: int, alpha_q44: int,
+                 mode: int) -> tuple[np.ndarray, np.ndarray]:
+    """
+    Bit-accurate CA-CFAR detector (matches cfar_ca.v).
+    Returns (detect_flags, magnitudes) both (64, 32).
+    """
+    ALPHA_FRAC_BITS = 4
+    n_range, n_doppler = doppler_i.shape
+    if train == 0:
+        train = 1
+
+    # Compute magnitudes: |I| + |Q| (17-bit unsigned L1 norm)
+    magnitudes = np.zeros((n_range, n_doppler), dtype=np.int64)
+    for r in range(n_range):
+        for d in range(n_doppler):
+            i_val = int(doppler_i[r, d])
+            q_val = int(doppler_q[r, d])
+            abs_i = (-i_val) & 0xFFFF if i_val < 0 else i_val & 0xFFFF
+            abs_q = (-q_val) & 0xFFFF if q_val < 0 else q_val & 0xFFFF
+            magnitudes[r, d] = abs_i + abs_q
+
+    detect_flags = np.zeros((n_range, n_doppler), dtype=np.bool_)
+    MAX_MAG = (1 << 17) - 1
+
+    mode_names = {0: 'CA', 1: 'GO', 2: 'SO'}
+    mode_str = mode_names.get(mode, 'CA')
+
+    for dbin in range(n_doppler):
+        col = magnitudes[:, dbin]
+        for cut in range(n_range):
+            lead_sum, lead_cnt = 0, 0
+            for t in range(1, train + 1):
+                idx = cut - guard - t
+                if 0 <= idx < n_range:
+                    lead_sum += int(col[idx])
+                    lead_cnt += 1
+            lag_sum, lag_cnt = 0, 0
+            for t in range(1, train + 1):
+                idx = cut + guard + t
+                if 0 <= idx < n_range:
+                    lag_sum += int(col[idx])
+                    lag_cnt += 1
+
+            if mode_str == 'CA':
+                noise = lead_sum + lag_sum
+            elif mode_str == 'GO':
+                if lead_cnt > 0 and lag_cnt > 0:
+                    noise = lead_sum if lead_sum * lag_cnt > lag_sum * lead_cnt else lag_sum
+                else:
+                    noise = lead_sum if lead_cnt > 0 else lag_sum
+            elif mode_str == 'SO':
+                if lead_cnt > 0 and lag_cnt > 0:
+                    noise = lead_sum if lead_sum * lag_cnt < lag_sum * lead_cnt else lag_sum
+                else:
+                    noise = lead_sum if lead_cnt > 0 else lag_sum
+            else:
+                noise = lead_sum + lag_sum
+
+            thr = min((alpha_q44 * noise) >> ALPHA_FRAC_BITS, MAX_MAG)
+            if int(col[cut]) > thr:
+                detect_flags[cut, dbin] = True
+
+    return detect_flags, magnitudes
+
+
+class ReplayConnection:
+    """
+    Loads pre-computed .npy arrays (from golden_reference.py co-sim output)
+    and serves them as USB data packets to the dashboard, exercising the full
+    parsing pipeline with real ADI CN0566 radar data.
+
+    Signal processing parameters (CFAR guard/train/alpha/mode, MTI enable,
+    DC notch width) can be adjusted at runtime via write() — the connection
+    re-runs the bit-accurate processing pipeline and rebuilds packets.
+
+    Required npy directory layout (e.g. tb/cosim/real_data/hex/):
+      decimated_range_i.npy       (32, 64) int   — pre-Doppler range I
+      decimated_range_q.npy       (32, 64) int   — pre-Doppler range Q
+      doppler_map_i.npy           (64, 32) int   — Doppler I  (no MTI)
+      doppler_map_q.npy           (64, 32) int   — Doppler Q  (no MTI)
+      fullchain_mti_doppler_i.npy (64, 32) int   — Doppler I  (with MTI)
+      fullchain_mti_doppler_q.npy (64, 32) int   — Doppler Q  (with MTI)
+      fullchain_cfar_flags.npy    (64, 32) bool  — CFAR detections
+      fullchain_cfar_mag.npy      (64, 32) int   — CFAR |I|+|Q| magnitude
+    """
+
+    def __init__(self, npy_dir: str, use_mti: bool = True,
+                 replay_fps: float = 5.0):
+        self._npy_dir = npy_dir
+        self._use_mti = use_mti
+        self._replay_fps = max(replay_fps, 0.1)
+        self._lock = threading.Lock()
+        self.is_open = False
+        self._packets: bytes = b""
+        self._read_offset = 0
+        self._frame_len = 0
+        # Current signal-processing parameters
+        self._mti_enable: bool = use_mti
+        self._dc_notch_width: int = 2
+        self._cfar_guard: int = 2
+        self._cfar_train: int = 8
+        self._cfar_alpha: int = 0x30
+        self._cfar_mode: int = 0  # 0=CA, 1=GO, 2=SO
+        self._cfar_enable: bool = True
+        # Raw source arrays (loaded once, reprocessed on param change)
+        self._dop_mti_i: np.ndarray | None = None
+        self._dop_mti_q: np.ndarray | None = None
+        self._dop_nomti_i: np.ndarray | None = None
+        self._dop_nomti_q: np.ndarray | None = None
+        self._range_i_vec: np.ndarray | None = None
+        self._range_q_vec: np.ndarray | None = None
+        # Rebuild flag
+        self._needs_rebuild = False
+
+    def open(self, _device_index: int = 0) -> bool:
+        try:
+            self._load_arrays()
+            self._packets = self._build_packets()
+            self._frame_len = len(self._packets)
+            self._read_offset = 0
+            self.is_open = True
+            log.info(f"Replay connection opened: {self._npy_dir} "
+                     f"(MTI={'ON' if self._mti_enable else 'OFF'}, "
+                     f"{self._frame_len} bytes/frame)")
+            return True
+        except (OSError, ValueError, struct.error) as e:
+            log.error(f"Replay open failed: {e}")
+            return False
+
+    def close(self):
+        self.is_open = False
+
+    def read(self, size: int = 4096) -> bytes | None:
+        if not self.is_open:
+            return None
+        # Pace reads to target FPS (spread across ~64 reads per frame)
+        time.sleep((1.0 / self._replay_fps) / (NUM_CELLS / 32))
+        with self._lock:
+            # If params changed, rebuild packets
+            if self._needs_rebuild:
+                self._packets = self._build_packets()
+                self._frame_len = len(self._packets)
+                self._read_offset = 0
+                self._needs_rebuild = False
+            end = self._read_offset + size
+            if end <= self._frame_len:
+                chunk = self._packets[self._read_offset:end]
+                self._read_offset = end
+            else:
+                chunk = self._packets[self._read_offset:]
+                self._read_offset = 0
+            return chunk
+
+    def write(self, data: bytes) -> bool:
+        """
+        Handle host commands in replay mode.
+        Signal-processing params (CFAR, MTI, DC notch) trigger re-processing.
+        Hardware-only params are silently ignored.
+        """
+        if len(data) < 4:
+            return True
+        word = struct.unpack(">I", data[:4])[0]
+        opcode = (word >> 24) & 0xFF
+        value = word & 0xFFFF
+
+        if opcode in _REPLAY_ADJUSTABLE_OPCODES:
+            changed = False
+            with self._lock:
+                if opcode == 0x21:  # CFAR_GUARD
+                    if self._cfar_guard != value:
+                        self._cfar_guard = value
+                        changed = True
+                elif opcode == 0x22:  # CFAR_TRAIN
+                    if self._cfar_train != value:
+                        self._cfar_train = value
+                        changed = True
+                elif opcode == 0x23:  # CFAR_ALPHA
+                    if self._cfar_alpha != value:
+                        self._cfar_alpha = value
+                        changed = True
+                elif opcode == 0x24:  # CFAR_MODE
+                    if self._cfar_mode != value:
+                        self._cfar_mode = value
+                        changed = True
+                elif opcode == 0x25:  # CFAR_ENABLE
+                    new_en = bool(value)
+                    if self._cfar_enable != new_en:
+                        self._cfar_enable = new_en
+                        changed = True
+                elif opcode == 0x26:  # MTI_ENABLE
+                    new_en = bool(value)
+                    if self._mti_enable != new_en:
+                        self._mti_enable = new_en
+                        changed = True
+                elif opcode == 0x27 and self._dc_notch_width != value:  # DC_NOTCH_WIDTH
+                    self._dc_notch_width = value
+                    changed = True
+                if changed:
+                    self._needs_rebuild = True
+            if changed:
+                log.info(f"Replay param updated: opcode=0x{opcode:02X} "
+                         f"value={value} — will re-process")
+            else:
+                log.debug(f"Replay param unchanged: opcode=0x{opcode:02X} "
+                          f"value={value}")
+        elif opcode in _HARDWARE_ONLY_OPCODES:
+            log.debug(f"Replay: hardware-only opcode 0x{opcode:02X} "
+                      f"(ignored in replay mode)")
+        else:
+            log.debug(f"Replay: unknown opcode 0x{opcode:02X} (ignored)")
+        return True
+
+    def _load_arrays(self):
+        """Load source npy arrays once."""
+        npy = self._npy_dir
+        # MTI Doppler
+        self._dop_mti_i = np.load(
+            os.path.join(npy, "fullchain_mti_doppler_i.npy")).astype(np.int64)
+        self._dop_mti_q = np.load(
+            os.path.join(npy, "fullchain_mti_doppler_q.npy")).astype(np.int64)
+        # Non-MTI Doppler
+        self._dop_nomti_i = np.load(
+            os.path.join(npy, "doppler_map_i.npy")).astype(np.int64)
+        self._dop_nomti_q = np.load(
+            os.path.join(npy, "doppler_map_q.npy")).astype(np.int64)
+        # Range data
+        try:
+            range_i_all = np.load(
+                os.path.join(npy, "decimated_range_i.npy")).astype(np.int64)
+            range_q_all = np.load(
+                os.path.join(npy, "decimated_range_q.npy")).astype(np.int64)
+            self._range_i_vec = range_i_all[-1, :]  # last chirp
+            self._range_q_vec = range_q_all[-1, :]
+        except FileNotFoundError:
+            self._range_i_vec = np.zeros(NUM_RANGE_BINS, dtype=np.int64)
+            self._range_q_vec = np.zeros(NUM_RANGE_BINS, dtype=np.int64)
+
+    def _build_packets(self) -> bytes:
+        """Build a full frame of USB data packets from current params."""
+        # Select Doppler data based on MTI
+        if self._mti_enable:
+            dop_i = self._dop_mti_i
+            dop_q = self._dop_mti_q
+        else:
+            dop_i = self._dop_nomti_i
+            dop_q = self._dop_nomti_q
+
+        # Apply DC notch
+        dop_i, dop_q = _replay_dc_notch(dop_i, dop_q, self._dc_notch_width)
+
+        # Run CFAR
+        if self._cfar_enable:
+            det, _mag = _replay_cfar(
+                dop_i, dop_q,
+                guard=self._cfar_guard,
+                train=self._cfar_train,
+                alpha_q44=self._cfar_alpha,
+                mode=self._cfar_mode,
+            )
+        else:
+            det = np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS), dtype=bool)
+
+        det_count = int(det.sum())
+        log.info(f"Replay: rebuilt {NUM_CELLS} packets ("
+                 f"MTI={'ON' if self._mti_enable else 'OFF'}, "
+                 f"DC_notch={self._dc_notch_width}, "
+                 f"CFAR={'ON' if self._cfar_enable else 'OFF'} "
+                 f"G={self._cfar_guard} T={self._cfar_train} "
+                 f"a=0x{self._cfar_alpha:02X} m={self._cfar_mode}, "
+                 f"{det_count} detections)")
+
+        range_i = self._range_i_vec
+        range_q = self._range_q_vec
+
+        return self._build_packets_data(range_i, range_q, dop_i, dop_q, det)
+
+    def _build_packets_data(self, range_i, range_q, dop_i, dop_q, det) -> bytes:
+        """Build 11-byte data packets for FT2232H interface."""
+        buf = bytearray(NUM_CELLS * DATA_PACKET_SIZE)
+        pos = 0
+        for rbin in range(NUM_RANGE_BINS):
+            ri = int(np.clip(range_i[rbin], -32768, 32767))
+            rq = int(np.clip(range_q[rbin], -32768, 32767))
+            rq_bytes = struct.pack(">h", rq)
+            ri_bytes = struct.pack(">h", ri)
+            for dbin in range(NUM_DOPPLER_BINS):
+                di = int(np.clip(dop_i[rbin, dbin], -32768, 32767))
+                dq = int(np.clip(dop_q[rbin, dbin], -32768, 32767))
+                d = 1 if det[rbin, dbin] else 0
+
+                buf[pos] = HEADER_BYTE
+                pos += 1
+                buf[pos:pos+2] = rq_bytes
+                pos += 2
+                buf[pos:pos+2] = ri_bytes
+                pos += 2
+                buf[pos:pos+2] = struct.pack(">h", di)
+                pos += 2
+                buf[pos:pos+2] = struct.pack(">h", dq)
+                pos += 2
+                buf[pos] = d
+                pos += 1
+                buf[pos] = FOOTER_BYTE
+                pos += 1
+
+        return bytes(buf)
 
 
 # ============================================================================

9_Firmware/9_3_GUI/requirements_v7.txt

@@ -17,6 +17,3 @@ scipy>=1.10
 # Tracking / clustering (optional)
 scikit-learn>=1.2
 filterpy>=1.4
-
-# CRC validation (optional)
-crcmod>=1.7

9_Firmware/9_3_GUI/test_radar_dashboard.py

@@ -3,8 +3,8 @@
 Tests for AERIS-10 Radar Dashboard protocol parsing, command building,
 data recording, and acquisition logic.
 
-Run: python -m pytest test_GUI_V65_Tk.py -v
+Run: python -m pytest test_radar_dashboard.py -v
-  or: python test_GUI_V65_Tk.py
+  or: python test_radar_dashboard.py
 """
 
 import struct
@@ -19,10 +19,10 @@ from radar_protocol import (
     RadarProtocol, FT2232HConnection, DataRecorder, RadarAcquisition,
     RadarFrame, StatusResponse, Opcode,
     HEADER_BYTE, FOOTER_BYTE, STATUS_HEADER_BYTE,
-    NUM_RANGE_BINS, NUM_DOPPLER_BINS,
+    NUM_RANGE_BINS, NUM_DOPPLER_BINS, NUM_CELLS,
     DATA_PACKET_SIZE,
+    _HARDWARE_ONLY_OPCODES,
 )
-from GUI_V65_Tk import DemoTarget, DemoSimulator, _ReplayController
 
 
 class TestRadarProtocol(unittest.TestCase):
@@ -125,8 +125,7 @@ class TestRadarProtocol(unittest.TestCase):
                             long_chirp=3000, long_listen=13700,
                             guard=17540, short_chirp=50,
                             short_listen=17450, chirps=32, range_mode=0,
-                            st_flags=0, st_detail=0, st_busy=0,
+                            st_flags=0, st_detail=0, st_busy=0):
-                            agc_gain=0, agc_peak=0, agc_sat=0, agc_enable=0):
         """Build a 26-byte status response matching FPGA format (Build 26)."""
         pkt = bytearray()
         pkt.append(STATUS_HEADER_BYTE)
@@ -147,11 +146,8 @@ class TestRadarProtocol(unittest.TestCase):
         w3 = ((short_listen & 0xFFFF) << 16) | (chirps & 0x3F)
         pkt += struct.pack(">I", w3)
 
-        # Word 4: {agc_current_gain[3:0], agc_peak_magnitude[7:0],
+        # Word 4: {30'd0, range_mode[1:0]}
-        #          agc_saturation_count[7:0], agc_enable, 9'd0, range_mode[1:0]}
+        w4 = range_mode & 0x03
-        w4 = (((agc_gain & 0x0F) << 28) | ((agc_peak & 0xFF) << 20) |
-              ((agc_sat & 0xFF) << 12) | ((agc_enable & 0x01) << 11) |
-              (range_mode & 0x03))
         pkt += struct.pack(">I", w4)
 
         # Word 5: {7'd0, self_test_busy, 8'd0, self_test_detail[7:0],
@@ -459,6 +455,218 @@ class TestEndToEnd(unittest.TestCase):
         self.assertEqual(result["detection"], 1)
 
 
+class TestReplayConnection(unittest.TestCase):
+    """Test ReplayConnection with real .npy data files."""
+
+    NPY_DIR = os.path.join(
+        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
+        "real_data", "hex"
+    )
+
+    def _npy_available(self):
+        """Check if the npy data files exist."""
+        return os.path.isfile(os.path.join(self.NPY_DIR,
+                                            "fullchain_mti_doppler_i.npy"))
+
+    def test_replay_open_close(self):
+        """ReplayConnection opens and closes without error."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
+        self.assertTrue(conn.open())
+        self.assertTrue(conn.is_open)
+        conn.close()
+        self.assertFalse(conn.is_open)
+
+    def test_replay_packet_count(self):
+        """Replay builds exactly NUM_CELLS (2048) packets."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
+        conn.open()
+        # Each packet is 11 bytes, total = 2048 * 11
+        expected_bytes = NUM_CELLS * DATA_PACKET_SIZE
+        self.assertEqual(conn._frame_len, expected_bytes)
+        conn.close()
+
+    def test_replay_packets_parseable(self):
+        """Every packet from replay can be parsed by RadarProtocol."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
+        conn.open()
+        raw = conn._packets
+        boundaries = RadarProtocol.find_packet_boundaries(raw)
+        self.assertEqual(len(boundaries), NUM_CELLS)
+        parsed_count = 0
+        det_count = 0
+        for start, end, ptype in boundaries:
+            self.assertEqual(ptype, "data")
+            result = RadarProtocol.parse_data_packet(raw[start:end])
+            self.assertIsNotNone(result)
+            parsed_count += 1
+            if result["detection"]:
+                det_count += 1
+        self.assertEqual(parsed_count, NUM_CELLS)
+        # Default: MTI=ON, DC_notch=2, CFAR CA g=2 t=8 a=0x30 → 4 detections
+        self.assertEqual(det_count, 4)
+        conn.close()
+
+    def test_replay_read_loops(self):
+        """Read returns data and loops back around."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=True, replay_fps=1000)
+        conn.open()
+        total_read = 0
+        for _ in range(100):
+            chunk = conn.read(1024)
+            self.assertIsNotNone(chunk)
+            total_read += len(chunk)
+        self.assertGreater(total_read, 0)
+        conn.close()
+
+    def test_replay_no_mti(self):
+        """ReplayConnection works with use_mti=False (CFAR still runs)."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=False)
+        conn.open()
+        self.assertEqual(conn._frame_len, NUM_CELLS * DATA_PACKET_SIZE)
+        # No-MTI with DC notch=2 and default CFAR → 0 detections
+        raw = conn._packets
+        boundaries = RadarProtocol.find_packet_boundaries(raw)
+        det_count = sum(1 for s, e, t in boundaries
+                        if RadarProtocol.parse_data_packet(raw[s:e]).get("detection", 0))
+        self.assertEqual(det_count, 0)
+        conn.close()
+
+    def test_replay_write_returns_true(self):
+        """Write on replay connection returns True."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR)
+        conn.open()
+        self.assertTrue(conn.write(b"\x01\x00\x00\x01"))
+        conn.close()
+
+    def test_replay_adjustable_param_cfar_guard(self):
+        """Changing CFAR guard via write() triggers re-processing."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
+        conn.open()
+        # Initial: guard=2 → 4 detections
+        self.assertFalse(conn._needs_rebuild)
+        # Send CFAR_GUARD=4
+        cmd = RadarProtocol.build_command(0x21, 4)
+        conn.write(cmd)
+        self.assertTrue(conn._needs_rebuild)
+        self.assertEqual(conn._cfar_guard, 4)
+        # Read triggers rebuild
+        conn.read(1024)
+        self.assertFalse(conn._needs_rebuild)
+        conn.close()
+
+    def test_replay_adjustable_param_mti_toggle(self):
+        """Toggling MTI via write() triggers re-processing."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
+        conn.open()
+        # Disable MTI
+        cmd = RadarProtocol.build_command(0x26, 0)
+        conn.write(cmd)
+        self.assertTrue(conn._needs_rebuild)
+        self.assertFalse(conn._mti_enable)
+        # Read to trigger rebuild, then count detections
+        # Drain all packets after rebuild
+        conn.read(1024)  # triggers rebuild
+        raw = conn._packets
+        boundaries = RadarProtocol.find_packet_boundaries(raw)
+        det_count = sum(1 for s, e, t in boundaries
+                        if RadarProtocol.parse_data_packet(raw[s:e]).get("detection", 0))
+        # No-MTI with default CFAR → 0 detections
+        self.assertEqual(det_count, 0)
+        conn.close()
+
+    def test_replay_adjustable_param_dc_notch(self):
+        """Changing DC notch width via write() triggers re-processing."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
+        conn.open()
+        # Change DC notch to 0 (no notch)
+        cmd = RadarProtocol.build_command(0x27, 0)
+        conn.write(cmd)
+        self.assertTrue(conn._needs_rebuild)
+        self.assertEqual(conn._dc_notch_width, 0)
+        conn.read(1024)  # triggers rebuild
+        raw = conn._packets
+        boundaries = RadarProtocol.find_packet_boundaries(raw)
+        det_count = sum(1 for s, e, t in boundaries
+                        if RadarProtocol.parse_data_packet(raw[s:e]).get("detection", 0))
+        # DC notch=0 with MTI → 6 detections (more noise passes through)
+        self.assertEqual(det_count, 6)
+        conn.close()
+
+    def test_replay_hardware_opcode_ignored(self):
+        """Hardware-only opcodes don't trigger rebuild."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
+        conn.open()
+        # Send TRIGGER (hardware-only)
+        cmd = RadarProtocol.build_command(0x01, 1)
+        conn.write(cmd)
+        self.assertFalse(conn._needs_rebuild)
+        # Send STREAM_CONTROL (hardware-only, opcode 0x04)
+        cmd = RadarProtocol.build_command(0x04, 7)
+        conn.write(cmd)
+        self.assertFalse(conn._needs_rebuild)
+        conn.close()
+
+    def test_replay_same_value_no_rebuild(self):
+        """Setting same value as current doesn't trigger rebuild."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
+        conn.open()
+        # CFAR guard already 2
+        cmd = RadarProtocol.build_command(0x21, 2)
+        conn.write(cmd)
+        self.assertFalse(conn._needs_rebuild)
+        conn.close()
+
+    def test_replay_self_test_opcodes_are_hardware_only(self):
+        """Self-test opcodes 0x30/0x31 are hardware-only (ignored in replay)."""
+        if not self._npy_available():
+            self.skipTest("npy data files not found")
+        from radar_protocol import ReplayConnection
+        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
+        conn.open()
+        # Send self-test trigger
+        cmd = RadarProtocol.build_command(0x30, 1)
+        conn.write(cmd)
+        self.assertFalse(conn._needs_rebuild)
+        # Send self-test status request
+        cmd = RadarProtocol.build_command(0x31, 0)
+        conn.write(cmd)
+        self.assertFalse(conn._needs_rebuild)
+        conn.close()
+
+
 class TestOpcodeEnum(unittest.TestCase):
     """Verify Opcode enum matches RTL host register map (radar_system_top.v)."""
 
@@ -478,6 +686,15 @@ class TestOpcodeEnum(unittest.TestCase):
         """SELF_TEST_STATUS opcode must be 0x31."""
         self.assertEqual(Opcode.SELF_TEST_STATUS, 0x31)
 
+    def test_self_test_in_hardware_only(self):
+        """Self-test opcodes must be in _HARDWARE_ONLY_OPCODES."""
+        self.assertIn(0x30, _HARDWARE_ONLY_OPCODES)
+        self.assertIn(0x31, _HARDWARE_ONLY_OPCODES)
+
+    def test_0x16_in_hardware_only(self):
+        """GAIN_SHIFT 0x16 must be in _HARDWARE_ONLY_OPCODES."""
+        self.assertIn(0x16, _HARDWARE_ONLY_OPCODES)
+
     def test_stream_control_is_0x04(self):
         """STREAM_CONTROL must be 0x04 (matches radar_system_top.v:906)."""
         self.assertEqual(Opcode.STREAM_CONTROL, 0x04)
@@ -496,12 +713,16 @@ class TestOpcodeEnum(unittest.TestCase):
         self.assertEqual(Opcode.DETECT_THRESHOLD, 0x03)
         self.assertEqual(Opcode.STREAM_CONTROL, 0x04)
 
+    def test_stale_opcodes_not_in_hardware_only(self):
+        """Old wrong opcode values must not be in _HARDWARE_ONLY_OPCODES."""
+        self.assertNotIn(0x05, _HARDWARE_ONLY_OPCODES)  # was wrong STREAM_ENABLE
+        self.assertNotIn(0x06, _HARDWARE_ONLY_OPCODES)  # was wrong GAIN_SHIFT
+
     def test_all_rtl_opcodes_present(self):
         """Every RTL opcode (from radar_system_top.v) has a matching Opcode enum member."""
         expected = {0x01, 0x02, 0x03, 0x04,
                     0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16,
                     0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27,
-                    0x28, 0x29, 0x2A, 0x2B, 0x2C,
                     0x30, 0x31, 0xFF}
         enum_values = {int(m) for m in Opcode}
         for op in expected:
@@ -526,393 +747,5 @@ class TestStatusResponseDefaults(unittest.TestCase):
         self.assertEqual(sr.self_test_busy, 1)
 
 
-class TestAGCOpcodes(unittest.TestCase):
-    """Verify AGC opcode enum members match FPGA RTL (0x28-0x2C)."""
-
-    def test_agc_enable_opcode(self):
-        self.assertEqual(Opcode.AGC_ENABLE, 0x28)
-
-    def test_agc_target_opcode(self):
-        self.assertEqual(Opcode.AGC_TARGET, 0x29)
-
-    def test_agc_attack_opcode(self):
-        self.assertEqual(Opcode.AGC_ATTACK, 0x2A)
-
-    def test_agc_decay_opcode(self):
-        self.assertEqual(Opcode.AGC_DECAY, 0x2B)
-
-    def test_agc_holdoff_opcode(self):
-        self.assertEqual(Opcode.AGC_HOLDOFF, 0x2C)
-
-
-class TestAGCStatusParsing(unittest.TestCase):
-    """Verify AGC fields in status_words[4] are parsed correctly."""
-
-    def _make_status_packet(self, **kwargs):
-        """Delegate to TestRadarProtocol helper."""
-        helper = TestRadarProtocol()
-        return helper._make_status_packet(**kwargs)
-
-    def test_agc_fields_default_zero(self):
-        """With no AGC fields set, all should be 0."""
-        raw = self._make_status_packet()
-        sr = RadarProtocol.parse_status_packet(raw)
-        self.assertEqual(sr.agc_current_gain, 0)
-        self.assertEqual(sr.agc_peak_magnitude, 0)
-        self.assertEqual(sr.agc_saturation_count, 0)
-        self.assertEqual(sr.agc_enable, 0)
-
-    def test_agc_fields_nonzero(self):
-        """AGC fields round-trip through status packet."""
-        raw = self._make_status_packet(agc_gain=7, agc_peak=200,
-                                       agc_sat=15, agc_enable=1)
-        sr = RadarProtocol.parse_status_packet(raw)
-        self.assertEqual(sr.agc_current_gain, 7)
-        self.assertEqual(sr.agc_peak_magnitude, 200)
-        self.assertEqual(sr.agc_saturation_count, 15)
-        self.assertEqual(sr.agc_enable, 1)
-
-    def test_agc_max_values(self):
-        """AGC fields at max values."""
-        raw = self._make_status_packet(agc_gain=15, agc_peak=255,
-                                       agc_sat=255, agc_enable=1)
-        sr = RadarProtocol.parse_status_packet(raw)
-        self.assertEqual(sr.agc_current_gain, 15)
-        self.assertEqual(sr.agc_peak_magnitude, 255)
-        self.assertEqual(sr.agc_saturation_count, 255)
-        self.assertEqual(sr.agc_enable, 1)
-
-    def test_agc_and_range_mode_coexist(self):
-        """AGC fields and range_mode occupy the same word without conflict."""
-        raw = self._make_status_packet(agc_gain=5, agc_peak=128,
-                                       agc_sat=42, agc_enable=1,
-                                       range_mode=2)
-        sr = RadarProtocol.parse_status_packet(raw)
-        self.assertEqual(sr.agc_current_gain, 5)
-        self.assertEqual(sr.agc_peak_magnitude, 128)
-        self.assertEqual(sr.agc_saturation_count, 42)
-        self.assertEqual(sr.agc_enable, 1)
-        self.assertEqual(sr.range_mode, 2)
-
-
-class TestAGCStatusResponseDefaults(unittest.TestCase):
-    """Verify StatusResponse AGC field defaults."""
-
-    def test_default_agc_fields(self):
-        sr = StatusResponse()
-        self.assertEqual(sr.agc_current_gain, 0)
-        self.assertEqual(sr.agc_peak_magnitude, 0)
-        self.assertEqual(sr.agc_saturation_count, 0)
-        self.assertEqual(sr.agc_enable, 0)
-
-    def test_agc_fields_set(self):
-        sr = StatusResponse(agc_current_gain=7, agc_peak_magnitude=200,
-                            agc_saturation_count=15, agc_enable=1)
-        self.assertEqual(sr.agc_current_gain, 7)
-        self.assertEqual(sr.agc_peak_magnitude, 200)
-        self.assertEqual(sr.agc_saturation_count, 15)
-        self.assertEqual(sr.agc_enable, 1)
-
-
-# =============================================================================
-# AGC Visualization — ring buffer / data model tests
-# =============================================================================
-
-class TestAGCVisualizationHistory(unittest.TestCase):
-    """Test the AGC visualization ring buffer logic (no GUI required)."""
-
-    def _make_deque(self, maxlen=256):
-        from collections import deque
-        return deque(maxlen=maxlen)
-
-    def test_ring_buffer_maxlen(self):
-        """Ring buffer should evict oldest when full."""
-        d = self._make_deque(maxlen=4)
-        for i in range(6):
-            d.append(i)
-        self.assertEqual(list(d), [2, 3, 4, 5])
-        self.assertEqual(len(d), 4)
-
-    def test_gain_history_accumulation(self):
-        """Gain values accumulate correctly in a deque."""
-        gain_hist = self._make_deque(maxlen=256)
-        statuses = [
-            StatusResponse(agc_current_gain=g)
-            for g in [0, 3, 7, 15, 8, 2]
-        ]
-        for st in statuses:
-            gain_hist.append(st.agc_current_gain)
-        self.assertEqual(list(gain_hist), [0, 3, 7, 15, 8, 2])
-
-    def test_peak_history_accumulation(self):
-        """Peak magnitude values accumulate correctly."""
-        peak_hist = self._make_deque(maxlen=256)
-        for p in [0, 50, 200, 255, 128]:
-            peak_hist.append(p)
-        self.assertEqual(list(peak_hist), [0, 50, 200, 255, 128])
-
-    def test_saturation_total_computation(self):
-        """Sum of saturation ring buffer gives running total."""
-        sat_hist = self._make_deque(maxlen=256)
-        for s in [0, 0, 5, 0, 12, 3]:
-            sat_hist.append(s)
-        self.assertEqual(sum(sat_hist), 20)
-
-    def test_saturation_color_thresholds(self):
-        """Color logic: green=0, yellow=1-10, red>10."""
-        def sat_color(total):
-            if total > 10:
-                return "red"
-            if total > 0:
-                return "yellow"
-            return "green"
-        self.assertEqual(sat_color(0), "green")
-        self.assertEqual(sat_color(1), "yellow")
-        self.assertEqual(sat_color(10), "yellow")
-        self.assertEqual(sat_color(11), "red")
-        self.assertEqual(sat_color(255), "red")
-
-    def test_ring_buffer_eviction_preserves_latest(self):
-        """After overflow, only the most recent values remain."""
-        d = self._make_deque(maxlen=8)
-        for i in range(20):
-            d.append(i)
-        self.assertEqual(list(d), [12, 13, 14, 15, 16, 17, 18, 19])
-
-    def test_empty_history_safe(self):
-        """Empty ring buffer should be safe for max/sum."""
-        d = self._make_deque(maxlen=256)
-        self.assertEqual(sum(d), 0)
-        self.assertEqual(len(d), 0)
-        # max() on empty would raise — test the guard pattern used in viz code
-        max_sat = max(d) if d else 0
-        self.assertEqual(max_sat, 0)
-
-    def test_agc_mode_string(self):
-        """AGC mode display string from enable flag."""
-        self.assertEqual(
-            "AUTO" if StatusResponse(agc_enable=1).agc_enable else "MANUAL",
-            "AUTO")
-        self.assertEqual(
-            "AUTO" if StatusResponse(agc_enable=0).agc_enable else "MANUAL",
-            "MANUAL")
-
-    def test_xlim_scroll_logic(self):
-        """X-axis scroll: when n >= history_len, xlim should expand."""
-        history_len = 8
-        d = self._make_deque(maxlen=history_len)
-        for i in range(10):
-            d.append(i)
-        n = len(d)
-        # After 10 pushes into maxlen=8, n=8
-        self.assertEqual(n, history_len)
-        # xlim should be (0, n) for static or (n-history_len, n) for scrolling
-        self.assertEqual(max(0, n - history_len), 0)
-        self.assertEqual(n, 8)
-
-    def test_sat_autoscale_ylim(self):
-        """Saturation y-axis auto-scale: max(max_sat * 1.5, 5)."""
-        # No saturation
-        self.assertEqual(max(0 * 1.5, 5), 5)
-        # Some saturation
-        self.assertAlmostEqual(max(10 * 1.5, 5), 15.0)
-        # High saturation
-        self.assertAlmostEqual(max(200 * 1.5, 5), 300.0)
-
-
-# =====================================================================
-# Tests for DemoTarget, DemoSimulator, and _ReplayController
-# =====================================================================
-
-
-class TestDemoTarget(unittest.TestCase):
-    """Unit tests for DemoTarget kinematics."""
-
-    def test_initial_values_in_range(self):
-        t = DemoTarget(1)
-        self.assertEqual(t.id, 1)
-        self.assertGreaterEqual(t.range_m, 20)
-        self.assertLessEqual(t.range_m, DemoTarget._MAX_RANGE)
-        self.assertIn(t.classification, ["aircraft", "drone", "bird", "unknown"])
-
-    def test_step_returns_true_in_normal_range(self):
-        t = DemoTarget(2)
-        t.range_m = 150.0
-        t.velocity = 0.0
-        self.assertTrue(t.step())
-
-    def test_step_returns_false_when_out_of_range_high(self):
-        t = DemoTarget(3)
-        t.range_m = DemoTarget._MAX_RANGE + 1
-        t.velocity = -1.0  # moving away
-        self.assertFalse(t.step())
-
-    def test_step_returns_false_when_out_of_range_low(self):
-        t = DemoTarget(4)
-        t.range_m = 2.0
-        t.velocity = 1.0  # moving closer
-        self.assertFalse(t.step())
-
-    def test_velocity_clamped(self):
-        t = DemoTarget(5)
-        t.velocity = 19.0
-        t.range_m = 150.0
-        # Step many times — velocity should stay within [-20, 20]
-        for _ in range(100):
-            t.range_m = 150.0  # keep in range
-            t.step()
-        self.assertGreaterEqual(t.velocity, -20)
-        self.assertLessEqual(t.velocity, 20)
-
-    def test_snr_clamped(self):
-        t = DemoTarget(6)
-        t.snr = 49.5
-        t.range_m = 150.0
-        for _ in range(100):
-            t.range_m = 150.0
-            t.step()
-        self.assertGreaterEqual(t.snr, 0)
-        self.assertLessEqual(t.snr, 50)
-
-
-class TestDemoSimulatorNoTk(unittest.TestCase):
-    """Test DemoSimulator logic without a real Tk event loop.
-
-    We replace ``root.after`` with a mock to avoid needing a display.
-    """
-
-    def _make_simulator(self):
-        from unittest.mock import MagicMock
-
-        fq = queue.Queue(maxsize=100)
-        uq = queue.Queue(maxsize=100)
-        mock_root = MagicMock()
-        # root.after(ms, fn) should return an id (str)
-        mock_root.after.return_value = "mock_after_id"
-        sim = DemoSimulator(fq, uq, mock_root, interval_ms=100)
-        return sim, fq, uq, mock_root
-
-    def test_initial_targets_created(self):
-        sim, _fq, _uq, _root = self._make_simulator()
-        # Should seed 8 initial targets
-        self.assertEqual(len(sim._targets), 8)
-
-    def test_tick_produces_frame_and_targets(self):
-        sim, fq, uq, _root = self._make_simulator()
-        sim._tick()
-        # Should have a frame
-        self.assertFalse(fq.empty())
-        frame = fq.get_nowait()
-        self.assertIsInstance(frame, RadarFrame)
-        self.assertEqual(frame.frame_number, 1)
-        # Should have demo_targets in ui_queue
-        tag, payload = uq.get_nowait()
-        self.assertEqual(tag, "demo_targets")
-        self.assertIsInstance(payload, list)
-
-    def test_tick_produces_nonzero_detections(self):
-        """Demo targets should actually render into the range-Doppler grid."""
-        sim, fq, _uq, _root = self._make_simulator()
-        sim._tick()
-        frame = fq.get_nowait()
-        # At least some targets should produce magnitude > 0 and detections
-        self.assertGreater(frame.magnitude.sum(), 0,
-                           "Demo targets should render into range-Doppler grid")
-        self.assertGreater(frame.detection_count, 0,
-                           "Demo targets should produce detections")
-
-    def test_stop_cancels_after(self):
-        sim, _fq, _uq, mock_root = self._make_simulator()
-        sim._tick()  # sets _after_id
-        sim.stop()
-        mock_root.after_cancel.assert_called_once_with("mock_after_id")
-        self.assertIsNone(sim._after_id)
-
-
-class TestReplayController(unittest.TestCase):
-    """Unit tests for _ReplayController (no GUI required)."""
-
-    def test_initial_state(self):
-        fq = queue.Queue()
-        uq = queue.Queue()
-        ctrl = _ReplayController(fq, uq)
-        self.assertEqual(ctrl.total_frames, 0)
-        self.assertEqual(ctrl.current_index, 0)
-        self.assertFalse(ctrl.is_playing)
-        self.assertIsNone(ctrl.software_fpga)
-
-    def test_set_speed(self):
-        ctrl = _ReplayController(queue.Queue(), queue.Queue())
-        ctrl.set_speed("2x")
-        self.assertAlmostEqual(ctrl._frame_interval, 0.050)
-
-    def test_set_speed_unknown_falls_back(self):
-        ctrl = _ReplayController(queue.Queue(), queue.Queue())
-        ctrl.set_speed("99x")
-        self.assertAlmostEqual(ctrl._frame_interval, 0.100)
-
-    def test_set_loop(self):
-        ctrl = _ReplayController(queue.Queue(), queue.Queue())
-        ctrl.set_loop(True)
-        self.assertTrue(ctrl._loop)
-        ctrl.set_loop(False)
-        self.assertFalse(ctrl._loop)
-
-    def test_seek_increments_past_emitted(self):
-        """After seek(), _current_index should be one past the seeked frame."""
-        fq = queue.Queue(maxsize=100)
-        uq = queue.Queue(maxsize=100)
-        ctrl = _ReplayController(fq, uq)
-        # Manually set engine to a mock to allow seek
-        from unittest.mock import MagicMock
-        mock_engine = MagicMock()
-        mock_engine.total_frames = 10
-        mock_engine.get_frame.return_value = RadarFrame()
-        ctrl._engine = mock_engine
-        ctrl.seek(5)
-        # _current_index should be 6 (past the emitted frame)
-        self.assertEqual(ctrl._current_index, 6)
-        self.assertEqual(ctrl._last_emitted_index, 5)
-        # Frame should be in the queue
-        self.assertFalse(fq.empty())
-
-    def test_seek_clamps_to_bounds(self):
-        from unittest.mock import MagicMock
-
-        fq = queue.Queue(maxsize=100)
-        uq = queue.Queue(maxsize=100)
-        ctrl = _ReplayController(fq, uq)
-        mock_engine = MagicMock()
-        mock_engine.total_frames = 5
-        mock_engine.get_frame.return_value = RadarFrame()
-        ctrl._engine = mock_engine
-
-        ctrl.seek(100)
-        # Should clamp to last frame (index 4), then _current_index = 5
-        self.assertEqual(ctrl._last_emitted_index, 4)
-        self.assertEqual(ctrl._current_index, 5)
-
-        ctrl.seek(-10)
-        # Should clamp to 0, then _current_index = 1
-        self.assertEqual(ctrl._last_emitted_index, 0)
-        self.assertEqual(ctrl._current_index, 1)
-
-    def test_close_releases_engine(self):
-        from unittest.mock import MagicMock
-
-        fq = queue.Queue(maxsize=100)
-        uq = queue.Queue(maxsize=100)
-        ctrl = _ReplayController(fq, uq)
-        mock_engine = MagicMock()
-        mock_engine.total_frames = 5
-        mock_engine.get_frame.return_value = RadarFrame()
-        ctrl._engine = mock_engine
-
-        ctrl.close()
-        mock_engine.close.assert_called_once()
-        self.assertIsNone(ctrl._engine)
-        self.assertIsNone(ctrl.software_fpga)
-
-
 if __name__ == "__main__":
     unittest.main(verbosity=2)

9_Firmware/9_3_GUI/test_v7.py

@@ -11,7 +11,6 @@ Does NOT require a running Qt event loop — only unit-testable components.
 Run with:  python -m unittest test_v7 -v
 """
 
-import os
 import struct
 import unittest
 from dataclasses import asdict
@@ -265,15 +264,6 @@ class TestUSBPacketParser(unittest.TestCase):
 # Test: v7.workers — polar_to_geographic
 # =============================================================================
 
-def _pyqt6_available():
-    try:
-        import PyQt6.QtCore  # noqa: F401
-        return True
-    except ImportError:
-        return False
-
-
-@unittest.skipUnless(_pyqt6_available(), "PyQt6 not installed")
 class TestPolarToGeographic(unittest.TestCase):
     def test_north_bearing(self):
         from v7.workers import polar_to_geographic
@@ -336,638 +326,14 @@ class TestV7Init(unittest.TestCase):
 
     def test_key_exports(self):
         import v7
-        # Core exports (no PyQt6 required)
         for name in ["RadarTarget", "RadarSettings", "GPSData",
                       "ProcessingConfig", "FT2232HConnection",
-                      "RadarProtocol", "RadarProcessor"]:
+                      "RadarProtocol", "RadarProcessor",
-            self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}")
+                      "RadarDataWorker", "RadarMapWidget",
-        # PyQt6-dependent exports — only present when PyQt6 is installed
-        if _pyqt6_available():
-            for name in ["RadarDataWorker", "RadarMapWidget",
                       "RadarDashboard"]:
             self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}")
 
 
-# =============================================================================
-# Test: AGC Visualization data model
-# =============================================================================
-
-class TestAGCVisualizationV7(unittest.TestCase):
-    """AGC visualization ring buffer and data model tests (no Qt required)."""
-
-    def _make_deque(self, maxlen=256):
-        from collections import deque
-        return deque(maxlen=maxlen)
-
-    def test_ring_buffer_basics(self):
-        d = self._make_deque(maxlen=4)
-        for i in range(6):
-            d.append(i)
-        self.assertEqual(list(d), [2, 3, 4, 5])
-
-    def test_gain_range_4bit(self):
-        """AGC gain is 4-bit (0-15)."""
-        from radar_protocol import StatusResponse
-        for g in [0, 7, 15]:
-            sr = StatusResponse(agc_current_gain=g)
-            self.assertEqual(sr.agc_current_gain, g)
-
-    def test_peak_range_8bit(self):
-        """Peak magnitude is 8-bit (0-255)."""
-        from radar_protocol import StatusResponse
-        for p in [0, 128, 255]:
-            sr = StatusResponse(agc_peak_magnitude=p)
-            self.assertEqual(sr.agc_peak_magnitude, p)
-
-    def test_saturation_accumulation(self):
-        """Saturation ring buffer sum tracks total events."""
-        sat = self._make_deque(maxlen=256)
-        for s in [0, 5, 0, 10, 3]:
-            sat.append(s)
-        self.assertEqual(sum(sat), 18)
-
-    def test_mode_label_logic(self):
-        """AGC mode string from enable field."""
-        from radar_protocol import StatusResponse
-        self.assertEqual(
-            "AUTO" if StatusResponse(agc_enable=1).agc_enable else "MANUAL",
-            "AUTO")
-        self.assertEqual(
-            "AUTO" if StatusResponse(agc_enable=0).agc_enable else "MANUAL",
-            "MANUAL")
-
-    def test_history_len_default(self):
-        """Default history length should be 256."""
-        d = self._make_deque(maxlen=256)
-        self.assertEqual(d.maxlen, 256)
-
-    def test_color_thresholds(self):
-        """Saturation color: green=0, warning=1-10, error>10."""
-        from v7.models import DARK_SUCCESS, DARK_WARNING, DARK_ERROR
-        def pick_color(total):
-            if total > 10:
-                return DARK_ERROR
-            if total > 0:
-                return DARK_WARNING
-            return DARK_SUCCESS
-        self.assertEqual(pick_color(0), DARK_SUCCESS)
-        self.assertEqual(pick_color(5), DARK_WARNING)
-        self.assertEqual(pick_color(11), DARK_ERROR)
-
-
-# =============================================================================
-# Test: v7.models.WaveformConfig
-# =============================================================================
-
-class TestWaveformConfig(unittest.TestCase):
-    """WaveformConfig dataclass and derived physical properties."""
-
-    def test_defaults(self):
-        from v7.models import WaveformConfig
-        wc = WaveformConfig()
-        self.assertEqual(wc.sample_rate_hz, 4e6)
-        self.assertEqual(wc.bandwidth_hz, 500e6)
-        self.assertEqual(wc.chirp_duration_s, 300e-6)
-        self.assertEqual(wc.center_freq_hz, 10.525e9)
-        self.assertEqual(wc.n_range_bins, 64)
-        self.assertEqual(wc.n_doppler_bins, 32)
-        self.assertEqual(wc.fft_size, 1024)
-        self.assertEqual(wc.decimation_factor, 16)
-
-    def test_range_resolution(self):
-        """range_resolution_m should be ~5.62 m/bin with ADI defaults."""
-        from v7.models import WaveformConfig
-        wc = WaveformConfig()
-        self.assertAlmostEqual(wc.range_resolution_m, 5.621, places=1)
-
-    def test_velocity_resolution(self):
-        """velocity_resolution_mps should be ~1.484 m/s/bin."""
-        from v7.models import WaveformConfig
-        wc = WaveformConfig()
-        self.assertAlmostEqual(wc.velocity_resolution_mps, 1.484, places=2)
-
-    def test_max_range(self):
-        """max_range_m = range_resolution * n_range_bins."""
-        from v7.models import WaveformConfig
-        wc = WaveformConfig()
-        self.assertAlmostEqual(wc.max_range_m, wc.range_resolution_m * 64, places=1)
-
-    def test_max_velocity(self):
-        """max_velocity_mps = velocity_resolution * n_doppler_bins / 2."""
-        from v7.models import WaveformConfig
-        wc = WaveformConfig()
-        self.assertAlmostEqual(
-            wc.max_velocity_mps,
-            wc.velocity_resolution_mps * 16,
-            places=2,
-        )
-
-    def test_custom_params(self):
-        """Non-default parameters correctly change derived values."""
-        from v7.models import WaveformConfig
-        wc1 = WaveformConfig()
-        wc2 = WaveformConfig(bandwidth_hz=1e9)  # double BW → halve range res
-        self.assertAlmostEqual(wc2.range_resolution_m, wc1.range_resolution_m / 2, places=2)
-
-    def test_zero_center_freq_velocity(self):
-        """Zero center freq should cause ZeroDivisionError in velocity calc."""
-        from v7.models import WaveformConfig
-        wc = WaveformConfig(center_freq_hz=0.0)
-        with self.assertRaises(ZeroDivisionError):
-            _ = wc.velocity_resolution_mps
-
-
-# =============================================================================
-# Test: v7.software_fpga.SoftwareFPGA
-# =============================================================================
-
-class TestSoftwareFPGA(unittest.TestCase):
-    """SoftwareFPGA register interface and signal chain."""
-
-    def _make_fpga(self):
-        from v7.software_fpga import SoftwareFPGA
-        return SoftwareFPGA()
-
-    def test_reset_defaults(self):
-        """Register reset values match FPGA RTL (radar_system_top.v)."""
-        fpga = self._make_fpga()
-        self.assertEqual(fpga.detect_threshold, 10_000)
-        self.assertEqual(fpga.gain_shift, 0)
-        self.assertFalse(fpga.cfar_enable)
-        self.assertEqual(fpga.cfar_guard, 2)
-        self.assertEqual(fpga.cfar_train, 8)
-        self.assertEqual(fpga.cfar_alpha, 0x30)
-        self.assertEqual(fpga.cfar_mode, 0)
-        self.assertFalse(fpga.mti_enable)
-        self.assertEqual(fpga.dc_notch_width, 0)
-        self.assertFalse(fpga.agc_enable)
-        self.assertEqual(fpga.agc_target, 200)
-        self.assertEqual(fpga.agc_attack, 1)
-        self.assertEqual(fpga.agc_decay, 1)
-        self.assertEqual(fpga.agc_holdoff, 4)
-
-    def test_setter_detect_threshold(self):
-        fpga = self._make_fpga()
-        fpga.set_detect_threshold(5000)
-        self.assertEqual(fpga.detect_threshold, 5000)
-
-    def test_setter_detect_threshold_clamp_16bit(self):
-        fpga = self._make_fpga()
-        fpga.set_detect_threshold(0x1FFFF)  # 17-bit
-        self.assertEqual(fpga.detect_threshold, 0xFFFF)
-
-    def test_setter_gain_shift_clamp_4bit(self):
-        fpga = self._make_fpga()
-        fpga.set_gain_shift(0xFF)
-        self.assertEqual(fpga.gain_shift, 0x0F)
-
-    def test_setter_cfar_enable(self):
-        fpga = self._make_fpga()
-        fpga.set_cfar_enable(True)
-        self.assertTrue(fpga.cfar_enable)
-        fpga.set_cfar_enable(False)
-        self.assertFalse(fpga.cfar_enable)
-
-    def test_setter_cfar_guard_clamp_4bit(self):
-        fpga = self._make_fpga()
-        fpga.set_cfar_guard(0x1F)
-        self.assertEqual(fpga.cfar_guard, 0x0F)
-
-    def test_setter_cfar_train_min_1(self):
-        """CFAR train cells clamped to min 1."""
-        fpga = self._make_fpga()
-        fpga.set_cfar_train(0)
-        self.assertEqual(fpga.cfar_train, 1)
-
-    def test_setter_cfar_train_clamp_5bit(self):
-        fpga = self._make_fpga()
-        fpga.set_cfar_train(0x3F)
-        self.assertEqual(fpga.cfar_train, 0x1F)
-
-    def test_setter_cfar_alpha_clamp_8bit(self):
-        fpga = self._make_fpga()
-        fpga.set_cfar_alpha(0x1FF)
-        self.assertEqual(fpga.cfar_alpha, 0xFF)
-
-    def test_setter_cfar_mode_clamp_2bit(self):
-        fpga = self._make_fpga()
-        fpga.set_cfar_mode(7)
-        self.assertEqual(fpga.cfar_mode, 3)
-
-    def test_setter_mti_enable(self):
-        fpga = self._make_fpga()
-        fpga.set_mti_enable(True)
-        self.assertTrue(fpga.mti_enable)
-
-    def test_setter_dc_notch_clamp_3bit(self):
-        fpga = self._make_fpga()
-        fpga.set_dc_notch_width(0xFF)
-        self.assertEqual(fpga.dc_notch_width, 7)
-
-    def test_setter_agc_params_selective(self):
-        """set_agc_params only changes provided fields."""
-        fpga = self._make_fpga()
-        fpga.set_agc_params(target=100)
-        self.assertEqual(fpga.agc_target, 100)
-        self.assertEqual(fpga.agc_attack, 1)  # unchanged
-        fpga.set_agc_params(attack=3, decay=5)
-        self.assertEqual(fpga.agc_attack, 3)
-        self.assertEqual(fpga.agc_decay, 5)
-        self.assertEqual(fpga.agc_target, 100)  # unchanged
-
-    def test_setter_agc_params_clamp(self):
-        fpga = self._make_fpga()
-        fpga.set_agc_params(target=0xFFF, attack=0xFF, decay=0xFF, holdoff=0xFF)
-        self.assertEqual(fpga.agc_target, 0xFF)
-        self.assertEqual(fpga.agc_attack, 0x0F)
-        self.assertEqual(fpga.agc_decay, 0x0F)
-        self.assertEqual(fpga.agc_holdoff, 0x0F)
-
-
-class TestSoftwareFPGASignalChain(unittest.TestCase):
-    """SoftwareFPGA.process_chirps with real co-sim data."""
-
-    COSIM_DIR = os.path.join(
-        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
-        "real_data", "hex"
-    )
-
-    def _cosim_available(self):
-        return os.path.isfile(os.path.join(self.COSIM_DIR, "doppler_map_i.npy"))
-
-    def test_process_chirps_returns_radar_frame(self):
-        """process_chirps produces a RadarFrame with correct shapes."""
-        if not self._cosim_available():
-            self.skipTest("co-sim data not found")
-        from v7.software_fpga import SoftwareFPGA
-        from radar_protocol import RadarFrame
-
-        # Load decimated range data as minimal input (32 chirps x 64 bins)
-        dec_i = np.load(os.path.join(self.COSIM_DIR, "decimated_range_i.npy"))
-        dec_q = np.load(os.path.join(self.COSIM_DIR, "decimated_range_q.npy"))
-
-        # Build fake 1024-sample chirps from decimated data (pad with zeros)
-        n_chirps = dec_i.shape[0]
-        iq_i = np.zeros((n_chirps, 1024), dtype=np.int64)
-        iq_q = np.zeros((n_chirps, 1024), dtype=np.int64)
-        # Put decimated data into first 64 bins so FFT has something
-        iq_i[:, :dec_i.shape[1]] = dec_i
-        iq_q[:, :dec_q.shape[1]] = dec_q
-
-        fpga = SoftwareFPGA()
-        frame = fpga.process_chirps(iq_i, iq_q, frame_number=42, timestamp=1.0)
-
-        self.assertIsInstance(frame, RadarFrame)
-        self.assertEqual(frame.frame_number, 42)
-        self.assertAlmostEqual(frame.timestamp, 1.0)
-        self.assertEqual(frame.range_doppler_i.shape, (64, 32))
-        self.assertEqual(frame.range_doppler_q.shape, (64, 32))
-        self.assertEqual(frame.magnitude.shape, (64, 32))
-        self.assertEqual(frame.detections.shape, (64, 32))
-        self.assertEqual(frame.range_profile.shape, (64,))
-        self.assertEqual(frame.detection_count, int(frame.detections.sum()))
-
-    def test_cfar_enable_changes_detections(self):
-        """Enabling CFAR vs simple threshold should yield different detection counts."""
-        if not self._cosim_available():
-            self.skipTest("co-sim data not found")
-        from v7.software_fpga import SoftwareFPGA
-
-        iq_i = np.zeros((32, 1024), dtype=np.int64)
-        iq_q = np.zeros((32, 1024), dtype=np.int64)
-        # Inject a single strong tone in bin 10 of every chirp
-        iq_i[:, 10] = 5000
-        iq_q[:, 10] = 3000
-
-        fpga_thresh = SoftwareFPGA()
-        fpga_thresh.set_detect_threshold(1)  # very low → many detections
-        frame_thresh = fpga_thresh.process_chirps(iq_i, iq_q)
-
-        fpga_cfar = SoftwareFPGA()
-        fpga_cfar.set_cfar_enable(True)
-        fpga_cfar.set_cfar_alpha(0x10)  # low alpha → more detections
-        frame_cfar = fpga_cfar.process_chirps(iq_i, iq_q)
-
-        # Just verify both produce valid frames — exact counts depend on chain
-        self.assertIsNotNone(frame_thresh)
-        self.assertIsNotNone(frame_cfar)
-        self.assertEqual(frame_thresh.magnitude.shape, (64, 32))
-        self.assertEqual(frame_cfar.magnitude.shape, (64, 32))
-
-
-class TestQuantizeRawIQ(unittest.TestCase):
-    """quantize_raw_iq utility function."""
-
-    def test_3d_input(self):
-        """3-D (frames, chirps, samples) → uses first frame."""
-        from v7.software_fpga import quantize_raw_iq
-        raw = np.random.randn(5, 32, 1024) + 1j * np.random.randn(5, 32, 1024)
-        iq_i, iq_q = quantize_raw_iq(raw)
-        self.assertEqual(iq_i.shape, (32, 1024))
-        self.assertEqual(iq_q.shape, (32, 1024))
-        self.assertTrue(np.all(np.abs(iq_i) <= 32767))
-        self.assertTrue(np.all(np.abs(iq_q) <= 32767))
-
-    def test_2d_input(self):
-        """2-D (chirps, samples) → works directly."""
-        from v7.software_fpga import quantize_raw_iq
-        raw = np.random.randn(32, 1024) + 1j * np.random.randn(32, 1024)
-        iq_i, _iq_q = quantize_raw_iq(raw)
-        self.assertEqual(iq_i.shape, (32, 1024))
-
-    def test_zero_input(self):
-        """All-zero complex input → all-zero output."""
-        from v7.software_fpga import quantize_raw_iq
-        raw = np.zeros((32, 1024), dtype=np.complex128)
-        iq_i, iq_q = quantize_raw_iq(raw)
-        self.assertTrue(np.all(iq_i == 0))
-        self.assertTrue(np.all(iq_q == 0))
-
-    def test_peak_target_scaling(self):
-        """Peak of output should be near peak_target."""
-        from v7.software_fpga import quantize_raw_iq
-        raw = np.zeros((32, 1024), dtype=np.complex128)
-        raw[0, 0] = 1.0 + 0j  # single peak
-        iq_i, _iq_q = quantize_raw_iq(raw, peak_target=500)
-        # The peak I value should be exactly 500 (sole max)
-        self.assertEqual(int(iq_i[0, 0]), 500)
-
-
-# =============================================================================
-# Test: v7.replay (ReplayEngine, detect_format)
-# =============================================================================
-
-class TestDetectFormat(unittest.TestCase):
-    """detect_format auto-detection logic."""
-
-    COSIM_DIR = os.path.join(
-        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
-        "real_data", "hex"
-    )
-
-    def test_cosim_dir(self):
-        if not os.path.isdir(self.COSIM_DIR):
-            self.skipTest("co-sim dir not found")
-        from v7.replay import detect_format, ReplayFormat
-        self.assertEqual(detect_format(self.COSIM_DIR), ReplayFormat.COSIM_DIR)
-
-    def test_npy_file(self):
-        """A .npy file → RAW_IQ_NPY."""
-        from v7.replay import detect_format, ReplayFormat
-        import tempfile
-        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
-            np.save(f, np.zeros((2, 32, 1024), dtype=np.complex128))
-            tmp = f.name
-        try:
-            self.assertEqual(detect_format(tmp), ReplayFormat.RAW_IQ_NPY)
-        finally:
-            os.unlink(tmp)
-
-    def test_h5_file(self):
-        """A .h5 file → HDF5."""
-        from v7.replay import detect_format, ReplayFormat
-        self.assertEqual(detect_format("/tmp/fake_recording.h5"), ReplayFormat.HDF5)
-
-    def test_unknown_extension_raises(self):
-        from v7.replay import detect_format
-        with self.assertRaises(ValueError):
-            detect_format("/tmp/data.csv")
-
-    def test_empty_dir_raises(self):
-        """Directory without co-sim files → ValueError."""
-        from v7.replay import detect_format
-        import tempfile
-        with tempfile.TemporaryDirectory() as td, self.assertRaises(ValueError):
-            detect_format(td)
-
-
-class TestReplayEngineCosim(unittest.TestCase):
-    """ReplayEngine loading from FPGA co-sim directory."""
-
-    COSIM_DIR = os.path.join(
-        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
-        "real_data", "hex"
-    )
-
-    def _available(self):
-        return os.path.isfile(os.path.join(self.COSIM_DIR, "doppler_map_i.npy"))
-
-    def test_load_cosim(self):
-        if not self._available():
-            self.skipTest("co-sim data not found")
-        from v7.replay import ReplayEngine, ReplayFormat
-        engine = ReplayEngine(self.COSIM_DIR)
-        self.assertEqual(engine.fmt, ReplayFormat.COSIM_DIR)
-        self.assertEqual(engine.total_frames, 1)
-
-    def test_get_frame_cosim(self):
-        if not self._available():
-            self.skipTest("co-sim data not found")
-        from v7.replay import ReplayEngine
-        from radar_protocol import RadarFrame
-        engine = ReplayEngine(self.COSIM_DIR)
-        frame = engine.get_frame(0)
-        self.assertIsInstance(frame, RadarFrame)
-        self.assertEqual(frame.range_doppler_i.shape, (64, 32))
-        self.assertEqual(frame.magnitude.shape, (64, 32))
-
-    def test_get_frame_out_of_range(self):
-        if not self._available():
-            self.skipTest("co-sim data not found")
-        from v7.replay import ReplayEngine
-        engine = ReplayEngine(self.COSIM_DIR)
-        with self.assertRaises(IndexError):
-            engine.get_frame(1)
-        with self.assertRaises(IndexError):
-            engine.get_frame(-1)
-
-
-class TestReplayEngineRawIQ(unittest.TestCase):
-    """ReplayEngine loading from raw IQ .npy cube."""
-
-    def test_load_raw_iq_synthetic(self):
-        """Synthetic raw IQ cube loads and produces correct frame count."""
-        import tempfile
-        from v7.replay import ReplayEngine, ReplayFormat
-        from v7.software_fpga import SoftwareFPGA
-
-        raw = np.random.randn(3, 32, 1024) + 1j * np.random.randn(3, 32, 1024)
-        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
-            np.save(f, raw)
-            tmp = f.name
-        try:
-            fpga = SoftwareFPGA()
-            engine = ReplayEngine(tmp, software_fpga=fpga)
-            self.assertEqual(engine.fmt, ReplayFormat.RAW_IQ_NPY)
-            self.assertEqual(engine.total_frames, 3)
-        finally:
-            os.unlink(tmp)
-
-    def test_get_frame_raw_iq_synthetic(self):
-        """get_frame on raw IQ runs SoftwareFPGA and returns RadarFrame."""
-        import tempfile
-        from v7.replay import ReplayEngine
-        from v7.software_fpga import SoftwareFPGA
-        from radar_protocol import RadarFrame
-
-        raw = np.random.randn(2, 32, 1024) + 1j * np.random.randn(2, 32, 1024)
-        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
-            np.save(f, raw)
-            tmp = f.name
-        try:
-            fpga = SoftwareFPGA()
-            engine = ReplayEngine(tmp, software_fpga=fpga)
-            frame = engine.get_frame(0)
-            self.assertIsInstance(frame, RadarFrame)
-            self.assertEqual(frame.range_doppler_i.shape, (64, 32))
-            self.assertEqual(frame.frame_number, 0)
-        finally:
-            os.unlink(tmp)
-
-    def test_raw_iq_no_fpga_raises(self):
-        """Raw IQ get_frame without SoftwareFPGA → RuntimeError."""
-        import tempfile
-        from v7.replay import ReplayEngine
-
-        raw = np.random.randn(1, 32, 1024) + 1j * np.random.randn(1, 32, 1024)
-        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
-            np.save(f, raw)
-            tmp = f.name
-        try:
-            engine = ReplayEngine(tmp)
-            with self.assertRaises(RuntimeError):
-                engine.get_frame(0)
-        finally:
-            os.unlink(tmp)
-
-
-class TestReplayEngineHDF5(unittest.TestCase):
-    """ReplayEngine loading from HDF5 recordings."""
-
-    def _skip_no_h5py(self):
-        try:
-            import h5py  # noqa: F401
-        except ImportError:
-            self.skipTest("h5py not installed")
-
-    def test_load_hdf5_synthetic(self):
-        """Synthetic HDF5 loads and iterates frames."""
-        self._skip_no_h5py()
-        import tempfile
-        import h5py
-        from v7.replay import ReplayEngine, ReplayFormat
-        from radar_protocol import RadarFrame
-
-        with tempfile.NamedTemporaryFile(suffix=".h5", delete=False) as f:
-            tmp = f.name
-
-        try:
-            with h5py.File(tmp, "w") as hf:
-                hf.attrs["creator"] = "test"
-                hf.attrs["range_bins"] = 64
-                hf.attrs["doppler_bins"] = 32
-                grp = hf.create_group("frames")
-                for i in range(3):
-                    fg = grp.create_group(f"frame_{i:06d}")
-                    fg.attrs["timestamp"] = float(i)
-                    fg.attrs["frame_number"] = i
-                    fg.attrs["detection_count"] = 0
-                    fg.create_dataset("range_doppler_i",
-                                      data=np.zeros((64, 32), dtype=np.int16))
-                    fg.create_dataset("range_doppler_q",
-                                      data=np.zeros((64, 32), dtype=np.int16))
-                    fg.create_dataset("magnitude",
-                                      data=np.zeros((64, 32), dtype=np.float64))
-                    fg.create_dataset("detections",
-                                      data=np.zeros((64, 32), dtype=np.uint8))
-                    fg.create_dataset("range_profile",
-                                      data=np.zeros(64, dtype=np.float64))
-
-            engine = ReplayEngine(tmp)
-            self.assertEqual(engine.fmt, ReplayFormat.HDF5)
-            self.assertEqual(engine.total_frames, 3)
-
-            frame = engine.get_frame(1)
-            self.assertIsInstance(frame, RadarFrame)
-            self.assertEqual(frame.frame_number, 1)
-            self.assertEqual(frame.range_doppler_i.shape, (64, 32))
-            engine.close()
-        finally:
-            os.unlink(tmp)
-
-
-# =============================================================================
-# Test: v7.processing.extract_targets_from_frame
-# =============================================================================
-
-class TestExtractTargetsFromFrame(unittest.TestCase):
-    """extract_targets_from_frame bin-to-physical conversion."""
-
-    def _make_frame(self, det_cells=None):
-        """Create a minimal RadarFrame with optional detection cells."""
-        from radar_protocol import RadarFrame
-        frame = RadarFrame()
-        if det_cells:
-            for rbin, dbin in det_cells:
-                frame.detections[rbin, dbin] = 1
-                frame.magnitude[rbin, dbin] = 1000.0
-        frame.detection_count = int(frame.detections.sum())
-        frame.timestamp = 1.0
-        return frame
-
-    def test_no_detections(self):
-        from v7.processing import extract_targets_from_frame
-        frame = self._make_frame()
-        targets = extract_targets_from_frame(frame)
-        self.assertEqual(len(targets), 0)
-
-    def test_single_detection_range(self):
-        """Detection at range bin 10 → range = 10 * range_resolution."""
-        from v7.processing import extract_targets_from_frame
-        frame = self._make_frame(det_cells=[(10, 16)])  # dbin=16 = center → vel=0
-        targets = extract_targets_from_frame(frame, range_resolution=5.621)
-        self.assertEqual(len(targets), 1)
-        self.assertAlmostEqual(targets[0].range, 10 * 5.621, places=2)
-        self.assertAlmostEqual(targets[0].velocity, 0.0, places=2)
-
-    def test_velocity_sign(self):
-        """Doppler bin < center → negative velocity, > center → positive."""
-        from v7.processing import extract_targets_from_frame
-        frame = self._make_frame(det_cells=[(5, 10), (5, 20)])
-        targets = extract_targets_from_frame(frame, velocity_resolution=1.484)
-        # dbin=10: vel = (10-16)*1.484 = -8.904  (approaching)
-        # dbin=20: vel = (20-16)*1.484 = +5.936  (receding)
-        self.assertLess(targets[0].velocity, 0)
-        self.assertGreater(targets[1].velocity, 0)
-
-    def test_snr_positive_for_nonzero_mag(self):
-        from v7.processing import extract_targets_from_frame
-        frame = self._make_frame(det_cells=[(3, 16)])
-        targets = extract_targets_from_frame(frame)
-        self.assertGreater(targets[0].snr, 0)
-
-    def test_gps_georef(self):
-        """With GPS data, targets get non-zero lat/lon."""
-        from v7.processing import extract_targets_from_frame
-        from v7.models import GPSData
-        gps = GPSData(latitude=41.9, longitude=12.5, altitude=0.0,
-                      pitch=0.0, heading=90.0)
-        frame = self._make_frame(det_cells=[(10, 16)])
-        targets = extract_targets_from_frame(
-            frame, range_resolution=100.0, gps=gps)
-        # Should be roughly east of radar position
-        self.assertAlmostEqual(targets[0].latitude, 41.9, places=2)
-        self.assertGreater(targets[0].longitude, 12.5)
-
-    def test_multiple_detections(self):
-        from v7.processing import extract_targets_from_frame
-        frame = self._make_frame(det_cells=[(0, 0), (10, 10), (63, 31)])
-        targets = extract_targets_from_frame(frame)
-        self.assertEqual(len(targets), 3)
-        # IDs should be sequential 0, 1, 2
-        self.assertEqual([t.id for t in targets], [0, 1, 2])
-
-
 # =============================================================================
 # Helper: lazy import of v7.models
 # =============================================================================

9_Firmware/9_3_GUI/v7/__init__.py

@@ -14,7 +14,6 @@ from .models import (
     GPSData,
     ProcessingConfig,
     TileServer,
-    WaveformConfig,
     DARK_BG, DARK_FG, DARK_ACCENT, DARK_HIGHLIGHT, DARK_BORDER,
     DARK_TEXT, DARK_BUTTON, DARK_BUTTON_HOVER,
     DARK_TREEVIEW, DARK_TREEVIEW_ALT,
@@ -26,6 +25,7 @@ from .models import (
 # Hardware interfaces — production protocol via radar_protocol.py
 from .hardware import (
     FT2232HConnection,
+    ReplayConnection,
     RadarProtocol,
     Opcode,
     RadarAcquisition,
@@ -40,48 +40,31 @@ from .processing import (
     RadarProcessor,
     USBPacketParser,
     apply_pitch_correction,
-    polar_to_geographic,
-    extract_targets_from_frame,
 )
 
-# Software FPGA (depends on golden_reference.py in FPGA cosim tree)
+# Workers and simulator
-try:  # noqa: SIM105
-    from .software_fpga import SoftwareFPGA, quantize_raw_iq
-except ImportError:  # golden_reference.py not available (e.g. deployment without FPGA tree)
-    pass
-
-# Replay engine (no PyQt6 dependency, but needs SoftwareFPGA for raw IQ path)
-try:  # noqa: SIM105
-    from .replay import ReplayEngine, ReplayFormat
-except ImportError:  # software_fpga unavailable → replay also unavailable
-    pass
-
-# Workers, map widget, and dashboard require PyQt6 — import lazily so that
-# tests/CI environments without PyQt6 can still access models/hardware/processing.
-try:
 from .workers import (
     RadarDataWorker,
     GPSDataWorker,
     TargetSimulator,
-        ReplayWorker,
+    polar_to_geographic,
 )
 
+# Map widget
 from .map_widget import (
     MapBridge,
     RadarMapWidget,
 )
 
+# Main dashboard
 from .dashboard import (
     RadarDashboard,
     RangeDopplerCanvas,
 )
-except ImportError:  # PyQt6 not installed (e.g. CI headless runner)
-    pass
 
 __all__ = [  # noqa: RUF022
     # models
     "RadarTarget", "RadarSettings", "GPSData", "ProcessingConfig", "TileServer",
-    "WaveformConfig",
     "DARK_BG", "DARK_FG", "DARK_ACCENT", "DARK_HIGHLIGHT", "DARK_BORDER",
     "DARK_TEXT", "DARK_BUTTON", "DARK_BUTTON_HOVER",
     "DARK_TREEVIEW", "DARK_TREEVIEW_ALT",
@@ -89,18 +72,15 @@ __all__ = [  # noqa: RUF022
     "USB_AVAILABLE", "FTDI_AVAILABLE", "SCIPY_AVAILABLE",
     "SKLEARN_AVAILABLE", "FILTERPY_AVAILABLE",
     # hardware — production FPGA protocol
-    "FT2232HConnection", "RadarProtocol", "Opcode",
+    "FT2232HConnection", "ReplayConnection", "RadarProtocol", "Opcode",
     "RadarAcquisition", "RadarFrame", "StatusResponse", "DataRecorder",
     "STM32USBInterface",
     # processing
     "RadarProcessor", "USBPacketParser",
-    "apply_pitch_correction", "polar_to_geographic",
+    "apply_pitch_correction",
-    "extract_targets_from_frame",
-    # software FPGA + replay
-    "SoftwareFPGA", "quantize_raw_iq",
-    "ReplayEngine", "ReplayFormat",
     # workers
-    "RadarDataWorker", "GPSDataWorker", "TargetSimulator", "ReplayWorker",
+    "RadarDataWorker", "GPSDataWorker", "TargetSimulator",
+    "polar_to_geographic",
     # map
     "MapBridge", "RadarMapWidget",
     # dashboard

9_Firmware/9_3_GUI/v7/agc_sim.py

@@ -1,222 +0,0 @@
-"""
-v7.agc_sim -- Bit-accurate AGC simulation matching rx_gain_control.v.
-
-Provides stateful, frame-by-frame AGC processing for the Raw IQ Replay
-mode and offline analysis.  All gain encoding, clamping, and attack/decay/
-holdoff logic is identical to the FPGA RTL.
-
-Classes:
-  - AGCState       -- mutable internal AGC state (gain, holdoff counter)
-  - AGCFrameResult -- per-frame AGC metrics after processing
-
-Functions:
-  - signed_to_encoding  -- signed gain (-7..+7) -> 4-bit encoding
-  - encoding_to_signed  -- 4-bit encoding -> signed gain
-  - clamp_gain          -- clamp to [-7, +7]
-  - apply_gain_shift    -- apply gain_shift to 16-bit IQ arrays
-  - process_agc_frame   -- run one frame through AGC, update state
-"""
-
-from __future__ import annotations
-
-from dataclasses import dataclass, field
-
-import numpy as np
-
-
-# ---------------------------------------------------------------------------
-# FPGA AGC parameters (rx_gain_control.v reset defaults)
-# ---------------------------------------------------------------------------
-AGC_TARGET_DEFAULT = 200   # host_agc_target (8-bit)
-AGC_ATTACK_DEFAULT = 1     # host_agc_attack (4-bit)
-AGC_DECAY_DEFAULT = 1      # host_agc_decay  (4-bit)
-AGC_HOLDOFF_DEFAULT = 4    # host_agc_holdoff (4-bit)
-
-
-# ---------------------------------------------------------------------------
-# Gain encoding helpers (match RTL signed_to_encoding / encoding_to_signed)
-# ---------------------------------------------------------------------------
-
-def signed_to_encoding(g: int) -> int:
-    """Convert signed gain (-7..+7) to gain_shift[3:0] encoding.
-
-    [3]=0, [2:0]=N  ->  amplify  (left shift) by N
-    [3]=1, [2:0]=N  ->  attenuate (right shift) by N
-    """
-    if g >= 0:
-        return g & 0x07
-    return 0x08 | ((-g) & 0x07)
-
-
-def encoding_to_signed(enc: int) -> int:
-    """Convert gain_shift[3:0] encoding to signed gain."""
-    if (enc & 0x08) == 0:
-        return enc & 0x07
-    return -(enc & 0x07)
-
-
-def clamp_gain(val: int) -> int:
-    """Clamp to [-7, +7] (matches RTL clamp_gain function)."""
-    return max(-7, min(7, val))
-
-
-# ---------------------------------------------------------------------------
-# Apply gain shift to IQ data (matches RTL combinational logic)
-# ---------------------------------------------------------------------------
-
-def apply_gain_shift(
-    frame_i: np.ndarray,
-    frame_q: np.ndarray,
-    gain_enc: int,
-) -> tuple[np.ndarray, np.ndarray, int]:
-    """Apply gain_shift encoding to 16-bit signed IQ arrays.
-
-    Returns (shifted_i, shifted_q, overflow_count).
-    Matches the RTL: left shift = amplify, right shift = attenuate,
-    saturate to +/-32767 on overflow.
-    """
-    direction = (gain_enc >> 3) & 1  # 0=amplify, 1=attenuate
-    amount = gain_enc & 0x07
-
-    if amount == 0:
-        return frame_i.copy(), frame_q.copy(), 0
-
-    if direction == 0:
-        # Left shift (amplify)
-        si = frame_i.astype(np.int64) * (1 << amount)
-        sq = frame_q.astype(np.int64) * (1 << amount)
-    else:
-        # Arithmetic right shift (attenuate)
-        si = frame_i.astype(np.int64) >> amount
-        sq = frame_q.astype(np.int64) >> amount
-
-    # Count overflows (post-shift values outside 16-bit signed range)
-    overflow_i = (si > 32767) | (si < -32768)
-    overflow_q = (sq > 32767) | (sq < -32768)
-    overflow_count = int((overflow_i | overflow_q).sum())
-
-    # Saturate to +/-32767
-    si = np.clip(si, -32768, 32767).astype(np.int16)
-    sq = np.clip(sq, -32768, 32767).astype(np.int16)
-
-    return si, sq, overflow_count
-
-
-# ---------------------------------------------------------------------------
-# AGC state and per-frame result dataclasses
-# ---------------------------------------------------------------------------
-
-@dataclass
-class AGCConfig:
-    """AGC tuning parameters (mirrors FPGA host registers 0x28-0x2C)."""
-
-    enabled: bool = False
-    target: int = AGC_TARGET_DEFAULT    # 8-bit peak target
-    attack: int = AGC_ATTACK_DEFAULT    # 4-bit attenuation step
-    decay: int = AGC_DECAY_DEFAULT      # 4-bit gain-up step
-    holdoff: int = AGC_HOLDOFF_DEFAULT  # 4-bit frames to hold
-
-
-@dataclass
-class AGCState:
-    """Mutable internal AGC state — persists across frames."""
-
-    gain: int = 0                # signed gain, -7..+7
-    holdoff_counter: int = 0     # frames remaining before gain-up allowed
-    was_enabled: bool = False    # tracks enable transitions
-
-
-@dataclass
-class AGCFrameResult:
-    """Per-frame AGC metrics returned by process_agc_frame()."""
-
-    gain_enc: int = 0         # gain_shift[3:0] encoding applied this frame
-    gain_signed: int = 0      # signed gain for display
-    peak_mag_8bit: int = 0    # pre-gain peak magnitude (upper 8 of 15 bits)
-    saturation_count: int = 0  # post-gain overflow count (clamped to 255)
-    overflow_raw: int = 0     # raw overflow count (unclamped)
-    shifted_i: np.ndarray = field(default_factory=lambda: np.array([], dtype=np.int16))
-    shifted_q: np.ndarray = field(default_factory=lambda: np.array([], dtype=np.int16))
-
-
-# ---------------------------------------------------------------------------
-# Per-frame AGC processing (bit-accurate to rx_gain_control.v)
-# ---------------------------------------------------------------------------
-
-def quantize_iq(frame: np.ndarray) -> tuple[np.ndarray, np.ndarray]:
-    """Quantize complex IQ to 16-bit signed I and Q arrays.
-
-    Input: 2-D complex array (chirps x samples) — any complex dtype.
-    Output: (frame_i, frame_q) as int16.
-    """
-    frame_i = np.clip(np.round(frame.real), -32768, 32767).astype(np.int16)
-    frame_q = np.clip(np.round(frame.imag), -32768, 32767).astype(np.int16)
-    return frame_i, frame_q
-
-
-def process_agc_frame(
-    frame_i: np.ndarray,
-    frame_q: np.ndarray,
-    config: AGCConfig,
-    state: AGCState,
-) -> AGCFrameResult:
-    """Run one frame through the FPGA AGC inner loop.
-
-    Mutates *state* in place (gain and holdoff_counter).
-    Returns AGCFrameResult with metrics and shifted IQ data.
-
-    Parameters
-    ----------
-    frame_i, frame_q : int16 arrays (any shape, typically chirps x samples)
-    config : AGC tuning parameters
-    state  : mutable AGC state from previous frame
-    """
-    # --- PRE-gain peak measurement (RTL lines 133-135, 211-213) ---
-    abs_i = np.abs(frame_i.astype(np.int32))
-    abs_q = np.abs(frame_q.astype(np.int32))
-    max_iq = np.maximum(abs_i, abs_q)
-    frame_peak_15bit = int(max_iq.max()) if max_iq.size > 0 else 0
-    peak_8bit = (frame_peak_15bit >> 7) & 0xFF
-
-    # --- Handle AGC enable transition (RTL lines 250-253) ---
-    if config.enabled and not state.was_enabled:
-        state.gain = 0
-        state.holdoff_counter = config.holdoff
-    state.was_enabled = config.enabled
-
-    # --- Determine effective gain encoding ---
-    if config.enabled:
-        effective_enc = signed_to_encoding(state.gain)
-    else:
-        effective_enc = signed_to_encoding(state.gain)
-
-    # --- Apply gain shift + count POST-gain overflow ---
-    shifted_i, shifted_q, overflow_raw = apply_gain_shift(
-        frame_i, frame_q, effective_enc)
-    sat_count = min(255, overflow_raw)
-
-    # --- AGC update at frame boundary (RTL lines 226-246) ---
-    if config.enabled:
-        if sat_count > 0:
-            # Clipping: reduce gain immediately (attack)
-            state.gain = clamp_gain(state.gain - config.attack)
-            state.holdoff_counter = config.holdoff
-        elif peak_8bit < config.target:
-            # Signal too weak: increase gain after holdoff
-            if state.holdoff_counter == 0:
-                state.gain = clamp_gain(state.gain + config.decay)
-            else:
-                state.holdoff_counter -= 1
-        else:
-            # Good range (peak >= target, no sat): hold, reset holdoff
-            state.holdoff_counter = config.holdoff
-
-    return AGCFrameResult(
-        gain_enc=effective_enc,
-        gain_signed=state.gain if config.enabled else encoding_to_signed(effective_enc),
-        peak_mag_8bit=peak_8bit,
-        saturation_count=sat_count,
-        overflow_raw=overflow_raw,
-        shifted_i=shifted_i,
-        shifted_q=shifted_q,
-    )

9_Firmware/9_3_GUI/v7/dashboard.py

@@ -1,20 +1,19 @@
 """
 v7.dashboard — Main application window for the PLFM Radar GUI V7.
 
-RadarDashboard is a QMainWindow with six tabs:
+RadarDashboard is a QMainWindow with five tabs:
   1. Main View   — Range-Doppler matplotlib canvas (64x32), device combos,
                    Start/Stop, targets table
   2. Map View    — Embedded Leaflet map + sidebar
-  3. FPGA Control — Full FPGA register control panel (all 27 opcodes incl. AGC,
+  3. FPGA Control — Full FPGA register control panel (all 22 opcodes,
                     bit-width validation, grouped layout matching production)
-  4. AGC Monitor — Real-time AGC strip charts (gain, peak magnitude, saturation)
+  4. Diagnostics — Connection indicators, packet stats, dependency status,
-  5. Diagnostics — Connection indicators, packet stats, dependency status,
                    self-test results, log viewer
-  6. Settings    — Host-side DSP parameters + About section
+  5. Settings    — Host-side DSP parameters + About section
 
 Uses production radar_protocol.py for all FPGA communication:
   - FT2232HConnection for real hardware
-  - Unified replay via SoftwareFPGA + ReplayEngine + ReplayWorker
+  - ReplayConnection for offline .npy replay
   - Mock mode (FT2232HConnection(mock=True)) for development
 
 The old STM32 magic-packet start flow has been removed. FPGA registers
@@ -22,12 +21,8 @@ are controlled directly via 4-byte {opcode, addr, value_hi, value_lo}
 commands sent over FT2232H.
 """
 
-from __future__ import annotations
-
 import time
 import logging
-from collections import deque
-from typing import TYPE_CHECKING
 
 import numpy as np
 
@@ -35,11 +30,11 @@ from PyQt6.QtWidgets import (
     QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout,
     QTabWidget, QSplitter, QGroupBox, QFrame, QScrollArea,
     QLabel, QPushButton, QComboBox, QCheckBox,
-    QDoubleSpinBox, QSpinBox, QLineEdit, QSlider, QFileDialog,
+    QDoubleSpinBox, QSpinBox, QLineEdit,
     QTableWidget, QTableWidgetItem, QHeaderView,
     QPlainTextEdit, QStatusBar, QMessageBox,
 )
-from PyQt6.QtCore import Qt, QLocale, QTimer, pyqtSignal, pyqtSlot, QObject
+from PyQt6.QtCore import Qt, QTimer, pyqtSlot
 
 from matplotlib.backends.backend_qtagg import FigureCanvasQTAgg
 from matplotlib.figure import Figure
@@ -55,6 +50,7 @@ from .models import (
 )
 from .hardware import (
     FT2232HConnection,
+    ReplayConnection,
     RadarProtocol,
     RadarFrame,
     StatusResponse,
@@ -62,30 +58,15 @@ from .hardware import (
     STM32USBInterface,
 )
 from .processing import RadarProcessor, USBPacketParser
-from .workers import RadarDataWorker, GPSDataWorker, TargetSimulator, ReplayWorker
+from .workers import RadarDataWorker, GPSDataWorker, TargetSimulator
 from .map_widget import RadarMapWidget
 
-if TYPE_CHECKING:
-    from .software_fpga import SoftwareFPGA
-    from .replay import ReplayEngine
-
 logger = logging.getLogger(__name__)
 
 # Frame dimensions from FPGA
 NUM_RANGE_BINS = 64
 NUM_DOPPLER_BINS = 32
 
-# Force C locale (period as decimal separator) for all QDoubleSpinBox instances.
-_C_LOCALE = QLocale(QLocale.Language.C)
-_C_LOCALE.setNumberOptions(QLocale.NumberOption.RejectGroupSeparator)
-
-
-def _make_dspin() -> QDoubleSpinBox:
-    """Create a QDoubleSpinBox with C locale (no comma decimals)."""
-    sb = QDoubleSpinBox()
-    sb.setLocale(_C_LOCALE)
-    return sb
-
 
 # =============================================================================
 # Range-Doppler Canvas (matplotlib)
@@ -159,12 +140,6 @@ class RadarDashboard(QMainWindow):
         self._gps_worker: GPSDataWorker | None = None
         self._simulator: TargetSimulator | None = None
 
-        # Replay-specific objects (created when entering replay mode)
-        self._replay_worker: ReplayWorker | None = None
-        self._replay_engine: ReplayEngine | None = None
-        self._software_fpga: SoftwareFPGA | None = None
-        self._replay_mode = False
-
         # State
         self._running = False
         self._demo_mode = False
@@ -173,20 +148,11 @@ class RadarDashboard(QMainWindow):
         self._last_status: StatusResponse | None = None
         self._frame_count = 0
         self._gps_packet_count = 0
-        self._last_stats: dict = {}
         self._current_targets: list[RadarTarget] = []
 
         # FPGA control parameter widgets
         self._param_spins: dict = {}  # opcode_hex -> QSpinBox
 
-        # AGC visualization history (ring buffers)
-        self._agc_history_len = 256
-        self._agc_gain_history: deque[int] = deque(maxlen=self._agc_history_len)
-        self._agc_peak_history: deque[int] = deque(maxlen=self._agc_history_len)
-        self._agc_sat_history: deque[int] = deque(maxlen=self._agc_history_len)
-        self._agc_last_redraw: float = 0.0  # throttle chart redraws
-        self._AGC_REDRAW_INTERVAL: float = 0.5  # seconds between redraws
-
         # ---- Build UI ------------------------------------------------------
         self._apply_dark_theme()
         self._setup_ui()
@@ -197,10 +163,8 @@ class RadarDashboard(QMainWindow):
         self._gui_timer.timeout.connect(self._refresh_gui)
         self._gui_timer.start(100)
 
-        # Log handler for diagnostics (thread-safe via Qt signal)
+        # Log handler for diagnostics
-        self._log_bridge = _LogSignalBridge(self)
+        self._log_handler = _QtLogHandler(self._log_append)
-        self._log_bridge.log_message.connect(self._log_append)
-        self._log_handler = _QtLogHandler(self._log_bridge)
         self._log_handler.setLevel(logging.INFO)
         logging.getLogger().addHandler(self._log_handler)
 
@@ -342,7 +306,6 @@ class RadarDashboard(QMainWindow):
         self._create_main_tab()
         self._create_map_tab()
         self._create_fpga_control_tab()
-        self._create_agc_monitor_tab()
         self._create_diagnostics_tab()
         self._create_settings_tab()
 
@@ -364,7 +327,7 @@ class RadarDashboard(QMainWindow):
         # Row 0: connection mode + device combos + buttons
         ctrl_layout.addWidget(QLabel("Mode:"), 0, 0)
         self._mode_combo = QComboBox()
-        self._mode_combo.addItems(["Mock", "Live FT2232H", "Replay"])
+        self._mode_combo.addItems(["Mock", "Live FT2232H", "Replay (.npy)"])
         self._mode_combo.setCurrentIndex(0)
         ctrl_layout.addWidget(self._mode_combo, 0, 1)
 
@@ -413,55 +376,6 @@ class RadarDashboard(QMainWindow):
         self._status_label_main.setAlignment(Qt.AlignmentFlag.AlignRight)
         ctrl_layout.addWidget(self._status_label_main, 1, 5, 1, 5)
 
-        # Row 2: replay transport controls (hidden until replay mode)
-        self._replay_file_label = QLabel("No file loaded")
-        self._replay_file_label.setMinimumWidth(200)
-        ctrl_layout.addWidget(self._replay_file_label, 2, 0, 1, 2)
-
-        self._replay_browse_btn = QPushButton("Browse...")
-        self._replay_browse_btn.clicked.connect(self._browse_replay_file)
-        ctrl_layout.addWidget(self._replay_browse_btn, 2, 2)
-
-        self._replay_play_btn = QPushButton("Play")
-        self._replay_play_btn.clicked.connect(self._replay_play_pause)
-        ctrl_layout.addWidget(self._replay_play_btn, 2, 3)
-
-        self._replay_stop_btn = QPushButton("Stop")
-        self._replay_stop_btn.clicked.connect(self._replay_stop)
-        ctrl_layout.addWidget(self._replay_stop_btn, 2, 4)
-
-        self._replay_slider = QSlider(Qt.Orientation.Horizontal)
-        self._replay_slider.setMinimum(0)
-        self._replay_slider.setMaximum(0)
-        self._replay_slider.valueChanged.connect(self._replay_seek)
-        ctrl_layout.addWidget(self._replay_slider, 2, 5, 1, 2)
-
-        self._replay_frame_label = QLabel("0 / 0")
-        ctrl_layout.addWidget(self._replay_frame_label, 2, 7)
-
-        self._replay_speed_combo = QComboBox()
-        self._replay_speed_combo.addItems(["50 ms", "100 ms", "200 ms", "500 ms"])
-        self._replay_speed_combo.setCurrentIndex(1)
-        self._replay_speed_combo.currentIndexChanged.connect(self._replay_speed_changed)
-        ctrl_layout.addWidget(self._replay_speed_combo, 2, 8)
-
-        self._replay_loop_cb = QCheckBox("Loop")
-        self._replay_loop_cb.stateChanged.connect(self._replay_loop_changed)
-        ctrl_layout.addWidget(self._replay_loop_cb, 2, 9)
-
-        # Collect replay widgets to toggle visibility
-        self._replay_controls = [
-            self._replay_file_label, self._replay_browse_btn,
-            self._replay_play_btn, self._replay_stop_btn,
-            self._replay_slider, self._replay_frame_label,
-            self._replay_speed_combo, self._replay_loop_cb,
-        ]
-        for w in self._replay_controls:
-            w.setVisible(False)
-
-        # Show/hide replay row when mode changes
-        self._mode_combo.currentTextChanged.connect(self._on_mode_changed)
-
         layout.addWidget(ctrl)
 
         # ---- Display area (range-doppler + targets table) ------------------
@@ -478,7 +392,7 @@ class RadarDashboard(QMainWindow):
         self._targets_table_main = QTableWidget()
         self._targets_table_main.setColumnCount(5)
         self._targets_table_main.setHorizontalHeaderLabels([
-            "Range (m)", "Velocity (m/s)", "Magnitude", "SNR (dB)", "Track ID",
+            "Range Bin", "Doppler Bin", "Magnitude", "SNR (dB)", "Track ID",
         ])
         self._targets_table_main.setAlternatingRowColors(True)
         self._targets_table_main.setSelectionBehavior(
@@ -524,19 +438,19 @@ class RadarDashboard(QMainWindow):
         pos_group = QGroupBox("Radar Position")
         pos_layout = QGridLayout(pos_group)
 
-        self._lat_spin = _make_dspin()
+        self._lat_spin = QDoubleSpinBox()
         self._lat_spin.setRange(-90, 90)
         self._lat_spin.setDecimals(6)
         self._lat_spin.setValue(self._radar_position.latitude)
         self._lat_spin.valueChanged.connect(self._on_position_changed)
 
-        self._lon_spin = _make_dspin()
+        self._lon_spin = QDoubleSpinBox()
         self._lon_spin.setRange(-180, 180)
         self._lon_spin.setDecimals(6)
         self._lon_spin.setValue(self._radar_position.longitude)
         self._lon_spin.valueChanged.connect(self._on_position_changed)
 
-        self._alt_spin = _make_dspin()
+        self._alt_spin = QDoubleSpinBox()
         self._alt_spin.setRange(0, 50000)
         self._alt_spin.setDecimals(1)
         self._alt_spin.setValue(0.0)
@@ -555,7 +469,7 @@ class RadarDashboard(QMainWindow):
         cov_group = QGroupBox("Coverage")
         cov_layout = QGridLayout(cov_group)
 
-        self._coverage_spin = _make_dspin()
+        self._coverage_spin = QDoubleSpinBox()
         self._coverage_spin.setRange(1, 200)
         self._coverage_spin.setDecimals(1)
         self._coverage_spin.setValue(self._settings.coverage_radius / 1000)
@@ -767,48 +681,6 @@ class RadarDashboard(QMainWindow):
 
         right_layout.addWidget(grp_cfar)
 
-        # ── AGC (Automatic Gain Control) ──────────────────────────────
-        grp_agc = QGroupBox("AGC (Auto Gain)")
-        agc_layout = QVBoxLayout(grp_agc)
-
-        agc_params = [
-            ("AGC Enable",  0x28,   0,  1, "0=manual, 1=auto"),
-            ("AGC Target",  0x29, 200,  8, "0-255, peak target"),
-            ("AGC Attack",  0x2A,   1,  4, "0-15, atten step"),
-            ("AGC Decay",   0x2B,   1,  4, "0-15, gain-up step"),
-            ("AGC Holdoff", 0x2C,   4,  4, "0-15, frames"),
-        ]
-        for label, opcode, default, bits, hint in agc_params:
-            self._add_fpga_param_row(agc_layout, label, opcode, default, bits, hint)
-
-        # AGC quick toggles
-        agc_row = QHBoxLayout()
-        btn_agc_on = QPushButton("Enable AGC")
-        btn_agc_on.clicked.connect(lambda: self._send_fpga_cmd(0x28, 1))
-        agc_row.addWidget(btn_agc_on)
-        btn_agc_off = QPushButton("Disable AGC")
-        btn_agc_off.clicked.connect(lambda: self._send_fpga_cmd(0x28, 0))
-        agc_row.addWidget(btn_agc_off)
-        agc_layout.addLayout(agc_row)
-
-        # AGC status readback labels
-        agc_st_group = QGroupBox("AGC Status")
-        agc_st_layout = QVBoxLayout(agc_st_group)
-        self._agc_labels: dict[str, QLabel] = {}
-        for name, default_text in [
-            ("enable", "AGC: --"),
-            ("gain",   "Gain: --"),
-            ("peak",   "Peak: --"),
-            ("sat",    "Sat Count: --"),
-        ]:
-            lbl = QLabel(default_text)
-            lbl.setStyleSheet(f"color: {DARK_INFO}; font-size: 10px;")
-            agc_st_layout.addWidget(lbl)
-            self._agc_labels[name] = lbl
-        agc_layout.addWidget(agc_st_group)
-
-        right_layout.addWidget(grp_agc)
-
         # Custom Command
         grp_custom = QGroupBox("Custom Command")
         cust_layout = QGridLayout(grp_custom)
@@ -869,122 +741,7 @@ class RadarDashboard(QMainWindow):
         parent_layout.addLayout(row)
 
     # -----------------------------------------------------------------
-    # TAB 4: AGC Monitor
+    # TAB 4: Diagnostics
-    # -----------------------------------------------------------------
-
-    def _create_agc_monitor_tab(self):
-        """AGC Monitor — real-time strip charts for FPGA inner-loop AGC."""
-        tab = QWidget()
-        layout = QVBoxLayout(tab)
-        layout.setContentsMargins(8, 8, 8, 8)
-
-        # ---- Top indicator row ---------------------------------------------
-        indicator = QFrame()
-        indicator.setStyleSheet(
-            f"background-color: {DARK_ACCENT}; border-radius: 4px;")
-        ind_layout = QHBoxLayout(indicator)
-        ind_layout.setContentsMargins(12, 8, 12, 8)
-
-        self._agc_mode_lbl = QLabel("AGC: --")
-        self._agc_mode_lbl.setStyleSheet(
-            f"color: {DARK_FG}; font-size: 16px; font-weight: bold;")
-        ind_layout.addWidget(self._agc_mode_lbl)
-
-        self._agc_gain_lbl = QLabel("Gain: --")
-        self._agc_gain_lbl.setStyleSheet(
-            f"color: {DARK_INFO}; font-size: 14px;")
-        ind_layout.addWidget(self._agc_gain_lbl)
-
-        self._agc_peak_lbl = QLabel("Peak: --")
-        self._agc_peak_lbl.setStyleSheet(
-            f"color: {DARK_INFO}; font-size: 14px;")
-        ind_layout.addWidget(self._agc_peak_lbl)
-
-        self._agc_sat_total_lbl = QLabel("Total Saturations: 0")
-        self._agc_sat_total_lbl.setStyleSheet(
-            f"color: {DARK_SUCCESS}; font-size: 14px; font-weight: bold;")
-        ind_layout.addWidget(self._agc_sat_total_lbl)
-
-        ind_layout.addStretch()
-        layout.addWidget(indicator)
-
-        # ---- Matplotlib figure with 3 subplots -----------------------------
-        agc_fig = Figure(figsize=(12, 7), facecolor=DARK_BG)
-        agc_fig.subplots_adjust(
-            left=0.07, right=0.96, top=0.95, bottom=0.07,
-            hspace=0.32)
-
-        # Subplot 1: Gain history (4-bit, 0-15)
-        self._agc_ax_gain = agc_fig.add_subplot(3, 1, 1)
-        self._agc_ax_gain.set_facecolor(DARK_ACCENT)
-        self._agc_ax_gain.set_ylabel("Gain Code", color=DARK_FG, fontsize=10)
-        self._agc_ax_gain.set_title(
-            "FPGA Inner-Loop Gain (4-bit)", color=DARK_FG, fontsize=11)
-        self._agc_ax_gain.set_ylim(-0.5, 15.5)
-        self._agc_ax_gain.tick_params(colors=DARK_FG, labelsize=9)
-        self._agc_ax_gain.set_xlim(0, self._agc_history_len)
-        for spine in self._agc_ax_gain.spines.values():
-            spine.set_color(DARK_BORDER)
-        self._agc_gain_line, = self._agc_ax_gain.plot(
-            [], [], color="#89b4fa", linewidth=1.5, label="Gain")
-        self._agc_ax_gain.axhline(y=7.5, color=DARK_WARNING, linestyle="--",
-                                  linewidth=0.8, alpha=0.5, label="Midpoint")
-        self._agc_ax_gain.legend(
-            loc="upper right", fontsize=8,
-            facecolor=DARK_ACCENT, edgecolor=DARK_BORDER,
-            labelcolor=DARK_FG)
-
-        # Subplot 2: Peak magnitude (8-bit, 0-255)
-        self._agc_ax_peak = agc_fig.add_subplot(
-            3, 1, 2, sharex=self._agc_ax_gain)
-        self._agc_ax_peak.set_facecolor(DARK_ACCENT)
-        self._agc_ax_peak.set_ylabel("Peak Mag", color=DARK_FG, fontsize=10)
-        self._agc_ax_peak.set_title(
-            "ADC Peak Magnitude (8-bit)", color=DARK_FG, fontsize=11)
-        self._agc_ax_peak.set_ylim(-5, 260)
-        self._agc_ax_peak.tick_params(colors=DARK_FG, labelsize=9)
-        for spine in self._agc_ax_peak.spines.values():
-            spine.set_color(DARK_BORDER)
-        self._agc_peak_line, = self._agc_ax_peak.plot(
-            [], [], color=DARK_SUCCESS, linewidth=1.5, label="Peak")
-        self._agc_ax_peak.axhline(y=200, color=DARK_WARNING, linestyle="--",
-                                  linewidth=0.8, alpha=0.5,
-                                  label="Target (200)")
-        self._agc_ax_peak.axhspan(240, 255, alpha=0.15, color=DARK_ERROR,
-                                  label="Sat Zone")
-        self._agc_ax_peak.legend(
-            loc="upper right", fontsize=8,
-            facecolor=DARK_ACCENT, edgecolor=DARK_BORDER,
-            labelcolor=DARK_FG)
-
-        # Subplot 3: Saturation count per update (8-bit, 0-255)
-        self._agc_ax_sat = agc_fig.add_subplot(
-            3, 1, 3, sharex=self._agc_ax_gain)
-        self._agc_ax_sat.set_facecolor(DARK_ACCENT)
-        self._agc_ax_sat.set_ylabel("Sat Count", color=DARK_FG, fontsize=10)
-        self._agc_ax_sat.set_xlabel(
-            "Sample (newest right)", color=DARK_FG, fontsize=10)
-        self._agc_ax_sat.set_title(
-            "Saturation Events per Update", color=DARK_FG, fontsize=11)
-        self._agc_ax_sat.set_ylim(-1, 10)
-        self._agc_ax_sat.tick_params(colors=DARK_FG, labelsize=9)
-        for spine in self._agc_ax_sat.spines.values():
-            spine.set_color(DARK_BORDER)
-        self._agc_sat_line, = self._agc_ax_sat.plot(
-            [], [], color=DARK_ERROR, linewidth=1.0, label="Saturation")
-        self._agc_sat_fill_artist = None
-        self._agc_ax_sat.legend(
-            loc="upper right", fontsize=8,
-            facecolor=DARK_ACCENT, edgecolor=DARK_BORDER,
-            labelcolor=DARK_FG)
-
-        self._agc_canvas = FigureCanvasQTAgg(agc_fig)
-        layout.addWidget(self._agc_canvas, stretch=1)
-
-        self._tabs.addTab(tab, "AGC Monitor")
-
-    # -----------------------------------------------------------------
-    # TAB 5: Diagnostics
     # -----------------------------------------------------------------
 
     def _create_diagnostics_tab(self):
@@ -1119,7 +876,7 @@ class RadarDashboard(QMainWindow):
         row += 1
 
         p_layout.addWidget(QLabel("DBSCAN eps:"), row, 0)
-        self._cluster_eps_spin = _make_dspin()
+        self._cluster_eps_spin = QDoubleSpinBox()
         self._cluster_eps_spin.setRange(1.0, 5000.0)
         self._cluster_eps_spin.setDecimals(1)
         self._cluster_eps_spin.setValue(self._processing_config.clustering_eps)
@@ -1236,11 +993,7 @@ class RadarDashboard(QMainWindow):
             logger.error(f"Failed to send FPGA cmd: 0x{opcode:02X}")
 
     def _send_fpga_validated(self, opcode: int, value: int, bits: int):
-        """Clamp value to bit-width and send.
+        """Clamp value to bit-width and send."""
-
-        In replay mode, also dispatch to the SoftwareFPGA setter and
-        re-process the current frame so the user sees immediate effect.
-        """
         max_val = (1 << bits) - 1
         clamped = max(0, min(value, max_val))
         if clamped != value:
@@ -1250,18 +1003,7 @@ class RadarDashboard(QMainWindow):
             key = f"0x{opcode:02X}"
             if key in self._param_spins:
                 self._param_spins[key].setValue(clamped)
-
-        # Dispatch to real FPGA (live/mock mode)
-        if not self._replay_mode:
         self._send_fpga_cmd(opcode, clamped)
-            return
-
-        # Dispatch to SoftwareFPGA (replay mode)
-        if self._software_fpga is not None:
-            self._dispatch_to_software_fpga(opcode, clamped)
-            # Re-process current frame so the effect is visible immediately
-            if self._replay_worker is not None:
-                self._replay_worker.seek(self._replay_worker.current_index)
 
     def _send_custom_command(self):
         """Send custom opcode + value from the FPGA Control tab."""
@@ -1278,112 +1020,36 @@ class RadarDashboard(QMainWindow):
 
     def _start_radar(self):
         """Start radar data acquisition using production protocol."""
-        # Mutual exclusion: stop demo if running
-        if self._demo_mode:
-            self._stop_demo()
-
         try:
             mode = self._mode_combo.currentText()
 
             if "Mock" in mode:
-                self._replay_mode = False
                 self._connection = FT2232HConnection(mock=True)
                 if not self._connection.open():
                     QMessageBox.critical(self, "Error", "Failed to open mock connection.")
                     return
             elif "Live" in mode:
-                self._replay_mode = False
                 self._connection = FT2232HConnection(mock=False)
                 if not self._connection.open():
                     QMessageBox.critical(self, "Error",
                                          "Failed to open FT2232H. Check USB connection.")
                     return
             elif "Replay" in mode:
-                self._replay_mode = True
+                from PyQt6.QtWidgets import QFileDialog
-                replay_path = self._replay_file_label.text()
+                npy_dir = QFileDialog.getExistingDirectory(
-                if replay_path == "No file loaded" or not replay_path:
+                    self, "Select .npy replay directory")
-                    QMessageBox.warning(
+                if not npy_dir:
-                        self, "Replay",
-                        "Use 'Browse...' to select a replay"
-                        " file or directory first.")
                     return
-
+                self._connection = ReplayConnection(npy_dir)
-                from .software_fpga import SoftwareFPGA
+                if not self._connection.open():
-                from .replay import ReplayEngine
+                    QMessageBox.critical(self, "Error",
-
+                                         "Failed to open replay connection.")
-                self._software_fpga = SoftwareFPGA()
-                # Enable CFAR by default for raw IQ replay (avoids 2000+ detections)
-                self._software_fpga.set_cfar_enable(True)
-
-                try:
-                    self._replay_engine = ReplayEngine(
-                        replay_path, self._software_fpga)
-                except (OSError, ValueError, RuntimeError) as exc:
-                    QMessageBox.critical(self, "Replay Error",
-                                         f"Failed to open replay data:\n{exc}")
-                    self._software_fpga = None
-                    return
-
-                if self._replay_engine.total_frames == 0:
-                    QMessageBox.warning(self, "Replay", "No frames found in the selected source.")
-                    self._replay_engine.close()
-                    self._replay_engine = None
-                    self._software_fpga = None
-                    return
-
-                speed_map = {0: 50, 1: 100, 2: 200, 3: 500}
-                interval = speed_map.get(self._replay_speed_combo.currentIndex(), 100)
-
-                self._replay_worker = ReplayWorker(
-                    replay_engine=self._replay_engine,
-                    settings=self._settings,
-                    gps=self._radar_position,
-                    frame_interval_ms=interval,
-                )
-                self._replay_worker.frameReady.connect(self._on_frame_ready)
-                self._replay_worker.targetsUpdated.connect(self._on_radar_targets)
-                self._replay_worker.statsUpdated.connect(self._on_radar_stats)
-                self._replay_worker.errorOccurred.connect(self._on_worker_error)
-                self._replay_worker.playbackStateChanged.connect(
-                    self._on_playback_state_changed)
-                self._replay_worker.frameIndexChanged.connect(
-                    self._on_frame_index_changed)
-                self._replay_worker.set_loop(self._replay_loop_cb.isChecked())
-
-                self._replay_slider.setMaximum(
-                    self._replay_engine.total_frames - 1)
-                self._replay_slider.setValue(0)
-                self._replay_frame_label.setText(
-                    f"0 / {self._replay_engine.total_frames}")
-
-                self._replay_worker.start()
-                # Update CFAR enable spinbox to reflect default-on for replay
-                if "0x25" in self._param_spins:
-                    self._param_spins["0x25"].setValue(1)
-
-                # UI state
-                self._running = True
-                self._start_time = time.time()
-                self._frame_count = 0
-                self._start_btn.setEnabled(False)
-                self._stop_btn.setEnabled(True)
-                self._mode_combo.setEnabled(False)
-                self._demo_btn_main.setEnabled(False)
-                self._demo_btn_map.setEnabled(False)
-                n_frames = self._replay_engine.total_frames
-                self._status_label_main.setText(
-                    f"Status: Replay ({n_frames} frames)")
-                self._sb_status.setText(f"Replay ({n_frames} frames)")
-                self._sb_mode.setText("Replay")
-                logger.info(
-                    "Replay started: %s (%d frames)",
-                    replay_path, n_frames)
                     return
             else:
                 QMessageBox.warning(self, "Warning", "Unknown connection mode.")
                 return
 
-            # Start radar worker (mock / live — NOT replay)
+            # Start radar worker
             self._radar_worker = RadarDataWorker(
                 connection=self._connection,
                 processor=self._processor,
@@ -1417,8 +1083,6 @@ class RadarDashboard(QMainWindow):
             self._start_btn.setEnabled(False)
             self._stop_btn.setEnabled(True)
             self._mode_combo.setEnabled(False)
-            self._demo_btn_main.setEnabled(False)
-            self._demo_btn_map.setEnabled(False)
             self._status_label_main.setText(f"Status: Running ({mode})")
             self._sb_status.setText(f"Running ({mode})")
             self._sb_mode.setText(mode)
@@ -1436,18 +1100,6 @@ class RadarDashboard(QMainWindow):
             self._radar_worker.wait(2000)
             self._radar_worker = None
 
-        if self._replay_worker:
-            self._replay_worker.stop()
-            self._replay_worker.wait(2000)
-            self._replay_worker = None
-
-        if self._replay_engine:
-            self._replay_engine.close()
-            self._replay_engine = None
-
-        self._software_fpga = None
-        self._replay_mode = False
-
         if self._gps_worker:
             self._gps_worker.stop()
             self._gps_worker.wait(2000)
@@ -1462,120 +1114,11 @@ class RadarDashboard(QMainWindow):
         self._start_btn.setEnabled(True)
         self._stop_btn.setEnabled(False)
         self._mode_combo.setEnabled(True)
-        self._demo_btn_main.setEnabled(True)
-        self._demo_btn_map.setEnabled(True)
         self._status_label_main.setText("Status: Radar stopped")
         self._sb_status.setText("Radar stopped")
         self._sb_mode.setText("Idle")
         logger.info("Radar system stopped")
 
-    # =====================================================================
-    # Replay helpers
-    # =====================================================================
-
-    def _on_mode_changed(self, text: str):
-        """Show/hide replay transport controls based on mode selection."""
-        is_replay = "Replay" in text
-        for w in self._replay_controls:
-            w.setVisible(is_replay)
-
-    def _browse_replay_file(self):
-        """Open file/directory picker for replay source."""
-        path, _ = QFileDialog.getOpenFileName(
-            self, "Select replay file",
-            "",
-            "All supported (*.npy *.h5);;NumPy files (*.npy);;HDF5 files (*.h5);;All files (*)",
-        )
-        if path:
-            self._replay_file_label.setText(path)
-            return
-        # If no file selected, try directory (for co-sim)
-        dir_path = QFileDialog.getExistingDirectory(
-            self, "Select co-sim replay directory")
-        if dir_path:
-            self._replay_file_label.setText(dir_path)
-
-    def _replay_play_pause(self):
-        """Toggle play/pause on the replay worker."""
-        if self._replay_worker is None:
-            return
-        if self._replay_worker.is_playing:
-            self._replay_worker.pause()
-            self._replay_play_btn.setText("Play")
-        else:
-            self._replay_worker.play()
-            self._replay_play_btn.setText("Pause")
-
-    def _replay_stop(self):
-        """Stop replay playback (keeps data loaded)."""
-        if self._replay_worker is not None:
-            self._replay_worker.pause()
-            self._replay_worker.seek(0)
-            self._replay_play_btn.setText("Play")
-
-    def _replay_seek(self, value: int):
-        """Seek to a specific frame from the slider."""
-        if self._replay_worker is not None and not self._replay_worker.is_playing:
-            self._replay_worker.seek(value)
-
-    def _replay_speed_changed(self, index: int):
-        """Update replay frame interval from speed combo."""
-        speed_map = {0: 50, 1: 100, 2: 200, 3: 500}
-        ms = speed_map.get(index, 100)
-        if self._replay_worker is not None:
-            self._replay_worker.set_frame_interval(ms)
-
-    def _replay_loop_changed(self, state: int):
-        """Update replay loop setting."""
-        if self._replay_worker is not None:
-            self._replay_worker.set_loop(state == Qt.CheckState.Checked.value)
-
-    @pyqtSlot(str)
-    def _on_playback_state_changed(self, state: str):
-        """Update UI when replay playback state changes."""
-        if state == "playing":
-            self._replay_play_btn.setText("Pause")
-        elif state in ("paused", "stopped"):
-            self._replay_play_btn.setText("Play")
-        if state == "stopped" and self._replay_worker is not None:
-            self._status_label_main.setText("Status: Replay finished")
-
-    @pyqtSlot(int, int)
-    def _on_frame_index_changed(self, current: int, total: int):
-        """Update slider and frame label from replay worker."""
-        self._replay_slider.blockSignals(True)
-        self._replay_slider.setValue(current)
-        self._replay_slider.blockSignals(False)
-        self._replay_frame_label.setText(f"{current} / {total}")
-
-    def _dispatch_to_software_fpga(self, opcode: int, value: int):
-        """Route an FPGA opcode+value to the SoftwareFPGA setter."""
-        fpga = self._software_fpga
-        if fpga is None:
-            return
-        _opcode_dispatch = {
-            0x03: lambda v: fpga.set_detect_threshold(v),
-            0x16: lambda v: fpga.set_gain_shift(v),
-            0x21: lambda v: fpga.set_cfar_guard(v),
-            0x22: lambda v: fpga.set_cfar_train(v),
-            0x23: lambda v: fpga.set_cfar_alpha(v),
-            0x24: lambda v: fpga.set_cfar_mode(v),
-            0x25: lambda v: fpga.set_cfar_enable(bool(v)),
-            0x26: lambda v: fpga.set_mti_enable(bool(v)),
-            0x27: lambda v: fpga.set_dc_notch_width(v),
-            0x28: lambda v: fpga.set_agc_enable(bool(v)),
-            0x29: lambda v: fpga.set_agc_params(target=v),
-            0x2A: lambda v: fpga.set_agc_params(attack=v),
-            0x2B: lambda v: fpga.set_agc_params(decay=v),
-            0x2C: lambda v: fpga.set_agc_params(holdoff=v),
-        }
-        handler = _opcode_dispatch.get(opcode)
-        if handler is not None:
-            handler(value)
-            logger.info(f"SoftwareFPGA: 0x{opcode:02X} = {value}")
-        else:
-            logger.debug(f"SoftwareFPGA: opcode 0x{opcode:02X} not handled (no-op)")
-
     # =====================================================================
     # Demo mode
     # =====================================================================
@@ -1583,10 +1126,6 @@ class RadarDashboard(QMainWindow):
     def _start_demo(self):
         if self._simulator:
             return
-        # Mutual exclusion: do not start demo while radar/replay is running
-        if self._running:
-            logger.warning("Cannot start demo while radar is running")
-            return
         self._simulator = TargetSimulator(self._radar_position, self)
         self._simulator.targetsUpdated.connect(self._on_demo_targets)
         self._simulator.start(500)
@@ -1603,13 +1142,7 @@ class RadarDashboard(QMainWindow):
             self._simulator.stop()
             self._simulator = None
         self._demo_mode = False
-        if not self._running:
+        self._sb_mode.setText("Idle" if not self._running else "Live")
-            mode = "Idle"
-        elif self._replay_mode:
-            mode = "Replay"
-        else:
-            mode = "Live"
-        self._sb_mode.setText(mode)
         self._sb_status.setText("Demo stopped")
         self._demo_btn_main.setText("Start Demo")
         self._demo_btn_map.setText("Start Demo")
@@ -1656,7 +1189,7 @@ class RadarDashboard(QMainWindow):
 
     @pyqtSlot(dict)
     def _on_radar_stats(self, stats: dict):
-        self._last_stats = stats
+        pass  # Stats are displayed in _refresh_gui
 
     @pyqtSlot(str)
     def _on_worker_error(self, msg: str):
@@ -1743,97 +1276,6 @@ class RadarDashboard(QMainWindow):
             self._st_labels["t4"].setText(
                 f"T4 ADC:  {'PASS' if flags & 0x10 else 'FAIL'}")
 
-        # AGC status readback
-        if hasattr(self, '_agc_labels'):
-            agc_str = "AUTO" if st.agc_enable else "MANUAL"
-            agc_color = DARK_SUCCESS if st.agc_enable else DARK_INFO
-            self._agc_labels["enable"].setStyleSheet(
-                f"color: {agc_color}; font-weight: bold;")
-            self._agc_labels["enable"].setText(f"AGC: {agc_str}")
-            self._agc_labels["gain"].setText(
-                f"Gain: {st.agc_current_gain}")
-            self._agc_labels["peak"].setText(
-                f"Peak: {st.agc_peak_magnitude}")
-            sat_color = DARK_ERROR if st.agc_saturation_count > 0 else DARK_INFO
-            self._agc_labels["sat"].setStyleSheet(
-                f"color: {sat_color}; font-weight: bold;")
-            self._agc_labels["sat"].setText(
-                f"Sat Count: {st.agc_saturation_count}")
-
-        # AGC Monitor tab visualization
-        self._update_agc_visualization(st)
-
-    def _update_agc_visualization(self, st: StatusResponse):
-        """Push AGC metrics into ring buffers and redraw AGC Monitor charts.
-
-        Data is always accumulated (cheap), but matplotlib redraws are
-        throttled to ``_AGC_REDRAW_INTERVAL`` seconds to avoid saturating
-        the GUI event-loop when status packets arrive at 20 Hz.
-        """
-        if not hasattr(self, '_agc_canvas'):
-            return
-
-        # Push data into ring buffers (always — O(1))
-        self._agc_gain_history.append(st.agc_current_gain)
-        self._agc_peak_history.append(st.agc_peak_magnitude)
-        self._agc_sat_history.append(st.agc_saturation_count)
-
-        # Update indicator labels (cheap Qt calls)
-        agc_str = "AUTO" if st.agc_enable else "MANUAL"
-        agc_color = DARK_SUCCESS if st.agc_enable else DARK_INFO
-        self._agc_mode_lbl.setStyleSheet(
-            f"color: {agc_color}; font-size: 16px; font-weight: bold;")
-        self._agc_mode_lbl.setText(f"AGC: {agc_str}")
-        self._agc_gain_lbl.setText(f"Gain: {st.agc_current_gain}")
-        self._agc_peak_lbl.setText(f"Peak: {st.agc_peak_magnitude}")
-
-        total_sat = sum(self._agc_sat_history)
-        if total_sat > 10:
-            sat_color = DARK_ERROR
-        elif total_sat > 0:
-            sat_color = DARK_WARNING
-        else:
-            sat_color = DARK_SUCCESS
-        self._agc_sat_total_lbl.setStyleSheet(
-            f"color: {sat_color}; font-size: 14px; font-weight: bold;")
-        self._agc_sat_total_lbl.setText(f"Total Saturations: {total_sat}")
-
-        # ---- Throttle matplotlib redraws ---------------------------------
-        now = time.monotonic()
-        if now - self._agc_last_redraw < self._AGC_REDRAW_INTERVAL:
-            return
-        self._agc_last_redraw = now
-
-        n = len(self._agc_gain_history)
-        xs = list(range(n))
-
-        # Update line plots
-        gain_data = list(self._agc_gain_history)
-        peak_data = list(self._agc_peak_history)
-        sat_data = list(self._agc_sat_history)
-
-        self._agc_gain_line.set_data(xs, gain_data)
-        self._agc_peak_line.set_data(xs, peak_data)
-        self._agc_sat_line.set_data(xs, sat_data)
-
-        # Update saturation fill
-        if self._agc_sat_fill_artist is not None:
-            self._agc_sat_fill_artist.remove()
-        if n > 0:
-            self._agc_sat_fill_artist = self._agc_ax_sat.fill_between(
-                xs, sat_data, color=DARK_ERROR, alpha=0.4)
-        else:
-            self._agc_sat_fill_artist = None
-
-        # Auto-scale saturation y-axis
-        max_sat = max(sat_data) if sat_data else 1
-        self._agc_ax_sat.set_ylim(-1, max(max_sat * 1.3, 5))
-
-        # Scroll x-axis
-        self._agc_ax_gain.set_xlim(max(0, n - self._agc_history_len), n)
-
-        self._agc_canvas.draw_idle()
-
     # =====================================================================
     # Position / coverage callbacks (map sidebar)
     # =====================================================================
@@ -1967,7 +1409,7 @@ class RadarDashboard(QMainWindow):
             str(self._frame_count),
             str(det),
             str(gps_count),
-            str(self._last_stats.get("errors", 0)),
+            "0",  # errors
             f"{uptime:.0f}s",
             f"{frame_rate:.1f}/s",
         ]
@@ -2018,22 +1460,15 @@ class RadarDashboard(QMainWindow):
 
 
 # =============================================================================
-# Qt-compatible log handler (routes Python logging -> QTextEdit via signal)
+# Qt-compatible log handler (routes Python logging -> QTextEdit)
 # =============================================================================
 
-
-class _LogSignalBridge(QObject):
-    """Thread-safe bridge: emits a Qt signal so the slot runs on the GUI thread."""
-
-    log_message = pyqtSignal(str)
-
-
 class _QtLogHandler(logging.Handler):
-    """Sends log records to a QObject signal (safe from any thread)."""
+    """Sends log records to a callback (called on the thread that emitted)."""
 
-    def __init__(self, bridge: _LogSignalBridge):
+    def __init__(self, callback):
         super().__init__()
-        self._bridge = bridge
+        self._callback = callback
         self.setFormatter(logging.Formatter(
             "%(asctime)s  %(levelname)-8s  %(message)s",
             datefmt="%H:%M:%S",
@@ -2042,6 +1477,6 @@ class _QtLogHandler(logging.Handler):
     def emit(self, record):
         try:
             msg = self.format(record)
-            self._bridge.log_message.emit(msg)
+            self._callback(msg)
         except RuntimeError:
             pass

9_Firmware/9_3_GUI/v7/hardware.py

@@ -3,16 +3,20 @@ v7.hardware — Hardware interface classes for the PLFM Radar GUI V7.
 
 Provides:
   - FT2232H radar data + command interface via production radar_protocol module
+  - ReplayConnection for offline .npy replay via production radar_protocol module
   - STM32USBInterface for GPS data only (USB CDC)
 
 The FT2232H interface uses the production protocol layer (radar_protocol.py)
 which sends 4-byte {opcode, addr, value_hi, value_lo} register commands and
-parses 0xAA data / 0xBB status packets from the FPGA.
+parses 0xAA data / 0xBB status packets from the FPGA. The old magic-packet
+and 'SET'...'END' binary settings protocol has been removed — it was
+incompatible with the FPGA register interface.
 """
 
-import sys
+import importlib.util
-import os
 import logging
+import pathlib
+import sys
 from typing import ClassVar
 
 from .models import USB_AVAILABLE
@@ -21,17 +25,44 @@ if USB_AVAILABLE:
     import usb.core
     import usb.util
 
-# Import production protocol layer — single source of truth for FPGA comms
+
-sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
+def _load_radar_protocol():
-from radar_protocol import (  # noqa: F401 — re-exported for v7 package
+    """Load radar_protocol.py by absolute path without mutating sys.path."""
-    FT2232HConnection,
+    mod_name = "radar_protocol"
-    RadarProtocol,
+    if mod_name in sys.modules:
-    Opcode,
+        return sys.modules[mod_name]
-    RadarAcquisition,
+    proto_path = pathlib.Path(__file__).resolve().parent.parent / "radar_protocol.py"
-    RadarFrame,
+    if not proto_path.is_file():
-    StatusResponse,
+        raise FileNotFoundError(
-    DataRecorder,
+            f"radar_protocol.py not found at expected location: {proto_path}"
         )
+    spec = importlib.util.spec_from_file_location(mod_name, proto_path)
+    if spec is None or spec.loader is None:
+        raise ImportError(
+            f"Cannot create module spec for radar_protocol.py at {proto_path}"
+        )
+    mod = importlib.util.module_from_spec(spec)
+    # Register before exec so cyclic imports resolve correctly, but remove on failure
+    sys.modules[mod_name] = mod
+    try:
+        spec.loader.exec_module(mod)
+    except Exception:
+        sys.modules.pop(mod_name, None)
+        raise
+    return mod
+
+
+_rp = _load_radar_protocol()
+
+# Re-exported for the v7 package — single source of truth for FPGA comms
+FT2232HConnection = _rp.FT2232HConnection
+ReplayConnection = _rp.ReplayConnection
+RadarProtocol = _rp.RadarProtocol
+Opcode = _rp.Opcode
+RadarAcquisition = _rp.RadarAcquisition
+RadarFrame = _rp.RadarFrame
+StatusResponse = _rp.StatusResponse
+DataRecorder = _rp.DataRecorder
 
 logger = logging.getLogger(__name__)
 

9_Firmware/9_3_GUI/v7/map_widget.py

@@ -17,8 +17,7 @@ from PyQt6.QtWidgets import (
     QWidget, QVBoxLayout, QHBoxLayout, QFrame,
     QComboBox, QCheckBox, QPushButton, QLabel,
 )
-from PyQt6.QtCore import Qt, QUrl, pyqtSignal, pyqtSlot, QObject
+from PyQt6.QtCore import Qt, pyqtSignal, pyqtSlot, QObject
-from PyQt6.QtWebEngineCore import QWebEngineSettings
 from PyQt6.QtWebEngineWidgets import QWebEngineView
 from PyQt6.QtWebChannel import QWebChannel
 
@@ -65,7 +64,7 @@ class MapBridge(QObject):
 
     @pyqtSlot(str)
     def logFromJS(self, message: str):
-        logger.info(f"[JS] {message}")
+        logger.debug(f"[JS] {message}")
 
     @property
     def is_ready(self) -> bool:
@@ -518,20 +517,8 @@ document.addEventListener('DOMContentLoaded', function() {{
     # ---- load / helpers ----------------------------------------------------
 
     def _load_map(self):
-        # Enable remote resource access so Leaflet CDN scripts/tiles can load.
+        self._web_view.setHtml(self._get_map_html())
-        settings = self._web_view.page().settings()
+        logger.info("Leaflet map HTML loaded")
-        settings.setAttribute(
-            QWebEngineSettings.WebAttribute.LocalContentCanAccessRemoteUrls,
-            True,
-        )
-        # Provide an HTTP base URL so the page has a proper origin;
-        # without this, setHtml() defaults to about:blank which blocks
-        # external resource loading in modern Chromium.
-        self._web_view.setHtml(
-            self._get_map_html(),
-            QUrl("http://localhost/radar_map"),
-        )
-        logger.info("Leaflet map HTML loaded (with HTTP base URL)")
 
     def _on_map_ready(self):
         self._status_label.setText(f"Map ready - {len(self._targets)} targets")
@@ -591,10 +578,7 @@ document.addEventListener('DOMContentLoaded', function() {{
             return
         data = [t.to_dict() for t in targets]
         js_payload = json.dumps(data).replace("\\", "\\\\").replace("'", "\\'")
-        logger.info(
+        logger.debug("set_targets: %d targets", len(targets))
-            "set_targets: %d targets, JSON len=%d, first 200 chars: %s",
-            len(targets), len(js_payload), js_payload[:200],
-        )
         self._status_label.setText(f"{len(targets)} targets tracked")
         self._run_js(f"updateTargets('{js_payload}')")
 

9_Firmware/9_3_GUI/v7/models.py

@@ -186,59 +186,3 @@ class TileServer(Enum):
     GOOGLE_SATELLITE = "google_sat"
     GOOGLE_HYBRID = "google_hybrid"
     ESRI_SATELLITE = "esri_sat"
-
-
-# ---------------------------------------------------------------------------
-# Waveform configuration (physical parameters for bin→unit conversion)
-# ---------------------------------------------------------------------------
-
-@dataclass
-class WaveformConfig:
-    """Physical waveform parameters for converting bins to SI units.
-
-    Encapsulates the radar waveform so that range/velocity resolution
-    can be derived automatically instead of hardcoded in RadarSettings.
-
-    Defaults match the ADI CN0566 Phaser capture parameters used in
-    the golden_reference cosim (4 MSPS, 500 MHz BW, 300 us chirp).
-    """
-
-    sample_rate_hz: float = 4e6          # ADC sample rate
-    bandwidth_hz: float = 500e6          # Chirp bandwidth
-    chirp_duration_s: float = 300e-6     # Chirp ramp time
-    center_freq_hz: float = 10.525e9     # Carrier frequency
-    n_range_bins: int = 64               # After decimation
-    n_doppler_bins: int = 32             # After Doppler FFT
-    fft_size: int = 1024                 # Pre-decimation FFT length
-    decimation_factor: int = 16          # 1024 → 64
-
-    @property
-    def range_resolution_m(self) -> float:
-        """Meters per decimated range bin (FMCW deramped baseband).
-
-        For deramped FMCW: bin spacing = c * Fs * T / (2 * N_FFT * BW).
-        After decimation the bin spacing grows by *decimation_factor*.
-        """
-        c = 299_792_458.0
-        raw_bin = (
-            c * self.sample_rate_hz * self.chirp_duration_s
-            / (2.0 * self.fft_size * self.bandwidth_hz)
-        )
-        return raw_bin * self.decimation_factor
-
-    @property
-    def velocity_resolution_mps(self) -> float:
-        """m/s per Doppler bin.  lambda / (2 * n_doppler * chirp_duration)."""
-        c = 299_792_458.0
-        wavelength = c / self.center_freq_hz
-        return wavelength / (2.0 * self.n_doppler_bins * self.chirp_duration_s)
-
-    @property
-    def max_range_m(self) -> float:
-        """Maximum unambiguous range in meters."""
-        return self.range_resolution_m * self.n_range_bins
-
-    @property
-    def max_velocity_mps(self) -> float:
-        """Maximum unambiguous velocity (±) in m/s."""
-        return self.velocity_resolution_mps * self.n_doppler_bins / 2.0

9_Firmware/9_3_GUI/v7/processing.py

@@ -451,103 +451,3 @@ class USBPacketParser:
         except (ValueError, struct.error) as e:
             logger.error(f"Error parsing binary GPS: {e}")
             return None
-
-
-# ============================================================================
-# Utility: polar → geographic coordinate conversion
-# ============================================================================
-
-def polar_to_geographic(
-    radar_lat: float,
-    radar_lon: float,
-    range_m: float,
-    azimuth_deg: float,
-) -> tuple:
-    """Convert polar (range, azimuth) relative to radar → (lat, lon).
-
-    azimuth_deg: 0 = North, clockwise.
-    """
-    r_earth = 6_371_000.0  # Earth radius in metres
-
-    lat1 = math.radians(radar_lat)
-    lon1 = math.radians(radar_lon)
-    bearing = math.radians(azimuth_deg)
-
-    lat2 = math.asin(
-        math.sin(lat1) * math.cos(range_m / r_earth)
-        + math.cos(lat1) * math.sin(range_m / r_earth) * math.cos(bearing)
-    )
-    lon2 = lon1 + math.atan2(
-        math.sin(bearing) * math.sin(range_m / r_earth) * math.cos(lat1),
-        math.cos(range_m / r_earth) - math.sin(lat1) * math.sin(lat2),
-    )
-    return (math.degrees(lat2), math.degrees(lon2))
-
-
-# ============================================================================
-# Shared target extraction (used by both RadarDataWorker and ReplayWorker)
-# ============================================================================
-
-def extract_targets_from_frame(
-    frame,
-    range_resolution: float = 1.0,
-    velocity_resolution: float = 1.0,
-    gps: GPSData | None = None,
-) -> list[RadarTarget]:
-    """Extract RadarTarget list from a RadarFrame's detection mask.
-
-    This is the bin-to-physical conversion + geo-mapping shared between
-    the live and replay data paths.
-
-    Parameters
-    ----------
-    frame : RadarFrame
-        Frame with populated ``detections``, ``magnitude``, ``range_doppler_i/q``.
-    range_resolution : float
-        Meters per range bin.
-    velocity_resolution : float
-        m/s per Doppler bin.
-    gps : GPSData | None
-        GPS position for geo-mapping (latitude/longitude).
-
-    Returns
-    -------
-    list[RadarTarget]
-        One target per detection cell.
-    """
-    det_indices = np.argwhere(frame.detections > 0)
-    n_doppler = frame.detections.shape[1] if frame.detections.ndim == 2 else 32
-    doppler_center = n_doppler // 2
-
-    targets: list[RadarTarget] = []
-    for idx in det_indices:
-        rbin, dbin = int(idx[0]), int(idx[1])
-        mag = float(frame.magnitude[rbin, dbin])
-        snr = 10.0 * math.log10(max(mag, 1.0)) if mag > 0 else 0.0
-
-        range_m = float(rbin) * range_resolution
-        velocity_ms = float(dbin - doppler_center) * velocity_resolution
-
-        lat, lon, azimuth, elevation = 0.0, 0.0, 0.0, 0.0
-        if gps is not None:
-            azimuth = gps.heading
-            # Spread detections across ±15° sector for single-beam radar
-            if len(det_indices) > 1:
-                spread = (dbin - doppler_center) / max(doppler_center, 1) * 15.0
-                azimuth = gps.heading + spread
-            lat, lon = polar_to_geographic(
-                gps.latitude, gps.longitude, range_m, azimuth,
-            )
-
-        targets.append(RadarTarget(
-            id=len(targets),
-            range=range_m,
-            velocity=velocity_ms,
-            azimuth=azimuth,
-            elevation=elevation,
-            latitude=lat,
-            longitude=lon,
-            snr=snr,
-            timestamp=frame.timestamp,
-        ))
-    return targets

9_Firmware/9_3_GUI/v7/replay.py

@@ -1,288 +0,0 @@
-"""
-v7.replay — ReplayEngine: auto-detect format, load, and iterate RadarFrames.
-
-Supports three data sources:
-  1. **FPGA co-sim directory** — pre-computed ``.npy`` files from golden_reference
-  2. **Raw IQ cube** ``.npy`` — complex baseband capture (e.g. ADI Phaser)
-  3. **HDF5 recording** ``.h5`` — frames captured by ``DataRecorder``
-
-For raw IQ data the engine uses :class:`SoftwareFPGA` to run the full
-bit-accurate signal chain, so changing FPGA control registers in the
-dashboard re-processes the data.
-"""
-
-from __future__ import annotations
-
-import logging
-import time
-from enum import Enum, auto
-from pathlib import Path
-from typing import TYPE_CHECKING
-
-import numpy as np
-
-if TYPE_CHECKING:
-    from .software_fpga import SoftwareFPGA
-
-# radar_protocol is a sibling module (not inside v7/)
-import sys as _sys
-
-_GUI_DIR = str(Path(__file__).resolve().parent.parent)
-if _GUI_DIR not in _sys.path:
-    _sys.path.insert(0, _GUI_DIR)
-from radar_protocol import RadarFrame  # noqa: E402
-
-log = logging.getLogger(__name__)
-
-# Lazy import — h5py is optional
-try:
-    import h5py
-
-    HDF5_AVAILABLE = True
-except ImportError:
-    HDF5_AVAILABLE = False
-
-
-class ReplayFormat(Enum):
-    """Detected input format."""
-
-    COSIM_DIR = auto()
-    RAW_IQ_NPY = auto()
-    HDF5 = auto()
-
-
-# ───────────────────────────────────────────────────────────────────
-# Format detection
-# ───────────────────────────────────────────────────────────────────
-
-_COSIM_REQUIRED = {"doppler_map_i.npy", "doppler_map_q.npy"}
-
-
-def detect_format(path: str) -> ReplayFormat:
-    """Auto-detect the replay data format from *path*.
-
-    Raises
-    ------
-    ValueError
-        If the format cannot be determined.
-    """
-    p = Path(path)
-
-    if p.is_dir():
-        children = {f.name for f in p.iterdir()}
-        if _COSIM_REQUIRED.issubset(children):
-            return ReplayFormat.COSIM_DIR
-        msg = f"Directory {p} does not contain required co-sim files: {_COSIM_REQUIRED - children}"
-        raise ValueError(msg)
-
-    if p.suffix == ".h5":
-        return ReplayFormat.HDF5
-
-    if p.suffix == ".npy":
-        return ReplayFormat.RAW_IQ_NPY
-
-    msg = f"Cannot determine replay format for: {p}"
-    raise ValueError(msg)
-
-
-# ───────────────────────────────────────────────────────────────────
-# ReplayEngine
-# ───────────────────────────────────────────────────────────────────
-
-class ReplayEngine:
-    """Load replay data and serve RadarFrames on demand.
-
-    Parameters
-    ----------
-    path : str
-        File or directory path to load.
-    software_fpga : SoftwareFPGA | None
-        Required only for ``RAW_IQ_NPY`` format.  For other formats the
-        data is already processed and the FPGA instance is ignored.
-    """
-
-    def __init__(self, path: str, software_fpga: SoftwareFPGA | None = None) -> None:
-        self.path = path
-        self.fmt = detect_format(path)
-        self.software_fpga = software_fpga
-
-        # Populated by _load_*
-        self._total_frames: int = 0
-        self._raw_iq: np.ndarray | None = None   # for RAW_IQ_NPY
-        self._h5_file = None
-        self._h5_keys: list[str] = []
-        self._cosim_frame = None  # single RadarFrame for co-sim
-
-        self._load()
-
-    # ------------------------------------------------------------------
-    # Loading
-    # ------------------------------------------------------------------
-
-    def _load(self) -> None:
-        if self.fmt is ReplayFormat.COSIM_DIR:
-            self._load_cosim()
-        elif self.fmt is ReplayFormat.RAW_IQ_NPY:
-            self._load_raw_iq()
-        elif self.fmt is ReplayFormat.HDF5:
-            self._load_hdf5()
-
-    def _load_cosim(self) -> None:
-        """Load FPGA co-sim directory (already-processed .npy arrays).
-
-        Prefers fullchain (MTI-enabled) files when CFAR outputs are present,
-        so that I/Q data is consistent with the detection mask.  Falls back
-        to the non-MTI ``doppler_map`` files when fullchain data is absent.
-        """
-        d = Path(self.path)
-
-        # CFAR outputs (from the MTI→Doppler→DC-notch→CFAR chain)
-        cfar_flags = d / "fullchain_cfar_flags.npy"
-        cfar_mag = d / "fullchain_cfar_mag.npy"
-        has_cfar = cfar_flags.exists() and cfar_mag.exists()
-
-        # MTI-consistent I/Q (same chain that produced CFAR outputs)
-        mti_dop_i = d / "fullchain_mti_doppler_i.npy"
-        mti_dop_q = d / "fullchain_mti_doppler_q.npy"
-        has_mti_doppler = mti_dop_i.exists() and mti_dop_q.exists()
-
-        # Choose I/Q: prefer MTI-chain when CFAR data comes from that chain
-        if has_cfar and has_mti_doppler:
-            dop_i = np.load(mti_dop_i).astype(np.int16)
-            dop_q = np.load(mti_dop_q).astype(np.int16)
-            log.info("Co-sim: using fullchain MTI+Doppler I/Q (matches CFAR chain)")
-        else:
-            dop_i = np.load(d / "doppler_map_i.npy").astype(np.int16)
-            dop_q = np.load(d / "doppler_map_q.npy").astype(np.int16)
-            log.info("Co-sim: using non-MTI doppler_map I/Q")
-
-        frame = RadarFrame()
-        frame.range_doppler_i = dop_i
-        frame.range_doppler_q = dop_q
-
-        if has_cfar:
-            frame.detections = np.load(cfar_flags).astype(np.uint8)
-            frame.magnitude = np.load(cfar_mag).astype(np.float64)
-        else:
-            frame.magnitude = np.sqrt(
-                dop_i.astype(np.float64) ** 2 + dop_q.astype(np.float64) ** 2
-            )
-            frame.detections = np.zeros_like(dop_i, dtype=np.uint8)
-
-        frame.range_profile = frame.magnitude[:, 0]
-        frame.detection_count = int(frame.detections.sum())
-        frame.frame_number = 0
-        frame.timestamp = time.time()
-
-        self._cosim_frame = frame
-        self._total_frames = 1
-        log.info("Loaded co-sim directory: %s (1 frame)", self.path)
-
-    def _load_raw_iq(self) -> None:
-        """Load raw complex IQ cube (.npy)."""
-        data = np.load(self.path, mmap_mode="r")
-        if data.ndim == 2:
-            # (chirps, samples) — single frame
-            data = data[np.newaxis, ...]
-        if data.ndim != 3:
-            msg = f"Expected 3-D array (frames, chirps, samples), got shape {data.shape}"
-            raise ValueError(msg)
-        self._raw_iq = data
-        self._total_frames = data.shape[0]
-        log.info(
-            "Loaded raw IQ: %s, shape %s (%d frames)",
-            self.path,
-            data.shape,
-            self._total_frames,
-        )
-
-    def _load_hdf5(self) -> None:
-        """Load HDF5 recording (.h5)."""
-        if not HDF5_AVAILABLE:
-            msg = "h5py is required to load HDF5 recordings"
-            raise ImportError(msg)
-        self._h5_file = h5py.File(self.path, "r")
-        frames_grp = self._h5_file.get("frames")
-        if frames_grp is None:
-            msg = f"HDF5 file {self.path} has no 'frames' group"
-            raise ValueError(msg)
-        self._h5_keys = sorted(frames_grp.keys())
-        self._total_frames = len(self._h5_keys)
-        log.info("Loaded HDF5: %s (%d frames)", self.path, self._total_frames)
-
-    # ------------------------------------------------------------------
-    # Public API
-    # ------------------------------------------------------------------
-
-    @property
-    def total_frames(self) -> int:
-        return self._total_frames
-
-    def get_frame(self, index: int) -> RadarFrame:
-        """Return the RadarFrame at *index* (0-based).
-
-        For ``RAW_IQ_NPY`` format, this runs the SoftwareFPGA chain
-        on the requested frame's chirps.
-        """
-        if index < 0 or index >= self._total_frames:
-            msg = f"Frame index {index} out of range [0, {self._total_frames})"
-            raise IndexError(msg)
-
-        if self.fmt is ReplayFormat.COSIM_DIR:
-            return self._get_cosim(index)
-        if self.fmt is ReplayFormat.RAW_IQ_NPY:
-            return self._get_raw_iq(index)
-        return self._get_hdf5(index)
-
-    def close(self) -> None:
-        """Release any open file handles."""
-        if self._h5_file is not None:
-            self._h5_file.close()
-            self._h5_file = None
-
-    # ------------------------------------------------------------------
-    # Per-format frame getters
-    # ------------------------------------------------------------------
-
-    def _get_cosim(self, _index: int) -> RadarFrame:
-        """Co-sim: single static frame (index ignored).
-
-        Uses deepcopy so numpy arrays are not shared with the source,
-        preventing in-place mutation from corrupting cached data.
-        """
-        import copy
-        frame = copy.deepcopy(self._cosim_frame)
-        frame.timestamp = time.time()
-        return frame
-
-    def _get_raw_iq(self, index: int) -> RadarFrame:
-        """Raw IQ: quantize one frame and run through SoftwareFPGA."""
-        if self.software_fpga is None:
-            msg = "SoftwareFPGA is required for raw IQ replay"
-            raise RuntimeError(msg)
-
-        from .software_fpga import quantize_raw_iq
-
-        raw = self._raw_iq[index]  # (chirps, samples) complex
-        iq_i, iq_q = quantize_raw_iq(raw[np.newaxis, ...])
-        return self.software_fpga.process_chirps(
-            iq_i, iq_q, frame_number=index, timestamp=time.time()
-        )
-
-    def _get_hdf5(self, index: int) -> RadarFrame:
-        """HDF5: reconstruct RadarFrame from stored datasets."""
-        key = self._h5_keys[index]
-        grp = self._h5_file["frames"][key]
-
-        frame = RadarFrame()
-        frame.timestamp = float(grp.attrs.get("timestamp", time.time()))
-        frame.frame_number = int(grp.attrs.get("frame_number", index))
-        frame.detection_count = int(grp.attrs.get("detection_count", 0))
-
-        frame.range_doppler_i = np.array(grp["range_doppler_i"], dtype=np.int16)
-        frame.range_doppler_q = np.array(grp["range_doppler_q"], dtype=np.int16)
-        frame.magnitude = np.array(grp["magnitude"], dtype=np.float64)
-        frame.detections = np.array(grp["detections"], dtype=np.uint8)
-        frame.range_profile = np.array(grp["range_profile"], dtype=np.float64)
-
-        return frame

9_Firmware/9_3_GUI/v7/software_fpga.py

@@ -1,287 +0,0 @@
-"""
-v7.software_fpga — Bit-accurate software replica of the AERIS-10 FPGA signal chain.
-
-Imports processing functions directly from golden_reference.py (Option A)
-to avoid code duplication.  Every stage is toggleable via the same host
-register interface the real FPGA exposes, so the dashboard spinboxes can
-drive either backend transparently.
-
-Signal chain order (matching RTL):
-    quantize → range_fft → decimator → MTI → doppler_fft → dc_notch → CFAR → RadarFrame
-
-Usage:
-    fpga = SoftwareFPGA()
-    fpga.set_cfar_enable(True)
-    frame = fpga.process_chirps(iq_i, iq_q, frame_number=0)
-"""
-
-from __future__ import annotations
-
-import logging
-import os
-import sys
-from pathlib import Path
-
-import numpy as np
-
-# ---------------------------------------------------------------------------
-# Import golden_reference by adding the cosim path to sys.path
-# ---------------------------------------------------------------------------
-_GOLDEN_REF_DIR = str(
-    Path(__file__).resolve().parents[2]  # 9_Firmware/
-    / "9_2_FPGA" / "tb" / "cosim" / "real_data"
-)
-if _GOLDEN_REF_DIR not in sys.path:
-    sys.path.insert(0, _GOLDEN_REF_DIR)
-
-from golden_reference import (  # noqa: E402
-    run_range_fft,
-    run_range_bin_decimator,
-    run_mti_canceller,
-    run_doppler_fft,
-    run_dc_notch,
-    run_cfar_ca,
-    run_detection,
-    FFT_SIZE,
-    DOPPLER_CHIRPS,
-)
-
-# RadarFrame lives in radar_protocol (no circular dep — protocol has no GUI)
-sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
-from radar_protocol import RadarFrame  # noqa: E402
-
-log = logging.getLogger(__name__)
-
-# ---------------------------------------------------------------------------
-# Twiddle factor file paths (relative to FPGA root)
-# ---------------------------------------------------------------------------
-_FPGA_DIR = Path(__file__).resolve().parents[2] / "9_2_FPGA"
-TWIDDLE_1024 = str(_FPGA_DIR / "fft_twiddle_1024.mem")
-TWIDDLE_16 = str(_FPGA_DIR / "fft_twiddle_16.mem")
-
-# CFAR mode int→string mapping (FPGA register 0x24: 0=CA, 1=GO, 2=SO)
-_CFAR_MODE_MAP = {0: "CA", 1: "GO", 2: "SO", 3: "CA"}
-
-
-class SoftwareFPGA:
-    """Bit-accurate replica of the AERIS-10 FPGA signal processing chain.
-
-    All registers mirror FPGA reset defaults from ``radar_system_top.v``.
-    Setters accept the same integer values as the FPGA host commands.
-    """
-
-    def __init__(self) -> None:
-        # --- FPGA register mirror (reset defaults) ---
-        # Detection
-        self.detect_threshold: int = 10_000   # 0x03
-        self.gain_shift: int = 0              # 0x16
-
-        # CFAR
-        self.cfar_enable: bool = False         # 0x25
-        self.cfar_guard: int = 2               # 0x21
-        self.cfar_train: int = 8               # 0x22
-        self.cfar_alpha: int = 0x30            # 0x23  Q4.4
-        self.cfar_mode: int = 0                # 0x24  0=CA,1=GO,2=SO
-
-        # MTI
-        self.mti_enable: bool = False          # 0x26
-
-        # DC notch
-        self.dc_notch_width: int = 0           # 0x27
-
-        # AGC (tracked but not applied in software chain — AGC operates
-        # on the analog front-end gain, which doesn't exist in replay)
-        self.agc_enable: bool = False          # 0x28
-        self.agc_target: int = 200             # 0x29
-        self.agc_attack: int = 1               # 0x2A
-        self.agc_decay: int = 1                # 0x2B
-        self.agc_holdoff: int = 4              # 0x2C
-
-    # ------------------------------------------------------------------
-    # Register setters (same interface as UART commands to real FPGA)
-    # ------------------------------------------------------------------
-    def set_detect_threshold(self, val: int) -> None:
-        self.detect_threshold = int(val) & 0xFFFF
-
-    def set_gain_shift(self, val: int) -> None:
-        self.gain_shift = int(val) & 0x0F
-
-    def set_cfar_enable(self, val: bool) -> None:
-        self.cfar_enable = bool(val)
-
-    def set_cfar_guard(self, val: int) -> None:
-        self.cfar_guard = int(val) & 0x0F
-
-    def set_cfar_train(self, val: int) -> None:
-        self.cfar_train = max(1, int(val) & 0x1F)
-
-    def set_cfar_alpha(self, val: int) -> None:
-        self.cfar_alpha = int(val) & 0xFF
-
-    def set_cfar_mode(self, val: int) -> None:
-        self.cfar_mode = int(val) & 0x03
-
-    def set_mti_enable(self, val: bool) -> None:
-        self.mti_enable = bool(val)
-
-    def set_dc_notch_width(self, val: int) -> None:
-        self.dc_notch_width = int(val) & 0x07
-
-    def set_agc_enable(self, val: bool) -> None:
-        self.agc_enable = bool(val)
-
-    def set_agc_params(
-        self,
-        target: int | None = None,
-        attack: int | None = None,
-        decay: int | None = None,
-        holdoff: int | None = None,
-    ) -> None:
-        if target is not None:
-            self.agc_target = int(target) & 0xFF
-        if attack is not None:
-            self.agc_attack = int(attack) & 0x0F
-        if decay is not None:
-            self.agc_decay = int(decay) & 0x0F
-        if holdoff is not None:
-            self.agc_holdoff = int(holdoff) & 0x0F
-
-    # ------------------------------------------------------------------
-    # Core processing: raw IQ chirps → RadarFrame
-    # ------------------------------------------------------------------
-    def process_chirps(
-        self,
-        iq_i: np.ndarray,
-        iq_q: np.ndarray,
-        frame_number: int = 0,
-        timestamp: float = 0.0,
-    ) -> RadarFrame:
-        """Run the full FPGA signal chain on pre-quantized 16-bit I/Q chirps.
-
-        Parameters
-        ----------
-        iq_i, iq_q : ndarray, shape (n_chirps, n_samples), int16/int64
-            Post-DDC I/Q samples.  For ADI phaser data, use
-            ``quantize_raw_iq()`` first.
-        frame_number : int
-            Frame counter for the output RadarFrame.
-        timestamp : float
-            Timestamp for the output RadarFrame.
-
-        Returns
-        -------
-        RadarFrame
-            Populated frame identical to what the real FPGA would produce.
-        """
-        n_chirps = iq_i.shape[0]
-        n_samples = iq_i.shape[1]
-
-        # --- Stage 1: Range FFT (per chirp) ---
-        range_i = np.zeros((n_chirps, n_samples), dtype=np.int64)
-        range_q = np.zeros((n_chirps, n_samples), dtype=np.int64)
-        twiddle_1024 = TWIDDLE_1024 if os.path.exists(TWIDDLE_1024) else None
-        for c in range(n_chirps):
-            range_i[c], range_q[c] = run_range_fft(
-                iq_i[c].astype(np.int64),
-                iq_q[c].astype(np.int64),
-                twiddle_file=twiddle_1024,
-            )
-
-        # --- Stage 2: Range bin decimation (1024 → 64) ---
-        decim_i, decim_q = run_range_bin_decimator(range_i, range_q)
-
-        # --- Stage 3: MTI canceller (pre-Doppler, per-chirp) ---
-        mti_i, mti_q = run_mti_canceller(decim_i, decim_q, enable=self.mti_enable)
-
-        # --- Stage 4: Doppler FFT (dual 16-pt Hamming) ---
-        twiddle_16 = TWIDDLE_16 if os.path.exists(TWIDDLE_16) else None
-        doppler_i, doppler_q = run_doppler_fft(mti_i, mti_q, twiddle_file_16=twiddle_16)
-
-        # --- Stage 5: DC notch (bin zeroing) ---
-        notch_i, notch_q = run_dc_notch(doppler_i, doppler_q, width=self.dc_notch_width)
-
-        # --- Stage 6: Detection ---
-        if self.cfar_enable:
-            mode_str = _CFAR_MODE_MAP.get(self.cfar_mode, "CA")
-            detect_flags, magnitudes, _thresholds = run_cfar_ca(
-                notch_i,
-                notch_q,
-                guard=self.cfar_guard,
-                train=self.cfar_train,
-                alpha_q44=self.cfar_alpha,
-                mode=mode_str,
-            )
-            det_mask = detect_flags.astype(np.uint8)
-            mag = magnitudes.astype(np.float64)
-        else:
-            mag_raw, det_indices = run_detection(
-                notch_i, notch_q, threshold=self.detect_threshold
-            )
-            mag = mag_raw.astype(np.float64)
-            det_mask = np.zeros_like(mag, dtype=np.uint8)
-            for idx in det_indices:
-                det_mask[idx[0], idx[1]] = 1
-
-        # --- Assemble RadarFrame ---
-        frame = RadarFrame()
-        frame.timestamp = timestamp
-        frame.frame_number = frame_number
-        frame.range_doppler_i = np.clip(notch_i, -32768, 32767).astype(np.int16)
-        frame.range_doppler_q = np.clip(notch_q, -32768, 32767).astype(np.int16)
-        frame.magnitude = mag
-        frame.detections = det_mask
-        frame.range_profile = np.sqrt(
-            notch_i[:, 0].astype(np.float64) ** 2
-            + notch_q[:, 0].astype(np.float64) ** 2
-        )
-        frame.detection_count = int(det_mask.sum())
-        return frame
-
-
-# ---------------------------------------------------------------------------
-# Utility: quantize arbitrary complex IQ to 16-bit post-DDC format
-# ---------------------------------------------------------------------------
-def quantize_raw_iq(
-    raw_complex: np.ndarray,
-    n_chirps: int = DOPPLER_CHIRPS,
-    n_samples: int = FFT_SIZE,
-    peak_target: int = 200,
-) -> tuple[np.ndarray, np.ndarray]:
-    """Quantize complex IQ data to 16-bit signed, matching DDC output level.
-
-    Parameters
-    ----------
-    raw_complex : ndarray, shape (chirps, samples) or (frames, chirps, samples)
-        Complex64/128 baseband IQ from SDR capture.  If 3-D, the first
-        axis is treated as frame index and only the first frame is used.
-    n_chirps : int
-        Number of chirps to keep (default 32, matching FPGA).
-    n_samples : int
-        Number of samples per chirp to keep (default 1024, matching FFT).
-    peak_target : int
-        Target peak magnitude after scaling (default 200, matching
-        golden_reference INPUT_PEAK_TARGET).
-
-    Returns
-    -------
-    iq_i, iq_q : ndarray, each (n_chirps, n_samples) int64
-    """
-    if raw_complex.ndim == 3:
-        # (frames, chirps, samples) — take first frame
-        raw_complex = raw_complex[0]
-
-    # Truncate to FPGA dimensions
-    block = raw_complex[:n_chirps, :n_samples]
-
-    max_abs = np.max(np.abs(block))
-    if max_abs == 0:
-        return (
-            np.zeros((n_chirps, n_samples), dtype=np.int64),
-            np.zeros((n_chirps, n_samples), dtype=np.int64),
-        )
-
-    scale = peak_target / max_abs
-    scaled = block * scale
-    iq_i = np.clip(np.round(np.real(scaled)).astype(np.int64), -32768, 32767)
-    iq_q = np.clip(np.round(np.imag(scaled)).astype(np.int64), -32768, 32767)
-    return iq_i, iq_q

9_Firmware/9_3_GUI/v7/workers.py

@@ -13,6 +13,7 @@ All packet parsing now uses the production radar_protocol.py which matches
 the actual FPGA packet format (0xAA data 11-byte, 0xBB status 26-byte).
 """
 
+import math
 import time
 import random
 import queue
@@ -35,25 +36,58 @@ from .processing import (
     RadarProcessor,
     USBPacketParser,
     apply_pitch_correction,
-    polar_to_geographic,
 )
 
 logger = logging.getLogger(__name__)
 
 
+# =============================================================================
+# Utility: polar → geographic
+# =============================================================================
+
+def polar_to_geographic(
+    radar_lat: float,
+    radar_lon: float,
+    range_m: float,
+    azimuth_deg: float,
+) -> tuple:
+    """
+    Convert polar coordinates (range, azimuth) relative to radar
+    to geographic (latitude, longitude).
+
+    azimuth_deg: 0 = North, clockwise.
+    Returns (lat, lon).
+    """
+    R = 6_371_000  # Earth radius in meters
+
+    lat1 = math.radians(radar_lat)
+    lon1 = math.radians(radar_lon)
+    bearing = math.radians(azimuth_deg)
+
+    lat2 = math.asin(
+        math.sin(lat1) * math.cos(range_m / R)
+        + math.cos(lat1) * math.sin(range_m / R) * math.cos(bearing)
+    )
+    lon2 = lon1 + math.atan2(
+        math.sin(bearing) * math.sin(range_m / R) * math.cos(lat1),
+        math.cos(range_m / R) - math.sin(lat1) * math.sin(lat2),
+    )
+    return (math.degrees(lat2), math.degrees(lon2))
+
+
 # =============================================================================
 # Radar Data Worker (QThread) — production protocol
 # =============================================================================
 
 class RadarDataWorker(QThread):
     """
-    Background worker that reads radar data from FT2232H, parses 0xAA/0xBB
+    Background worker that reads radar data from FT2232H (or ReplayConnection),
-    packets via production RadarAcquisition, runs optional host-side DSP,
+    parses 0xAA/0xBB packets via production RadarAcquisition, runs optional
-    and emits PyQt signals with results.
+    host-side DSP, and emits PyQt signals with results.
 
-    Uses production radar_protocol.py for all packet parsing and frame
+    This replaces the old V7 worker which used an incompatible packet format.
+    Now uses production radar_protocol.py for all packet parsing and frame
     assembly (11-byte 0xAA data packets → 64x32 RadarFrame).
-    For replay, use ReplayWorker instead.
 
     Signals:
         frameReady(RadarFrame)    — a complete 64x32 radar frame
@@ -71,7 +105,7 @@ class RadarDataWorker(QThread):
 
     def __init__(
         self,
-        connection,  # FT2232HConnection
+        connection,  # FT2232HConnection or ReplayConnection
         processor: RadarProcessor | None = None,
         recorder: DataRecorder | None = None,
         gps_data_ref: GPSData | None = None,
@@ -97,6 +131,10 @@ class RadarDataWorker(QThread):
         self._byte_count = 0
         self._error_count = 0
 
+        # Monotonically increasing target ID — persisted across frames so map
+        # JS can key markers/trails by a stable ID.
+        self._next_target_id = 0
+
     def stop(self):
         self._running = False
         if self._acquisition:
@@ -210,7 +248,7 @@ class RadarDataWorker(QThread):
                 )
 
             target = RadarTarget(
-                id=len(targets),
+                id=self._next_target_id,
                 range=range_m,
                 velocity=velocity_ms,
                 azimuth=azimuth,
@@ -220,6 +258,7 @@ class RadarDataWorker(QThread):
                 snr=snr,
                 timestamp=frame.timestamp,
             )
+            self._next_target_id += 1
             targets.append(target)
 
         # DBSCAN clustering
@@ -402,172 +441,3 @@ class TargetSimulator(QObject):
 
         self._targets = updated
         self.targetsUpdated.emit(updated)
-
-
-# =============================================================================
-# Replay Worker (QThread) — unified replay playback
-# =============================================================================
-
-class ReplayWorker(QThread):
-    """Background worker for replay data playback.
-
-    Emits the same signals as ``RadarDataWorker`` so the dashboard
-    treats live and replay identically.  Additionally emits playback
-    state and frame-index signals for the transport controls.
-
-    Signals
-    -------
-    frameReady(object)           RadarFrame
-    targetsUpdated(list)         list[RadarTarget]
-    statsUpdated(dict)           processing stats
-    errorOccurred(str)           error message
-    playbackStateChanged(str)    "playing" | "paused" | "stopped"
-    frameIndexChanged(int, int)  (current_index, total_frames)
-    """
-
-    frameReady = pyqtSignal(object)
-    targetsUpdated = pyqtSignal(list)
-    statsUpdated = pyqtSignal(dict)
-    errorOccurred = pyqtSignal(str)
-    playbackStateChanged = pyqtSignal(str)
-    frameIndexChanged = pyqtSignal(int, int)
-
-    def __init__(
-        self,
-        replay_engine,
-        settings: RadarSettings | None = None,
-        gps: GPSData | None = None,
-        frame_interval_ms: int = 100,
-        parent: QObject | None = None,
-    ) -> None:
-        super().__init__(parent)
-        import threading
-
-        from .processing import extract_targets_from_frame
-        from .models import WaveformConfig
-
-        self._engine = replay_engine
-        self._settings = settings or RadarSettings()
-        self._gps = gps
-        self._waveform = WaveformConfig()
-        self._frame_interval_ms = frame_interval_ms
-        self._extract_targets = extract_targets_from_frame
-
-        self._current_index = 0
-        self._last_emitted_index = 0
-        self._playing = False
-        self._stop_flag = False
-        self._loop = False
-        self._lock = threading.Lock()  # guards _current_index and _emit_frame
-
-    # -- Public control API --
-
-    @property
-    def current_index(self) -> int:
-        """Index of the last frame emitted (for re-seek on param change)."""
-        return self._last_emitted_index
-
-    @property
-    def total_frames(self) -> int:
-        return self._engine.total_frames
-
-    def set_gps(self, gps: GPSData | None) -> None:
-        self._gps = gps
-
-    def set_waveform(self, wf) -> None:
-        self._waveform = wf
-
-    def set_loop(self, loop: bool) -> None:
-        self._loop = loop
-
-    def set_frame_interval(self, ms: int) -> None:
-        self._frame_interval_ms = max(10, ms)
-
-    def play(self) -> None:
-        self._playing = True
-        # If at EOF, rewind so play actually does something
-        with self._lock:
-            if self._current_index >= self._engine.total_frames:
-                self._current_index = 0
-        self.playbackStateChanged.emit("playing")
-
-    def pause(self) -> None:
-        self._playing = False
-        self.playbackStateChanged.emit("paused")
-
-    def stop(self) -> None:
-        self._playing = False
-        self._stop_flag = True
-        self.playbackStateChanged.emit("stopped")
-
-    @property
-    def is_playing(self) -> bool:
-        """Thread-safe read of playback state (for GUI queries)."""
-        return self._playing
-
-    def seek(self, index: int) -> None:
-        """Jump to a specific frame and emit it (thread-safe)."""
-        with self._lock:
-            idx = max(0, min(index, self._engine.total_frames - 1))
-            self._current_index = idx
-            self._emit_frame(idx)
-            self._last_emitted_index = idx
-
-    # -- Thread entry --
-
-    def run(self) -> None:
-        self._stop_flag = False
-        self._playing = True
-        self.playbackStateChanged.emit("playing")
-
-        try:
-            while not self._stop_flag:
-                if self._playing:
-                    with self._lock:
-                        if self._current_index < self._engine.total_frames:
-                            self._emit_frame(self._current_index)
-                            self._last_emitted_index = self._current_index
-                            self._current_index += 1
-
-                            # Loop or pause at end
-                            if self._current_index >= self._engine.total_frames:
-                                if self._loop:
-                                    self._current_index = 0
-                                else:
-                                    # Pause — keep thread alive for restart
-                                    self._playing = False
-                                    self.playbackStateChanged.emit("stopped")
-
-                self.msleep(self._frame_interval_ms)
-        except (OSError, ValueError, RuntimeError, IndexError) as exc:
-            self.errorOccurred.emit(str(exc))
-
-        self.playbackStateChanged.emit("stopped")
-
-    # -- Internal --
-
-    def _emit_frame(self, index: int) -> None:
-        try:
-            frame = self._engine.get_frame(index)
-        except (OSError, ValueError, RuntimeError, IndexError) as exc:
-            self.errorOccurred.emit(f"Frame {index}: {exc}")
-            return
-
-        self.frameReady.emit(frame)
-        self.frameIndexChanged.emit(index, self._engine.total_frames)
-
-        # Target extraction
-        targets = self._extract_targets(
-            frame,
-            range_resolution=self._waveform.range_resolution_m,
-            velocity_resolution=self._waveform.velocity_resolution_mps,
-            gps=self._gps,
-        )
-        self.targetsUpdated.emit(targets)
-        self.statsUpdated.emit({
-            "frame_number": frame.frame_number,
-            "detection_count": frame.detection_count,
-            "target_count": len(targets),
-            "replay_index": index,
-            "replay_total": self._engine.total_frames,
-        })

9_Firmware/tests/cross_layer/.gitignore

@@ -6,7 +6,7 @@ status_packet.txt
 *.vvp
 
 # Compiled C stub
-stm32_stub
+stm32_settings_stub
 
 # Python
 __pycache__/

9_Firmware/tests/cross_layer/contract_parser.py

@@ -527,8 +527,6 @@ def parse_verilog_status_word_concats(
     ):
         idx = int(m.group(1))
         expr = m.group(2)
-        # Strip single-line comments before normalizing whitespace
-        expr = re.sub(r'//[^\n]*', '', expr)
         # Normalize whitespace
         expr = re.sub(r'\s+', ' ', expr).strip()
         results[idx] = expr

9_Firmware/tests/cross_layer/tb_cross_layer_ft2232h.v

@@ -86,10 +86,6 @@ module tb_cross_layer_ft2232h;
     reg  [4:0]  status_self_test_flags;
     reg  [7:0]  status_self_test_detail;
     reg         status_self_test_busy;
-    reg  [3:0]  status_agc_current_gain;
-    reg  [7:0]  status_agc_peak_magnitude;
-    reg  [7:0]  status_agc_saturation_count;
-    reg         status_agc_enable;
 
     // ---- Clock generators ----
     always #(CLK_PERIOD / 2)    clk    = ~clk;
@@ -134,11 +130,7 @@ module tb_cross_layer_ft2232h;
         .status_range_mode      (status_range_mode),
         .status_self_test_flags (status_self_test_flags),
         .status_self_test_detail(status_self_test_detail),
-        .status_self_test_busy  (status_self_test_busy),
+        .status_self_test_busy  (status_self_test_busy)
-        .status_agc_current_gain    (status_agc_current_gain),
-        .status_agc_peak_magnitude  (status_agc_peak_magnitude),
-        .status_agc_saturation_count(status_agc_saturation_count),
-        .status_agc_enable          (status_agc_enable)
     );
 
     // ---- Test bookkeeping ----
@@ -196,10 +188,6 @@ module tb_cross_layer_ft2232h;
             status_self_test_flags  = 5'b00000;
             status_self_test_detail = 8'd0;
             status_self_test_busy   = 1'b0;
-            status_agc_current_gain     = 4'd0;
-            status_agc_peak_magnitude   = 8'd0;
-            status_agc_saturation_count = 8'd0;
-            status_agc_enable           = 1'b0;
             repeat (6) @(posedge ft_clk);
             reset_n    = 1;
             ft_reset_n = 1;
@@ -504,37 +492,6 @@ module tb_cross_layer_ft2232h;
         check(cmd_opcode === 8'h27 && cmd_value === 16'h0003,
               "Cmd 0x27: DC_NOTCH_WIDTH=3");
 
-        // AGC registers (0x28-0x2C)
-        send_command_ft2232h(8'h28, 8'h00, 8'h00, 8'h01);  // AGC_ENABLE=1
-        $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n",
-                8'h28, 8'h00, 16'h0001, cmd_opcode, cmd_addr, cmd_value);
-        check(cmd_opcode === 8'h28 && cmd_value === 16'h0001,
-              "Cmd 0x28: AGC_ENABLE=1");
-
-        send_command_ft2232h(8'h29, 8'h00, 8'h00, 8'hC8);  // AGC_TARGET=200
-        $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n",
-                8'h29, 8'h00, 16'h00C8, cmd_opcode, cmd_addr, cmd_value);
-        check(cmd_opcode === 8'h29 && cmd_value === 16'h00C8,
-              "Cmd 0x29: AGC_TARGET=200");
-
-        send_command_ft2232h(8'h2A, 8'h00, 8'h00, 8'h02);  // AGC_ATTACK=2
-        $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n",
-                8'h2A, 8'h00, 16'h0002, cmd_opcode, cmd_addr, cmd_value);
-        check(cmd_opcode === 8'h2A && cmd_value === 16'h0002,
-              "Cmd 0x2A: AGC_ATTACK=2");
-
-        send_command_ft2232h(8'h2B, 8'h00, 8'h00, 8'h03);  // AGC_DECAY=3
-        $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n",
-                8'h2B, 8'h00, 16'h0003, cmd_opcode, cmd_addr, cmd_value);
-        check(cmd_opcode === 8'h2B && cmd_value === 16'h0003,
-              "Cmd 0x2B: AGC_DECAY=3");
-
-        send_command_ft2232h(8'h2C, 8'h00, 8'h00, 8'h06);  // AGC_HOLDOFF=6
-        $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n",
-                8'h2C, 8'h00, 16'h0006, cmd_opcode, cmd_addr, cmd_value);
-        check(cmd_opcode === 8'h2C && cmd_value === 16'h0006,
-              "Cmd 0x2C: AGC_HOLDOFF=6");
-
         // Self-test / status
         send_command_ft2232h(8'h30, 8'h00, 8'h00, 8'h01);  // SELF_TEST_TRIGGER
         $fwrite(cmd_file, "%02x %02x %04x %02x %02x %04x\n",
@@ -648,10 +605,6 @@ module tb_cross_layer_ft2232h;
         status_self_test_flags  = 5'b10101;
         status_self_test_detail = 8'hA5;
         status_self_test_busy   = 1'b1;
-        status_agc_current_gain     = 4'd7;
-        status_agc_peak_magnitude   = 8'd200;
-        status_agc_saturation_count = 8'd15;
-        status_agc_enable           = 1'b1;
 
         // Pulse status_request and capture bytes IN PARALLEL
         // (same reason as Exercise B — write FSM starts before CDC wait ends)

9_Firmware/tests/cross_layer/test_cross_layer_contract.py

@@ -100,11 +100,6 @@ GROUND_TRUTH_OPCODES = {
     0x25: ("host_cfar_enable", 1),
     0x26: ("host_mti_enable", 1),
     0x27: ("host_dc_notch_width", 3),
-    0x28: ("host_agc_enable", 1),
-    0x29: ("host_agc_target", 8),
-    0x2A: ("host_agc_attack", 4),
-    0x2B: ("host_agc_decay", 4),
-    0x2C: ("host_agc_holdoff", 4),
     0x30: ("host_self_test_trigger", 1),  # pulse
     0x31: ("host_status_request", 1),     # pulse
     0xFF: ("host_status_request", 1),     # alias, pulse
@@ -129,11 +124,6 @@ GROUND_TRUTH_RESET_DEFAULTS = {
     "host_cfar_enable": 0,
     "host_mti_enable": 0,
     "host_dc_notch_width": 0,
-    "host_agc_enable": 0,
-    "host_agc_target": 200,
-    "host_agc_attack": 1,
-    "host_agc_decay": 1,
-    "host_agc_holdoff": 4,
 }
 
 GROUND_TRUTH_PACKET_CONSTANTS = {
@@ -614,10 +604,6 @@ class TestTier2VerilogCosim:
         #   status_self_test_flags = 5'b10101 = 21
         #   status_self_test_detail = 0xA5
         #   status_self_test_busy = 1
-        #   status_agc_current_gain = 7
-        #   status_agc_peak_magnitude = 200
-        #   status_agc_saturation_count = 15
-        #   status_agc_enable = 1
 
         # Words 1-5 should be correct (no truncation bug)
         assert sr.cfar_threshold == 0xABCD, f"cfar_threshold: 0x{sr.cfar_threshold:04X}"
@@ -632,12 +618,6 @@ class TestTier2VerilogCosim:
         assert sr.self_test_detail == 0xA5, f"self_test_detail: 0x{sr.self_test_detail:02X}"
         assert sr.self_test_busy == 1, f"self_test_busy: {sr.self_test_busy}"
 
-        # AGC fields (word 4)
-        assert sr.agc_current_gain == 7, f"agc_current_gain: {sr.agc_current_gain}"
-        assert sr.agc_peak_magnitude == 200, f"agc_peak_magnitude: {sr.agc_peak_magnitude}"
-        assert sr.agc_saturation_count == 15, f"agc_saturation_count: {sr.agc_saturation_count}"
-        assert sr.agc_enable == 1, f"agc_enable: {sr.agc_enable}"
-
         # Word 0: stream_ctrl should be 5 (3'b101)
         assert sr.stream_ctrl == 5, (
             f"stream_ctrl: {sr.stream_ctrl} != 5. "

9_Firmware/tests/cross_layer/test_mem_validation.py

@@ -0,0 +1,444 @@
+"""
+test_mem_validation.py — Validate FPGA .mem files against AERIS-10 radar parameters.
+
+Migrated from tb/cosim/validate_mem_files.py into CI-friendly pytest tests.
+
+Checks:
+  1. Structural: line counts, hex format, value ranges for all 12+ .mem files
+  2. FFT twiddle files: bit-exact match against cos(2*pi*k/N) in Q15
+  3. Long chirp .mem files: frequency sweep, magnitude envelope, segment count
+  4. Short chirp .mem files: length, value range, non-zero content
+  5. Chirp vs independent model: phase shape agreement
+  6. Latency buffer LATENCY=3187 parameter validation
+  7. Chirp memory loader addressing: {segment_select, sample_addr} arithmetic
+  8. Seg3 zero-padding analysis
+"""
+
+import math
+import os
+import warnings
+
+import pytest
+
+# ============================================================================
+# AERIS-10 System Parameters (independently derived from hardware specs)
+# ============================================================================
+F_CARRIER = 10.5e9        # 10.5 GHz carrier
+C_LIGHT = 3.0e8
+F_IF = 120e6              # IF frequency
+CHIRP_BW = 20e6           # 20 MHz sweep bandwidth
+FS_ADC = 400e6            # ADC sample rate
+FS_SYS = 100e6            # System clock (100 MHz, after CIC 4x decimation)
+T_LONG_CHIRP = 30e-6      # 30 us long chirp
+T_SHORT_CHIRP = 0.5e-6    # 0.5 us short chirp
+CIC_DECIMATION = 4
+FFT_SIZE = 1024
+DOPPLER_FFT_SIZE = 16
+LONG_CHIRP_SAMPLES = int(T_LONG_CHIRP * FS_SYS)  # 3000 at 100 MHz
+
+# Overlap-save parameters
+OVERLAP_SAMPLES = 128
+SEGMENT_ADVANCE = FFT_SIZE - OVERLAP_SAMPLES  # 896
+LONG_SEGMENTS = 4
+
+# Path to FPGA RTL directory containing .mem files
+MEM_DIR = os.path.normpath(os.path.join(os.path.dirname(__file__), '..', '..', '9_2_FPGA'))
+
+# Expected .mem file inventory
+EXPECTED_MEM_FILES = {
+    'fft_twiddle_1024.mem': {'lines': 256, 'desc': '1024-pt FFT quarter-wave cos ROM'},
+    'fft_twiddle_16.mem':   {'lines': 4,   'desc': '16-pt FFT quarter-wave cos ROM'},
+    'long_chirp_seg0_i.mem': {'lines': 1024, 'desc': 'Long chirp seg 0 I'},
+    'long_chirp_seg0_q.mem': {'lines': 1024, 'desc': 'Long chirp seg 0 Q'},
+    'long_chirp_seg1_i.mem': {'lines': 1024, 'desc': 'Long chirp seg 1 I'},
+    'long_chirp_seg1_q.mem': {'lines': 1024, 'desc': 'Long chirp seg 1 Q'},
+    'long_chirp_seg2_i.mem': {'lines': 1024, 'desc': 'Long chirp seg 2 I'},
+    'long_chirp_seg2_q.mem': {'lines': 1024, 'desc': 'Long chirp seg 2 Q'},
+    'long_chirp_seg3_i.mem': {'lines': 1024, 'desc': 'Long chirp seg 3 I'},
+    'long_chirp_seg3_q.mem': {'lines': 1024, 'desc': 'Long chirp seg 3 Q'},
+    'short_chirp_i.mem': {'lines': 50, 'desc': 'Short chirp I'},
+    'short_chirp_q.mem': {'lines': 50, 'desc': 'Short chirp Q'},
+}
+
+
+def read_mem_hex(filename: str) -> list[int]:
+    """Read a .mem file, return list of integer values (16-bit signed)."""
+    path = os.path.join(MEM_DIR, filename)
+    values = []
+    with open(path) as f:
+        for line in f:
+            line = line.strip()
+            if not line or line.startswith('//'):
+                continue
+            val = int(line, 16)
+            if val >= 0x8000:
+                val -= 0x10000
+            values.append(val)
+    return values
+
+
+def compute_magnitudes(i_vals: list[int], q_vals: list[int]) -> list[float]:
+    """Compute magnitude envelope from I/Q sample lists."""
+    return [math.sqrt(i * i + q * q) for i, q in zip(i_vals, q_vals, strict=False)]
+
+
+def compute_inst_freq(i_vals: list[int], q_vals: list[int],
+                      fs: float, mag_thresh: float = 5.0) -> list[float]:
+    """Compute instantaneous frequency from I/Q via phase differencing."""
+    phases = []
+    for i_val, q_val in zip(i_vals, q_vals, strict=False):
+        if abs(i_val) > mag_thresh or abs(q_val) > mag_thresh:
+            phases.append(math.atan2(q_val, i_val))
+        else:
+            phases.append(None)
+
+    freq_estimates = []
+    for n in range(1, len(phases)):
+        if phases[n] is not None and phases[n - 1] is not None:
+            dp = phases[n] - phases[n - 1]
+            while dp > math.pi:
+                dp -= 2 * math.pi
+            while dp < -math.pi:
+                dp += 2 * math.pi
+            freq_estimates.append(dp * fs / (2 * math.pi))
+    return freq_estimates
+
+
+# ============================================================================
+# TEST 1: Structural validation — all .mem files exist with correct sizes
+# ============================================================================
+class TestStructural:
+    """Verify every expected .mem file exists, has the right line count, and valid values."""
+
+    @pytest.mark.parametrize("fname,info", EXPECTED_MEM_FILES.items(),
+                             ids=EXPECTED_MEM_FILES.keys())
+    def test_file_exists(self, fname, info):
+        path = os.path.join(MEM_DIR, fname)
+        assert os.path.isfile(path), f"{fname} missing from {MEM_DIR}"
+
+    @pytest.mark.parametrize("fname,info", EXPECTED_MEM_FILES.items(),
+                             ids=EXPECTED_MEM_FILES.keys())
+    def test_line_count(self, fname, info):
+        vals = read_mem_hex(fname)
+        assert len(vals) == info['lines'], (
+            f"{fname}: got {len(vals)} data lines, expected {info['lines']}"
+        )
+
+    @pytest.mark.parametrize("fname,info", EXPECTED_MEM_FILES.items(),
+                             ids=EXPECTED_MEM_FILES.keys())
+    def test_value_range(self, fname, info):
+        vals = read_mem_hex(fname)
+        for i, v in enumerate(vals):
+            assert -32768 <= v <= 32767, (
+                f"{fname}[{i}]: value {v} out of 16-bit signed range"
+            )
+
+
+# ============================================================================
+# TEST 2: FFT Twiddle Factor Validation (bit-exact against cos formula)
+# ============================================================================
+class TestTwiddle:
+    """Verify FFT twiddle .mem files match cos(2*pi*k/N) in Q15 to <=1 LSB."""
+
+    def test_twiddle_1024_bit_exact(self):
+        vals = read_mem_hex('fft_twiddle_1024.mem')
+        assert len(vals) == 256, f"Expected 256 quarter-wave entries, got {len(vals)}"
+
+        max_err = 0
+        worst_k = -1
+        for k in range(256):
+            angle = 2.0 * math.pi * k / 1024.0
+            expected = max(-32768, min(32767, round(math.cos(angle) * 32767.0)))
+            err = abs(vals[k] - expected)
+            if err > max_err:
+                max_err = err
+                worst_k = k
+
+        assert max_err <= 1, (
+            f"fft_twiddle_1024.mem: max error {max_err} LSB at k={worst_k} "
+            f"(got {vals[worst_k]}, expected "
+            f"{max(-32768, min(32767, round(math.cos(2*math.pi*worst_k/1024)*32767)))})"
+        )
+
+    def test_twiddle_16_bit_exact(self):
+        vals = read_mem_hex('fft_twiddle_16.mem')
+        assert len(vals) == 4, f"Expected 4 quarter-wave entries, got {len(vals)}"
+
+        max_err = 0
+        for k in range(4):
+            angle = 2.0 * math.pi * k / 16.0
+            expected = max(-32768, min(32767, round(math.cos(angle) * 32767.0)))
+            err = abs(vals[k] - expected)
+            if err > max_err:
+                max_err = err
+
+        assert max_err <= 1, f"fft_twiddle_16.mem: max error {max_err} LSB (tolerance: 1)"
+
+    def test_twiddle_1024_known_values(self):
+        """Spot-check specific twiddle values against hand-calculated results."""
+        vals = read_mem_hex('fft_twiddle_1024.mem')
+        # k=0: cos(0) = 1.0 -> 32767
+        assert vals[0] == 32767, f"k=0: expected 32767, got {vals[0]}"
+        # k=128: cos(pi/4) = sqrt(2)/2 -> round(32767 * 0.7071) = 23170
+        expected_128 = round(math.cos(2 * math.pi * 128 / 1024) * 32767)
+        assert abs(vals[128] - expected_128) <= 1, (
+            f"k=128: expected ~{expected_128}, got {vals[128]}"
+        )
+        # k=255: last entry in quarter-wave table
+        expected_255 = round(math.cos(2 * math.pi * 255 / 1024) * 32767)
+        assert abs(vals[255] - expected_255) <= 1, (
+            f"k=255: expected ~{expected_255}, got {vals[255]}"
+        )
+
+
+# ============================================================================
+# TEST 3: Long Chirp .mem File Analysis
+# ============================================================================
+class TestLongChirp:
+    """Validate long chirp .mem files show correct chirp characteristics."""
+
+    def test_total_sample_count(self):
+        """4 segments x 1024 samples = 4096 total."""
+        all_i, all_q = [], []
+        for seg in range(4):
+            all_i.extend(read_mem_hex(f'long_chirp_seg{seg}_i.mem'))
+            all_q.extend(read_mem_hex(f'long_chirp_seg{seg}_q.mem'))
+        assert len(all_i) == 4096, f"Total I samples: {len(all_i)}, expected 4096"
+        assert len(all_q) == 4096, f"Total Q samples: {len(all_q)}, expected 4096"
+
+    def test_nonzero_magnitude(self):
+        """Chirp should have significant non-zero content."""
+        all_i, all_q = [], []
+        for seg in range(4):
+            all_i.extend(read_mem_hex(f'long_chirp_seg{seg}_i.mem'))
+            all_q.extend(read_mem_hex(f'long_chirp_seg{seg}_q.mem'))
+        mags = compute_magnitudes(all_i, all_q)
+        max_mag = max(mags)
+        # Should use substantial dynamic range (at least 1000 out of 32767)
+        assert max_mag > 1000, f"Max magnitude {max_mag:.0f} is suspiciously low"
+
+    def test_frequency_sweep(self):
+        """Chirp should show at least 0.5 MHz frequency sweep."""
+        all_i, all_q = [], []
+        for seg in range(4):
+            all_i.extend(read_mem_hex(f'long_chirp_seg{seg}_i.mem'))
+            all_q.extend(read_mem_hex(f'long_chirp_seg{seg}_q.mem'))
+
+        freq_est = compute_inst_freq(all_i, all_q, FS_SYS)
+        assert len(freq_est) > 100, "Not enough valid phase samples for frequency analysis"
+
+        f_range = max(freq_est) - min(freq_est)
+        assert f_range > 0.5e6, (
+            f"Frequency sweep {f_range / 1e6:.2f} MHz is too narrow "
+            f"(expected > 0.5 MHz for a chirp)"
+        )
+
+    def test_bandwidth_reasonable(self):
+        """Chirp bandwidth should be within 50% of expected 20 MHz."""
+        all_i, all_q = [], []
+        for seg in range(4):
+            all_i.extend(read_mem_hex(f'long_chirp_seg{seg}_i.mem'))
+            all_q.extend(read_mem_hex(f'long_chirp_seg{seg}_q.mem'))
+
+        freq_est = compute_inst_freq(all_i, all_q, FS_SYS)
+        if not freq_est:
+            pytest.skip("No valid frequency estimates")
+
+        f_range = max(freq_est) - min(freq_est)
+        bw_error = abs(f_range - CHIRP_BW) / CHIRP_BW
+        if bw_error >= 0.5:
+            warnings.warn(
+                f"Bandwidth {f_range / 1e6:.2f} MHz differs from expected "
+                f"{CHIRP_BW / 1e6:.2f} MHz by {bw_error:.0%}",
+                stacklevel=1,
+            )
+
+
+# ============================================================================
+# TEST 4: Short Chirp .mem File Analysis
+# ============================================================================
+class TestShortChirp:
+    """Validate short chirp .mem files."""
+
+    def test_sample_count_matches_duration(self):
+        """0.5 us at 100 MHz = 50 samples."""
+        short_i = read_mem_hex('short_chirp_i.mem')
+        short_q = read_mem_hex('short_chirp_q.mem')
+        expected = int(T_SHORT_CHIRP * FS_SYS)
+        assert len(short_i) == expected, f"Short chirp I: {len(short_i)} != {expected}"
+        assert len(short_q) == expected, f"Short chirp Q: {len(short_q)} != {expected}"
+
+    def test_all_samples_nonzero(self):
+        """Every sample in the short chirp should have non-trivial magnitude."""
+        short_i = read_mem_hex('short_chirp_i.mem')
+        short_q = read_mem_hex('short_chirp_q.mem')
+        mags = compute_magnitudes(short_i, short_q)
+        nonzero = sum(1 for m in mags if m > 1)
+        assert nonzero == len(short_i), (
+            f"Only {nonzero}/{len(short_i)} samples are non-zero"
+        )
+
+
+# ============================================================================
+# TEST 5: Chirp vs Independent Model (phase shape agreement)
+# ============================================================================
+class TestChirpVsModel:
+    """Compare seg0 against independently generated chirp reference."""
+
+    def test_phase_shape_match(self):
+        """Phase trajectory of .mem seg0 should match model within 0.5 rad."""
+        # Generate reference chirp independently from first principles
+        chirp_rate = CHIRP_BW / T_LONG_CHIRP  # Hz/s
+        n_samples = FFT_SIZE  # 1024
+
+        model_i, model_q = [], []
+        for n in range(n_samples):
+            t = n / FS_SYS
+            phase = math.pi * chirp_rate * t * t
+            re_val = max(-32768, min(32767, round(32767 * 0.9 * math.cos(phase))))
+            im_val = max(-32768, min(32767, round(32767 * 0.9 * math.sin(phase))))
+            model_i.append(re_val)
+            model_q.append(im_val)
+
+        # Read seg0 from .mem
+        mem_i = read_mem_hex('long_chirp_seg0_i.mem')
+        mem_q = read_mem_hex('long_chirp_seg0_q.mem')
+
+        # Compare phase trajectories (shape match regardless of scaling)
+        model_phases = [math.atan2(q, i) for i, q in zip(model_i, model_q, strict=False)]
+        mem_phases = [math.atan2(q, i) for i, q in zip(mem_i, mem_q, strict=False)]
+
+        phase_diffs = []
+        for mp, fp in zip(model_phases, mem_phases, strict=False):
+            d = mp - fp
+            while d > math.pi:
+                d -= 2 * math.pi
+            while d < -math.pi:
+                d += 2 * math.pi
+            phase_diffs.append(d)
+
+        max_phase_diff = max(abs(d) for d in phase_diffs)
+        assert max_phase_diff < 0.5, (
+            f"Max phase difference {math.degrees(max_phase_diff):.1f} deg "
+            f"exceeds 28.6 deg tolerance"
+        )
+
+    def test_magnitude_scaling(self):
+        """Seg0 magnitude should be consistent with Q15 * 0.9 scaling."""
+        mem_i = read_mem_hex('long_chirp_seg0_i.mem')
+        mem_q = read_mem_hex('long_chirp_seg0_q.mem')
+        mags = compute_magnitudes(mem_i, mem_q)
+        max_mag = max(mags)
+
+        # Expected from 32767 * 0.9 scaling = ~29490
+        expected_max = 32767 * 0.9
+        # Should be at least 80% of expected (allows for different provenance)
+        if max_mag < expected_max * 0.8:
+            warnings.warn(
+                f"Seg0 max magnitude {max_mag:.0f} is below expected "
+                f"{expected_max:.0f} * 0.8 = {expected_max * 0.8:.0f}. "
+                f"The .mem files may have different provenance.",
+                stacklevel=1,
+            )
+
+
+# ============================================================================
+# TEST 6: Latency Buffer LATENCY=3187 Validation
+# ============================================================================
+class TestLatencyBuffer:
+    """Validate latency buffer parameter constraints."""
+
+    LATENCY = 3187
+    BRAM_SIZE = 4096
+
+    def test_latency_within_bram(self):
+        assert self.LATENCY < self.BRAM_SIZE, (
+            f"LATENCY ({self.LATENCY}) must be < BRAM size ({self.BRAM_SIZE})"
+        )
+
+    def test_latency_in_reasonable_range(self):
+        """LATENCY should be between 1000 and 4095 (empirically determined)."""
+        assert 1000 < self.LATENCY < 4095, (
+            f"LATENCY={self.LATENCY} outside reasonable range [1000, 4095]"
+        )
+
+    def test_read_ptr_no_overflow(self):
+        """Address arithmetic for read_ptr after initial wrap must stay valid."""
+        min_read_ptr = self.BRAM_SIZE + 0 - self.LATENCY
+        assert 0 <= min_read_ptr < self.BRAM_SIZE, (
+            f"min_read_ptr after wrap = {min_read_ptr}, must be in [0, {self.BRAM_SIZE})"
+        )
+
+
+# ============================================================================
+# TEST 7: Chirp Memory Loader Addressing
+# ============================================================================
+class TestMemoryAddressing:
+    """Validate {segment_select[1:0], sample_addr[9:0]} address mapping."""
+
+    @pytest.mark.parametrize("seg", range(4), ids=[f"seg{s}" for s in range(4)])
+    def test_segment_base_address(self, seg):
+        """Concatenated address {seg, 10'b0} should equal seg * 1024."""
+        addr = (seg << 10) | 0
+        expected = seg * 1024
+        assert addr == expected, (
+            f"Seg {seg}: {{seg[1:0], 10'b0}} = {addr}, expected {expected}"
+        )
+
+    @pytest.mark.parametrize("seg", range(4), ids=[f"seg{s}" for s in range(4)])
+    def test_segment_end_address(self, seg):
+        """Concatenated address {seg, 10'h3FF} should equal seg * 1024 + 1023."""
+        addr = (seg << 10) | 1023
+        expected = seg * 1024 + 1023
+        assert addr == expected, (
+            f"Seg {seg}: {{seg[1:0], 10'h3FF}} = {addr}, expected {expected}"
+        )
+
+    def test_full_address_space(self):
+        """4 segments x 1024 = 4096 addresses, covering full 12-bit range."""
+        all_addrs = set()
+        for seg in range(4):
+            for sample in range(1024):
+                all_addrs.add((seg << 10) | sample)
+        assert len(all_addrs) == 4096
+        assert min(all_addrs) == 0
+        assert max(all_addrs) == 4095
+
+
+# ============================================================================
+# TEST 8: Seg3 Zero-Padding Analysis
+# ============================================================================
+class TestSeg3Padding:
+    """Analyze seg3 content — chirp is 3000 samples but 4 segs x 1024 = 4096 slots."""
+
+    def test_seg3_content_analysis(self):
+        """Seg3 should either be full (4096-sample chirp) or have trailing zeros."""
+        seg3_i = read_mem_hex('long_chirp_seg3_i.mem')
+        seg3_q = read_mem_hex('long_chirp_seg3_q.mem')
+        mags = compute_magnitudes(seg3_i, seg3_q)
+
+        # Count trailing zeros
+        trailing_zeros = 0
+        for m in reversed(mags):
+            if m < 2:
+                trailing_zeros += 1
+            else:
+                break
+
+        nonzero = sum(1 for m in mags if m > 2)
+
+        if nonzero == 1024:
+            # .mem files encode 4096 chirp samples, not 3000
+            # This means the chirp duration used for .mem generation differs
+            actual_samples = 4 * 1024
+            actual_us = actual_samples / FS_SYS * 1e6
+            warnings.warn(
+                f"Chirp in .mem files is {actual_samples} samples ({actual_us:.1f} us), "
+                f"not {LONG_CHIRP_SAMPLES} samples ({T_LONG_CHIRP * 1e6:.1f} us). "
+                f"The .mem files use a different chirp duration than the system parameter.",
+                stacklevel=1,
+            )
+        elif trailing_zeros > 100:
+            # Some zero-padding at end — chirp ends partway through seg3
+            effective_chirp_end = 3072 + (1024 - trailing_zeros)
+            assert effective_chirp_end <= 4096, "Chirp end calculation overflow"

9_Firmware/tools/uart_capture.py

@@ -39,6 +39,7 @@ try:
     import serial
     import serial.tools.list_ports
 except ImportError:
+    print("ERROR: pyserial not installed. Run: pip install pyserial", file=sys.stderr)
     sys.exit(1)
 
 # ---------------------------------------------------------------------------
@@ -94,9 +95,12 @@ def list_ports():
     """Print available serial ports."""
     ports = serial.tools.list_ports.comports()
     if not ports:
+        print("No serial ports found.")
         return
-    for _p in sorted(ports, key=lambda x: x.device):
+    print(f"{'Port':<30} {'Description':<40} {'HWID'}")
-        pass
+    print("-" * 100)
+    for p in sorted(ports, key=lambda x: x.device):
+        print(f"{p.device:<30} {p.description:<40} {p.hwid}")
 
 
 def auto_detect_port():
@@ -224,7 +228,7 @@ class CaptureStats:
 # Main capture loop
 # ---------------------------------------------------------------------------
 
-def capture(port, baud, log_file, filter_subsys, errors_only, _use_color):
+def capture(port, baud, log_file, filter_subsys, errors_only, use_color):
     """Open serial port and capture DIAG output."""
     stats = CaptureStats()
     running = True
@@ -245,15 +249,18 @@ def capture(port, baud, log_file, filter_subsys, errors_only, _use_color):
             stopbits=serial.STOPBITS_ONE,
             timeout=0.1,  # 100ms read timeout for responsive Ctrl-C
         )
-    except serial.SerialException:
+    except serial.SerialException as e:
+        print(f"ERROR: Could not open {port}: {e}", file=sys.stderr)
         sys.exit(1)
 
+    print(f"Connected to {port} at {baud} baud")
     if log_file:
-        pass
+        print(f"Logging to {log_file}")
     if filter_subsys:
-        pass
+        print(f"Filter: {', '.join(sorted(filter_subsys))}")
     if errors_only:
-        pass
+        print("Mode: errors/warnings only")
+    print("Press Ctrl-C to stop.\n")
 
     if log_file:
         os.makedirs(os.path.dirname(log_file), exist_ok=True)
@@ -300,13 +307,15 @@ def capture(port, baud, log_file, filter_subsys, errors_only, _use_color):
 
                     # Terminal display respects filters
                     if should_display(line, filter_subsys, errors_only):
-                        pass
+                        sys.stdout.write(colorize(line, use_color) + "\n")
+                        sys.stdout.flush()
 
             if flog:
                 flog.write(f"\n{stats.summary()}\n")
 
     finally:
         ser.close()
+        print(stats.summary())
 
 
 # ---------------------------------------------------------------------------
@@ -369,6 +378,10 @@ def main():
     if not port:
         port = auto_detect_port()
         if not port:
+            print(
+                "ERROR: No serial port detected. Use -p to specify, or --list to see ports.",
+                file=sys.stderr,
+            )
             sys.exit(1)
 
     # Resolve log file

CONTRIBUTING.md

@@ -78,9 +78,9 @@ Every test binary must exit 0.
 
 ```bash
 cd 9_Firmware/9_3_GUI
-python3 -m pytest test_GUI_V65_Tk.py -v
+python3 -m pytest test_radar_dashboard.py -v
 # or without pytest:
-python3 -m unittest test_GUI_V65_Tk -v
+python3 -m unittest test_radar_dashboard -v
 ```
 
 57+ protocol and rendering tests. The `test_record_and_stop` test
@@ -130,7 +130,7 @@ 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
+3. `python3 -m unittest test_radar_dashboard -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

pyproject.toml

@@ -46,6 +46,10 @@ select = [
 
 [tool.ruff.lint.per-file-ignores]
 # Tests: allow unused args (fixtures), prints (debugging), commented code (examples)
-"test_*.py" = ["ARG", "T20", "ERA"]
+"**/test_*.py" = ["ARG", "T20", "ERA"]
 # Re-export modules: unused imports are intentional
-"v7/hardware.py" = ["F401"]
+"**/v7/hardware.py" = ["F401"]
+# CLI tools & cosim scripts: print() is the intentional output mechanism
+"**/uart_capture.py" = ["T20"]
+"**/tb/cosim/**" = ["T20", "ERA", "ARG", "E501"]
+"**/tb/gen_mf_golden_ref.py" = ["T20", "ERA"]