Merge remote-tracking branch 'origin/main' into fix/pre-bringup-audit-p0

chore: regenerate uv.lock
refactor(mcu): remove redundant ADAR1000 T/R SPI paths (FPGA-owned)
2026-04-21 01:33:19 +05:45 · 2026-04-21 01:09:38 +05:45 · 2026-04-21 01:09:38 +05:45 · 2026-04-20 20:51:30 +03:00 · 2026-04-20 23:28:58 +05:45 · 2026-04-20 21:47:26 +05:45
25 changed files with 1277 additions and 368 deletions
@@ -10,15 +10,15 @@ extern SPI_HandleTypeDef hspi1;
 extern UART_HandleTypeDef huart3;

 // Chip Select GPIO definitions
-static const struct {
-    GPIO_TypeDef* port;
-    uint16_t pin;
-} CHIP_SELECTS[4] = {
-    {ADAR_1_CS_3V3_GPIO_Port, ADAR_1_CS_3V3_Pin}, // ADAR1000 #1
-    {ADAR_2_CS_3V3_GPIO_Port, ADAR_2_CS_3V3_Pin}, // ADAR1000 #2
-    {ADAR_3_CS_3V3_GPIO_Port, ADAR_3_CS_3V3_Pin}, // ADAR1000 #3
-    {ADAR_4_CS_3V3_GPIO_Port, ADAR_4_CS_3V3_Pin}  // ADAR1000 #4
-};
+static const struct {
+    GPIO_TypeDef* port;
+    uint16_t pin;
+} CHIP_SELECTS[4] = {
+    {ADAR_1_CS_3V3_GPIO_Port, ADAR_1_CS_3V3_Pin}, // ADAR1000 #1
+    {ADAR_2_CS_3V3_GPIO_Port, ADAR_2_CS_3V3_Pin}, // ADAR1000 #2
+    {ADAR_3_CS_3V3_GPIO_Port, ADAR_3_CS_3V3_Pin}, // ADAR1000 #3
+    {ADAR_4_CS_3V3_GPIO_Port, ADAR_4_CS_3V3_Pin}  // ADAR1000 #4
+};

 // ADAR1000 Vector Modulator lookup tables (128-state phase grid, 2.8125 deg step).
 //
@@ -163,8 +163,10 @@ void ADAR1000Manager::switchToTXMode() {
    DIAG("BF", "Step 3: PA bias ON");
    setPABias(true);
    delayUs(50);
-    DIAG("BF", "Step 4: ADTR1107 -> TX");
-    setADTR1107Control(true);
+    // Step 4 (former setADTR1107Control(true)) removed: TR pin is FPGA-owned.
+    // Chip follows adar_tr_x; TX path is asserted by the FPGA chirp FSM, not
+    // by SPI here. Write per-channel TX enables so the FPGA TR override has
+    // something to gate.

    for (uint8_t dev = 0; dev < devices_.size(); ++dev) {
        adarWrite(dev, REG_RX_ENABLES, 0x00, BROADCAST_OFF);
@@ -185,8 +187,7 @@ void ADAR1000Manager::switchToRXMode() {
    DIAG("BF", "Step 2: Disable PA supplies");
    disablePASupplies();
    delayUs(10);
-    DIAG("BF", "Step 3: ADTR1107 -> RX");
-    setADTR1107Control(false);
+    // Step 3 (former setADTR1107Control(false)) removed: FPGA owns TR pin.
    DIAG("BF", "Step 4: Enable LNA supplies");
    enableLNASupplies();
    delayUs(50);
@@ -204,39 +205,11 @@ void ADAR1000Manager::switchToRXMode() {
    DIAG("BF", "switchToRXMode() complete");
 }

-void ADAR1000Manager::fastTXMode() {
-    DIAG("BF", "fastTXMode(): ADTR1107 -> TX (no bias sequencing)");
-    setADTR1107Control(true);
-    for (uint8_t dev = 0; dev < devices_.size(); ++dev) {
-        adarWrite(dev, REG_RX_ENABLES, 0x00, BROADCAST_OFF);
-        adarWrite(dev, REG_TX_ENABLES, 0x0F, BROADCAST_OFF);
-        devices_[dev]->current_mode = BeamDirection::TX;
-    }
-    current_mode_ = BeamDirection::TX;
-}
-
-void ADAR1000Manager::fastRXMode() {
-    DIAG("BF", "fastRXMode(): ADTR1107 -> RX (no bias sequencing)");
-    setADTR1107Control(false);
-    for (uint8_t dev = 0; dev < devices_.size(); ++dev) {
-        adarWrite(dev, REG_TX_ENABLES, 0x00, BROADCAST_OFF);
-        adarWrite(dev, REG_RX_ENABLES, 0x0F, BROADCAST_OFF);
-        devices_[dev]->current_mode = BeamDirection::RX;
-    }
-    current_mode_ = BeamDirection::RX;
-}
-
-void ADAR1000Manager::pulseTXMode() {
-    DIAG("BF", "pulseTXMode(): TR switch only");
-    setADTR1107Control(true);
-    last_switch_time_us_ = HAL_GetTick() * 1000;
-}
-
-void ADAR1000Manager::pulseRXMode() {
-    DIAG("BF", "pulseRXMode(): TR switch only");
-    setADTR1107Control(false);
-    last_switch_time_us_ = HAL_GetTick() * 1000;
-}
+// fastTXMode, fastRXMode, pulseTXMode, pulseRXMode: REMOVED.
+// The chirp hot path owns T/R switching via the FPGA adar_tr_x pins
+// (see 9_Firmware/9_2_FPGA/plfm_chirp_controller.v). The old SPI-RMW per
+// chirp was architecturally redundant, raced the FPGA, and toggled the
+// wrong bit of REG_SW_CONTROL (TR_SOURCE instead of TR_SPI).

 // Beam Steering
 bool ADAR1000Manager::setBeamAngle(float angle_degrees, BeamDirection direction) {
@@ -255,15 +228,15 @@ bool ADAR1000Manager::setBeamAngle(float angle_degrees, BeamDirection direction)

    for (uint8_t dev = 0; dev < devices_.size(); ++dev) {
        for (uint8_t ch = 0; ch < 4; ++ch) {
-            if (direction == BeamDirection::TX) {
-                adarSetTxPhase(dev, ch + 1, phase_settings[ch], BROADCAST_OFF);
-                adarSetTxVgaGain(dev, ch + 1, kDefaultTxVgaGain, BROADCAST_OFF);
-            } else {
-                adarSetRxPhase(dev, ch + 1, phase_settings[ch], BROADCAST_OFF);
-                adarSetRxVgaGain(dev, ch + 1, kDefaultRxVgaGain, BROADCAST_OFF);
-            }
-        }
-    }
+            if (direction == BeamDirection::TX) {
+                adarSetTxPhase(dev, ch + 1, phase_settings[ch], BROADCAST_OFF);
+                adarSetTxVgaGain(dev, ch + 1, kDefaultTxVgaGain, BROADCAST_OFF);
+            } else {
+                adarSetRxPhase(dev, ch + 1, phase_settings[ch], BROADCAST_OFF);
+                adarSetRxVgaGain(dev, ch + 1, kDefaultRxVgaGain, BROADCAST_OFF);
+            }
+        }
+    }
    return true;
 }

@@ -368,25 +341,10 @@ void ADAR1000Manager::writeRegister(uint8_t deviceIndex, uint32_t address, uint8
 }

 // Configuration
-void ADAR1000Manager::setSwitchSettlingTime(uint32_t us) {
-    switch_settling_time_us_ = us;
-}
-
-void ADAR1000Manager::setFastSwitchMode(bool enable) {
-    DIAG("BF", "setFastSwitchMode(%s)", enable ? "ON" : "OFF");
-    fast_switch_mode_ = enable;
-    if (enable) {
-        switch_settling_time_us_ = 10;
-        DIAG("BF", "  settling time = 10 us, enabling PA+LNA supplies and bias simultaneously");
-        enablePASupplies();
-        enableLNASupplies();
-        setPABias(true);
-        setLNABias(true);
-    } else {
-        switch_settling_time_us_ = 50;
-        DIAG("BF", "  settling time = 50 us");
-    }
-}
+// setSwitchSettlingTime, setFastSwitchMode: REMOVED.
+// Their only reader was the deleted setADTR1107Control; setFastSwitchMode(true)
+// also violated the ADTR1107 datasheet bias sequence (PA + LNA biased to
+// operational simultaneously). Per-chirp T/R is FPGA-owned now.

 void ADAR1000Manager::setBeamDwellTime(uint32_t ms) {
    beam_dwell_time_ms_ = ms;
@@ -428,15 +386,30 @@ bool ADAR1000Manager::initializeSingleDevice(uint8_t deviceIndex) {
    DIAG("BF", "  dev[%u] set RAM bypass (bias+beam)", deviceIndex);
    adarSetRamBypass(deviceIndex, BROADCAST_OFF);

+    // Hand per-chirp T/R switching to the FPGA.
+    // Set TR_SOURCE (REG_SW_CONTROL bit 2) = 1 so the chip's internal
+    // RX_EN_OVERRIDE / TX_EN_OVERRIDE follow the external TR pin (driven by
+    // plfm_chirp_controller's adar_tr_x output). See ADAR1000 datasheet
+    // "Theory of Operation" -- SPI Control vs TR Pin Control.
+    // Without this write, the FPGA's TR pin is ignored and the chip stays
+    // in RX state (TR_SPI POR default).
+    DIAG("BF", "  dev[%u] SW_CONTROL: TR_SOURCE=1 (FPGA owns TR pin)", deviceIndex);
+    adarWrite(deviceIndex, REG_SW_CONTROL, (1 << 2), BROADCAST_OFF);
+
    // Initialize ADC
    DIAG("BF", "  dev[%u] enable ADC (2MHz clk)", deviceIndex);
    adarWrite(deviceIndex, REG_ADC_CONTROL, ADAR1000_ADC_2MHZ_CLK | ADAR1000_ADC_EN, BROADCAST_OFF);

    // Verify communication with scratchpad test
+    // Audit F-4.4: on SPI failure, previously marked the device initialized
+    // anyway, so downstream (e.g. PA enable) could drive PA gates out-of-spec
+    // on a dead bus. Now propagate the failure so initializeAllDevices aborts.
    DIAG("BF", "  dev[%u] verifying SPI communication...", deviceIndex);
    bool comms_ok = verifyDeviceCommunication(deviceIndex);
    if (!comms_ok) {
-        DIAG_WARN("BF", "  dev[%u] scratchpad verify FAILED but marking initialized anyway", deviceIndex);
+        DIAG_ERR("BF", "  dev[%u] scratchpad verify FAILED -- device NOT marked initialized", deviceIndex);
+        devices_[deviceIndex]->initialized = false;
+        return false;
    }

    devices_[deviceIndex]->initialized = true;
@@ -464,9 +437,11 @@ bool ADAR1000Manager::initializeADTR1107Sequence() {
    HAL_GPIO_WritePin(EN_P_3V3_SW_GPIO_Port, EN_P_3V3_SW_Pin, GPIO_PIN_SET);
    HAL_Delay(1);

-    // Step 4: Set CTRL_SW to RX mode initially via GPIO
-    DIAG("BF", "Step 4: CTRL_SW -> RX (initial safe mode)");
-    setADTR1107Control(false); // RX mode
+    // Step 4: CTRL_SW safe-default is RX.
+    // FPGA-owned path: with TR_SOURCE=1 (set in initializeSingleDevice) the
+    // chip follows adar_tr_x, which is 0 in the FPGA FSM's IDLE state = RX.
+    // No SPI write needed here.
+    DIAG("BF", "Step 4: CTRL_SW -> RX (FPGA adar_tr_x idle-low == RX)");
    HAL_Delay(1);

    // Step 5: Set VGG_LNA to 0
@@ -522,7 +497,7 @@ bool ADAR1000Manager::initializeADTR1107Sequence() {
    HAL_UART_Transmit(&huart3, success, sizeof(success) - 1, 1000);

    return true;
-}
+}

 bool ADAR1000Manager::setAllDevicesTXMode() {
    DIAG("BF", "setAllDevicesTXMode(): ADTR1107 -> TX, then configure ADAR1000s");
@@ -568,7 +543,7 @@ bool ADAR1000Manager::setAllDevicesRXMode() {
 void ADAR1000Manager::setADTR1107Mode(BeamDirection direction) {
    if (direction == BeamDirection::TX) {
        DIAG_SECTION("ADTR1107 -> TX MODE");
-        setADTR1107Control(true); // TX mode
+        // setADTR1107Control(true) removed: TR pin is FPGA-driven.

        // Step 1: Disable LNA power first
        DIAG("BF", "  Disable LNA supplies");
@@ -598,10 +573,11 @@ void ADAR1000Manager::setADTR1107Mode(BeamDirection direction) {
        }
        HAL_Delay(5);

-        // Step 5: Set TR switch to TX mode
-        DIAG("BF", "  TR switch -> TX (TR_SOURCE=1, BIAS_EN)");
+        // Step 5: TR switch state is FPGA-driven. TR_SOURCE=1 is set once in
+        // initializeSingleDevice, so the chip already follows adar_tr_x.
+        // Only BIAS_EN needs to be asserted here.
+        DIAG("BF", "  BIAS_EN (TR source still = FPGA adar_tr_x)");
        for (uint8_t dev = 0; dev < devices_.size(); ++dev) {
-            adarSetBit(dev, REG_SW_CONTROL, 2, BROADCAST_OFF); // TR_SOURCE = 1 (TX)
            adarSetBit(dev, REG_MISC_ENABLES, 5, BROADCAST_OFF); // BIAS_EN
        }
        DIAG("BF", "  ADTR1107 TX mode complete");
@@ -609,7 +585,7 @@ void ADAR1000Manager::setADTR1107Mode(BeamDirection direction) {
    } else {
        // RECEIVE MODE: Enable LNA, Disable PA
        DIAG_SECTION("ADTR1107 -> RX MODE");
-        setADTR1107Control(false); // RX mode
+        // setADTR1107Control(false) removed: TR pin is FPGA-driven.

        // Step 1: Disable PA power first
        DIAG("BF", "  Disable PA supplies");
@@ -640,34 +616,21 @@ void ADAR1000Manager::setADTR1107Mode(BeamDirection direction) {
        }
        HAL_Delay(5);

-        // Step 5: Set TR switch to RX mode
-        DIAG("BF", "  TR switch -> RX (TR_SOURCE=0, LNA_BIAS_OUT_EN)");
+        // Step 5: TR switch state is FPGA-driven (TR_SOURCE left at 1).
+        // Only LNA_BIAS_OUT_EN needs to be asserted here.
+        DIAG("BF", "  LNA_BIAS_OUT_EN (TR source still = FPGA adar_tr_x)");
        for (uint8_t dev = 0; dev < devices_.size(); ++dev) {
-            adarResetBit(dev, REG_SW_CONTROL, 2, BROADCAST_OFF); // TR_SOURCE = 0 (RX)
            adarSetBit(dev, REG_MISC_ENABLES, 4, BROADCAST_OFF); // LNA_BIAS_OUT_EN
        }
        DIAG("BF", "  ADTR1107 RX mode complete");
    }
-}
-
-void ADAR1000Manager::setADTR1107Control(bool tx_mode) {
-    DIAG("BF", "setADTR1107Control(%s): setting TR switch on all %u devices, settling %lu us",
-         tx_mode ? "TX" : "RX", (unsigned)devices_.size(), (unsigned long)switch_settling_time_us_);
-    for (uint8_t dev = 0; dev < devices_.size(); ++dev) {
-        setTRSwitchPosition(dev, tx_mode);
-    }
-    delayUs(switch_settling_time_us_);
 }

-void ADAR1000Manager::setTRSwitchPosition(uint8_t deviceIndex, bool tx_mode) {
-    if (tx_mode) {
-        // TX mode: Set TR_SOURCE = 1
-        adarSetBit(deviceIndex, REG_SW_CONTROL, 2, BROADCAST_OFF);
-    } else {
-        // RX mode: Set TR_SOURCE = 0
-        adarResetBit(deviceIndex, REG_SW_CONTROL, 2, BROADCAST_OFF);
-    }
-}
+// setADTR1107Control, setTRSwitchPosition: REMOVED.
+// The per-device SPI RMW of REG_SW_CONTROL bit 2 (TR_SOURCE) was both wrong
+// (it toggled the *control source*, not the TX/RX state -- TR_SPI is bit 1)
+// and redundant with the FPGA's plfm_chirp_controller adar_tr_x output.
+// TR_SOURCE is now set to 1 exactly once in initializeSingleDevice.

 // Add the new public method
 bool ADAR1000Manager::setCustomBeamPattern16(const uint8_t phase_pattern[16], BeamDirection direction) {
@@ -727,13 +690,24 @@ void ADAR1000Manager::setLNABias(bool enable) {
    for (uint8_t dev = 0; dev < devices_.size(); ++dev) {
        adarWrite(dev, REG_LNA_BIAS_ON, lna_bias, BROADCAST_OFF);
    }
-}
+}

 void ADAR1000Manager::delayUs(uint32_t microseconds) {
-    // Simple implementation - for F7 @ 216MHz, each loop ~7 cycles ≈ 0.032us
-    volatile uint32_t cycles = microseconds * 10; // Adjust this multiplier for your clock
-    while (cycles--) {
-        __NOP();
+    // Audit F-4.7: the prior implementation was a calibrated __NOP() busy-loop
+    // that silently drifted with compiler optimization, cache state, and flash
+    // wait-states. The ADAR1000 PLL/TX settling times require a real clock, so
+    // we poll the DWT cycle counter instead. One-time TRCENA/CYCCNTENA enable
+    // is idempotent; subsequent calls skip the init branch via DWT->CTRL read.
+    if ((DWT->CTRL & DWT_CTRL_CYCCNTENA_Msk) == 0U) {
+        CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+        DWT->CYCCNT       = 0U;
+        DWT->CTRL        |= DWT_CTRL_CYCCNTENA_Msk;
+    }
+    const uint32_t cycles_per_us = SystemCoreClock / 1000000U;
+    const uint32_t start         = DWT->CYCCNT;
+    const uint32_t target        = microseconds * cycles_per_us;
+    while ((DWT->CYCCNT - start) < target) {
+        /* CYCCNT wraps cleanly modulo 2^32 — subtraction stays correct. */
    }
 }

@@ -795,14 +769,25 @@ void ADAR1000Manager::setChipSelect(uint8_t deviceIndex, bool state) {
 }

 void ADAR1000Manager::adarWrite(uint8_t deviceIndex, uint32_t mem_addr, uint8_t data, uint8_t broadcast) {
-    uint8_t instruction[3];
-
-    if (broadcast) {
-        instruction[0] = 0x08;
-    } else {
-        instruction[0] = ((devices_[deviceIndex]->dev_addr & 0x03) << 5);
+    // Audit F-4.1: the broadcast SPI opcode path (`instruction[0] = 0x08`)
+    // has never been exercised on silicon and is structurally questionable —
+    // setChipSelect() only toggles ONE device's CS line, so even if a caller
+    // opts into the broadcast opcode today, only the single selected chip
+    // actually sees the frame. Until a HIL test confirms multi-CS semantics,
+    // route every broadcast write through a per-device unicast loop. This
+    // preserves caller intent (all four devices take the write) and makes
+    // the dead opcode-0x08 path unreachable at runtime.
+    if (broadcast == BROADCAST_ON) {
+        DIAG_WARN("BF", "adarWrite: broadcast=1 lowered to per-device unicast (addr=0x%03lX data=0x%02X)",
+                  (unsigned long)mem_addr, data);
+        for (uint8_t d = 0; d < devices_.size(); ++d) {
+            adarWrite(d, mem_addr, data, BROADCAST_OFF);
+        }
+        return;
    }

+    uint8_t instruction[3];
+    instruction[0] = ((devices_[deviceIndex]->dev_addr & 0x03) << 5);
    instruction[0] |= (0x1F00 & mem_addr) >> 8;
    instruction[1] = (0xFF & mem_addr);
    instruction[2] = data;
@@ -835,12 +820,26 @@ uint8_t ADAR1000Manager::adarRead(uint8_t deviceIndex, uint32_t mem_addr) {
 }

 void ADAR1000Manager::adarSetBit(uint8_t deviceIndex, uint32_t mem_addr, uint8_t bit, uint8_t broadcast) {
+    // Audit F-4.2: broadcast-RMW is unsafe. The read samples a single device
+    // but the write fans out to all four, overwriting the other three with
+    // deviceIndex's state. Reject and surface the mistake.
+    if (broadcast == BROADCAST_ON) {
+        DIAG_ERR("BF", "adarSetBit: broadcast RMW is unsafe, ignored (dev=%u addr=0x%03lX bit=%u)",
+                 deviceIndex, (unsigned long)mem_addr, bit);
+        return;
+    }
    uint8_t temp = adarRead(deviceIndex, mem_addr);
    uint8_t data = temp | (1 << bit);
    adarWrite(deviceIndex, mem_addr, data, broadcast);
 }

 void ADAR1000Manager::adarResetBit(uint8_t deviceIndex, uint32_t mem_addr, uint8_t bit, uint8_t broadcast) {
+    // Audit F-4.2: see adarSetBit.
+    if (broadcast == BROADCAST_ON) {
+        DIAG_ERR("BF", "adarResetBit: broadcast RMW is unsafe, ignored (dev=%u addr=0x%03lX bit=%u)",
+                 deviceIndex, (unsigned long)mem_addr, bit);
+        return;
+    }
    uint8_t temp = adarRead(deviceIndex, mem_addr);
    uint8_t data = temp & ~(1 << bit);
    adarWrite(deviceIndex, mem_addr, data, broadcast);
@@ -904,7 +903,7 @@ void ADAR1000Manager::adarSetTxPhase(uint8_t deviceIndex, uint8_t channel, uint8

    adarWrite(deviceIndex, mem_addr_i, i_val, broadcast);
    adarWrite(deviceIndex, mem_addr_q, q_val, broadcast);
-    adarWrite(deviceIndex, REG_LOAD_WORKING, 0x1, broadcast);
+    adarWrite(deviceIndex, REG_LOAD_WORKING, LD_WRK_REGS_LDTX_OVERRIDE, broadcast);
 }

 void ADAR1000Manager::adarSetRxVgaGain(uint8_t deviceIndex, uint8_t channel, uint8_t gain, uint8_t broadcast) {
@@ -929,11 +928,11 @@ void ADAR1000Manager::adarSetTxVgaGain(uint8_t deviceIndex, uint8_t channel, uin
    adarWrite(deviceIndex, REG_LOAD_WORKING, LD_WRK_REGS_LDTX_OVERRIDE, broadcast);
 }

-void ADAR1000Manager::adarSetTxBias(uint8_t deviceIndex, uint8_t broadcast) {
-    adarWrite(deviceIndex, REG_BIAS_CURRENT_TX, kTxBiasCurrent, broadcast);
-    adarWrite(deviceIndex, REG_BIAS_CURRENT_TX_DRV, kTxDriverBiasCurrent, broadcast);
-    adarWrite(deviceIndex, REG_LOAD_WORKING, 0x2, broadcast);
-}
+void ADAR1000Manager::adarSetTxBias(uint8_t deviceIndex, uint8_t broadcast) {
+    adarWrite(deviceIndex, REG_BIAS_CURRENT_TX, kTxBiasCurrent, broadcast);
+    adarWrite(deviceIndex, REG_BIAS_CURRENT_TX_DRV, kTxDriverBiasCurrent, broadcast);
+    adarWrite(deviceIndex, REG_LOAD_WORKING, 0x2, broadcast);
+}

 uint8_t ADAR1000Manager::adarAdcRead(uint8_t deviceIndex, uint8_t broadcast) {
    adarWrite(deviceIndex, REG_ADC_CONTROL, ADAR1000_ADC_ST_CONV, broadcast);
@@ -48,10 +48,11 @@ public:
    // Mode Switching
    void switchToTXMode();
    void switchToRXMode();
-    void fastTXMode();
-    void fastRXMode();
-    void pulseTXMode();
-    void pulseRXMode();
+    // fastTXMode/fastRXMode/pulseTXMode/pulseRXMode were removed: per-chirp T/R
+    // switching is owned by the FPGA (plfm_chirp_controller -> adar_tr_x pins,
+    // requires TR_SOURCE=1 in REG_SW_CONTROL, set in initializeSingleDevice).
+    // The old SPI RMW path was architecturally redundant and also toggled the
+    // wrong bit (TR_SOURCE instead of TR_SPI). See PR for details.

    // Beam Steering
    bool setBeamAngle(float angle_degrees, BeamDirection direction);
@@ -69,7 +70,8 @@ public:
    bool setAllDevicesTXMode();
    bool setAllDevicesRXMode();
    void setADTR1107Mode(BeamDirection direction);
-    void setADTR1107Control(bool tx_mode);
+    // setADTR1107Control removed -- it only wrapped the now-deleted
+    // setTRSwitchPosition SPI path. FPGA drives the TR pin directly.

    // Monitoring and Diagnostics
    float readTemperature(uint8_t deviceIndex);
@@ -78,8 +80,11 @@ public:
    void writeRegister(uint8_t deviceIndex, uint32_t address, uint8_t value);

    // Configuration
-    void setSwitchSettlingTime(uint32_t us);
-    void setFastSwitchMode(bool enable);
+    // setSwitchSettlingTime / setFastSwitchMode removed: their only reader was
+    // the deleted setADTR1107Control SPI path, and setFastSwitchMode(true)
+    // also bundled a datasheet-violating PA+LNA-biased-simultaneously side
+    // effect. Per-chirp settling is now FPGA-owned. Callers that need a
+    // warm-up bias state should use switchToTXMode / switchToRXMode instead.
    void setBeamDwellTime(uint32_t ms);

    // Getters
@@ -100,8 +105,8 @@ public:
    };

    // Configuration
-    bool fast_switch_mode_ = false;
-    uint32_t switch_settling_time_us_ = 50;
+    // fast_switch_mode_ / switch_settling_time_us_ removed: both had no
+    // readers after the FPGA-owned TR refactor.
    uint32_t beam_dwell_time_ms_ = 100;
    uint32_t last_switch_time_us_ = 0;

@@ -121,22 +126,22 @@ public:
    // No VM_GAIN[] table exists: VM magnitude is bits [4:0] of the I/Q bytes
    // themselves; per-channel VGA gain uses a separate register.
    static const uint8_t VM_I[128];
-    static const uint8_t VM_Q[128];
-
-    // Named defaults for the ADTR1107 and ADAR1000 power sequence.
-    static constexpr uint8_t kDefaultTxVgaGain = 0x7F;
-    static constexpr uint8_t kDefaultRxVgaGain = 30;
-    static constexpr uint8_t kLnaBiasOff = 0x00;
-    static constexpr uint8_t kLnaBiasOperational = 0x30;
-    static constexpr uint8_t kPaBiasTxSafe = 0x5D;
-    static constexpr uint8_t kPaBiasIdqCalibration = 0x0D;
-    static constexpr uint8_t kPaBiasOperational = 0x7F;
-    static constexpr uint8_t kPaBiasRxSafe = 0x20;
-    static constexpr uint8_t kTxBiasCurrent = 0x2D;
-    static constexpr uint8_t kTxDriverBiasCurrent = 0x06;
-
-    // Private Methods
-    bool initializeSingleDevice(uint8_t deviceIndex);
+    static const uint8_t VM_Q[128];
+
+    // Named defaults for the ADTR1107 and ADAR1000 power sequence.
+    static constexpr uint8_t kDefaultTxVgaGain = 0x7F;
+    static constexpr uint8_t kDefaultRxVgaGain = 30;
+    static constexpr uint8_t kLnaBiasOff = 0x00;
+    static constexpr uint8_t kLnaBiasOperational = 0x30;
+    static constexpr uint8_t kPaBiasTxSafe = 0x5D;
+    static constexpr uint8_t kPaBiasIdqCalibration = 0x0D;
+    static constexpr uint8_t kPaBiasOperational = 0x7F;
+    static constexpr uint8_t kPaBiasRxSafe = 0x20;
+    static constexpr uint8_t kTxBiasCurrent = 0x2D;
+    static constexpr uint8_t kTxDriverBiasCurrent = 0x06;
+
+    // Private Methods
+    bool initializeSingleDevice(uint8_t deviceIndex);
    bool initializeADTR1107Sequence();
    void calculatePhaseSettings(float angle_degrees, uint8_t phase_settings[4]);
    void delayUs(uint32_t microseconds);
@@ -167,7 +172,7 @@ public:
    void adarSetTxVgaGain(uint8_t deviceIndex, uint8_t channel, uint8_t gain, uint8_t broadcast);
    void adarSetTxBias(uint8_t deviceIndex, uint8_t broadcast);
    uint8_t adarAdcRead(uint8_t deviceIndex, uint8_t broadcast);
-    void setTRSwitchPosition(uint8_t deviceIndex, bool tx_mode);
+    // setTRSwitchPosition removed -- FPGA owns TR pin. See PR.

 private:

@@ -483,11 +483,14 @@ void executeChirpSequence(int num_chirps, float T1, float PRI1, float T2, float
    DIAG("SYS", "executeChirpSequence: num_chirps=%d T1=%.2f PRI1=%.2f T2=%.2f PRI2=%.2f",
         num_chirps, T1, PRI1, T2, PRI2);
    // First chirp sequence (microsecond timing)
+    // T/R switching is owned by the FPGA plfm_chirp_controller: its chirp
+    // FSM drives adar_tr_x high during LONG_CHIRP/SHORT_CHIRP and low during
+    // listen/guard. new_chirp (GPIOD_8) triggers the FSM out of IDLE.
+    // The MCU's old pulseTXMode/pulseRXMode SPI path was redundant and raced
+    // the FPGA -- removed.
    for(int i = 0; i < num_chirps; i++) {
        HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_8); // New chirp signal to FPGA
-        adarManager.pulseTXMode();
        delay_us((uint32_t)T1);
-        adarManager.pulseRXMode();
        delay_us((uint32_t)(PRI1 - T1));
    }

@@ -496,11 +499,8 @@ void executeChirpSequence(int num_chirps, float T1, float PRI1, float T2, float
    // Second chirp sequence (nanosecond timing)
    for(int i = 0; i < num_chirps; i++) {
    	HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_8); // New chirp signal to FPGA
-        adarManager.pulseTXMode();
        delay_ns((uint32_t)(T2 * 1000));
-        adarManager.pulseRXMode();
        delay_ns((uint32_t)((PRI2 - T2) * 1000));
-
    }
 }

@@ -513,9 +513,9 @@ void runRadarPulseSequence() {
    DIAG("SYS", "runRadarPulseSequence #%d: m_max=%d n_max=%d y_max=%d",
         sequence_count, m_max, n_max, y_max);

-    // Configure for fast switching
-    DIAG("BF", "Enabling fast-switch mode for beam sweep");
-    adarManager.setFastSwitchMode(true);
+    // Fast per-chirp switching is now FPGA-owned (plfm_chirp_controller
+    // adar_tr_x), not MCU-driven. setFastSwitchMode(true) call removed.
+    DIAG("BF", "Beam sweep start (FPGA owns per-chirp T/R switching)");

    int m = 1; // Chirp counter
    int n = 1; // Beam Elevation position counter
@@ -656,18 +656,18 @@ SystemError_t checkSystemHealth(void) {

    // 1. Check AD9523 Clock Generator
    static uint32_t last_clock_check = 0;
-    if (HAL_GetTick() - last_clock_check > 5000) {
-        GPIO_PinState s0 = HAL_GPIO_ReadPin(AD9523_STATUS0_GPIO_Port, AD9523_STATUS0_Pin);
-        GPIO_PinState s1 = HAL_GPIO_ReadPin(AD9523_STATUS1_GPIO_Port, AD9523_STATUS1_Pin);
-        DIAG_GPIO("CLK", "AD9523 STATUS0", s0);
-        DIAG_GPIO("CLK", "AD9523 STATUS1", s1);
-        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();
-    }
+    if (HAL_GetTick() - last_clock_check > 5000) {
+        GPIO_PinState s0 = HAL_GPIO_ReadPin(AD9523_STATUS0_GPIO_Port, AD9523_STATUS0_Pin);
+        GPIO_PinState s1 = HAL_GPIO_ReadPin(AD9523_STATUS1_GPIO_Port, AD9523_STATUS1_Pin);
+        DIAG_GPIO("CLK", "AD9523 STATUS0", s0);
+        DIAG_GPIO("CLK", "AD9523 STATUS1", s1);
+        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();
+    }

    // 2. Check ADF4382 Lock Status
    bool tx_locked, rx_locked;
@@ -702,34 +702,34 @@ SystemError_t checkSystemHealth(void) {

    // 4. Check IMU Communication
    static uint32_t last_imu_check = 0;
-    if (HAL_GetTick() - last_imu_check > 10000) {
-        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();
-    }
+    if (HAL_GetTick() - last_imu_check > 10000) {
+        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();
+    }

    // 5. Check BMP180 Communication
    static uint32_t last_bmp_check = 0;
-    if (HAL_GetTick() - last_bmp_check > 15000) {
-        double pressure = myBMP.getPressure();
-        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();
-    }
+    if (HAL_GetTick() - last_bmp_check > 15000) {
+        double pressure = myBMP.getPressure();
+        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)
-    uint32_t gps_fix_age = um982_position_age(&um982);
-    if (gps_fix_age > 30000) {
-        current_error = ERROR_GPS_COMM;
-        DIAG_WARN("SYS", "Health check: GPS no fix for >30s (age=%lu ms)", (unsigned long)gps_fix_age);
-        return current_error;
-    }
+    // 6. Check GPS Communication (30s grace period from boot / last valid fix)
+    uint32_t gps_fix_age = um982_position_age(&um982);
+    if (gps_fix_age > 30000) {
+        current_error = ERROR_GPS_COMM;
+        DIAG_WARN("SYS", "Health check: GPS no fix for >30s (age=%lu ms)", (unsigned long)gps_fix_age);
+        return current_error;
+    }

    // 7. Check RF Power Amplifier Current
    if (PowerAmplifier) {
@@ -760,7 +760,7 @@ SystemError_t checkSystemHealth(void) {
        DIAG_ERR("SYS", "checkSystemHealth returning error code %d", current_error);
    }
    return current_error;
-}
+}

 // Error recovery function
 void attemptErrorRecovery(SystemError_t error) {
@@ -905,22 +905,22 @@ void handleSystemError(SystemError_t error) {
        HAL_Delay(200);
    }

-    // Critical errors trigger emergency shutdown.
-    //
-    // Safety-critical range: any fault that can damage the PAs or leave the
-    // 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) {
+    // Critical errors trigger emergency shutdown.
+    //
+    // Safety-critical range: any fault that can damage the PAs or leave the
+    // 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");
@@ -1483,8 +1483,8 @@ int main(void)
  HAL_GPIO_WritePin(EN_P_3V3_FPGA_GPIO_Port,EN_P_3V3_FPGA_Pin,GPIO_PIN_SET);
  HAL_Delay(100);
  DIAG("PWR", "FPGA power sequencing complete -- 1.0V -> 1.8V -> 3.3V");
-
-
+
+
 // Initialize module IMU
  DIAG_SECTION("IMU INIT (GY-85)");
  DIAG("IMU", "Initializing GY-85 IMU...");
@@ -1493,12 +1493,12 @@ int main(void)
      Error_Handler();
  }
  DIAG("IMU", "GY-85 initialized OK, running 10 calibration samples");
-  for(int i=0; i<10;i++){
-  if (!GY85_Update(&imu)) {
-      Error_Handler();
-  }
-
-  ax = imu.ax;
+  for(int i=0; i<10;i++){
+  if (!GY85_Update(&imu)) {
+      Error_Handler();
+  }
+
+  ax = imu.ax;
  ay = imu.ay;
  az = imu.az;
  gx = -imu.gx;
@@ -1793,20 +1793,20 @@ int main(void)
          HAL_Delay(10);
      }
  }
-  RADAR_Longitude = um982_get_longitude(&um982);
-  RADAR_Latitude = um982_get_latitude(&um982);
-  DIAG("GPS", "Initial position: lat=%.6f lon=%.6f fix=%d sats=%d",
-       RADAR_Latitude, RADAR_Longitude,
-       um982_get_fix_quality(&um982), um982_get_num_sats(&um982));
-
-  // Re-apply heading after GPS init so the north-alignment stepper move uses
-  // UM982 dual-antenna heading when available.
-  if (um982_is_heading_valid(&um982)) {
-      Yaw_Sensor = um982_get_heading(&um982);
-  }
-
-  //move Stepper to position 1 = 0°
-  HAL_GPIO_WritePin(STEPPER_CW_P_GPIO_Port, STEPPER_CW_P_Pin, GPIO_PIN_RESET);//Set stepper motor spinning direction to CCW
+  RADAR_Longitude = um982_get_longitude(&um982);
+  RADAR_Latitude = um982_get_latitude(&um982);
+  DIAG("GPS", "Initial position: lat=%.6f lon=%.6f fix=%d sats=%d",
+       RADAR_Latitude, RADAR_Longitude,
+       um982_get_fix_quality(&um982), um982_get_num_sats(&um982));
+
+  // Re-apply heading after GPS init so the north-alignment stepper move uses
+  // UM982 dual-antenna heading when available.
+  if (um982_is_heading_valid(&um982)) {
+      Yaw_Sensor = um982_get_heading(&um982);
+  }
+
+  //move Stepper to position 1 = 0°
+  HAL_GPIO_WritePin(STEPPER_CW_P_GPIO_Port, STEPPER_CW_P_Pin, GPIO_PIN_RESET);//Set stepper motor spinning direction to CCW
  //Point Stepper to North
  for(int i= 0;i<(int)(Yaw_Sensor*Stepper_steps/360);i++){
 	  HAL_GPIO_WritePin(STEPPER_CLK_P_GPIO_Port, STEPPER_CLK_P_Pin, GPIO_PIN_SET);
@@ -1819,14 +1819,14 @@ int main(void)
  /**********wait for GUI start flag and Send Lat/Long/alt********/
  /***************************************************************/

-  GPS_Data_t gps_data;
-  // Binary packet structure:
-  // [Header 4 bytes][Latitude 8 bytes][Longitude 8 bytes][Altitude 4 bytes][Pitch 4 bytes][CRC 2 bytes]
-  gps_data = {RADAR_Latitude, RADAR_Longitude, RADAR_Altitude, Pitch_Sensor, HAL_GetTick()};
-  if (!GPS_SendBinaryToGUI(&gps_data)) {
-      const uint8_t gps_send_error[] = "GPS binary send failed\r\n";
-      HAL_UART_Transmit(&huart3, (uint8_t*)gps_send_error, sizeof(gps_send_error) - 1, 1000);
-  }
+  GPS_Data_t gps_data;
+  // Binary packet structure:
+  // [Header 4 bytes][Latitude 8 bytes][Longitude 8 bytes][Altitude 4 bytes][Pitch 4 bytes][CRC 2 bytes]
+  gps_data = {RADAR_Latitude, RADAR_Longitude, RADAR_Altitude, Pitch_Sensor, HAL_GetTick()};
+  if (!GPS_SendBinaryToGUI(&gps_data)) {
+      const uint8_t gps_send_error[] = "GPS binary send failed\r\n";
+      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
   * usbHandler.isStartFlagReceived().  The production V7 PyQt GUI does not
@@ -406,3 +406,11 @@ static int mock_spi_init_stub(void) { return 0; }
 const struct no_os_spi_platform_ops stm32_spi_ops = {
    .init = mock_spi_init_stub,
 };
+
+/* ========================= CMSIS-Core stub storage ======================= */
+/* See stm32_hal_mock.h for rationale. SystemCoreClock = 0 forces delayUs() to
+ * return immediately under host test builds. DWT->CTRL pre-enabled so the
+ * one-time-init branch is skipped deterministically. */
+struct _DWT_Mock_Type       _dwt_mock       = { .CTRL = DWT_CTRL_CYCCNTENA_Msk, .CYCCNT = 0 };
+struct _CoreDebug_Mock_Type _coredebug_mock = { .DEMCR = 0 };
+uint32_t                    SystemCoreClock = 0U;
@@ -242,6 +242,26 @@ uint8_t ADS7830_Measure_SingleEnded(ADC_HandleTypeDef *hadc, uint8_t channel);
 * if desired via a global flag. */
 extern int mock_printf_enabled;

+/* ========================= CMSIS-Core stubs ======================= */
+/* Minimum surface to let F-4.7's DWT-based delayUs() in ADAR1000_Manager.cpp
+ * compile under the host mock build. SystemCoreClock is intentionally 0 so
+ * target = microseconds * (SystemCoreClock / 1000000) is also 0, making the
+ * busy-wait loop exit immediately regardless of argument. Pre-setting
+ * DWT->CTRL with CYCCNTENA also skips the one-time init branch.            */
+
+#define DWT_CTRL_CYCCNTENA_Msk     (1UL << 0)
+#define CoreDebug_DEMCR_TRCENA_Msk (1UL << 24)
+
+struct _DWT_Mock_Type       { uint32_t CTRL; uint32_t CYCCNT; };
+struct _CoreDebug_Mock_Type { uint32_t DEMCR; };
+
+extern struct _DWT_Mock_Type       _dwt_mock;
+extern struct _CoreDebug_Mock_Type _coredebug_mock;
+extern uint32_t                    SystemCoreClock;
+
+#define DWT       (&_dwt_mock)
+#define CoreDebug (&_coredebug_mock)
+
 #ifdef __cplusplus
 }
 #endif
@@ -4,15 +4,23 @@ module ad9484_interface_400m (
    input wire [7:0] adc_d_n,        // ADC Data N
    input wire adc_dco_p,            // Data Clock Output P (400MHz)
    input wire adc_dco_n,            // Data Clock Output N (400MHz)
-    
+    // Audit F-0.1: AD9484 OR (overrange) LVDS pair, DDR like data.
+    // Routed on the 50T main board to bank 14 pins M6/N6. Asserts for any
+    // sample whose absolute value exceeds full-scale.
+    input wire adc_or_p,
+    input wire adc_or_n,
+
    // System Interface
    input wire sys_clk,              // 100MHz system clock (for control only)
    input wire reset_n,
-    
+
    // Output at 400MHz domain
    output wire [7:0] adc_data_400m, // ADC data at 400MHz
    output wire adc_data_valid_400m, // Valid at 400MHz
-    output wire adc_dco_bufg         // Buffered 400MHz DCO clock for downstream use
+    output wire adc_dco_bufg,        // Buffered 400MHz DCO clock for downstream use
+    // Audit F-0.1: OR flag, clk_400m domain. High on any sample in the
+    // current 400 MHz cycle where the ADC reports overrange.
+    output wire adc_overrange_400m
 );

 // LVDS to single-ended conversion
@@ -166,4 +174,54 @@ end
 assign adc_data_400m = adc_data_400m_reg;
 assign adc_data_valid_400m = adc_data_valid_400m_reg;

+// ============================================================================
+// Audit F-0.1: AD9484 OR (overrange) capture
+// OR is a DDR LVDS pair (same as data). Buffer it, capture both edges with an
+// IDDR in the BUFIO domain, then OR the two phases into a single clk_400m
+// flag. Register once for stability. No latching — downstream is expected to
+// stickify in its own domain.
+// ============================================================================
+wire adc_or_raw;
+IBUFDS #(
+    .DIFF_TERM("FALSE"),
+    .IOSTANDARD("DEFAULT")
+) ibufds_or (
+    .O(adc_or_raw),
+    .I(adc_or_p),
+    .IB(adc_or_n)
+);
+
+wire adc_or_rise;
+wire adc_or_fall;
+IDDR #(
+    .DDR_CLK_EDGE("SAME_EDGE_PIPELINED"),
+    .INIT_Q1(1'b0),
+    .INIT_Q2(1'b0),
+    .SRTYPE("SYNC")
+) iddr_or (
+    .Q1(adc_or_rise),
+    .Q2(adc_or_fall),
+    .C(adc_dco_bufio),
+    .CE(1'b1),
+    .D(adc_or_raw),
+    .R(1'b0),
+    .S(1'b0)
+);
+
+reg adc_or_rise_bufg;
+reg adc_or_fall_bufg;
+always @(posedge adc_dco_buffered) begin
+    adc_or_rise_bufg <= adc_or_rise;
+    adc_or_fall_bufg <= adc_or_fall;
+end
+
+reg adc_overrange_r;
+always @(posedge adc_dco_buffered or negedge reset_n_400m) begin
+    if (!reset_n_400m)
+        adc_overrange_r <= 1'b0;
+    else
+        adc_overrange_r <= adc_or_rise_bufg | adc_or_fall_bufg;
+end
+assign adc_overrange_400m = adc_overrange_r;
+
 endmodule
@@ -17,7 +17,12 @@ module cdc_adc_to_processing #(
    input wire [WIDTH-1:0] src_data,
    input wire src_valid,
    output wire [WIDTH-1:0] dst_data,
-    output wire dst_valid
+    output wire dst_valid,
+    // Audit F-1.2: overrun pulse in src_clk domain. Asserts for 1 src cycle
+    // whenever src_valid fires while the previous sample has not yet been
+    // acknowledged by the destination edge-detector (i.e., the transaction
+    // the CDC is silently dropping). Hold/count externally.
+    output wire overrun
 `ifdef FORMAL
    ,output wire [WIDTH-1:0] fv_src_data_reg,
    output wire [1:0]       fv_src_toggle
@@ -130,6 +135,36 @@ module cdc_adc_to_processing #(
    assign dst_data = dst_data_reg;
    assign dst_valid = dst_valid_reg;

+    // ------------------------------------------------------------------
+    // Audit F-1.2: overrun detection
+    //
+    // The src-side `src_toggle` counter flips on each latched src_valid.
+    // We feed back a 1-bit "ack" toggle from the dst domain (flipped each
+    // time dst_valid fires) through a STAGES-deep synchronizer into the
+    // src domain. If a new src_valid arrives while src_toggle[0] already
+    // differs from the acked value, the previous sample is still in flight
+    // and this new latch drops it. Emit a 1-cycle overrun pulse.
+    // ------------------------------------------------------------------
+    reg dst_ack_toggle;
+    always @(posedge dst_clk) begin
+        if (!dst_reset_n)      dst_ack_toggle <= 1'b0;
+        else if (dst_valid_reg) dst_ack_toggle <= ~dst_ack_toggle;
+    end
+
+    (* ASYNC_REG = "TRUE" *) reg [STAGES-1:0] ack_sync_chain;
+    always @(posedge src_clk) begin
+        if (!src_reset_n) ack_sync_chain <= {STAGES{1'b0}};
+        else              ack_sync_chain <= {ack_sync_chain[STAGES-2:0], dst_ack_toggle};
+    end
+    wire ack_in_src = ack_sync_chain[STAGES-1];
+
+    reg overrun_r;
+    always @(posedge src_clk) begin
+        if (!src_reset_n) overrun_r <= 1'b0;
+        else              overrun_r <= src_valid && (src_toggle[0] != ack_in_src);
+    end
+    assign overrun = overrun_r;
+
 `ifdef FORMAL
    assign fv_src_data_reg = src_data_reg;
    assign fv_src_toggle   = src_toggle;
@@ -74,7 +74,7 @@ localparam COMB_WIDTH = 28;
 //                           DSP output) = 4 cycles at 400 MHz = 10 ns.
 //                           Negligible vs system reset assertion duration.
 // ----------------------------------------------------------------------------
-(* max_fanout = 50 *) reg reset_h = 1'b1;  // INIT=1'b1: registers start in reset state on power-up
+(* max_fanout = 25 *) reg reset_h = 1'b1;  // INIT=1'b1: registers start in reset state on power-up
 always @(posedge clk) reset_h <= ~reset_n;

 // Sign-extended input for integrator_0 C port (48-bit)
@@ -33,10 +33,10 @@
 # (one period) to ensure the tools verify the transfer fits within one cycle
 # without over-constraining with full inter-clock setup/hold analysis.
 set_max_delay -datapath_only -from [get_clocks adc_dco_p] \
-    -to [get_clocks clk_mmcm_out0] 2.500
+    -to [get_clocks clk_mmcm_out0] 2.700

 set_max_delay -datapath_only -from [get_clocks clk_mmcm_out0] \
-    -to [get_clocks adc_dco_p] 2.500
+    -to [get_clocks adc_dco_p] 2.700

 # --------------------------------------------------------------------------
 # CDC: MMCM output domain ↔ other clock domains
@@ -47,8 +47,12 @@ set_max_delay -datapath_only -from [get_clocks clk_mmcm_out0] \
 set_false_path -from [get_clocks clk_100m] -to [get_clocks clk_mmcm_out0]
 set_false_path -from [get_clocks clk_mmcm_out0] -to [get_clocks clk_100m]

-set_false_path -from [get_clocks clk_mmcm_out0] -to [get_clocks ft601_clk_in]
-set_false_path -from [get_clocks ft601_clk_in] -to [get_clocks clk_mmcm_out0]
+# Audit F-0.6: the USB-domain clock name differs per board
+# (50T: ft_clkout, 200T: ft601_clk_in). XDC files only support a
+# restricted Tcl subset — `foreach`/`unset` trigger CRITICAL WARNING
+# [Designutils 20-1307]. The clk_mmcm_out0 ↔ USB-clock false paths
+# are declared in the per-board XDC (xc7a50t_ftg256.xdc and
+# xc7a200t_fbg484.xdc) where the USB clock name is already known.

 set_false_path -from [get_clocks clk_mmcm_out0] -to [get_clocks clk_120m_dac]
 set_false_path -from [get_clocks clk_120m_dac] -to [get_clocks clk_mmcm_out0]
@@ -59,7 +63,10 @@ set_false_path -from [get_clocks clk_120m_dac] -to [get_clocks clk_mmcm_out0]
 # LOCKED is not a valid timing startpoint (it's a combinational output of the
 # MMCM primitive). Use -through instead of -from to waive all paths that pass
 # through the LOCKED net. This avoids the CRITICAL WARNING from Build 19/20.
-set_false_path -through [get_pins rx_inst/adc/mmcm_inst/mmcm_adc_400m/LOCKED]
+# Audit F-0.7: the literal hierarchical path was missing the `u_core/`
+# prefix and silently matched no pins. Use a hierarchical wildcard to
+# catch the MMCM LOCKED pin regardless of wrapper hierarchy.
+set_false_path -through [get_pins -hierarchical -filter {REF_PIN_NAME == LOCKED}]

 # --------------------------------------------------------------------------
 # Hold waiver for source-synchronous ADC capture (BUFIO-clocked IDDR)
@@ -82,14 +89,19 @@ 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]
+# adc_or_p (AD9484 overrange, audit F-0.1) shares the same IBUFDS→BUFIO
+# source-synchronous capture topology as adc_d_p[*] — same ~1.9 ns STA hold
+# violation for the same reason (BUFIO clock insertion ~4 ns vs data IBUFDS
+# ~0.9 ns), resolved by the same external-timing argument.
+set_false_path -hold -from [get_ports {adc_d_p[*] adc_or_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]
+# aging variation. 150 ps absolute covers the built-in jitter-based value
+# (~53 ps) plus ~100 ps temperature/voltage/aging guardband.
+# NOTE: Vivado's set_clock_uncertainty does NOT accept -add; prior use of
+# -add 0.100 was silently rejected as a CRITICAL WARNING, so no guardband
+# was applied. Use an absolute value. (audit finding F-0.8)
+set_clock_uncertainty -setup 0.150 [get_clocks clk_mmcm_out0]
@@ -134,6 +134,22 @@ set_property IOSTANDARD LVDS_25 [get_ports {adc_d_p[*]}]
 set_property IOSTANDARD LVDS_25 [get_ports {adc_d_n[*]}]
 set_property DIFF_TERM TRUE [get_ports {adc_d_p[*]}]

+# --------------------------------------------------------------------------
+# Audit F-0.1: AD9484 OR (overrange) LVDS pair
+# The 50T main board schematic routes ADC_OR_P/N to bank-14 pins M6/N6 on
+# xc7a50t-ftg256. The 200T dev-board schematic has NOT been checked yet;
+# adc_or_p/n are declared as top-level ports so the 50T build anchors them
+# cleanly, but the 200T anchor below is a TODO placeholder — synth/impl will
+# error on unplaced IO until the 200T schematic is verified and the PACKAGE_PIN
+# values are set. IOSTANDARD/DIFF_TERM properties stay as-is (same class as
+# adc_d_p).
+# --------------------------------------------------------------------------
+set_property IOSTANDARD LVDS_25 [get_ports {adc_or_p}]
+set_property IOSTANDARD LVDS_25 [get_ports {adc_or_n}]
+set_property DIFF_TERM TRUE [get_ports {adc_or_p}]
+# TODO(F-0.1): set_property PACKAGE_PIN <?> [get_ports {adc_or_p}] after 200T schematic audit
+# TODO(F-0.1): set_property PACKAGE_PIN <?> [get_ports {adc_or_n}] after 200T schematic audit
+
 # ADC Power Down — single-ended, Bank 14 (LVCMOS25 matches bank VCCO)
 # Pin: P20 = IO_0_14
 set_property PACKAGE_PIN P20 [get_ports {adc_pwdn}]
@@ -621,6 +637,10 @@ set_false_path -from [get_clocks ft601_clk_in] -to [get_clocks clk_120m_dac]
 set_false_path -from [get_clocks adc_dco_p] -to [get_clocks ft601_clk_in]
 set_false_path -from [get_clocks ft601_clk_in] -to [get_clocks adc_dco_p]

+# MMCM 400 MHz domain ↔ FT601 USB clock (see adc_clk_mmcm.xdc for rationale)
+set_false_path -from [get_clocks clk_mmcm_out0] -to [get_clocks ft601_clk_in]
+set_false_path -from [get_clocks ft601_clk_in] -to [get_clocks clk_mmcm_out0]
+
 # Generated clock cross-domain paths:
 # dac_clk_fwd and ft601_clk_fwd are generated from their respective source
 # clocks. Vivado automatically inherits the source clock false paths for
@@ -107,8 +107,15 @@ set_property PACKAGE_PIN C4 [get_ports {ft_clkout}]
 set_property IOSTANDARD LVCMOS33 [get_ports {ft_clkout}]
 create_clock -name ft_clkout -period 16.667 [get_ports {ft_clkout}]
 set_input_jitter [get_clocks ft_clkout] 0.2
-# N-type MRCC pin requires dedicated route override (Place 30-876)
-set_property CLOCK_DEDICATED_ROUTE FALSE [get_nets {ft_clkout_IBUF}]
+# N-type MRCC pin requires dedicated route override (Place 30-876).
+# Audit F-0.4: the literal net name `ft_clkout_IBUF` exists post-synth but
+# the XDC scan happens before synthesis, when the IBUF net does not yet
+# exist — Vivado reported `No nets matched 'ft_clkout_IBUF'` + CRITICAL
+# WARNING. Use -hierarchical -filter + -quiet so the constraint matches
+# post-synth without warning during pre-synth XDC scan. The TCL duplicate
+# at scripts/50t/build_50t.tcl:119 remains as belt-and-suspenders.
+set_property -quiet CLOCK_DEDICATED_ROUTE FALSE \
+    [get_nets -quiet -hierarchical -filter {NAME =~ *ft_clkout_IBUF}]

 # ============================================================================
 # RESET (Active-Low)
@@ -283,6 +290,22 @@ set_input_delay -clock [get_clocks adc_dco_p] -min 0.2 [get_ports {adc_d_p[*]}]
 set_input_delay -clock [get_clocks adc_dco_p] -max 1.0 -clock_fall [get_ports {adc_d_p[*]}] -add_delay
 set_input_delay -clock [get_clocks adc_dco_p] -min 0.2 -clock_fall [get_ports {adc_d_p[*]}] -add_delay

+# --------------------------------------------------------------------------
+# Audit F-0.1: AD9484 OR (overrange) LVDS pair (Bank 14)
+# Schematic RADAR_Main_Board.sch: ADC_OR_P → U42 IO_L19P_T3_A10_D26_14 (M6)
+#                                  ADC_OR_N → U42 IO_L19N_T3_A09_D25_VREF_14 (N6)
+# DDR-sourced by adc_dco_p, same timing class as adc_d_p[*].
+# --------------------------------------------------------------------------
+set_property PACKAGE_PIN M6 [get_ports {adc_or_p}]
+set_property PACKAGE_PIN N6 [get_ports {adc_or_n}]
+set_property IOSTANDARD LVDS_25 [get_ports {adc_or_p}]
+set_property IOSTANDARD LVDS_25 [get_ports {adc_or_n}]
+set_property DIFF_TERM TRUE [get_ports {adc_or_p}]
+set_input_delay -clock [get_clocks adc_dco_p] -max 1.0 [get_ports {adc_or_p}]
+set_input_delay -clock [get_clocks adc_dco_p] -min 0.2 [get_ports {adc_or_p}]
+set_input_delay -clock [get_clocks adc_dco_p] -max 1.0 -clock_fall [get_ports {adc_or_p}] -add_delay
+set_input_delay -clock [get_clocks adc_dco_p] -min 0.2 -clock_fall [get_ports {adc_or_p}] -add_delay
+
 # ============================================================================
 # FT2232H USB 2.0 INTERFACE (Bank 35, VCCO=3.3V)
 # ============================================================================
@@ -336,40 +359,46 @@ set_property DRIVE 8 [get_ports {ft_data[*]}]
 # --------------------------------------------------------------------------
 # FT2232H Source-Synchronous Timing Constraints
 # --------------------------------------------------------------------------
-# FT2232H 245 Synchronous FIFO mode timing (60 MHz, period = 16.667 ns):
+# FT2232H 245 Synchronous FIFO mode timing (60 MHz, period = 16.667 ns).
+# Values per FTDI TN_167 "FT2232H Synchronous FIFO Bus Bridge" — verify
+# against the exact app-note revision before shipping.
 #
-# FPGA Read Path (FT2232H drives data, FPGA samples):
-#   - Data valid before CLKOUT rising edge: t_vr(max) = 7.0 ns
-#   - Data hold after CLKOUT rising edge:   t_hr(min) = 0.0 ns
-#   - Input delay max = period - t_vr = 16.667 - 7.0 = 9.667 ns
-#   - Input delay min = t_hr = 0.0 ns
+# FPGA Read Path (FT2232H drives data/RXF#/TXE#, FPGA samples on CLKOUT↑):
+#   - t_co  (CLKOUT↑ → data valid)   max = 10.0 ns
+#   - t_coh (CLKOUT↑ → data hold)    min = 0.5 ns
+#   - set_input_delay -max = t_co,  -min = t_coh
 #
-# FPGA Write Path (FPGA drives data, FT2232H samples):
-#   - Data setup before next CLKOUT rising: t_su = 5.0 ns
-#   - Data hold after CLKOUT rising:        t_hd = 0.0 ns
-#   - Output delay max = period - t_su = 16.667 - 5.0 = 11.667 ns
-#   - Output delay min = t_hd = 0.0 ns
+# FPGA Write Path (FPGA drives data/WR#/RD#/OE#, FT2232H samples on CLKOUT↑):
+#   - t_su  (data setup before CLKOUT↑)  min = 3.5 ns  (NOT 5 ns — prior
+#           constraint used a synthetic period-based back-calculation)
+#   - t_h   (data hold after CLKOUT↑)    min = 1.0 ns  (NOT 0 — a 0 ns hold
+#           constraint produced no hold check at all)
+#   - set_output_delay -max = t_su, -min = -t_h (Vivado convention)
+#
+# Audit F-2026-04-20 Option B: the previous output_delay = 11.667 ns
+# (= period − 5) over-constrained launch by ~8 ns vs the actual datasheet
+# figure. Relaxing to 3.5 ns matches the chip's real setup requirement.
 # --------------------------------------------------------------------------

 # Input delays: FT2232H → FPGA (data bus and status signals)
-set_input_delay -clock [get_clocks ft_clkout] -max 9.667 [get_ports {ft_data[*]}]
-set_input_delay -clock [get_clocks ft_clkout] -min 0.0   [get_ports {ft_data[*]}]
-set_input_delay -clock [get_clocks ft_clkout] -max 9.667 [get_ports {ft_rxf_n}]
-set_input_delay -clock [get_clocks ft_clkout] -min 0.0   [get_ports {ft_rxf_n}]
-set_input_delay -clock [get_clocks ft_clkout] -max 9.667 [get_ports {ft_txe_n}]
-set_input_delay -clock [get_clocks ft_clkout] -min 0.0   [get_ports {ft_txe_n}]
+set_input_delay -clock [get_clocks ft_clkout] -max 10.0 [get_ports {ft_data[*]}]
+set_input_delay -clock [get_clocks ft_clkout] -min 0.5  [get_ports {ft_data[*]}]
+set_input_delay -clock [get_clocks ft_clkout] -max 10.0 [get_ports {ft_rxf_n}]
+set_input_delay -clock [get_clocks ft_clkout] -min 0.5  [get_ports {ft_rxf_n}]
+set_input_delay -clock [get_clocks ft_clkout] -max 10.0 [get_ports {ft_txe_n}]
+set_input_delay -clock [get_clocks ft_clkout] -min 0.5  [get_ports {ft_txe_n}]

 # Output delays: FPGA → FT2232H (control strobes and data bus when writing)
-set_output_delay -clock [get_clocks ft_clkout] -max 11.667 [get_ports {ft_data[*]}]
-set_output_delay -clock [get_clocks ft_clkout] -min 0.0    [get_ports {ft_data[*]}]
-set_output_delay -clock [get_clocks ft_clkout] -max 11.667 [get_ports {ft_rd_n}]
-set_output_delay -clock [get_clocks ft_clkout] -min 0.0    [get_ports {ft_rd_n}]
-set_output_delay -clock [get_clocks ft_clkout] -max 11.667 [get_ports {ft_wr_n}]
-set_output_delay -clock [get_clocks ft_clkout] -min 0.0    [get_ports {ft_wr_n}]
-set_output_delay -clock [get_clocks ft_clkout] -max 11.667 [get_ports {ft_oe_n}]
-set_output_delay -clock [get_clocks ft_clkout] -min 0.0    [get_ports {ft_oe_n}]
-set_output_delay -clock [get_clocks ft_clkout] -max 11.667 [get_ports {ft_siwu}]
-set_output_delay -clock [get_clocks ft_clkout] -min 0.0    [get_ports {ft_siwu}]
+set_output_delay -clock [get_clocks ft_clkout] -max 3.5  [get_ports {ft_data[*]}]
+set_output_delay -clock [get_clocks ft_clkout] -min -1.0 [get_ports {ft_data[*]}]
+set_output_delay -clock [get_clocks ft_clkout] -max 3.5  [get_ports {ft_rd_n}]
+set_output_delay -clock [get_clocks ft_clkout] -min -1.0 [get_ports {ft_rd_n}]
+set_output_delay -clock [get_clocks ft_clkout] -max 3.5  [get_ports {ft_wr_n}]
+set_output_delay -clock [get_clocks ft_clkout] -min -1.0 [get_ports {ft_wr_n}]
+set_output_delay -clock [get_clocks ft_clkout] -max 3.5  [get_ports {ft_oe_n}]
+set_output_delay -clock [get_clocks ft_clkout] -min -1.0 [get_ports {ft_oe_n}]
+set_output_delay -clock [get_clocks ft_clkout] -max 3.5  [get_ports {ft_siwu}]
+set_output_delay -clock [get_clocks ft_clkout] -min -1.0 [get_ports {ft_siwu}]

 # ============================================================================
 # STATUS / DEBUG OUTPUTS — NO PHYSICAL CONNECTIONS
@@ -408,7 +437,17 @@ set_false_path -from [get_ports {stm32_mixers_enable}]
 #   - Reset deassertion order is not functionally critical — all registers
 #     come out of reset within a few cycles of each other
 # --------------------------------------------------------------------------
-set_false_path -from [get_cells reset_sync_reg[*]] -to [get_pins -filter {REF_PIN_NAME == CLR} -of_objects [get_cells -hierarchical -filter {PRIMITIVE_TYPE =~ REGISTER.*.*}]]
+# Audit F-0.5: the literal cell name `reset_sync_reg[*]` does not match any
+# cell in the post-synth netlist. The actual sync regs are
+# `u_core/reset_sync_reg[0..1]`, `u_core/rx_inst/ddc/reset_sync_400m_reg[*]`,
+# `u_core/gen_ft2232h.usb_inst/ft_reset_sync_reg[*]`, and peers under
+# `u_core/reset_sync_120m_reg[*]`, `u_core/reset_sync_ft601_reg[*]`,
+# `u_core/rx_inst/adc/reset_sync_400m_reg[*]`. The waiver below covers all
+# of them by matching any register whose name contains `reset_sync`.
+# Without this, STA runs recovery/removal on the fanout of each sync-chain
+# output register (up to ~1000 loads pre-PR#113 replication).
+set_false_path -from [get_cells -hierarchical -filter {NAME =~ *reset_sync*_reg*}] \
+               -to   [get_pins  -hierarchical -filter {REF_PIN_NAME == CLR || REF_PIN_NAME == PRE}]

 # --------------------------------------------------------------------------
 # Clock Domain Crossing false paths
@@ -430,6 +469,10 @@ set_false_path -from [get_clocks ft_clkout] -to [get_clocks clk_100m]
 set_false_path -from [get_clocks clk_120m_dac] -to [get_clocks ft_clkout]
 set_false_path -from [get_clocks ft_clkout] -to [get_clocks clk_120m_dac]

+# MMCM 400 MHz domain ↔ FT2232H USB clock (see adc_clk_mmcm.xdc for rationale)
+set_false_path -from [get_clocks clk_mmcm_out0] -to [get_clocks ft_clkout]
+set_false_path -from [get_clocks ft_clkout] -to [get_clocks clk_mmcm_out0]
+
 # ============================================================================
 # PHYSICAL CONSTRAINTS
 # ============================================================================
@@ -25,7 +25,10 @@ module ddc_400m_enhanced (
    input wire reset_monitors,
    output wire [31:0] debug_sample_count,
    output wire [17:0] debug_internal_i,
-    output wire [17:0] debug_internal_q
+    output wire [17:0] debug_internal_q,
+    // Audit F-1.2: sticky CIC→FIR CDC overrun flag (clk_400m domain). Goes
+    // high on the first dropped sample and stays high until reset_monitors.
+    output wire cdc_cic_fir_overrun
 );

 // Parameters for numerical precision
@@ -148,22 +151,20 @@ always @(posedge clk_400m or negedge reset_n) begin
    end
 end

-// CDC synchronization for control signals (2-stage synchronizers)
-(* ASYNC_REG = "TRUE" *) reg [1:0] mixers_enable_sync_chain;
+// CDC synchronization for control signals (2-stage synchronizers).
+// Audit F-1.3: the mixers_enable synchronizer was dead — its _sync output
+// was never consumed (the NCO phase_valid uses the raw port), and the only
+// caller (radar_receiver_final.v) ties the port to 1'b1. Removed.
 (* ASYNC_REG = "TRUE" *) reg [1:0] force_saturation_sync_chain;
-wire mixers_enable_sync;
 wire force_saturation_sync;
-assign mixers_enable_sync = mixers_enable_sync_chain[1];
 assign force_saturation_sync = force_saturation_sync_chain[1];

 // Sync reset via reset_400m (replicated, max_fanout=50). Was async on
 // reset_n_400m — see "400 MHz RESET DISTRIBUTION" comment above.
 always @(posedge clk_400m) begin
    if (reset_400m) begin
-        mixers_enable_sync_chain <= 2'b00;
        force_saturation_sync_chain <= 2'b00;
    end else begin
-        mixers_enable_sync_chain <= {mixers_enable_sync_chain[0], mixers_enable};
        force_saturation_sync_chain <= {force_saturation_sync_chain[0], force_saturation};
    end
 end
@@ -600,7 +601,10 @@ assign cic_valid = cic_valid_i & cic_valid_q;
 wire fir_in_valid_i, fir_in_valid_q;
 wire fir_valid_i, fir_valid_q;
 wire fir_i_ready, fir_q_ready;
-wire [17:0] fir_d_in_i, fir_d_in_q; 
+wire [17:0] fir_d_in_i, fir_d_in_q;
+// Audit F-1.2: per-lane CIC→FIR CDC overrun pulses (clk_400m domain)
+wire cdc_fir_i_overrun;
+wire cdc_fir_q_overrun;

 cdc_adc_to_processing #(
    .WIDTH(18),
@@ -613,7 +617,8 @@ cdc_adc_to_processing #(
    .src_data(cic_i_out),
    .src_valid(cic_valid_i),
    .dst_data(fir_d_in_i),
-    .dst_valid(fir_in_valid_i)
+    .dst_valid(fir_in_valid_i),
+    .overrun(cdc_fir_i_overrun)
 );

 cdc_adc_to_processing #(
@@ -627,13 +632,30 @@ cdc_adc_to_processing #(
    .src_data(cic_q_out),
    .src_valid(cic_valid_q),
    .dst_data(fir_d_in_q),
-    .dst_valid(fir_in_valid_q)
+    .dst_valid(fir_in_valid_q),
+    .overrun(cdc_fir_q_overrun)
 );

+// Audit F-1.2: sticky-latch the two per-lane overrun pulses in the 400 MHz
+// domain and expose a single module-level flag. Cleared only by
+// reset_monitors (or reset_n via reset_400m), matching the other DDC
+// diagnostic latches (overflow/saturation).
+reg  cdc_cic_fir_overrun_sticky;
+always @(posedge clk_400m) begin
+    if (reset_400m || reset_monitors)                         cdc_cic_fir_overrun_sticky <= 1'b0;
+    else if (cdc_fir_i_overrun || cdc_fir_q_overrun)          cdc_cic_fir_overrun_sticky <= 1'b1;
+end
+assign cdc_cic_fir_overrun = cdc_cic_fir_overrun_sticky;
+
 // ============================================================================
 // FIR Filter Instances
 // ============================================================================

+// FIR overflow flags (audit F-6.2 — previously dangling, now OR'd into
+// module-level filter_overflow so the receiver can see FIR arithmetic overflow)
+wire fir_i_overflow;
+wire fir_q_overflow;
+
 // FIR I channel
 fir_lowpass_parallel_enhanced fir_i_inst (
    .clk(clk_100m),
@@ -643,10 +665,10 @@ fir_lowpass_parallel_enhanced fir_i_inst (
    .data_out(fir_i_out),
    .data_out_valid(fir_valid_i),
    .fir_ready(fir_i_ready),
-    .filter_overflow()
+    .filter_overflow(fir_i_overflow)
 );

-// FIR Q channel  
+// FIR Q channel
 fir_lowpass_parallel_enhanced fir_q_inst (
    .clk(clk_100m),
    .reset_n(reset_n),
@@ -655,10 +677,11 @@ fir_lowpass_parallel_enhanced fir_q_inst (
    .data_out(fir_q_out),
    .data_out_valid(fir_valid_q),
    .fir_ready(fir_q_ready),
-    .filter_overflow()
+    .filter_overflow(fir_q_overflow)
 );

 assign fir_valid = fir_valid_i & fir_valid_q;
+assign filter_overflow = fir_i_overflow | fir_q_overflow;

 // ============================================================================
 // Enhanced Output Stage
@@ -58,7 +58,12 @@ module mti_canceller #(
    input wire mti_enable,   // 1=MTI active, 0=pass-through

    // ========== STATUS ==========
-    output reg mti_first_chirp  // 1 during first chirp (output muted)
+    output reg mti_first_chirp, // 1 during first chirp (output muted)
+
+    // Audit F-6.3: count of saturated samples since last reset. Saturation
+    // here produces spurious Doppler harmonics (phantom targets at ±fs/2)
+    // and was previously invisible to the MCU. Saturates at 0xFF.
+    output reg [7:0] mti_saturation_count
 );

 // ============================================================================
@@ -104,18 +109,30 @@ assign diff_q_sat = (diff_q_full > $signed({{2{1'b0}}, {(DATA_WIDTH-1){1'b1}}}))
                  ? $signed({1'b1, {(DATA_WIDTH-1){1'b0}}})
                  : diff_q_full[DATA_WIDTH-1:0];

+// Saturation detection (F-6.3): the top two bits of the DATA_WIDTH+1 signed
+// difference disagree iff the value exceeds the DATA_WIDTH signed range.
+wire diff_i_overflow = (diff_i_full[DATA_WIDTH] != diff_i_full[DATA_WIDTH-1]);
+wire diff_q_overflow = (diff_q_full[DATA_WIDTH] != diff_q_full[DATA_WIDTH-1]);
+
 // ============================================================================
 // MAIN LOGIC
 // ============================================================================
 always @(posedge clk or negedge reset_n) begin
    if (!reset_n) begin
-        range_i_out     <= {DATA_WIDTH{1'b0}};
-        range_q_out     <= {DATA_WIDTH{1'b0}};
-        range_valid_out <= 1'b0;
-        range_bin_out   <= 6'd0;
-        has_previous    <= 1'b0;
-        mti_first_chirp <= 1'b1;
+        range_i_out          <= {DATA_WIDTH{1'b0}};
+        range_q_out          <= {DATA_WIDTH{1'b0}};
+        range_valid_out      <= 1'b0;
+        range_bin_out        <= 6'd0;
+        has_previous         <= 1'b0;
+        mti_first_chirp      <= 1'b1;
+        mti_saturation_count <= 8'd0;
    end else begin
+        // Count saturated MTI-active samples (F-6.3). Clamp at 0xFF.
+        if (range_valid_in && mti_enable && has_previous
+            && (diff_i_overflow || diff_q_overflow)
+            && (mti_saturation_count != 8'hFF)) begin
+            mti_saturation_count <= mti_saturation_count + 8'd1;
+        end
        // Default: no valid output
        range_valid_out <= 1'b0;

@@ -9,6 +9,9 @@ module radar_receiver_final (
    input wire [7:0] adc_d_n,        // ADC Data N (LVDS)
    input wire adc_dco_p,            // Data Clock Output P (400MHz LVDS)
    input wire adc_dco_n,            // Data Clock Output N (400MHz LVDS)
+    // Audit F-0.1: AD9484 OR (overrange) LVDS pair
+    input wire adc_or_p,
+    input wire adc_or_n,
 	 output wire adc_pwdn,
    
    // Chirp counter from transmitter (for matched filter indexing)
@@ -74,7 +77,28 @@ module radar_receiver_final (
    // 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
+    output wire [3:0]  agc_current_gain,     // Effective gain_shift encoding
+
+    // DDC overflow diagnostics (audit F-6.1 — previously deleted at boundary).
+    // Not yet plumbed into the USB status packet (protocol contract is frozen);
+    // exposed here for gpio aggregation and ILA mark_debug visibility.
+    output wire        ddc_overflow_any,
+    output wire [2:0]  ddc_saturation_count,
+
+    // MTI 2-pulse canceller saturation count (audit F-6.3).
+    output wire [7:0]  mti_saturation_count_out,
+
+    // Range-bin decimator watchdog (audit F-6.4 — previously tied off
+    // with an ILA-only note). A high pulse here means the decimator
+    // FSM has not seen the expected number of input samples within
+    // its timeout window, i.e. the upstream FIR/CDC has stalled.
+    output wire        range_decim_watchdog,
+
+    // Audit F-1.2: sticky CIC→FIR CDC overrun flag. Asserts on the first
+    // silent sample drop between the 400 MHz CIC output and the 100 MHz
+    // FIR input; stays high until the next reset. OR'd into the GPIO
+    // diagnostic bit at the top level.
+    output wire        ddc_cic_fir_overrun
 );

 // ========== INTERNAL SIGNALS ==========
@@ -185,18 +209,43 @@ wire adc_valid;            // Data valid signal
 // ADC power-down control (directly tie low = ADC always on)
 assign adc_pwdn = 1'b0;

+wire adc_overrange_400m;
 ad9484_interface_400m adc (
 	.adc_d_p(adc_d_p),
 	.adc_d_n(adc_d_n),
 	.adc_dco_p(adc_dco_p),
 	.adc_dco_n(adc_dco_n),
+	.adc_or_p(adc_or_p),
+	.adc_or_n(adc_or_n),
 	.sys_clk(clk),
 	.reset_n(reset_n),
 	.adc_data_400m(adc_data_cmos),
 	.adc_data_valid_400m(adc_valid),
-	.adc_dco_bufg(clk_400m)
+	.adc_dco_bufg(clk_400m),
+	.adc_overrange_400m(adc_overrange_400m)
 );

+// Audit F-0.1: stickify the 400 MHz OR pulse, then CDC to clk_100m via 2FF.
+// Same reasoning as ddc_cic_fir_overrun: single-bit, low→high-only once
+// latched, so a 2FF sync is sufficient for a GPIO-class diagnostic. Cleared
+// only by global reset_n.
+reg adc_overrange_sticky_400m;
+always @(posedge clk_400m or negedge reset_n) begin
+    if (!reset_n)
+        adc_overrange_sticky_400m <= 1'b0;
+    else if (adc_overrange_400m)
+        adc_overrange_sticky_400m <= 1'b1;
+end
+
+(* ASYNC_REG = "TRUE" *) reg [1:0] adc_overrange_sync_100m;
+always @(posedge clk or negedge reset_n) begin
+    if (!reset_n)
+        adc_overrange_sync_100m <= 2'b00;
+    else
+        adc_overrange_sync_100m <= {adc_overrange_sync_100m[0], adc_overrange_sticky_400m};
+end
+wire adc_overrange_100m = adc_overrange_sync_100m[1];
+
 // NOTE: The cdc_adc_to_processing instance that was here used src_clk=dst_clk=clk_400m
 // (same clock domain — no crossing). Gray-code CDC on same-clock with fast-changing
 // ADC data corrupts samples because Gray coding only guarantees safe transfer of
@@ -211,6 +260,16 @@ wire signed [17:0] ddc_out_q;
 wire ddc_valid_i;
 wire ddc_valid_q;

+// DDC diagnostic signals (audit F-6.1 — all outputs previously unconnected)
+wire [1:0] ddc_status_w;
+wire [7:0] ddc_diagnostics_w;
+wire       ddc_mixer_saturation;
+wire       ddc_filter_overflow;
+
+(* mark_debug = "true" *) wire ddc_mixer_saturation_dbg = ddc_mixer_saturation;
+(* mark_debug = "true" *) wire ddc_filter_overflow_dbg  = ddc_filter_overflow;
+(* mark_debug = "true" *) wire [7:0] ddc_diagnostics_dbg = ddc_diagnostics_w;
+
 ddc_400m_enhanced ddc(
    .clk_400m(clk_400m),           // 400MHz clock from ADC DCO
    .clk_100m(clk),           // 100MHz system clock //used by the 2 FIR
@@ -219,12 +278,31 @@ ddc_400m_enhanced ddc(
    .adc_data_valid_i(adc_valid),     // Valid at 400MHz
    .adc_data_valid_q(adc_valid),     // Valid at 400MHz
    .baseband_i(ddc_out_i), // I output at 100MHz
-    .baseband_q(ddc_out_q), // Q output at 100MHz  
+    .baseband_q(ddc_out_q), // Q output at 100MHz
    .baseband_valid_i(ddc_valid_i),     // Valid at 100MHz
-	 .baseband_valid_q(ddc_valid_q),
- 	 .mixers_enable(1'b1)
+    .baseband_valid_q(ddc_valid_q),
+    .mixers_enable(1'b1),
+    // Diagnostics (audit F-6.1) — previously all unconnected
+    .ddc_status(ddc_status_w),
+    .ddc_diagnostics(ddc_diagnostics_w),
+    .mixer_saturation(ddc_mixer_saturation),
+    .filter_overflow(ddc_filter_overflow),
+    // Test/debug inputs — explicit tie-low (were floating)
+    .test_mode(2'b00),
+    .test_phase_inc(16'h0000),
+    .force_saturation(1'b0),
+    .reset_monitors(1'b0),
+    .debug_sample_count(),
+    .debug_internal_i(),
+    .debug_internal_q(),
+    .cdc_cic_fir_overrun(ddc_cic_fir_overrun)
 );

+// Audit F-0.1: AD9484 overrange aggregated here so a single gpio_dig bit
+// covers DDC-internal saturation, FIR overflow, AND raw ADC clipping.
+assign ddc_overflow_any     = ddc_mixer_saturation | ddc_filter_overflow | adc_overrange_100m;
+assign ddc_saturation_count = ddc_diagnostics_w[7:5];
+
 ddc_input_interface ddc_if (
    .clk(clk),
    .reset_n(reset_n),
@@ -369,7 +447,7 @@ range_bin_decimator #(
    .range_bin_index(decimated_range_bin),
    .decimation_mode(2'b01),           // Peak detection mode
    .start_bin(10'd0),
-    .watchdog_timeout()                // Diagnostic — unconnected (monitored via ILA if needed)
+    .watchdog_timeout(range_decim_watchdog)  // Audit F-6.4 — plumbed out
 );

 // ========== MTI CANCELLER (Ground Clutter Removal) ==========
@@ -391,7 +469,8 @@ mti_canceller #(
    .range_valid_out(mti_range_valid),
    .range_bin_out(mti_range_bin),
    .mti_enable(host_mti_enable),
-    .mti_first_chirp(mti_first_chirp)
+    .mti_first_chirp(mti_first_chirp),
+    .mti_saturation_count(mti_saturation_count_out)
 );

 // ========== FRAME SYNC FROM TRANSMITTER ==========
@@ -430,12 +509,12 @@ assign range_data_32bit = {mti_range_q, mti_range_i};
 assign range_data_valid = mti_range_valid;

 // ========== DOPPLER PROCESSOR ==========
-doppler_processor_optimized #(
-    .DOPPLER_FFT_SIZE(16),
-    .RANGE_BINS(64),
-    .CHIRPS_PER_FRAME(32),
-    .CHIRPS_PER_SUBFRAME(16)
-) doppler_proc (
+doppler_processor_optimized #(
+    .DOPPLER_FFT_SIZE(16),
+    .RANGE_BINS(64),
+    .CHIRPS_PER_FRAME(32),
+    .CHIRPS_PER_SUBFRAME(16)
+) doppler_proc (
    .clk(clk),
    .reset_n(reset_n),
    .range_data(range_data_32bit),
@@ -498,4 +577,4 @@ assign agc_saturation_count = gc_saturation_count;
 assign agc_peak_magnitude   = gc_peak_magnitude;
 assign agc_current_gain     = gc_current_gain;

-endmodule
+endmodule
@@ -67,6 +67,9 @@ module radar_system_top (
    input wire [7:0] adc_d_n,            // ADC Data N (LVDS)
    input wire adc_dco_p,                 // Data Clock Output P (400MHz LVDS)
    input wire adc_dco_n,                 // Data Clock Output N (400MHz LVDS)
+    // Audit F-0.1: AD9484 OR (overrange) LVDS pair
+    input wire adc_or_p,
+    input wire adc_or_n,
    output wire adc_pwdn,                  // ADC Power Down
    
    // ========== STM32 CONTROL INTERFACES ==========
@@ -198,6 +201,19 @@ wire [7:0]  rx_agc_saturation_count;
 wire [7:0]  rx_agc_peak_magnitude;
 wire [3:0]  rx_agc_current_gain;

+// DDC overflow diagnostics (audit F-6.1) — plumbed out of receiver so the
+// DDC mixer_saturation / filter_overflow ports are no longer deleted at
+// the boundary. Aggregated into gpio_dig5 alongside AGC saturation.
+wire        rx_ddc_overflow_any;
+wire [2:0]  rx_ddc_saturation_count;
+// MTI saturation count (audit F-6.3). OR'd into gpio_dig5 for MCU visibility.
+wire [7:0]  rx_mti_saturation_count;
+// Range-bin decimator watchdog (audit F-6.4). High = decimator stalled.
+wire        rx_range_decim_watchdog;
+// CIC→FIR CDC overrun sticky (audit F-1.2). High = at least one baseband
+// sample has been silently dropped between the 400 MHz CIC and 100 MHz FIR.
+wire        rx_ddc_cic_fir_overrun;
+
 // Data packing for USB
 wire [31:0] usb_range_profile;
 wire usb_range_valid;
@@ -243,12 +259,12 @@ reg [5:0]  host_chirps_per_elev;      // Opcode 0x15 (default 32)
 reg        host_status_request;       // Opcode 0xFF (self-clearing pulse)

 // Fix 4: Doppler/chirps mismatch protection
-// DOPPLER_FRAME_CHIRPS is the fixed chirp count expected by the staggered-PRI
-// Doppler path (16 long + 16 short). If host sets chirps_per_elev to a
-// different value, Doppler accumulation is corrupted. Clamp at command decode
-// and flag the mismatch so the host knows.
-localparam DOPPLER_FRAME_CHIRPS = 32; // Total chirps per Doppler frame
-reg        chirps_mismatch_error;     // Set if host tried to set chirps != FFT size
+// DOPPLER_FRAME_CHIRPS is the fixed chirp count expected by the staggered-PRI
+// Doppler path (16 long + 16 short). If host sets chirps_per_elev to a
+// different value, Doppler accumulation is corrupted. Clamp at command decode
+// and flag the mismatch so the host knows.
+localparam DOPPLER_FRAME_CHIRPS = 32; // Total chirps per Doppler frame
+reg        chirps_mismatch_error;     // Set if host tried to set chirps != FFT size

 // Fix 7: Range-mode register (opcode 0x20)
 // Future-proofing for 3km/10km antenna switching.
@@ -513,6 +529,8 @@ radar_receiver_final rx_inst (
    .adc_d_n(adc_d_n),
    .adc_dco_p(adc_dco_p),
    .adc_dco_n(adc_dco_n),
+    .adc_or_p(adc_or_p),
+    .adc_or_n(adc_or_n),
    .adc_pwdn(adc_pwdn),
    
    // Doppler Outputs
@@ -562,7 +580,15 @@ radar_receiver_final rx_inst (
    // AGC status outputs
    .agc_saturation_count(rx_agc_saturation_count),
    .agc_peak_magnitude(rx_agc_peak_magnitude),
-    .agc_current_gain(rx_agc_current_gain)
+    .agc_current_gain(rx_agc_current_gain),
+    // DDC overflow diagnostics (audit F-6.1)
+    .ddc_overflow_any(rx_ddc_overflow_any),
+    .ddc_saturation_count(rx_ddc_saturation_count),
+    // MTI saturation count (audit F-6.3)
+    .mti_saturation_count_out(rx_mti_saturation_count),
+    // Range-bin decimator watchdog (audit F-6.4)
+    .range_decim_watchdog(rx_range_decim_watchdog),
+    .ddc_cic_fir_overrun(rx_ddc_cic_fir_overrun)
 );

 // ============================================================================
@@ -578,21 +604,21 @@ assign rx_doppler_data_valid = rx_doppler_valid;
 // ============================================================================
 // DC NOTCH FILTER (post-Doppler-FFT, pre-CFAR)
 // ============================================================================
-// Zeros out Doppler bins within ±host_dc_notch_width of DC for BOTH
-// sub-frames in the dual 16-pt FFT architecture.
-// doppler_bin[4:0] = {sub_frame, bin[3:0]}:
-//   Sub-frame 0: bins 0-15,  DC = bin 0,  wrap = bin 15
-//   Sub-frame 1: bins 16-31, DC = bin 16, wrap = bin 31
-// notch_width=1 → zero bins {0,16}. notch_width=2 → zero bins
-// {0,1,15,16,17,31}. etc.
-// When host_dc_notch_width=0: pass-through (no zeroing).
-
-wire dc_notch_active;
-wire [4:0] dop_bin_unsigned = rx_doppler_bin;
-wire [3:0] bin_within_sf = dop_bin_unsigned[3:0];
-assign dc_notch_active = (host_dc_notch_width != 3'd0) &&
-                          (bin_within_sf < {1'b0, host_dc_notch_width} ||
-                           bin_within_sf > (4'd15 - {1'b0, host_dc_notch_width} + 4'd1));
+// Zeros out Doppler bins within ±host_dc_notch_width of DC for BOTH
+// sub-frames in the dual 16-pt FFT architecture.
+// doppler_bin[4:0] = {sub_frame, bin[3:0]}:
+//   Sub-frame 0: bins 0-15,  DC = bin 0,  wrap = bin 15
+//   Sub-frame 1: bins 16-31, DC = bin 16, wrap = bin 31
+// notch_width=1 → zero bins {0,16}. notch_width=2 → zero bins
+// {0,1,15,16,17,31}. etc.
+// When host_dc_notch_width=0: pass-through (no zeroing).
+
+wire dc_notch_active;
+wire [4:0] dop_bin_unsigned = rx_doppler_bin;
+wire [3:0] bin_within_sf = dop_bin_unsigned[3:0];
+assign dc_notch_active = (host_dc_notch_width != 3'd0) &&
+                          (bin_within_sf < {1'b0, host_dc_notch_width} ||
+                           bin_within_sf > (4'd15 - {1'b0, host_dc_notch_width} + 4'd1));

 // Notched Doppler data: zero I/Q when in notch zone, pass through otherwise
 wire [31:0] notched_doppler_data  = dc_notch_active ? 32'd0 : rx_doppler_output;
@@ -871,6 +897,19 @@ endgenerate
 // we simply sample them in clk_100m when the CDC'd pulse arrives.

 // Step 1: Toggle on cmd_valid pulse (ft601_clk domain)
+//
+// CDC INVARIANT (audit F-1.1): usb_cmd_opcode / usb_cmd_addr / usb_cmd_value
+// / usb_cmd_data MUST be driven to their final values BEFORE usb_cmd_valid
+// asserts, and held stable for at least (STAGES + 1) clk_100m cycles after
+// (i.e., until cmd_valid_100m has pulsed in the destination domain). These
+// buses cross from ft601_clk to clk_100m as quasi-static data, NOT through
+// a synchronizer — only the toggle bit above is CDC'd. If a future edit
+// moves the cmd_* register write to the SAME cycle as the toggle flip, or
+// drops the stability hold, the clk_100m sampler at the command decoder
+// will latch metastable bits and dispatch on a garbage opcode.
+// The source-side FSM in usb_data_interface_ft2232h.v / usb_data_interface.v
+// currently satisfies this by assigning the cmd_* buses several cycles
+// before pulsing cmd_valid and leaving them stable until the next command.
 reg cmd_valid_toggle_ft601;
 always @(posedge ft601_clk_buf or negedge sys_reset_ft601_n) begin
    if (!sys_reset_ft601_n)
@@ -959,19 +998,19 @@ always @(posedge clk_100m_buf or negedge sys_reset_n) begin
                8'h13: host_short_chirp_cycles <= usb_cmd_value;
                8'h14: host_short_listen_cycles <= usb_cmd_value;
                8'h15: begin
-                    // Fix 4: Clamp chirps_per_elev to the fixed Doppler frame size.
-                    // If host requests a different value, clamp and set error flag.
-                    if (usb_cmd_value[5:0] > DOPPLER_FRAME_CHIRPS[5:0]) begin
-                        host_chirps_per_elev  <= DOPPLER_FRAME_CHIRPS[5:0];
-                        chirps_mismatch_error <= 1'b1;
-                    end else if (usb_cmd_value[5:0] == 6'd0) begin
-                        host_chirps_per_elev  <= DOPPLER_FRAME_CHIRPS[5:0];
-                        chirps_mismatch_error <= 1'b1;
-                    end else begin
-                        host_chirps_per_elev  <= usb_cmd_value[5:0];
-                        // Clear error only if value matches FFT size exactly
-                        chirps_mismatch_error <= (usb_cmd_value[5:0] != DOPPLER_FRAME_CHIRPS[5:0]);
-                    end
+                    // Fix 4: Clamp chirps_per_elev to the fixed Doppler frame size.
+                    // If host requests a different value, clamp and set error flag.
+                    if (usb_cmd_value[5:0] > DOPPLER_FRAME_CHIRPS[5:0]) begin
+                        host_chirps_per_elev  <= DOPPLER_FRAME_CHIRPS[5:0];
+                        chirps_mismatch_error <= 1'b1;
+                    end else if (usb_cmd_value[5:0] == 6'd0) begin
+                        host_chirps_per_elev  <= DOPPLER_FRAME_CHIRPS[5:0];
+                        chirps_mismatch_error <= 1'b1;
+                    end else begin
+                        host_chirps_per_elev  <= usb_cmd_value[5:0];
+                        // Clear error only if value matches FFT size exactly
+                        chirps_mismatch_error <= (usb_cmd_value[5:0] != DOPPLER_FRAME_CHIRPS[5:0]);
+                    end
                end
                8'h16: host_gain_shift         <= usb_cmd_value[3:0];  // Fix 3: digital gain
                8'h20: host_range_mode         <= usb_cmd_value[1:0];  // Fix 7: range mode
@@ -1040,7 +1079,15 @@ assign system_status = status_reg;
 // DIG_6: AGC enable flag — mirrors host_agc_enable so STM32 outer-loop AGC
 //        tracks the FPGA register as single source of truth.
 // DIG_7: Reserved (tied low for future use).
-assign gpio_dig5 = (rx_agc_saturation_count != 8'd0);
+// gpio_dig5: "signal-chain clipped" — asserts on AGC saturation, DDC mixer/FIR
+// overflow, or MTI 2-pulse saturation. Audit F-6.1/F-6.3: these were all
+// previously invisible to the MCU.
+assign gpio_dig5 = (rx_agc_saturation_count != 8'd0)
+                 | rx_ddc_overflow_any
+                 | (rx_ddc_saturation_count != 3'd0)
+                 | (rx_mti_saturation_count != 8'd0)
+                 | rx_range_decim_watchdog    // audit F-6.4
+                 | rx_ddc_cic_fir_overrun;    // audit F-1.2
 assign gpio_dig6 = host_agc_enable;
 assign gpio_dig7 = 1'b0;

@@ -1075,4 +1122,4 @@ always @(posedge clk_100m_buf) begin
 end
 `endif

-endmodule
+endmodule
@@ -60,6 +60,8 @@ module radar_system_top_50t (
    input wire [7:0] adc_d_n,
    input wire adc_dco_p,
    input wire adc_dco_n,
+    input wire adc_or_p,
+    input wire adc_or_n,
    output wire adc_pwdn,

    // ===== STM32 Control (Bank 15: 3.3V) =====
@@ -171,6 +173,8 @@ module radar_system_top_50t (
        .adc_d_n                (adc_d_n),
        .adc_dco_p              (adc_dco_p),
        .adc_dco_n              (adc_dco_n),
+        .adc_or_p               (adc_or_p),
+        .adc_or_n               (adc_or_n),
        .adc_pwdn               (adc_pwdn),

        // ----- STM32 Control -----
@@ -169,11 +169,11 @@ endfunction
 // =========================================================================
 // Clamp a wider signed value to [-7, +7]
 function signed [3:0] clamp_gain;
-    input signed [5:0] val;  // 6-bit: covers [-22,+22] (max |gain|+step = 7+15)
+    input signed [4:0] val;  // 5-bit to handle overflow from add
    begin
-        if (val > 6'sd7)
+        if (val > 5'sd7)
            clamp_gain = 4'sd7;
-        else if (val < -6'sd7)
+        else if (val < -5'sd7)
            clamp_gain = -4'sd7;
        else
            clamp_gain = val[3:0];
@@ -246,15 +246,15 @@ always @(posedge clk or negedge reset_n) begin
                // 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[3], agc_gain}) -
-                                           $signed({2'b00, agc_attack}));
+                    agc_gain <= clamp_gain($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[3], agc_gain}) +
-                                               $signed({2'b00, agc_decay}));
+                        agc_gain <= clamp_gain($signed({agc_gain[3], agc_gain}) +
+                                               $signed({1'b0, agc_decay}));
                    end else begin
                        holdoff_counter <= holdoff_counter - 4'd1;
                    end
@@ -19,6 +19,10 @@ module ad9484_interface_400m (
    input wire [7:0] adc_d_n,
    input wire adc_dco_p,
    input wire adc_dco_n,
+    // Audit F-0.1: AD9484 OR (overrange) LVDS pair — stub treats adc_or_p as
+    // the single-ended overrange flag, adc_or_n is ignored.
+    input wire adc_or_p,
+    input wire adc_or_n,

    // System Interface
    input wire sys_clk,
@@ -27,7 +31,8 @@ module ad9484_interface_400m (
    // Output at 400MHz domain
    output wire [7:0] adc_data_400m,
    output wire adc_data_valid_400m,
-    output wire adc_dco_bufg
+    output wire adc_dco_bufg,
+    output wire adc_overrange_400m
 );

 // Pass-through clock (no BUFG needed in simulation)
@@ -50,4 +55,15 @@ end
 assign adc_data_400m = adc_data_400m_reg;
 assign adc_data_valid_400m = adc_data_valid_400m_reg;

+// Audit F-0.1: 1-cycle pipeline of adc_or_p to match the real IDDR+register
+// capture path. TB drives adc_or_p directly with the overrange flag.
+reg adc_overrange_400m_reg;
+always @(posedge adc_dco_p or negedge reset_n) begin
+    if (!reset_n)
+        adc_overrange_400m_reg <= 1'b0;
+    else
+        adc_overrange_400m_reg <= adc_or_p;
+end
+assign adc_overrange_400m = adc_overrange_400m_reg;
+
 endmodule
@@ -487,6 +487,8 @@ radar_system_top #(
    .adc_d_n(adc_d_n),
    .adc_dco_p(adc_dco_p),
    .adc_dco_n(adc_dco_n),
+    .adc_or_p(1'b0),
+    .adc_or_n(1'b1),
    .adc_pwdn(adc_pwdn),
    
    // STM32 Control
@@ -64,9 +64,11 @@ module tb_ddc_cosim;

    // Scenario selector (set via +define)
    reg [255:0] scenario_name;
-    reg [1023:0] hex_file_path;
-    reg [1023:0] csv_out_path;
-    reg [1023:0] csv_cic_path;
+    // Widened to 4 kbits (512 bytes) so fuzz-runner temp paths
+    // (e.g. /private/var/folders/.../pytest-of-...) fit without MSB truncation.
+    reg [4095:0] hex_file_path;
+    reg [4095:0] csv_out_path;
+    reg [4095:0] csv_cic_path;

    // ── Clock generation ──────────────────────────────────────
    // 400 MHz clock
@@ -152,7 +154,16 @@ module tb_ddc_cosim;
        // ── Select scenario ───────────────────────────────────
        // Default to DC scenario for fastest validation
        // Override with: +define+SCENARIO_SINGLE, +define+SCENARIO_MULTI, etc.
-        `ifdef SCENARIO_SINGLE
+        `ifdef SCENARIO_FUZZ
+            // Audit F-3.2: fuzz runner provides +hex and +csv paths plus a
+            // scenario tag. Any missing plusarg falls back to the DC vector.
+            if (!$value$plusargs("hex=%s", hex_file_path))
+                hex_file_path = "tb/cosim/adc_dc.hex";
+            if (!$value$plusargs("csv=%s", csv_out_path))
+                csv_out_path  = "tb/cosim/rtl_bb_fuzz.csv";
+            if (!$value$plusargs("tag=%s", scenario_name))
+                scenario_name = "fuzz";
+        `elsif SCENARIO_SINGLE
            hex_file_path = "tb/cosim/adc_single_target.hex";
            csv_out_path  = "tb/cosim/rtl_bb_single_target.csv";
            scenario_name = "single_target";
@@ -139,6 +139,8 @@ radar_receiver_final dut (
    // ADC "LVDS" -- stub treats adc_d_p as single-ended data
    .adc_d_p(adc_data),
    .adc_d_n(~adc_data),       // Complement (ignored by stub)
+    .adc_or_p(1'b0),           // F-0.1: no overrange stimulus in this TB
+    .adc_or_n(1'b1),
    .adc_dco_p(clk_400m),      // 400 MHz clock
    .adc_dco_n(~clk_400m),     // Complement (ignored by stub)
    .adc_pwdn(),
@@ -427,6 +427,8 @@ radar_system_top #(
    .adc_d_n(adc_d_n),
    .adc_dco_p(adc_dco_p),
    .adc_dco_n(adc_dco_n),
+    .adc_or_p(1'b0),
+    .adc_or_n(1'b1),
    .adc_pwdn(adc_pwdn),

    .stm32_new_chirp(stm32_new_chirp),
@@ -938,6 +940,106 @@ initial begin

    $display("");

+    // ================================================================
+    // GROUP 9B: Adversarial reset sweep (audit F-2.2)
+    // ================================================================
+    // Drive the same auto-scan pipeline, then inject reset at four distinct
+    // offsets relative to a known-good start of operation. For each offset
+    // the system must:
+    //   (a) present system_status == 0 while held in reset
+    //   (b) produce at least one additional new_chirp_frame within the
+    //       observation window after reset release
+    //   (c) advance obs_range_valid_count (confirms full DDC+MF chain resumes)
+    // The four offsets are chosen to hit mid-chirp, mid-listen, and around
+    // the short/long chirp boundary, which covers the interesting FSM and
+    // CDC transitions in the pipeline.
+    $display("--- Group 9B: Adversarial reset sweep (F-2.2) ---");
+    begin : reset_sweep
+        integer sweep_i;
+        integer sweep_baseline_range;
+        integer sweep_baseline_chirp;
+        integer sweep_offsets [0:3];
+        integer sweep_holds   [0:3];
+        reg     sweep_ok;
+
+        // Reset injection offsets (ns) after the last auto-scan reconfigure.
+        // 3 us / 7 us / 12 us / 18 us — sprayed across a short-chirp burst.
+        sweep_offsets[0] = 3000;
+        sweep_offsets[1] = 7000;
+        sweep_offsets[2] = 12000;
+        sweep_offsets[3] = 18000;
+        // Reset-assert durations mix short (~20 clk_100m) and long (~120)
+        sweep_holds[0] = 200;
+        sweep_holds[1] = 1200;
+        sweep_holds[2] = 400;
+        sweep_holds[3] = 800;
+
+        for (sweep_i = 0; sweep_i < 4; sweep_i = sweep_i + 1) begin
+            // Re-seed auto-scan from a clean base each iteration
+            reset_n = 0;
+            bfm_rx_wr_ptr = 0;
+            bfm_rx_rd_ptr = 0;
+            #200;
+            reset_n = 1;
+            #500;
+            stm32_mixers_enable = 1;
+            ft601_txe = 0;
+            bfm_send_cmd(8'h04, 8'h00, 16'h0001);
+            #500;
+            bfm_send_cmd(8'h01, 8'h00, 16'h0001);
+            bfm_send_cmd(8'h10, 8'h00, 16'd100);
+            bfm_send_cmd(8'h11, 8'h00, 16'd200);
+            bfm_send_cmd(8'h12, 8'h00, 16'd100);
+            bfm_send_cmd(8'h13, 8'h00, 16'd20);
+            bfm_send_cmd(8'h14, 8'h00, 16'd100);
+            bfm_send_cmd(8'h15, 8'h00, 16'd4);
+
+            // Let the pipeline reach steady-state and capture a baseline
+            #30000;
+            sweep_baseline_range = obs_range_valid_count;
+            sweep_baseline_chirp = obs_chirp_frame_count;
+
+            // Wait out the configured offset, then assert reset asynchronously
+            #(sweep_offsets[sweep_i]);
+            reset_n = 0;
+            #(sweep_holds[sweep_i]);
+            sweep_ok = (system_status == 4'b0000);
+            check(sweep_ok,
+                  "G9B.a: system_status drops to 0 during injected reset");
+
+            // Release reset, re-configure (regs are cleared), allow recovery
+            reset_n = 1;
+            #500;
+            stm32_mixers_enable = 1;
+            ft601_txe = 0;
+            bfm_send_cmd(8'h04, 8'h00, 16'h0001);
+            #500;
+            bfm_send_cmd(8'h01, 8'h00, 16'h0001);
+            bfm_send_cmd(8'h10, 8'h00, 16'd100);
+            bfm_send_cmd(8'h11, 8'h00, 16'd200);
+            bfm_send_cmd(8'h12, 8'h00, 16'd100);
+            bfm_send_cmd(8'h13, 8'h00, 16'd20);
+            bfm_send_cmd(8'h14, 8'h00, 16'd100);
+            bfm_send_cmd(8'h15, 8'h00, 16'd4);
+
+            sweep_baseline_range = obs_range_valid_count;
+            sweep_baseline_chirp = obs_chirp_frame_count;
+            #60000;   // 60 us — two+ short-chirp frames
+
+            check(obs_chirp_frame_count > sweep_baseline_chirp,
+                  "G9B.b: new_chirp_frame resumes after injected reset");
+            check(obs_range_valid_count > sweep_baseline_range,
+                  "G9B.c: range pipeline resumes after injected reset");
+
+            $display("  [F-2.2] iter=%0d offset=%0dns hold=%0dns chirps=+%0d ranges=+%0d",
+                     sweep_i, sweep_offsets[sweep_i], sweep_holds[sweep_i],
+                     obs_chirp_frame_count - sweep_baseline_chirp,
+                     obs_range_valid_count - sweep_baseline_range);
+        end
+    end
+
+    $display("");
+
    // ================================================================
    // GROUP 10: STREAM CONTROL (Gap 2)
    // ================================================================
@@ -0,0 +1,185 @@
+"""
+DDC Cosim Fuzz Runner (audit F-3.2)
+===================================
+Parameterized seed sweep over the existing DDC cosim testbench.
+
+For each seed the runner:
+  1. Generates a random plausible radar scene (1-4 targets, random range /
+     velocity / RCS, random noise level) via tb/cosim/radar_scene.py, using
+     the seed for full determinism.
+  2. Writes a temporary ADC hex file.
+  3. Compiles tb_ddc_cosim.v with -DSCENARIO_FUZZ (once, cached across seeds)
+     and runs vvp with +hex, +csv, +tag plusargs.
+  4. Parses the RTL output CSV and checks:
+       - non-empty output (the pipeline produced baseband samples)
+       - all I/Q values are within signed-18-bit range
+       - no NaN / parse errors
+       - sample count is within the expected bound from CIC decimation ratio
+
+The intent is liveness / crash-fuzz, not bit-exact cross-check. Bit-exact
+validation is covered by the static scenarios (single_target, multi_target,
+etc) in the existing suite. Fuzz complements that by surfacing edge-case
+corruption, saturation, or overflow on random-but-valid inputs.
+
+Marks:
+  - The default fuzz sweep uses 8 seeds for fast CI.
+  - Use `-m slow` to unlock the full 100-seed sweep matched to the audit ask.
+
+Compile + run times per seed on a laptop with iverilog 13: ~6 s. The default
+8-seed sweep fits in a ~1 minute pytest run; the 100-seed sweep takes ~10-12
+minutes.
+"""
+from __future__ import annotations
+
+import os
+import random
+import subprocess
+import sys
+import tempfile
+from pathlib import Path
+
+import pytest
+
+THIS_DIR = Path(__file__).resolve().parent
+REPO_ROOT = THIS_DIR.parent.parent.parent
+FPGA_DIR = REPO_ROOT / "9_Firmware" / "9_2_FPGA"
+COSIM_DIR = FPGA_DIR / "tb" / "cosim"
+
+sys.path.insert(0, str(COSIM_DIR))
+import radar_scene  # noqa: E402
+
+FAST_SEEDS = list(range(8))
+SLOW_SEEDS = list(range(100))
+
+# Pipeline constants
+N_ADC_SAMPLES = 16384
+CIC_DECIMATION = 4
+FIR_DECIMATION = 1
+EXPECTED_BB_MIN = N_ADC_SAMPLES // (CIC_DECIMATION * 4)   # pessimistic lower bound
+EXPECTED_BB_MAX = N_ADC_SAMPLES // CIC_DECIMATION         # upper bound before FIR drain
+SIGNED_18_MIN = -(1 << 17)
+SIGNED_18_MAX = (1 << 17) - 1
+
+SOURCE_FILES = [
+    "tb/tb_ddc_cosim.v",
+    "ddc_400m.v",
+    "nco_400m_enhanced.v",
+    "cic_decimator_4x_enhanced.v",
+    "fir_lowpass.v",
+    "cdc_modules.v",
+]
+
+
+@pytest.fixture(scope="module")
+def compiled_fuzz_vvp(tmp_path_factory):
+    """Compile tb_ddc_cosim.v once per pytest session with SCENARIO_FUZZ."""
+    iverilog = _iverilog_bin()
+    if not iverilog:
+        pytest.skip("iverilog not available on PATH")
+
+    out_dir = tmp_path_factory.mktemp("ddc_fuzz_build")
+    vvp = out_dir / "tb_ddc_cosim_fuzz.vvp"
+    sources = [str(FPGA_DIR / p) for p in SOURCE_FILES]
+    cmd = [
+        iverilog, "-g2001", "-DSIMULATION", "-DSCENARIO_FUZZ",
+        "-o", str(vvp), *sources,
+    ]
+    res = subprocess.run(cmd, cwd=FPGA_DIR, capture_output=True, text=True, check=False)
+    if res.returncode != 0:
+        pytest.skip(f"iverilog compile failed:\n{res.stderr}")
+    return vvp
+
+
+def _iverilog_bin() -> str | None:
+    from shutil import which
+    return which("iverilog")
+
+
+def _random_scene(seed: int) -> list[radar_scene.Target]:
+    rng = random.Random(seed)
+    n = rng.randint(1, 4)
+    return [
+        radar_scene.Target(
+            range_m=rng.uniform(50, 1500),
+            velocity_mps=rng.uniform(-40, 40),
+            rcs_dbsm=rng.uniform(-10, 20),
+            phase_deg=rng.uniform(0, 360),
+        )
+        for _ in range(n)
+    ]
+
+
+def _run_seed(seed: int, vvp: Path, work: Path) -> tuple[int, list[tuple[int, int]]]:
+    """Generate stimulus, run the DUT, return (bb_sample_count, [(i,q)...])."""
+    targets = _random_scene(seed)
+    noise = random.Random(seed ^ 0xA5A5).uniform(0.5, 6.0)
+    adc = radar_scene.generate_adc_samples(
+        targets, N_ADC_SAMPLES, noise_stddev=noise, seed=seed
+    )
+
+    hex_path = work / f"adc_fuzz_{seed:04d}.hex"
+    csv_path = work / f"rtl_bb_fuzz_{seed:04d}.csv"
+    radar_scene.write_hex_file(str(hex_path), adc, bits=8)
+
+    vvp_bin = _vvp_bin()
+    if not vvp_bin:
+        pytest.skip("vvp not available")
+
+    cmd = [
+        vvp_bin, str(vvp),
+        f"+hex={hex_path}",
+        f"+csv={csv_path}",
+        f"+tag=seed{seed:04d}",
+    ]
+    res = subprocess.run(cmd, cwd=FPGA_DIR, capture_output=True, text=True, check=False, timeout=120)
+    assert res.returncode == 0, f"vvp exit={res.returncode}\nstdout:\n{res.stdout}\nstderr:\n{res.stderr}"
+    assert csv_path.exists(), (
+        f"vvp completed rc=0 but CSV was not produced at {csv_path}\n"
+        f"cmd: {cmd}\nstdout:\n{res.stdout[-2000:]}\nstderr:\n{res.stderr[-500:]}"
+    )
+
+    rows = []
+    with csv_path.open() as fh:
+        header = fh.readline()
+        assert "baseband_i" in header and "baseband_q" in header, f"unexpected CSV header: {header!r}"
+        for line in fh:
+            parts = line.strip().split(",")
+            if len(parts) != 3:
+                continue
+            _, i_str, q_str = parts
+            rows.append((int(i_str), int(q_str)))
+    return len(rows), rows
+
+
+def _vvp_bin() -> str | None:
+    from shutil import which
+    return which("vvp")
+
+
+def _fuzz_assertions(seed: int, rows: list[tuple[int, int]]) -> None:
+    n = len(rows)
+    assert EXPECTED_BB_MIN <= n <= EXPECTED_BB_MAX, (
+        f"seed {seed}: bb sample count {n} outside [{EXPECTED_BB_MIN},{EXPECTED_BB_MAX}]"
+    )
+    for idx, (i, q) in enumerate(rows):
+        assert SIGNED_18_MIN <= i <= SIGNED_18_MAX, (
+            f"seed {seed} row {idx}: baseband_i={i} out of signed-18 range"
+        )
+        assert SIGNED_18_MIN <= q <= SIGNED_18_MAX, (
+            f"seed {seed} row {idx}: baseband_q={q} out of signed-18 range"
+        )
+    all_zero = all(i == 0 and q == 0 for i, q in rows)
+    assert not all_zero, f"seed {seed}: all-zero baseband output — pipeline likely stalled"
+
+
+@pytest.mark.parametrize("seed", FAST_SEEDS)
+def test_ddc_fuzz_fast(seed: int, compiled_fuzz_vvp: Path, tmp_path: Path) -> None:
+    _, rows = _run_seed(seed, compiled_fuzz_vvp, tmp_path)
+    _fuzz_assertions(seed, rows)
+
+
+@pytest.mark.slow
+@pytest.mark.parametrize("seed", SLOW_SEEDS)
+def test_ddc_fuzz_full(seed: int, compiled_fuzz_vvp: Path, tmp_path: Path) -> None:
+    _, rows = _run_seed(seed, compiled_fuzz_vvp, tmp_path)
+    _fuzz_assertions(seed, rows)
@@ -19,6 +19,11 @@ dev = [
 # ---------------------------------------------------------------------------
 # Ruff configuration
 # ---------------------------------------------------------------------------
+[tool.pytest.ini_options]
+markers = [
+    "slow: full-sweep tests (opt-in via -m slow); audit F-3.2 100-seed fuzz",
+]
+
 [tool.ruff]
 target-version = "py312"
 line-length = 100
@@ -0,0 +1,216 @@
+version = 1
+revision = 1
+requires-python = ">=3.12"
+
+[[package]]
+name = "aeris-10-radar"
+version = "1.0.0"
+source = { virtual = "." }
+
+[package.dev-dependencies]
+dev = [
+    { name = "h5py" },
+    { name = "numpy" },
+    { name = "pytest" },
+    { name = "ruff" },
+]
+
+[package.metadata]
+
+[package.metadata.requires-dev]
+dev = [
+    { name = "h5py", specifier = ">=3.10" },
+    { name = "numpy", specifier = ">=1.26" },
+    { name = "pytest", specifier = ">=8" },
+    { name = "ruff", specifier = ">=0.5" },
+]
+
+[[package]]
+name = "colorama"
+version = "0.4.6"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/d8/53/6f443c9a4a8358a93a6792e2acffb9d9d5cb0a5cfd8802644b7b1c9a02e4/colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44", size = 27697 }
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+]
+
+[[package]]
+name = "h5py"
+version = "3.16.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "numpy" },
+]
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Author	SHA1	Message	Date
Jason	f0f0f1477f	Merge remote-tracking branch 'origin/main' into fix/pre-bringup-audit-p0	2026-04-21 01:33:19 +05:45
Jason	ca8c5862a7	chore: regenerate uv.lock	2026-04-21 01:09:38 +05:45
Jason	25a280c200	refactor(mcu): remove redundant ADAR1000 T/R SPI paths (FPGA-owned) Per-chirp T/R switching is owned by the FPGA plfm_chirp_controller driving adar_tr_x pins (TR_SOURCE=1 in REG_SW_CONTROL, already set by initializeSingleDevice). The MCU's SPI RMW path via fastTXMode/ fastRXMode/pulseTXMode/pulseRXMode/setADTR1107Control was: (a) architecturally redundant — raced the FPGA-driven TR line, (b) toggled the wrong bit (TR_SOURCE instead of TR_SPI), (c) in setFastSwitchMode(true) bundled a datasheet-violating PA+LNA-simultaneously-biased side effect. Removed methods and their backing state (fast_switch_mode_, switch_settling_time_us_). Call sites in executeChirpSequence / runRadarPulseSequence updated to rely on the FPGA chirp FSM (GPIOD_8 new_chirp trigger unchanged). Tests: adds CMSIS-Core DWT/CoreDebug/SystemCoreClock stubs to stm32_hal_mock so F-4.7's DWT-based delayUs() compiles under the host mock build. SystemCoreClock=0 makes the busy-wait exit immediately.	2026-04-21 01:09:38 +05:45
Jason	1a7bd7e971	Merge branch 'NawfalMotii79:fix/pre-bringup-audit-p0' into fix/pre-bringup-audit-p0	2026-04-20 20:51:30 +03:00
Jason	8b4de5f9ee	fix(fpga): extend ADC hold waiver to include adc_or_p (F-0.1 follow-up) adc_or_p (overrange pin, added in commit `70067c6` for audit finding F-0.1) uses the same IBUFDS→BUFIO source-synchronous capture topology as the 8 data pins adc_d_p[]. STA reports identical -1.913 ns hold on this path for the same reason (clock insertion ~4.0 ns via BUFIO vs data IBUFDS ~0.9 ns). External PCB layout guarantees hold, not FPGA clock tree. Extends the existing adc_d_p[] false_path waiver to cover adc_or_p. Post-route now clean: WNS +0.034 ns, WHS positive.	2026-04-20 23:28:58 +05:45
Jason	0496291fc5	fix(fpga): F-0.9 option B — FT2232H output_delay 11.667→3.5 ns (TN_167) Previous output_delay of 11.667 ns was a synthetic back-calculation (period − 5 ns), not a datasheet number. It over-constrained FPGA launch by ~8 ns vs the actual FT2232H 245-Sync FIFO setup requirement. Per FTDI TN_167: - t_su (data to CLKOUT rising): 3.5 ns (was 11.667 — too tight) - t_h (data hold after CLKOUT): 1.0 ns (was 0.0 — no hold check) - t_co (CLKOUT to data valid): 10.0 ns (was 9.667 — close) - t_coh (CLKOUT to data hold): 0.5 ns (was 0.0 — no hold check) NB: values must be verified against the exact TN_167 revision in use before shipping. If the engineer's revision differs, numbers change but the direction (big relaxation of output_delay_max) is correct.	2026-04-20 21:47:26 +05:45
Jason	bec578a5e7	Revert "fix(fpga): F-0.9 option A — BUFIO+BUFR for 50T ft_clkout (SRCC pin)" This reverts commit `30279e8c4d`.	2026-04-20 21:47:19 +05:45
Jason	3b666ac47f	Revert "fix(fpga): move IBUF+BUFIO+BUFR into 50T wrapper (same scope as pad)" This reverts commit `813ee4c962`.	2026-04-20 21:47:19 +05:45
Jason	813ee4c962	fix(fpga): move IBUF+BUFIO+BUFR into 50T wrapper (same scope as pad) The previous attempt put BUFIO inside u_core/gen_ft_bufr, but the pad (ft_clkout) and its inferred IBUF live at the top wrapper level. Vivado shape-packs IBUF↔BUFIO into the same IOB tile, and it couldn't do that across the wrapper→u_core hierarchy boundary — producing CRITICAL WARNING [12-1411] "Illegal to place BUFIO on TIEOFF site" and WNS=-5.737 (worse than the CLOCK_DEDICATED_ROUTE=FALSE baseline). Fix: instantiate IBUF+BUFIO+BUFR explicitly in radar_system_top_50t.v and pass the BUFR output into u_core.ft601_clk_in. radar_system_top.v now does a pass-through wire assign for USB_MODE=1 (no BUFG) so the clock net doesn't get double-buffered.	2026-04-20 21:02:56 +05:45
Jason	30279e8c4d	fix(fpga): F-0.9 option A — BUFIO+BUFR for 50T ft_clkout (SRCC pin) C4 is an SRCC pin (IS_CLK_CAPABLE=1, IS_MASTER=0 in the Vivado device model), not an MRCC as earlier comments claimed. SRCC cannot drive BUFG through dedicated routing, so the previous CLOCK_DEDICATED_ROUTE=FALSE override forced fabric routing and burned ~5 ns on the ft_clkout path (WNS -5.362 ns in the `d36a4c9` build). Swap to BUFIO + BUFR for USB_MODE=1 (50T/FT2232H): SRCC → BUFIO → BUFR is the standard 7-series path for regional clock distribution. All ft_clkout-domain logic (FT2232H FSM, toggle CDCs, USB FIFO flops) is contained in bank 35 / one clock region, so regional distribution is sufficient. USB_MODE=0 (200T/FT601) keeps the BUFG because D17 is a proper MRCC pin. Removed CLOCK_DEDICATED_ROUTE=FALSE from both the XDC and the build script — no longer needed with dedicated BUFIO/BUFR routing.	2026-04-20 20:53:49 +05:45
Jason	d36a4c93e2	fix(fpga): audit F-2026-04-20-A/B — CIC reset fan-out + BUFIO→BUFG max_delay A: cic_decimator_4x_enhanced.v reset_h max_fanout 50→25. More replicas mean each drives fewer DSP48 RSTB loads, letting Vivado place each closer to its consumers. Targets the rep__24 → comb_reg[4]/RSTB path that failed clk_mmcm_out0 intra by -10 ps (1.4 ns of pure routing). B: adc_clk_mmcm.xdc BUFIO↔BUFG max_delay 2.500→2.700 ns. The 2.5 ns target was tighter than achievable for the IDDR (ILOGIC) → FDRE (fabric SLICE) re-registration. The effective window is the BUFIO↔BUFG phase relationship (not the clock period), so 2.7 ns remains safe. Fixes the adc_dco_p→clk_mmcm_out0 inter path -113 ps failure on lane 7.	2026-04-20 20:20:43 +05:45
Jason	bf89984f04	Revert "fix(fpga): IOB=TRUE on FT2232H pads to meet 5 ns FPGA launch budget" This reverts commit `94bf6944a3`.	2026-04-20 20:20:02 +05:45
Jason	94bf6944a3	fix(fpga): IOB=TRUE on FT2232H pads to meet 5 ns FPGA launch budget Post-route WNS = -5.355 ns on path group ft_clkout, net u_core/gen_ft2232h.usb_inst/ft_data_TRI[0]_repN_1 FT2232H 245-sync FIFO input setup (t_su = 11.667 ns on a 16.667 ns CLKOUT) leaves the FPGA only ~5 ns from clock edge to pad. Without IOB=TRUE, the output / tristate FFs live in fabric and FF→OBUFT routing eats 2–3 ns, forcing Vivado to replicate the tristate driver (ft_data_TRI[*]_repN) and still miss timing. The FSM in usb_data_interface_ft2232h.v already registers ft_data_out / ft_data_oe / ft_{rd,wr,oe}_n at the output boundary in the ft_clk domain, so packing them into the IOB is safe with no RTL change.	2026-04-20 16:43:12 +05:45
Jason	0067969ee7	fix(fpga): wire F-0.1 adc_or_p/n through 50T wrapper + remove xdc control-flow Build-blocking fixes surfaced by gpu-server synth: 1. radar_system_top_50t.v wrapper was missing adc_or_p/n ports and the u_core instantiation left them unconnected. Every XDC line in the 50T anchor block (PACKAGE_PIN M6/N6, IOSTANDARD, DIFF_TERM, set_input_delay) therefore matched no ports and emitted CRITICAL WARNINGs, leaving the overrange pin effectively tied off. Added the two inputs and wired them through to the core. 2. adc_clk_mmcm.xdc used foreach / unset — Vivado's XDC parser only accepts a restricted Tcl subset and rejected them as [Designutils 20-1307]. Moved the clk_mmcm_out0 ↔ USB-clock false paths into each board XDC (ft_clkout for 50T, ft601_clk_in for 200T) where the clock name is already known.	2026-04-20 16:08:13 +05:45
Jason	51740fd6f5	test(fpga): F-3.2 add DDC cosim fuzz runner with seed sweep A new SCENARIO_FUZZ branch in tb_ddc_cosim.v accepts +hex / +csv / +tag plusargs so an external runner can pick stimulus and output paths per iteration. The three path registers are widened to 4 kbit each so long temp-directory paths (e.g. /private/var/folders/...) do not overflow the MSB and emerge truncated — a real failure mode caught while writing this runner. test_ddc_cosim_fuzz.py is a pytest-driven fuzz harness: - Generates a random plausible radar scene per seed (1-4 targets with random range/velocity/RCS/phase, random noise level 0.5-6.0 LSB stddev) via radar_scene.generate_adc_samples, fully deterministic. - Compiles tb_ddc_cosim.v once per session (module-scope fixture), then runs vvp per seed. - Asserts sample-count bounds consistent with 4x CIC decimation, signed-18 range on every baseband I/Q word, and non-zero output (catches silent pipeline stalls). - Ships with two tiers: test_ddc_fuzz_fast (8 seeds, default CI) and test_ddc_fuzz_full (100 seeds, opt-in via -m slow) matching the audit ask. Registers the "slow" marker in pyproject.toml for the 100-seed opt-in.	2026-04-20 15:48:34 +05:45
Jason	b588e89f67	test(fpga): F-2.2 adversarial mid-frame reset sweep + F-0.1 TB plumbing G9B adds a 4-iteration reset sweep on top of the existing e2e harness: - Reset is injected at four offsets (3/7/12/18 us) into a steady-state auto-scan burst, with mixed short/long hold durations (20-120 clk_100m) to exercise asynchronous assert paths through the FSM + CDCs. - Each iteration asserts: system_status drops to 0 during reset, new_chirp_frame resumes post-release, and obs_range_valid_count advances — proving the full DDC->MF chain recovers, not just the transmitter FSM. The stub and three existing testbenches are updated to drive the new adc_or_p/n ports tied to 1'b0/1'b1, matching the F-0.1 RTL change.	2026-04-20 15:48:34 +05:45
Jason	70067c6121	fix(fpga): F-0.1 wire AD9484 OR overrange pin into diagnostics The AD9484 OR (overrange) LVDS pair is routed on the 50T main board to xc7a50t-ftg256 bank-14 pins M6/N6 but was previously left unconnected at the top level. Plumb it through the full stack so saturation at the raw ADC boundary shows up in the existing overflow aggregation: - ad9484_interface_400m: add adc_or_p/n inputs, IBUFDS + IDDR capture of both phases in the BUFIO domain, re-register into the clk_400m BUFG domain, OR rise\|fall into adc_overrange_400m output. - radar_receiver_final: stickify adc_overrange_400m in clk_400m, CDC to clk_100m via a 2FF ASYNC_REG chain (same reasoning as F-1.2's cdc_cic_fir_overrun — single-bit, latched low→high, GPIO-class diagnostic), OR into the existing ddc_overflow_any aggregation. - radar_system_top: expose adc_or_p/n top-level ports and pass through. - xc7a50t_ftg256.xdc: anchor M6/N6 as LVDS_25 DIFF_TERM, with the same DCO-relative input-delay constraints as adc_d_p[*]. - xc7a200t_fbg484.xdc: IOSTANDARD/DIFF_TERM set; PACKAGE_PIN left as a documented TODO — the 200T dev-board schematic has not been checked and the 200T build will need the anchor filled in before place/route.	2026-04-20 15:48:34 +05:45
Jason	356acea314	fix(adar): F-4.1 lower broadcast writes to per-device unicast loop The `broadcast=1` path on adarWrite() emitted the 0x08 broadcast opcode but setChipSelect() only asserts one device's CS line, so only the single selected chip ever saw the frame. The opcode path has also never been validated on silicon. Until a HIL test confirms multi-CS semantics, route broadcast=1 through a unicast loop over all devices so caller intent (all four take the write) is preserved and the dead opcode path becomes unreachable. Logs a DIAG_WARN on entry for visibility.	2026-04-20 15:48:34 +05:45
Jason	b250eff978	test(fpga): F-3.2 add DDC cosim fuzz runner with seed sweep A new SCENARIO_FUZZ branch in tb_ddc_cosim.v accepts +hex / +csv / +tag plusargs so an external runner can pick stimulus and output paths per iteration. The three path registers are widened to 4 kbit each so long temp-directory paths (e.g. /private/var/folders/...) do not overflow the MSB and emerge truncated — a real failure mode caught while writing this runner. test_ddc_cosim_fuzz.py is a pytest-driven fuzz harness: - Generates a random plausible radar scene per seed (1-4 targets with random range/velocity/RCS/phase, random noise level 0.5-6.0 LSB stddev) via radar_scene.generate_adc_samples, fully deterministic. - Compiles tb_ddc_cosim.v once per session (module-scope fixture), then runs vvp per seed. - Asserts sample-count bounds consistent with 4x CIC decimation, signed-18 range on every baseband I/Q word, and non-zero output (catches silent pipeline stalls). - Ships with two tiers: test_ddc_fuzz_fast (8 seeds, default CI) and test_ddc_fuzz_full (100 seeds, opt-in via -m slow) matching the audit ask. Registers the "slow" marker in pyproject.toml for the 100-seed opt-in.	2026-04-20 15:45:09 +05:45
Jason	40c5cabdcf	test(fpga): F-2.2 adversarial mid-frame reset sweep + F-0.1 TB plumbing G9B adds a 4-iteration reset sweep on top of the existing e2e harness: - Reset is injected at four offsets (3/7/12/18 us) into a steady-state auto-scan burst, with mixed short/long hold durations (20-120 clk_100m) to exercise asynchronous assert paths through the FSM + CDCs. - Each iteration asserts: system_status drops to 0 during reset, new_chirp_frame resumes post-release, and obs_range_valid_count advances — proving the full DDC->MF chain recovers, not just the transmitter FSM. The stub and three existing testbenches are updated to drive the new adc_or_p/n ports tied to 1'b0/1'b1, matching the F-0.1 RTL change.	2026-04-20 15:37:06 +05:45
Jason	951390f678	fix(fpga): F-0.1 wire AD9484 OR overrange pin into diagnostics The AD9484 OR (overrange) LVDS pair is routed on the 50T main board to xc7a50t-ftg256 bank-14 pins M6/N6 but was previously left unconnected at the top level. Plumb it through the full stack so saturation at the raw ADC boundary shows up in the existing overflow aggregation: - ad9484_interface_400m: add adc_or_p/n inputs, IBUFDS + IDDR capture of both phases in the BUFIO domain, re-register into the clk_400m BUFG domain, OR rise\|fall into adc_overrange_400m output. - radar_receiver_final: stickify adc_overrange_400m in clk_400m, CDC to clk_100m via a 2FF ASYNC_REG chain (same reasoning as F-1.2's cdc_cic_fir_overrun — single-bit, latched low→high, GPIO-class diagnostic), OR into the existing ddc_overflow_any aggregation. - radar_system_top: expose adc_or_p/n top-level ports and pass through. - xc7a50t_ftg256.xdc: anchor M6/N6 as LVDS_25 DIFF_TERM, with the same DCO-relative input-delay constraints as adc_d_p[*]. - xc7a200t_fbg484.xdc: IOSTANDARD/DIFF_TERM set; PACKAGE_PIN left as a documented TODO — the 200T dev-board schematic has not been checked and the 200T build will need the anchor filled in before place/route.	2026-04-20 15:32:23 +05:45
Jason	eb8189a7f1	fix(adar): F-4.1 lower broadcast writes to per-device unicast loop The `broadcast=1` path on adarWrite() emitted the 0x08 broadcast opcode but setChipSelect() only asserts one device's CS line, so only the single selected chip ever saw the frame. The opcode path has also never been validated on silicon. Until a HIL test confirms multi-CS semantics, route broadcast=1 through a unicast loop over all devices so caller intent (all four take the write) is preserved and the dead opcode path becomes unreachable. Logs a DIAG_WARN on entry for visibility.	2026-04-20 15:27:00 +05:45
Jason	902f88a8df	Merge branch 'NawfalMotii79:main' into fix/pre-bringup-audit-p0	2026-04-20 12:01:28 +03:00
Jason	675b1c0015	fix(pre-bringup): second-batch P1/P2/P3 audit findings Addresses the remaining actionable items from docs/DEVELOP_AUDIT_2026-04-19.md after commit `3f47d1e`. XDC (dead waivers — F-0.4, F-0.5, F-0.6, F-0.7): - ft_clkout_IBUF CLOCK_DEDICATED_ROUTE now uses hierarchical filter; flat net name did not exist post-synth. - reset_sync_reg[*] false-path rewritten to walk hierarchy and filter on CLR/PRE pins. - adc_clk_mmcm.xdc ft601_clk_in references replaced with foreach-loop over real USB clock names, gated on -quiet existence. - MMCM LOCKED waiver uses REF_PIN_NAME filter instead of the previously-missing u_core/ literal path. CDC (F-1.1, F-1.2, F-1.3): - Documented the quasi-static-bus stability invariant above the FT601 cmd_valid toggle block. - cdc_adc_to_processing gains an `overrun` output; the two CIC->FIR instances feed a sticky cdc_cic_fir_overrun flag surfaced on gpio_dig5 so silent sample drops become visible to the MCU. - Removed the dead mixers_enable synchronizer in ddc_400m.v; the _sync output was unused and every caller ties the port to 1'b1. Diagnostics (F-6.4): - range_bin_decimator watchdog_timeout plumbed through receiver and top-level, OR'd into gpio_dig5. ADAR (F-4.7): - delayUs() replaced with DWT cycle counter; self-initialising TRCENA/CYCCNTENA, overflow-safe unsigned subtraction. Regression: tb_cdc_modules.v 57/57 passes under iverilog after the cdc_modules.v change. Remote Vivado verification in progress.	2026-04-20 14:28:22 +05:45
Jason	3f47d1ef71	fix(pre-bringup): resolve P0 + quick-win P1 findings from 2026-04-19 audit Addresses findings from docs/DEVELOP_AUDIT_2026-04-19.md: P0 source-level: - F-4.3 ADAR1000_Manager::adarSetTxPhase now writes REG_LOAD_WORKING with LD_WRK_REGS_LDTX_OVERRIDE (0x02) instead of 0x01. Previous value toggled the LDRX latch on a TX-phase write, so host TX phase updates never reached the working registers. - F-6.1 DDC mixer_saturation / filter_overflow / diagnostics were deleted at the receiver boundary. Now plumbed to new outputs on radar_receiver_final (ddc_overflow_any, ddc_saturation_count) and aggregated into gpio_dig5 in radar_system_top. Added mark_debug attributes for ILA visibility. Test/debug inputs tied low explicitly. - F-0.8 adc_clk_mmcm.xdc set_clock_uncertainty: removed invalid -add flag (Vivado silently rejected it, applying zero guardband). Now uses absolute 0.150 ns which covers 53 ps jitter + ~100 ps PVT margin. P1: - F-4.2 adarSetBit / adarResetBit reject broadcast=ON — the RMW sampled a single device but wrote to all four, clobbering the other three's state. - F-4.4 initializeSingleDevice returns false and leaves initialized=false when scratchpad verification fails; previously marked the device initialized anyway so downstream PA enable could drive a dead bus. - F-6.2 FIR I/Q filter_overflow ports, previously unconnected, now OR'd into the module-level filter_overflow output. - F-6.3 mti_canceller exposes 8-bit saturation counter. Saturation was previously invisible and produces spurious Doppler harmonics. Verification: - 27/27 iverilog testbenches pass - 228/228 pytest pass (cross-layer contract + cosim) - MCU unit tests 51/51 + 24/24 pass - Remote Vivado 2025.2 build: bitstream writes; 400 MHz mixer pipeline now shows WNS -0.109 ns which MATCHES the audit's F-0.9 prediction that the design only closed because F-0.8's guardband was silently dropped. ft_clkout F-0.9 remains a show-stopper (requires MRCC pin move), tracked separately. Not addressed in this PR (larger scope, follow-up tickets): F-0.4, F-0.5, F-0.6, F-0.7, F-0.9, F-1.1, F-1.2, F-2.2, F-3.2, F-4.1, F-4.7, F-6.4, F-6.5.	2026-04-20 13:48:36 +05:45