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PLFM_RADAR/9_Firmware/9_2_FPGA/radar_mode_controller.v
T
Jason f5a3394f23 Add 3 missing FPGA modules with enhanced testbenches (168/168 pass) 
Implement the 3 modules identified as missing during repo audit:
- matched_filter_processing_chain: behavioral FFT-based pulse compression
- range_bin_decimator: 1024→64 bin decimation with 3 modes + start_bin
- radar_mode_controller: 4-mode beam/chirp controller

Wire radar_mode_controller into radar_receiver_final.v to drive the
previously-undriven use_long_chirp and mc_new_* signals.

Implement start_bin functionality in range_bin_decimator (was dead code
in the original interface contract — now skips N input bins before
decimation for region-of-interest selection).

Add comprehensive testbenches with Tier 1 confidence improvements:
- Golden reference co-simulation (Python FFT → hex → bin comparison)
- Saturation boundary tests (0x7FFF / 0x8000 extremes)
- Reset mid-operation recovery tests
- Valid-gap / stall handling tests
- Mode switching and counter persistence tests
- Accumulator overflow stress tests

Test counts: matched_filter 40/40, range_bin_decimator 55/55,
radar_mode_controller 73/73 — all passing with iverilog -g2001.
2026-03-15 13:37:10 +02:00

372 lines
13 KiB
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`timescale 1ns / 1ps
/**
* radar_mode_controller.v
*
* Generates beam scanning and chirp mode control signals for the AERIS-10
* receiver processing chain. This module drives:
* - use_long_chirp : selects long (30us) or short (0.5us) chirp mode
* - mc_new_chirp : toggle signal indicating new chirp start
* - mc_new_elevation : toggle signal indicating elevation step
* - mc_new_azimuth : toggle signal indicating azimuth step
*
* These signals are consumed by matched_filter_multi_segment and
* chirp_memory_loader_param in the receiver path.
*
* The controller mirrors the transmitter's chirp sequence defined in
* plfm_chirp_controller_enhanced:
* - 32 chirps per elevation
* - 31 elevations per azimuth
* - 50 azimuths per full scan
* - Each chirp: Long chirp → Listen → Guard → Short chirp → Listen
*
* Modes of operation:
* mode[1:0]:
* 2'b00 = STM32-driven (pass through stm32 toggle signals)
* 2'b01 = Free-running auto-scan (internal timing)
* 2'b10 = Single-chirp (fire one chirp per trigger, for debug)
* 2'b11 = Reserved
*
* Clock domain: clk (100 MHz)
*/
module radar_mode_controller #(
parameter CHIRPS_PER_ELEVATION = 32,
parameter ELEVATIONS_PER_AZIMUTH = 31,
parameter AZIMUTHS_PER_SCAN = 50,
// Timing in 100 MHz clock cycles
// Long chirp: 30us = 3000 cycles at 100 MHz
// Long listen: 137us = 13700 cycles
// Guard: 175.4us = 17540 cycles
// Short chirp: 0.5us = 50 cycles
// Short listen: 174.5us = 17450 cycles
parameter LONG_CHIRP_CYCLES = 3000,
parameter LONG_LISTEN_CYCLES = 13700,
parameter GUARD_CYCLES = 17540,
parameter SHORT_CHIRP_CYCLES = 50,
parameter SHORT_LISTEN_CYCLES = 17450
) (
input wire clk,
input wire reset_n,
// Mode selection
input wire [1:0] mode, // 00=STM32, 01=auto, 10=single, 11=rsvd
// STM32 pass-through inputs (active in mode 00)
input wire stm32_new_chirp,
input wire stm32_new_elevation,
input wire stm32_new_azimuth,
// Single-chirp trigger (active in mode 10)
input wire trigger,
// Outputs to receiver processing chain
output reg use_long_chirp,
output reg mc_new_chirp,
output reg mc_new_elevation,
output reg mc_new_azimuth,
// Beam position tracking
output reg [5:0] chirp_count,
output reg [5:0] elevation_count,
output reg [5:0] azimuth_count,
// Status
output wire scanning, // 1 = scan in progress
output wire scan_complete // pulse when full scan done
);
// ============================================================================
// INTERNAL STATE
// ============================================================================
// Auto-scan state machine
reg [2:0] scan_state;
localparam S_IDLE = 3'd0;
localparam S_LONG_CHIRP = 3'd1;
localparam S_LONG_LISTEN = 3'd2;
localparam S_GUARD = 3'd3;
localparam S_SHORT_CHIRP = 3'd4;
localparam S_SHORT_LISTEN = 3'd5;
localparam S_ADVANCE = 3'd6;
// Timing counter
reg [17:0] timer; // enough for up to 262143 cycles (~2.6ms at 100 MHz)
// Edge detection for STM32 pass-through
reg stm32_new_chirp_prev;
reg stm32_new_elevation_prev;
reg stm32_new_azimuth_prev;
// Trigger edge detection (for single-chirp mode)
reg trigger_prev;
wire trigger_pulse = trigger & ~trigger_prev;
// Scan completion
reg scan_done_pulse;
// ============================================================================
// EDGE DETECTION
// ============================================================================
always @(posedge clk or negedge reset_n) begin
if (!reset_n) begin
stm32_new_chirp_prev <= 1'b0;
stm32_new_elevation_prev <= 1'b0;
stm32_new_azimuth_prev <= 1'b0;
trigger_prev <= 1'b0;
end else begin
stm32_new_chirp_prev <= stm32_new_chirp;
stm32_new_elevation_prev <= stm32_new_elevation;
stm32_new_azimuth_prev <= stm32_new_azimuth;
trigger_prev <= trigger;
end
end
wire stm32_chirp_toggle = stm32_new_chirp ^ stm32_new_chirp_prev;
wire stm32_elevation_toggle = stm32_new_elevation ^ stm32_new_elevation_prev;
wire stm32_azimuth_toggle = stm32_new_azimuth ^ stm32_new_azimuth_prev;
// ============================================================================
// MAIN STATE MACHINE
// ============================================================================
always @(posedge clk or negedge reset_n) begin
if (!reset_n) begin
scan_state <= S_IDLE;
timer <= 18'd0;
use_long_chirp <= 1'b1;
mc_new_chirp <= 1'b0;
mc_new_elevation <= 1'b0;
mc_new_azimuth <= 1'b0;
chirp_count <= 6'd0;
elevation_count <= 6'd0;
azimuth_count <= 6'd0;
scan_done_pulse <= 1'b0;
end else begin
// Clear one-shot signals
scan_done_pulse <= 1'b0;
case (mode)
// ================================================================
// MODE 00: STM32-driven pass-through
// The STM32 firmware controls timing; we just detect toggle edges
// and forward them to the receiver chain.
// ================================================================
2'b00: begin
// Reset auto-scan state
scan_state <= S_IDLE;
timer <= 18'd0;
// Pass through toggle signals
if (stm32_chirp_toggle) begin
mc_new_chirp <= ~mc_new_chirp; // Toggle output
use_long_chirp <= 1'b1; // Default to long chirp
// Track chirp count
if (chirp_count < CHIRPS_PER_ELEVATION - 1)
chirp_count <= chirp_count + 1;
else
chirp_count <= 6'd0;
end
if (stm32_elevation_toggle) begin
mc_new_elevation <= ~mc_new_elevation;
chirp_count <= 6'd0;
if (elevation_count < ELEVATIONS_PER_AZIMUTH - 1)
elevation_count <= elevation_count + 1;
else
elevation_count <= 6'd0;
end
if (stm32_azimuth_toggle) begin
mc_new_azimuth <= ~mc_new_azimuth;
elevation_count <= 6'd0;
if (azimuth_count < AZIMUTHS_PER_SCAN - 1)
azimuth_count <= azimuth_count + 1;
else begin
azimuth_count <= 6'd0;
scan_done_pulse <= 1'b1;
end
end
end
// ================================================================
// MODE 01: Free-running auto-scan
// Internally generates chirp timing matching the transmitter.
// ================================================================
2'b01: begin
case (scan_state)
S_IDLE: begin
// Start first chirp immediately
scan_state <= S_LONG_CHIRP;
timer <= 18'd0;
use_long_chirp <= 1'b1;
mc_new_chirp <= ~mc_new_chirp; // Toggle to start chirp
chirp_count <= 6'd0;
elevation_count <= 6'd0;
azimuth_count <= 6'd0;
`ifdef SIMULATION
$display("[MODE_CTRL] Auto-scan starting");
`endif
end
S_LONG_CHIRP: begin
use_long_chirp <= 1'b1;
if (timer < LONG_CHIRP_CYCLES - 1)
timer <= timer + 1;
else begin
timer <= 18'd0;
scan_state <= S_LONG_LISTEN;
end
end
S_LONG_LISTEN: begin
if (timer < LONG_LISTEN_CYCLES - 1)
timer <= timer + 1;
else begin
timer <= 18'd0;
scan_state <= S_GUARD;
end
end
S_GUARD: begin
if (timer < GUARD_CYCLES - 1)
timer <= timer + 1;
else begin
timer <= 18'd0;
scan_state <= S_SHORT_CHIRP;
use_long_chirp <= 1'b0;
end
end
S_SHORT_CHIRP: begin
use_long_chirp <= 1'b0;
if (timer < SHORT_CHIRP_CYCLES - 1)
timer <= timer + 1;
else begin
timer <= 18'd0;
scan_state <= S_SHORT_LISTEN;
end
end
S_SHORT_LISTEN: begin
if (timer < SHORT_LISTEN_CYCLES - 1)
timer <= timer + 1;
else begin
timer <= 18'd0;
scan_state <= S_ADVANCE;
end
end
S_ADVANCE: begin
// Advance chirp/elevation/azimuth counters
if (chirp_count < CHIRPS_PER_ELEVATION - 1) begin
// Next chirp in current elevation
chirp_count <= chirp_count + 1;
mc_new_chirp <= ~mc_new_chirp;
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
end else begin
chirp_count <= 6'd0;
if (elevation_count < ELEVATIONS_PER_AZIMUTH - 1) begin
// Next elevation
elevation_count <= elevation_count + 1;
mc_new_chirp <= ~mc_new_chirp;
mc_new_elevation <= ~mc_new_elevation;
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
end else begin
elevation_count <= 6'd0;
if (azimuth_count < AZIMUTHS_PER_SCAN - 1) begin
// Next azimuth
azimuth_count <= azimuth_count + 1;
mc_new_chirp <= ~mc_new_chirp;
mc_new_elevation <= ~mc_new_elevation;
mc_new_azimuth <= ~mc_new_azimuth;
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
end else begin
// Full scan complete — restart
azimuth_count <= 6'd0;
scan_done_pulse <= 1'b1;
mc_new_chirp <= ~mc_new_chirp;
mc_new_elevation <= ~mc_new_elevation;
mc_new_azimuth <= ~mc_new_azimuth;
scan_state <= S_LONG_CHIRP;
use_long_chirp <= 1'b1;
`ifdef SIMULATION
$display("[MODE_CTRL] Full scan complete, restarting");
`endif
end
end
end
end
default: scan_state <= S_IDLE;
endcase
end
// ================================================================
// MODE 10: Single-chirp (debug mode)
// Fire one long chirp per trigger pulse, no scanning.
// ================================================================
2'b10: begin
case (scan_state)
S_IDLE: begin
if (trigger_pulse) begin
scan_state <= S_LONG_CHIRP;
timer <= 18'd0;
use_long_chirp <= 1'b1;
mc_new_chirp <= ~mc_new_chirp;
end
end
S_LONG_CHIRP: begin
if (timer < LONG_CHIRP_CYCLES - 1)
timer <= timer + 1;
else begin
timer <= 18'd0;
scan_state <= S_LONG_LISTEN;
end
end
S_LONG_LISTEN: begin
if (timer < LONG_LISTEN_CYCLES - 1)
timer <= timer + 1;
else begin
// Single chirp done, return to idle
timer <= 18'd0;
scan_state <= S_IDLE;
end
end
default: scan_state <= S_IDLE;
endcase
end
// ================================================================
// MODE 11: Reserved — idle
// ================================================================
2'b11: begin
scan_state <= S_IDLE;
timer <= 18'd0;
end
endcase
end
end
// ============================================================================
// OUTPUT ASSIGNMENTS
// ============================================================================
assign scanning = (scan_state != S_IDLE);
assign scan_complete = scan_done_pulse;
endmodule
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