Rewrite integration testbench with golden self-reference comparison + physics bounds checks
Replace smoke-test integration TB (10 liveness checks) with golden
comparison architecture (18 checks). Two compile-time modes:
- GOLDEN_GENERATE: dumps 2048 Doppler outputs to golden_doppler.mem
- Default: loads golden, compares within ±2 LSB tolerance per channel
New checks: G1 golden comparison (2048/2048 exact match verified),
B1a/b DDC energy bounds, B2a/b Doppler per-bin energy, B3 exact count,
B4 full 64x32 bin coverage, B5 no duplicate indices.
Fault injection verified: zeroing FIR coeff[15] causes 2048/2048
golden mismatches (max err 1234/1443 LSB), confirming regression guard.
Jason
47606a4459