fix(gui): align radar parameters to FPGA truth (radar_scene.py)

- Bandwidth 500 MHz -> 20 MHz, sample rate 4 MHz -> 100 MHz (DDC output)
- Range formula: deramped FMCW -> matched-filter c/(2*Fs)*decimation
- Velocity formula: use PRI (167 us) and chirps_per_subframe (16)
- Carrier frequency: 10.525 GHz -> 10.5 GHz per radar_scene.py
- Range per bin: 4.8 m -> 24 m, max range: 307 m -> 1536 m
- Fix simulator target spawn range to match new coverage (50-1400 m)
- Remove dead BANDWIDTH constant, add SAMPLE_RATE to V65 Tk
- All 174 tests pass, ruff clean

.github/workflows/ci-tests.yml

@@ -46,7 +46,7 @@ jobs:
       - name: Unit tests
         run: >
           uv run pytest
-          9_Firmware/9_3_GUI/test_radar_dashboard.py
+          9_Firmware/9_3_GUI/test_GUI_V65_Tk.py
           9_Firmware/9_3_GUI/test_v7.py
           -v --tb=short
 

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/diag_log.h

@@ -112,7 +112,7 @@ extern "C" {
  *   "BF"    -- ADAR1000 beamformer
  *   "PA"    -- Power amplifier bias/monitoring
  *   "FPGA"  -- FPGA communication and handshake
- *   "USB"   -- FT601 USB data path
+ *   "USB"   -- USB data path (FT2232H production / FT601 premium)
  *   "PWR"   -- Power sequencing and rail monitoring
  *   "IMU"   -- IMU/GPS/barometer sensors
  *   "MOT"   -- Stepper motor/scan mechanics

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

@@ -620,7 +620,8 @@ typedef enum {
     ERROR_POWER_SUPPLY,
     ERROR_TEMPERATURE_HIGH,
     ERROR_MEMORY_ALLOC,
-    ERROR_WATCHDOG_TIMEOUT
+    ERROR_WATCHDOG_TIMEOUT,
+    ERROR_COUNT  // must be last — used for bounds checking error_strings[]
 } SystemError_t;
 
 static SystemError_t last_error = ERROR_NONE;
@@ -631,6 +632,27 @@ static bool system_emergency_state = false;
 SystemError_t checkSystemHealth(void) {
     SystemError_t current_error = ERROR_NONE;
 
+    // 0. Watchdog: detect main-loop stall (checkSystemHealth not called for >60 s).
+    //    Timestamp is captured at function ENTRY and updated unconditionally, so
+    //    any early return from a sub-check below cannot leave a stale value that
+    //    would later trip a spurious ERROR_WATCHDOG_TIMEOUT. A dedicated cold-start
+    //    branch ensures the first call after boot never trips (last_health_check==0
+    //    would otherwise make `HAL_GetTick() - 0 > 60000` true forever after the
+    //    60-s mark of the init sequence).
+    static uint32_t last_health_check = 0;
+    uint32_t now_tick = HAL_GetTick();
+    if (last_health_check == 0) {
+        last_health_check = now_tick;          // cold start: seed only
+    } else {
+        uint32_t elapsed = now_tick - last_health_check;
+        last_health_check = now_tick;          // update BEFORE any early return
+        if (elapsed > 60000) {
+            current_error = ERROR_WATCHDOG_TIMEOUT;
+            DIAG_ERR("SYS", "Health check: Watchdog timeout (>60s since last check)");
+            return current_error;
+        }
+    }
+
     // 1. Check AD9523 Clock Generator
     static uint32_t last_clock_check = 0;
     if (HAL_GetTick() - last_clock_check > 5000) {
@@ -734,14 +756,7 @@ SystemError_t checkSystemHealth(void) {
         return current_error;
     }
 
-    // 9. Simple watchdog check
+    // 9. Watchdog check is performed at function entry (see step 0).
-    static uint32_t last_health_check = 0;
-    if (HAL_GetTick() - last_health_check > 60000) {
-        current_error = ERROR_WATCHDOG_TIMEOUT;
-        DIAG_ERR("SYS", "Health check: Watchdog timeout (>60s since last check)");
-        return current_error;
-    }
-    last_health_check = HAL_GetTick();
 
     if (current_error != ERROR_NONE) {
         DIAG_ERR("SYS", "checkSystemHealth returning error code %d", current_error);
@@ -853,7 +868,7 @@ void handleSystemError(SystemError_t error) {
     DIAG_ERR("SYS", "handleSystemError: error=%d error_count=%lu", error, error_count);
 
     char error_msg[100];
-    const char* error_strings[] = {
+    static const char* const error_strings[] = {
         "No error",
         "AD9523 Clock failure",
         "ADF4382 TX LO unlocked",
@@ -873,9 +888,16 @@ void handleSystemError(SystemError_t error) {
         "Watchdog timeout"
     };
 
+    static_assert(sizeof(error_strings) / sizeof(error_strings[0]) == ERROR_COUNT,
+                  "error_strings[] and SystemError_t enum are out of sync");
+
+    const char* err_name = (error >= 0 && error < (int)(sizeof(error_strings) / sizeof(error_strings[0])))
+                           ? error_strings[error]
+                           : "Unknown error";
+
     snprintf(error_msg, sizeof(error_msg),
              "ERROR #%d: %s (Count: %lu)\r\n",
-             error, error_strings[error], error_count);
+             error, err_name, error_count);
     HAL_UART_Transmit(&huart3, (uint8_t*)error_msg, strlen(error_msg), 1000);
 
     // Blink LED pattern based on error code
@@ -885,9 +907,23 @@ void handleSystemError(SystemError_t error) {
         HAL_Delay(200);
     }
 
-    // Critical errors trigger emergency shutdown
+    // Critical errors trigger emergency shutdown.
-    if (error >= ERROR_RF_PA_OVERCURRENT && error <= ERROR_POWER_SUPPLY) {
+    //
-        DIAG_ERR("SYS", "CRITICAL ERROR (code %d: %s) -- initiating Emergency_Stop()", error, error_strings[error]);
+    // 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");
         HAL_UART_Transmit(&huart3, (uint8_t*)error_msg, strlen(error_msg), 1000);

9_Firmware/9_1_Microcontroller/tests/.gitignore

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

9_Firmware/9_1_Microcontroller/tests/Makefile

@@ -64,7 +64,9 @@ TESTS_STANDALONE := test_bug12_pa_cal_loop_inverted \
                     test_gap3_iwdg_config \
                     test_gap3_temperature_max \
                     test_gap3_idq_periodic_reread \
-                    test_gap3_emergency_state_ordering
+                    test_gap3_emergency_state_ordering \
+                    test_gap3_overtemp_emergency_stop \
+                    test_gap3_health_watchdog_cold_start
 
 # Tests that need platform_noos_stm32.o + mocks
 TESTS_WITH_PLATFORM := test_bug11_platform_spi_transmit_only
@@ -76,7 +78,8 @@ ALL_TESTS := $(TESTS_WITH_REAL) $(TESTS_MOCK_ONLY) $(TESTS_STANDALONE) $(TESTS_W
 
 .PHONY: all build test clean \
         $(addprefix test_,bug1 bug2 bug3 bug4 bug5 bug6 bug7 bug8 bug9 bug10 bug11 bug12 bug13 bug14 bug15) \
-        test_gap3_estop test_gap3_iwdg test_gap3_temp test_gap3_idq test_gap3_order
+        test_gap3_estop test_gap3_iwdg test_gap3_temp test_gap3_idq test_gap3_order \
+        test_gap3_overtemp test_gap3_wdog
 
 all: build test
 
@@ -162,6 +165,12 @@ test_gap3_idq_periodic_reread: test_gap3_idq_periodic_reread.c
 test_gap3_emergency_state_ordering: test_gap3_emergency_state_ordering.c
 	$(CC) $(CFLAGS) $< -o $@
 
+test_gap3_overtemp_emergency_stop: test_gap3_overtemp_emergency_stop.c
+	$(CC) $(CFLAGS) $< -o $@
+
+test_gap3_health_watchdog_cold_start: test_gap3_health_watchdog_cold_start.c
+	$(CC) $(CFLAGS) $< -o $@
+
 # Tests that need platform_noos_stm32.o + mocks
 $(TESTS_WITH_PLATFORM): %: %.c $(MOCK_OBJS) $(PLATFORM_OBJ)
 	$(CC) $(CFLAGS) $(INCLUDES) $< $(MOCK_OBJS) $(PLATFORM_OBJ) -o $@
@@ -246,6 +255,12 @@ test_gap3_idq: test_gap3_idq_periodic_reread
 test_gap3_order: test_gap3_emergency_state_ordering
 	./test_gap3_emergency_state_ordering
 
+test_gap3_overtemp: test_gap3_overtemp_emergency_stop
+	./test_gap3_overtemp_emergency_stop
+
+test_gap3_wdog: test_gap3_health_watchdog_cold_start
+	./test_gap3_health_watchdog_cold_start
+
 # --- Clean ---
 
 clean:

9_Firmware/9_1_Microcontroller/tests/test_gap3_emergency_state_ordering.c

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

9_Firmware/9_1_Microcontroller/tests/test_gap3_health_watchdog_cold_start.c

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

9_Firmware/9_1_Microcontroller/tests/test_gap3_overtemp_emergency_stop.c

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

9_Firmware/9_2_FPGA/constraints/README.md

@@ -32,8 +32,8 @@ the `USB_MODE` parameter in `radar_system_top.v`:
 
 | USB_MODE | Interface | Bus Width | Speed | Board Target |
 |----------|-----------|-----------|-------|--------------|
-| 0 (default) | FT601 (USB 3.0) | 32-bit | 100 MHz | 200T premium dev board |
+| 0 | FT601 (USB 3.0) | 32-bit | 100 MHz | 200T premium dev board |
-| 1 | FT2232H (USB 2.0) | 8-bit | 60 MHz | 50T production board |
+| 1 (default) | FT2232H (USB 2.0) | 8-bit | 60 MHz | 50T production board |
 
 ### How USB_MODE Works
 
@@ -72,7 +72,8 @@ The parameter is set via a **wrapper module** that overrides the default:
   ```
 
 - **200T dev board**: `radar_system_top` is used directly as the top module.
-  `USB_MODE` defaults to `0` (FT601). No wrapper needed.
+  `USB_MODE` defaults to `1` (FT2232H) since production is the primary target.
+  Override with `.USB_MODE(0)` for FT601 builds.
 
 ### RTL Files by USB Interface
 
@@ -158,7 +159,7 @@ The build scripts automatically select the correct top module and constraints:
 
 You do NOT need to set `USB_MODE` manually. The top module selection handles it:
 - `radar_system_top_50t` forces `USB_MODE=1` internally
-- `radar_system_top` defaults to `USB_MODE=0`
+- `radar_system_top` defaults to `USB_MODE=1` (FT2232H, production default)
 
 ## How to Select Constraints in Vivado
 
@@ -190,9 +191,9 @@ read_xdc constraints/te0713_te0701_minimal.xdc
 | Target | Top module | USB_MODE | USB Interface | Notes |
 |--------|------------|----------|---------------|-------|
 | 50T Production (FTG256) | `radar_system_top_50t` | 1 | FT2232H (8-bit) | Wrapper sets USB_MODE=1, ties off FT601 |
-| 200T Dev (FBG484) | `radar_system_top` | 0 (default) | FT601 (32-bit) | No wrapper needed |
+| 200T Dev (FBG484) | `radar_system_top` | 0 (override) | FT601 (32-bit) | Build script overrides default USB_MODE=1 |
-| Trenz TE0712/TE0701 | `radar_system_top_te0712_dev` | 0 (default) | FT601 (32-bit) | Minimal bring-up wrapper |
+| Trenz TE0712/TE0701 | `radar_system_top_te0712_dev` | 0 (override) | FT601 (32-bit) | Minimal bring-up wrapper |
-| Trenz TE0713/TE0701 | `radar_system_top_te0713_dev` | 0 (default) | FT601 (32-bit) | Alternate SoM wrapper |
+| Trenz TE0713/TE0701 | `radar_system_top_te0713_dev` | 0 (override) | FT601 (32-bit) | Alternate SoM wrapper |
 
 ## Trenz Split Status
 

9_Firmware/9_2_FPGA/constraints/xc7a50t_ftg256.xdc

@@ -70,9 +70,10 @@ set_input_jitter [get_clocks clk_100m] 0.1
 # NOTE: The physical DAC (U3, AD9708) receives its clock directly from the
 #       AD9523 via a separate net (DAC_CLOCK), NOT from the FPGA. The FPGA
 #       uses this clock input for internal DAC data timing only. The RTL port
-#       `dac_clk` is an output that assigns clk_120m directly — it has no
+#       `dac_clk` is an RTL output that assigns clk_120m directly. It has no
-#       separate physical pin on this board and should be removed from the
+#       physical pin on the 50T board and is left unconnected here. The port
-#       RTL or left unconnected.
+#       CANNOT be removed from the RTL because the 200T board uses it with
+#       ODDR clock forwarding (pin H17, see xc7a200t_fbg484.xdc).
 # FIX: Moved from C13 (IO_L12N = N-type) to D13 (IO_L12P = P-type MRCC).
 #      Clock inputs must use the P-type pin of an MRCC pair (PLIO-9 DRC).
 set_property PACKAGE_PIN D13 [get_ports {clk_120m_dac}]
@@ -332,6 +333,44 @@ set_property DRIVE 8 [get_ports {ft_data[*]}]
 
 # ft_clkout constrained above in CLOCK CONSTRAINTS section (C4, 60 MHz)
 
+# --------------------------------------------------------------------------
+# FT2232H Source-Synchronous Timing Constraints
+# --------------------------------------------------------------------------
+# FT2232H 245 Synchronous FIFO mode timing (60 MHz, period = 16.667 ns):
+#
+# 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 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
+# --------------------------------------------------------------------------
+
+# 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}]
+
+# 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}]
+
 # ============================================================================
 # STATUS / DEBUG OUTPUTS — NO PHYSICAL CONNECTIONS
 # ============================================================================
@@ -418,10 +457,10 @@ set_property BITSTREAM.CONFIG.UNUSEDPIN Pullup [current_design]
 # 4. JTAG: FPGA_TCK (L7), FPGA_TDI (N7), FPGA_TDO (N8), FPGA_TMS (M7).
 #    Dedicated pins — no XDC constraints needed.
 #
-# 5. dac_clk port: The RTL top module declares `dac_clk` as an output, but
+# 5. dac_clk port: Not connected on the 50T board (DAC clocked directly from
-#    the physical board wires the DAC clock (AD9708 CLOCK pin) directly from
+#    AD9523). The RTL port exists for 200T board compatibility, where the FPGA
-#    the AD9523, not from the FPGA. This port should be removed from the RTL
+#    forwards the DAC clock via ODDR to pin H17 with generated clock and
-#    or left unconnected. It currently just assigns clk_120m_dac passthrough.
+#    timing constraints (see xc7a200t_fbg484.xdc). Do NOT remove from RTL.
 #
 # ============================================================================
 # END OF CONSTRAINTS

9_Firmware/9_2_FPGA/radar_system_top.v

@@ -142,7 +142,7 @@ module radar_system_top (
 parameter USE_LONG_CHIRP = 1'b1;          // Default to long chirp
 parameter DOPPLER_ENABLE = 1'b1;           // Enable Doppler processing
 parameter USB_ENABLE = 1'b1;               // Enable USB data transfer
-parameter USB_MODE = 0;                    // 0=FT601 (32-bit, 200T), 1=FT2232H (8-bit, 50T)
+parameter USB_MODE = 1;                    // 0=FT601 (32-bit, 200T), 1=FT2232H (8-bit, 50T production default)
 
 // ============================================================================
 // INTERNAL SIGNALS

9_Firmware/9_2_FPGA/radar_system_top_te0713_umft601x_dev.v

@@ -138,7 +138,12 @@ usb_data_interface usb_inst (
     .status_range_mode(2'b01),
     .status_self_test_flags(5'b11111),
     .status_self_test_detail(8'hA5),
-    .status_self_test_busy(1'b0)
+    .status_self_test_busy(1'b0),
+    // AGC status: tie off with benign defaults (no AGC on dev board)
+    .status_agc_current_gain(4'd0),
+    .status_agc_peak_magnitude(8'd0),
+    .status_agc_saturation_count(8'd0),
+    .status_agc_enable(1'b0)
 );
 
 endmodule

9_Firmware/9_2_FPGA/run_regression.sh

@@ -70,6 +70,7 @@ PROD_RTL=(
     xfft_16.v
     fft_engine.v
     usb_data_interface.v
+    usb_data_interface_ft2232h.v
     edge_detector.v
     radar_mode_controller.v
     rx_gain_control.v
@@ -86,6 +87,33 @@ EXTRA_RTL=(
     frequency_matched_filter.v
 )
 
+# ---------------------------------------------------------------------------
+# Shared RTL file lists for integration / system tests
+# Centralised here so a new module only needs adding once.
+# ---------------------------------------------------------------------------
+
+# Receiver chain (used by golden generate/compare tests)
+RECEIVER_RTL=(
+    radar_receiver_final.v
+    radar_mode_controller.v
+    tb/ad9484_interface_400m_stub.v
+    ddc_400m.v nco_400m_enhanced.v cic_decimator_4x_enhanced.v
+    cdc_modules.v fir_lowpass.v ddc_input_interface.v
+    chirp_memory_loader_param.v latency_buffer.v
+    matched_filter_multi_segment.v matched_filter_processing_chain.v
+    range_bin_decimator.v doppler_processor.v xfft_16.v fft_engine.v
+    rx_gain_control.v mti_canceller.v
+)
+
+# Full system top (receiver chain + TX + USB + detection + self-test)
+SYSTEM_RTL=(
+    radar_system_top.v
+    radar_transmitter.v dac_interface_single.v plfm_chirp_controller.v
+    "${RECEIVER_RTL[@]}"
+    usb_data_interface.v usb_data_interface_ft2232h.v edge_detector.v
+    cfar_ca.v fpga_self_test.v
+)
+
 # ---- Layer A: iverilog -Wall compilation ----
 run_lint_iverilog() {
     local label="$1"
@@ -219,26 +247,9 @@ run_lint_static() {
         fi
     done
 
-    # --- Single-line regex checks across all production RTL ---
+    # CHECK 5 ($readmemh in synth code) and CHECK 6 (unused includes)
-    for f in "$@"; do
+    # require multi-line ifdef tracking / cross-file analysis. Not feasible
-        [[ -f "$f" ]] || continue
+    # with line-by-line regex. Omitted — use Vivado lint instead.
-        case "$f" in tb/*) continue ;; esac
-
-        local linenum=0
-        while IFS= read -r line; do
-            linenum=$((linenum + 1))
-
-            # CHECK 5: $readmemh / $readmemb in synthesizable code
-            # (Only valid in simulation blocks — flag if outside `ifdef SIMULATION)
-            # This is hard to check line-by-line without tracking ifdefs.
-            # Skip for v1.
-
-            # CHECK 6: Unused `include files (informational only)
-            # Skip for v1.
-
-            :  # placeholder — prevents empty loop body
-        done < "$f"
-    done
 
     if [[ "$err_count" -gt 0 ]]; then
         echo -e "${RED}FAIL${NC} ($err_count errors, $warn_count warnings)"
@@ -420,57 +431,36 @@ if [[ "$QUICK" -eq 0 ]]; then
     run_test "Receiver (golden generate)" \
         tb/tb_rx_golden_reg.vvp \
         -DGOLDEN_GENERATE \
-        tb/tb_radar_receiver_final.v radar_receiver_final.v \
+        tb/tb_radar_receiver_final.v "${RECEIVER_RTL[@]}"
-        radar_mode_controller.v tb/ad9484_interface_400m_stub.v \
-        ddc_400m.v nco_400m_enhanced.v cic_decimator_4x_enhanced.v \
-        cdc_modules.v fir_lowpass.v ddc_input_interface.v \
-        chirp_memory_loader_param.v latency_buffer.v \
-        matched_filter_multi_segment.v matched_filter_processing_chain.v \
-        range_bin_decimator.v doppler_processor.v xfft_16.v fft_engine.v \
-        rx_gain_control.v mti_canceller.v
 
     # Golden compare
     run_test "Receiver (golden compare)" \
         tb/tb_rx_compare_reg.vvp \
-        tb/tb_radar_receiver_final.v radar_receiver_final.v \
+        tb/tb_radar_receiver_final.v "${RECEIVER_RTL[@]}"
-        radar_mode_controller.v tb/ad9484_interface_400m_stub.v \
-        ddc_400m.v nco_400m_enhanced.v cic_decimator_4x_enhanced.v \
-        cdc_modules.v fir_lowpass.v ddc_input_interface.v \
-        chirp_memory_loader_param.v latency_buffer.v \
-        matched_filter_multi_segment.v matched_filter_processing_chain.v \
-        range_bin_decimator.v doppler_processor.v xfft_16.v fft_engine.v \
-        rx_gain_control.v mti_canceller.v
 
     # Full system top (monitoring-only, legacy)
     run_test "System Top (radar_system_tb)" \
         tb/tb_system_reg.vvp \
-        tb/radar_system_tb.v radar_system_top.v \
+        tb/radar_system_tb.v "${SYSTEM_RTL[@]}"
-        radar_transmitter.v dac_interface_single.v plfm_chirp_controller.v \
-        radar_receiver_final.v tb/ad9484_interface_400m_stub.v \
-        ddc_400m.v nco_400m_enhanced.v cic_decimator_4x_enhanced.v \
-        cdc_modules.v fir_lowpass.v ddc_input_interface.v \
-        chirp_memory_loader_param.v latency_buffer.v \
-        matched_filter_multi_segment.v matched_filter_processing_chain.v \
-        range_bin_decimator.v doppler_processor.v xfft_16.v fft_engine.v \
-        usb_data_interface.v edge_detector.v radar_mode_controller.v \
-        rx_gain_control.v cfar_ca.v mti_canceller.v fpga_self_test.v
 
     # E2E integration (46 strict checks: TX, RX, USB R/W, CDC, safety, reset)
     run_test "System E2E (tb_system_e2e)" \
         tb/tb_system_e2e_reg.vvp \
-        tb/tb_system_e2e.v radar_system_top.v \
+        tb/tb_system_e2e.v "${SYSTEM_RTL[@]}"
-        radar_transmitter.v dac_interface_single.v plfm_chirp_controller.v \
+
-        radar_receiver_final.v tb/ad9484_interface_400m_stub.v \
+    # USB_MODE=1 (FT2232H production) variants of system tests
-        ddc_400m.v nco_400m_enhanced.v cic_decimator_4x_enhanced.v \
+    run_test "System Top USB_MODE=1 (FT2232H)" \
-        cdc_modules.v fir_lowpass.v ddc_input_interface.v \
+        tb/tb_system_ft2232h_reg.vvp \
-        chirp_memory_loader_param.v latency_buffer.v \
+        -DUSB_MODE_1 \
-        matched_filter_multi_segment.v matched_filter_processing_chain.v \
+        tb/radar_system_tb.v "${SYSTEM_RTL[@]}"
-        range_bin_decimator.v doppler_processor.v xfft_16.v fft_engine.v \
+
-        usb_data_interface.v edge_detector.v radar_mode_controller.v \
+    run_test "System E2E USB_MODE=1 (FT2232H)" \
-        rx_gain_control.v cfar_ca.v mti_canceller.v fpga_self_test.v
+        tb/tb_system_e2e_ft2232h_reg.vvp \
+        -DUSB_MODE_1 \
+        tb/tb_system_e2e.v "${SYSTEM_RTL[@]}"
 else
     echo "  (skipped receiver golden + system top + E2E — use without --quick)"
-    SKIP=$((SKIP + 4))
+    SKIP=$((SKIP + 6))
 fi
 
 echo ""

9_Firmware/9_2_FPGA/scripts/200t/build_200t.tcl

@@ -108,6 +108,9 @@ add_files -fileset constrs_1 -norecurse [file join $project_root "constraints" "
 
 set_property top $top_module [current_fileset]
 set_property verilog_define {FFT_XPM_BRAM} [current_fileset]
+# Override USB_MODE to 0 (FT601) for 200T premium board.
+# The RTL default is USB_MODE=1 (FT2232H, production 50T).
+set_property generic {USB_MODE=0} [current_fileset]
 
 # ==============================================================================
 # 2. Synthesis

9_Firmware/9_2_FPGA/tb/radar_system_tb.v

@@ -430,7 +430,13 @@ end
 // DUT INSTANTIATION
 // ============================================================================
 
-radar_system_top dut (
+radar_system_top #(
+`ifdef USB_MODE_1
+    .USB_MODE(1)  // FT2232H interface (production 50T board)
+`else
+    .USB_MODE(0)  // FT601 interface (200T dev board)
+`endif
+) dut (
     // System Clocks
     .clk_100m(clk_100m),
     .clk_120m_dac(clk_120m_dac),
@@ -619,7 +625,11 @@ initial begin
     // Optional: dump specific signals for debugging
     $dumpvars(1, dut.tx_inst);
     $dumpvars(1, dut.rx_inst);
+    `ifdef USB_MODE_1
+    $dumpvars(1, dut.gen_ft2232h.usb_inst);
+    `else
     $dumpvars(1, dut.gen_ft601.usb_inst);
+    `endif
 end
 
 endmodule

9_Firmware/9_2_FPGA/tb/tb_system_e2e.v

@@ -382,7 +382,13 @@ end
 // ============================================================================
 // DUT INSTANTIATION
 // ============================================================================
-radar_system_top dut (
+radar_system_top #(
+`ifdef USB_MODE_1
+    .USB_MODE(1)  // FT2232H interface (production 50T board)
+`else
+    .USB_MODE(0)  // FT601 interface (200T dev board)
+`endif
+) dut (
     .clk_100m(clk_100m),
     .clk_120m_dac(clk_120m_dac),
     .ft601_clk_in(ft601_clk_in),
@@ -554,10 +560,10 @@ initial begin
     do_reset;
 
     // CRITICAL: Configure stream control to range-only BEFORE any chirps
-    // fire. The USB write FSM blocks on doppler_valid_ft if doppler stream
+    // fire. The USB write FSM gates on pending flags: if doppler stream is
-    // is enabled but no Doppler data arrives (needs 32 chirps/frame).
+    // enabled but no Doppler data arrives (needs 32 chirps/frame), the FSM
-    // Without this, the write FSM deadlocks and the read FSM can never
+    // stays in IDLE waiting for doppler_data_pending. With the write FSM
-    // activate (it requires write FSM == IDLE).
+    // not in IDLE, the read FSM cannot activate (bus arbitration rule).
     bfm_send_cmd(8'h04, 8'h00, 16'h0001);  // stream_control = range only
     // Wait for stream_control CDC to propagate (2-stage sync in ft601_clk)
     // Must be long enough that stream_ctrl_sync_1 is updated before any
@@ -778,7 +784,7 @@ initial begin
 
     // Restore defaults for subsequent tests
     bfm_send_cmd(8'h01, 8'h00, 16'h0001);  // mode = auto-scan
-    bfm_send_cmd(8'h04, 8'h00, 16'h0001);  // keep range-only (prevents write FSM deadlock)
+    bfm_send_cmd(8'h04, 8'h00, 16'h0001);  // keep range-only (TB lacks 32-chirp doppler data)
     bfm_send_cmd(8'h10, 8'h00, 16'd3000);  // restore long chirp cycles
 
     $display("");
@@ -913,7 +919,7 @@ initial begin
     // Need to re-send configuration since reset clears all registers
     stm32_mixers_enable = 1;
     ft601_txe = 0;
-    bfm_send_cmd(8'h04, 8'h00, 16'h0001);  // stream_control = range only (prevent deadlock)
+    bfm_send_cmd(8'h04, 8'h00, 16'h0001);  // stream_control = range only (TB lacks doppler data)
     #500;  // Wait for stream_control CDC
     bfm_send_cmd(8'h01, 8'h00, 16'h0001);  // auto-scan
     bfm_send_cmd(8'h10, 8'h00, 16'd100);   // short timing
@@ -947,7 +953,7 @@ initial begin
     check(dut.host_stream_control == 3'b000,
           "G10.2: All streams disabled (stream_control = 3'b000)");
 
-    // G10.3: Re-enable range only (keep range-only to prevent write FSM deadlock)
+    // G10.3: Re-enable range only (TB uses range-only — no doppler processing)
     bfm_send_cmd(8'h04, 8'h00, 16'h0001);  // stream_control = 3'b001
     check(dut.host_stream_control == 3'b001,
           "G10.3: Range stream re-enabled (stream_control = 3'b001)");

9_Firmware/9_2_FPGA/tb/tb_usb_data_interface.v

@@ -6,15 +6,11 @@ module tb_usb_data_interface;
     localparam CLK_PERIOD     = 10.0;  // 100 MHz main clock
     localparam FT_CLK_PERIOD  = 10.0;  // 100 MHz FT601 clock (asynchronous)
 
-    // State definitions (mirror the DUT)
+    // State definitions (mirror the DUT — 4-state packed-word FSM)
-    localparam [2:0] S_IDLE           = 3'd0,
+    localparam [3:0] S_IDLE           = 4'd0,
-                     S_SEND_HEADER    = 3'd1,
+                     S_SEND_DATA_WORD = 4'd1,
-                     S_SEND_RANGE     = 3'd2,
+                     S_SEND_STATUS    = 4'd2,
-                     S_SEND_DOPPLER   = 3'd3,
+                     S_WAIT_ACK       = 4'd3;
-                     S_SEND_DETECT    = 3'd4,
-                     S_SEND_FOOTER    = 3'd5,
-                     S_WAIT_ACK       = 3'd6,
-                     S_SEND_STATUS    = 3'd7;  // Gap 2: status readback
 
     // ── Signals ────────────────────────────────────────────────
     reg         clk;
@@ -219,9 +215,9 @@ module tb_usb_data_interface;
         end
     endtask
 
-    // ── Helper: wait for DUT to reach a specific state ─────────
+    // ── Helper: wait for DUT to reach a specific write FSM state ──
     task wait_for_state;
-        input [2:0] target;
+        input [3:0] target;
         input integer max_cyc;
         integer cnt;
         begin
@@ -280,7 +276,7 @@ module tb_usb_data_interface;
     // Set data_pending flags directly via hierarchical access.
     // This is the standard TB technique for internal state setup —
     // bypasses the CDC path for immediate, reliable flag setting.
-    // Call BEFORE assert_range_valid in tests that need SEND_DOPPLER/DETECT.
+    // Call BEFORE assert_range_valid in tests that need doppler/cfar data.
     task preload_pending_data;
         begin
             @(posedge ft601_clk_in);
@@ -354,24 +350,26 @@ module tb_usb_data_interface;
         end
     endtask
 
-    // Drive a complete packet through the FSM by sequentially providing
+    // Drive a complete data packet through the new 3-word packed FSM.
-    // range, doppler (4x), and cfar valid pulses.
+    // Pre-loads pending flags, triggers range_valid, and waits for IDLE.
+    // With the new FSM, all data is pre-packed in IDLE then sent as 3 words.
     task drive_full_packet;
         input [31:0] rng;
         input [15:0] dr;
         input [15:0] di;
         input        det;
         begin
-            // Pre-load pending flags so FSM enters doppler/cfar states
+            // Set doppler/cfar captured values via CDC inputs
+            @(posedge clk);
+            doppler_real   = dr;
+            doppler_imag   = di;
+            cfar_detection = det;
+            @(posedge clk);
+            // Pre-load pending flags so FSM includes doppler/cfar in packet
             preload_pending_data;
+            // Trigger the packet
             assert_range_valid(rng);
-            wait_for_state(S_SEND_DOPPLER, 100);
+            // Wait for complete packet cycle: IDLE → SEND_DATA_WORD(×3) → WAIT_ACK → IDLE
-            pulse_doppler_once(dr, di);
-            pulse_doppler_once(dr, di);
-            pulse_doppler_once(dr, di);
-            pulse_doppler_once(dr, di);
-            wait_for_state(S_SEND_DETECT, 100);
-            pulse_cfar_once(det);
             wait_for_state(S_IDLE, 100);
         end
     endtask
@@ -414,101 +412,138 @@ module tb_usb_data_interface;
               "ft601_siwu_n=1 after reset");
 
         // ════════════════════════════════════════════════════════
-        // TEST GROUP 2: Range data packet
+        // TEST GROUP 2: Data packet word packing
         //
-        // Use backpressure to freeze the FSM at specific states
+        // New FSM packs 11-byte data into 3 × 32-bit words:
-        // so we can reliably sample outputs.
+        //   Word 0: {HEADER, range[31:24], range[23:16], range[15:8]}
+        //   Word 1: {range[7:0], dop_re_hi, dop_re_lo, dop_im_hi}
+        //   Word 2: {dop_im_lo, detection, FOOTER, 0x00}  BE=1110
+        //
+        // The DUT uses range_data_ready (1-cycle delayed range_valid_ft)
+        // to trigger packing.  Doppler/CFAR _cap registers must be
+        // pre-loaded via hierarchical access because no valid pulse is
+        // given in this test (we only want to verify packing, not CDC).
         // ════════════════════════════════════════════════════════
-        $display("\n--- Test Group 2: Range Data Packet ---");
+        $display("\n--- Test Group 2: Data Packet Word Packing ---");
         apply_reset;
+        ft601_txe = 1;  // Stall so we can inspect packed words
 
-        // Stall at SEND_HEADER so we can verify first range word later
+        // Set known doppler/cfar values on clk-domain inputs
-        ft601_txe = 1;
+        @(posedge clk);
+        doppler_real   = 16'hABCD;
+        doppler_imag   = 16'hEF01;
+        cfar_detection = 1'b1;
+        @(posedge clk);
+
+        // Pre-load pending flags AND captured-data registers directly.
+        // No doppler/cfar valid pulses are given, so the CDC capture path
+        // never fires — we must set the _cap registers via hierarchical
+        // access for the word-packing checks to be meaningful.
         preload_pending_data;
+        @(posedge ft601_clk_in);
+        uut.doppler_real_cap   = 16'hABCD;
+        uut.doppler_imag_cap   = 16'hEF01;
+        uut.cfar_detection_cap = 1'b1;
+        @(posedge ft601_clk_in);
+
         assert_range_valid(32'hDEAD_BEEF);
-        wait_for_state(S_SEND_HEADER, 50);
-        repeat (2) @(posedge ft601_clk_in); #1;
-        check(uut.current_state === S_SEND_HEADER,
-              "Stalled in SEND_HEADER (backpressure)");
 
-        // Release: FSM drives header then moves to SEND_RANGE_DATA
+        // FSM should be in SEND_DATA_WORD, stalled on ft601_txe=1
+        wait_for_state(S_SEND_DATA_WORD, 50);
+        repeat (2) @(posedge ft601_clk_in); #1;
+
+        check(uut.current_state === S_SEND_DATA_WORD,
+              "Stalled in SEND_DATA_WORD (backpressure)");
+
+        // Verify pre-packed words
+        // range_profile = 0xDEAD_BEEF → range[31:24]=0xDE, [23:16]=0xAD, [15:8]=0xBE, [7:0]=0xEF
+        // Word 0: {0xAA, 0xDE, 0xAD, 0xBE}
+        check(uut.data_pkt_word0 === {8'hAA, 8'hDE, 8'hAD, 8'hBE},
+              "Word 0: {HEADER=AA, range[31:8]}");
+        // Word 1: {0xEF, 0xAB, 0xCD, 0xEF}
+        check(uut.data_pkt_word1 === {8'hEF, 8'hAB, 8'hCD, 8'hEF},
+              "Word 1: {range[7:0], dop_re, dop_im_hi}");
+        // Word 2: {0x01, detection_byte, 0x55, 0x00}
+        // detection_byte bit 7 = frame_start (sample_counter==0 → 1), bit 0 = cfar=1
+        // so detection_byte = 8'b1000_0001 = 8'h81
+        check(uut.data_pkt_word2 === {8'h01, 8'h81, 8'h55, 8'h00},
+              "Word 2: {dop_im_lo, det=81, FOOTER=55, pad=00}");
+        check(uut.data_pkt_be2 === 4'b1110,
+              "Word 2 BE=1110 (3 valid bytes + 1 pad)");
+
+        // Release backpressure and verify word 0 appears on bus.
+        // On the first posedge with !ft601_txe the FSM drives word 0 and
+        // advances data_word_idx 0→1 via NBA.  After #1 the NBA has
+        // resolved, so we see idx=1 and ft601_data_out=word0.
         ft601_txe = 0;
         @(posedge ft601_clk_in); #1;
-        // Now the FSM registered the header output and will transition
-        // At the NEXT posedge the state becomes SEND_RANGE_DATA
-        @(posedge ft601_clk_in); #1;
-
-        check(uut.current_state === S_SEND_RANGE,
-              "Entered SEND_RANGE_DATA after header");
-
-        // The first range word should be on the data bus (byte_counter=0 just
-        // drove range_profile_cap, byte_counter incremented to 1)
-        check(uut.ft601_data_out === 32'hDEAD_BEEF || uut.byte_counter <= 8'd1,
-              "Range data word 0 driven (range_profile_cap)");
 
+        check(uut.ft601_data_out === {8'hAA, 8'hDE, 8'hAD, 8'hBE},
+              "Word 0 driven on data bus after backpressure release");
         check(ft601_wr_n === 1'b0,
-              "Write strobe active during range data");
+              "Write strobe active during SEND_DATA_WORD");
-
         check(ft601_be === 4'b1111,
-              "Byte enable=1111 for range data");
+              "Byte enable=1111 for word 0");
+        check(uut.ft601_data_oe === 1'b1,
+              "Data bus output enabled during SEND_DATA_WORD");
 
-        // Wait for all 4 range words to complete
+        // Next posedge: FSM drives word 1, advances idx 1→2.
-        wait_for_state(S_SEND_DOPPLER, 50);
+        // After NBA: idx=2, ft601_data_out=word1.
-        #1;
+        @(posedge ft601_clk_in); #1;
-        check(uut.current_state === S_SEND_DOPPLER,
+        check(uut.data_word_idx === 2'd2,
-              "Advanced to SEND_DOPPLER_DATA after 4 range words");
+              "data_word_idx advanced past word 1 (now 2)");
+        check(uut.ft601_data_out === {8'hEF, 8'hAB, 8'hCD, 8'hEF},
+              "Word 1 driven on data bus");
+        check(ft601_be === 4'b1111,
+              "Byte enable=1111 for word 1");
+
+        // Next posedge: FSM drives word 2, idx resets 2→0,
+        // and current_state transitions to WAIT_ACK.
+        @(posedge ft601_clk_in); #1;
+        check(uut.current_state === S_WAIT_ACK,
+              "Transitioned to WAIT_ACK after 3 data words");
+        check(uut.ft601_data_out === {8'h01, 8'h81, 8'h55, 8'h00},
+              "Word 2 driven on data bus");
+        check(ft601_be === 4'b1110,
+              "Byte enable=1110 for word 2 (last byte is pad)");
+
+        // Then back to IDLE
+        @(posedge ft601_clk_in); #1;
+        check(uut.current_state === S_IDLE,
+              "Returned to IDLE after WAIT_ACK");
 
         // ════════════════════════════════════════════════════════
-        // TEST GROUP 3: Header verification (stall to observe)
+        // TEST GROUP 3: Header and footer verification
         // ════════════════════════════════════════════════════════
-        $display("\n--- Test Group 3: Header Verification ---");
+        $display("\n--- Test Group 3: Header and Footer Verification ---");
         apply_reset;
-        ft601_txe = 1;  // Stall at SEND_HEADER
+        ft601_txe = 1;  // Stall to inspect
 
         @(posedge clk);
-        range_profile = 32'hCAFE_BABE;
+        doppler_real   = 16'h0000;
-        range_valid   = 1;
+        doppler_imag   = 16'h0000;
-        repeat (4) @(posedge ft601_clk_in);
+        cfar_detection = 1'b0;
         @(posedge clk);
-        range_valid = 0;
+        preload_pending_data;
-        repeat (3) @(posedge ft601_clk_in);
+        assert_range_valid(32'hCAFE_BABE);
 
-        wait_for_state(S_SEND_HEADER, 50);
+        wait_for_state(S_SEND_DATA_WORD, 50);
         repeat (2) @(posedge ft601_clk_in); #1;
 
-        check(uut.current_state === S_SEND_HEADER,
+        // Header is in byte 3 (MSB) of word 0
-              "Stalled in SEND_HEADER with backpressure");
+        check(uut.data_pkt_word0[31:24] === 8'hAA,
-
+              "Header byte 0xAA in word 0 MSB");
-        // Release backpressure - header will be latched at next posedge
+        // Footer is in byte 1 (bits [15:8]) of word 2
-        ft601_txe = 0;
+        check(uut.data_pkt_word2[15:8] === 8'h55,
-        @(posedge ft601_clk_in); #1;
+              "Footer byte 0x55 in word 2");
-
-        check(uut.ft601_data_out[7:0] === 8'hAA,
-              "Header byte 0xAA on data bus");
-        check(ft601_be === 4'b0001,
-              "Byte enable=0001 for header (lower byte only)");
-        check(ft601_wr_n === 1'b0,
-              "Write strobe active during header");
-        check(uut.ft601_data_oe === 1'b1,
-              "Data bus output enabled during header");
 
         // ════════════════════════════════════════════════════════
-        // TEST GROUP 4: Doppler data verification
+        // TEST GROUP 4: Doppler data capture verification
         // ════════════════════════════════════════════════════════
-        $display("\n--- Test Group 4: Doppler Data Verification ---");
+        $display("\n--- Test Group 4: Doppler Data Capture ---");
         apply_reset;
         ft601_txe = 0;
 
-        // Preload only doppler pending (not cfar) so the FSM sends
-        // doppler data. After doppler, SEND_DETECT sees cfar_data_pending=0
-        // and skips to SEND_FOOTER, then WAIT_ACK, then IDLE.
-        preload_doppler_pending;
-        assert_range_valid(32'h0000_0001);
-        wait_for_state(S_SEND_DOPPLER, 100);
-        #1;
-        check(uut.current_state === S_SEND_DOPPLER,
-              "Reached SEND_DOPPLER_DATA");
-
         // Provide doppler data via valid pulse (updates captured values)
         @(posedge clk);
         doppler_real  = 16'hAAAA;
@@ -524,110 +559,70 @@ module tb_usb_data_interface;
         check(uut.doppler_imag_cap === 16'h5555,
               "doppler_imag captured correctly");
 
-        // The FSM has doppler_data_pending set and sends 4 bytes, then
+        // Drive a packet with pending doppler + cfar (both needed for gating
-        // transitions past SEND_DETECT (cfar_data_pending=0) to IDLE.
+        // since all streams are enabled after reset/apply_reset).
+        preload_pending_data;
+        assert_range_valid(32'h0000_0001);
         wait_for_state(S_IDLE, 100);
         #1;
         check(uut.current_state === S_IDLE,
-              "Doppler done, packet completed");
+              "Packet completed with doppler data");
+        check(uut.doppler_data_pending === 1'b0,
+              "doppler_data_pending cleared after packet");
 
         // ════════════════════════════════════════════════════════
         // TEST GROUP 5: CFAR detection data
         // ════════════════════════════════════════════════════════
         $display("\n--- Test Group 5: CFAR Detection Data ---");
-        // Start a new packet with both doppler and cfar pending to verify
-        // cfar data is properly sent in SEND_DETECTION_DATA.
         apply_reset;
         ft601_txe = 0;
         preload_pending_data;
         assert_range_valid(32'h0000_0002);
-        // FSM races through: HEADER -> RANGE -> DOPPLER -> DETECT -> FOOTER -> IDLE
-        // All pending flags consumed proves SEND_DETECT was entered.
         wait_for_state(S_IDLE, 200);
         #1;
         check(uut.cfar_data_pending === 1'b0,
-              "Starting in SEND_DETECTION_DATA");
+              "cfar_data_pending cleared after packet");
-
-        // Verify the full packet completed with cfar data consumed
         check(uut.current_state === S_IDLE &&
               uut.doppler_data_pending === 1'b0 &&
               uut.cfar_data_pending === 1'b0,
-              "CFAR detection sent, FSM advanced past SEND_DETECTION_DATA");
+              "CFAR detection sent, all pending flags cleared");
 
         // ════════════════════════════════════════════════════════
-        // TEST GROUP 6: Footer check
+        // TEST GROUP 6: Footer retained after packet
-        //
-        // Strategy: drive packet with ft601_txe=0 all the way through.
-        // The SEND_FOOTER state is only active for 1 cycle, but we can
-        // poll the state machine at each ft601_clk_in edge to observe
-        // it. We use a monitor-style approach: run the packet and
-        // capture what ft601_data_out contains when we see SEND_FOOTER.
         // ════════════════════════════════════════════════════════
-        $display("\n--- Test Group 6: Footer Check ---");
+        $display("\n--- Test Group 6: Footer Retention ---");
         apply_reset;
         ft601_txe = 0;
 
-        // Drive packet through range data
+        @(posedge clk);
+        cfar_detection = 1'b1;
+        @(posedge clk);
         preload_pending_data;
         assert_range_valid(32'hFACE_FEED);
-        wait_for_state(S_SEND_DOPPLER, 100);
-        // Feed doppler data (need 4 pulses)
-        pulse_doppler_once(16'h1111, 16'h2222);
-        pulse_doppler_once(16'h1111, 16'h2222);
-        pulse_doppler_once(16'h1111, 16'h2222);
-        pulse_doppler_once(16'h1111, 16'h2222);
-        wait_for_state(S_SEND_DETECT, 100);
-        // Feed cfar data, but keep ft601_txe=0 so it flows through
-        pulse_cfar_once(1'b1);
-
-        // Now the FSM should pass through SEND_FOOTER quickly.
-        // Use wait_for_state to reach SEND_FOOTER, or it may already
-        // be at WAIT_ACK/IDLE. Let's catch WAIT_ACK or IDLE.
-        // The footer values are latched into registers, so we can
-        // verify them even after the state transitions.
-        // Key verification: the FOOTER constant (0x55) must have been
-        // driven. We check this by looking at the constant definition.
-        // Since we can't easily freeze the FSM at SEND_FOOTER without
-        // also stalling SEND_DETECTION_DATA (both check ft601_txe),
-        // we verify the footer indirectly:
-        // 1. The packet completed (reached IDLE/WAIT_ACK)
-        // 2. ft601_data_out last held 0x55 during SEND_FOOTER
-
         wait_for_state(S_IDLE, 100);
         #1;
-        // If we reached IDLE, the full sequence ran including footer
         check(uut.current_state === S_IDLE,
               "Full packet incl. footer completed, back in IDLE");
 
-        // The registered ft601_data_out should still hold 0x55 from
+        // The last word driven was word 2 which contains footer 0x55.
-        // SEND_FOOTER (WAIT_ACK and IDLE don't overwrite ft601_data_out).
+        // WAIT_ACK and IDLE don't overwrite ft601_data_out, so it retains
-        // Actually, looking at the DUT: WAIT_ACK only sets wr_n=1 and
+        // the last driven value.
-        // data_oe=0, it doesn't change ft601_data_out. So it retains 0x55.
+        check(uut.ft601_data_out[15:8] === 8'h55,
-        check(uut.ft601_data_out[7:0] === 8'h55,
+              "ft601_data_out retains footer 0x55 in word 2 position");
-              "ft601_data_out retains footer 0x55 after packet");
 
-        // Verify WAIT_ACK behavior by doing another packet and catching it
+        // Verify WAIT_ACK → IDLE transition
         apply_reset;
         ft601_txe = 0;
         preload_pending_data;
         assert_range_valid(32'h1234_5678);
-        wait_for_state(S_SEND_DOPPLER, 100);
-        pulse_doppler_once(16'hABCD, 16'hEF01);
-        pulse_doppler_once(16'hABCD, 16'hEF01);
-        pulse_doppler_once(16'hABCD, 16'hEF01);
-        pulse_doppler_once(16'hABCD, 16'hEF01);
-        wait_for_state(S_SEND_DETECT, 100);
-        pulse_cfar_once(1'b0);
-        // WAIT_ACK lasts exactly 1 ft601_clk_in cycle then goes IDLE.
-        // Poll for IDLE (which means WAIT_ACK already happened).
         wait_for_state(S_IDLE, 100);
         #1;
         check(uut.current_state === S_IDLE,
               "Returned to IDLE after WAIT_ACK");
         check(ft601_wr_n === 1'b1,
-              "ft601_wr_n deasserted in IDLE (was deasserted in WAIT_ACK)");
+              "ft601_wr_n deasserted in IDLE");
         check(uut.ft601_data_oe === 1'b0,
-              "Data bus released in IDLE (was released in WAIT_ACK)");
+              "Data bus released in IDLE");
 
         // ════════════════════════════════════════════════════════
         // TEST GROUP 7: Full packet sequence (end-to-end)
@@ -646,23 +641,24 @@ module tb_usb_data_interface;
         // ════════════════════════════════════════════════════════
         $display("\n--- Test Group 8: FIFO Backpressure ---");
         apply_reset;
-        ft601_txe = 1;
+        ft601_txe = 1;  // FIFO full — stall
 
+        preload_pending_data;
         assert_range_valid(32'hBBBB_CCCC);
 
-        wait_for_state(S_SEND_HEADER, 50);
+        wait_for_state(S_SEND_DATA_WORD, 50);
         repeat (10) @(posedge ft601_clk_in); #1;
 
-        check(uut.current_state === S_SEND_HEADER,
+        check(uut.current_state === S_SEND_DATA_WORD,
-              "Stalled in SEND_HEADER when ft601_txe=1 (FIFO full)");
+              "Stalled in SEND_DATA_WORD when ft601_txe=1 (FIFO full)");
         check(ft601_wr_n === 1'b1,
               "ft601_wr_n not asserted during backpressure stall");
 
         ft601_txe = 0;
-        repeat (2) @(posedge ft601_clk_in); #1;
+        repeat (6) @(posedge ft601_clk_in); #1;
 
-        check(uut.current_state !== S_SEND_HEADER,
+        check(uut.current_state === S_IDLE || uut.current_state === S_WAIT_ACK,
-              "Resumed from SEND_HEADER after backpressure released");
+              "Resumed and completed after backpressure released");
 
         // ════════════════════════════════════════════════════════
         // TEST GROUP 9: Clock divider
@@ -705,13 +701,6 @@ module tb_usb_data_interface;
         ft601_txe = 0;
         preload_pending_data;
         assert_range_valid(32'h1111_2222);
-        wait_for_state(S_SEND_DOPPLER, 100);
-        pulse_doppler_once(16'h3333, 16'h4444);
-        pulse_doppler_once(16'h3333, 16'h4444);
-        pulse_doppler_once(16'h3333, 16'h4444);
-        pulse_doppler_once(16'h3333, 16'h4444);
-        wait_for_state(S_SEND_DETECT, 100);
-        pulse_cfar_once(1'b0);
         wait_for_state(S_WAIT_ACK, 50);
         #1;
 
@@ -805,7 +794,7 @@ module tb_usb_data_interface;
         // Start a write packet
         preload_pending_data;
         assert_range_valid(32'hFACE_FEED);
-        wait_for_state(S_SEND_HEADER, 50);
+        wait_for_state(S_SEND_DATA_WORD, 50);
         @(posedge ft601_clk_in); #1;
 
         // While write FSM is active, assert RXF=0 (host has data)
@@ -818,13 +807,6 @@ module tb_usb_data_interface;
 
         // Deassert RXF, complete the write packet
         ft601_rxf = 1;
-        wait_for_state(S_SEND_DOPPLER, 100);
-        pulse_doppler_once(16'hAAAA, 16'hBBBB);
-        pulse_doppler_once(16'hAAAA, 16'hBBBB);
-        pulse_doppler_once(16'hAAAA, 16'hBBBB);
-        pulse_doppler_once(16'hAAAA, 16'hBBBB);
-        wait_for_state(S_SEND_DETECT, 100);
-        pulse_cfar_once(1'b1);
         wait_for_state(S_IDLE, 100);
         @(posedge ft601_clk_in); #1;
 
@@ -841,32 +823,42 @@ module tb_usb_data_interface;
         // ════════════════════════════════════════════════════════
         // TEST GROUP 15: Stream Control Gating (Gap 2)
         // Verify that disabling individual streams causes the write
-        // FSM to skip those data phases.
+        // FSM to zero those fields in the packed words.
         // ════════════════════════════════════════════════════════
         $display("\n--- Test Group 15: Stream Control Gating (Gap 2) ---");
 
         // 15a: Disable doppler stream (stream_control = 3'b101 = range + cfar only)
         apply_reset;
-        ft601_txe = 0;
+        ft601_txe = 1;  // Stall to inspect packed words
         stream_control = 3'b101;  // range + cfar, no doppler
         // Wait for CDC propagation (2-stage sync)
         repeat (6) @(posedge ft601_clk_in);
 
-        // Preload cfar pending so the FSM enters the SEND_DETECT data path
+        @(posedge clk);
-        // (without it, SEND_DETECT skips immediately on !cfar_data_pending).
+        doppler_real   = 16'hAAAA;
-        preload_cfar_pending;
+        doppler_imag   = 16'hBBBB;
-        // Drive range valid — triggers write FSM
+        cfar_detection = 1'b1;
-        assert_range_valid(32'hAA11_BB22);
+        @(posedge clk);
-        // FSM: IDLE -> SEND_HEADER -> SEND_RANGE (doppler disabled) -> SEND_DETECT -> FOOTER
-        // The FSM races through SEND_DETECT in 1 cycle (cfar_data_pending is consumed).
-        // Verify the packet completed correctly (doppler was skipped).
-        wait_for_state(S_IDLE, 200);
-        #1;
-        // Reaching IDLE proves: HEADER -> RANGE -> (skip DOPPLER) -> DETECT -> FOOTER -> ACK -> IDLE.
-        // cfar_data_pending consumed confirms SEND_DETECT was entered.
-        check(uut.current_state === S_IDLE && uut.cfar_data_pending === 1'b0,
-              "Stream gate: reached SEND_DETECT (range sent, doppler skipped)");
 
+        preload_cfar_pending;
+        assert_range_valid(32'hAA11_BB22);
+
+        wait_for_state(S_SEND_DATA_WORD, 200);
+        repeat (2) @(posedge ft601_clk_in); #1;
+
+        // With doppler disabled, doppler fields in words 1 and 2 should be zero
+        // Word 1: {range[7:0], 0x00, 0x00, 0x00} (doppler zeroed)
+        check(uut.data_pkt_word1[23:0] === 24'h000000,
+              "Stream gate: doppler bytes zeroed in word 1 when disabled");
+
+        // Word 2 byte 3 (dop_im_lo) should also be zero
+        check(uut.data_pkt_word2[31:24] === 8'h00,
+              "Stream gate: dop_im_lo zeroed in word 2 when disabled");
+
+        // Let it complete
+        ft601_txe = 0;
+        wait_for_state(S_IDLE, 100);
+        #1;
         check(uut.current_state === S_IDLE,
               "Stream gate: packet completed without doppler");
 
@@ -951,28 +943,6 @@ module tb_usb_data_interface;
               "Status readback: returned to IDLE after 8-word response");
 
         // Verify the status snapshot was captured correctly.
-        // status_words[0] = {0xFF, 3'b000, mode[1:0], 5'b0, stream_ctrl[2:0], cfar_threshold[15:0]}
-        // = {8'hFF, 3'b000, 2'b01, 5'b00000, 3'b101, 16'hABCD}
-        // = 0xFF_09_05_ABCD... let's compute:
-        // Byte 3: 0xFF = 8'hFF
-        // Byte 2: {3'b000, 2'b01} = 5'b00001 + 3 high bits of next field...
-        // Actually the packing is: {8'hFF, 3'b000, status_radar_mode[1:0], 5'b00000, status_stream_ctrl[2:0], status_cfar_threshold[15:0]}
-        // = {8'hFF, 3'b000, 2'b01, 5'b00000, 3'b101, 16'hABCD}
-        // = 8'hFF, 5'b00001, 8'b00000101, 16'hABCD
-        // = FF_09_05_ABCD? Let me compute carefully:
-        // Bits [31:24] = 8'hFF = 0xFF
-        // Bits [23:21] = 3'b000
-        // Bits [20:19] = 2'b01 (mode)
-        // Bits [18:14] = 5'b00000
-        // Bits [13:11] = 3'b101 (stream_ctrl)
-        // Bits [10:0]  = ... wait, cfar_threshold is 16 bits → [15:0]
-        // Total bits = 8+3+2+5+3+16 = 37 bits — won't fit in 32!
-        // Re-reading the RTL: the packing at line 241 is:
-        //   {8'hFF, 3'b000, status_radar_mode, 5'b00000, status_stream_ctrl, status_cfar_threshold}
-        //   = 8 + 3 + 2 + 5 + 3 + 16 = 37 bits
-        // This would be truncated to 32 bits. Let me re-read the actual RTL to check.
-        // For now, just verify status_words[1] (word index 1 in the packet = idx 2 in FSM)
-        // status_words[1] = {status_long_chirp, status_long_listen} = {16'd3000, 16'd13700}
         check(uut.status_words[1] === {16'd3000, 16'd13700},
               "Status readback: word 1 = {long_chirp, long_listen}");
         check(uut.status_words[2] === {16'd17540, 16'd50},

9_Firmware/9_2_FPGA/usb_data_interface.v

@@ -1,3 +1,17 @@
+/**
+ * usb_data_interface.v
+ *
+ * FT601 USB 3.0 SuperSpeed FIFO Interface (32-bit bus, 100 MHz ft601_clk).
+ * Used on the 200T premium dev board. Production 50T board uses
+ * usb_data_interface_ft2232h.v (FT2232H, 8-bit, 60 MHz) instead.
+ *
+ * USB disconnect recovery:
+ *   A clock-activity watchdog in the clk domain detects when ft601_clk_in
+ *   stops (USB cable unplugged). After ~0.65 ms of silence (65536 system
+ *   clocks) it asserts ft601_clk_lost, which is OR'd into the FT-domain
+ *   reset so FSMs and FIFOs return to a clean state. When ft601_clk_in
+ *   resumes, a 2-stage reset synchronizer deasserts the reset cleanly.
+ */
 module usb_data_interface (
     input wire clk,              // Main clock (100MHz recommended)
     input wire reset_n,
@@ -15,13 +29,18 @@ module usb_data_interface (
     // FT601 Interface (Slave FIFO mode)
     // Data bus
     inout wire [31:0] ft601_data,    // 32-bit bidirectional data bus
-    output reg [3:0] ft601_be,       // Byte enable (4 lanes for 32-bit mode)
+    output reg [3:0] ft601_be,       // Byte enable (active-HIGH per DS_FT600Q-FT601Q Table 3.2)
     
     // Control signals
-    output reg ft601_txe_n,          // Transmit enable (active low)
+    // VESTIGIAL OUTPUTS — kept for 200T board port compatibility.
-    output reg ft601_rxf_n,          // Receive enable (active low)
+    // On the 200T, these are constrained to physical pins G21 (TXE) and
-    input wire ft601_txe,             // TXE: Transmit FIFO Not Full (high = space available to write)
+    // G22 (RXF) in xc7a200t_fbg484.xdc. Removing them from the RTL would
-    input wire ft601_rxf,             // RXF: Receive FIFO Not Empty (high = data available to read)
+    // break the 200T build. They are reset to 1 and never driven; the
+    // actual FT601 flow-control inputs are ft601_txe and ft601_rxf below.
+    output reg ft601_txe_n,          // VESTIGIAL: unused output, always 1
+    output reg ft601_rxf_n,          // VESTIGIAL: unused output, always 1
+    input wire ft601_txe,             // TXE: Transmit FIFO Not Full (active-low: 0 = space available)
+    input wire ft601_rxf,             // RXF: Receive FIFO Not Empty (active-low: 0 = data available)
     output reg ft601_wr_n,            // Write strobe (active low)
     output reg ft601_rd_n,            // Read strobe (active low)
     output reg ft601_oe_n,            // Output enable (active low)
@@ -97,21 +116,26 @@ localparam FT601_BURST_SIZE = 512;    // Max burst size in bytes
 // ============================================================================
 // WRITE FSM State definitions (Verilog-2001 compatible)
 // ============================================================================
-localparam [2:0] IDLE                = 3'd0,
+// Rewritten: data packet is now 3 x 32-bit writes (11 payload bytes + 1 pad).
-                 SEND_HEADER         = 3'd1,
+// Word 0: {HEADER, range[31:24], range[23:16], range[15:8]}  BE=1111
-                 SEND_RANGE_DATA     = 3'd2,
+// Word 1: {range[7:0], doppler_real[15:8], doppler_real[7:0], doppler_imag[15:8]} BE=1111
-                 SEND_DOPPLER_DATA   = 3'd3,
+// Word 2: {doppler_imag[7:0], detection, FOOTER, 8'h00}      BE=1110
-                 SEND_DETECTION_DATA = 3'd4,
+localparam [3:0] IDLE                = 4'd0,
-                 SEND_FOOTER         = 3'd5,
+                 SEND_DATA_WORD      = 4'd1,
-                 WAIT_ACK            = 3'd6,
+                 SEND_STATUS         = 4'd2,
-                 SEND_STATUS         = 3'd7;  // Gap 2: status readback
+                 WAIT_ACK            = 4'd3;
 
-reg [2:0] current_state;
+reg [3:0] current_state;
-reg [7:0] byte_counter;
+reg [1:0] data_word_idx;     // 0..2 for 3-word data packet
-reg [31:0] data_buffer;
 reg [31:0] ft601_data_out;
 reg ft601_data_oe;  // Output enable for bidirectional data bus
 
+// Pre-packed data words (registered snapshot of CDC'd data)
+reg [31:0] data_pkt_word0;
+reg [31:0] data_pkt_word1;
+reg [31:0] data_pkt_word2;
+reg [3:0]  data_pkt_be2;     // BE for last word (BE=1110 since byte 3 is pad)
+
 // ============================================================================
 // READ FSM State definitions (Gap 4: USB Read Path)
 // ============================================================================
@@ -184,6 +208,67 @@ always @(posedge clk or negedge reset_n) begin
     end
 end
 
+// ============================================================================
+// CLOCK-ACTIVITY WATCHDOG (clk domain)
+// ============================================================================
+// Detects when ft601_clk_in stops (USB cable unplugged). A toggle register
+// in the ft601_clk domain flips every edge. The clk domain synchronizes it
+// and checks for transitions. If no transition is seen for 2^16 = 65536
+// clk cycles (~0.65 ms at 100 MHz), ft601_clk_lost asserts.
+
+// Toggle register: flips every ft601_clk edge (ft601_clk domain)
+reg ft601_heartbeat;
+always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
+    if (!ft601_reset_n)
+        ft601_heartbeat <= 1'b0;
+    else
+        ft601_heartbeat <= ~ft601_heartbeat;
+end
+
+// Synchronize heartbeat into clk domain (2-stage)
+(* ASYNC_REG = "TRUE" *) reg [1:0] ft601_hb_sync;
+reg ft601_hb_prev;
+reg [15:0] ft601_clk_timeout;
+reg ft601_clk_lost;
+
+always @(posedge clk or negedge reset_n) begin
+    if (!reset_n) begin
+        ft601_hb_sync    <= 2'b00;
+        ft601_hb_prev    <= 1'b0;
+        ft601_clk_timeout <= 16'd0;
+        ft601_clk_lost   <= 1'b0;
+    end else begin
+        ft601_hb_sync <= {ft601_hb_sync[0], ft601_heartbeat};
+        ft601_hb_prev <= ft601_hb_sync[1];
+
+        if (ft601_hb_sync[1] != ft601_hb_prev) begin
+            // ft601_clk is alive — reset counter, clear lost flag
+            ft601_clk_timeout <= 16'd0;
+            ft601_clk_lost    <= 1'b0;
+        end else if (!ft601_clk_lost) begin
+            if (ft601_clk_timeout == 16'hFFFF)
+                ft601_clk_lost <= 1'b1;
+            else
+                ft601_clk_timeout <= ft601_clk_timeout + 16'd1;
+        end
+    end
+end
+
+// Effective FT601-domain reset: asserted by global reset OR clock loss.
+// Deassertion synchronized to ft601_clk via 2-stage sync to avoid
+// metastability on the recovery edge.
+(* ASYNC_REG = "TRUE" *) reg [1:0] ft601_reset_sync;
+wire ft601_reset_raw_n = ft601_reset_n & ~ft601_clk_lost;
+
+always @(posedge ft601_clk_in or negedge ft601_reset_raw_n) begin
+    if (!ft601_reset_raw_n)
+        ft601_reset_sync <= 2'b00;
+    else
+        ft601_reset_sync <= {ft601_reset_sync[0], 1'b1};
+end
+
+wire ft601_effective_reset_n = ft601_reset_sync[1];
+
 // FT601-domain captured data (sampled from holding regs on sync'd edge)
 reg [31:0] range_profile_cap;
 reg [15:0] doppler_real_cap;
@@ -197,6 +282,18 @@ reg cfar_detection_cap;
 reg doppler_data_pending;
 reg cfar_data_pending;
 
+// 1-cycle delayed range trigger.  range_valid_ft fires on the same clock
+// edge that range_profile_cap is captured (non-blocking).  If the FSM
+// reads range_profile_cap on that same edge it sees the STALE value.
+// Delaying the trigger by one cycle guarantees the capture register has
+// settled before the FSM packs the data words.
+reg range_data_ready;
+
+// Frame sync: sample counter (ft601_clk domain, wraps at NUM_CELLS)
+// Bit 7 of detection byte is set when sample_counter == 0 (frame start).
+localparam [11:0] NUM_CELLS = 12'd2048;  // 64 range x 32 doppler
+reg [11:0] sample_counter;
+
 // Gap 2: CDC for stream_control (clk_100m -> ft601_clk_in)
 // stream_control changes infrequently (only on host USB command), so
 // per-bit 2-stage synchronizers are sufficient. No Gray coding needed
@@ -228,8 +325,8 @@ wire range_valid_ft;
 wire doppler_valid_ft;
 wire cfar_valid_ft;
 
-always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
+always @(posedge ft601_clk_in or negedge ft601_effective_reset_n) begin
-    if (!ft601_reset_n) begin
+    if (!ft601_effective_reset_n) begin
         range_valid_sync   <= 2'b00;
         doppler_valid_sync <= 2'b00;
         cfar_valid_sync    <= 2'b00;
@@ -240,6 +337,7 @@ always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
         doppler_real_cap   <= 16'd0;
         doppler_imag_cap   <= 16'd0;
         cfar_detection_cap <= 1'b0;
+        range_data_ready   <= 1'b0;
         // Fix #5: Default to range-only on reset (prevents write FSM deadlock)
         stream_ctrl_sync_0 <= 3'b001;
         stream_ctrl_sync_1 <= 3'b001;
@@ -276,7 +374,7 @@ always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
             // Word 4: AGC metrics + range_mode
             status_words[4] <= {status_agc_current_gain,        // [31:28]
                                 status_agc_peak_magnitude,      // [27:20]
-                                status_agc_saturation_count,    // [19:12]
+                                status_agc_saturation_count,    // [19:12] 8-bit saturation count
                                 status_agc_enable,              // [11]
                                 9'd0,                           // [10:2] reserved
                                 status_range_mode};             // [1:0]
@@ -302,6 +400,10 @@ always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
         if (cfar_valid_sync[1] && !cfar_valid_sync_d) begin
             cfar_detection_cap <= cfar_detection_hold;
         end
+
+        // 1-cycle delayed trigger: ensures range_profile_cap has settled
+        // before the FSM reads it for word packing.
+        range_data_ready <= range_valid_ft;
     end
 end
 
@@ -314,11 +416,11 @@ assign cfar_valid_ft    = cfar_valid_sync[1]     && !cfar_valid_sync_d;
 // FT601 data bus direction control
 assign ft601_data = ft601_data_oe ? ft601_data_out : 32'hzzzz_zzzz;
 
-always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
+always @(posedge ft601_clk_in or negedge ft601_effective_reset_n) begin
-    if (!ft601_reset_n) begin
+    if (!ft601_effective_reset_n) begin
         current_state <= IDLE;
         read_state <= RD_IDLE;
-        byte_counter <= 0;
+        data_word_idx <= 2'd0;
         ft601_data_out <= 0;
         ft601_data_oe <= 0;
         ft601_be <= 4'b1111;  // All bytes enabled for 32-bit mode
@@ -336,6 +438,11 @@ always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
         cmd_value <= 16'd0;
         doppler_data_pending <= 1'b0;
         cfar_data_pending <= 1'b0;
+        data_pkt_word0 <= 32'd0;
+        data_pkt_word1 <= 32'd0;
+        data_pkt_word2 <= 32'd0;
+        data_pkt_be2   <= 4'b1110;
+        sample_counter <= 12'd0;
         // NOTE: ft601_clk_out is driven by the clk-domain always block below.
         // Do NOT assign it here (ft601_clk_in domain) — causes multi-driven net.
     end else begin
@@ -424,122 +531,64 @@ always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
                         current_state <= SEND_STATUS;
                         status_word_idx <= 3'd0;
                     end
-                    // Trigger write FSM on range_valid edge (primary data source).
+                    // Trigger on range_data_ready (1 cycle after range_valid_ft)
-                    // Doppler/cfar data_pending flags are checked inside
+                    // so that range_profile_cap has settled from the CDC block.
-                    // SEND_DOPPLER_DATA and SEND_DETECTION_DATA to skip or send.
+                    // Gate on pending flags: only send when all enabled
-                    // Do NOT trigger on pending flags alone — they're sticky and
+                    // streams have fresh data (avoids stale doppler/CFAR)
-                    // would cause repeated packet starts without new range data.
+                    else if (range_data_ready && stream_range_en
-                    else if (range_valid_ft && stream_range_en) begin
+                             && (!stream_doppler_en || doppler_data_pending)
+                             && (!stream_cfar_en    || cfar_data_pending)) begin
                         // Don't start write if a read is about to begin
                         if (ft601_rxf) begin  // rxf=1 means no host data pending
-                            current_state <= SEND_HEADER;
+                            // Pack 11-byte data packet into 3 x 32-bit words
-                            byte_counter <= 0;
+                            // Doppler fields zeroed when stream disabled
+                            // CFAR field zeroed when stream disabled
+                            data_pkt_word0 <= {HEADER,
+                                               range_profile_cap[31:24],
+                                               range_profile_cap[23:16],
+                                               range_profile_cap[15:8]};
+                            data_pkt_word1 <= {range_profile_cap[7:0],
+                                               stream_doppler_en ? doppler_real_cap[15:8] : 8'd0,
+                                               stream_doppler_en ? doppler_real_cap[7:0]  : 8'd0,
+                                               stream_doppler_en ? doppler_imag_cap[15:8] : 8'd0};
+                            data_pkt_word2 <= {stream_doppler_en ? doppler_imag_cap[7:0]  : 8'd0,
+                                               stream_cfar_en
+                                                    ? {(sample_counter == 12'd0), 6'b0, cfar_detection_cap}
+                                                    : {(sample_counter == 12'd0), 7'd0},
+                                               FOOTER,
+                                               8'h00};  // pad byte
+                            data_pkt_be2   <= 4'b1110;   // 3 valid bytes + 1 pad
+                            data_word_idx  <= 2'd0;
+                            current_state  <= SEND_DATA_WORD;
                         end
                     end
                 end
 
-                SEND_HEADER: begin
+                SEND_DATA_WORD: begin
-                    if (!ft601_txe) begin  // FT601 TX FIFO not empty
-                        ft601_data_oe <= 1;
-                        ft601_data_out <= {24'b0, HEADER};
-                        ft601_be <= 4'b0001;  // Only lower byte valid
-                        ft601_wr_n <= 0;     // Assert write strobe
-                        // Gap 2: skip to first enabled stream
-                        if (stream_range_en)
-                            current_state <= SEND_RANGE_DATA;
-                        else if (stream_doppler_en)
-                            current_state <= SEND_DOPPLER_DATA;
-                        else if (stream_cfar_en)
-                            current_state <= SEND_DETECTION_DATA;
-                        else
-                            current_state <= SEND_FOOTER;  // No streams — send footer only
-                    end
-                end
-                
-                SEND_RANGE_DATA: begin
                     if (!ft601_txe) begin
                         ft601_data_oe <= 1;
-                        ft601_be <= 4'b1111;  // All bytes valid for 32-bit word
-                        
-                        case (byte_counter)
-                            0: ft601_data_out <= range_profile_cap;
-                            1: ft601_data_out <= {range_profile_cap[23:0], 8'h00};
-                            2: ft601_data_out <= {range_profile_cap[15:0], 16'h0000};
-                            3: ft601_data_out <= {range_profile_cap[7:0], 24'h000000};
-                        endcase
-                        
                         ft601_wr_n <= 0;
-                        
+                        case (data_word_idx)
-                        if (byte_counter == 3) begin
+                            2'd0: begin
-                            byte_counter <= 0;
+                                ft601_data_out <= data_pkt_word0;
-                            // Gap 2: skip disabled streams
-                            if (stream_doppler_en)
-                                current_state <= SEND_DOPPLER_DATA;
-                            else if (stream_cfar_en)
-                                current_state <= SEND_DETECTION_DATA;
-                            else
-                                current_state <= SEND_FOOTER;
-                        end else begin
-                            byte_counter <= byte_counter + 1;
-                        end
-                    end
-                end
-                
-                SEND_DOPPLER_DATA: begin
-                    if (!ft601_txe && doppler_data_pending) begin
-                        ft601_data_oe <= 1;
                                 ft601_be <= 4'b1111;
-                        
+                            end
-                        case (byte_counter)
+                            2'd1: begin
-                            0: ft601_data_out <= {doppler_real_cap, doppler_imag_cap};
+                                ft601_data_out <= data_pkt_word1;
-                            1: ft601_data_out <= {doppler_imag_cap, doppler_real_cap[15:8], 8'h00};
+                                ft601_be <= 4'b1111;
-                            2: ft601_data_out <= {doppler_real_cap[7:0], doppler_imag_cap[15:8], 16'h0000};
+                            end
-                            3: ft601_data_out <= {doppler_imag_cap[7:0], 24'h000000};
+                            2'd2: begin
+                                ft601_data_out <= data_pkt_word2;
+                                ft601_be <= data_pkt_be2;
+                            end
+                            default: ;
                         endcase
-                        
+                        if (data_word_idx == 2'd2) begin
-                        ft601_wr_n <= 0;
+                            data_word_idx <= 2'd0;
-                        
-                        if (byte_counter == 3) begin
-                            byte_counter <= 0;
-                            doppler_data_pending <= 1'b0;
-                            if (stream_cfar_en)
-                                current_state <= SEND_DETECTION_DATA;
-                            else
-                                current_state <= SEND_FOOTER;
-                        end else begin
-                            byte_counter <= byte_counter + 1;
-                        end
-                    end else if (!doppler_data_pending) begin
-                        // No doppler data available yet — skip to next stream
-                        byte_counter <= 0;
-                        if (stream_cfar_en)
-                            current_state <= SEND_DETECTION_DATA;
-                        else
-                            current_state <= SEND_FOOTER;
-                    end
-                end
-                
-                SEND_DETECTION_DATA: begin
-                    if (!ft601_txe && cfar_data_pending) begin
-                        ft601_data_oe <= 1;
-                        ft601_be <= 4'b0001;
-                        ft601_data_out <= {24'b0, 7'b0, cfar_detection_cap};
-                        ft601_wr_n <= 0;
-                        cfar_data_pending <= 1'b0;
-                        current_state <= SEND_FOOTER;
-                    end else if (!cfar_data_pending) begin
-                        // No CFAR data available yet — skip to footer
-                        current_state <= SEND_FOOTER;
-                    end
-                end
-                
-                SEND_FOOTER: begin
-                    if (!ft601_txe) begin
-                        ft601_data_oe <= 1;
-                        ft601_be <= 4'b0001;
-                        ft601_data_out <= {24'b0, FOOTER};
-                        ft601_wr_n <= 0;
                             current_state <= WAIT_ACK;
+                        end else begin
+                            data_word_idx <= data_word_idx + 2'd1;
+                        end
                     end
                 end
 
@@ -581,6 +630,14 @@ always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
                 WAIT_ACK: begin
                     ft601_wr_n <= 1;
                     ft601_data_oe <= 0;  // Release data bus
+                    // Clear pending flags — data consumed
+                    doppler_data_pending <= 1'b0;
+                    cfar_data_pending    <= 1'b0;
+                    // Advance frame sync counter
+                    if (sample_counter == NUM_CELLS - 12'd1)
+                        sample_counter <= 12'd0;
+                    else
+                        sample_counter <= sample_counter + 12'd1;
                     current_state <= IDLE;
                 end
             endcase
@@ -613,8 +670,8 @@ ODDR #(
 `else
 // Simulation: behavioral clock forwarding
 reg ft601_clk_out_sim;
-always @(posedge ft601_clk_in or negedge ft601_reset_n) begin
+always @(posedge ft601_clk_in or negedge ft601_effective_reset_n) begin
-    if (!ft601_reset_n)
+    if (!ft601_effective_reset_n)
         ft601_clk_out_sim <= 1'b0;
     else
         ft601_clk_out_sim <= 1'b1;

9_Firmware/9_2_FPGA/usb_data_interface_ft2232h.v

@@ -36,6 +36,13 @@
  * Clock domains:
  *   clk       = 100 MHz system clock (radar data domain)
  *   ft_clk    = 60 MHz from FT2232H CLKOUT (USB FIFO domain)
+ *
+ * USB disconnect recovery:
+ *   A clock-activity watchdog in the clk domain detects when ft_clk stops
+ *   (USB cable unplugged). After ~0.65 ms of silence (65536 system clocks)
+ *   it asserts ft_clk_lost, which is OR'd into the FT-domain reset so
+ *   FSMs and FIFOs return to a clean state. When ft_clk resumes, a 2-stage
+ *   reset synchronizer deasserts the reset cleanly in the ft_clk domain.
  */
 
 module usb_data_interface_ft2232h (
@@ -59,7 +66,9 @@ module usb_data_interface_ft2232h (
     output reg ft_rd_n,             // Read strobe (active low)
     output reg ft_wr_n,             // Write strobe (active low)
     output reg ft_oe_n,             // Output enable (active low) — bus direction
-    output reg ft_siwu,             // Send Immediate / WakeUp
+    output reg ft_siwu,             // Send Immediate / WakeUp — UNUSED: held low.
+                                    // SIWU could flush the TX FIFO for lower latency
+                                    // but is not needed at current data rates. Deferred.
 
     // Clock from FT2232H (directly used — no ODDR forwarding needed)
     input wire ft_clk,              // 60 MHz from FT2232H CLKOUT
@@ -134,6 +143,7 @@ localparam [2:0] RD_IDLE       = 3'd0,
 reg [2:0] rd_state;
 reg [1:0] rd_byte_cnt;   // 0..3 for 4-byte command word
 reg [31:0] rd_shift_reg;  // Shift register to assemble 4-byte command
+reg rd_cmd_complete;      // Set when all 4 bytes received (distinguishes from abort)
 
 // ============================================================================
 // DATA BUS DIRECTION CONTROL
@@ -192,6 +202,70 @@ always @(posedge clk or negedge reset_n) begin
     end
 end
 
+// ============================================================================
+// CLOCK-ACTIVITY WATCHDOG (clk domain)
+// ============================================================================
+// Detects when ft_clk stops (USB cable unplugged). A toggle register in the
+// ft_clk domain flips every ft_clk edge. The clk domain synchronizes it and
+// checks for transitions. If no transition is seen for 2^16 = 65536 clk
+// cycles (~0.65 ms at 100 MHz), ft_clk_lost asserts.
+//
+// ft_clk_lost feeds into the effective reset for the ft_clk domain so that
+// FSMs and capture registers return to a clean state automatically.
+
+// Toggle register: flips every ft_clk edge (ft_clk domain)
+reg ft_heartbeat;
+always @(posedge ft_clk or negedge ft_reset_n) begin
+    if (!ft_reset_n)
+        ft_heartbeat <= 1'b0;
+    else
+        ft_heartbeat <= ~ft_heartbeat;
+end
+
+// Synchronize heartbeat into clk domain (2-stage)
+(* ASYNC_REG = "TRUE" *) reg [1:0] ft_hb_sync;
+reg ft_hb_prev;
+reg [15:0] ft_clk_timeout;
+reg ft_clk_lost;
+
+always @(posedge clk or negedge reset_n) begin
+    if (!reset_n) begin
+        ft_hb_sync    <= 2'b00;
+        ft_hb_prev    <= 1'b0;
+        ft_clk_timeout <= 16'd0;
+        ft_clk_lost   <= 1'b0;
+    end else begin
+        ft_hb_sync <= {ft_hb_sync[0], ft_heartbeat};
+        ft_hb_prev <= ft_hb_sync[1];
+
+        if (ft_hb_sync[1] != ft_hb_prev) begin
+            // ft_clk is alive — reset counter, clear lost flag
+            ft_clk_timeout <= 16'd0;
+            ft_clk_lost    <= 1'b0;
+        end else if (!ft_clk_lost) begin
+            if (ft_clk_timeout == 16'hFFFF)
+                ft_clk_lost <= 1'b1;
+            else
+                ft_clk_timeout <= ft_clk_timeout + 16'd1;
+        end
+    end
+end
+
+// Effective FT-domain reset: asserted by global reset OR clock loss.
+// Deassertion synchronized to ft_clk via 2-stage sync to avoid
+// metastability on the recovery edge.
+(* ASYNC_REG = "TRUE" *) reg [1:0] ft_reset_sync;
+wire ft_reset_raw_n = ft_reset_n & ~ft_clk_lost;
+
+always @(posedge ft_clk or negedge ft_reset_raw_n) begin
+    if (!ft_reset_raw_n)
+        ft_reset_sync <= 2'b00;
+    else
+        ft_reset_sync <= {ft_reset_sync[0], 1'b1};
+end
+
+wire ft_effective_reset_n = ft_reset_sync[1];
+
 // --- 3-stage synchronizers (ft_clk domain) ---
 // 3 stages for better MTBF at 60 MHz
 
@@ -228,12 +302,25 @@ reg cfar_detection_cap;
 reg doppler_data_pending;
 reg cfar_data_pending;
 
+// 1-cycle delayed range trigger.  range_valid_ft fires on the same clock
+// edge that range_profile_cap is captured (non-blocking).  If the FSM
+// reads range_profile_cap on that same edge it sees the STALE value.
+// Delaying the trigger by one cycle guarantees the capture register has
+// settled before the byte mux reads it.
+reg range_data_ready;
+
+// Frame sync: sample counter (ft_clk domain, wraps at NUM_CELLS)
+// Bit 7 of detection byte is set when sample_counter == 0 (frame start).
+// This allows the Python host to resynchronize without a protocol change.
+localparam [11:0] NUM_CELLS = 12'd2048;  // 64 range x 32 doppler
+reg [11:0] sample_counter;
+
 // Status snapshot (ft_clk domain)
 reg [31:0] status_words [0:5];
 
 integer si;  // status_words loop index
-always @(posedge ft_clk or negedge ft_reset_n) begin
+always @(posedge ft_clk or negedge ft_effective_reset_n) begin
-    if (!ft_reset_n) begin
+    if (!ft_effective_reset_n) begin
         range_toggle_sync   <= 3'b000;
         doppler_toggle_sync <= 3'b000;
         cfar_toggle_sync    <= 3'b000;
@@ -246,6 +333,7 @@ always @(posedge ft_clk or negedge ft_reset_n) begin
         doppler_real_cap    <= 16'd0;
         doppler_imag_cap    <= 16'd0;
         cfar_detection_cap  <= 1'b0;
+        range_data_ready    <= 1'b0;
         // Default to range-only on reset (prevents write FSM deadlock)
         stream_ctrl_sync_0  <= 3'b001;
         stream_ctrl_sync_1  <= 3'b001;
@@ -279,6 +367,10 @@ always @(posedge ft_clk or negedge ft_reset_n) begin
         if (cfar_valid_ft)
             cfar_detection_cap <= cfar_detection_hold;
 
+        // 1-cycle delayed trigger: ensures range_profile_cap has settled
+        // before the FSM reads it via the byte mux.
+        range_data_ready <= range_valid_ft;
+
         // Status snapshot on request
         if (status_req_ft) begin
             // Word 0: {0xFF[31:24], mode[23:22], stream[21:19], 3'b000[18:16], threshold[15:0]}
@@ -315,11 +407,16 @@ always @(*) begin
         5'd2:  data_pkt_byte = range_profile_cap[23:16];
         5'd3:  data_pkt_byte = range_profile_cap[15:8];
         5'd4:  data_pkt_byte = range_profile_cap[7:0];     // range LSB
-        5'd5:  data_pkt_byte = doppler_real_cap[15:8];      // doppler_real MSB
+        // Doppler fields: zero when stream_doppler_en is off
-        5'd6:  data_pkt_byte = doppler_real_cap[7:0];       // doppler_real LSB
+        5'd5:  data_pkt_byte = stream_doppler_en ? doppler_real_cap[15:8]  : 8'd0;
-        5'd7:  data_pkt_byte = doppler_imag_cap[15:8];      // doppler_imag MSB
+        5'd6:  data_pkt_byte = stream_doppler_en ? doppler_real_cap[7:0]   : 8'd0;
-        5'd8:  data_pkt_byte = doppler_imag_cap[7:0];       // doppler_imag LSB
+        5'd7:  data_pkt_byte = stream_doppler_en ? doppler_imag_cap[15:8]  : 8'd0;
-        5'd9:  data_pkt_byte = {7'b0, cfar_detection_cap};  // detection
+        5'd8:  data_pkt_byte = stream_doppler_en ? doppler_imag_cap[7:0]   : 8'd0;
+        // Detection field: zero when stream_cfar_en is off
+        // Bit 7 = frame_start flag (sample_counter == 0), bit 0 = cfar_detection
+        5'd9:  data_pkt_byte = stream_cfar_en
+                   ? {(sample_counter == 12'd0), 6'b0, cfar_detection_cap}
+                   : {(sample_counter == 12'd0), 7'd0};
         5'd10: data_pkt_byte = FOOTER;
         default: data_pkt_byte = 8'h00;
     endcase
@@ -376,12 +473,13 @@ end
 // Write FSM and Read FSM share the bus. Write FSM operates when Read FSM
 // is idle. Read FSM takes priority when host has data available.
 
-always @(posedge ft_clk or negedge ft_reset_n) begin
+always @(posedge ft_clk or negedge ft_effective_reset_n) begin
-    if (!ft_reset_n) begin
+    if (!ft_effective_reset_n) begin
         wr_state       <= WR_IDLE;
         wr_byte_idx    <= 5'd0;
         rd_state       <= RD_IDLE;
         rd_byte_cnt    <= 2'd0;
+        rd_cmd_complete <= 1'b0;
         rd_shift_reg   <= 32'd0;
         ft_data_out    <= 8'd0;
         ft_data_oe     <= 1'b0;
@@ -396,6 +494,7 @@ always @(posedge ft_clk or negedge ft_reset_n) begin
         cmd_value      <= 16'd0;
         doppler_data_pending <= 1'b0;
         cfar_data_pending    <= 1'b0;
+        sample_counter       <= 12'd0;
     end else begin
         // Default: clear one-shot signals
         cmd_valid <= 1'b0;
@@ -439,6 +538,7 @@ always @(posedge ft_clk or negedge ft_reset_n) begin
                     // All 4 bytes received
                     ft_rd_n         <= 1'b1;
                     rd_byte_cnt     <= 2'd0;
+                    rd_cmd_complete <= 1'b1;
                     rd_state        <= RD_DEASSERT;
                 end else begin
                     rd_byte_cnt <= rd_byte_cnt + 2'd1;
@@ -447,6 +547,7 @@ always @(posedge ft_clk or negedge ft_reset_n) begin
                         // Host ran out of data mid-command — abort
                         ft_rd_n         <= 1'b1;
                         rd_byte_cnt     <= 2'd0;
+                        rd_cmd_complete <= 1'b0;
                         rd_state        <= RD_DEASSERT;
                     end
                 end
@@ -456,7 +557,8 @@ always @(posedge ft_clk or negedge ft_reset_n) begin
                 // Deassert OE (1 cycle after RD deasserted)
                 ft_oe_n  <= 1'b1;
                 // Only process if we received a full 4-byte command
-                if (rd_byte_cnt == 2'd0) begin
+                if (rd_cmd_complete) begin
+                    rd_cmd_complete <= 1'b0;
                     rd_state <= RD_PROCESS;
                 end else begin
                     // Incomplete command — discard
@@ -491,8 +593,13 @@ always @(posedge ft_clk or negedge ft_reset_n) begin
                         wr_state    <= WR_STATUS_SEND;
                         wr_byte_idx <= 5'd0;
                     end
-                    // Trigger on range_valid edge (primary data trigger)
+                    // Trigger on range_data_ready (1 cycle after range_valid_ft)
-                    else if (range_valid_ft && stream_range_en) begin
+                    // so that range_profile_cap has settled from the CDC block.
+                    // Gate on pending flags: only send when all enabled
+                    // streams have fresh data (avoids stale doppler/CFAR)
+                    else if (range_data_ready && stream_range_en
+                             && (!stream_doppler_en || doppler_data_pending)
+                             && (!stream_cfar_en    || cfar_data_pending)) begin
                         if (ft_rxf_n) begin  // No host read pending
                             wr_state    <= WR_DATA_SEND;
                             wr_byte_idx <= 5'd0;
@@ -538,6 +645,11 @@ always @(posedge ft_clk or negedge ft_reset_n) begin
                     // Clear pending flags — data consumed
                     doppler_data_pending <= 1'b0;
                     cfar_data_pending    <= 1'b0;
+                    // Advance frame sync counter
+                    if (sample_counter == NUM_CELLS - 12'd1)
+                        sample_counter <= 12'd0;
+                    else
+                        sample_counter <= sample_counter + 12'd1;
                     wr_state   <= WR_IDLE;
                 end
 

9_Firmware/9_3_GUI/GUI_V6.py

@@ -1,3 +1,9 @@
+# =============================================================================
+# DEPRECATED: GUI V6 is superseded by GUI_V65_Tk (tkinter) and V7 (PyQt6).
+# This file is retained for reference only. Do not use for new development.
+# Removal planned for next major release.
+# =============================================================================
+
 import tkinter as tk
 from tkinter import ttk, messagebox
 import threading

9_Firmware/9_3_GUI/GUI_V65_Tk.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-AERIS-10 Radar Dashboard
+AERIS-10 Radar Dashboard (Tkinter)
 ===================================================
 Real-time visualization and control for the AERIS-10 phased-array radar
 via FT2232H USB 2.0 interface.
@@ -14,36 +14,52 @@ Features:
     0x01-0x04, 0x10-0x16, 0x20-0x27, 0x30-0x31, 0xFF)
   - Configuration panel for all radar parameters
   - HDF5 data recording for offline analysis
+  - Replay mode (co-sim dirs, raw IQ .npy, HDF5) with transport controls
+  - Demo mode with synthetic moving targets
+  - Detected targets table
+  - Dual dispatch: FPGA controls route to SoftwareFPGA during replay
   - Mock mode for development/testing without hardware
 
 Usage:
-  python radar_dashboard.py              # Launch with mock data
+  python GUI_V65_Tk.py              # Launch with mock data
-  python radar_dashboard.py --live       # Launch with FT2232H hardware
+  python GUI_V65_Tk.py --live       # Launch with FT2232H hardware
-  python radar_dashboard.py --record     # Launch with HDF5 recording
+  python GUI_V65_Tk.py --record     # Launch with HDF5 recording
+  python GUI_V65_Tk.py --replay path/to/data  # Auto-load replay
+  python GUI_V65_Tk.py --demo       # Start in demo mode
 """
 
 import os
+import math
 import time
+import copy
 import queue
+import random
 import logging
 import argparse
 import threading
 import contextlib
 from collections import deque
+from pathlib import Path
+from typing import ClassVar
 
 import numpy as np
 
-import tkinter as tk
+try:
-from tkinter import ttk, filedialog
+    import tkinter as tk
+    from tkinter import ttk, filedialog
 
-import matplotlib
+    import matplotlib
-matplotlib.use("TkAgg")
+    matplotlib.use("TkAgg")
-from matplotlib.figure import Figure
+    from matplotlib.figure import Figure
-from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+    from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+
+    _HAS_GUI = True
+except (ModuleNotFoundError, ImportError):
+    _HAS_GUI = False
 
 # Import protocol layer (no GUI deps)
 from radar_protocol import (
-    RadarProtocol, FT2232HConnection, ReplayConnection,
+    RadarProtocol, FT2232HConnection, FT601Connection,
     DataRecorder, RadarAcquisition,
     RadarFrame, StatusResponse,
     NUM_RANGE_BINS, NUM_DOPPLER_BINS, WATERFALL_DEPTH,
@@ -54,7 +70,7 @@ logging.basicConfig(
     format="%(asctime)s [%(levelname)s] %(message)s",
     datefmt="%H:%M:%S",
 )
-log = logging.getLogger("radar_dashboard")
+log = logging.getLogger("GUI_V65_Tk")
 
 
 
@@ -73,19 +89,311 @@ YELLOW = "#f9e2af"
 SURFACE = "#313244"
 
 
+# ============================================================================
+# Demo Target Simulator (Tkinter timer-based)
+# ============================================================================
+
+class DemoTarget:
+    """Single simulated target with kinematics."""
+
+    __slots__ = ("azimuth", "classification", "id", "range_m", "snr", "velocity")
+
+    # Physical range grid: 64 bins x ~24 m/bin = ~1536 m max
+    # Bin spacing = c / (2 * Fs) * decimation, where Fs = 100 MHz DDC output.
+    _RANGE_PER_BIN: float = (3e8 / (2 * 100e6)) * 16  # ~24 m
+    _MAX_RANGE: float = _RANGE_PER_BIN * NUM_RANGE_BINS  # ~1536 m
+
+    def __init__(self, tid: int):
+        self.id = tid
+        self.range_m = random.uniform(20, self._MAX_RANGE - 20)
+        self.velocity = random.uniform(-10, 10)
+        self.azimuth = random.uniform(0, 360)
+        self.snr = random.uniform(10, 35)
+        self.classification = random.choice(
+            ["aircraft", "drone", "bird", "unknown"])
+
+    def step(self) -> bool:
+        """Advance one tick.  Return False if target exits coverage."""
+        self.range_m -= self.velocity * 0.1
+        if self.range_m < 5 or self.range_m > self._MAX_RANGE:
+            return False
+        self.velocity = max(-20, min(20, self.velocity + random.uniform(-1, 1)))
+        self.azimuth = (self.azimuth + random.uniform(-0.5, 0.5)) % 360
+        self.snr = max(0, min(50, self.snr + random.uniform(-1, 1)))
+        return True
+
+
+class DemoSimulator:
+    """Timer-driven demo target generator for the Tkinter dashboard.
+
+    Produces synthetic ``RadarFrame`` objects and a target list each tick,
+    pushing them into the dashboard's ``frame_queue`` and ``_ui_queue``.
+    """
+
+    def __init__(self, frame_queue: queue.Queue, ui_queue: queue.Queue,
+                 root: tk.Tk, interval_ms: int = 500):
+        self._frame_queue = frame_queue
+        self._ui_queue = ui_queue
+        self._root = root
+        self._interval_ms = interval_ms
+        self._targets: list[DemoTarget] = []
+        self._next_id = 1
+        self._frame_number = 0
+        self._after_id: str | None = None
+
+        # Seed initial targets
+        for _ in range(8):
+            self._add_target()
+
+    def start(self):
+        self._tick()
+
+    def stop(self):
+        if self._after_id is not None:
+            self._root.after_cancel(self._after_id)
+            self._after_id = None
+
+    def add_random_target(self):
+        self._add_target()
+
+    def _add_target(self):
+        t = DemoTarget(self._next_id)
+        self._next_id += 1
+        self._targets.append(t)
+
+    def _tick(self):
+        updated: list[DemoTarget] = [t for t in self._targets if t.step()]
+        if len(updated) < 5 or (random.random() < 0.05 and len(updated) < 15):
+            self._add_target()
+            updated.append(self._targets[-1])
+        self._targets = updated
+
+        # Synthesize a RadarFrame with Gaussian blobs for each target
+        frame = self._make_frame(updated)
+        with contextlib.suppress(queue.Full):
+            self._frame_queue.put_nowait(frame)
+
+        # Post target info for the detected-targets treeview
+        target_dicts = [
+            {"id": t.id, "range_m": t.range_m, "velocity": t.velocity,
+             "azimuth": t.azimuth, "snr": t.snr, "class": t.classification}
+            for t in updated
+        ]
+        self._ui_queue.put(("demo_targets", target_dicts))
+
+        self._after_id = self._root.after(self._interval_ms, self._tick)
+
+    def _make_frame(self, targets: list[DemoTarget]) -> RadarFrame:
+        """Build a synthetic RadarFrame from target list."""
+        mag = np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS), dtype=np.float64)
+        det = np.zeros((NUM_RANGE_BINS, NUM_DOPPLER_BINS), dtype=np.uint8)
+
+        # Range/Doppler scaling: bin spacing = c/(2*Fs)*decimation
+        range_per_bin = (3e8 / (2 * 100e6)) * 16  # ~24 m/bin
+        max_range = range_per_bin * NUM_RANGE_BINS
+        vel_per_bin = 5.34  # m/s per Doppler bin (radar_scene.py: lam/(2*16*PRI))
+
+        for t in targets:
+            if t.range_m > max_range or t.range_m < 0:
+                continue
+            r_bin = int(t.range_m / range_per_bin)
+            d_bin = int((t.velocity / vel_per_bin) + NUM_DOPPLER_BINS / 2)
+            r_bin = max(0, min(NUM_RANGE_BINS - 1, r_bin))
+            d_bin = max(0, min(NUM_DOPPLER_BINS - 1, d_bin))
+
+            # Gaussian-ish blob
+            amplitude = 500 + t.snr * 200
+            for dr in range(-2, 3):
+                for dd in range(-1, 2):
+                    ri = r_bin + dr
+                    di = d_bin + dd
+                    if 0 <= ri < NUM_RANGE_BINS and 0 <= di < NUM_DOPPLER_BINS:
+                        w = math.exp(-0.5 * (dr**2 + dd**2))
+                        mag[ri, di] += amplitude * w
+                        if w > 0.5:
+                            det[ri, di] = 1
+
+        rd_i = (mag * 0.5).astype(np.int16)
+        rd_q = np.zeros_like(rd_i)
+        rp = mag.max(axis=1)
+
+        self._frame_number += 1
+        return RadarFrame(
+            timestamp=time.time(),
+            range_doppler_i=rd_i,
+            range_doppler_q=rd_q,
+            magnitude=mag,
+            detections=det,
+            range_profile=rp,
+            detection_count=int(det.sum()),
+            frame_number=self._frame_number,
+        )
+
+
+# ============================================================================
+# Replay Controller (threading-based, reuses v7.ReplayEngine)
+# ============================================================================
+
+class _ReplayController:
+    """Manages replay playback in a background thread for the Tkinter dashboard.
+
+    Imports ``ReplayEngine`` and ``SoftwareFPGA`` from ``v7`` lazily so
+    they are only required when replay is actually used.
+    """
+
+    # Speed multiplier → frame interval in seconds
+    SPEED_MAP: ClassVar[dict[str, float]] = {
+        "0.25x": 0.400,
+        "0.5x": 0.200,
+        "1x": 0.100,
+        "2x": 0.050,
+        "5x": 0.020,
+        "10x": 0.010,
+    }
+
+    def __init__(self, frame_queue: queue.Queue, ui_queue: queue.Queue):
+        self._frame_queue = frame_queue
+        self._ui_queue = ui_queue
+        self._engine = None  # lazy
+        self._software_fpga = None  # lazy
+        self._thread: threading.Thread | None = None
+        self._play_event = threading.Event()
+        self._stop_event = threading.Event()
+        self._lock = threading.Lock()
+        self._current_index = 0
+        self._last_emitted_index = -1
+        self._loop = False
+        self._frame_interval = 0.100  # 1x speed
+
+    def load(self, path: str) -> int:
+        """Load replay data from path.  Returns total frames or raises."""
+        from v7.replay import ReplayEngine, ReplayFormat, detect_format
+        from v7.software_fpga import SoftwareFPGA
+
+        fmt = detect_format(path)
+        if fmt == ReplayFormat.RAW_IQ_NPY:
+            self._software_fpga = SoftwareFPGA()
+            self._engine = ReplayEngine(path, software_fpga=self._software_fpga)
+        else:
+            self._engine = ReplayEngine(path)
+
+        self._current_index = 0
+        self._last_emitted_index = -1
+        self._stop_event.clear()
+        self._play_event.clear()
+        return self._engine.total_frames
+
+    @property
+    def total_frames(self) -> int:
+        return self._engine.total_frames if self._engine else 0
+
+    @property
+    def current_index(self) -> int:
+        return self._last_emitted_index if self._last_emitted_index >= 0 else 0
+
+    @property
+    def is_playing(self) -> bool:
+        return self._play_event.is_set()
+
+    @property
+    def software_fpga(self):
+        return self._software_fpga
+
+    def set_speed(self, label: str):
+        self._frame_interval = self.SPEED_MAP.get(label, 0.100)
+
+    def set_loop(self, loop: bool):
+        self._loop = loop
+
+    def play(self):
+        self._play_event.set()
+        with self._lock:
+            if self._current_index >= self.total_frames:
+                self._current_index = 0
+        self._ui_queue.put(("replay_state", "playing"))
+        if self._thread is None or not self._thread.is_alive():
+            self._stop_event.clear()
+            self._thread = threading.Thread(target=self._run, daemon=True)
+            self._thread.start()
+
+    def pause(self):
+        self._play_event.clear()
+        self._ui_queue.put(("replay_state", "paused"))
+
+    def stop(self):
+        self._stop_event.set()
+        self._play_event.set()  # unblock wait so thread exits promptly
+        with self._lock:
+            self._current_index = 0
+            self._last_emitted_index = -1
+        if self._thread is not None:
+            self._thread.join(timeout=2)
+            self._thread = None
+        self._play_event.clear()
+        self._ui_queue.put(("replay_state", "stopped"))
+
+    def close(self):
+        """Stop playback and release underlying engine resources."""
+        self.stop()
+        if self._engine is not None:
+            self._engine.close()
+            self._engine = None
+        self._software_fpga = None
+
+    def seek(self, index: int):
+        with self._lock:
+            self._current_index = max(0, min(index, self.total_frames - 1))
+            self._emit_frame()
+            self._last_emitted_index = self._current_index
+            # Advance past the emitted frame so _run doesn't re-emit it
+            self._current_index += 1
+
+    def _run(self):
+        while not self._stop_event.is_set():
+            # Block until play or stop is signalled — no busy-sleep
+            self._play_event.wait()
+            if self._stop_event.is_set():
+                break
+            with self._lock:
+                if self._current_index >= self.total_frames:
+                    if self._loop:
+                        self._current_index = 0
+                    else:
+                        self._play_event.clear()
+                        self._ui_queue.put(("replay_state", "paused"))
+                        continue
+                self._emit_frame()
+                self._last_emitted_index = self._current_index
+                idx = self._current_index
+                self._current_index += 1
+            self._ui_queue.put(("replay_index", (idx, self.total_frames)))
+            time.sleep(self._frame_interval)
+
+    def _emit_frame(self):
+        """Get current frame and push to queue. Must be called with lock held."""
+        if self._engine is None:
+            return
+        frame = self._engine.get_frame(self._current_index)
+        if frame is not None:
+            frame = copy.deepcopy(frame)
+            with contextlib.suppress(queue.Full):
+                self._frame_queue.put_nowait(frame)
+
+
 class RadarDashboard:
     """Main tkinter application: real-time radar visualization and control."""
 
     UPDATE_INTERVAL_MS = 100  # 10 Hz display refresh
 
     # Radar parameters used for range-axis scaling.
-    BANDWIDTH = 500e6        # Hz — chirp bandwidth
+    SAMPLE_RATE = 100e6      # Hz — DDC output I/Q rate (matched filter input)
     C = 3e8                  # m/s — speed of light
 
-    def __init__(self, root: tk.Tk, connection: FT2232HConnection,
+    def __init__(self, root: tk.Tk, mock: bool,
                  recorder: DataRecorder, device_index: int = 0):
         self.root = root
-        self.conn = connection
+        self._mock = mock
+        self.conn: FT2232HConnection | FT601Connection | None = None
         self.recorder = recorder
         self.device_index = device_index
 
@@ -93,7 +401,7 @@ class RadarDashboard:
         self.root.geometry("1600x950")
         self.root.configure(bg=BG)
 
-        # Frame queue (acquisition → display)
+        # Frame queue (acquisition / replay / demo → display)
         self.frame_queue: queue.Queue[RadarFrame] = queue.Queue(maxsize=8)
         self._acq_thread: RadarAcquisition | None = None
 
@@ -126,6 +434,17 @@ class RadarDashboard:
         self._agc_last_redraw: float = 0.0  # throttle chart redraws
         self._AGC_REDRAW_INTERVAL: float = 0.5  # seconds between redraws
 
+        # Replay state
+        self._replay_ctrl: _ReplayController | None = None
+        self._replay_active = False
+
+        # Demo state
+        self._demo_sim: DemoSimulator | None = None
+        self._demo_active = False
+
+        # Detected targets (from demo or replay host-DSP)
+        self._detected_targets: list[dict] = []
+
         self._build_ui()
         self._schedule_update()
 
@@ -168,43 +487,59 @@ class RadarDashboard:
                                        style="Accent.TButton")
         self.btn_connect.pack(side="right", padx=4)
 
+        # USB Interface selector (production FT2232H / premium FT601)
+        self._usb_iface_var = tk.StringVar(value="FT2232H (Production)")
+        self.cmb_usb_iface = ttk.Combobox(
+            top, textvariable=self._usb_iface_var,
+            values=["FT2232H (Production)", "FT601 (Premium)"],
+            state="readonly", width=20,
+        )
+        self.cmb_usb_iface.pack(side="right", padx=4)
+        ttk.Label(top, text="USB:", font=("Menlo", 10)).pack(side="right")
+
         self.btn_record = ttk.Button(top, text="Record", command=self._on_record)
         self.btn_record.pack(side="right", padx=4)
 
+        self.btn_demo = ttk.Button(top, text="Start Demo",
+                                    command=self._toggle_demo)
+        self.btn_demo.pack(side="right", padx=4)
+
         # -- Tabbed notebook layout --
         nb = ttk.Notebook(self.root)
         nb.pack(fill="both", expand=True, padx=8, pady=8)
 
         tab_display = ttk.Frame(nb)
         tab_control = ttk.Frame(nb)
+        tab_replay = ttk.Frame(nb)
         tab_agc = ttk.Frame(nb)
         tab_log = ttk.Frame(nb)
         nb.add(tab_display, text="  Display  ")
         nb.add(tab_control, text="  Control  ")
+        nb.add(tab_replay, text="  Replay  ")
         nb.add(tab_agc, text="  AGC Monitor  ")
         nb.add(tab_log, text="  Log  ")
 
         self._build_display_tab(tab_display)
         self._build_control_tab(tab_control)
+        self._build_replay_tab(tab_replay)
         self._build_agc_tab(tab_agc)
         self._build_log_tab(tab_log)
 
     def _build_display_tab(self, parent):
         # Compute physical axis limits
-        # Range resolution: dR = c / (2 * BW) per range bin
+        # Bin spacing = c / (2 * Fs_ddc) for matched-filter processing.
-        # But we decimate 1024→64 bins, so each bin spans 16 FFT bins.
+        range_per_bin = self.C / (2.0 * self.SAMPLE_RATE) * 16  # ~24 m
-        # Range resolution derivation: c/(2*BW) gives ~0.3 m per FFT bin.
-        # After 1024-to-64 decimation each displayed range bin spans 16 FFT bins.
-        range_res = self.C / (2.0 * self.BANDWIDTH)  # ~0.3 m per FFT bin
-        # After decimation 1024→64, each range bin = 16 FFT bins
-        range_per_bin = range_res * 16
         max_range = range_per_bin * NUM_RANGE_BINS
 
         doppler_bin_lo = 0
         doppler_bin_hi = NUM_DOPPLER_BINS
 
+        # Top pane: plots
+        plot_frame = ttk.Frame(parent)
+        plot_frame.pack(fill="both", expand=True)
+
         # Matplotlib figure with 3 subplots
-        self.fig = Figure(figsize=(14, 7), facecolor=BG)
+        self.fig = Figure(figsize=(14, 5), facecolor=BG)
         self.fig.subplots_adjust(left=0.07, right=0.98, top=0.94, bottom=0.10,
                                   wspace=0.30, hspace=0.35)
 
@@ -245,11 +580,35 @@ class RadarDashboard:
         self.ax_wf.set_ylabel("Frame", color=FG)
         self.ax_wf.tick_params(colors=FG)
 
-        canvas = FigureCanvasTkAgg(self.fig, master=parent)
+        canvas = FigureCanvasTkAgg(self.fig, master=plot_frame)
         canvas.draw()
         canvas.get_tk_widget().pack(fill="both", expand=True)
         self._canvas = canvas
 
+        # Bottom pane: detected targets table
+        tgt_frame = ttk.LabelFrame(parent, text="Detected Targets", padding=4)
+        tgt_frame.pack(fill="x", padx=8, pady=(0, 4))
+
+        cols = ("id", "range_m", "velocity", "azimuth", "snr", "class")
+        self._tgt_tree = ttk.Treeview(
+            tgt_frame, columns=cols, show="headings", height=5)
+        for col, heading, width in [
+            ("id", "ID", 50),
+            ("range_m", "Range (m)", 100),
+            ("velocity", "Vel (m/s)", 90),
+            ("azimuth", "Az (deg)", 90),
+            ("snr", "SNR (dB)", 80),
+            ("class", "Class", 100),
+        ]:
+            self._tgt_tree.heading(col, text=heading)
+            self._tgt_tree.column(col, width=width, anchor="center")
+
+        scrollbar = ttk.Scrollbar(
+            tgt_frame, orient="vertical", command=self._tgt_tree.yview)
+        self._tgt_tree.configure(yscrollcommand=scrollbar.set)
+        self._tgt_tree.pack(side="left", fill="x", expand=True)
+        scrollbar.pack(side="right", fill="y")
+
     def _build_control_tab(self, parent):
         """Host command sender — organized by FPGA register groups.
 
@@ -492,6 +851,86 @@ class RadarDashboard:
             var.set(str(clamped))
         self._send_cmd(opcode, clamped)
 
+    def _build_replay_tab(self, parent):
+        """Replay tab — load file, transport controls, seek slider."""
+        # File selection
+        file_frame = ttk.LabelFrame(parent, text="Replay Source", padding=10)
+        file_frame.pack(fill="x", padx=8, pady=(8, 4))
+
+        self._replay_path_var = tk.StringVar(value="(none)")
+        ttk.Label(file_frame, textvariable=self._replay_path_var,
+                  font=("Menlo", 9)).pack(side="left", fill="x", expand=True)
+
+        ttk.Button(file_frame, text="Browse File...",
+                   command=self._replay_browse_file).pack(side="right", padx=(4, 0))
+        ttk.Button(file_frame, text="Browse Dir...",
+                   command=self._replay_browse_dir).pack(side="right", padx=(4, 0))
+
+        # Transport controls
+        ctrl_frame = ttk.LabelFrame(parent, text="Transport", padding=10)
+        ctrl_frame.pack(fill="x", padx=8, pady=4)
+
+        btn_row = ttk.Frame(ctrl_frame)
+        btn_row.pack(fill="x", pady=(0, 6))
+
+        self._rp_play_btn = ttk.Button(
+            btn_row, text="Play", command=self._replay_play, state="disabled")
+        self._rp_play_btn.pack(side="left", padx=2)
+
+        self._rp_pause_btn = ttk.Button(
+            btn_row, text="Pause", command=self._replay_pause, state="disabled")
+        self._rp_pause_btn.pack(side="left", padx=2)
+
+        self._rp_stop_btn = ttk.Button(
+            btn_row, text="Stop", command=self._replay_stop, state="disabled")
+        self._rp_stop_btn.pack(side="left", padx=2)
+
+        # Speed selector
+        ttk.Label(btn_row, text="Speed:").pack(side="left", padx=(16, 4))
+        self._rp_speed_var = tk.StringVar(value="1x")
+        speed_combo = ttk.Combobox(
+            btn_row, textvariable=self._rp_speed_var,
+            values=list(_ReplayController.SPEED_MAP.keys()),
+            state="readonly", width=6)
+        speed_combo.pack(side="left", padx=2)
+        speed_combo.bind("<<ComboboxSelected>>", self._replay_speed_changed)
+
+        # Loop checkbox
+        self._rp_loop_var = tk.BooleanVar(value=False)
+        ttk.Checkbutton(btn_row, text="Loop",
+                        variable=self._rp_loop_var,
+                        command=self._replay_loop_changed).pack(side="left", padx=8)
+
+        # Seek slider
+        slider_row = ttk.Frame(ctrl_frame)
+        slider_row.pack(fill="x")
+
+        self._rp_slider = tk.Scale(
+            slider_row, from_=0, to=0, orient="horizontal",
+            bg=SURFACE, fg=FG, highlightthickness=0,
+            troughcolor=BG2, command=self._replay_seek)
+        self._rp_slider.pack(side="left", fill="x", expand=True)
+
+        self._rp_frame_label = ttk.Label(
+            slider_row, text="0 / 0", font=("Menlo", 10))
+        self._rp_frame_label.pack(side="right", padx=8)
+
+        # Status
+        self._rp_status_label = ttk.Label(
+            parent, text="No replay loaded", font=("Menlo", 10))
+        self._rp_status_label.pack(padx=8, pady=4, anchor="w")
+
+        # Info frame for FPGA controls during replay
+        info = ttk.LabelFrame(parent, text="Replay FPGA Controls", padding=10)
+        info.pack(fill="x", padx=8, pady=4)
+        ttk.Label(
+            info,
+            text=("When replaying Raw IQ data, FPGA Control tab "
+                  "parameters are routed to the SoftwareFPGA.\n"
+                  "Changes take effect on the next frame."),
+            font=("Menlo", 9), foreground=ACCENT,
+        ).pack(anchor="w")
+
     def _build_agc_tab(self, parent):
         """AGC Monitor tab — real-time strip charts for gain, peak, and saturation."""
         # Top row: AGC status badge + saturation indicator
@@ -590,18 +1029,36 @@ class RadarDashboard:
 
     # ------------------------------------------------------------ Actions
     def _on_connect(self):
-        if self.conn.is_open:
+        if self.conn is not None and self.conn.is_open:
             # Disconnect
             if self._acq_thread is not None:
                 self._acq_thread.stop()
                 self._acq_thread.join(timeout=2)
                 self._acq_thread = None
             self.conn.close()
+            self.conn = None
             self.lbl_status.config(text="DISCONNECTED", foreground=RED)
             self.btn_connect.config(text="Connect")
+            self.cmb_usb_iface.config(state="readonly")
             log.info("Disconnected")
             return
 
+        # Stop any active demo or replay before going live
+        if self._demo_active:
+            self._stop_demo()
+        if self._replay_active:
+            self._replay_stop()
+
+        # Create connection based on USB Interface selector
+        iface = self._usb_iface_var.get()
+        if "FT601" in iface:
+            self.conn = FT601Connection(mock=self._mock)
+        else:
+            self.conn = FT2232HConnection(mock=self._mock)
+
+        # Disable interface selector while connecting/connected
+        self.cmb_usb_iface.config(state="disabled")
+
         # Open connection in a background thread to avoid blocking the GUI
         self.lbl_status.config(text="CONNECTING...", foreground=YELLOW)
         self.btn_connect.config(state="disabled")
@@ -628,6 +1085,8 @@ class RadarDashboard:
         else:
             self.lbl_status.config(text="CONNECT FAILED", foreground=RED)
             self.btn_connect.config(text="Connect")
+            self.cmb_usb_iface.config(state="readonly")
+            self.conn = None
 
     def _on_record(self):
         if self.recorder.recording:
@@ -644,8 +1103,41 @@ class RadarDashboard:
             self.recorder.start(filepath)
             self.btn_record.config(text="Stop Rec")
 
+    # Opcode → SoftwareFPGA setter method name for dual dispatch during replay
+    _SFPGA_SETTER_NAMES: ClassVar[dict[int, str]] = {
+        0x03: "set_detect_threshold",
+        0x16: "set_gain_shift",
+        0x21: "set_cfar_guard",
+        0x22: "set_cfar_train",
+        0x23: "set_cfar_alpha",
+        0x24: "set_cfar_mode",
+        0x25: "set_cfar_enable",
+        0x26: "set_mti_enable",
+        0x27: "set_dc_notch_width",
+        0x28: "set_agc_enable",
+    }
+
     def _send_cmd(self, opcode: int, value: int):
+        """Send command — routes to SoftwareFPGA when replaying raw IQ."""
+        if (self._replay_active and self._replay_ctrl is not None
+                and self._replay_ctrl.software_fpga is not None):
+            sfpga = self._replay_ctrl.software_fpga
+            setter_name = self._SFPGA_SETTER_NAMES.get(opcode)
+            if setter_name is not None:
+                getattr(sfpga, setter_name)(value)
+                log.info(
+                    f"SoftwareFPGA 0x{opcode:02X} val={value}")
+                return
+            log.warning(
+                f"Opcode 0x{opcode:02X} not routable in replay mode")
+            self._ui_queue.put(
+                ("status_msg",
+                 f"Opcode 0x{opcode:02X} is hardware-only (ignored in replay)"))
+            return
         cmd = RadarProtocol.build_command(opcode, value)
+        if self.conn is None:
+            log.warning("No connection — command not sent")
+            return
         ok = self.conn.write(cmd)
         log.info(f"CMD 0x{opcode:02X} val={value} ({'OK' if ok else 'FAIL'})")
 
@@ -657,6 +1149,133 @@ class RadarDashboard:
         except ValueError:
             log.error("Invalid custom command values")
 
+    # -------------------------------------------------------- Replay actions
+    def _replay_browse_file(self):
+        path = filedialog.askopenfilename(
+            title="Select replay file",
+            filetypes=[
+                ("NumPy files", "*.npy"),
+                ("HDF5 files", "*.h5"),
+                ("All files", "*.*"),
+            ],
+        )
+        if path:
+            self._replay_load(path)
+
+    def _replay_browse_dir(self):
+        path = filedialog.askdirectory(title="Select co-sim directory")
+        if path:
+            self._replay_load(path)
+
+    def _replay_load(self, path: str):
+        """Load replay data and enable transport controls."""
+        # Stop any running mode
+        if self._demo_active:
+            self._stop_demo()
+        # Safely shutdown and disable UI controls before loading the new file
+        if self._replay_active or self._replay_ctrl is not None:
+            self._replay_stop()
+        if self._acq_thread is not None:
+            if self.conn is not None and self.conn.is_open:
+                self._on_connect()  # disconnect
+            else:
+                # Connection dropped unexpectedly — just clean up the thread
+                self._acq_thread.stop()
+                self._acq_thread.join(timeout=2)
+                self._acq_thread = None
+
+        try:
+            self._replay_ctrl = _ReplayController(
+                self.frame_queue, self._ui_queue)
+            total = self._replay_ctrl.load(path)
+        except Exception as exc:  # noqa: BLE001
+            log.error(f"Failed to load replay: {exc}")
+            self._rp_status_label.config(
+                text=f"Load failed: {exc}", foreground=RED)
+            self._replay_ctrl = None
+            return
+
+        short_path = Path(path).name
+        self._replay_path_var.set(short_path)
+        self._rp_slider.config(to=max(0, total - 1))
+        self._rp_frame_label.config(text=f"0 / {total}")
+        self._rp_status_label.config(
+            text=f"Loaded: {total} frames from {short_path}",
+            foreground=GREEN)
+
+        # Enable transport buttons
+        for btn in (self._rp_play_btn, self._rp_pause_btn, self._rp_stop_btn):
+            btn.config(state="normal")
+
+        self._replay_active = True
+        self.lbl_status.config(text="REPLAY", foreground=ACCENT)
+        log.info(f"Replay loaded: {total} frames from {path}")
+
+    def _replay_play(self):
+        if self._replay_ctrl:
+            self._replay_ctrl.play()
+
+    def _replay_pause(self):
+        if self._replay_ctrl:
+            self._replay_ctrl.pause()
+
+    def _replay_stop(self):
+        if self._replay_ctrl:
+            self._replay_ctrl.close()
+            self._replay_ctrl = None
+        self._replay_active = False
+        self.lbl_status.config(text="DISCONNECTED", foreground=RED)
+        self._rp_slider.set(0)
+        self._rp_frame_label.config(text="0 / 0")
+        for btn in (self._rp_play_btn, self._rp_pause_btn, self._rp_stop_btn):
+            btn.config(state="disabled")
+
+    def _replay_seek(self, value):
+        if (self._replay_ctrl and self._replay_active
+                and not self._replay_ctrl.is_playing):
+            self._replay_ctrl.seek(int(value))
+
+    def _replay_speed_changed(self, _event=None):
+        if self._replay_ctrl:
+            self._replay_ctrl.set_speed(self._rp_speed_var.get())
+
+    def _replay_loop_changed(self):
+        if self._replay_ctrl:
+            self._replay_ctrl.set_loop(self._rp_loop_var.get())
+
+    # ---------------------------------------------------------- Demo actions
+    def _toggle_demo(self):
+        if self._demo_active:
+            self._stop_demo()
+        else:
+            self._start_demo()
+
+    def _start_demo(self):
+        """Start demo mode with synthetic targets."""
+        # Mutual exclusion
+        if self._replay_active:
+            self._replay_stop()
+        if self._acq_thread is not None:
+            log.warning("Cannot start demo while radar is connected")
+            return
+
+        self._demo_sim = DemoSimulator(
+            self.frame_queue, self._ui_queue, self.root, interval_ms=500)
+        self._demo_sim.start()
+        self._demo_active = True
+        self.lbl_status.config(text="DEMO", foreground=YELLOW)
+        self.btn_demo.config(text="Stop Demo")
+        log.info("Demo mode started")
+
+    def _stop_demo(self):
+        if self._demo_sim is not None:
+            self._demo_sim.stop()
+            self._demo_sim = None
+        self._demo_active = False
+        self.lbl_status.config(text="DISCONNECTED", foreground=RED)
+        self.btn_demo.config(text="Start Demo")
+        log.info("Demo mode stopped")
+
     def _on_status_received(self, status: StatusResponse):
         """Called from acquisition thread — post to UI queue for main thread."""
         self._ui_queue.put(("status", status))
@@ -804,6 +1423,46 @@ class RadarDashboard:
                 self._update_self_test_labels(payload)
             elif tag == "log":
                 self._log_handler_append(payload)
+            elif tag == "replay_state":
+                self._on_replay_state(payload)
+            elif tag == "replay_index":
+                self._on_replay_index(*payload)
+            elif tag == "demo_targets":
+                self._on_demo_targets(payload)
+            elif tag == "status_msg":
+                self.lbl_status.config(text=str(payload), foreground=YELLOW)
+
+    def _on_replay_state(self, state: str):
+        if state == "playing":
+            self._rp_status_label.config(text="Playing", foreground=GREEN)
+        elif state == "paused":
+            self._rp_status_label.config(text="Paused", foreground=YELLOW)
+        elif state == "stopped":
+            self._rp_status_label.config(text="Stopped", foreground=FG)
+
+    def _on_replay_index(self, index: int, total: int):
+        self._rp_frame_label.config(text=f"{index} / {total}")
+        self._rp_slider.set(index)
+
+    def _on_demo_targets(self, targets: list[dict]):
+        """Update the detected targets treeview from demo data."""
+        self._update_targets_table(targets)
+
+    def _update_targets_table(self, targets: list[dict]):
+        """Refresh the detected targets treeview."""
+        # Clear existing rows
+        for item in self._tgt_tree.get_children():
+            self._tgt_tree.delete(item)
+        # Insert new rows
+        for t in targets:
+            self._tgt_tree.insert("", "end", values=(
+                t.get("id", ""),
+                f"{t.get('range_m', 0):.0f}",
+                f"{t.get('velocity', 0):.1f}",
+                f"{t.get('azimuth', 0):.1f}",
+                f"{t.get('snr', 0):.1f}",
+                t.get("class", ""),
+            ))
 
     def _log_handler_append(self, msg: str):
         """Append a log message to the log Text widget (main thread only)."""
@@ -902,35 +1561,31 @@ class _TextHandler(logging.Handler):
 
 def main():
     parser = argparse.ArgumentParser(description="AERIS-10 Radar Dashboard")
-    parser.add_argument("--live", action="store_true",
-                        help="Use real FT2232H hardware (default: mock mode)")
-    parser.add_argument("--replay", type=str, metavar="NPY_DIR",
-                        help="Replay real data from .npy directory "
-                             "(e.g. tb/cosim/real_data/hex/)")
-    parser.add_argument("--no-mti", action="store_true",
-                        help="With --replay, use non-MTI Doppler data")
     parser.add_argument("--record", action="store_true",
                         help="Start HDF5 recording immediately")
     parser.add_argument("--device", type=int, default=0,
                         help="FT2232H device index (default: 0)")
+    mode_group = parser.add_mutually_exclusive_group()
+    mode_group.add_argument("--live", action="store_true",
+                            help="Use real FT2232H hardware (default: mock mode)")
+    mode_group.add_argument("--replay", type=str, default=None,
+                            help="Auto-load replay file or directory on startup")
+    mode_group.add_argument("--demo", action="store_true",
+                            help="Start in demo mode with synthetic targets")
     args = parser.parse_args()
 
-    if args.replay:
+    if args.live:
-        npy_dir = os.path.abspath(args.replay)
+        mock = False
-        conn = ReplayConnection(npy_dir, use_mti=not args.no_mti)
-        mode_str = f"REPLAY ({npy_dir}, MTI={'OFF' if args.no_mti else 'ON'})"
-    elif args.live:
-        conn = FT2232HConnection(mock=False)
         mode_str = "LIVE"
     else:
-        conn = FT2232HConnection(mock=True)
+        mock = True
         mode_str = "MOCK"
 
     recorder = DataRecorder()
 
     root = tk.Tk()
 
-    dashboard = RadarDashboard(root, conn, recorder, device_index=args.device)
+    dashboard = RadarDashboard(root, mock, recorder, device_index=args.device)
 
     if args.record:
         filepath = os.path.join(
@@ -939,12 +1594,24 @@ def main():
         )
         recorder.start(filepath)
 
+    if args.replay:
+        dashboard._replay_load(args.replay)
+
+    if args.demo:
+        dashboard._start_demo()
+
     def on_closing():
+        # Stop demo if active
+        if dashboard._demo_active:
+            dashboard._stop_demo()
+        # Stop replay if active
+        if dashboard._replay_ctrl is not None:
+            dashboard._replay_ctrl.close()
         if dashboard._acq_thread is not None:
             dashboard._acq_thread.stop()
             dashboard._acq_thread.join(timeout=2)
-        if conn.is_open:
+        if dashboard.conn is not None and dashboard.conn.is_open:
-            conn.close()
+            dashboard.conn.close()
         if recorder.recording:
             recorder.stop()
         root.destroy()

9_Firmware/9_3_GUI/GUI_V6_Demo.py

@@ -1,5 +1,11 @@
 #!/usr/bin/env python3
 
+# =============================================================================
+# DEPRECATED: GUI V6 Demo is superseded by GUI_V65_Tk and V7.
+# This file is retained for reference only. Do not use for new development.
+# Removal planned for next major release.
+# =============================================================================
+
 """
 Radar System GUI - Fully Functional Demo Version
 All buttons work, simulated radar data is generated in real-time

9_Firmware/9_3_GUI/GUI_versions.txt

@@ -6,8 +6,8 @@ GUI_V4 ==> Added pitch correction
 
 GUI_V5 ==> Added Mercury Color
 
-GUI_V6 ==> Added USB3 FT601 support
+GUI_V6 ==> Added USB3 FT601 support  [DEPRECATED — superseded by V65/V7]
 
-radar_dashboard ==> Board bring-up dashboard (FT2232H reader, real-time R-D heatmap, CFAR overlay, waterfall, host commands, HDF5 recording)
+GUI_V65_Tk ==> Board bring-up dashboard (FT2232H reader, real-time R-D heatmap, CFAR overlay, waterfall, host commands, HDF5 recording, replay, demo mode)
 radar_protocol ==> Protocol layer (packet parsing, command building, FT2232H connection, data recorder, acquisition thread)
 smoke_test ==> Board bring-up smoke test host script (triggers FPGA self-test via opcode 0x30)

9_Firmware/9_3_GUI/adi_agc_analysis.py

@@ -32,83 +32,24 @@ from pathlib import Path
 import matplotlib.pyplot as plt
 import numpy as np
 
+from v7.agc_sim import (
+    encoding_to_signed,
+    apply_gain_shift,
+    quantize_iq,
+    AGCConfig,
+    AGCState,
+    process_agc_frame,
+)
+
 # ---------------------------------------------------------------------------
 # FPGA AGC parameters (rx_gain_control.v reset defaults)
 # ---------------------------------------------------------------------------
 AGC_TARGET = 200       # host_agc_target (8-bit, default 200)
-AGC_ATTACK = 1         # host_agc_attack (4-bit, default 1)
-AGC_DECAY = 1          # host_agc_decay  (4-bit, default 1)
-AGC_HOLDOFF = 4        # host_agc_holdoff (4-bit, default 4)
 ADC_RAIL = 4095        # 12-bit ADC max absolute value
 
 
 # ---------------------------------------------------------------------------
-# Gain encoding helpers (match RTL signed_to_encoding / encoding_to_signed)
+# Per-frame AGC simulation using v7.agc_sim (bit-accurate to RTL)
-# ---------------------------------------------------------------------------
-
-def signed_to_encoding(g: int) -> int:
-    """Convert signed gain (-7..+7) to gain_shift[3:0] encoding.
-    [3]=0, [2:0]=N → amplify (left shift) by N
-    [3]=1, [2:0]=N → attenuate (right shift) by N
-    """
-    if g >= 0:
-        return g & 0x07
-    return 0x08 | ((-g) & 0x07)
-
-
-def encoding_to_signed(enc: int) -> int:
-    """Convert gain_shift[3:0] encoding to signed gain."""
-    if (enc & 0x08) == 0:
-        return enc & 0x07
-    return -(enc & 0x07)
-
-
-def clamp_gain(val: int) -> int:
-    """Clamp to [-7, +7] (matches RTL clamp_gain function)."""
-    return max(-7, min(7, val))
-
-
-# ---------------------------------------------------------------------------
-# Apply gain shift to IQ data (matches RTL combinational logic)
-# ---------------------------------------------------------------------------
-
-def apply_gain_shift(frame_i: np.ndarray, frame_q: np.ndarray,
-                     gain_enc: int) -> tuple[np.ndarray, np.ndarray, int]:
-    """Apply gain_shift encoding to 16-bit signed IQ arrays.
-
-    Returns (shifted_i, shifted_q, overflow_count).
-    Matches the RTL: left shift = amplify, right shift = attenuate,
-    saturate to ±32767 on overflow.
-    """
-    direction = (gain_enc >> 3) & 1  # 0=amplify, 1=attenuate
-    amount = gain_enc & 0x07
-
-    if amount == 0:
-        return frame_i.copy(), frame_q.copy(), 0
-
-    if direction == 0:
-        # Left shift (amplify)
-        si = frame_i.astype(np.int64) * (1 << amount)
-        sq = frame_q.astype(np.int64) * (1 << amount)
-    else:
-        # Arithmetic right shift (attenuate)
-        si = frame_i.astype(np.int64) >> amount
-        sq = frame_q.astype(np.int64) >> amount
-
-    # Count overflows (post-shift values outside 16-bit signed range)
-    overflow_i = (si > 32767) | (si < -32768)
-    overflow_q = (sq > 32767) | (sq < -32768)
-    overflow_count = int((overflow_i | overflow_q).sum())
-
-    # Saturate to ±32767
-    si = np.clip(si, -32768, 32767).astype(np.int16)
-    sq = np.clip(sq, -32768, 32767).astype(np.int16)
-
-    return si, sq, overflow_count
-
-
-# ---------------------------------------------------------------------------
-# Per-frame AGC simulation (bit-accurate to rx_gain_control.v)
 # ---------------------------------------------------------------------------
 
 def simulate_agc(frames: np.ndarray, agc_enabled: bool = True,
@@ -126,79 +67,46 @@ def simulate_agc(frames: np.ndarray, agc_enabled: bool = True,
     n_frames = frames.shape[0]
 
     # Output arrays
-    out_gain_enc = np.zeros(n_frames, dtype=int)     # gain_shift encoding [3:0]
+    out_gain_enc = np.zeros(n_frames, dtype=int)
-    out_gain_signed = np.zeros(n_frames, dtype=int)   # signed gain for plotting
+    out_gain_signed = np.zeros(n_frames, dtype=int)
-    out_peak_mag = np.zeros(n_frames, dtype=int)      # peak_magnitude[7:0]
+    out_peak_mag = np.zeros(n_frames, dtype=int)
-    out_sat_count = np.zeros(n_frames, dtype=int)     # saturation_count[7:0]
+    out_sat_count = np.zeros(n_frames, dtype=int)
     out_sat_rate = np.zeros(n_frames, dtype=float)
-    out_rms_post = np.zeros(n_frames, dtype=float)    # RMS after gain shift
+    out_rms_post = np.zeros(n_frames, dtype=float)
 
-    # AGC internal state
+    # AGC state — managed by process_agc_frame()
-    agc_gain = 0          # signed, -7..+7
+    state = AGCState(
-    holdoff_counter = 0
+        gain=encoding_to_signed(initial_gain_enc),
-    agc_was_enabled = False
+        holdoff_counter=0,
+        was_enabled=False,
+    )
 
     for i in range(n_frames):
-        frame = frames[i]
+        frame_i, frame_q = quantize_iq(frames[i])
-        # Quantize to 16-bit signed (ADC is 12-bit, sign-extended to 16)
-        frame_i = np.clip(np.round(frame.real), -32768, 32767).astype(np.int16)
-        frame_q = np.clip(np.round(frame.imag), -32768, 32767).astype(np.int16)
 
-        # --- PRE-gain peak measurement (RTL lines 133-135, 211-213) ---
-        abs_i = np.abs(frame_i.astype(np.int32))
-        abs_q = np.abs(frame_q.astype(np.int32))
-        max_iq = np.maximum(abs_i, abs_q)
-        frame_peak_15bit = int(max_iq.max())  # 15-bit unsigned
-        peak_8bit = (frame_peak_15bit >> 7) & 0xFF  # Upper 8 bits
-
-        # --- Determine effective gain ---
         agc_active = agc_enabled and (i >= enable_at_frame)
 
-        # AGC enable transition (RTL lines 250-253)
+        # Build per-frame config (enable toggles at enable_at_frame)
-        if agc_active and not agc_was_enabled:
+        config = AGCConfig(enabled=agc_active)
-            agc_gain = encoding_to_signed(initial_gain_enc)
-            holdoff_counter = AGC_HOLDOFF
 
-        effective_enc = signed_to_encoding(agc_gain) if agc_active else initial_gain_enc
+        result = process_agc_frame(frame_i, frame_q, config, state)
-
-        agc_was_enabled = agc_active
-
-        # --- Apply gain shift + count POST-gain overflow (RTL lines 114-126, 207-209) ---
-        shifted_i, shifted_q, frame_overflow = apply_gain_shift(
-            frame_i, frame_q, effective_enc)
-        frame_sat = min(255, frame_overflow)
 
         # RMS of shifted signal
         rms = float(np.sqrt(np.mean(
-            shifted_i.astype(np.float64)**2 + shifted_q.astype(np.float64)**2)))
+            result.shifted_i.astype(np.float64)**2
+            + result.shifted_q.astype(np.float64)**2)))
 
         total_samples = frame_i.size + frame_q.size
-        sat_rate = frame_overflow / total_samples if total_samples > 0 else 0.0
+        sat_rate = result.overflow_raw / total_samples if total_samples > 0 else 0.0
 
-        # --- Record outputs ---
+        # Record outputs
-        out_gain_enc[i] = effective_enc
+        out_gain_enc[i] = result.gain_enc
-        out_gain_signed[i] = agc_gain if agc_active else encoding_to_signed(initial_gain_enc)
+        out_gain_signed[i] = result.gain_signed
-        out_peak_mag[i] = peak_8bit
+        out_peak_mag[i] = result.peak_mag_8bit
-        out_sat_count[i] = frame_sat
+        out_sat_count[i] = result.saturation_count
         out_sat_rate[i] = sat_rate
         out_rms_post[i] = rms
 
-        # --- AGC update at frame boundary (RTL lines 226-246) ---
-        if agc_active:
-            if frame_sat > 0:
-                # Clipping: reduce gain immediately (attack)
-                agc_gain = clamp_gain(agc_gain - AGC_ATTACK)
-                holdoff_counter = AGC_HOLDOFF
-            elif peak_8bit < AGC_TARGET:
-                # Signal too weak: increase gain after holdoff
-                if holdoff_counter == 0:
-                    agc_gain = clamp_gain(agc_gain + AGC_DECAY)
-                else:
-                    holdoff_counter -= 1
-            else:
-                # Good range (peak >= target, no sat): hold, reset holdoff
-                holdoff_counter = AGC_HOLDOFF
-
     return {
         "gain_enc": out_gain_enc,
         "gain_signed": out_gain_signed,
@@ -217,8 +125,7 @@ def process_frame_rd(frame: np.ndarray, gain_enc: int,
                      n_range: int = 64,
                      n_doppler: int = 32) -> np.ndarray:
     """Range-Doppler magnitude for one frame with gain applied."""
-    frame_i = np.clip(np.round(frame.real), -32768, 32767).astype(np.int16)
+    frame_i, frame_q = quantize_iq(frame)
-    frame_q = np.clip(np.round(frame.imag), -32768, 32767).astype(np.int16)
     si, sq, _ = apply_gain_shift(frame_i, frame_q, gain_enc)
 
     iq = si.astype(np.float64) + 1j * sq.astype(np.float64)

9_Firmware/9_3_GUI/radar_protocol.py

@@ -6,6 +6,7 @@ Pure-logic module for USB packet parsing and command building.
 No GUI dependencies — safe to import from tests and headless scripts.
 
 USB Interface: FT2232H USB 2.0 (8-bit, 50T production board) via pyftdi
+               FT601 USB 3.0 (32-bit, 200T premium board) via ftd3xx
 
 USB Packet Protocol (11-byte):
   TX (FPGA→Host):
@@ -15,7 +16,6 @@ USB Packet Protocol (11-byte):
     Command: 4 bytes received sequentially {opcode, addr, value_hi, value_lo}
 """
 
-import os
 import struct
 import time
 import threading
@@ -23,7 +23,7 @@ import queue
 import logging
 import contextlib
 from dataclasses import dataclass, field
-from typing import Any
+from typing import Any, ClassVar
 from enum import IntEnum
 
 
@@ -201,7 +201,9 @@ class RadarProtocol:
         range_i = _to_signed16(struct.unpack_from(">H", raw, 3)[0])
         doppler_i = _to_signed16(struct.unpack_from(">H", raw, 5)[0])
         doppler_q = _to_signed16(struct.unpack_from(">H", raw, 7)[0])
-        detection = raw[9] & 0x01
+        det_byte = raw[9]
+        detection = det_byte & 0x01
+        frame_start = (det_byte >> 7) & 0x01
 
         return {
             "range_i": range_i,
@@ -209,6 +211,7 @@ class RadarProtocol:
             "doppler_i": doppler_i,
             "doppler_q": doppler_q,
             "detection": detection,
+            "frame_start": frame_start,
         }
 
     @staticmethod
@@ -434,7 +437,9 @@ class FT2232HConnection:
             pkt += struct.pack(">h", np.clip(range_i, -32768, 32767))
             pkt += struct.pack(">h", np.clip(dop_i, -32768, 32767))
             pkt += struct.pack(">h", np.clip(dop_q, -32768, 32767))
-            pkt.append(detection & 0x01)
+            # Bit 7 = frame_start (sample_counter == 0), bit 0 = detection
+            det_byte = (detection & 0x01) | (0x80 if idx == 0 else 0x00)
+            pkt.append(det_byte)
             pkt.append(FOOTER_BYTE)
 
             buf += pkt
@@ -444,392 +449,190 @@ class FT2232HConnection:
 
 
 # ============================================================================
-# Replay Connection — feed real .npy data through the dashboard
+# FT601 USB 3.0 Connection (premium board only)
 # ============================================================================
 
-# Hardware-only opcodes that cannot be adjusted in replay mode
+# Optional ftd3xx import (FTDI's proprietary driver for FT60x USB 3.0 chips).
-# Values must match radar_system_top.v case(usb_cmd_opcode).
+# pyftdi does NOT support FT601 — it only handles USB 2.0 chips (FT232H, etc.)
-_HARDWARE_ONLY_OPCODES = {
+try:
-    0x01,  # RADAR_MODE
+    import ftd3xx  # type: ignore[import-untyped]
-    0x02,  # TRIGGER_PULSE
+    FTD3XX_AVAILABLE = True
-    # 0x03 (DETECT_THRESHOLD) is NOT hardware-only — it's in _REPLAY_ADJUSTABLE_OPCODES
+    _Ftd3xxError: type = ftd3xx.FTD3XXError  # type: ignore[attr-defined]
-    0x04,  # STREAM_CONTROL
+except ImportError:
-    0x10,  # LONG_CHIRP
+    FTD3XX_AVAILABLE = False
-    0x11,  # LONG_LISTEN
+    _Ftd3xxError = OSError  # fallback for type-checking; never raised
-    0x12,  # GUARD
-    0x13,  # SHORT_CHIRP
-    0x14,  # SHORT_LISTEN
-    0x15,  # CHIRPS_PER_ELEV
-    0x16,  # GAIN_SHIFT
-    0x20,  # RANGE_MODE
-    0x28,  # AGC_ENABLE
-    0x29,  # AGC_TARGET
-    0x2A,  # AGC_ATTACK
-    0x2B,  # AGC_DECAY
-    0x2C,  # AGC_HOLDOFF
-    0x30,  # SELF_TEST_TRIGGER
-    0x31,  # SELF_TEST_STATUS
-    0xFF,  # STATUS_REQUEST
-}
-
-# Replay-adjustable opcodes (re-run signal processing)
-_REPLAY_ADJUSTABLE_OPCODES = {
-    0x03,  # DETECT_THRESHOLD
-    0x21,  # CFAR_GUARD
-    0x22,  # CFAR_TRAIN
-    0x23,  # CFAR_ALPHA
-    0x24,  # CFAR_MODE
-    0x25,  # CFAR_ENABLE
-    0x26,  # MTI_ENABLE
-    0x27,  # DC_NOTCH_WIDTH
-}
 
 
-def _saturate(val: int, bits: int) -> int:
+class FT601Connection:
-    """Saturate signed value to fit in 'bits' width."""
-    max_pos = (1 << (bits - 1)) - 1
-    max_neg = -(1 << (bits - 1))
-    return max(max_neg, min(max_pos, int(val)))
-
-
-def _replay_dc_notch(doppler_i: np.ndarray, doppler_q: np.ndarray,
-                     width: int) -> tuple[np.ndarray, np.ndarray]:
-    """Bit-accurate DC notch filter (matches radar_system_top.v inline).
-
-    Dual sub-frame notch: doppler_bin[4:0] = {sub_frame, bin[3:0]}.
-    Each 16-bin sub-frame has its own DC at bin 0, so we zero bins
-    where ``bin_within_sf < width`` or ``bin_within_sf > (15 - width + 1)``.
     """
-    out_i = doppler_i.copy()
+    FT601 USB 3.0 SuperSpeed FIFO bridge — premium board only.
-    out_q = doppler_q.copy()
-    if width == 0:
-        return out_i, out_q
-    n_doppler = doppler_i.shape[1]
-    for dbin in range(n_doppler):
-        bin_within_sf = dbin & 0xF
-        if bin_within_sf < width or bin_within_sf > (15 - width + 1):
-            out_i[:, dbin] = 0
-            out_q[:, dbin] = 0
-    return out_i, out_q
 
+    The FT601 has a 32-bit data bus and runs at 100 MHz.
+    VID:PID = 0x0403:0x6030 or 0x6031 (FTDI FT60x).
 
-def _replay_cfar(doppler_i: np.ndarray, doppler_q: np.ndarray,
+    Requires the ``ftd3xx`` library (``pip install ftd3xx`` on Windows,
-                 guard: int, train: int, alpha_q44: int,
+    or ``libft60x`` on Linux). This is FTDI's proprietary USB 3.0 driver;
-                 mode: int) -> tuple[np.ndarray, np.ndarray]:
+    ``pyftdi`` only supports USB 2.0 and will NOT work with FT601.
-    """
-    Bit-accurate CA-CFAR detector (matches cfar_ca.v).
-    Returns (detect_flags, magnitudes) both (64, 32).
-    """
-    ALPHA_FRAC_BITS = 4
-    n_range, n_doppler = doppler_i.shape
-    if train == 0:
-        train = 1
 
-    # Compute magnitudes: |I| + |Q| (17-bit unsigned L1 norm)
+    Public contract matches FT2232HConnection so callers can swap freely.
-    magnitudes = np.zeros((n_range, n_doppler), dtype=np.int64)
-    for r in range(n_range):
-        for d in range(n_doppler):
-            i_val = int(doppler_i[r, d])
-            q_val = int(doppler_q[r, d])
-            abs_i = (-i_val) & 0xFFFF if i_val < 0 else i_val & 0xFFFF
-            abs_q = (-q_val) & 0xFFFF if q_val < 0 else q_val & 0xFFFF
-            magnitudes[r, d] = abs_i + abs_q
-
-    detect_flags = np.zeros((n_range, n_doppler), dtype=np.bool_)
-    MAX_MAG = (1 << 17) - 1
-
-    mode_names = {0: 'CA', 1: 'GO', 2: 'SO'}
-    mode_str = mode_names.get(mode, 'CA')
-
-    for dbin in range(n_doppler):
-        col = magnitudes[:, dbin]
-        for cut in range(n_range):
-            lead_sum, lead_cnt = 0, 0
-            for t in range(1, train + 1):
-                idx = cut - guard - t
-                if 0 <= idx < n_range:
-                    lead_sum += int(col[idx])
-                    lead_cnt += 1
-            lag_sum, lag_cnt = 0, 0
-            for t in range(1, train + 1):
-                idx = cut + guard + t
-                if 0 <= idx < n_range:
-                    lag_sum += int(col[idx])
-                    lag_cnt += 1
-
-            if mode_str == 'CA':
-                noise = lead_sum + lag_sum
-            elif mode_str == 'GO':
-                if lead_cnt > 0 and lag_cnt > 0:
-                    noise = lead_sum if lead_sum * lag_cnt > lag_sum * lead_cnt else lag_sum
-                else:
-                    noise = lead_sum if lead_cnt > 0 else lag_sum
-            elif mode_str == 'SO':
-                if lead_cnt > 0 and lag_cnt > 0:
-                    noise = lead_sum if lead_sum * lag_cnt < lag_sum * lead_cnt else lag_sum
-                else:
-                    noise = lead_sum if lead_cnt > 0 else lag_sum
-            else:
-                noise = lead_sum + lag_sum
-
-            thr = min((alpha_q44 * noise) >> ALPHA_FRAC_BITS, MAX_MAG)
-            if int(col[cut]) > thr:
-                detect_flags[cut, dbin] = True
-
-    return detect_flags, magnitudes
-
-
-class ReplayConnection:
-    """
-    Loads pre-computed .npy arrays (from golden_reference.py co-sim output)
-    and serves them as USB data packets to the dashboard, exercising the full
-    parsing pipeline with real ADI CN0566 radar data.
-
-    Signal processing parameters (CFAR guard/train/alpha/mode, MTI enable,
-    DC notch width) can be adjusted at runtime via write() — the connection
-    re-runs the bit-accurate processing pipeline and rebuilds packets.
-
-    Required npy directory layout (e.g. tb/cosim/real_data/hex/):
-      decimated_range_i.npy       (32, 64) int   — pre-Doppler range I
-      decimated_range_q.npy       (32, 64) int   — pre-Doppler range Q
-      doppler_map_i.npy           (64, 32) int   — Doppler I  (no MTI)
-      doppler_map_q.npy           (64, 32) int   — Doppler Q  (no MTI)
-      fullchain_mti_doppler_i.npy (64, 32) int   — Doppler I  (with MTI)
-      fullchain_mti_doppler_q.npy (64, 32) int   — Doppler Q  (with MTI)
-      fullchain_cfar_flags.npy    (64, 32) bool  — CFAR detections
-      fullchain_cfar_mag.npy      (64, 32) int   — CFAR |I|+|Q| magnitude
     """
 
-    def __init__(self, npy_dir: str, use_mti: bool = True,
+    VID = 0x0403
-                 replay_fps: float = 5.0):
+    PID_LIST: ClassVar[list[int]] = [0x6030, 0x6031]
-        self._npy_dir = npy_dir
+
-        self._use_mti = use_mti
+    def __init__(self, mock: bool = True):
-        self._replay_fps = max(replay_fps, 0.1)
+        self._mock = mock
+        self._dev = None
         self._lock = threading.Lock()
         self.is_open = False
-        self._packets: bytes = b""
+        # Mock state (reuses same synthetic data pattern)
-        self._read_offset = 0
+        self._mock_frame_num = 0
-        self._frame_len = 0
+        self._mock_rng = np.random.RandomState(42)
-        # Current signal-processing parameters
-        self._mti_enable: bool = use_mti
-        self._dc_notch_width: int = 2
-        self._cfar_guard: int = 2
-        self._cfar_train: int = 8
-        self._cfar_alpha: int = 0x30
-        self._cfar_mode: int = 0  # 0=CA, 1=GO, 2=SO
-        self._cfar_enable: bool = True
-        self._detect_threshold: int = 10000  # RTL default (host_detect_threshold)
-        # Raw source arrays (loaded once, reprocessed on param change)
-        self._dop_mti_i: np.ndarray | None = None
-        self._dop_mti_q: np.ndarray | None = None
-        self._dop_nomti_i: np.ndarray | None = None
-        self._dop_nomti_q: np.ndarray | None = None
-        self._range_i_vec: np.ndarray | None = None
-        self._range_q_vec: np.ndarray | None = None
-        # Rebuild flag
-        self._needs_rebuild = False
 
-    def open(self, _device_index: int = 0) -> bool:
+    def open(self, device_index: int = 0) -> bool:
-        try:
+        if self._mock:
-            self._load_arrays()
-            self._packets = self._build_packets()
-            self._frame_len = len(self._packets)
-            self._read_offset = 0
             self.is_open = True
-            log.info(f"Replay connection opened: {self._npy_dir} "
+            log.info("FT601 mock device opened (no hardware)")
-                     f"(MTI={'ON' if self._mti_enable else 'OFF'}, "
-                     f"{self._frame_len} bytes/frame)")
             return True
-        except (OSError, ValueError, IndexError, struct.error) as e:
+
-            log.error(f"Replay open failed: {e}")
+        if not FTD3XX_AVAILABLE:
+            log.error(
+                "ftd3xx library required for FT601 hardware — "
+                "install with: pip install ftd3xx"
+            )
+            return False
+
+        try:
+            self._dev = ftd3xx.create(device_index, ftd3xx.OPEN_BY_INDEX)
+            if self._dev is None:
+                log.error("No FT601 device found at index %d", device_index)
+                return False
+            # Verify chip configuration — only reconfigure if needed.
+            # setChipConfiguration triggers USB re-enumeration, which
+            # invalidates the device handle and requires a re-open cycle.
+            cfg = self._dev.getChipConfiguration()
+            needs_reconfig = (
+                cfg.FIFOMode != 0            # 245 FIFO mode
+                or cfg.ChannelConfig != 0    # 1 channel, 32-bit
+                or cfg.OptionalFeatureSupport != 0
+            )
+            if needs_reconfig:
+                cfg.FIFOMode = 0
+                cfg.ChannelConfig = 0
+                cfg.OptionalFeatureSupport = 0
+                self._dev.setChipConfiguration(cfg)
+                # Device re-enumerates — close stale handle, wait, re-open
+                self._dev.close()
+                self._dev = None
+                import time
+                time.sleep(2.0)  # wait for USB re-enumeration
+                self._dev = ftd3xx.create(device_index, ftd3xx.OPEN_BY_INDEX)
+                if self._dev is None:
+                    log.error("FT601 not found after reconfiguration")
+                    return False
+                log.info("FT601 reconfigured and re-opened (index %d)", device_index)
+            self.is_open = True
+            log.info("FT601 device opened (index %d)", device_index)
+            return True
+        except (OSError, _Ftd3xxError) as e:
+            log.error("FT601 open failed: %s", e)
+            self._dev = None
             return False
 
     def close(self):
+        if self._dev is not None:
+            with contextlib.suppress(Exception):
+                self._dev.close()
+            self._dev = None
         self.is_open = False
 
     def read(self, size: int = 4096) -> bytes | None:
+        """Read raw bytes from FT601. Returns None on error/timeout."""
         if not self.is_open:
             return None
-        # Pace reads to target FPS (spread across ~64 reads per frame)
+
-        time.sleep((1.0 / self._replay_fps) / (NUM_CELLS / 32))
+        if self._mock:
+            return self._mock_read(size)
+
         with self._lock:
-            # If params changed, rebuild packets
+            try:
-            if self._needs_rebuild:
+                data = self._dev.readPipe(0x82, size, raw=True)
-                self._packets = self._build_packets()
+                return bytes(data) if data else None
-                self._frame_len = len(self._packets)
+            except (OSError, _Ftd3xxError) as e:
-                self._read_offset = 0
+                log.error("FT601 read error: %s", e)
-                self._needs_rebuild = False
+                return None
-            end = self._read_offset + size
-            if end <= self._frame_len:
-                chunk = self._packets[self._read_offset:end]
-                self._read_offset = end
-            else:
-                chunk = self._packets[self._read_offset:]
-                self._read_offset = 0
-            return chunk
 
     def write(self, data: bytes) -> bool:
-        """
+        """Write raw bytes to FT601. Data must be 4-byte aligned for 32-bit bus."""
-        Handle host commands in replay mode.
+        if not self.is_open:
-        Signal-processing params (CFAR, MTI, DC notch) trigger re-processing.
+            return False
-        Hardware-only params are silently ignored.
+
-        """
+        if self._mock:
-        if len(data) < 4:
+            log.info(f"FT601 mock write: {data.hex()}")
-            return True
+            return True
-        word = struct.unpack(">I", data[:4])[0]
+
-        opcode = (word >> 24) & 0xFF
+        # Pad to 4-byte alignment (FT601 32-bit bus requirement).
-        value = word & 0xFFFF
+        # NOTE: Radar commands are already 4 bytes, so this should be a no-op.
+        remainder = len(data) % 4
+        if remainder:
+            data = data + b"\x00" * (4 - remainder)
 
-        if opcode in _REPLAY_ADJUSTABLE_OPCODES:
-            changed = False
         with self._lock:
-                if opcode == 0x03:  # DETECT_THRESHOLD
-                    if self._detect_threshold != value:
-                        self._detect_threshold = value
-                        changed = True
-                elif opcode == 0x21:  # CFAR_GUARD
-                    if self._cfar_guard != value:
-                        self._cfar_guard = value
-                        changed = True
-                elif opcode == 0x22:  # CFAR_TRAIN
-                    if self._cfar_train != value:
-                        self._cfar_train = value
-                        changed = True
-                elif opcode == 0x23:  # CFAR_ALPHA
-                    if self._cfar_alpha != value:
-                        self._cfar_alpha = value
-                        changed = True
-                elif opcode == 0x24:  # CFAR_MODE
-                    if self._cfar_mode != value:
-                        self._cfar_mode = value
-                        changed = True
-                elif opcode == 0x25:  # CFAR_ENABLE
-                    new_en = bool(value)
-                    if self._cfar_enable != new_en:
-                        self._cfar_enable = new_en
-                        changed = True
-                elif opcode == 0x26:  # MTI_ENABLE
-                    new_en = bool(value)
-                    if self._mti_enable != new_en:
-                        self._mti_enable = new_en
-                        changed = True
-                elif opcode == 0x27 and self._dc_notch_width != value:  # DC_NOTCH_WIDTH
-                    self._dc_notch_width = value
-                    changed = True
-                if changed:
-                    self._needs_rebuild = True
-            if changed:
-                log.info(f"Replay param updated: opcode=0x{opcode:02X} "
-                         f"value={value} — will re-process")
-            else:
-                log.debug(f"Replay param unchanged: opcode=0x{opcode:02X} "
-                          f"value={value}")
-        elif opcode in _HARDWARE_ONLY_OPCODES:
-            log.debug(f"Replay: hardware-only opcode 0x{opcode:02X} "
-                      f"(ignored in replay mode)")
-        else:
-            log.debug(f"Replay: unknown opcode 0x{opcode:02X} (ignored)")
-        return True
-
-    def _load_arrays(self):
-        """Load source npy arrays once."""
-        npy = self._npy_dir
-        # MTI Doppler
-        self._dop_mti_i = np.load(
-            os.path.join(npy, "fullchain_mti_doppler_i.npy")).astype(np.int64)
-        self._dop_mti_q = np.load(
-            os.path.join(npy, "fullchain_mti_doppler_q.npy")).astype(np.int64)
-        # Non-MTI Doppler
-        self._dop_nomti_i = np.load(
-            os.path.join(npy, "doppler_map_i.npy")).astype(np.int64)
-        self._dop_nomti_q = np.load(
-            os.path.join(npy, "doppler_map_q.npy")).astype(np.int64)
-        # Range data
             try:
-            range_i_all = np.load(
+                written = self._dev.writePipe(0x02, data, raw=True)
-                os.path.join(npy, "decimated_range_i.npy")).astype(np.int64)
+                return written == len(data)
-            range_q_all = np.load(
+            except (OSError, _Ftd3xxError) as e:
-                os.path.join(npy, "decimated_range_q.npy")).astype(np.int64)
+                log.error("FT601 write error: %s", e)
-            self._range_i_vec = range_i_all[-1, :]  # last chirp
+                return False
-            self._range_q_vec = range_q_all[-1, :]
-        except FileNotFoundError:
-            self._range_i_vec = np.zeros(NUM_RANGE_BINS, dtype=np.int64)
-            self._range_q_vec = np.zeros(NUM_RANGE_BINS, dtype=np.int64)
 
-    def _build_packets(self) -> bytes:
+    def _mock_read(self, size: int) -> bytes:
-        """Build a full frame of USB data packets from current params."""
+        """Generate synthetic radar packets (same pattern as FT2232H mock)."""
-        # Select Doppler data based on MTI
+        time.sleep(0.05)
-        if self._mti_enable:
+        self._mock_frame_num += 1
-            dop_i = self._dop_mti_i
-            dop_q = self._dop_mti_q
-        else:
-            dop_i = self._dop_nomti_i
-            dop_q = self._dop_nomti_q
 
-        # Apply DC notch
+        buf = bytearray()
-        dop_i, dop_q = _replay_dc_notch(dop_i, dop_q, self._dc_notch_width)
+        num_packets = min(NUM_CELLS, size // DATA_PACKET_SIZE)
+        start_idx = getattr(self, "_mock_seq_idx", 0)
 
-        # Run CFAR
+        for n in range(num_packets):
-        if self._cfar_enable:
+            idx = (start_idx + n) % NUM_CELLS
-            det, _mag = _replay_cfar(
+            rbin = idx // NUM_DOPPLER_BINS
-                dop_i, dop_q,
+            dbin = idx % NUM_DOPPLER_BINS
-                guard=self._cfar_guard,
-                train=self._cfar_train,
-                alpha_q44=self._cfar_alpha,
-                mode=self._cfar_mode,
-            )
-        else:
-            # Simple threshold fallback matching RTL cfar_ca.v:
-            # detect = (|I| + |Q|) > detect_threshold  (L1 norm)
-            mag = np.abs(dop_i) + np.abs(dop_q)
-            det = mag > self._detect_threshold
 
-        det_count = int(det.sum())
+            range_i = int(self._mock_rng.normal(0, 100))
-        log.info(f"Replay: rebuilt {NUM_CELLS} packets ("
+            range_q = int(self._mock_rng.normal(0, 100))
-                 f"MTI={'ON' if self._mti_enable else 'OFF'}, "
+            if abs(rbin - 20) < 3:
-                 f"DC_notch={self._dc_notch_width}, "
+                range_i += 5000
-                 f"CFAR={'ON' if self._cfar_enable else 'OFF'} "
+                range_q += 3000
-                 f"G={self._cfar_guard} T={self._cfar_train} "
-                 f"a=0x{self._cfar_alpha:02X} m={self._cfar_mode}, "
-                 f"{det_count} detections)")
 
-        range_i = self._range_i_vec
+            dop_i = int(self._mock_rng.normal(0, 50))
-        range_q = self._range_q_vec
+            dop_q = int(self._mock_rng.normal(0, 50))
+            if abs(rbin - 20) < 3 and abs(dbin - 8) < 2:
+                dop_i += 8000
+                dop_q += 4000
 
-        return self._build_packets_data(range_i, range_q, dop_i, dop_q, det)
+            detection = 1 if (abs(rbin - 20) < 2 and abs(dbin - 8) < 2) else 0
 
-    def _build_packets_data(self, range_i, range_q, dop_i, dop_q, det) -> bytes:
+            pkt = bytearray()
-        """Build 11-byte data packets for FT2232H interface."""
+            pkt.append(HEADER_BYTE)
-        buf = bytearray(NUM_CELLS * DATA_PACKET_SIZE)
+            pkt += struct.pack(">h", np.clip(range_q, -32768, 32767))
-        pos = 0
+            pkt += struct.pack(">h", np.clip(range_i, -32768, 32767))
-        for rbin in range(NUM_RANGE_BINS):
+            pkt += struct.pack(">h", np.clip(dop_i, -32768, 32767))
-            ri = int(np.clip(range_i[rbin], -32768, 32767))
+            pkt += struct.pack(">h", np.clip(dop_q, -32768, 32767))
-            rq = int(np.clip(range_q[rbin], -32768, 32767))
+            # Bit 7 = frame_start (sample_counter == 0), bit 0 = detection
-            rq_bytes = struct.pack(">h", rq)
+            det_byte = (detection & 0x01) | (0x80 if idx == 0 else 0x00)
-            ri_bytes = struct.pack(">h", ri)
+            pkt.append(det_byte)
-            for dbin in range(NUM_DOPPLER_BINS):
+            pkt.append(FOOTER_BYTE)
-                di = int(np.clip(dop_i[rbin, dbin], -32768, 32767))
-                dq = int(np.clip(dop_q[rbin, dbin], -32768, 32767))
-                d = 1 if det[rbin, dbin] else 0
 
-                buf[pos] = HEADER_BYTE
+            buf += pkt
-                pos += 1
-                buf[pos:pos+2] = rq_bytes
-                pos += 2
-                buf[pos:pos+2] = ri_bytes
-                pos += 2
-                buf[pos:pos+2] = struct.pack(">h", di)
-                pos += 2
-                buf[pos:pos+2] = struct.pack(">h", dq)
-                pos += 2
-                buf[pos] = d
-                pos += 1
-                buf[pos] = FOOTER_BYTE
-                pos += 1
 
+        self._mock_seq_idx = (start_idx + num_packets) % NUM_CELLS
         return bytes(buf)
 
 
+
+
+
 # ============================================================================
 # Data Recorder (HDF5)
 # ============================================================================
@@ -985,6 +788,12 @@ class RadarAcquisition(threading.Thread):
             if sample.get("detection", 0):
                 self._frame.detections[rbin, dbin] = 1
                 self._frame.detection_count += 1
+            # Accumulate FPGA range profile data (matched-filter output)
+            # Each sample carries the range_i/range_q for this range bin.
+            # Accumulate magnitude across Doppler bins for the range profile.
+            ri = int(sample.get("range_i", 0))
+            rq = int(sample.get("range_q", 0))
+            self._frame.range_profile[rbin] += abs(ri) + abs(rq)
 
         self._sample_idx += 1
 
@@ -992,11 +801,11 @@ class RadarAcquisition(threading.Thread):
             self._finalize_frame()
 
     def _finalize_frame(self):
-        """Complete frame: compute range profile, push to queue, record."""
+        """Complete frame: push to queue, record."""
         self._frame.timestamp = time.time()
         self._frame.frame_number = self._frame_num
-        # Range profile = sum of magnitude across Doppler bins
+        # range_profile is already accumulated from FPGA range_i/range_q
-        self._frame.range_profile = np.sum(self._frame.magnitude, axis=1)
+        # data in _ingest_sample(). No need to synthesize from doppler magnitude.
 
         # Push to display queue (drop old if backed up)
         try:

9_Firmware/9_3_GUI/test_GUI_V65_Tk.py

@@ -3,8 +3,8 @@
 Tests for AERIS-10 Radar Dashboard protocol parsing, command building,
 data recording, and acquisition logic.
 
-Run: python -m pytest test_radar_dashboard.py -v
+Run: python -m pytest test_GUI_V65_Tk.py -v
-  or: python test_radar_dashboard.py
+  or: python test_GUI_V65_Tk.py
 """
 
 import struct
@@ -16,13 +16,13 @@ import unittest
 import numpy as np
 
 from radar_protocol import (
-    RadarProtocol, FT2232HConnection, DataRecorder, RadarAcquisition,
+    RadarProtocol, FT2232HConnection, FT601Connection, DataRecorder, RadarAcquisition,
     RadarFrame, StatusResponse, Opcode,
     HEADER_BYTE, FOOTER_BYTE, STATUS_HEADER_BYTE,
-    NUM_RANGE_BINS, NUM_DOPPLER_BINS, NUM_CELLS,
+    NUM_RANGE_BINS, NUM_DOPPLER_BINS,
     DATA_PACKET_SIZE,
-    _HARDWARE_ONLY_OPCODES,
 )
+from GUI_V65_Tk import DemoTarget, DemoSimulator, _ReplayController
 
 
 class TestRadarProtocol(unittest.TestCase):
@@ -312,6 +312,61 @@ class TestFT2232HConnection(unittest.TestCase):
         self.assertFalse(conn.write(b"\x00\x00\x00\x00"))
 
 
+class TestFT601Connection(unittest.TestCase):
+    """Test mock FT601 connection (mirrors FT2232H tests)."""
+
+    def test_mock_open_close(self):
+        conn = FT601Connection(mock=True)
+        self.assertTrue(conn.open())
+        self.assertTrue(conn.is_open)
+        conn.close()
+        self.assertFalse(conn.is_open)
+
+    def test_mock_read_returns_data(self):
+        conn = FT601Connection(mock=True)
+        conn.open()
+        data = conn.read(4096)
+        self.assertIsNotNone(data)
+        self.assertGreater(len(data), 0)
+        conn.close()
+
+    def test_mock_read_contains_valid_packets(self):
+        """Mock data should contain parseable data packets."""
+        conn = FT601Connection(mock=True)
+        conn.open()
+        raw = conn.read(4096)
+        packets = RadarProtocol.find_packet_boundaries(raw)
+        self.assertGreater(len(packets), 0)
+        for start, end, ptype in packets:
+            if ptype == "data":
+                result = RadarProtocol.parse_data_packet(raw[start:end])
+                self.assertIsNotNone(result)
+        conn.close()
+
+    def test_mock_write(self):
+        conn = FT601Connection(mock=True)
+        conn.open()
+        cmd = RadarProtocol.build_command(0x01, 1)
+        self.assertTrue(conn.write(cmd))
+        conn.close()
+
+    def test_write_pads_to_4_bytes(self):
+        """FT601 write() should pad data to 4-byte alignment."""
+        conn = FT601Connection(mock=True)
+        conn.open()
+        # 3-byte payload should be padded internally (no error)
+        self.assertTrue(conn.write(b"\x01\x02\x03"))
+        conn.close()
+
+    def test_read_when_closed(self):
+        conn = FT601Connection(mock=True)
+        self.assertIsNone(conn.read())
+
+    def test_write_when_closed(self):
+        conn = FT601Connection(mock=True)
+        self.assertFalse(conn.write(b"\x00\x00\x00\x00"))
+
+
 class TestDataRecorder(unittest.TestCase):
     """Test HDF5 recording (skipped if h5py not available)."""
 
@@ -459,218 +514,6 @@ class TestEndToEnd(unittest.TestCase):
         self.assertEqual(result["detection"], 1)
 
 
-class TestReplayConnection(unittest.TestCase):
-    """Test ReplayConnection with real .npy data files."""
-
-    NPY_DIR = os.path.join(
-        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
-        "real_data", "hex"
-    )
-
-    def _npy_available(self):
-        """Check if the npy data files exist."""
-        return os.path.isfile(os.path.join(self.NPY_DIR,
-                                            "fullchain_mti_doppler_i.npy"))
-
-    def test_replay_open_close(self):
-        """ReplayConnection opens and closes without error."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        self.assertTrue(conn.open())
-        self.assertTrue(conn.is_open)
-        conn.close()
-        self.assertFalse(conn.is_open)
-
-    def test_replay_packet_count(self):
-        """Replay builds exactly NUM_CELLS (2048) packets."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Each packet is 11 bytes, total = 2048 * 11
-        expected_bytes = NUM_CELLS * DATA_PACKET_SIZE
-        self.assertEqual(conn._frame_len, expected_bytes)
-        conn.close()
-
-    def test_replay_packets_parseable(self):
-        """Every packet from replay can be parsed by RadarProtocol."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        raw = conn._packets
-        boundaries = RadarProtocol.find_packet_boundaries(raw)
-        self.assertEqual(len(boundaries), NUM_CELLS)
-        parsed_count = 0
-        det_count = 0
-        for start, end, ptype in boundaries:
-            self.assertEqual(ptype, "data")
-            result = RadarProtocol.parse_data_packet(raw[start:end])
-            self.assertIsNotNone(result)
-            parsed_count += 1
-            if result["detection"]:
-                det_count += 1
-        self.assertEqual(parsed_count, NUM_CELLS)
-        # Default: MTI=ON, DC_notch=2, CFAR CA g=2 t=8 a=0x30 → 4 detections
-        self.assertEqual(det_count, 4)
-        conn.close()
-
-    def test_replay_read_loops(self):
-        """Read returns data and loops back around."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True, replay_fps=1000)
-        conn.open()
-        total_read = 0
-        for _ in range(100):
-            chunk = conn.read(1024)
-            self.assertIsNotNone(chunk)
-            total_read += len(chunk)
-        self.assertGreater(total_read, 0)
-        conn.close()
-
-    def test_replay_no_mti(self):
-        """ReplayConnection works with use_mti=False (CFAR still runs)."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=False)
-        conn.open()
-        self.assertEqual(conn._frame_len, NUM_CELLS * DATA_PACKET_SIZE)
-        # No-MTI with DC notch=2 and default CFAR → 0 detections
-        raw = conn._packets
-        boundaries = RadarProtocol.find_packet_boundaries(raw)
-        det_count = sum(1 for s, e, t in boundaries
-                        if RadarProtocol.parse_data_packet(raw[s:e]).get("detection", 0))
-        self.assertEqual(det_count, 0)
-        conn.close()
-
-    def test_replay_write_returns_true(self):
-        """Write on replay connection returns True."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR)
-        conn.open()
-        self.assertTrue(conn.write(b"\x01\x00\x00\x01"))
-        conn.close()
-
-    def test_replay_adjustable_param_cfar_guard(self):
-        """Changing CFAR guard via write() triggers re-processing."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Initial: guard=2 → 4 detections
-        self.assertFalse(conn._needs_rebuild)
-        # Send CFAR_GUARD=4
-        cmd = RadarProtocol.build_command(0x21, 4)
-        conn.write(cmd)
-        self.assertTrue(conn._needs_rebuild)
-        self.assertEqual(conn._cfar_guard, 4)
-        # Read triggers rebuild
-        conn.read(1024)
-        self.assertFalse(conn._needs_rebuild)
-        conn.close()
-
-    def test_replay_adjustable_param_mti_toggle(self):
-        """Toggling MTI via write() triggers re-processing."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Disable MTI
-        cmd = RadarProtocol.build_command(0x26, 0)
-        conn.write(cmd)
-        self.assertTrue(conn._needs_rebuild)
-        self.assertFalse(conn._mti_enable)
-        # Read to trigger rebuild, then count detections
-        # Drain all packets after rebuild
-        conn.read(1024)  # triggers rebuild
-        raw = conn._packets
-        boundaries = RadarProtocol.find_packet_boundaries(raw)
-        det_count = sum(1 for s, e, t in boundaries
-                        if RadarProtocol.parse_data_packet(raw[s:e]).get("detection", 0))
-        # No-MTI with default CFAR → 0 detections
-        self.assertEqual(det_count, 0)
-        conn.close()
-
-    def test_replay_adjustable_param_dc_notch(self):
-        """Changing DC notch width via write() triggers re-processing."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Change DC notch to 0 (no notch)
-        cmd = RadarProtocol.build_command(0x27, 0)
-        conn.write(cmd)
-        self.assertTrue(conn._needs_rebuild)
-        self.assertEqual(conn._dc_notch_width, 0)
-        conn.read(1024)  # triggers rebuild
-        raw = conn._packets
-        boundaries = RadarProtocol.find_packet_boundaries(raw)
-        det_count = sum(1 for s, e, t in boundaries
-                        if RadarProtocol.parse_data_packet(raw[s:e]).get("detection", 0))
-        # DC notch=0 with MTI → 6 detections (more noise passes through)
-        self.assertEqual(det_count, 6)
-        conn.close()
-
-    def test_replay_hardware_opcode_ignored(self):
-        """Hardware-only opcodes don't trigger rebuild."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Send TRIGGER (hardware-only)
-        cmd = RadarProtocol.build_command(0x01, 1)
-        conn.write(cmd)
-        self.assertFalse(conn._needs_rebuild)
-        # Send STREAM_CONTROL (hardware-only, opcode 0x04)
-        cmd = RadarProtocol.build_command(0x04, 7)
-        conn.write(cmd)
-        self.assertFalse(conn._needs_rebuild)
-        conn.close()
-
-    def test_replay_same_value_no_rebuild(self):
-        """Setting same value as current doesn't trigger rebuild."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # CFAR guard already 2
-        cmd = RadarProtocol.build_command(0x21, 2)
-        conn.write(cmd)
-        self.assertFalse(conn._needs_rebuild)
-        conn.close()
-
-    def test_replay_self_test_opcodes_are_hardware_only(self):
-        """Self-test opcodes 0x30/0x31 are hardware-only (ignored in replay)."""
-        if not self._npy_available():
-            self.skipTest("npy data files not found")
-        from radar_protocol import ReplayConnection
-        conn = ReplayConnection(self.NPY_DIR, use_mti=True)
-        conn.open()
-        # Send self-test trigger
-        cmd = RadarProtocol.build_command(0x30, 1)
-        conn.write(cmd)
-        self.assertFalse(conn._needs_rebuild)
-        # Send self-test status request
-        cmd = RadarProtocol.build_command(0x31, 0)
-        conn.write(cmd)
-        self.assertFalse(conn._needs_rebuild)
-        conn.close()
-
-
 class TestOpcodeEnum(unittest.TestCase):
     """Verify Opcode enum matches RTL host register map (radar_system_top.v)."""
 
@@ -690,15 +533,6 @@ class TestOpcodeEnum(unittest.TestCase):
         """SELF_TEST_STATUS opcode must be 0x31."""
         self.assertEqual(Opcode.SELF_TEST_STATUS, 0x31)
 
-    def test_self_test_in_hardware_only(self):
-        """Self-test opcodes must be in _HARDWARE_ONLY_OPCODES."""
-        self.assertIn(0x30, _HARDWARE_ONLY_OPCODES)
-        self.assertIn(0x31, _HARDWARE_ONLY_OPCODES)
-
-    def test_0x16_in_hardware_only(self):
-        """GAIN_SHIFT 0x16 must be in _HARDWARE_ONLY_OPCODES."""
-        self.assertIn(0x16, _HARDWARE_ONLY_OPCODES)
-
     def test_stream_control_is_0x04(self):
         """STREAM_CONTROL must be 0x04 (matches radar_system_top.v:906)."""
         self.assertEqual(Opcode.STREAM_CONTROL, 0x04)
@@ -717,11 +551,6 @@ class TestOpcodeEnum(unittest.TestCase):
         self.assertEqual(Opcode.DETECT_THRESHOLD, 0x03)
         self.assertEqual(Opcode.STREAM_CONTROL, 0x04)
 
-    def test_stale_opcodes_not_in_hardware_only(self):
-        """Old wrong opcode values must not be in _HARDWARE_ONLY_OPCODES."""
-        self.assertNotIn(0x05, _HARDWARE_ONLY_OPCODES)  # was wrong STREAM_ENABLE
-        self.assertNotIn(0x06, _HARDWARE_ONLY_OPCODES)  # was wrong GAIN_SHIFT
-
     def test_all_rtl_opcodes_present(self):
         """Every RTL opcode (from radar_system_top.v) has a matching Opcode enum member."""
         expected = {0x01, 0x02, 0x03, 0x04,
@@ -946,5 +775,199 @@ class TestAGCVisualizationHistory(unittest.TestCase):
         self.assertAlmostEqual(max(200 * 1.5, 5), 300.0)
 
 
+# =====================================================================
+# Tests for DemoTarget, DemoSimulator, and _ReplayController
+# =====================================================================
+
+
+class TestDemoTarget(unittest.TestCase):
+    """Unit tests for DemoTarget kinematics."""
+
+    def test_initial_values_in_range(self):
+        t = DemoTarget(1)
+        self.assertEqual(t.id, 1)
+        self.assertGreaterEqual(t.range_m, 20)
+        self.assertLessEqual(t.range_m, DemoTarget._MAX_RANGE)
+        self.assertIn(t.classification, ["aircraft", "drone", "bird", "unknown"])
+
+    def test_step_returns_true_in_normal_range(self):
+        t = DemoTarget(2)
+        t.range_m = 150.0
+        t.velocity = 0.0
+        self.assertTrue(t.step())
+
+    def test_step_returns_false_when_out_of_range_high(self):
+        t = DemoTarget(3)
+        t.range_m = DemoTarget._MAX_RANGE + 1
+        t.velocity = -1.0  # moving away
+        self.assertFalse(t.step())
+
+    def test_step_returns_false_when_out_of_range_low(self):
+        t = DemoTarget(4)
+        t.range_m = 2.0
+        t.velocity = 1.0  # moving closer
+        self.assertFalse(t.step())
+
+    def test_velocity_clamped(self):
+        t = DemoTarget(5)
+        t.velocity = 19.0
+        t.range_m = 150.0
+        # Step many times — velocity should stay within [-20, 20]
+        for _ in range(100):
+            t.range_m = 150.0  # keep in range
+            t.step()
+        self.assertGreaterEqual(t.velocity, -20)
+        self.assertLessEqual(t.velocity, 20)
+
+    def test_snr_clamped(self):
+        t = DemoTarget(6)
+        t.snr = 49.5
+        t.range_m = 150.0
+        for _ in range(100):
+            t.range_m = 150.0
+            t.step()
+        self.assertGreaterEqual(t.snr, 0)
+        self.assertLessEqual(t.snr, 50)
+
+
+class TestDemoSimulatorNoTk(unittest.TestCase):
+    """Test DemoSimulator logic without a real Tk event loop.
+
+    We replace ``root.after`` with a mock to avoid needing a display.
+    """
+
+    def _make_simulator(self):
+        from unittest.mock import MagicMock
+
+        fq = queue.Queue(maxsize=100)
+        uq = queue.Queue(maxsize=100)
+        mock_root = MagicMock()
+        # root.after(ms, fn) should return an id (str)
+        mock_root.after.return_value = "mock_after_id"
+        sim = DemoSimulator(fq, uq, mock_root, interval_ms=100)
+        return sim, fq, uq, mock_root
+
+    def test_initial_targets_created(self):
+        sim, _fq, _uq, _root = self._make_simulator()
+        # Should seed 8 initial targets
+        self.assertEqual(len(sim._targets), 8)
+
+    def test_tick_produces_frame_and_targets(self):
+        sim, fq, uq, _root = self._make_simulator()
+        sim._tick()
+        # Should have a frame
+        self.assertFalse(fq.empty())
+        frame = fq.get_nowait()
+        self.assertIsInstance(frame, RadarFrame)
+        self.assertEqual(frame.frame_number, 1)
+        # Should have demo_targets in ui_queue
+        tag, payload = uq.get_nowait()
+        self.assertEqual(tag, "demo_targets")
+        self.assertIsInstance(payload, list)
+
+    def test_tick_produces_nonzero_detections(self):
+        """Demo targets should actually render into the range-Doppler grid."""
+        sim, fq, _uq, _root = self._make_simulator()
+        sim._tick()
+        frame = fq.get_nowait()
+        # At least some targets should produce magnitude > 0 and detections
+        self.assertGreater(frame.magnitude.sum(), 0,
+                           "Demo targets should render into range-Doppler grid")
+        self.assertGreater(frame.detection_count, 0,
+                           "Demo targets should produce detections")
+
+    def test_stop_cancels_after(self):
+        sim, _fq, _uq, mock_root = self._make_simulator()
+        sim._tick()  # sets _after_id
+        sim.stop()
+        mock_root.after_cancel.assert_called_once_with("mock_after_id")
+        self.assertIsNone(sim._after_id)
+
+
+class TestReplayController(unittest.TestCase):
+    """Unit tests for _ReplayController (no GUI required)."""
+
+    def test_initial_state(self):
+        fq = queue.Queue()
+        uq = queue.Queue()
+        ctrl = _ReplayController(fq, uq)
+        self.assertEqual(ctrl.total_frames, 0)
+        self.assertEqual(ctrl.current_index, 0)
+        self.assertFalse(ctrl.is_playing)
+        self.assertIsNone(ctrl.software_fpga)
+
+    def test_set_speed(self):
+        ctrl = _ReplayController(queue.Queue(), queue.Queue())
+        ctrl.set_speed("2x")
+        self.assertAlmostEqual(ctrl._frame_interval, 0.050)
+
+    def test_set_speed_unknown_falls_back(self):
+        ctrl = _ReplayController(queue.Queue(), queue.Queue())
+        ctrl.set_speed("99x")
+        self.assertAlmostEqual(ctrl._frame_interval, 0.100)
+
+    def test_set_loop(self):
+        ctrl = _ReplayController(queue.Queue(), queue.Queue())
+        ctrl.set_loop(True)
+        self.assertTrue(ctrl._loop)
+        ctrl.set_loop(False)
+        self.assertFalse(ctrl._loop)
+
+    def test_seek_increments_past_emitted(self):
+        """After seek(), _current_index should be one past the seeked frame."""
+        fq = queue.Queue(maxsize=100)
+        uq = queue.Queue(maxsize=100)
+        ctrl = _ReplayController(fq, uq)
+        # Manually set engine to a mock to allow seek
+        from unittest.mock import MagicMock
+        mock_engine = MagicMock()
+        mock_engine.total_frames = 10
+        mock_engine.get_frame.return_value = RadarFrame()
+        ctrl._engine = mock_engine
+        ctrl.seek(5)
+        # _current_index should be 6 (past the emitted frame)
+        self.assertEqual(ctrl._current_index, 6)
+        self.assertEqual(ctrl._last_emitted_index, 5)
+        # Frame should be in the queue
+        self.assertFalse(fq.empty())
+
+    def test_seek_clamps_to_bounds(self):
+        from unittest.mock import MagicMock
+
+        fq = queue.Queue(maxsize=100)
+        uq = queue.Queue(maxsize=100)
+        ctrl = _ReplayController(fq, uq)
+        mock_engine = MagicMock()
+        mock_engine.total_frames = 5
+        mock_engine.get_frame.return_value = RadarFrame()
+        ctrl._engine = mock_engine
+
+        ctrl.seek(100)
+        # Should clamp to last frame (index 4), then _current_index = 5
+        self.assertEqual(ctrl._last_emitted_index, 4)
+        self.assertEqual(ctrl._current_index, 5)
+
+        ctrl.seek(-10)
+        # Should clamp to 0, then _current_index = 1
+        self.assertEqual(ctrl._last_emitted_index, 0)
+        self.assertEqual(ctrl._current_index, 1)
+
+    def test_close_releases_engine(self):
+        from unittest.mock import MagicMock
+
+        fq = queue.Queue(maxsize=100)
+        uq = queue.Queue(maxsize=100)
+        ctrl = _ReplayController(fq, uq)
+        mock_engine = MagicMock()
+        mock_engine.total_frames = 5
+        mock_engine.get_frame.return_value = RadarFrame()
+        ctrl._engine = mock_engine
+
+        ctrl.close()
+        mock_engine.close.assert_called_once()
+        self.assertIsNone(ctrl._engine)
+        self.assertIsNone(ctrl.software_fpga)
+
+
 if __name__ == "__main__":
     unittest.main(verbosity=2)

9_Firmware/9_3_GUI/test_v7.py

@@ -11,6 +11,7 @@ Does NOT require a running Qt event loop — only unit-testable components.
 Run with:  python -m unittest test_v7 -v
 """
 
+import os
 import struct
 import unittest
 from dataclasses import asdict
@@ -64,9 +65,9 @@ class TestRadarSettings(unittest.TestCase):
 
     def test_defaults(self):
         s = _models().RadarSettings()
-        self.assertEqual(s.system_frequency, 10e9)
+        self.assertEqual(s.system_frequency, 10.5e9)
-        self.assertEqual(s.coverage_radius, 50000)
+        self.assertEqual(s.coverage_radius, 1536)
-        self.assertEqual(s.max_distance, 50000)
+        self.assertEqual(s.max_distance, 1536)
 
 
 class TestGPSData(unittest.TestCase):
@@ -264,6 +265,15 @@ class TestUSBPacketParser(unittest.TestCase):
 # Test: v7.workers — polar_to_geographic
 # =============================================================================
 
+def _pyqt6_available():
+    try:
+        import PyQt6.QtCore  # noqa: F401
+        return True
+    except ImportError:
+        return False
+
+
+@unittest.skipUnless(_pyqt6_available(), "PyQt6 not installed")
 class TestPolarToGeographic(unittest.TestCase):
     def test_north_bearing(self):
         from v7.workers import polar_to_geographic
@@ -326,10 +336,14 @@ class TestV7Init(unittest.TestCase):
 
     def test_key_exports(self):
         import v7
+        # Core exports (no PyQt6 required)
         for name in ["RadarTarget", "RadarSettings", "GPSData",
                       "ProcessingConfig", "FT2232HConnection",
-                      "RadarProtocol", "RadarProcessor",
+                      "RadarProtocol", "RadarProcessor"]:
-                      "RadarDataWorker", "RadarMapWidget",
+            self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}")
+        # PyQt6-dependent exports — only present when PyQt6 is installed
+        if _pyqt6_available():
+            for name in ["RadarDataWorker", "RadarMapWidget",
                           "RadarDashboard"]:
                 self.assertTrue(hasattr(v7, name), f"v7 missing export: {name}")
 
@@ -401,6 +415,561 @@ class TestAGCVisualizationV7(unittest.TestCase):
         self.assertEqual(pick_color(11), DARK_ERROR)
 
 
+# =============================================================================
+# Test: v7.models.WaveformConfig
+# =============================================================================
+
+class TestWaveformConfig(unittest.TestCase):
+    """WaveformConfig dataclass and derived physical properties."""
+
+    def test_defaults(self):
+        from v7.models import WaveformConfig
+        wc = WaveformConfig()
+        self.assertEqual(wc.sample_rate_hz, 100e6)
+        self.assertEqual(wc.bandwidth_hz, 20e6)
+        self.assertEqual(wc.chirp_duration_s, 30e-6)
+        self.assertEqual(wc.pri_s, 167e-6)
+        self.assertEqual(wc.center_freq_hz, 10.5e9)
+        self.assertEqual(wc.n_range_bins, 64)
+        self.assertEqual(wc.n_doppler_bins, 32)
+        self.assertEqual(wc.chirps_per_subframe, 16)
+        self.assertEqual(wc.fft_size, 1024)
+        self.assertEqual(wc.decimation_factor, 16)
+
+    def test_range_resolution(self):
+        """range_resolution_m should be ~23.98 m/bin (matched filter, 100 MSPS)."""
+        from v7.models import WaveformConfig
+        wc = WaveformConfig()
+        self.assertAlmostEqual(wc.range_resolution_m, 23.983, places=1)
+
+    def test_velocity_resolution(self):
+        """velocity_resolution_mps should be ~5.34 m/s/bin (PRI=167us, 16 chirps)."""
+        from v7.models import WaveformConfig
+        wc = WaveformConfig()
+        self.assertAlmostEqual(wc.velocity_resolution_mps, 5.343, places=1)
+
+    def test_max_range(self):
+        """max_range_m = range_resolution * n_range_bins."""
+        from v7.models import WaveformConfig
+        wc = WaveformConfig()
+        self.assertAlmostEqual(wc.max_range_m, wc.range_resolution_m * 64, places=1)
+
+    def test_max_velocity(self):
+        """max_velocity_mps = velocity_resolution * n_doppler_bins / 2."""
+        from v7.models import WaveformConfig
+        wc = WaveformConfig()
+        self.assertAlmostEqual(
+            wc.max_velocity_mps,
+            wc.velocity_resolution_mps * 16,
+            places=2,
+        )
+
+    def test_custom_params(self):
+        """Non-default parameters correctly change derived values."""
+        from v7.models import WaveformConfig
+        wc1 = WaveformConfig()
+        wc2 = WaveformConfig(sample_rate_hz=200e6)  # double Fs → halve range bin
+        self.assertAlmostEqual(wc2.range_resolution_m, wc1.range_resolution_m / 2, places=2)
+
+    def test_zero_center_freq_velocity(self):
+        """Zero center freq should cause ZeroDivisionError in velocity calc."""
+        from v7.models import WaveformConfig
+        wc = WaveformConfig(center_freq_hz=0.0)
+        with self.assertRaises(ZeroDivisionError):
+            _ = wc.velocity_resolution_mps
+
+
+# =============================================================================
+# Test: v7.software_fpga.SoftwareFPGA
+# =============================================================================
+
+class TestSoftwareFPGA(unittest.TestCase):
+    """SoftwareFPGA register interface and signal chain."""
+
+    def _make_fpga(self):
+        from v7.software_fpga import SoftwareFPGA
+        return SoftwareFPGA()
+
+    def test_reset_defaults(self):
+        """Register reset values match FPGA RTL (radar_system_top.v)."""
+        fpga = self._make_fpga()
+        self.assertEqual(fpga.detect_threshold, 10_000)
+        self.assertEqual(fpga.gain_shift, 0)
+        self.assertFalse(fpga.cfar_enable)
+        self.assertEqual(fpga.cfar_guard, 2)
+        self.assertEqual(fpga.cfar_train, 8)
+        self.assertEqual(fpga.cfar_alpha, 0x30)
+        self.assertEqual(fpga.cfar_mode, 0)
+        self.assertFalse(fpga.mti_enable)
+        self.assertEqual(fpga.dc_notch_width, 0)
+        self.assertFalse(fpga.agc_enable)
+        self.assertEqual(fpga.agc_target, 200)
+        self.assertEqual(fpga.agc_attack, 1)
+        self.assertEqual(fpga.agc_decay, 1)
+        self.assertEqual(fpga.agc_holdoff, 4)
+
+    def test_setter_detect_threshold(self):
+        fpga = self._make_fpga()
+        fpga.set_detect_threshold(5000)
+        self.assertEqual(fpga.detect_threshold, 5000)
+
+    def test_setter_detect_threshold_clamp_16bit(self):
+        fpga = self._make_fpga()
+        fpga.set_detect_threshold(0x1FFFF)  # 17-bit
+        self.assertEqual(fpga.detect_threshold, 0xFFFF)
+
+    def test_setter_gain_shift_clamp_4bit(self):
+        fpga = self._make_fpga()
+        fpga.set_gain_shift(0xFF)
+        self.assertEqual(fpga.gain_shift, 0x0F)
+
+    def test_setter_cfar_enable(self):
+        fpga = self._make_fpga()
+        fpga.set_cfar_enable(True)
+        self.assertTrue(fpga.cfar_enable)
+        fpga.set_cfar_enable(False)
+        self.assertFalse(fpga.cfar_enable)
+
+    def test_setter_cfar_guard_clamp_4bit(self):
+        fpga = self._make_fpga()
+        fpga.set_cfar_guard(0x1F)
+        self.assertEqual(fpga.cfar_guard, 0x0F)
+
+    def test_setter_cfar_train_min_1(self):
+        """CFAR train cells clamped to min 1."""
+        fpga = self._make_fpga()
+        fpga.set_cfar_train(0)
+        self.assertEqual(fpga.cfar_train, 1)
+
+    def test_setter_cfar_train_clamp_5bit(self):
+        fpga = self._make_fpga()
+        fpga.set_cfar_train(0x3F)
+        self.assertEqual(fpga.cfar_train, 0x1F)
+
+    def test_setter_cfar_alpha_clamp_8bit(self):
+        fpga = self._make_fpga()
+        fpga.set_cfar_alpha(0x1FF)
+        self.assertEqual(fpga.cfar_alpha, 0xFF)
+
+    def test_setter_cfar_mode_clamp_2bit(self):
+        fpga = self._make_fpga()
+        fpga.set_cfar_mode(7)
+        self.assertEqual(fpga.cfar_mode, 3)
+
+    def test_setter_mti_enable(self):
+        fpga = self._make_fpga()
+        fpga.set_mti_enable(True)
+        self.assertTrue(fpga.mti_enable)
+
+    def test_setter_dc_notch_clamp_3bit(self):
+        fpga = self._make_fpga()
+        fpga.set_dc_notch_width(0xFF)
+        self.assertEqual(fpga.dc_notch_width, 7)
+
+    def test_setter_agc_params_selective(self):
+        """set_agc_params only changes provided fields."""
+        fpga = self._make_fpga()
+        fpga.set_agc_params(target=100)
+        self.assertEqual(fpga.agc_target, 100)
+        self.assertEqual(fpga.agc_attack, 1)  # unchanged
+        fpga.set_agc_params(attack=3, decay=5)
+        self.assertEqual(fpga.agc_attack, 3)
+        self.assertEqual(fpga.agc_decay, 5)
+        self.assertEqual(fpga.agc_target, 100)  # unchanged
+
+    def test_setter_agc_params_clamp(self):
+        fpga = self._make_fpga()
+        fpga.set_agc_params(target=0xFFF, attack=0xFF, decay=0xFF, holdoff=0xFF)
+        self.assertEqual(fpga.agc_target, 0xFF)
+        self.assertEqual(fpga.agc_attack, 0x0F)
+        self.assertEqual(fpga.agc_decay, 0x0F)
+        self.assertEqual(fpga.agc_holdoff, 0x0F)
+
+
+class TestSoftwareFPGASignalChain(unittest.TestCase):
+    """SoftwareFPGA.process_chirps with real co-sim data."""
+
+    COSIM_DIR = os.path.join(
+        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
+        "real_data", "hex"
+    )
+
+    def _cosim_available(self):
+        return os.path.isfile(os.path.join(self.COSIM_DIR, "doppler_map_i.npy"))
+
+    def test_process_chirps_returns_radar_frame(self):
+        """process_chirps produces a RadarFrame with correct shapes."""
+        if not self._cosim_available():
+            self.skipTest("co-sim data not found")
+        from v7.software_fpga import SoftwareFPGA
+        from radar_protocol import RadarFrame
+
+        # Load decimated range data as minimal input (32 chirps x 64 bins)
+        dec_i = np.load(os.path.join(self.COSIM_DIR, "decimated_range_i.npy"))
+        dec_q = np.load(os.path.join(self.COSIM_DIR, "decimated_range_q.npy"))
+
+        # Build fake 1024-sample chirps from decimated data (pad with zeros)
+        n_chirps = dec_i.shape[0]
+        iq_i = np.zeros((n_chirps, 1024), dtype=np.int64)
+        iq_q = np.zeros((n_chirps, 1024), dtype=np.int64)
+        # Put decimated data into first 64 bins so FFT has something
+        iq_i[:, :dec_i.shape[1]] = dec_i
+        iq_q[:, :dec_q.shape[1]] = dec_q
+
+        fpga = SoftwareFPGA()
+        frame = fpga.process_chirps(iq_i, iq_q, frame_number=42, timestamp=1.0)
+
+        self.assertIsInstance(frame, RadarFrame)
+        self.assertEqual(frame.frame_number, 42)
+        self.assertAlmostEqual(frame.timestamp, 1.0)
+        self.assertEqual(frame.range_doppler_i.shape, (64, 32))
+        self.assertEqual(frame.range_doppler_q.shape, (64, 32))
+        self.assertEqual(frame.magnitude.shape, (64, 32))
+        self.assertEqual(frame.detections.shape, (64, 32))
+        self.assertEqual(frame.range_profile.shape, (64,))
+        self.assertEqual(frame.detection_count, int(frame.detections.sum()))
+
+    def test_cfar_enable_changes_detections(self):
+        """Enabling CFAR vs simple threshold should yield different detection counts."""
+        if not self._cosim_available():
+            self.skipTest("co-sim data not found")
+        from v7.software_fpga import SoftwareFPGA
+
+        iq_i = np.zeros((32, 1024), dtype=np.int64)
+        iq_q = np.zeros((32, 1024), dtype=np.int64)
+        # Inject a single strong tone in bin 10 of every chirp
+        iq_i[:, 10] = 5000
+        iq_q[:, 10] = 3000
+
+        fpga_thresh = SoftwareFPGA()
+        fpga_thresh.set_detect_threshold(1)  # very low → many detections
+        frame_thresh = fpga_thresh.process_chirps(iq_i, iq_q)
+
+        fpga_cfar = SoftwareFPGA()
+        fpga_cfar.set_cfar_enable(True)
+        fpga_cfar.set_cfar_alpha(0x10)  # low alpha → more detections
+        frame_cfar = fpga_cfar.process_chirps(iq_i, iq_q)
+
+        # Just verify both produce valid frames — exact counts depend on chain
+        self.assertIsNotNone(frame_thresh)
+        self.assertIsNotNone(frame_cfar)
+        self.assertEqual(frame_thresh.magnitude.shape, (64, 32))
+        self.assertEqual(frame_cfar.magnitude.shape, (64, 32))
+
+
+class TestQuantizeRawIQ(unittest.TestCase):
+    """quantize_raw_iq utility function."""
+
+    def test_3d_input(self):
+        """3-D (frames, chirps, samples) → uses first frame."""
+        from v7.software_fpga import quantize_raw_iq
+        raw = np.random.randn(5, 32, 1024) + 1j * np.random.randn(5, 32, 1024)
+        iq_i, iq_q = quantize_raw_iq(raw)
+        self.assertEqual(iq_i.shape, (32, 1024))
+        self.assertEqual(iq_q.shape, (32, 1024))
+        self.assertTrue(np.all(np.abs(iq_i) <= 32767))
+        self.assertTrue(np.all(np.abs(iq_q) <= 32767))
+
+    def test_2d_input(self):
+        """2-D (chirps, samples) → works directly."""
+        from v7.software_fpga import quantize_raw_iq
+        raw = np.random.randn(32, 1024) + 1j * np.random.randn(32, 1024)
+        iq_i, _iq_q = quantize_raw_iq(raw)
+        self.assertEqual(iq_i.shape, (32, 1024))
+
+    def test_zero_input(self):
+        """All-zero complex input → all-zero output."""
+        from v7.software_fpga import quantize_raw_iq
+        raw = np.zeros((32, 1024), dtype=np.complex128)
+        iq_i, iq_q = quantize_raw_iq(raw)
+        self.assertTrue(np.all(iq_i == 0))
+        self.assertTrue(np.all(iq_q == 0))
+
+    def test_peak_target_scaling(self):
+        """Peak of output should be near peak_target."""
+        from v7.software_fpga import quantize_raw_iq
+        raw = np.zeros((32, 1024), dtype=np.complex128)
+        raw[0, 0] = 1.0 + 0j  # single peak
+        iq_i, _iq_q = quantize_raw_iq(raw, peak_target=500)
+        # The peak I value should be exactly 500 (sole max)
+        self.assertEqual(int(iq_i[0, 0]), 500)
+
+
+# =============================================================================
+# Test: v7.replay (ReplayEngine, detect_format)
+# =============================================================================
+
+class TestDetectFormat(unittest.TestCase):
+    """detect_format auto-detection logic."""
+
+    COSIM_DIR = os.path.join(
+        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
+        "real_data", "hex"
+    )
+
+    def test_cosim_dir(self):
+        if not os.path.isdir(self.COSIM_DIR):
+            self.skipTest("co-sim dir not found")
+        from v7.replay import detect_format, ReplayFormat
+        self.assertEqual(detect_format(self.COSIM_DIR), ReplayFormat.COSIM_DIR)
+
+    def test_npy_file(self):
+        """A .npy file → RAW_IQ_NPY."""
+        from v7.replay import detect_format, ReplayFormat
+        import tempfile
+        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
+            np.save(f, np.zeros((2, 32, 1024), dtype=np.complex128))
+            tmp = f.name
+        try:
+            self.assertEqual(detect_format(tmp), ReplayFormat.RAW_IQ_NPY)
+        finally:
+            os.unlink(tmp)
+
+    def test_h5_file(self):
+        """A .h5 file → HDF5."""
+        from v7.replay import detect_format, ReplayFormat
+        self.assertEqual(detect_format("/tmp/fake_recording.h5"), ReplayFormat.HDF5)
+
+    def test_unknown_extension_raises(self):
+        from v7.replay import detect_format
+        with self.assertRaises(ValueError):
+            detect_format("/tmp/data.csv")
+
+    def test_empty_dir_raises(self):
+        """Directory without co-sim files → ValueError."""
+        from v7.replay import detect_format
+        import tempfile
+        with tempfile.TemporaryDirectory() as td, self.assertRaises(ValueError):
+            detect_format(td)
+
+
+class TestReplayEngineCosim(unittest.TestCase):
+    """ReplayEngine loading from FPGA co-sim directory."""
+
+    COSIM_DIR = os.path.join(
+        os.path.dirname(__file__), "..", "9_2_FPGA", "tb", "cosim",
+        "real_data", "hex"
+    )
+
+    def _available(self):
+        return os.path.isfile(os.path.join(self.COSIM_DIR, "doppler_map_i.npy"))
+
+    def test_load_cosim(self):
+        if not self._available():
+            self.skipTest("co-sim data not found")
+        from v7.replay import ReplayEngine, ReplayFormat
+        engine = ReplayEngine(self.COSIM_DIR)
+        self.assertEqual(engine.fmt, ReplayFormat.COSIM_DIR)
+        self.assertEqual(engine.total_frames, 1)
+
+    def test_get_frame_cosim(self):
+        if not self._available():
+            self.skipTest("co-sim data not found")
+        from v7.replay import ReplayEngine
+        from radar_protocol import RadarFrame
+        engine = ReplayEngine(self.COSIM_DIR)
+        frame = engine.get_frame(0)
+        self.assertIsInstance(frame, RadarFrame)
+        self.assertEqual(frame.range_doppler_i.shape, (64, 32))
+        self.assertEqual(frame.magnitude.shape, (64, 32))
+
+    def test_get_frame_out_of_range(self):
+        if not self._available():
+            self.skipTest("co-sim data not found")
+        from v7.replay import ReplayEngine
+        engine = ReplayEngine(self.COSIM_DIR)
+        with self.assertRaises(IndexError):
+            engine.get_frame(1)
+        with self.assertRaises(IndexError):
+            engine.get_frame(-1)
+
+
+class TestReplayEngineRawIQ(unittest.TestCase):
+    """ReplayEngine loading from raw IQ .npy cube."""
+
+    def test_load_raw_iq_synthetic(self):
+        """Synthetic raw IQ cube loads and produces correct frame count."""
+        import tempfile
+        from v7.replay import ReplayEngine, ReplayFormat
+        from v7.software_fpga import SoftwareFPGA
+
+        raw = np.random.randn(3, 32, 1024) + 1j * np.random.randn(3, 32, 1024)
+        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
+            np.save(f, raw)
+            tmp = f.name
+        try:
+            fpga = SoftwareFPGA()
+            engine = ReplayEngine(tmp, software_fpga=fpga)
+            self.assertEqual(engine.fmt, ReplayFormat.RAW_IQ_NPY)
+            self.assertEqual(engine.total_frames, 3)
+        finally:
+            os.unlink(tmp)
+
+    def test_get_frame_raw_iq_synthetic(self):
+        """get_frame on raw IQ runs SoftwareFPGA and returns RadarFrame."""
+        import tempfile
+        from v7.replay import ReplayEngine
+        from v7.software_fpga import SoftwareFPGA
+        from radar_protocol import RadarFrame
+
+        raw = np.random.randn(2, 32, 1024) + 1j * np.random.randn(2, 32, 1024)
+        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
+            np.save(f, raw)
+            tmp = f.name
+        try:
+            fpga = SoftwareFPGA()
+            engine = ReplayEngine(tmp, software_fpga=fpga)
+            frame = engine.get_frame(0)
+            self.assertIsInstance(frame, RadarFrame)
+            self.assertEqual(frame.range_doppler_i.shape, (64, 32))
+            self.assertEqual(frame.frame_number, 0)
+        finally:
+            os.unlink(tmp)
+
+    def test_raw_iq_no_fpga_raises(self):
+        """Raw IQ get_frame without SoftwareFPGA → RuntimeError."""
+        import tempfile
+        from v7.replay import ReplayEngine
+
+        raw = np.random.randn(1, 32, 1024) + 1j * np.random.randn(1, 32, 1024)
+        with tempfile.NamedTemporaryFile(suffix=".npy", delete=False) as f:
+            np.save(f, raw)
+            tmp = f.name
+        try:
+            engine = ReplayEngine(tmp)
+            with self.assertRaises(RuntimeError):
+                engine.get_frame(0)
+        finally:
+            os.unlink(tmp)
+
+
+class TestReplayEngineHDF5(unittest.TestCase):
+    """ReplayEngine loading from HDF5 recordings."""
+
+    def _skip_no_h5py(self):
+        try:
+            import h5py  # noqa: F401
+        except ImportError:
+            self.skipTest("h5py not installed")
+
+    def test_load_hdf5_synthetic(self):
+        """Synthetic HDF5 loads and iterates frames."""
+        self._skip_no_h5py()
+        import tempfile
+        import h5py
+        from v7.replay import ReplayEngine, ReplayFormat
+        from radar_protocol import RadarFrame
+
+        with tempfile.NamedTemporaryFile(suffix=".h5", delete=False) as f:
+            tmp = f.name
+
+        try:
+            with h5py.File(tmp, "w") as hf:
+                hf.attrs["creator"] = "test"
+                hf.attrs["range_bins"] = 64
+                hf.attrs["doppler_bins"] = 32
+                grp = hf.create_group("frames")
+                for i in range(3):
+                    fg = grp.create_group(f"frame_{i:06d}")
+                    fg.attrs["timestamp"] = float(i)
+                    fg.attrs["frame_number"] = i
+                    fg.attrs["detection_count"] = 0
+                    fg.create_dataset("range_doppler_i",
+                                      data=np.zeros((64, 32), dtype=np.int16))
+                    fg.create_dataset("range_doppler_q",
+                                      data=np.zeros((64, 32), dtype=np.int16))
+                    fg.create_dataset("magnitude",
+                                      data=np.zeros((64, 32), dtype=np.float64))
+                    fg.create_dataset("detections",
+                                      data=np.zeros((64, 32), dtype=np.uint8))
+                    fg.create_dataset("range_profile",
+                                      data=np.zeros(64, dtype=np.float64))
+
+            engine = ReplayEngine(tmp)
+            self.assertEqual(engine.fmt, ReplayFormat.HDF5)
+            self.assertEqual(engine.total_frames, 3)
+
+            frame = engine.get_frame(1)
+            self.assertIsInstance(frame, RadarFrame)
+            self.assertEqual(frame.frame_number, 1)
+            self.assertEqual(frame.range_doppler_i.shape, (64, 32))
+            engine.close()
+        finally:
+            os.unlink(tmp)
+
+
+# =============================================================================
+# Test: v7.processing.extract_targets_from_frame
+# =============================================================================
+
+class TestExtractTargetsFromFrame(unittest.TestCase):
+    """extract_targets_from_frame bin-to-physical conversion."""
+
+    def _make_frame(self, det_cells=None):
+        """Create a minimal RadarFrame with optional detection cells."""
+        from radar_protocol import RadarFrame
+        frame = RadarFrame()
+        if det_cells:
+            for rbin, dbin in det_cells:
+                frame.detections[rbin, dbin] = 1
+                frame.magnitude[rbin, dbin] = 1000.0
+        frame.detection_count = int(frame.detections.sum())
+        frame.timestamp = 1.0
+        return frame
+
+    def test_no_detections(self):
+        from v7.processing import extract_targets_from_frame
+        frame = self._make_frame()
+        targets = extract_targets_from_frame(frame)
+        self.assertEqual(len(targets), 0)
+
+    def test_single_detection_range(self):
+        """Detection at range bin 10 → range = 10 * range_resolution."""
+        from v7.processing import extract_targets_from_frame
+        frame = self._make_frame(det_cells=[(10, 16)])  # dbin=16 = center → vel=0
+        targets = extract_targets_from_frame(frame, range_resolution=23.983)
+        self.assertEqual(len(targets), 1)
+        self.assertAlmostEqual(targets[0].range, 10 * 23.983, places=1)
+        self.assertAlmostEqual(targets[0].velocity, 0.0, places=2)
+
+    def test_velocity_sign(self):
+        """Doppler bin < center → negative velocity, > center → positive."""
+        from v7.processing import extract_targets_from_frame
+        frame = self._make_frame(det_cells=[(5, 10), (5, 20)])
+        targets = extract_targets_from_frame(frame, velocity_resolution=1.484)
+        # dbin=10: vel = (10-16)*1.484 = -8.904  (approaching)
+        # dbin=20: vel = (20-16)*1.484 = +5.936  (receding)
+        self.assertLess(targets[0].velocity, 0)
+        self.assertGreater(targets[1].velocity, 0)
+
+    def test_snr_positive_for_nonzero_mag(self):
+        from v7.processing import extract_targets_from_frame
+        frame = self._make_frame(det_cells=[(3, 16)])
+        targets = extract_targets_from_frame(frame)
+        self.assertGreater(targets[0].snr, 0)
+
+    def test_gps_georef(self):
+        """With GPS data, targets get non-zero lat/lon."""
+        from v7.processing import extract_targets_from_frame
+        from v7.models import GPSData
+        gps = GPSData(latitude=41.9, longitude=12.5, altitude=0.0,
+                      pitch=0.0, heading=90.0)
+        frame = self._make_frame(det_cells=[(10, 16)])
+        targets = extract_targets_from_frame(
+            frame, range_resolution=100.0, gps=gps)
+        # Should be roughly east of radar position
+        self.assertAlmostEqual(targets[0].latitude, 41.9, places=2)
+        self.assertGreater(targets[0].longitude, 12.5)
+
+    def test_multiple_detections(self):
+        from v7.processing import extract_targets_from_frame
+        frame = self._make_frame(det_cells=[(0, 0), (10, 10), (63, 31)])
+        targets = extract_targets_from_frame(frame)
+        self.assertEqual(len(targets), 3)
+        # IDs should be sequential 0, 1, 2
+        self.assertEqual([t.id for t in targets], [0, 1, 2])
+
+
 # =============================================================================
 # Helper: lazy import of v7.models
 # =============================================================================

9_Firmware/9_3_GUI/v7/__init__.py

@@ -14,6 +14,7 @@ from .models import (
     GPSData,
     ProcessingConfig,
     TileServer,
+    WaveformConfig,
     DARK_BG, DARK_FG, DARK_ACCENT, DARK_HIGHLIGHT, DARK_BORDER,
     DARK_TEXT, DARK_BUTTON, DARK_BUTTON_HOVER,
     DARK_TREEVIEW, DARK_TREEVIEW_ALT,
@@ -25,7 +26,7 @@ from .models import (
 # Hardware interfaces — production protocol via radar_protocol.py
 from .hardware import (
     FT2232HConnection,
-    ReplayConnection,
+    FT601Connection,
     RadarProtocol,
     Opcode,
     RadarAcquisition,
@@ -40,31 +41,48 @@ from .processing import (
     RadarProcessor,
     USBPacketParser,
     apply_pitch_correction,
+    polar_to_geographic,
+    extract_targets_from_frame,
 )
 
-# Workers and simulator
+# Software FPGA (depends on golden_reference.py in FPGA cosim tree)
-from .workers import (
+try:  # noqa: SIM105
+    from .software_fpga import SoftwareFPGA, quantize_raw_iq
+except ImportError:  # golden_reference.py not available (e.g. deployment without FPGA tree)
+    pass
+
+# Replay engine (no PyQt6 dependency, but needs SoftwareFPGA for raw IQ path)
+try:  # noqa: SIM105
+    from .replay import ReplayEngine, ReplayFormat
+except ImportError:  # software_fpga unavailable → replay also unavailable
+    pass
+
+# Workers, map widget, and dashboard require PyQt6 — import lazily so that
+# tests/CI environments without PyQt6 can still access models/hardware/processing.
+try:
+    from .workers import (
         RadarDataWorker,
         GPSDataWorker,
         TargetSimulator,
-    polar_to_geographic,
+        ReplayWorker,
-)
+    )
 
-# Map widget
+    from .map_widget import (
-from .map_widget import (
         MapBridge,
         RadarMapWidget,
-)
+    )
 
-# Main dashboard
+    from .dashboard import (
-from .dashboard import (
         RadarDashboard,
         RangeDopplerCanvas,
-)
+    )
+except ImportError:  # PyQt6 not installed (e.g. CI headless runner)
+    pass
 
 __all__ = [  # noqa: RUF022
     # models
     "RadarTarget", "RadarSettings", "GPSData", "ProcessingConfig", "TileServer",
+    "WaveformConfig",
     "DARK_BG", "DARK_FG", "DARK_ACCENT", "DARK_HIGHLIGHT", "DARK_BORDER",
     "DARK_TEXT", "DARK_BUTTON", "DARK_BUTTON_HOVER",
     "DARK_TREEVIEW", "DARK_TREEVIEW_ALT",
@@ -72,15 +90,18 @@ __all__ = [  # noqa: RUF022
     "USB_AVAILABLE", "FTDI_AVAILABLE", "SCIPY_AVAILABLE",
     "SKLEARN_AVAILABLE", "FILTERPY_AVAILABLE",
     # hardware — production FPGA protocol
-    "FT2232HConnection", "ReplayConnection", "RadarProtocol", "Opcode",
+    "FT2232HConnection", "FT601Connection", "RadarProtocol", "Opcode",
     "RadarAcquisition", "RadarFrame", "StatusResponse", "DataRecorder",
     "STM32USBInterface",
     # processing
     "RadarProcessor", "USBPacketParser",
-    "apply_pitch_correction",
+    "apply_pitch_correction", "polar_to_geographic",
+    "extract_targets_from_frame",
+    # software FPGA + replay
+    "SoftwareFPGA", "quantize_raw_iq",
+    "ReplayEngine", "ReplayFormat",
     # workers
-    "RadarDataWorker", "GPSDataWorker", "TargetSimulator",
+    "RadarDataWorker", "GPSDataWorker", "TargetSimulator", "ReplayWorker",
-    "polar_to_geographic",
     # map
     "MapBridge", "RadarMapWidget",
     # dashboard

9_Firmware/9_3_GUI/v7/agc_sim.py

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

9_Firmware/9_3_GUI/v7/dashboard.py

@@ -13,18 +13,22 @@ RadarDashboard is a QMainWindow with six tabs:
   6. Settings    — Host-side DSP parameters + About section
 
 Uses production radar_protocol.py for all FPGA communication:
-  - FT2232HConnection for real hardware
+  - FT2232HConnection for production board (FT2232H USB 2.0)
-  - ReplayConnection for offline .npy replay
+  - FT601Connection for premium board (FT601 USB 3.0) — selectable from GUI
+  - Unified replay via SoftwareFPGA + ReplayEngine + ReplayWorker
   - Mock mode (FT2232HConnection(mock=True)) for development
 
 The old STM32 magic-packet start flow has been removed. FPGA registers
 are controlled directly via 4-byte {opcode, addr, value_hi, value_lo}
-commands sent over FT2232H.
+commands sent over FT2232H or FT601.
 """
 
+from __future__ import annotations
+
 import time
 import logging
 from collections import deque
+from typing import TYPE_CHECKING
 
 import numpy as np
 
@@ -32,11 +36,11 @@ from PyQt6.QtWidgets import (
     QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout,
     QTabWidget, QSplitter, QGroupBox, QFrame, QScrollArea,
     QLabel, QPushButton, QComboBox, QCheckBox,
-    QDoubleSpinBox, QSpinBox, QLineEdit,
+    QDoubleSpinBox, QSpinBox, QLineEdit, QSlider, QFileDialog,
     QTableWidget, QTableWidgetItem, QHeaderView,
     QPlainTextEdit, QStatusBar, QMessageBox,
 )
-from PyQt6.QtCore import Qt, QTimer, pyqtSignal, pyqtSlot, QObject
+from PyQt6.QtCore import Qt, QLocale, QTimer, pyqtSignal, pyqtSlot, QObject
 
 from matplotlib.backends.backend_qtagg import FigureCanvasQTAgg
 from matplotlib.figure import Figure
@@ -52,7 +56,7 @@ from .models import (
 )
 from .hardware import (
     FT2232HConnection,
-    ReplayConnection,
+    FT601Connection,
     RadarProtocol,
     RadarFrame,
     StatusResponse,
@@ -60,15 +64,30 @@ from .hardware import (
     STM32USBInterface,
 )
 from .processing import RadarProcessor, USBPacketParser
-from .workers import RadarDataWorker, GPSDataWorker, TargetSimulator
+from .workers import RadarDataWorker, GPSDataWorker, TargetSimulator, ReplayWorker
 from .map_widget import RadarMapWidget
 
+if TYPE_CHECKING:
+    from .software_fpga import SoftwareFPGA
+    from .replay import ReplayEngine
+
 logger = logging.getLogger(__name__)
 
 # Frame dimensions from FPGA
 NUM_RANGE_BINS = 64
 NUM_DOPPLER_BINS = 32
 
+# Force C locale (period as decimal separator) for all QDoubleSpinBox instances.
+_C_LOCALE = QLocale(QLocale.Language.C)
+_C_LOCALE.setNumberOptions(QLocale.NumberOption.RejectGroupSeparator)
+
+
+def _make_dspin() -> QDoubleSpinBox:
+    """Create a QDoubleSpinBox with C locale (no comma decimals)."""
+    sb = QDoubleSpinBox()
+    sb.setLocale(_C_LOCALE)
+    return sb
+
 
 # =============================================================================
 # Range-Doppler Canvas (matplotlib)
@@ -125,7 +144,7 @@ class RadarDashboard(QMainWindow):
         )
 
         # Hardware interfaces — production protocol
-        self._connection: FT2232HConnection | None = None
+        self._connection: FT2232HConnection | FT601Connection | None = None
         self._stm32 = STM32USBInterface()
         self._recorder = DataRecorder()
 
@@ -142,6 +161,12 @@ class RadarDashboard(QMainWindow):
         self._gps_worker: GPSDataWorker | None = None
         self._simulator: TargetSimulator | None = None
 
+        # Replay-specific objects (created when entering replay mode)
+        self._replay_worker: ReplayWorker | None = None
+        self._replay_engine: ReplayEngine | None = None
+        self._software_fpga: SoftwareFPGA | None = None
+        self._replay_mode = False
+
         # State
         self._running = False
         self._demo_mode = False
@@ -341,7 +366,7 @@ class RadarDashboard(QMainWindow):
         # Row 0: connection mode + device combos + buttons
         ctrl_layout.addWidget(QLabel("Mode:"), 0, 0)
         self._mode_combo = QComboBox()
-        self._mode_combo.addItems(["Mock", "Live FT2232H", "Replay (.npy)"])
+        self._mode_combo.addItems(["Mock", "Live", "Replay"])
         self._mode_combo.setCurrentIndex(0)
         ctrl_layout.addWidget(self._mode_combo, 0, 1)
 
@@ -354,6 +379,13 @@ class RadarDashboard(QMainWindow):
         refresh_btn.clicked.connect(self._refresh_devices)
         ctrl_layout.addWidget(refresh_btn, 0, 4)
 
+        # USB Interface selector (production FT2232H / premium FT601)
+        ctrl_layout.addWidget(QLabel("USB Interface:"), 0, 5)
+        self._usb_iface_combo = QComboBox()
+        self._usb_iface_combo.addItems(["FT2232H (Production)", "FT601 (Premium)"])
+        self._usb_iface_combo.setCurrentIndex(0)
+        ctrl_layout.addWidget(self._usb_iface_combo, 0, 6)
+
         self._start_btn = QPushButton("Start Radar")
         self._start_btn.setStyleSheet(
             f"QPushButton {{ background-color: {DARK_SUCCESS}; color: white; font-weight: bold; }}"
@@ -390,6 +422,55 @@ class RadarDashboard(QMainWindow):
         self._status_label_main.setAlignment(Qt.AlignmentFlag.AlignRight)
         ctrl_layout.addWidget(self._status_label_main, 1, 5, 1, 5)
 
+        # Row 2: replay transport controls (hidden until replay mode)
+        self._replay_file_label = QLabel("No file loaded")
+        self._replay_file_label.setMinimumWidth(200)
+        ctrl_layout.addWidget(self._replay_file_label, 2, 0, 1, 2)
+
+        self._replay_browse_btn = QPushButton("Browse...")
+        self._replay_browse_btn.clicked.connect(self._browse_replay_file)
+        ctrl_layout.addWidget(self._replay_browse_btn, 2, 2)
+
+        self._replay_play_btn = QPushButton("Play")
+        self._replay_play_btn.clicked.connect(self._replay_play_pause)
+        ctrl_layout.addWidget(self._replay_play_btn, 2, 3)
+
+        self._replay_stop_btn = QPushButton("Stop")
+        self._replay_stop_btn.clicked.connect(self._replay_stop)
+        ctrl_layout.addWidget(self._replay_stop_btn, 2, 4)
+
+        self._replay_slider = QSlider(Qt.Orientation.Horizontal)
+        self._replay_slider.setMinimum(0)
+        self._replay_slider.setMaximum(0)
+        self._replay_slider.valueChanged.connect(self._replay_seek)
+        ctrl_layout.addWidget(self._replay_slider, 2, 5, 1, 2)
+
+        self._replay_frame_label = QLabel("0 / 0")
+        ctrl_layout.addWidget(self._replay_frame_label, 2, 7)
+
+        self._replay_speed_combo = QComboBox()
+        self._replay_speed_combo.addItems(["50 ms", "100 ms", "200 ms", "500 ms"])
+        self._replay_speed_combo.setCurrentIndex(1)
+        self._replay_speed_combo.currentIndexChanged.connect(self._replay_speed_changed)
+        ctrl_layout.addWidget(self._replay_speed_combo, 2, 8)
+
+        self._replay_loop_cb = QCheckBox("Loop")
+        self._replay_loop_cb.stateChanged.connect(self._replay_loop_changed)
+        ctrl_layout.addWidget(self._replay_loop_cb, 2, 9)
+
+        # Collect replay widgets to toggle visibility
+        self._replay_controls = [
+            self._replay_file_label, self._replay_browse_btn,
+            self._replay_play_btn, self._replay_stop_btn,
+            self._replay_slider, self._replay_frame_label,
+            self._replay_speed_combo, self._replay_loop_cb,
+        ]
+        for w in self._replay_controls:
+            w.setVisible(False)
+
+        # Show/hide replay row when mode changes
+        self._mode_combo.currentTextChanged.connect(self._on_mode_changed)
+
         layout.addWidget(ctrl)
 
         # ---- Display area (range-doppler + targets table) ------------------
@@ -452,19 +533,19 @@ class RadarDashboard(QMainWindow):
         pos_group = QGroupBox("Radar Position")
         pos_layout = QGridLayout(pos_group)
 
-        self._lat_spin = QDoubleSpinBox()
+        self._lat_spin = _make_dspin()
         self._lat_spin.setRange(-90, 90)
         self._lat_spin.setDecimals(6)
         self._lat_spin.setValue(self._radar_position.latitude)
         self._lat_spin.valueChanged.connect(self._on_position_changed)
 
-        self._lon_spin = QDoubleSpinBox()
+        self._lon_spin = _make_dspin()
         self._lon_spin.setRange(-180, 180)
         self._lon_spin.setDecimals(6)
         self._lon_spin.setValue(self._radar_position.longitude)
         self._lon_spin.valueChanged.connect(self._on_position_changed)
 
-        self._alt_spin = QDoubleSpinBox()
+        self._alt_spin = _make_dspin()
         self._alt_spin.setRange(0, 50000)
         self._alt_spin.setDecimals(1)
         self._alt_spin.setValue(0.0)
@@ -483,7 +564,7 @@ class RadarDashboard(QMainWindow):
         cov_group = QGroupBox("Coverage")
         cov_layout = QGridLayout(cov_group)
 
-        self._coverage_spin = QDoubleSpinBox()
+        self._coverage_spin = _make_dspin()
         self._coverage_spin.setRange(1, 200)
         self._coverage_spin.setDecimals(1)
         self._coverage_spin.setValue(self._settings.coverage_radius / 1000)
@@ -899,7 +980,7 @@ class RadarDashboard(QMainWindow):
         for spine in self._agc_ax_sat.spines.values():
             spine.set_color(DARK_BORDER)
         self._agc_sat_line, = self._agc_ax_sat.plot(
-            [], [], color=DARK_ERROR, linewidth=1.0)
+            [], [], color=DARK_ERROR, linewidth=1.0, label="Saturation")
         self._agc_sat_fill_artist = None
         self._agc_ax_sat.legend(
             loc="upper right", fontsize=8,
@@ -929,7 +1010,8 @@ class RadarDashboard(QMainWindow):
         self._conn_ft2232h = self._make_status_label("FT2232H")
         self._conn_stm32 = self._make_status_label("STM32 USB")
 
-        conn_layout.addWidget(QLabel("FT2232H:"), 0, 0)
+        self._conn_usb_label = QLabel("USB Data:")
+        conn_layout.addWidget(self._conn_usb_label, 0, 0)
         conn_layout.addWidget(self._conn_ft2232h, 0, 1)
         conn_layout.addWidget(QLabel("STM32 USB:"), 1, 0)
         conn_layout.addWidget(self._conn_stm32, 1, 1)
@@ -1047,7 +1129,7 @@ class RadarDashboard(QMainWindow):
         row += 1
 
         p_layout.addWidget(QLabel("DBSCAN eps:"), row, 0)
-        self._cluster_eps_spin = QDoubleSpinBox()
+        self._cluster_eps_spin = _make_dspin()
         self._cluster_eps_spin.setRange(1.0, 5000.0)
         self._cluster_eps_spin.setDecimals(1)
         self._cluster_eps_spin.setValue(self._processing_config.clustering_eps)
@@ -1095,7 +1177,7 @@ class RadarDashboard(QMainWindow):
         about_lbl = QLabel(
             "<b>AERIS-10 Radar System V7</b><br>"
             "PyQt6 Edition with Embedded Leaflet Map<br><br>"
-            "<b>Data Interface:</b> FT2232H USB 2.0 (production protocol)<br>"
+            "<b>Data Interface:</b> FT2232H USB 2.0 (production) / FT601 USB 3.0 (premium)<br>"
             "<b>FPGA Protocol:</b> 4-byte register commands, 0xAA/0xBB packets<br>"
             "<b>Map:</b> OpenStreetMap + Leaflet.js<br>"
             "<b>Framework:</b> PyQt6 + QWebEngine<br>"
@@ -1152,7 +1234,7 @@ class RadarDashboard(QMainWindow):
     # =====================================================================
 
     def _send_fpga_cmd(self, opcode: int, value: int):
-        """Send a 4-byte register command to the FPGA via FT2232H."""
+        """Send a 4-byte register command to the FPGA via USB (FT2232H or FT601)."""
         if self._connection is None or not self._connection.is_open:
             logger.warning(f"Cannot send 0x{opcode:02X}={value}: no connection")
             return
@@ -1164,7 +1246,11 @@ class RadarDashboard(QMainWindow):
             logger.error(f"Failed to send FPGA cmd: 0x{opcode:02X}")
 
     def _send_fpga_validated(self, opcode: int, value: int, bits: int):
-        """Clamp value to bit-width and send."""
+        """Clamp value to bit-width and send.
+
+        In replay mode, also dispatch to the SoftwareFPGA setter and
+        re-process the current frame so the user sees immediate effect.
+        """
         max_val = (1 << bits) - 1
         clamped = max(0, min(value, max_val))
         if clamped != value:
@@ -1174,7 +1260,18 @@ class RadarDashboard(QMainWindow):
             key = f"0x{opcode:02X}"
             if key in self._param_spins:
                 self._param_spins[key].setValue(clamped)
+
+        # Dispatch to real FPGA (live/mock mode)
+        if not self._replay_mode:
             self._send_fpga_cmd(opcode, clamped)
+            return
+
+        # Dispatch to SoftwareFPGA (replay mode)
+        if self._software_fpga is not None:
+            self._dispatch_to_software_fpga(opcode, clamped)
+            # Re-process current frame so the effect is visible immediately
+            if self._replay_worker is not None:
+                self._replay_worker.seek(self._replay_worker.current_index)
 
     def _send_custom_command(self):
         """Send custom opcode + value from the FPGA Control tab."""
@@ -1191,36 +1288,123 @@ class RadarDashboard(QMainWindow):
 
     def _start_radar(self):
         """Start radar data acquisition using production protocol."""
+        # Mutual exclusion: stop demo if running
+        if self._demo_mode:
+            self._stop_demo()
+
         try:
             mode = self._mode_combo.currentText()
 
             if "Mock" in mode:
+                self._replay_mode = False
+                iface = self._usb_iface_combo.currentText()
+                if "FT601" in iface:
+                    self._connection = FT601Connection(mock=True)
+                else:
                     self._connection = FT2232HConnection(mock=True)
                 if not self._connection.open():
                     QMessageBox.critical(self, "Error", "Failed to open mock connection.")
                     return
             elif "Live" in mode:
+                self._replay_mode = False
+                iface = self._usb_iface_combo.currentText()
+                if "FT601" in iface:
+                    self._connection = FT601Connection(mock=False)
+                    iface_name = "FT601"
+                else:
                     self._connection = FT2232HConnection(mock=False)
+                    iface_name = "FT2232H"
                 if not self._connection.open():
                     QMessageBox.critical(self, "Error",
-                                         "Failed to open FT2232H. Check USB connection.")
+                                         f"Failed to open {iface_name}. Check USB connection.")
                     return
             elif "Replay" in mode:
-                from PyQt6.QtWidgets import QFileDialog
+                self._replay_mode = True
-                npy_dir = QFileDialog.getExistingDirectory(
+                replay_path = self._replay_file_label.text()
-                    self, "Select .npy replay directory")
+                if replay_path == "No file loaded" or not replay_path:
-                if not npy_dir:
+                    QMessageBox.warning(
+                        self, "Replay",
+                        "Use 'Browse...' to select a replay"
+                        " file or directory first.")
                     return
-                self._connection = ReplayConnection(npy_dir)
+
-                if not self._connection.open():
+                from .software_fpga import SoftwareFPGA
-                    QMessageBox.critical(self, "Error",
+                from .replay import ReplayEngine
-                                         "Failed to open replay connection.")
+
+                self._software_fpga = SoftwareFPGA()
+                # Enable CFAR by default for raw IQ replay (avoids 2000+ detections)
+                self._software_fpga.set_cfar_enable(True)
+
+                try:
+                    self._replay_engine = ReplayEngine(
+                        replay_path, self._software_fpga)
+                except (OSError, ValueError, RuntimeError) as exc:
+                    QMessageBox.critical(self, "Replay Error",
+                                         f"Failed to open replay data:\n{exc}")
+                    self._software_fpga = None
+                    return
+
+                if self._replay_engine.total_frames == 0:
+                    QMessageBox.warning(self, "Replay", "No frames found in the selected source.")
+                    self._replay_engine.close()
+                    self._replay_engine = None
+                    self._software_fpga = None
+                    return
+
+                speed_map = {0: 50, 1: 100, 2: 200, 3: 500}
+                interval = speed_map.get(self._replay_speed_combo.currentIndex(), 100)
+
+                self._replay_worker = ReplayWorker(
+                    replay_engine=self._replay_engine,
+                    settings=self._settings,
+                    gps=self._radar_position,
+                    frame_interval_ms=interval,
+                )
+                self._replay_worker.frameReady.connect(self._on_frame_ready)
+                self._replay_worker.targetsUpdated.connect(self._on_radar_targets)
+                self._replay_worker.statsUpdated.connect(self._on_radar_stats)
+                self._replay_worker.errorOccurred.connect(self._on_worker_error)
+                self._replay_worker.playbackStateChanged.connect(
+                    self._on_playback_state_changed)
+                self._replay_worker.frameIndexChanged.connect(
+                    self._on_frame_index_changed)
+                self._replay_worker.set_loop(self._replay_loop_cb.isChecked())
+
+                self._replay_slider.setMaximum(
+                    self._replay_engine.total_frames - 1)
+                self._replay_slider.setValue(0)
+                self._replay_frame_label.setText(
+                    f"0 / {self._replay_engine.total_frames}")
+
+                self._replay_worker.start()
+                # Update CFAR enable spinbox to reflect default-on for replay
+                if "0x25" in self._param_spins:
+                    self._param_spins["0x25"].setValue(1)
+
+                # UI state
+                self._running = True
+                self._start_time = time.time()
+                self._frame_count = 0
+                self._start_btn.setEnabled(False)
+                self._stop_btn.setEnabled(True)
+                self._mode_combo.setEnabled(False)
+                self._usb_iface_combo.setEnabled(False)
+                self._demo_btn_main.setEnabled(False)
+                self._demo_btn_map.setEnabled(False)
+                n_frames = self._replay_engine.total_frames
+                self._status_label_main.setText(
+                    f"Status: Replay ({n_frames} frames)")
+                self._sb_status.setText(f"Replay ({n_frames} frames)")
+                self._sb_mode.setText("Replay")
+                logger.info(
+                    "Replay started: %s (%d frames)",
+                    replay_path, n_frames)
                 return
             else:
                 QMessageBox.warning(self, "Warning", "Unknown connection mode.")
                 return
 
-            # Start radar worker
+            # Start radar worker (mock / live — NOT replay)
             self._radar_worker = RadarDataWorker(
                 connection=self._connection,
                 processor=self._processor,
@@ -1254,6 +1438,9 @@ class RadarDashboard(QMainWindow):
             self._start_btn.setEnabled(False)
             self._stop_btn.setEnabled(True)
             self._mode_combo.setEnabled(False)
+            self._usb_iface_combo.setEnabled(False)
+            self._demo_btn_main.setEnabled(False)
+            self._demo_btn_map.setEnabled(False)
             self._status_label_main.setText(f"Status: Running ({mode})")
             self._sb_status.setText(f"Running ({mode})")
             self._sb_mode.setText(mode)
@@ -1271,6 +1458,18 @@ class RadarDashboard(QMainWindow):
             self._radar_worker.wait(2000)
             self._radar_worker = None
 
+        if self._replay_worker:
+            self._replay_worker.stop()
+            self._replay_worker.wait(2000)
+            self._replay_worker = None
+
+        if self._replay_engine:
+            self._replay_engine.close()
+            self._replay_engine = None
+
+        self._software_fpga = None
+        self._replay_mode = False
+
         if self._gps_worker:
             self._gps_worker.stop()
             self._gps_worker.wait(2000)
@@ -1285,11 +1484,121 @@ class RadarDashboard(QMainWindow):
         self._start_btn.setEnabled(True)
         self._stop_btn.setEnabled(False)
         self._mode_combo.setEnabled(True)
+        self._usb_iface_combo.setEnabled(True)
+        self._demo_btn_main.setEnabled(True)
+        self._demo_btn_map.setEnabled(True)
         self._status_label_main.setText("Status: Radar stopped")
         self._sb_status.setText("Radar stopped")
         self._sb_mode.setText("Idle")
         logger.info("Radar system stopped")
 
+    # =====================================================================
+    # Replay helpers
+    # =====================================================================
+
+    def _on_mode_changed(self, text: str):
+        """Show/hide replay transport controls based on mode selection."""
+        is_replay = "Replay" in text
+        for w in self._replay_controls:
+            w.setVisible(is_replay)
+
+    def _browse_replay_file(self):
+        """Open file/directory picker for replay source."""
+        path, _ = QFileDialog.getOpenFileName(
+            self, "Select replay file",
+            "",
+            "All supported (*.npy *.h5);;NumPy files (*.npy);;HDF5 files (*.h5);;All files (*)",
+        )
+        if path:
+            self._replay_file_label.setText(path)
+            return
+        # If no file selected, try directory (for co-sim)
+        dir_path = QFileDialog.getExistingDirectory(
+            self, "Select co-sim replay directory")
+        if dir_path:
+            self._replay_file_label.setText(dir_path)
+
+    def _replay_play_pause(self):
+        """Toggle play/pause on the replay worker."""
+        if self._replay_worker is None:
+            return
+        if self._replay_worker.is_playing:
+            self._replay_worker.pause()
+            self._replay_play_btn.setText("Play")
+        else:
+            self._replay_worker.play()
+            self._replay_play_btn.setText("Pause")
+
+    def _replay_stop(self):
+        """Stop replay playback (keeps data loaded)."""
+        if self._replay_worker is not None:
+            self._replay_worker.pause()
+            self._replay_worker.seek(0)
+            self._replay_play_btn.setText("Play")
+
+    def _replay_seek(self, value: int):
+        """Seek to a specific frame from the slider."""
+        if self._replay_worker is not None and not self._replay_worker.is_playing:
+            self._replay_worker.seek(value)
+
+    def _replay_speed_changed(self, index: int):
+        """Update replay frame interval from speed combo."""
+        speed_map = {0: 50, 1: 100, 2: 200, 3: 500}
+        ms = speed_map.get(index, 100)
+        if self._replay_worker is not None:
+            self._replay_worker.set_frame_interval(ms)
+
+    def _replay_loop_changed(self, state: int):
+        """Update replay loop setting."""
+        if self._replay_worker is not None:
+            self._replay_worker.set_loop(state == Qt.CheckState.Checked.value)
+
+    @pyqtSlot(str)
+    def _on_playback_state_changed(self, state: str):
+        """Update UI when replay playback state changes."""
+        if state == "playing":
+            self._replay_play_btn.setText("Pause")
+        elif state in ("paused", "stopped"):
+            self._replay_play_btn.setText("Play")
+        if state == "stopped" and self._replay_worker is not None:
+            self._status_label_main.setText("Status: Replay finished")
+
+    @pyqtSlot(int, int)
+    def _on_frame_index_changed(self, current: int, total: int):
+        """Update slider and frame label from replay worker."""
+        self._replay_slider.blockSignals(True)
+        self._replay_slider.setValue(current)
+        self._replay_slider.blockSignals(False)
+        self._replay_frame_label.setText(f"{current} / {total}")
+
+    def _dispatch_to_software_fpga(self, opcode: int, value: int):
+        """Route an FPGA opcode+value to the SoftwareFPGA setter."""
+        fpga = self._software_fpga
+        if fpga is None:
+            return
+        _opcode_dispatch = {
+            0x03: lambda v: fpga.set_detect_threshold(v),
+            0x16: lambda v: fpga.set_gain_shift(v),
+            0x21: lambda v: fpga.set_cfar_guard(v),
+            0x22: lambda v: fpga.set_cfar_train(v),
+            0x23: lambda v: fpga.set_cfar_alpha(v),
+            0x24: lambda v: fpga.set_cfar_mode(v),
+            0x25: lambda v: fpga.set_cfar_enable(bool(v)),
+            0x26: lambda v: fpga.set_mti_enable(bool(v)),
+            0x27: lambda v: fpga.set_dc_notch_width(v),
+            0x28: lambda v: fpga.set_agc_enable(bool(v)),
+            0x29: lambda v: fpga.set_agc_params(target=v),
+            0x2A: lambda v: fpga.set_agc_params(attack=v),
+            0x2B: lambda v: fpga.set_agc_params(decay=v),
+            0x2C: lambda v: fpga.set_agc_params(holdoff=v),
+        }
+        handler = _opcode_dispatch.get(opcode)
+        if handler is not None:
+            handler(value)
+            logger.info(f"SoftwareFPGA: 0x{opcode:02X} = {value}")
+        else:
+            logger.debug(f"SoftwareFPGA: opcode 0x{opcode:02X} not handled (no-op)")
+
     # =====================================================================
     # Demo mode
     # =====================================================================
@@ -1297,6 +1606,10 @@ class RadarDashboard(QMainWindow):
     def _start_demo(self):
         if self._simulator:
             return
+        # Mutual exclusion: do not start demo while radar/replay is running
+        if self._running:
+            logger.warning("Cannot start demo while radar is running")
+            return
         self._simulator = TargetSimulator(self._radar_position, self)
         self._simulator.targetsUpdated.connect(self._on_demo_targets)
         self._simulator.start(500)
@@ -1315,7 +1628,7 @@ class RadarDashboard(QMainWindow):
         self._demo_mode = False
         if not self._running:
             mode = "Idle"
-        elif isinstance(self._connection, ReplayConnection):
+        elif self._replay_mode:
             mode = "Replay"
         else:
             mode = "Live"
@@ -1664,6 +1977,12 @@ class RadarDashboard(QMainWindow):
         self._set_conn_indicator(self._conn_ft2232h, conn_open)
         self._set_conn_indicator(self._conn_stm32, self._stm32.is_open)
 
+        # Update USB label to reflect which interface is active
+        if isinstance(self._connection, FT601Connection):
+            self._conn_usb_label.setText("FT601:")
+        else:
+            self._conn_usb_label.setText("FT2232H:")
+
         gps_count = self._gps_packet_count
         if self._gps_worker:
             gps_count = self._gps_worker.gps_count

9_Firmware/9_3_GUI/v7/hardware.py

@@ -3,14 +3,11 @@ v7.hardware — Hardware interface classes for the PLFM Radar GUI V7.
 
 Provides:
   - FT2232H radar data + command interface via production radar_protocol module
-  - ReplayConnection for offline .npy replay via production radar_protocol module
   - STM32USBInterface for GPS data only (USB CDC)
 
 The FT2232H interface uses the production protocol layer (radar_protocol.py)
 which sends 4-byte {opcode, addr, value_hi, value_lo} register commands and
-parses 0xAA data / 0xBB status packets from the FPGA. The old magic-packet
+parses 0xAA data / 0xBB status packets from the FPGA.
-and 'SET'...'END' binary settings protocol has been removed — it was
-incompatible with the FPGA register interface.
 """
 
 import sys
@@ -28,7 +25,7 @@ if USB_AVAILABLE:
 sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
 from radar_protocol import (  # noqa: F401 — re-exported for v7 package
     FT2232HConnection,
-    ReplayConnection,
+    FT601Connection,
     RadarProtocol,
     Opcode,
     RadarAcquisition,
@@ -50,8 +47,9 @@ class STM32USBInterface:
 
     Used ONLY for receiving GPS data from the MCU.
 
-    FPGA register commands are sent via FT2232H (see FT2232HConnection
+    FPGA register commands are sent via the USB data interface — either
-    from radar_protocol.py). The old send_start_flag() / send_settings()
+    FT2232HConnection (production) or FT601Connection (premium), both
+    from radar_protocol.py. The old send_start_flag() / send_settings()
     methods have been removed — they used an incompatible magic-packet
     protocol that the FPGA does not understand.
     """

9_Firmware/9_3_GUI/v7/map_widget.py

@@ -17,7 +17,8 @@ from PyQt6.QtWidgets import (
     QWidget, QVBoxLayout, QHBoxLayout, QFrame,
     QComboBox, QCheckBox, QPushButton, QLabel,
 )
-from PyQt6.QtCore import Qt, pyqtSignal, pyqtSlot, QObject
+from PyQt6.QtCore import Qt, QUrl, pyqtSignal, pyqtSlot, QObject
+from PyQt6.QtWebEngineCore import QWebEngineSettings
 from PyQt6.QtWebEngineWidgets import QWebEngineView
 from PyQt6.QtWebChannel import QWebChannel
 
@@ -97,7 +98,7 @@ class RadarMapWidget(QWidget):
         )
         self._targets: list[RadarTarget] = []
         self._pending_targets: list[RadarTarget] | None = None
-        self._coverage_radius = 50_000   # metres
+        self._coverage_radius = 1_536   # metres (64 bins x ~24 m/bin)
         self._tile_server = TileServer.OPENSTREETMAP
         self._show_coverage = True
         self._show_trails = False
@@ -517,8 +518,20 @@ document.addEventListener('DOMContentLoaded', function() {{
     # ---- load / helpers ----------------------------------------------------
 
     def _load_map(self):
-        self._web_view.setHtml(self._get_map_html())
+        # Enable remote resource access so Leaflet CDN scripts/tiles can load.
-        logger.info("Leaflet map HTML loaded")
+        settings = self._web_view.page().settings()
+        settings.setAttribute(
+            QWebEngineSettings.WebAttribute.LocalContentCanAccessRemoteUrls,
+            True,
+        )
+        # Provide an HTTP base URL so the page has a proper origin;
+        # without this, setHtml() defaults to about:blank which blocks
+        # external resource loading in modern Chromium.
+        self._web_view.setHtml(
+            self._get_map_html(),
+            QUrl("http://localhost/radar_map"),
+        )
+        logger.info("Leaflet map HTML loaded (with HTTP base URL)")
 
     def _on_map_ready(self):
         self._status_label.setText(f"Map ready - {len(self._targets)} targets")

9_Firmware/9_3_GUI/v7/models.py

@@ -108,12 +108,12 @@ class RadarSettings:
     range_resolution and velocity_resolution should be calibrated to
     the actual waveform parameters.
     """
-    system_frequency: float = 10e9      # Hz (carrier, used for velocity calc)
+    system_frequency: float = 10.5e9    # Hz (carrier, used for velocity calc)
-    range_resolution: float = 781.25    # Meters per range bin (default: 50km/64)
+    range_resolution: float = 24.0       # Meters per range bin (c/(2*Fs)*decim)
     velocity_resolution: float = 1.0     # m/s per Doppler bin (calibrate to waveform)
-    max_distance: float = 50000         # Max detection range (m)
+    max_distance: float = 1536           # Max detection range (m)
-    map_size: float = 50000             # Map display size (m)
+    map_size: float = 2000               # Map display size (m)
-    coverage_radius: float = 50000      # Map coverage radius (m)
+    coverage_radius: float = 1536        # Map coverage radius (m)
 
 
 @dataclass
@@ -186,3 +186,66 @@ class TileServer(Enum):
     GOOGLE_SATELLITE = "google_sat"
     GOOGLE_HYBRID = "google_hybrid"
     ESRI_SATELLITE = "esri_sat"
+
+
+# ---------------------------------------------------------------------------
+# Waveform configuration (physical parameters for bin→unit conversion)
+# ---------------------------------------------------------------------------
+
+@dataclass
+class WaveformConfig:
+    """Physical waveform parameters for converting bins to SI units.
+
+    Encapsulates the radar waveform so that range/velocity resolution
+    can be derived automatically instead of hardcoded in RadarSettings.
+
+    Defaults match the AERIS-10 production system parameters from
+    radar_scene.py / plfm_chirp_controller.v:
+      100 MSPS DDC output, 20 MHz chirp BW, 30 us long chirp,
+      167 us long-chirp PRI, X-band 10.5 GHz carrier.
+    """
+
+    sample_rate_hz: float = 100e6        # DDC output I/Q rate (matched filter input)
+    bandwidth_hz: float = 20e6           # Chirp bandwidth (not used in range calc;
+                                         # retained for time-bandwidth product / display)
+    chirp_duration_s: float = 30e-6      # Long chirp ramp time
+    pri_s: float = 167e-6               # Pulse repetition interval (chirp + listen)
+    center_freq_hz: float = 10.5e9       # Carrier frequency (radar_scene.py: F_CARRIER)
+    n_range_bins: int = 64               # After decimation
+    n_doppler_bins: int = 32             # Total Doppler bins (2 sub-frames x 16)
+    chirps_per_subframe: int = 16        # Chirps in one Doppler sub-frame
+    fft_size: int = 1024                 # Pre-decimation FFT length
+    decimation_factor: int = 16          # 1024 → 64
+
+    @property
+    def range_resolution_m(self) -> float:
+        """Meters per decimated range bin (matched-filter pulse compression).
+
+        For FFT-based matched filtering, each IFFT output bin spans
+        c / (2 * Fs) in range, where Fs is the I/Q sample rate at the
+        matched-filter input (DDC output).  After decimation the bin
+        spacing grows by *decimation_factor*.
+        """
+        c = 299_792_458.0
+        raw_bin = c / (2.0 * self.sample_rate_hz)
+        return raw_bin * self.decimation_factor
+
+    @property
+    def velocity_resolution_mps(self) -> float:
+        """m/s per Doppler bin.
+
+        lambda / (2 * chirps_per_subframe * PRI), matching radar_scene.py.
+        """
+        c = 299_792_458.0
+        wavelength = c / self.center_freq_hz
+        return wavelength / (2.0 * self.chirps_per_subframe * self.pri_s)
+
+    @property
+    def max_range_m(self) -> float:
+        """Maximum unambiguous range in meters."""
+        return self.range_resolution_m * self.n_range_bins
+
+    @property
+    def max_velocity_mps(self) -> float:
+        """Maximum unambiguous velocity (±) in m/s."""
+        return self.velocity_resolution_mps * self.n_doppler_bins / 2.0

9_Firmware/9_3_GUI/v7/processing.py

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

9_Firmware/9_3_GUI/v7/replay.py

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

9_Firmware/9_3_GUI/v7/software_fpga.py

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

9_Firmware/9_3_GUI/v7/workers.py

@@ -13,7 +13,6 @@ All packet parsing now uses the production radar_protocol.py which matches
 the actual FPGA packet format (0xAA data 11-byte, 0xBB status 26-byte).
 """
 
-import math
 import time
 import random
 import queue
@@ -36,58 +35,25 @@ from .processing import (
     RadarProcessor,
     USBPacketParser,
     apply_pitch_correction,
+    polar_to_geographic,
 )
 
 logger = logging.getLogger(__name__)
 
 
-# =============================================================================
-# Utility: polar → geographic
-# =============================================================================
-
-def polar_to_geographic(
-    radar_lat: float,
-    radar_lon: float,
-    range_m: float,
-    azimuth_deg: float,
-) -> tuple:
-    """
-    Convert polar coordinates (range, azimuth) relative to radar
-    to geographic (latitude, longitude).
-
-    azimuth_deg: 0 = North, clockwise.
-    Returns (lat, lon).
-    """
-    R = 6_371_000  # Earth radius in meters
-
-    lat1 = math.radians(radar_lat)
-    lon1 = math.radians(radar_lon)
-    bearing = math.radians(azimuth_deg)
-
-    lat2 = math.asin(
-        math.sin(lat1) * math.cos(range_m / R)
-        + math.cos(lat1) * math.sin(range_m / R) * math.cos(bearing)
-    )
-    lon2 = lon1 + math.atan2(
-        math.sin(bearing) * math.sin(range_m / R) * math.cos(lat1),
-        math.cos(range_m / R) - math.sin(lat1) * math.sin(lat2),
-    )
-    return (math.degrees(lat2), math.degrees(lon2))
-
-
 # =============================================================================
 # Radar Data Worker (QThread) — production protocol
 # =============================================================================
 
 class RadarDataWorker(QThread):
     """
-    Background worker that reads radar data from FT2232H (or ReplayConnection),
+    Background worker that reads radar data from FT2232H, parses 0xAA/0xBB
-    parses 0xAA/0xBB packets via production RadarAcquisition, runs optional
+    packets via production RadarAcquisition, runs optional host-side DSP,
-    host-side DSP, and emits PyQt signals with results.
+    and emits PyQt signals with results.
 
-    This replaces the old V7 worker which used an incompatible packet format.
+    Uses production radar_protocol.py for all packet parsing and frame
-    Now uses production radar_protocol.py for all packet parsing and frame
     assembly (11-byte 0xAA data packets → 64x32 RadarFrame).
+    For replay, use ReplayWorker instead.
 
     Signals:
         frameReady(RadarFrame)    — a complete 64x32 radar frame
@@ -105,7 +71,7 @@ class RadarDataWorker(QThread):
 
     def __init__(
         self,
-        connection,  # FT2232HConnection or ReplayConnection
+        connection,  # FT2232HConnection
         processor: RadarProcessor | None = None,
         recorder: DataRecorder | None = None,
         gps_data_ref: GPSData | None = None,
@@ -368,7 +334,7 @@ class TargetSimulator(QObject):
             self._add_random_target()
 
     def _add_random_target(self):
-        range_m = random.uniform(5000, 40000)
+        range_m = random.uniform(50, 1400)
         azimuth = random.uniform(0, 360)
         velocity = random.uniform(-100, 100)
         elevation = random.uniform(-5, 45)
@@ -402,7 +368,7 @@ class TargetSimulator(QObject):
 
         for t in self._targets:
             new_range = t.range - t.velocity * 0.5
-            if new_range < 500 or new_range > 50000:
+            if new_range < 10 or new_range > 1536:
                 continue  # target exits coverage — drop it
 
             new_vel = max(-150, min(150, t.velocity + random.uniform(-2, 2)))
@@ -436,3 +402,172 @@ class TargetSimulator(QObject):
 
         self._targets = updated
         self.targetsUpdated.emit(updated)
+
+
+# =============================================================================
+# Replay Worker (QThread) — unified replay playback
+# =============================================================================
+
+class ReplayWorker(QThread):
+    """Background worker for replay data playback.
+
+    Emits the same signals as ``RadarDataWorker`` so the dashboard
+    treats live and replay identically.  Additionally emits playback
+    state and frame-index signals for the transport controls.
+
+    Signals
+    -------
+    frameReady(object)           RadarFrame
+    targetsUpdated(list)         list[RadarTarget]
+    statsUpdated(dict)           processing stats
+    errorOccurred(str)           error message
+    playbackStateChanged(str)    "playing" | "paused" | "stopped"
+    frameIndexChanged(int, int)  (current_index, total_frames)
+    """
+
+    frameReady = pyqtSignal(object)
+    targetsUpdated = pyqtSignal(list)
+    statsUpdated = pyqtSignal(dict)
+    errorOccurred = pyqtSignal(str)
+    playbackStateChanged = pyqtSignal(str)
+    frameIndexChanged = pyqtSignal(int, int)
+
+    def __init__(
+        self,
+        replay_engine,
+        settings: RadarSettings | None = None,
+        gps: GPSData | None = None,
+        frame_interval_ms: int = 100,
+        parent: QObject | None = None,
+    ) -> None:
+        super().__init__(parent)
+        import threading
+
+        from .processing import extract_targets_from_frame
+        from .models import WaveformConfig
+
+        self._engine = replay_engine
+        self._settings = settings or RadarSettings()
+        self._gps = gps
+        self._waveform = WaveformConfig()
+        self._frame_interval_ms = frame_interval_ms
+        self._extract_targets = extract_targets_from_frame
+
+        self._current_index = 0
+        self._last_emitted_index = 0
+        self._playing = False
+        self._stop_flag = False
+        self._loop = False
+        self._lock = threading.Lock()  # guards _current_index and _emit_frame
+
+    # -- Public control API --
+
+    @property
+    def current_index(self) -> int:
+        """Index of the last frame emitted (for re-seek on param change)."""
+        return self._last_emitted_index
+
+    @property
+    def total_frames(self) -> int:
+        return self._engine.total_frames
+
+    def set_gps(self, gps: GPSData | None) -> None:
+        self._gps = gps
+
+    def set_waveform(self, wf) -> None:
+        self._waveform = wf
+
+    def set_loop(self, loop: bool) -> None:
+        self._loop = loop
+
+    def set_frame_interval(self, ms: int) -> None:
+        self._frame_interval_ms = max(10, ms)
+
+    def play(self) -> None:
+        self._playing = True
+        # If at EOF, rewind so play actually does something
+        with self._lock:
+            if self._current_index >= self._engine.total_frames:
+                self._current_index = 0
+        self.playbackStateChanged.emit("playing")
+
+    def pause(self) -> None:
+        self._playing = False
+        self.playbackStateChanged.emit("paused")
+
+    def stop(self) -> None:
+        self._playing = False
+        self._stop_flag = True
+        self.playbackStateChanged.emit("stopped")
+
+    @property
+    def is_playing(self) -> bool:
+        """Thread-safe read of playback state (for GUI queries)."""
+        return self._playing
+
+    def seek(self, index: int) -> None:
+        """Jump to a specific frame and emit it (thread-safe)."""
+        with self._lock:
+            idx = max(0, min(index, self._engine.total_frames - 1))
+            self._current_index = idx
+            self._emit_frame(idx)
+            self._last_emitted_index = idx
+
+    # -- Thread entry --
+
+    def run(self) -> None:
+        self._stop_flag = False
+        self._playing = True
+        self.playbackStateChanged.emit("playing")
+
+        try:
+            while not self._stop_flag:
+                if self._playing:
+                    with self._lock:
+                        if self._current_index < self._engine.total_frames:
+                            self._emit_frame(self._current_index)
+                            self._last_emitted_index = self._current_index
+                            self._current_index += 1
+
+                            # Loop or pause at end
+                            if self._current_index >= self._engine.total_frames:
+                                if self._loop:
+                                    self._current_index = 0
+                                else:
+                                    # Pause — keep thread alive for restart
+                                    self._playing = False
+                                    self.playbackStateChanged.emit("stopped")
+
+                self.msleep(self._frame_interval_ms)
+        except (OSError, ValueError, RuntimeError, IndexError) as exc:
+            self.errorOccurred.emit(str(exc))
+
+        self.playbackStateChanged.emit("stopped")
+
+    # -- Internal --
+
+    def _emit_frame(self, index: int) -> None:
+        try:
+            frame = self._engine.get_frame(index)
+        except (OSError, ValueError, RuntimeError, IndexError) as exc:
+            self.errorOccurred.emit(f"Frame {index}: {exc}")
+            return
+
+        self.frameReady.emit(frame)
+        self.frameIndexChanged.emit(index, self._engine.total_frames)
+
+        # Target extraction
+        targets = self._extract_targets(
+            frame,
+            range_resolution=self._waveform.range_resolution_m,
+            velocity_resolution=self._waveform.velocity_resolution_mps,
+            gps=self._gps,
+        )
+        self.targetsUpdated.emit(targets)
+        self.statsUpdated.emit({
+            "frame_number": frame.frame_number,
+            "detection_count": frame.detection_count,
+            "target_count": len(targets),
+            "replay_index": index,
+            "replay_total": self._engine.total_frames,
+        })

9_Firmware/tests/cross_layer/contract_parser.py

@@ -188,7 +188,7 @@ def parse_python_data_packet_fields(filepath: Path | None = None) -> list[DataPa
             width_bits=size * 8
         ))
 
-    # Match detection = raw[9] & 0x01
+    # Match detection = raw[9] & 0x01  (direct access)
     for m in re.finditer(r'(\w+)\s*=\s*raw\[(\d+)\]\s*&\s*(0x[0-9a-fA-F]+|\d+)', body):
         name = m.group(1)
         offset = int(m.group(2))
@@ -196,6 +196,24 @@ def parse_python_data_packet_fields(filepath: Path | None = None) -> list[DataPa
             name=name, byte_start=offset, byte_end=offset, width_bits=1
         ))
 
+    # Match intermediate variable pattern: var = raw[N], then field = var & MASK
+    for m in re.finditer(r'(\w+)\s*=\s*raw\[(\d+)\]', body):
+        var_name = m.group(1)
+        offset = int(m.group(2))
+        # Find fields derived from this intermediate variable
+        for m2 in re.finditer(
+            rf'(\w+)\s*=\s*(?:\({var_name}\s*>>\s*\d+\)\s*&|{var_name}\s*&)\s*'
+            r'(0x[0-9a-fA-F]+|\d+)',
+            body,
+        ):
+            name = m2.group(1)
+            # Skip if already captured by direct raw[] access pattern
+            if not any(f.name == name for f in fields):
+                fields.append(DataPacketField(
+                    name=name, byte_start=offset, byte_end=offset,
+                    width_bits=1
+                ))
+
     fields.sort(key=lambda f: f.byte_start)
     return fields
 
@@ -583,12 +601,28 @@ def parse_verilog_data_mux(
 
     for m in re.finditer(
         r"5'd(\d+)\s*:\s*data_pkt_byte\s*=\s*(.+?);",
-        mux_body
+        mux_body, re.DOTALL
     ):
         idx = int(m.group(1))
         expr = m.group(2).strip()
         entries.append((idx, expr))
 
+    # Helper: extract the dominant signal name from a mux expression.
+    # Handles direct refs like ``range_profile_cap[31:24]``, ternaries
+    # like ``stream_doppler_en ? doppler_real_cap[15:8] : 8'd0``, and
+    # concat-ternaries like ``stream_cfar_en ? {…, cfar_detection_cap} : …``.
+    def _extract_signal(expr: str) -> str | None:
+        # If it's a ternary, use the true-branch to find the data signal
+        tern = re.match(r'\w+\s*\?\s*(.+?)\s*:\s*.+', expr, re.DOTALL)
+        target = tern.group(1) if tern else expr
+        # Look for a known data signal (xxx_cap pattern or cfar_detection_cap)
+        cap_match = re.search(r'(\w+_cap)\b', target)
+        if cap_match:
+            return cap_match.group(1)
+        # Fall back to first identifier before a bit-select
+        sig_match = re.match(r'(\w+?)(?:\[|$)', target)
+        return sig_match.group(1) if sig_match else None
+
     # Group consecutive bytes by signal root name
     fields: list[DataPacketField] = []
     i = 0
@@ -598,22 +632,21 @@ def parse_verilog_data_mux(
             i += 1
             continue
 
-        # Extract signal name (e.g., range_profile_cap from range_profile_cap[31:24])
+        signal = _extract_signal(expr)
-        sig_match = re.match(r'(\w+?)(?:\[|$)', expr)
+        if not signal:
-        if not sig_match:
             i += 1
             continue
 
-        signal = sig_match.group(1)
         start_byte = idx
         end_byte = idx
 
         # Find consecutive bytes of the same signal
         j = i + 1
         while j < len(entries):
-            next_idx, next_expr = entries[j]
+            _next_idx, next_expr = entries[j]
-            if next_expr.startswith(signal):
+            next_sig = _extract_signal(next_expr)
-                end_byte = next_idx
+            if next_sig == signal:
+                end_byte = _next_idx
                 j += 1
             else:
                 break

9_Firmware/tests/cross_layer/tb_cross_layer_ft2232h.v

@@ -620,8 +620,10 @@ module tb_cross_layer_ft2232h;
               "Data pkt: byte 7 = 0x56 (doppler_imag MSB)");
         check(captured_bytes[8] === 8'h78,
               "Data pkt: byte 8 = 0x78 (doppler_imag LSB)");
-        check(captured_bytes[9] === 8'h01,
+        // Byte 9 = {frame_start, 6'b0, cfar_detection}
-              "Data pkt: byte 9 = 0x01 (cfar_detection=1)");
+        // After reset sample_counter==0, so frame_start=1 → 0x81
+        check(captured_bytes[9] === 8'h81,
+              "Data pkt: byte 9 = 0x81 (frame_start=1, cfar_detection=1)");
         check(captured_bytes[10] === 8'h55,
               "Data pkt: byte 10 = 0x55 (footer)");
 

CONTRIBUTING.md

@@ -78,9 +78,9 @@ Every test binary must exit 0.
 
 ```bash
 cd 9_Firmware/9_3_GUI
-python3 -m pytest test_radar_dashboard.py -v
+python3 -m pytest test_GUI_V65_Tk.py -v
 # or without pytest:
-python3 -m unittest test_radar_dashboard -v
+python3 -m unittest test_GUI_V65_Tk -v
 ```
 
 57+ protocol and rendering tests. The `test_record_and_stop` test
@@ -130,7 +130,7 @@ Before pushing, confirm:
 
 1. `bash run_regression.sh` — all phases pass
 2. `make all` (MCU tests) — 20/20 pass
-3. `python3 -m unittest test_radar_dashboard -v` — all pass
+3. `python3 -m unittest test_GUI_V65_Tk -v` — all pass
 4. `python3 validate_mem_files.py` — all checks pass
 5. `python3 compare.py dc && python3 compare_doppler.py stationary && python3 compare_mf.py all`
 6. `git diff --check` — no whitespace issues

README.md

@@ -111,7 +111,8 @@ The AERIS-10 main sub-systems are:
    - Map integration
    - Radar control interface
 
-![AERIS-10 GUI Demo](https://raw.githubusercontent.com/NawfalMotii79/PLFM_RADAR/main/8_Utils/GUI_V6.gif)
+![AERIS-10 Dashboard](https://raw.githubusercontent.com/NawfalMotii79/PLFM_RADAR/main/8_Utils/GUI_V65_Tk.png)
+<!-- V6 GIF removed — V6 is deprecated. V65 Tk and V7 PyQt6 are the active GUIs. -->
 
 ## 📊 Technical Specifications
 

docs/index.html

@@ -32,6 +32,11 @@
     </section>
 
     <section class="stats-grid">
+      <article class="card stat notice">
+        <h2>Production Board USB</h2>
+        <p class="metric">FT2232H (USB 2.0)</p>
+        <p class="muted">50T production board uses FT2232H. FT601 USB 3.0 is available on 200T premium dev board only.</p>
+      </article>
       <article class="card stat">
         <h2>Tracked Timing Baseline</h2>
         <p class="metric">WNS +0.058 ns</p>