Rewrite integration testbench with golden self-reference comparison + physics bounds checks

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Replace smoke-test integration TB (10 liveness checks) with golden
comparison architecture (18 checks). Two compile-time modes:
- GOLDEN_GENERATE: dumps 2048 Doppler outputs to golden_doppler.mem
- Default: loads golden, compares within ±2 LSB tolerance per channel

New checks: G1 golden comparison (2048/2048 exact match verified),
B1a/b DDC energy bounds, B2a/b Doppler per-bin energy, B3 exact count,
B4 full 64x32 bin coverage, B5 no duplicate indices.

Fault injection verified: zeroing FIR coeff[15] causes 2048/2048
golden mismatches (max err 1234/1443 LSB), confirming regression guard.

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Jason committed 2026-03-17 20:56:28 +02:00

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commit 47606a4459

2 files changed

+2528 -38

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