more TAV/TAD documentation update

CLAUDE.md

@@ -173,10 +173,10 @@ Peripheral memories can be accessed using `vm.peek()` and `vm.poke()` functions,
   - **Multiple Wavelet Types**: 5/3 reversible, 9/7 irreversible, CDF 13/7, DD-4, Haar
   - **Single-tile encoding**: One large DWT tile for optimal quality (no blocking artifacts)
   - **Perceptual quantisation**: HVS-optimized coefficient scaling
-  - **YCoCg-R color space**: Efficient chroma representation with "simulated" subsampling using anisotropic quantisation (search for "ANISOTROPY_MULT_CHROMA" on the encoder)
+  - **YCoCg-R colour space**: Efficient chroma representation with "simulated" subsampling using anisotropic quantisation (search for "ANISOTROPY_MULT_CHROMA" on the encoder)
   - **6-level DWT decomposition**: Deep frequency analysis for better compression (deeper levels possible but 6 is the maximum for the default TSVM size)
   - **Significance Map Compression**: Improved coefficient storage format exploiting sparsity for 16-18% additional compression (2025-09-29 update)
-  - **Concatenated Maps Layout**: Cross-channel compression optimization for additional 1.6% improvement (2025-09-29 enhanced)
+  - **Concatenated Maps Layout**: Cross-channel compression optimisation for additional 1.6% improvement (2025-09-29 enhanced)
 - **Usage Examples**:
   ```bash
   # Different wavelets
@@ -259,7 +259,7 @@ Concatenated Maps Layout:
 
 - Significance map: 1 bit per coefficient (0=zero, 1=non-zero)
 - Value arrays: Only non-zero coefficients in sequence per channel
-- Cross-channel optimization: Zstd finds patterns across similar significance maps
+- Cross-channel optimisation: Zstd finds patterns across similar significance maps
 - Result: 16-18% compression improvement + 1.6% additional from concatenation
 ```
 

video_encoder/TAD_README.md

@@ -0,0 +1,350 @@
+# TAD - TSVM Advanced Audio Codec
+
+A perceptually-optimised wavelet-based audio codec designed for resource-constrained systems, featuring CDF 9/7 wavelets, EZBC sparse coding, and sophisticated perceptual quantisation.
+
+## Overview
+
+TAD (TSVM Advanced Audio) is a modern audio codec built on discrete wavelet transform (DWT) using Cohen-Daubechies-Feauveau (CDF) 9/7 biorthogonal wavelets. It combines perceptual quantisation, advanced entropy coding, and careful optimisation for resource-constrained systems.
+
+### Key Advantages
+
+- **Perceptual optimisation**: HVS-aware quantisation preserves audio quality where it matters
+- **Efficient sparse coding**: EZBC encoding exploits coefficient sparsity (86.9% zeros in typical content)
+- **Variable chunk sizes**: Supports any chunk size ≥1024 samples, including non-power-of-2
+- **Stereo decorrelation**: Mid/Side encoding exploits stereo correlation for better compression
+- **Hardware-friendly**: Designed for efficient decoding on resource-constrained platforms
+
+## Features
+
+### Compression Technology
+
+- **CDF 9/7 Biorthogonal Wavelets**
+  - 9-level fixed decomposition for all chunk sizes
+  - Lifting scheme implementation for efficient computation
+  - Optimal frequency discrimination for audio signals
+
+- **Pre-processing**
+  - First-order IIR pre-emphasis filter (α=0.5) shifts quantisation noise to lower frequencies, where they are less objectionable to listeners
+  - Gamma compression (γ=0.5) for dynamic range compression before quantisation
+  - Mid/Side stereo transformation exploits stereo correlation
+  - Lambda companding (λ=6.0) with Laplacian CDF mapping for full bit utilisation
+
+- **Perceptual Quantisation**
+  - Channel-specific (Mid/Side) frequency-dependent weights
+  - Subband-aware quantisation preserves perceptually important frequencies
+
+- **EZBC Encoding**
+  - Binary tree embedded zero block coding
+  - Exploits coefficient sparsity (86.9% Mid, 97.8% Side typical)
+  - Progressive refinement structure
+  - Spatial clustering of non-zero coefficients
+
+- **Entropy Coding**
+  - Zstandard compression (level 7) on concatenated EZBC bitstreams
+  - Cross-channel compression optimisation
+  - Optional Zstd bypass for debugging
+
+### Audio Format
+
+- **Sample Rate**: 32 KHz (TSVM audio hardware native format)
+- **Channels**: Stereo (L/R input, Mid/Side internal representation)
+- **Chunk Sizes**: Variable, any size ≥1024 samples (including non-power-of-2)
+- **Bit Depth**: 32-bit float internal, 8-bit unsigned PCM output with noise-shaped dithering
+- **Bandwidth**: Full 0-16 KHz frequency range preserved
+
+### Quality Levels
+
+Six quality levels (0-5) provide a wide range of compression/quality trade-offs:
+- **Level 0**: Lowest quality, smallest file size
+- **Level 3**: Default, balanced quality/compression (2.51:1 vs PCMu8)
+- **Level 5**: Highest quality, largest file size
+
+Quality levels are designed to be synchronised with TAV video codec for unified encoding.
+
+## Building
+
+### Prerequisites
+
+- C compiler (GCC/Clang)
+- Zstandard library (libzstd)
+- Math library (libm)
+
+### Compilation
+
+```bash
+# Build TAD encoder/decoder
+make tad
+
+# Build all tools
+make all
+
+# Clean build artifacts
+make clean
+```
+
+### Build Targets
+
+- `encoder_tad` - Standalone audio encoder with FFmpeg calls
+- `decoder_tad` - Standalone audio decoder
+
+## Usage
+
+### Basic Encoding
+
+Encoding requires FFmpeg executable installed in your system.
+
+```bash
+# Default encoding (quality level 3)
+./encoder_tad -i input.mp3 -o output.tad
+
+# Specify quality level (0-5)
+./encoder_tad -i input.m4a -o output.tad -q 0    # Lowest quality
+./encoder_tad -i input.ogg -o output.tad -q 5    # Highest quality
+
+# Disable Zstd compression (for debugging)
+./encoder_tad -i input.opus -o output.tad --no-zstd
+
+# Verbose output with statistics
+./encoder_tad -i input.flac -o output.tad -v
+```
+
+### Decoding
+
+```bash
+# Decode to PCMu8
+./decoder_tad -i input.tad -o output.pcm --raw-pcm
+
+# Decode to WAV
+./decoder_tad -i input.tad -o output.wav
+```
+
+### Input Formats
+
+TAD encoder accepts any audio format supported by FFmpeg:
+- Audio files: WAV, MP3, FLAC, OGG, AAC, etc.
+- Video files with audio streams: MP4, MKV, AVI, etc.
+- Raw PCM formats
+
+Audio is automatically resampled to 32 KHz stereo if necessary.
+
+## Technical Architecture
+
+### Encoder Pipeline
+
+1. **Input Processing**
+   - FFmpeg demuxing and audio stream extraction
+   - Resampling to 32 KHz stereo
+   - Conversion to PCM32f
+
+2. **Pre-emphasis Filter**
+   - First-order IIR filter with α=0.5
+   - Shifts quantisation noise toward lower frequencies
+   - Improves perceptual quality
+
+3. **Gamma Compression**
+   - Dynamic range compression with γ=0.5
+   - Applied independently to each sample
+   - Reduces quantisation error for low-amplitude signals
+
+4. **Stereo Decorrelation**
+   - Left/Right to Mid/Side transformation
+   - Mid = (L + R) / 2
+   - Side = (L - R) / 2
+   - Exploits stereo correlation for better compression
+
+5. **9-Level CDF 9/7 DWT**
+   - Fixed 9 decomposition levels for all chunk sizes
+   - Forward lifting scheme implementation
+   - Correct length tracking for non-power-of-2 sizes
+
+6. **Perceptual Quantisation**
+   - Channel-specific (Mid/Side) subband weights
+   - Lambda companding with λ=6.0
+   - Laplacian CDF mapping: `sign(x) * floor(λ * log(1 + |x|/λ))`
+   - Quantised to int8 coefficients
+
+7. **EZBC Encoding**
+   - Binary tree structure per channel
+   - Progressive refinement by bitplanes
+   - Zero block coding exploits sparsity
+   - Independent bitstreams for Mid and Side
+
+8. **Zstd Compression**
+   - Level 7 compression on concatenated `[Mid_bitstream][Side_bitstream]`
+   - Cross-channel optimisation opportunities
+   - Adaptive compression based on content
+
+### Decoder Pipeline
+
+1. **Container Parsing**
+   - TAD packet identification (type 0x24)
+   - Chunk size extraction
+   - Compressed data boundaries
+
+2. **Zstd Decompression**
+   - Decompress concatenated bitstreams
+   - Split into Mid and Side EZBC streams
+
+3. **EZBC Decoding**
+   - Binary tree decoder per channel
+   - Reconstruct quantised int8 coefficients
+   - Progressive refinement reconstruction
+
+4. **Lambda Decompanding**
+   - Inverse Laplacian CDF with channel-specific weights
+   - Reconstruct float32 DWT coefficients
+   - Apply subband-specific perceptual weights
+
+5. **9-Level Inverse CDF 9/7 DWT**
+   - Inverse lifting scheme implementation
+   - Correct length tracking for non-power-of-2 chunk sizes
+   - Pre-calculated length sequence from forward transform
+
+6. **Mid/Side to Left/Right**
+   - L = Mid + Side
+   - R = Mid - Side
+   - Reconstruct stereo channels
+
+7. **Gamma Expansion**
+   - Inverse gamma with γ⁻¹=2.0
+   - Restore original dynamic range
+
+8. **De-emphasis Filter**
+   - Reverse pre-emphasis with α=0.5
+   - Remove frequency shaping
+   - Restore flat frequency response
+
+9. **PCM32f to PCM8u Conversion**
+   - Noise-shaped dithering for 8-bit output
+   - Clamping to valid range
+   - Final output format
+
+### Wavelet Implementation
+
+CDF 9/7 wavelet follows a **two-stage lifting scheme**:
+
+```c
+// Forward Transform: Predict → Update
+// Predict step (generate high-pass)
+temp[half + i] = data[odd] - α * (data[even_left] + data[even_right]);
+
+// Update step (generate low-pass)
+temp[i] = data[even] + β * (temp[half + i - 1] + temp[half + i]);
+
+// Normalization (K factor)
+temp[i] *= K;
+temp[half + i] /= K;
+
+// Inverse Transform: Denormalize → Undo Update → Undo Predict (reversed order)
+temp[i] /= K;
+temp[half + i] *= K;
+
+temp[i] -= β * (temp[half + i - 1] + temp[half + i]);
+data[odd] = temp[half + i] + α * (temp[i] + temp[i + 1]);
+data[even] = temp[i];
+```
+
+**CDF 9/7 Coefficients**:
+- α = -1.586134342
+- β = -0.052980118
+- γ = +0.882911075
+- δ = +0.443506852
+- K = 1.230174105
+
+### Non-Power-of-2 Chunk Size Handling
+
+Critical implementation detail for variable chunk sizes:
+
+```c
+// Pre-calculate exact length sequence from forward transform
+int lengths[MAX_LEVELS + 1];
+lengths[0] = chunk_size;
+for (int i = 1; i <= levels; i++) {
+    lengths[i] = (lengths[i - 1] + 1) / 2;
+}
+
+// Apply inverse DWT using lengths[level] for each level
+// NEVER use simple doubling (length *= 2) - incorrect for non-power-of-2!
+```
+
+Incorrect length tracking causes mirrored subband artefacts in decoded audio.
+
+### Perceptual Quantisation Weights
+
+Channel-specific weights for Mid (channel 0) and Side (channel 1):
+
+```c
+// Base quantiser weights per subband (9 levels + approximation)
+float BASE_QUANTISER_WEIGHTS[2][10] = {
+    // Mid channel (0)
+    {4.0f, 2.0f, 1.8f, 1.6f, 1.4f, 1.2f, 1.0f, 1.0f, 1.3f, 2.0f},
+
+    // Side channel (1)
+    {6.0f, 5.0f, 2.6f, 2.4f, 1.8f, 1.3f, 1.0f, 1.0f, 1.6f, 3.2f}
+};
+
+// During dequantisation:
+float weight = BASE_QUANTISER_WEIGHTS[channel][subband] * quantiser_scale;
+coeffs[i] = normalised_val * TAD32_COEFF_SCALARS[subband] * weight;
+```
+
+Different weights for Mid and Side channels reflect perceptual importance of frequency bands in each channel. DC frequency has highest weight (4.0 Mid, 6.0 Side) due to energy concentration.
+
+## Performance Characteristics
+
+### Compression Efficiency
+
+- **Target Compression**: 2:1 against PCMu8 baseline (4:1 against PCM16LE input)
+- **Achieved Compression**: 2.51:1 against PCMu8 at quality level 3
+- **Audio Quality**: Preserves full 0-16 KHz bandwidth
+- **Coefficient Sparsity**: 86.9% zeros in Mid channel, 97.8% in Side channel (typical)
+- **EZBC Benefits**: Exploits sparsity, progressive refinement, spatial clustering
+
+### Computational Complexity
+
+- **Encoding**: O(n log n) per chunk for DWT, O(n) for EZBC encoding
+- **Decoding**: O(n log n) per chunk for inverse DWT, O(n) for EZBC decoding
+- **Memory**: O(n) working memory for chunk processing
+
+### Quality Characteristics
+
+- **Frequency Response**: Flat 0-16 KHz within perceptual limits
+- **Dynamic Range**: Preserved through gamma compression/expansion
+- **Stereo Imaging**: Maintained through Mid/Side decorrelation
+- **Perceptual Quality**: Optimised for human auditory system characteristics
+
+## Integration with TAV
+
+TAD is designed as an includable API for TAV video encoder integration:
+
+- **Variable Chunk Sizes**: Audio chunks can match video GOP boundaries (e.g., 32016 samples for 1-second TAV GOP)
+- **Unified Quality Levels**: TAD quality 0-5 synchronised with TAV quality 0-5
+- **Embedded Packets**: TAV embeds TAD-compressed audio using packet type 0x24
+- **Shared Container**: Single .tav file contains both video and audio streams
+
+### TAV Integration Example
+
+```c
+// TAD handles non-power-of-2 chunk size correctly
+tad_encode_chunk(audio_buffer, audio_samples_per_gop, output_buffer, &output_size);
+
+// TAV embeds TAD packet
+tav_write_packet(TAV_PACKET_AUDIO, output_buffer, output_size);
+```
+
+## Format Specification
+
+For complete packet structure and bitstream format details, refer to `format documentation.txt`.
+
+### Key Packet Types
+
+- `0x24`: TAD audio packet (used in standalone .tad files and embedded in .tav files)
+
+## Related Projects
+
+- **TAV** (TSVM Advanced Video): Wavelet-based video codec with integrated TAD audio
+- **TSVM**: Target virtual machine platform for TAD playback
+
+## Licence
+
+MIT.

video_encoder/TAV_README.md

@@ -0,0 +1,260 @@
+# TAV - TSVM Advanced Video Codec
+
+A perceptually-optimised wavelet-based video codec designed for resource-constrained systems, featuring multiple wavelet types, temporal 3D DWT, and sophisticated compression techniques.
+
+## Overview
+
+TAV (TSVM Advanced Video) is a modern video codec built on discrete wavelet transformation (DWT). It combines cutting-edge compression techniques with careful optimisation for resource-constrained systems.
+
+### Key Advantages
+
+- **No blocking artefacts**: Large-tile DWT encoding with padding eliminates DCT block boundaries
+- **Perceptual optimisation**: HVS-aware quantisation preserves visual quality where it matters
+- **Temporal coherence**: 3D DWT with GOP encoding exploits inter-frame similarity
+- **Efficient sparse coding**: EZBC encoding exploits coefficient sparsity for 16-18% additional compression
+- **Hardware-friendly**: Designed for efficient decoding on resource-constrained platforms
+
+## Features
+
+### Compression Technology
+
+- **Wavelet Types**
+  - **5/3 Reversible** (JPEG 2000 standard): Lossless-capable, good for archival
+  - **9/7 Irreversible** (default): Best overall compression, CDF 9/7 variant
+
+- **Spatial Encoding**
+  - Large-tile encoding with padding, with optional single-tile mode (no blocking artefacts)
+  - 6-level DWT decomposition for deep frequency analysis
+  - Perceptual quantisation with HVS-optimised coefficient scaling
+  - YCoCg-R colour space with anisotropic chroma quantisation
+
+- **Temporal Encoding** (3D DWT Mode)
+  - Group-of-pictures (GOP) encoding with adaptive size (typically 20 frames)
+  - Unified EZBC encoding across temporal dimension
+  - Adaptive GOP boundaries with scene change detection
+
+- **EZBC Encoding**
+  - Binary tree embedded zero block coding exploits coefficient sparsity
+  - Progressive refinement structure with bitplane encoding
+  - Concatenated channel layout for cross-channel compression optimisation
+  - Typical sparsity: 86.9% (Y), 97.8% (Co), 99.5% (Cg)
+  - 16-18% compression improvement over naive coefficient encoding
+  
+### Audio Integration
+
+TAV seamlessly integrates with the TAD (TSVM Advanced Audio) codec for synchronised audio/video encoding:
+- Variable chunk sizes match video GOP boundaries
+- Embedded TAD packets (type 0x24) with Zstd compression
+- Unified container format
+
+## Building
+
+### Prerequisites
+
+- C compiler (GCC/Clang)
+- Zstandard library
+- OpenCV 4 library (only used by experimental motion estimation feature)
+
+### Compilation
+
+```bash
+# Build TAV encoder/decoder
+make tav
+
+# Build all tools including TAD audio codec
+make all
+
+# Clean build artefacts
+make clean
+```
+
+### Build Targets
+
+- `encoder_tav` - Main video encoder
+- `decoder_tav` - Standalone video decoder
+- `tav_inspector` - Packet analysis and debugging tool
+
+## Usage
+
+### Basic Encoding
+
+Encoding requires FFmpeg executable installed in your system.
+
+```bash
+# Default encoding (CDF 9/7 wavelet, quality level 3)
+./encoder_tav -i input.mp4 -o output.tav
+
+# Quality levels (0-5)
+./encoder_tav -i input.avi -q 0 -o output.tav    # Lowest quality, smallest file
+./encoder_tav -i input.mkv -q 5 -o output.tav    # Highest quality, largest file
+```
+
+### Intra-only Encoding
+
+```bash
+# Enable Intra-only encoding
+./encoder_tav -i input.mp4 --intra-only -o output.tav
+```
+
+### Decoding and Inspection
+
+```bash
+# Decode TAV to raw video
+./decoder_tav -i input.tav -o output.mkv
+
+# Inspect packet structure (debugging)
+./tav_inspector input.tav -v
+```
+
+### Frame Limiting
+
+```bash
+# Encode only first N frames (useful for testing)
+./encoder_tav -i input.mp4 -o output.tav --encode-limit 100
+```
+
+## Technical Architecture
+
+### Encoder Pipeline
+
+1. **Input Processing**
+   - FFmpeg demuxing and frame extraction
+   - RGB to YCoCg-R colour space conversion
+   - Resolution validation and padding
+
+2. **DWT Transform**
+   - Spatial: 6-level decomposition per frame
+   - Temporal: 1D DWT across GOP frames (3D DWT mode)
+   - Lifting scheme implementation for all wavelets
+
+3. **Perceptual Quantisation**
+   - HVS-based subband weights
+   - Anisotropic chroma quantisation (YCoCg-R specific)
+   - Quality-dependent quantisation matrices
+
+4. **EZBC Encoding**
+   - Binary tree embedded zero block coding per channel
+   - Progressive refinement by bitplanes
+   - Concatenated bitstream layout: `[Y_bitstream][Co_bitstream][Cg_bitstream]`
+   - Cross-channel compression optimisation
+   
+5. **Entropy Coding**
+   - Zstandard compression (level 7) on concatenated EZBC bitstreams
+   - Cross-channel compression opportunities
+   - Adaptive compression based on GOP structure
+
+### Decoder Pipeline
+
+1. **Container Parsing**
+   - Packet type identification (0x00-0xFF)
+   - Timecode synchronisation
+   - GOP boundary detection
+
+2. **Entropy Decoding**
+   - Zstd decompression of concatenated bitstreams
+   - EZBC binary tree decoding per channel
+   - Progressive coefficient reconstruction
+
+3. **Inverse Quantisation**
+   - Perceptual weight application
+   - Subband-specific scaling
+   - Coefficient reconstruction from sparse representation
+
+4. **Inverse DWT**
+   - Temporal: 1D inverse DWT across frames (3D DWT mode)
+   - Spatial: 6-level inverse wavelet reconstruction
+
+5. **Output Conversion**
+   - YCoCg-R to RGB colour space
+   - Clamping and dithering
+   - Frame buffering for display
+
+### Wavelet Implementation
+
+All wavelets follow a **lifting scheme** pattern with symmetric boundary extension:
+
+```c
+// Forward Transform: Predict → Update
+temp[half + i] = data[odd] - predict(data[even]);  // High-pass
+temp[i] = data[even] + update(temp[half]);         // Low-pass
+
+// Inverse Transform: Undo Update → Undo Predict (reversed order)
+data[even] = temp[i] - update(temp[half]);         // Undo low-pass
+data[odd] = temp[half + i] + predict(data[even]);  // Undo high-pass
+```
+
+**Critical**: Forward and inverse transforms must use identical coefficient indexing and exactly reverse operations to avoid grid artefacts.
+
+### Coefficient Layout
+
+TAV uses **2D Spatial Layout** in memory for each decomposition level:
+
+```
+[LL] [LH] [HL] [HH] [LH] [HL] [HH] ...
+ └── Level 0 ──┘ └─── Level 1 ───┘
+```
+
+- `LL`: Low-pass (approximation) - progressively smaller with each level
+- `LH`, `HL`, `HH`: High-pass subbands (horizontal, vertical, diagonal detail)
+
+## Performance Characteristics
+
+### Compression Efficiency
+
+- **Sparsity Exploitation**: Typical quantised coefficient sparsity
+  - Y channel: 86.9% zeros
+  - Co channel: 97.8% zeros
+  - Cg channel: 99.5% zeros
+
+- **EZBC Benefits**: 16-18% compression improvement over naive coefficient encoding through sparsity exploitation
+
+- **Temporal Coherence**: Additional 15-25% improvement with 3D DWT (content-dependent)
+
+### Computational Complexity
+
+- **Encoding**: O(n log n) per frame for spatial DWT
+- **Decoding**: O(n log n) per frame, optimised lifting scheme implementation
+- **Memory**: Single-tile encoding requires O(w × h) working memory
+
+### Quality Characteristics
+
+- **No blocking artefacts**: Wavelet-based encoding is inherently smooth
+- **Perceptual optimisation**: Better subjective quality than bitrate-equivalent DCT codecs
+- **Scalability**: 6 quality levels (0-5) provide wide range of bitrate/quality trade-offs
+- **Temporal stability**: 3D DWT mode reduces flickering and temporal artefacts
+
+## Format Specification
+
+For complete packet structure and bitstream format details, refer to `format documentation.txt`.
+
+### Key Packet Types
+
+- `0x00`: Metadata and initialisation
+- `0x01`: I-frame (intra-coded frame)
+- `0x12`: GOP unified packet (3D DWT mode)
+- `0x24`: Embedded TAD audio
+- `0xFC`: GOP synchronisation
+- `0xFD`: Timecode
+
+## Debugging Tools
+
+### TAV Inspector
+
+Analyse TAV packet structure and decode individual frames:
+
+```bash
+# Verbose packet analysis
+./tav_inspector input.tav -v
+
+# Extract specific frame ranges
+./tav_inspector input.tav --frame-range 100-200
+```
+
+## Related Projects
+
+- **TAD** (TSVM Advanced Audio): Perceptual audio codec using CDF 9/7 wavelets
+- **TSVM**: Target virtual machine platform for TAV playback
+
+## Licence
+
+MIT.