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Fix GPS acquisition visibility and pull-in edge cases

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Codex
2026-08-04 13:48:48 +03:00
parent 30179df8e6
commit 28b55fdfb6
7 changed files with 333 additions and 19 deletions
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soc/software/gps_system/header/gps/gps_ip_defines.h
+5 -1
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@@ -80,8 +80,9 @@
* Probe one unknown PRN at a controlled rate until tracking capacity is
* filled; do not let one failing predicted-visible PRN block discovery. */
#define GPS_ACQ_UNKNOWN_PROBE_TICKS (GPS_SYSTICK_HZ * 2u)
#define GPS_ACQ_VISIBILITY_PROBE_TICKS (GPS_SYSTICK_HZ * 60u)
#define GPS_ACQ_VISIBILITY_PROBE_TICKS (GPS_SYSTICK_HZ * 5u)
#define GPS_ACQ_MIN_ELEVATION_DEG 5.0
#define GPS_ACQ_MIN_SKY_MODEL_VISIBLE_COUNT 6u
#define GPS_EPHEMERIS_CACHE_MAX_AGE_TICKS \
(GPS_SYSTICK_HZ * 2u * 60u * 60u)
/* Almanac is a coarse acquisition aid. Reject RAM records that have
@@ -91,6 +92,7 @@
#define GPS_ACQ_STATUS_LOG_PERIOD_TICKS (GPS_SYSTICK_HZ * 5u)
#define GPS_NAV_STATUS_LOG_PERIOD_TICKS GPS_SYSTICK_HZ
#define GPS_TRK_MEASUREMENT_STALE_TICKS (GPS_SYSTICK_HZ * 3u)
#define GPS_TRK_MEASUREMENT_LIVENESS_TICKS (GPS_SYSTICK_HZ * 2u)
#define GPS_NAV_ABS_SAMPLE_SYNC_WINDOW_MS 25u
#define GPS_NAV_EPOCH_HOLDOFF_MS 30u
#define GPS_NAV_TOW_CLUSTER_TOLERANCE_SEC 0.001
@@ -113,6 +115,8 @@
#endif
_Static_assert((GPS_NAV_ENABLE_FDE == 0u) || (GPS_NAV_ENABLE_FDE == 1u),
"GPS_NAV_ENABLE_FDE must be zero or one");
_Static_assert(GPS_ACQ_MIN_SKY_MODEL_VISIBLE_COUNT <= GPS_PRN_COUNT,
"sky-model visible count threshold exceeds PRN count");
#if (ACQ_ENGINE_COUNT < 1UL)
#error "ACQ_ENGINE_COUNT must be at least 1"