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feat(gps): add timer-based assisted reacquisition

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Remove the fixed pseudorange start offset, preserve per-PRN navigation assistance across RF loss and power cycles, and seed coherent navigation measurement phase on reacquisition. Add full LNAV almanac visibility scheduling, power-safe QSPI journaling, RF-domain reset isolation, and PPS Gray CDC hardening with Linux, sanitizer, RTL, and end-to-end coverage.
This commit is contained in:
onur
2026-08-04 02:52:35 +03:00
parent 347e1c671d
commit 30179df8e6
69 changed files with 6162 additions and 247 deletions
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soc/software/gps_system/tests/Makefile
+113 -3
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@@ -6,11 +6,17 @@ TARGETS := test_imu_calibration test_gps_nav_epoch \
test_gps_nav_epoch_coalescing test_gps_time_anchor \
test_plic_warm_reset test_gps_acq_manager \
test_gps_ephemeris_cache test_gps_receiver_hardware_sim
TARGETS += test_gps_measurement_freshness
TARGETS += test_gps_tracking_measurement
TARGETS += test_gps_satellite_velocity
TARGETS += test_gps_pps_time_filter
TARGETS += test_gps_pps_quality
TARGETS += test_gps_pps_adaptive_loop
TARGETS += test_gps_visibility
TARGETS += test_gps_almanac
TARGETS += test_gps_flash_journal
TARGETS += test_gps_assistance_data
TARGETS += test_gps_assistance_store
.PHONY: all run sanitize clean
@@ -28,19 +34,55 @@ test_gps_nav_epoch_coalescing: test_gps_nav_epoch_coalescing.c $(ROOT)/src/gps/g
test_gps_time_anchor: test_gps_time_anchor.c $(ROOT)/src/gps/gps_time_anchor.c
$(CC) $(CFLAGS) -I$(ROOT)/header $^ -lm -o $@
test_gps_measurement_freshness: test_gps_measurement_freshness.c \
$(ROOT)/src/gps/gps_measurement_freshness.c
$(CC) $(CFLAGS) -I$(ROOT)/header $^ -o $@
test_plic_warm_reset: test_plic_warm_reset.c $(ROOT)/../bsp/drivers/plic.c
$(CC) $(CFLAGS) -Ifake_bsp -I$(ROOT)/../bsp/include $^ -o $@
test_gps_acq_manager: test_gps_acq_manager.c $(ROOT)/src/gps/gps_acq_manager.c
$(CC) $(CFLAGS) -I$(ROOT)/header $^ -o $@
test_gps_visibility: test_gps_visibility.c $(ROOT)/src/gps/gps_visibility.c
$(CC) $(CFLAGS) -I$(ROOT)/header $^ -lm -o $@
test_gps_ephemeris_cache: test_gps_ephemeris_cache.c $(ROOT)/src/gps/gps_ephemeris_cache.c
$(CC) $(CFLAGS) -Wno-comment -Ifake_bsp -I$(ROOT)/header $^ -o $@
test_gps_almanac: test_gps_almanac.c \
$(ROOT)/src/gps/gps_almanac.c \
$(ROOT)/src/gps/NavEquations.c \
$(ROOT)/src/gps/matrixLib.c
$(CC) $(CFLAGS) -Wno-comment -Wno-unused-parameter \
-Wno-unused-variable -Wno-sign-compare \
-Ifake_bsp -I$(ROOT)/header $^ -lm -o $@
test_gps_flash_journal: test_gps_flash_journal.c \
$(ROOT)/src/gps/gps_flash_journal.c
$(CC) $(CFLAGS) -I$(ROOT)/header $^ -o $@
test_gps_assistance_data: test_gps_assistance_data.c \
$(ROOT)/src/gps/gps_assistance_data.c \
$(ROOT)/src/gps/gps_ephemeris_cache.c \
$(ROOT)/src/gps/gps_almanac.c \
$(ROOT)/src/gps/gps_time_anchor.c
$(CC) $(CFLAGS) -Wno-comment -Ifake_bsp -I$(ROOT)/header $^ -lm -o $@
test_gps_assistance_store: test_gps_assistance_store.c \
$(ROOT)/src/gps/gps_assistance_store.c \
$(ROOT)/src/gps/gps_assistance_data.c \
$(ROOT)/src/gps/gps_flash_journal.c \
$(ROOT)/src/gps/gps_ephemeris_cache.c \
$(ROOT)/src/gps/gps_almanac.c \
$(ROOT)/src/gps/gps_time_anchor.c
$(CC) $(CFLAGS) -Wno-comment -Ifake_bsp -I$(ROOT)/header $^ -lm -o $@
test_gps_receiver_hardware_sim: test_gps_receiver_hardware_sim.c \
$(ROOT)/src/gps/gps_acq_manager.c \
$(ROOT)/src/gps/gps_almanac.c \
$(ROOT)/src/gps/gps_ephemeris_cache.c
$(CC) $(CFLAGS) -Wno-comment -Ifake_bsp -I$(ROOT)/header $^ -o $@
$(CC) $(CFLAGS) -Wno-comment -Ifake_bsp -I$(ROOT)/header $^ -lm -o $@
test_gps_tracking_measurement: test_gps_tracking_measurement.c \
$(ROOT)/src/gps/gps_tracking_measurement.c
@@ -71,15 +113,21 @@ run: $(TARGETS)
./test_gps_nav_epoch
./test_gps_nav_epoch_coalescing
./test_gps_time_anchor
./test_gps_measurement_freshness
./test_plic_warm_reset
./test_gps_acq_manager
./test_gps_ephemeris_cache
./test_gps_almanac
./test_gps_flash_journal
./test_gps_assistance_data
./test_gps_assistance_store
./test_gps_receiver_hardware_sim
./test_gps_tracking_measurement
./test_gps_satellite_velocity
./test_gps_pps_time_filter
./test_gps_pps_quality
./test_gps_pps_adaptive_loop
./test_gps_visibility
sanitize:
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
@@ -103,6 +151,13 @@ sanitize:
-o test_gps_time_anchor_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_time_anchor_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I$(ROOT)/header test_gps_measurement_freshness.c \
$(ROOT)/src/gps/gps_measurement_freshness.c \
-o test_gps_measurement_freshness_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_measurement_freshness_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I$(ROOT)/header test_gps_acq_manager.c \
@@ -118,13 +173,56 @@ sanitize:
-o test_gps_ephemeris_cache_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_ephemeris_cache_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-Wno-comment -Wno-unused-parameter -Wno-unused-variable \
-Wno-sign-compare -Ifake_bsp -I$(ROOT)/header \
test_gps_almanac.c \
$(ROOT)/src/gps/gps_almanac.c \
$(ROOT)/src/gps/NavEquations.c \
$(ROOT)/src/gps/matrixLib.c -lm \
-o test_gps_almanac_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_almanac_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I$(ROOT)/header test_gps_flash_journal.c \
$(ROOT)/src/gps/gps_flash_journal.c \
-o test_gps_flash_journal_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_flash_journal_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-Wno-comment -Ifake_bsp -I$(ROOT)/header \
test_gps_assistance_data.c \
$(ROOT)/src/gps/gps_assistance_data.c \
$(ROOT)/src/gps/gps_ephemeris_cache.c \
$(ROOT)/src/gps/gps_almanac.c \
$(ROOT)/src/gps/gps_time_anchor.c -lm \
-o test_gps_assistance_data_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_assistance_data_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-Wno-comment -Ifake_bsp -I$(ROOT)/header \
test_gps_assistance_store.c \
$(ROOT)/src/gps/gps_assistance_store.c \
$(ROOT)/src/gps/gps_assistance_data.c \
$(ROOT)/src/gps/gps_flash_journal.c \
$(ROOT)/src/gps/gps_ephemeris_cache.c \
$(ROOT)/src/gps/gps_almanac.c \
$(ROOT)/src/gps/gps_time_anchor.c -lm \
-o test_gps_assistance_store_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_assistance_store_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-Wno-comment -Ifake_bsp -I$(ROOT)/header \
test_gps_receiver_hardware_sim.c \
$(ROOT)/src/gps/gps_acq_manager.c \
$(ROOT)/src/gps/gps_almanac.c \
$(ROOT)/src/gps/gps_ephemeris_cache.c \
-o test_gps_receiver_hardware_sim_san
-lm -o test_gps_receiver_hardware_sim_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 \
./test_gps_receiver_hardware_sim_san
@@ -170,14 +268,26 @@ sanitize:
-o test_gps_pps_adaptive_loop_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_pps_adaptive_loop_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I$(ROOT)/header test_gps_visibility.c \
$(ROOT)/src/gps/gps_visibility.c -lm \
-o test_gps_visibility_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_visibility_san
clean:
rm -f $(TARGETS) test_gps_nav_epoch_coalescing_repro \
test_gps_nav_epoch_san test_gps_nav_epoch_coalescing_san \
test_gps_time_anchor_san \
test_gps_measurement_freshness_san \
test_gps_acq_manager_san test_gps_ephemeris_cache_san \
test_gps_almanac_san \
test_gps_flash_journal_san \
test_gps_assistance_data_san \
test_gps_assistance_store_san \
test_gps_receiver_hardware_sim_san \
test_gps_tracking_measurement_san \
test_gps_satellite_velocity_san \
test_gps_pps_time_filter_san test_gps_pps_quality_san \
test_gps_pps_adaptive_loop_san
test_gps_pps_adaptive_loop_san test_gps_visibility_san