feat(gps): expose ESKF build profiles and 460800 UART

2026-07-25 19:39:36 +03:00
parent ecbb8d0b68
commit 49b8609bb4
16 changed files with 393 additions and 39 deletions
@@ -86,6 +86,93 @@ make -C soc/software app APP=gps_system
 make -C targets/fpga/vcu118 debug-load APP=gps_system
 ```

+## GPS Firmware Profilleri: ESKF ve GPS-only
+
+`gps_system` varsayilan olarak ESKF acik (`GPS_ESKF_ENABLE=1`) ve UART
+`460800` baud olacak sekilde derlenir. Kok Makefile'in kart varsayilani VCU118
+oldugu icin Genesys2 komutlarinda `FPGA_BOARD=genesys2` acikca yazilmalidir.
+
+TDK ICM42688 + GPS + ESKF iceren birlesik Genesys2 MCS/BIN:
+
+```sh
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=1 IMU_SENSOR=tdk fpga-mcs
+```
+
+Yalniz GPS acquisition/tracking, WLS, Doppler velocity ve PPS calistiran;
+IMU/ESKF baslatmayan firmware:
+
+```sh
+make FPGA_BOARD=genesys2 APP=gps_system \
+  GPS_ESKF_ENABLE=0 fpga-mcs
+```
+
+`GPS_ESKF_ENABLE` verilmezse deger `1`'dir. Iki komut ayni
+`targets/fpga/genesys2/out/flash/genesys2_rocket.mcs` ve `.bin` yollarini
+kullanir; ikinci build birincinin ciktisinin uzerine yazar. Iki profili
+saklamak gerekiyorsa her build'den sonra dosyayi profil adiyla kopyalayin.
+
+`fpga-mcs` mevcut `.bit` dosyasini kullanip bootloader ve uygulamayi yeniden
+derler. Yalniz software profili veya baud degisikligi icin sentez gerekmez.
+Tracking/PPS RTL veya Chisel degistiyse once:
+
+```sh
+make FPGA_BOARD=genesys2 APP=gps_system fpga-bitstream
+make FPGA_BOARD=genesys2 APP=gps_system GPS_ESKF_ENABLE=1 \
+  IMU_SENSOR=tdk fpga-mcs
+```
+
+Firmware ve host UART dinleyicisinin varsayilani birlikte `460800`'dur:
+
+```sh
+make FPGA_BOARD=genesys2 fpga-uart
+```
+
+### Doppler, WLS ve ESKF veri yolu
+
+```text
+tracking loop, her 20 ms:
+  carrier Q7 + 20 prompt I/Q + wideband power + ABS_SAMPLE/code phase
+      -> sabit tracking snapshot
+      -> synchronizer + APB-domain atomik register + interrupt
+      -> C/N0 ve Doppler/range-rate donusumu
+      -> satellite velocity/clock-drift duzeltmeli C/N0-weighted velocity WLS
+      -> ECEF velocity + 3x3 covariance + receiver clock drift
+      -> ECEF->ENU adapter
+      -> ayri velocity NIS gate
+      -> ayni capture epoch'unda 15-state ESKF update
+      -> daha yeni IMU history replay
+```
+
+RTL Doppler veya C/N0 uzerinde IIR yapmaz; ham ve 20 ms sabit snapshot'i
+software'e verir. Software ayni PRN icin C/N0'yi `alpha=0.2`, Doppler'i
+`alpha=0.05` ile yumusatir. L1 range-rate
+`-doppler_hz * c / 1575420000` ile hesaplanir. En az dort uyduyla cozulmus
+velocity WLS state'i `[vx, vy, vz, receiver_clock_drift_mps]`'dir; uydu LOS
+hizi ve broadcast satellite clock drift observation'dan ayrilir. C/N0,
+range-rate agirligini belirler; post-fit residual gerekirse formal
+covariance'i yalniz buyutur.
+
+ESKF; ENU position/velocity, quaternion attitude, accel bias ve gyro bias
+iceren 15 hata durumlu filtredir. Her timestamp'li IMU ornegi prediction'a
+girer. Gecikmis GPS position ve Doppler velocity olcumleri kendi capture
+epoch'unda uygulanir, ardindan daha yeni IMU history replay edilir. Position
+ve velocity'nin ayri NIS kapilari vardir; kotu Doppler ayni epoch'taki gecerli
+position update'ini iptal etmez. Durağanlik supervisor'u uygun oldugunda ZUPT
+ve zero-gyro update uygular; GPS kesintisinde filtre sahte konum olcumu
+uretmeden dead-reckoning yapar ve covariance buyur.
+
+C/N0, geometri, WLS clock sigma, integrity ve Doppler residual metrikleri PPS
+software'inin `acquire/precision/robust/holdover` profilini de secer. PPS
+donanimi bu metrikleri dogrudan yorumlamaz; software v2.2 mailbox ile PI
+`Kp/Ki`, slew ve lock esiklerini atomik olarak gunceller. Ayrintilar:
+
+- `hardware/external/gps/rtl/trck_src/README.md`
+- `soc/software/gps_system/README.md`
+- `soc/software/fusion/README.md`
+- `hardware/external/gps/rtl/pps/README.md`
+- `soc/software/pps_python/README.md`
+
 Alt girisler:

 ```sh