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

hardware/README.md

@@ -46,3 +46,9 @@ external/gps/rtl/
   pass this path as the default GPS_SYSTEM_DIR, so the Vivado flow does not
   depend on a user-specific /home/... checkout.
 ```
+
+GPS tracking olcum yolunun 20 ms Doppler/C/N0 snapshot, PCLK synchronizer,
+APB register/interrupt ve software velocity WLS sozlesmesi
+`external/gps/rtl/trck_src/README.md` icinde belgelenir. PPS PI periferigi,
+runtime coefficient/lock register map'i ve fiziksel pin sinirlari
+`external/gps/rtl/pps/README.md` icindedir.

hardware/external/gps/rtl/pps/README.md

@@ -47,6 +47,16 @@ The hardware does not add `POSTPONE_TOW`.  Baremetal must commit an already
 epoch-aligned GPS reference, so the verified 160 ms subframe readout correction
 is owned exactly once by the navigation software.
 
+Tracking C/N0 and Doppler are not inputs to the PPS RTL. The tracking wrapper
+publishes those measurements through its separate 20 ms APB mailbox. Firmware
+uses C/N0, geometry, WLS clock sigma, integrity and Doppler velocity residual
+to select `acquire`, `precision`, `robust` or `holdover`, then writes the
+corresponding PI coefficients, slew limit and lock thresholds through this
+PPS mailbox. Doppler also predicts the WLS clock-bias datum between commits.
+This keeps quality policy and the small navigation pre-filter in software
+while the deterministic PI loop, fixed-point rate state and physical edge
+generation remain in hardware.
+
 The APB register offsets live in `pps_pkg.sv`.  Multiword input fields are
 shadow registers and must be followed by one `COMMIT` write.  A new mailbox
 must not be written while `STATUS.COMMIT_BUSY` is set.

hardware/external/gps/rtl/trck_src/README.md

@@ -0,0 +1,107 @@
+# GPS tracking measurement yolu
+
+Bu dizindeki tracking loop yalniz code/carrier takibi yapmaz; her 20 ms GPS
+L1 C/A navigation-bit epoch'unda software'in C/N0 ve Doppler kullanabilmesi
+icin atomik bir measurement snapshot'i da uretir.
+
+## 20 ms snapshot
+
+`tracking_measurement.sv`, ilk NAV-bit kenarinda accumulator'lari arm eder ve
+sonraki her bit epoch'unda su alanlari birlikte latch eder:
+
+```text
+nav bit
+ABS_SAMPLE
+remaining code phase
+signed carrier frequency, Q7
+20 x prompt I toplami
+20 x prompt Q toplami
+20 x (I_prompt^2 + Q_prompt^2) wideband power toplami
+sample count
+16-bit sequence
+```
+
+Prompt energy `lock_detector.sv` icinde pipeline'li oldugu icin bit kenarindan
+sonra dort tracking clock beklenir; bu, son 1 ms enerji terimini eski epoch'a
+dahil eder ve yeni epoch ile karistirmaz. Snapshot ve `measurement_valid`
+sonraki bit epoch'una kadar, yaklasik 20 ms sabit kalir.
+
+## APB aktarimi ve interrupt
+
+`apb_wrappers/tracking_wrapper.sv`, valid ve payload'un her bitini
+`double_ff_syn` yardimcisi ile PCLK domainine alir. Bu yardimcinin mevcut
+implementasyonu `stage_1`, `stage_2` ve registered `Dout` olmak uzere uc
+register kademesidir. Kaynak payload 20 ms sabit kaldigi icin FIFO veya toggle
+handshake kullanilmaz. Wrapper synchronized valid kenarindan sonra iki ek PCLK
+settle cycle bekler, tum alanlari APB-domain register bankina ayni anda kopyalar
+ve measurement interrupt/flag uretir.
+
+Software sequence'i okumadan once ve payload'dan sonra tekrar okuyarak atomik
+snapshot dogrulamasi yapar. Sequence degisirse okuma tekrar edilir; sequence
+atlarsa kayip measurement diagnostics sayaci artar.
+
+Measurement register offsetleri:
+
+| Offset | Alan |
+|---:|---|
+| `0x50` | version, valid, NAV bit, lock ve sample count metadata |
+| `0x54` | 16-bit sequence |
+| `0x58` | signed carrier frequency Q7 |
+| `0x5c` | ABS_SAMPLE |
+| `0x60` | remaining code phase |
+| `0x64` | signed prompt sum I |
+| `0x68` | signed prompt sum Q |
+| `0x6c` | wideband power low |
+| `0x70` | wideband power high |
+
+## Software'e verilen anlam
+
+Carrier register'i toplam NCO frekansidir. Software IF merkezini cikarir:
+
+```text
+doppler_hz = carrier_q7 / 128 - 4092000
+range_rate_mps = -doppler_hz * c / 1575420000
+```
+
+Pozitif received-frequency Doppler azalan geometrik range anlamina geldigi
+icin range-rate denkleminde eksi isareti vardir.
+
+C/N0, 20 prompt icin narrowband/wideband power estimator'i ile hesaplanir:
+
+```text
+R = (sum_i^2 + sum_q^2) / WBP
+C/N0_linear = 1000 * (R - 1) / (20 - R)
+C/N0_dbhz = 10 * log10(C/N0_linear)
+```
+
+RTL IIR uygulamaz. Ham snapshot debug ve yeniden tune icin korunur. ISR state'i
+ayni PRN'de C/N0 icin `alpha=0.2`, Doppler icin `alpha=0.05` software IIR
+uygular; reacquisition veya PRN degisiminde eski kanal state'i kullanilmaz.
+
+Filtrelenmis range-rate, satellite ECEF velocity ve satellite clock drift ile
+C/N0-weighted 4-state velocity WLS'ye girer:
+
+```text
+state = [receiver_vx, receiver_vy, receiver_vz, receiver_clock_drift_mps]
+observation = measured_range_rate
+            - satellite_LOS_rate
+            + c * satellite_clock_drift
+H = [-u_x, -u_y, -u_z, 1]
+```
+
+WLS en az dort gecerli uydu ister; ECEF velocity, 3x3 covariance, receiver
+clock drift ve residual RMS uretir. Fusion adapter velocity/covariance'i ENU'ya
+dondurur ve ayri velocity NIS kapisi ile 15-state ESKF'ye verir.
+
+## Dogrulama
+
+```sh
+make -C hardware/external/gps/rtl/trck_src/tb test
+make -C soc/software/gps_system/tests run
+make -C soc/software/gps_system/tests sanitize
+```
+
+Questa testleri 20 prompt akumulasyonu, snapshot hold, synchronizer settle,
+atomik APB copy ve interrupt'i; Linux C testleri Q7 Doppler/range-rate, C/N0
+estimator, coherent read, satellite velocity/clock drift ve weighted velocity
+WLS/covariance yolunu kontrol eder.