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

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onur
2026-07-25 19:39:36 +03:00
parent ecbb8d0b68
commit 49b8609bb4
16 changed files with 393 additions and 39 deletions
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soc/software/Makefile
+7 -3
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@@ -11,8 +11,10 @@ APP_FLASH_OFFSET ?= 0x06000000
APP ?= hello_uart
GPS_DEBUG ?= 1
GPS_DEBUG_LEVEL ?= 1
GPS_ESKF_ENABLE ?= 1
IMU_SENSOR ?= auto
BSP_UART_CLOCK_HZ ?= 100000000
BSP_UART_BAUDRATE ?= 115200
BSP_UART_BAUDRATE ?= 460800
GPS_SYSTEM_UART_BAUDRATE ?= 460800
BSP_CLINT_TIMEBASE_HZ ?= 1000000
GPS_SYSTEM_CLINT_TIMEBASE_HZ ?= 500000
@@ -42,6 +44,8 @@ help:
@echo " BSP_UART_CLOCK_HZ=$(BSP_UART_CLOCK_HZ)"
@echo " BSP_UART_BAUDRATE=$(BSP_UART_BAUDRATE)"
@echo " GPS_SYSTEM_UART_BAUDRATE=$(GPS_SYSTEM_UART_BAUDRATE)"
@echo " GPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE)"
@echo " IMU_SENSOR=$(IMU_SENSOR)"
@echo " BSP_CLINT_TIMEBASE_HZ=$(BSP_CLINT_TIMEBASE_HZ)"
@echo " GPS_SYSTEM_CLINT_TIMEBASE_HZ=$(GPS_SYSTEM_CLINT_TIMEBASE_HZ)"
@echo " GPS_SYSTEM_IMU_PUBLISH_EVERY_N_SAMPLES=$(GPS_SYSTEM_IMU_PUBLISH_EVERY_N_SAMPLES)"
@@ -63,11 +67,11 @@ steval-mki217v1-test:
@make -C steval_mki217v1_test TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(OUT_DIR)/steval_mki217v1_test" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(BSP_DTIM_BASE)" BSP_DTIM_SIZE="$(BSP_DTIM_SIZE)" all
gps-system:
@make -C gps_system TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(OUT_DIR)/gps_system" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(GPS_SYSTEM_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(GPS_SYSTEM_CLINT_TIMEBASE_HZ)" IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES="$(GPS_SYSTEM_IMU_PUBLISH_EVERY_N_SAMPLES)" BSP_DTIM_BASE="$(BSP_DTIM_BASE)" BSP_DTIM_SIZE="$(BSP_DTIM_SIZE)" all
@make -C gps_system TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(OUT_DIR)/gps_system" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" GPS_ESKF_ENABLE="$(GPS_ESKF_ENABLE)" IMU_SENSOR="$(IMU_SENSOR)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(GPS_SYSTEM_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(GPS_SYSTEM_CLINT_TIMEBASE_HZ)" IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES="$(GPS_SYSTEM_IMU_PUBLISH_EVERY_N_SAMPLES)" BSP_DTIM_BASE="$(BSP_DTIM_BASE)" BSP_DTIM_SIZE="$(BSP_DTIM_SIZE)" all
app:
@test -d "$(APP)"
@make -C "$(APP)" TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(OUT_DIR)/$(APP)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(BSP_DTIM_BASE)" BSP_DTIM_SIZE="$(BSP_DTIM_SIZE)" all
@make -C "$(APP)" TOOLCHAIN="$(TOOLCHAIN)" BUILD_DIR="$(OUT_DIR)/$(APP)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" GPS_ESKF_ENABLE="$(GPS_ESKF_ENABLE)" IMU_SENSOR="$(IMU_SENSOR)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(BSP_DTIM_BASE)" BSP_DTIM_SIZE="$(BSP_DTIM_SIZE)" all
flash-image: app
@mkdir -p "$(FLASH_DIR)"