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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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targets/fpga/vcu118/Makefile
+10 -4
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@@ -24,7 +24,7 @@ GDB_HOST ?= localhost
GDB_PORT ?= 3333
OPENOCD_ADAPTER_SPEED ?= 1000
UART_PORT ?= /dev/ttyUSB2
UART_BAUD ?= 115200
UART_BAUD ?= 460800
BOARD ?= vcu118
PART_NAME ?= xcvu9p-flga2104-2L-e
BOARD_PART ?= xilinx.com:vcu118:part0:2.4
@@ -68,6 +68,8 @@ FLASH_REGIONS ?= auto
FLASH_FORCE ?= 0
GPS_DEBUG ?= 1
GPS_DEBUG_LEVEL ?= 4
GPS_ESKF_ENABLE ?= 1
IMU_SENSOR ?= auto
FLASH_MCS ?= $(OUT_DIR)/flash/vcu118_rocket.mcs
FLASH_BIN ?= $(OUT_DIR)/flash/vcu118_rocket.bin
@@ -171,6 +173,8 @@ help:
' FLASH_FORCE=$(FLASH_FORCE) # 1 forces unchanged regions too' \
' APP=$(APP)' \
' APP_ELF=$(APP_ELF)' \
' GPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE)' \
' IMU_SENSOR=$(IMU_SENSOR)' \
' UART_PORT=$(UART_PORT)' \
' ETH_RF_IFACE=$(ETH_RF_IFACE)' \
' ETH_RF_INPUT=$(ETH_RF_INPUT)' \
@@ -207,13 +211,15 @@ fpga-config:
' FLASH_INTERFACE=$(FLASH_INTERFACE)' \
' CFGMEM_PART=$(CFGMEM_PART)' \
' UART_PORT=$(UART_PORT)' \
' UART_BAUD=$(UART_BAUD)'
' UART_BAUD=$(UART_BAUD)' \
' GPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE)' \
' IMU_SENSOR=$(IMU_SENSOR)'
software:
@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" bootloader flash-image
@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" GPS_ESKF_ENABLE="$(GPS_ESKF_ENABLE)" IMU_SENSOR="$(IMU_SENSOR)" bootloader flash-image
$(APP_ELF): FORCE
@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" app
@$(MAKE_BIN) -C "$(SOC_SW_DIR)" TOOLCHAIN="$(TOOLCHAIN)" APP="$(APP)" APP_FLASH_OFFSET="$(APP_FLASH_OFFSET)" BSP_UART_CLOCK_HZ="$(BSP_UART_CLOCK_HZ)" BSP_UART_BAUDRATE="$(BSP_UART_BAUDRATE)" BSP_CLINT_TIMEBASE_HZ="$(BSP_CLINT_TIMEBASE_HZ)" BSP_DTIM_BASE="$(DTIM_BASE)" BSP_DTIM_SIZE="$(DTIM_SIZE)" GPS_DEBUG="$(GPS_DEBUG)" GPS_DEBUG_LEVEL="$(GPS_DEBUG_LEVEL)" GPS_ESKF_ENABLE="$(GPS_ESKF_ENABLE)" IMU_SENSOR="$(IMU_SENSOR)" app
chisel: software
@cd "$(REPO_DIR)"