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Add GPS integrity checks and GPS IMU ESKF fusion tools

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onur
2026-07-13 11:08:12 +03:00
parent 8260862854
commit 4edb665d52
50 changed files with 21581 additions and 14357 deletions
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soc/software/bsp/drivers/plic.c
+15 -1
View File
@@ -15,7 +15,21 @@ void bsp_plic_set_priority(uint32_t irq_id, uint32_t priority)
void bsp_plic_enable(uint32_t irq_id)
{
bsp_write32(PLIC_ENABLE0, bsp_read32(PLIC_ENABLE0) | (1u << irq_id));
if (irq_id < 32u) {
bsp_write32(PLIC_ENABLE0, bsp_read32(PLIC_ENABLE0) | (1u << irq_id));
}
}
void bsp_plic_disable(uint32_t irq_id)
{
if (irq_id < 32u) {
bsp_write32(PLIC_ENABLE0, bsp_read32(PLIC_ENABLE0) & ~(1u << irq_id));
}
}
void bsp_plic_disable_all(void)
{
bsp_write32(PLIC_ENABLE0, 0u);
}
void bsp_plic_set_threshold(uint32_t threshold)
soc/software/bsp/include/bsp/plic.h
+2
View File
@@ -5,6 +5,8 @@
void bsp_plic_set_priority(uint32_t irq_id, uint32_t priority);
void bsp_plic_enable(uint32_t irq_id);
void bsp_plic_disable(uint32_t irq_id);
void bsp_plic_disable_all(void);
void bsp_plic_set_threshold(uint32_t threshold);
uint32_t bsp_plic_claim(void);
void bsp_plic_complete(uint32_t irq_id);