Add GPS integrity checks and GPS IMU ESKF fusion tools

targets/fpga/genesys2/flow/debug/gdb_load_and_run.gdb

@@ -1,10 +1,9 @@
 monitor reset halt
+load
+
 set $mie = 0
 set $mstatus = 0x6000
 set {unsigned long long}0x02004000 = 0xffffffffffffffff
-load
-set $mie = 0
-set $mstatus = 0x6000
 set $sp = (unsigned long)&_stack_top
 set $pc = _start
 monitor resume

targets/fpga/genesys2/tools/gen_genesys2_wrapper.py

@@ -275,7 +275,9 @@ def main():
 
   rocket_bscan_dmi_tunnel u_rocket_bscan_dmi_tunnel (
     .tck(bscan_tck),
-    .reset(fabric_reset | bscan_reset),
+    // Keep the transport TAP alive while the fabric is in reset. Otherwise
+    // OpenOCD cannot examine the target to diagnose a PLL/reset-ready failure.
+    .reset(bscan_reset),
     .bscan_capture(bscan_capture),
     .bscan_sel(bscan_sel),
     .bscan_shift(bscan_shift),