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Make GPS navigation epochs interrupt-coherent

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Wait for every navigation-ready tracking channel in a GPS epoch, remove unlocked channels without a timeout, and keep late joins for the next epoch. Reset PLIC ownership during warm initialization and extend Linux synthetic, integrity, and fake-MMIO regression coverage.
This commit is contained in:
onur
2026-07-23 19:20:06 +03:00
parent 7cc3eb2a54
commit 516016efb9
16 changed files with 1780 additions and 246 deletions
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soc/software/fusion/tests/Makefile
+13 -2
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@@ -4,14 +4,15 @@ CFLAGS += -I../../gps_system/header
LDLIBS ?= -lm
GPS_TIME_SOURCE := ../../gps_system/src/gps/gps_time_anchor.c
GPS_EPOCH_SOURCE := ../../gps_system/src/gps/gps_nav_epoch.c
ESKF_SOURCES := ../../gps_system/src/fusion/eskf.c ../../gps_system/src/fusion/fusion_motion.c ../../gps_system/src/fusion/fusion_rest_detector.c ../../gps_system/src/fusion/fusion_engine.c ../../gps_system/src/fusion/fusion_gps_adapter.c ../../gps_system/src/fusion/fusion_bus.c
IMU_PROFILE_SOURCE := ../../gps_system/src/adapters/imu_fusion_profile.c
.PHONY: all test scenario-logs sanitize profile benchmark clean
.PHONY: all test gps-system-test scenario-logs sanitize profile benchmark clean
all: standalone_gps_integrity_test eskf_motion_test fusion_rest_detector_test fusion_synthetic_test imu_quality_synthetic_test async_tilt_recovery_test async_rate_matrix_test gps_reacquisition_test platform_scenario_matrix_test
standalone_gps_integrity_test: standalone_gps_integrity_test.c $(GPS_TIME_SOURCE)
standalone_gps_integrity_test: standalone_gps_integrity_test.c $(GPS_TIME_SOURCE) $(GPS_EPOCH_SOURCE)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
eskf_motion_test: eskf_motion_test.c $(ESKF_SOURCES)
@@ -49,6 +50,9 @@ test: standalone_gps_integrity_test eskf_motion_test fusion_rest_detector_test f
./gps_reacquisition_test
./platform_scenario_matrix_test
gps-system-test: standalone_gps_integrity_test
./standalone_gps_integrity_test
scenario-logs: platform_scenario_matrix_test
mkdir -p output/scenarios
@for scenario in stationary pedestrian car aircraft; do \
@@ -62,6 +66,13 @@ scenario-logs: platform_scenario_matrix_test
@echo "Wrote 48 replay logs under output/scenarios/"
sanitize:
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header standalone_gps_integrity_test.c \
$(GPS_TIME_SOURCE) $(GPS_EPOCH_SOURCE) \
-o standalone_gps_integrity_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./standalone_gps_integrity_test_san
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header fusion_rest_detector_test.c \