Integrate asynchronous GPS IMU fusion

soc/software/gps_system/Makefile

@@ -1,5 +1,12 @@
 TARGET := gps_system
 
+# Keep the standalone app build observable on the board.  The board and parent
+# software Makefiles already pass these values, but a direct `make` in this
+# directory previously compiled every GPS_LOG call out and produced a silent
+# UART image.
+GPS_DEBUG ?= 1
+GPS_DEBUG_LEVEL ?= 4
+
 # The current Genesys2 Rocket/fabric domain that clocks the UART is 50 MHz.
 # Keep the requested 115200 baud physical rather than producing 57600 baud
 # with the common 100 MHz fallback divider.
@@ -9,55 +16,59 @@ BSP_UART_CLOCK_HZ ?= 50000000
 # Accepted values: auto, tdk, st (stm is an alias for st).
 IMU_SENSOR ?= auto
 ifeq ($(IMU_SENSOR),auto)
-IMU_DRIVER_SRCS := src/tdk_icm42688.c src/st_lsm6dsox.c
+IMU_DRIVER_SRCS := src/drivers/imu/tdk_icm42688.c src/drivers/imu/st_lsm6dsox.c
 IMU_BACKEND_CFLAG := -DIMU_SENSOR_BUILD_AUTO=1
 else ifeq ($(IMU_SENSOR),tdk)
-IMU_DRIVER_SRCS := src/tdk_icm42688.c
+IMU_DRIVER_SRCS := src/drivers/imu/tdk_icm42688.c
 IMU_BACKEND_CFLAG := -DIMU_SENSOR_BUILD_TDK=1
 else ifeq ($(IMU_SENSOR),st)
-IMU_DRIVER_SRCS := src/st_lsm6dsox.c
+IMU_DRIVER_SRCS := src/drivers/imu/st_lsm6dsox.c
 IMU_BACKEND_CFLAG := -DIMU_SENSOR_BUILD_ST=1
 else ifeq ($(IMU_SENSOR),stm)
-IMU_DRIVER_SRCS := src/st_lsm6dsox.c
+IMU_DRIVER_SRCS := src/drivers/imu/st_lsm6dsox.c
 IMU_BACKEND_CFLAG := -DIMU_SENSOR_BUILD_ST=1
 else
 $(error IMU_SENSOR must be auto, tdk, st or stm)
 endif
 
-# Zero means use the selected backend's default. The legacy TDK variable is
-# accepted so existing build commands remain valid.
+# A non-zero value is a sensor-independent target.  The common layer accepts
+# only a hardware ODR within 5%; thus 200 selects 200 Hz on TDK and the real
+# 208 Hz setting on LSM6DSOX.  Zero keeps the backend default.
 ifdef TDK_IMU_ODR_HZ
 IMU_ODR_HZ ?= $(TDK_IMU_ODR_HZ)
 else
-IMU_ODR_HZ ?= 0
+IMU_ODR_HZ ?= 50
 endif
 IMU_ACCEL_FS_G ?= 0
 IMU_GYRO_FS_DPS ?= 0
+GPS_ESKF_ENABLE ?= 1
 
 APP_SRCS := \
-	gps_test.c \
-	src/imu_calibration.c \
-	src/imu_sensor.c \
-	src/imu_sensor_profile.c \
+	gps_system.c \
+	src/gps/gps_receiver.c \
+	src/imu/imu_calibration.c \
+	src/imu/imu_sensor.c \
+	src/adapters/imu_fusion_profile.c \
+	src/adapters/gps_system_uart.c \
 	$(IMU_DRIVER_SRCS) \
-	src/eskf.c \
-	src/fusion_motion.c \
-	src/fusion_engine.c \
-	src/fusion_bus.c \
-	src/fusion_gps_adapter.c \
-	src/navigation_fusion.c \
-	src/gps_fusion_publisher.c \
-	src/gps_ip.c \
-	src/gps_interrupt_handlers.c \
-	src/gps_time_anchor.c \
-	src/gps_pps.c \
-	src/linked_list.c \
-	src/NavEquations.c \
-	src/matrixLib.c
+	src/fusion/eskf.c \
+	src/fusion/fusion_motion.c \
+	src/fusion/fusion_rest_detector.c \
+	src/fusion/fusion_engine.c \
+	src/fusion/fusion_gps_adapter.c \
+	src/fusion/navigation_fusion.c \
+	src/adapters/gps_fusion_publisher.c \
+	src/gps/gps_ip.c \
+	src/gps/gps_interrupt_handlers.c \
+	src/gps/gps_time_anchor.c \
+	src/gps/gps_pps.c \
+	src/gps/linked_list.c \
+	src/gps/NavEquations.c \
+	src/gps/matrixLib.c
 
 BSP_SRCS := init.c uart.c plic.c irq.c spi_flash.c pmod_spi.c
 
-GPS_NAV_SOLVE_TIMER_TICKS ?= 50
+GPS_NAV_SOLVE_TIMER_TICKS ?= 10
 
 include ../common/app.mk
 
@@ -66,6 +77,7 @@ CFLAGS += $(IMU_BACKEND_CFLAG) \
 	-DIMU_ODR_HZ=$(IMU_ODR_HZ) \
 	-DIMU_ACCEL_FS_G=$(IMU_ACCEL_FS_G) \
 	-DIMU_GYRO_FS_DPS=$(IMU_GYRO_FS_DPS) \
+	-DGPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE) \
 	-DGPS_NAV_SOLVE_TIMER_TICKS=$(GPS_NAV_SOLVE_TIMER_TICKS)
 LDLIBS += -lm