Integrate asynchronous GPS IMU fusion

tools/project.mk

@@ -15,6 +15,7 @@ MILL ?= $(firstword $(wildcard $(SOC_TOOLS_ROOT)/mill-current) $(wildcard $(PROJ
 FIRTOOL ?= $(firstword $(wildcard $(SOC_TOOLS_ROOT)/circt-current/bin/firtool) $(wildcard $(PROJECT_TOOLS_DIR)/circt/bin/firtool))
 Z3_LIB_DIR ?= $(firstword $(wildcard $(SOC_TOOLS_ROOT)/z3-current/bin) $(wildcard $(PROJECT_TOOLS_DIR)/z3/*/bin))
 CIRCT_LIB_DIR ?= $(patsubst %/bin/firtool,%/lib,$(FIRTOOL))
+VIVADO ?= $(lastword $(sort $(wildcard /tools/Xilinx/*/Vivado/bin/vivado) $(shell command -v vivado 2>/dev/null)))
 
 # RISCV_TOOLCHAIN may point either to the toolchain root or its bin directory.
 # TOOLCHAIN keeps compatibility with the existing software Makefiles.
@@ -24,6 +25,7 @@ _RISCV_SEARCH_DIRS := \
   $(RISCV_TOOLCHAIN) \
   $(RISCV_TOOLCHAIN)/bin \
   $(PROJECT_TOOLS_DIR)/riscv/bin \
+  /tools/toolchains-medany/bin \
   /tools/toolchain/bin \
   /tools/toolchains/bin \
   /tools/toolchains/rvtc-medany/bin
@@ -37,6 +39,15 @@ TOOLCHAIN ?= $(patsubst %/,%,$(dir $(_RISCV_GCC)))
 RISCV_PREFIX ?= $(if $(_RISCV_GCC),$(patsubst %-gcc,%-,$(notdir $(_RISCV_GCC))),riscv64-unknown-elf-)
 CROSS ?= $(if $(strip $(TOOLCHAIN)),$(TOOLCHAIN)/)$(RISCV_PREFIX)
 
+# Some compiler-only toolchains (notably rvtc-medany) do not ship GDB.  Keep
+# using the selected compiler toolchain, but fall back to the full local
+# toolchain for FPGA debug targets.
+_RISCV_GDB := $(firstword \
+  $(wildcard $(TOOLCHAIN)/$(RISCV_PREFIX)gdb) \
+  $(wildcard /tools/toolchains/tc/toolchain/bin/$(RISCV_PREFIX)gdb) \
+  $(shell command -v $(RISCV_PREFIX)gdb 2>/dev/null))
+GDB ?= $(if $(_RISCV_GDB),$(_RISCV_GDB),$(CROSS)gdb)
+
 # Mill's launcher resolves java through PATH, and build.sc resolves firtool the
 # same way. CIRCT has an rpath for its own libraries; Z3 is shipped separately.
 export JAVA_HOME