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fix(gps): make acquisition and reacquisition deterministic

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onur
2026-07-24 20:13:33 +03:00
parent e57b19b4ee
commit 86dfbeafac
18 changed files with 1274 additions and 241 deletions
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soc/software/gps_system/tests/Makefile
+44 -2
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@@ -4,7 +4,8 @@ CFLAGS ?= -O2 -std=c11 -Wall -Wextra -Werror
ROOT := ..
TARGETS := test_imu_calibration test_gps_nav_epoch \
test_gps_nav_epoch_coalescing test_gps_time_anchor \
test_plic_warm_reset
test_plic_warm_reset test_gps_acq_manager \
test_gps_ephemeris_cache test_gps_receiver_hardware_sim
.PHONY: all run sanitize clean
@@ -25,12 +26,26 @@ test_gps_time_anchor: test_gps_time_anchor.c $(ROOT)/src/gps/gps_time_anchor.c
test_plic_warm_reset: test_plic_warm_reset.c $(ROOT)/../bsp/drivers/plic.c
$(CC) $(CFLAGS) -Ifake_bsp -I$(ROOT)/../bsp/include $^ -o $@
test_gps_acq_manager: test_gps_acq_manager.c $(ROOT)/src/gps/gps_acq_manager.c
$(CC) $(CFLAGS) -I$(ROOT)/header $^ -o $@
test_gps_ephemeris_cache: test_gps_ephemeris_cache.c $(ROOT)/src/gps/gps_ephemeris_cache.c
$(CC) $(CFLAGS) -Wno-comment -Ifake_bsp -I$(ROOT)/header $^ -o $@
test_gps_receiver_hardware_sim: test_gps_receiver_hardware_sim.c \
$(ROOT)/src/gps/gps_acq_manager.c \
$(ROOT)/src/gps/gps_ephemeris_cache.c
$(CC) $(CFLAGS) -Wno-comment -Ifake_bsp -I$(ROOT)/header $^ -o $@
run: $(TARGETS)
./test_imu_calibration
./test_gps_nav_epoch
./test_gps_nav_epoch_coalescing
./test_gps_time_anchor
./test_plic_warm_reset
./test_gps_acq_manager
./test_gps_ephemeris_cache
./test_gps_receiver_hardware_sim
sanitize:
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
@@ -47,7 +62,34 @@ sanitize:
-o test_gps_nav_epoch_coalescing_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_nav_epoch_coalescing_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I$(ROOT)/header test_gps_acq_manager.c \
$(ROOT)/src/gps/gps_acq_manager.c \
-o test_gps_acq_manager_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_acq_manager_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-Wno-comment -Ifake_bsp -I$(ROOT)/header \
test_gps_ephemeris_cache.c \
$(ROOT)/src/gps/gps_ephemeris_cache.c \
-o test_gps_ephemeris_cache_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_ephemeris_cache_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-Wno-comment -Ifake_bsp -I$(ROOT)/header \
test_gps_receiver_hardware_sim.c \
$(ROOT)/src/gps/gps_acq_manager.c \
$(ROOT)/src/gps/gps_ephemeris_cache.c \
-o test_gps_receiver_hardware_sim_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 \
./test_gps_receiver_hardware_sim_san
clean:
rm -f $(TARGETS) test_gps_nav_epoch_coalescing_repro \
test_gps_nav_epoch_san test_gps_nav_epoch_coalescing_san
test_gps_nav_epoch_san test_gps_nav_epoch_coalescing_san \
test_gps_acq_manager_san test_gps_ephemeris_cache_san \
test_gps_receiver_hardware_sim_san