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Keep fused location streaming through GPS rejects

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This commit is contained in:
onur
2026-07-23 23:20:23 +03:00
parent fc242b2883
commit 9ff895600b
14 changed files with 173 additions and 46 deletions
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soc/software/gps_system/tests/test_gps_nav_epoch.c
+31
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@@ -83,6 +83,36 @@ static void assembly_waits_for_every_ready_channel(void)
"assembly lost a ready-channel interrupt");
}
static void busy_unlocked_channel_does_not_block_epoch(void)
{
gps_nav_epoch_assembly_t assembly;
gps_nav_epoch_assembly_reset(&assembly);
/* Model the board failure: channels 0..8 are allocated and busy, but
* channel 4 has lost lock and therefore cannot produce this NAV epoch. */
const uint32_t allocated_busy_mask = 0x1ffu;
const uint32_t locked_mask = allocated_busy_mask & ~(1u << 4);
const uint32_t ready_mask = allocated_busy_mask & locked_mask;
for(unsigned int channel = 0u ; channel < 9u ; channel++)
{
if((ready_mask & (1u << channel)) == 0u)
{
continue;
}
gps_nav_epoch_event_result_t result =
gps_nav_epoch_assembly_push(
&assembly, 1500u, channel, ready_mask);
bool last = channel == 8u;
CHECK((result == GPS_NAV_EPOCH_EVENT_COMPLETE) == last,
"busy unlocked channel blocked a complete locked-channel epoch");
}
CHECK(assembly.expected_mask == 0x1efu,
"busy unlocked channel entered the ready mask");
CHECK(assembly.received_mask == assembly.expected_mask,
"locked channels did not complete the epoch");
}
static void assembly_handles_duplicates_and_epoch_order(void)
{
gps_nav_epoch_assembly_t assembly;
@@ -458,6 +488,7 @@ int main(void)
{
epoch_id_rounding_and_week_wrap();
assembly_waits_for_every_ready_channel();
busy_unlocked_channel_does_not_block_epoch();
assembly_handles_duplicates_and_epoch_order();
assembly_disconnect_and_reconnect();
channel_join_does_not_expand_active_epoch();