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feat(pps): add adaptive disciplined timing loop

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onur
2026-07-25 17:56:41 +03:00
parent 0f6b3482c5
commit ecbb8d0b68
39 changed files with 4505 additions and 96 deletions
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soc/software/gps_system/tests/Makefile
+52 -1
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@@ -8,6 +8,9 @@ TARGETS := test_imu_calibration test_gps_nav_epoch \
test_gps_ephemeris_cache test_gps_receiver_hardware_sim
TARGETS += test_gps_tracking_measurement
TARGETS += test_gps_satellite_velocity
TARGETS += test_gps_pps_time_filter
TARGETS += test_gps_pps_quality
TARGETS += test_gps_pps_adaptive_loop
.PHONY: all run sanitize clean
@@ -50,6 +53,19 @@ test_gps_satellite_velocity: test_gps_satellite_velocity.c \
-Wno-unused-variable -Wno-sign-compare \
-Ifake_bsp -I$(ROOT)/header $^ -lm -o $@
test_gps_pps_time_filter: test_gps_pps_time_filter.c \
$(ROOT)/src/gps/gps_pps_time_filter.c
$(CC) $(CFLAGS) -I$(ROOT)/header $^ -lm -o $@
test_gps_pps_quality: test_gps_pps_quality.c \
$(ROOT)/src/gps/gps_pps_quality.c
$(CC) $(CFLAGS) -I$(ROOT)/header $^ -lm -o $@
test_gps_pps_adaptive_loop: test_gps_pps_adaptive_loop.c \
$(ROOT)/src/gps/gps_pps_time_filter.c \
$(ROOT)/src/gps/gps_pps_quality.c
$(CC) $(CFLAGS) -I$(ROOT)/header $^ -lm -o $@
run: $(TARGETS)
./test_imu_calibration
./test_gps_nav_epoch
@@ -61,6 +77,9 @@ run: $(TARGETS)
./test_gps_receiver_hardware_sim
./test_gps_tracking_measurement
./test_gps_satellite_velocity
./test_gps_pps_time_filter
./test_gps_pps_quality
./test_gps_pps_adaptive_loop
sanitize:
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
@@ -77,6 +96,13 @@ 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_time_anchor.c \
$(ROOT)/src/gps/gps_time_anchor.c -lm \
-o test_gps_time_anchor_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_time_anchor_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I$(ROOT)/header test_gps_acq_manager.c \
@@ -122,11 +148,36 @@ sanitize:
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 \
./test_gps_satellite_velocity_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I$(ROOT)/header test_gps_pps_time_filter.c \
$(ROOT)/src/gps/gps_pps_time_filter.c -lm \
-o test_gps_pps_time_filter_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_pps_time_filter_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I$(ROOT)/header test_gps_pps_quality.c \
$(ROOT)/src/gps/gps_pps_quality.c -lm \
-o test_gps_pps_quality_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_pps_quality_san
$(CC) -O1 -g -std=c11 -Wall -Wextra -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I$(ROOT)/header test_gps_pps_adaptive_loop.c \
$(ROOT)/src/gps/gps_pps_time_filter.c \
$(ROOT)/src/gps/gps_pps_quality.c -lm \
-o test_gps_pps_adaptive_loop_san
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./test_gps_pps_adaptive_loop_san
clean:
rm -f $(TARGETS) test_gps_nav_epoch_coalescing_repro \
test_gps_nav_epoch_san test_gps_nav_epoch_coalescing_san \
test_gps_time_anchor_san \
test_gps_acq_manager_san test_gps_ephemeris_cache_san \
test_gps_receiver_hardware_sim_san \
test_gps_tracking_measurement_san \
test_gps_satellite_velocity_san
test_gps_satellite_velocity_san \
test_gps_pps_time_filter_san test_gps_pps_quality_san \
test_gps_pps_adaptive_loop_san