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Add bare-metal TDK IMU ESKF fusion

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onur
2026-07-13 18:26:06 +03:00
parent 4edb665d52
commit f16ac8aa80
29 changed files with 5097 additions and 9 deletions
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soc/software/fusion/tests/Makefile
+34 -4
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@@ -4,16 +4,46 @@ CFLAGS += -I../../gps_system/header
LDLIBS ?= -lm
GPS_TIME_SOURCE := ../../gps_system/src/gps_time_anchor.c
ESKF_SOURCES := ../../gps_system/src/eskf.c ../../gps_system/src/fusion_motion.c ../../gps_system/src/fusion_engine.c ../../gps_system/src/fusion_gps_adapter.c ../../gps_system/src/fusion_bus.c
.PHONY: all test benchmark clean
.PHONY: all test sanitize profile benchmark clean
all: standalone_gps_integrity_test
all: standalone_gps_integrity_test eskf_motion_test fusion_synthetic_test
standalone_gps_integrity_test: standalone_gps_integrity_test.c $(GPS_TIME_SOURCE)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
test: standalone_gps_integrity_test
eskf_motion_test: eskf_motion_test.c $(ESKF_SOURCES)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
fusion_synthetic_test: fusion_synthetic_test.c $(ESKF_SOURCES)
$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
test: standalone_gps_integrity_test eskf_motion_test fusion_synthetic_test
./standalone_gps_integrity_test
./eskf_motion_test
./fusion_synthetic_test
sanitize:
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header eskf_motion_test.c $(ESKF_SOURCES) \
-o eskf_motion_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./eskf_motion_test_san
$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
-fsanitize=address,undefined -fno-omit-frame-pointer \
-I../../gps_system/header fusion_synthetic_test.c $(ESKF_SOURCES) \
-o fusion_synthetic_test_san $(LDLIBS)
ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
UBSAN_OPTIONS=halt_on_error=1 ./fusion_synthetic_test_san
profile:
$(CC) -std=c11 -O2 -g -pg -Wall -Wextra -Wpedantic \
-I../../gps_system/header fusion_synthetic_test.c $(ESKF_SOURCES) \
-o fusion_synthetic_test_gprof $(LDLIBS)
./fusion_synthetic_test_gprof
gprof ./fusion_synthetic_test_gprof gmon.out
benchmark: standalone_gps_integrity_test
./standalone_gps_integrity_test --bench-clean 100000
@@ -21,4 +51,4 @@ benchmark: standalone_gps_integrity_test
./standalone_gps_integrity_test --bench-double 100000
clean:
rm -f standalone_gps_integrity_test standalone_gps_integrity_test_san standalone_gps_integrity_test_gprof gmon.out
rm -f standalone_gps_integrity_test standalone_gps_integrity_test_san standalone_gps_integrity_test_gprof eskf_motion_test eskf_motion_test_san fusion_synthetic_test fusion_synthetic_test_san fusion_synthetic_test_gprof fusion_synthetic_trace gmon.out