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fix(gps): harden navigation epoch recovery

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onur
2026-07-24 14:01:58 +03:00
parent ea055a36d2
commit fe0eb19dc5
15 changed files with 1007 additions and 773 deletions
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soc/software/gps_system/header/gps/gps_interrupt_handlers.h
+16 -1
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@@ -8,6 +8,10 @@
uint32_t plic_drain_limit_total;
uint32_t plic_repeat_total;
uint32_t nav_epoch_coalesced_total;
uint32_t pps_sequence_discontinuity_total;
uint32_t nav_epoch_incomplete_total;
uint32_t nav_epoch_snapshot_overwrite_total;
uint32_t how_anchor_rejected_total;
uint32_t satellite_connected_total;
uint32_t satellite_lost_total;
uint32_t last_connected_prn;
@@ -16,6 +20,17 @@
uint64_t last_lost_tick;
} gps_runtime_diagnostics_t;
typedef struct {
uint32_t channel_mask;
uint32_t prn[GPS_TRCK_IP_COUNT];
gpstime_t tow[GPS_TRCK_IP_COUNT];
uint32_t raw_sample[GPS_TRCK_IP_COUNT];
double corrected_abs_sample[GPS_TRCK_IP_COUNT];
uint64_t pps_counter[GPS_TRCK_IP_COUNT];
uint32_t pps_capture_sequence[GPS_TRCK_IP_COUNT];
uint64_t local_timestamp_ticks[GPS_TRCK_IP_COUNT];
} gps_nav_epoch_snapshot_t;
typedef void (*gps_external_irq_handler_t)(void);
bool assign_tracking_from_result(const gps_acq_result_t* result);
@@ -28,7 +43,7 @@
void gps_process_isr_events(void);
void gps_acq_scheduler_run(void);
void gps_background_task(void);
bool gps_take_nav_solve_period_ready(void);
bool gps_take_nav_epoch_snapshot(gps_nav_epoch_snapshot_t* snapshot);
void gps_get_runtime_diagnostics(gps_runtime_diagnostics_t* diagnostics);
void trck_intr_handler(volatile gps_trck_t* const trck_ip, volatile gps_frame_t *gps_frame_parsed, volatile int unsigned gps_subframe[10], unsigned char trck_ip_no);
soc/software/gps_system/header/gps/gps_ip_defines.h
+3
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@@ -63,8 +63,11 @@
#define GPS_NAV_STATUS_LOG_PERIOD_TICKS GPS_SYSTICK_HZ
#define GPS_TRK_MEASUREMENT_STALE_TICKS (GPS_SYSTICK_HZ * 3u)
#define GPS_NAV_ABS_SAMPLE_SYNC_WINDOW_MS 25u
#define GPS_NAV_EPOCH_HOLDOFF_MS 30u
#define GPS_NAV_TOW_CLUSTER_TOLERANCE_SEC 0.001
#define GPS_HOW_ANCHOR_MAX_AGE_SEC 12.0
#define GPS_HOW_CONTINUITY_MAX_GAP_SEC 120.0
#define GPS_HOW_CONTINUITY_TOLERANCE_SEC 0.050
#if (GPS_NAV_SOLVE_TIMER_TICKS == 0u)
#error "GPS_NAV_SOLVE_TIMER_TICKS must be non-zero"
soc/software/gps_system/header/gps/gps_nav_epoch.h
+19 -9
View File
@@ -24,7 +24,10 @@ typedef struct {
} gps_nav_epoch_selection_t;
typedef struct {
uint64_t epoch_id;
uint64_t first_capture_counter;
uint64_t minimum_capture_counter;
uint64_t maximum_capture_counter;
uint64_t deadline_local_ticks;
uint32_t expected_mask;
uint32_t received_mask;
bool active;
@@ -35,6 +38,7 @@ typedef enum {
GPS_NAV_EPOCH_EVENT_ACCEPTED,
GPS_NAV_EPOCH_EVENT_DUPLICATE,
GPS_NAV_EPOCH_EVENT_STALE,
GPS_NAV_EPOCH_EVENT_OUTLIER,
GPS_NAV_EPOCH_EVENT_RESTARTED,
GPS_NAV_EPOCH_EVENT_COMPLETE
} gps_nav_epoch_event_result_t;
@@ -46,19 +50,17 @@ bool gps_nav_epoch_select(
double tow_tolerance_sec,
gps_nav_epoch_selection_t* selection);
bool gps_nav_epoch_id(
int week,
double tow_sec,
unsigned int period_ms,
uint64_t* epoch_id);
void gps_nav_epoch_assembly_reset(gps_nav_epoch_assembly_t* assembly);
gps_nav_epoch_event_result_t gps_nav_epoch_assembly_push(
gps_nav_epoch_assembly_t* assembly,
uint64_t epoch_id,
uint64_t capture_counter,
uint64_t local_timestamp_ticks,
unsigned int channel,
uint32_t ready_mask);
uint32_t ready_mask,
uint64_t capture_period_ticks,
uint64_t sync_window_ticks,
uint64_t holdoff_local_ticks);
bool gps_nav_epoch_assembly_remove_channel(
gps_nav_epoch_assembly_t* assembly,
@@ -67,4 +69,12 @@ bool gps_nav_epoch_assembly_remove_channel(
bool gps_nav_epoch_assembly_complete(
const gps_nav_epoch_assembly_t* assembly);
bool gps_nav_epoch_assembly_usable(
const gps_nav_epoch_assembly_t* assembly,
unsigned int minimum_channels);
bool gps_nav_epoch_assembly_expired(
const gps_nav_epoch_assembly_t* assembly,
uint64_t now_local_ticks);
#endif
soc/software/gps_system/header/gps/gps_time_anchor.h
+20
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@@ -16,6 +16,11 @@ int gps_time_resolve_how_week(bool previous_valid,
int fallback_week,
double how_tow_sec);
/* Extend a modulo-1024 LNAV week number around the previous monotonic week. */
int gps_time_extend_lnav_week(bool previous_valid,
int previous_week,
unsigned int lnav_week);
/* Convert a receiver-sample timestamp to GPS time from a HOW/sample anchor.
* raw counters are modulo 2^32. max_age_sec must keep the signed difference
* unambiguous (and also rejects a stale HOW anchor). */
@@ -31,4 +36,19 @@ bool gps_time_from_sample_anchor(int anchor_week,
double* event_tow_sec_out,
double* elapsed_sec_out);
/* Validate that two decoded HOW/sample anchors describe the same monotonic
* receiver timeline. This keeps a single transient HOW from replacing a
* healthy anchor while still permitting normal week rollover. */
bool gps_time_anchors_consistent(int first_week,
double first_tow_sec,
uint32_t first_raw_sample,
double first_corrected_sample,
int second_week,
double second_tow_sec,
uint32_t second_raw_sample,
double second_corrected_sample,
double samples_per_second,
double max_gap_sec,
double tolerance_sec);
#endif
soc/software/gps_system/header/gps/linked_list.h
+5 -1
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@@ -13,8 +13,12 @@ typedef struct gps_ephem_ll {
volatile double gps_how_corrected_abs_sample;
volatile uint64_t gps_how_tick;
volatile bool gps_how_anchor_valid;
volatile bool gps_how_week_valid;
volatile gpstime_t gps_pending_how_tow;
volatile uint32_t gps_pending_how_abs_sample;
volatile double gps_pending_how_corrected_abs_sample;
volatile bool gps_pending_how_valid;
volatile uint32_t gps_nav_solve_sequence;
volatile uint32_t gps_nav_solve_consumed_sequence;
volatile gpstime_t gps_last_nav_solve_tow;
volatile uint32_t gps_last_nav_solve_abs_sample;
volatile double gps_last_nav_solve_corrected_abs_sample;