onur
30179df8e6
Remove the fixed pseudorange start offset, preserve per-PRN navigation assistance across RF loss and power cycles, and seed coherent navigation measurement phase on reacquisition. Add full LNAV almanac visibility scheduling, power-safe QSPI journaling, RF-domain reset isolation, and PPS Gray CDC hardening with Linux, sanitizer, RTL, and end-to-end coverage.
141 lines
4.1 KiB
C
141 lines
4.1 KiB
C
#include <assert.h>
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#include <stdio.h>
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#include <string.h>
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#include "gps/gps_ephemeris_cache.h"
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static gps_ephemeris_t make_ephemeris(
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unsigned int prn,
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unsigned char iode)
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{
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gps_ephemeris_t ephemeris;
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memset(&ephemeris, 0, sizeof(ephemeris));
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ephemeris.SVID = (unsigned char)prn;
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ephemeris.iode = iode;
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ephemeris.ephemeris_valid = true;
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ephemeris.toe.week = 2430;
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ephemeris.toe.sec = 123456.0;
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return ephemeris;
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}
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static void test_store_restore_and_expiry(void)
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{
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gps_ephemeris_cache_t cache;
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gps_ephemeris_cache_init(&cache, 100u);
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gps_ephemeris_t input = make_ephemeris(4u, 17u);
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gps_ephemeris_t output;
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memset(&output, 0, sizeof(output));
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assert(gps_ephemeris_cache_store(
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&cache, 4u, &input, 1000u));
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input.iode = 99u;
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assert(gps_ephemeris_cache_restore(
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&cache, 4u, 1100u, &output));
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assert(output.iode == 17u);
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assert(output.SVID == 4u);
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assert(!gps_ephemeris_cache_restore(
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&cache, 4u, 1101u, &output));
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/* Expiration invalidates the slot, not only this read. */
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assert(!gps_ephemeris_cache_restore(
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&cache, 4u, 1001u, &output));
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}
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static void test_validation_independence_and_invalidate(void)
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{
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gps_ephemeris_cache_t cache;
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gps_ephemeris_cache_init(&cache, 500u);
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gps_ephemeris_t prn4 = make_ephemeris(4u, 21u);
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gps_ephemeris_t prn19 = make_ephemeris(19u, 44u);
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gps_ephemeris_t output;
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prn4.ephemeris_valid = false;
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assert(!gps_ephemeris_cache_store(
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&cache, 4u, &prn4, 0u));
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prn4.ephemeris_valid = true;
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assert(!gps_ephemeris_cache_store(
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&cache, 5u, &prn4, 0u));
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assert(!gps_ephemeris_cache_store(
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&cache, GPS_PRN_COUNT, &prn4, 0u));
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assert(gps_ephemeris_cache_store(
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&cache, 4u, &prn4, 20u));
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assert(gps_ephemeris_cache_store(
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&cache, 19u, &prn19, 30u));
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assert(gps_ephemeris_cache_restore(
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&cache, 19u, 40u, &output));
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assert(output.iode == 44u);
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gps_ephemeris_cache_invalidate(&cache, 4u);
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assert(!gps_ephemeris_cache_restore(
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&cache, 4u, 40u, &output));
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assert(gps_ephemeris_cache_restore(
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&cache, 19u, 40u, &output));
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}
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static void test_repeated_issue_does_not_hide_staleness(void)
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{
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gps_ephemeris_cache_t cache;
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gps_ephemeris_cache_init(&cache, 100u);
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gps_ephemeris_t issue17 = make_ephemeris(6u, 17u);
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gps_ephemeris_t output;
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assert(gps_ephemeris_cache_store(
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&cache, 6u, &issue17, 1000u));
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assert(gps_ephemeris_cache_store(
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&cache, 6u, &issue17, 1090u));
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assert(!gps_ephemeris_cache_restore(
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&cache, 6u, 1101u, &output));
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/* A changed IOD is a fresh broadcast issue and receives a new TTL. */
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issue17.iode = 18u;
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issue17.iodc = 18u;
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assert(gps_ephemeris_cache_store(
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&cache, 6u, &issue17, 1200u));
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assert(gps_ephemeris_cache_restore(
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&cache, 6u, 1300u, &output));
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assert(output.iode == 18u);
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}
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static void test_time_anchor_is_independent_and_short_lived(void)
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{
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gps_ephemeris_cache_t cache;
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gps_ephemeris_cache_init(&cache, 1000u);
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gps_ephemeris_t ephemeris = make_ephemeris(11u, 9u);
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gps_cached_time_anchor_t anchor = {
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.tow = {.week = 2430, .sec = 345678.0},
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.raw_sample = 0xffff0000u,
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.corrected_sample = 4294901759.75,
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.week_valid = true,
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.valid = true
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};
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gps_cached_time_anchor_t restored;
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/* An anchor cannot outlive or exist without its ephemeris slot. */
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assert(!gps_ephemeris_cache_store_time_anchor(
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&cache, 11u, &anchor, 50u));
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assert(gps_ephemeris_cache_store(
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&cache, 11u, &ephemeris, 50u));
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assert(gps_ephemeris_cache_store_time_anchor(
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&cache, 11u, &anchor, 60u));
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assert(gps_ephemeris_cache_restore_time_anchor(
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&cache, 11u, 170u, 110u, &restored));
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assert(restored.tow.week == 2430);
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assert(restored.raw_sample == 0xffff0000u);
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assert(!gps_ephemeris_cache_restore_time_anchor(
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&cache, 11u, 171u, 110u, &restored));
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/* The two-hour-class ephemeris remains usable after the short counter
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* anchor expires; firmware then waits for one fresh HOW, not SF1/2/3. */
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assert(gps_ephemeris_cache_restore(
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&cache, 11u, 171u, &ephemeris));
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}
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int main(void)
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{
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test_store_restore_and_expiry();
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test_validation_independence_and_invalidate();
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test_repeated_issue_does_not_hide_staleness();
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test_time_anchor_is_independent_and_short_lived();
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puts("gps ephemeris cache tests passed");
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return 0;
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}
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