onur
1dbd1b5151
Keep the current GPS software and Genesys2/VCU118 flows while integrating Ti375C529 Efinity, flash, programming, and debug support. Add board-specific SPI NOR profiles and persistent GPS flash layouts across all three boards.
143 lines
5.4 KiB
Makefile
143 lines
5.4 KiB
Makefile
TARGET := gps_system
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# Keep the standalone app build observable on the board. The board and parent
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# software Makefiles already pass these values, but a direct `make` in this
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# directory previously compiled every GPS_LOG call out and produced a silent
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# UART image.
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GPS_DEBUG ?= 1
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GPS_DEBUG_LEVEL ?= 1
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GPS_BUILD_ID ?= $(shell git describe --always --dirty --abbrev=12 2>/dev/null || printf unknown)
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# The current Genesys2 Rocket/fabric domain that clocks the UART is 50 MHz.
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# The 50 Hz fused-location stream plus GPS diagnostics does not fit safely in
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# the polling UART budget at 115200 baud.
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BSP_UART_CLOCK_HZ ?= 50000000
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BSP_UART_BAUDRATE ?= 460800
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BSP_CLINT_TIMEBASE_HZ ?= 500000
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# Select one sensor backend, or keep the default read-only WHO_AM_I probe.
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# Accepted values: auto, tdk, st (stm is an alias for st).
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IMU_SENSOR ?= auto
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ifeq ($(IMU_SENSOR),auto)
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IMU_DRIVER_SRCS := src/drivers/imu/tdk_icm42688.c src/drivers/imu/st_lsm6dsox.c
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IMU_BACKEND_CFLAG := -DIMU_SENSOR_BUILD_AUTO=1
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else ifeq ($(IMU_SENSOR),tdk)
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IMU_DRIVER_SRCS := src/drivers/imu/tdk_icm42688.c
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IMU_BACKEND_CFLAG := -DIMU_SENSOR_BUILD_TDK=1
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else ifeq ($(IMU_SENSOR),st)
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IMU_DRIVER_SRCS := src/drivers/imu/st_lsm6dsox.c
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IMU_BACKEND_CFLAG := -DIMU_SENSOR_BUILD_ST=1
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else ifeq ($(IMU_SENSOR),stm)
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IMU_DRIVER_SRCS := src/drivers/imu/st_lsm6dsox.c
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IMU_BACKEND_CFLAG := -DIMU_SENSOR_BUILD_ST=1
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else
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$(error IMU_SENSOR must be auto, tdk, st or stm)
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endif
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# A non-zero value is a sensor-independent target. The common layer accepts
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# only a hardware ODR within 5%; thus 200 selects 200 Hz on TDK and the real
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# 208 Hz setting on LSM6DSOX. Zero keeps the backend default.
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ifdef TDK_IMU_ODR_HZ
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IMU_ODR_HZ ?= $(TDK_IMU_ODR_HZ)
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else
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IMU_ODR_HZ ?= 50
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endif
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IMU_ACCEL_FS_G ?= 0
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IMU_GYRO_FS_DPS ?= 0
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GPS_ESKF_ENABLE ?= 1
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# UART telemetry cadence only; ESKF prediction still runs for every IMU sample.
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# At the default 50 Hz ODR, 5 samples produce one corrected record every 100 ms.
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IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES ?= 5
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APP_SRCS := \
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gps_system.c \
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src/gps/gps_receiver.c \
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src/imu/imu_calibration.c \
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src/imu/imu_sensor.c \
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src/adapters/imu_fusion_profile.c \
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src/adapters/gps_system_uart.c \
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$(IMU_DRIVER_SRCS) \
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src/fusion/eskf.c \
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src/fusion/fusion_motion.c \
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src/fusion/fusion_rest_detector.c \
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src/fusion/fusion_engine.c \
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src/fusion/fusion_gps_adapter.c \
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src/fusion/navigation_fusion.c \
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src/adapters/gps_fusion_publisher.c \
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src/gps/gps_ip.c \
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src/gps/gps_interrupt_handlers.c \
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src/gps/gps_acq_manager.c \
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src/gps/gps_ephemeris_cache.c \
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src/gps/gps_ephemeris_validity.c \
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src/gps/gps_ephemeris_store.c \
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src/gps/gps_lnav_parser.c \
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src/gps/gps_almanac.c \
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src/gps/gps_nav_context_store.c \
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src/gps/gps_time_anchor.c \
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src/gps/gps_nav_epoch.c \
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src/gps/gps_pps.c \
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src/gps/gps_pps_quality.c \
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src/gps/gps_pps_time_filter.c \
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src/gps/gps_tracking_measurement.c \
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src/gps/linked_list.c \
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src/gps/NavEquations.c \
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src/gps/matrixLib.c
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BSP_SRCS := init.c uart.c plic.c irq.c spi_flash.c pmod_spi.c
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GPS_NAV_SOLVE_TIMER_TICKS ?= 10
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# Warm/hot reacquisition epoch-phase seeding. This needs the tracking IP's
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# NAV_SOLVE_PHASE_SEED register, added alongside this firmware. Building the
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# feature in and running against an older bitstream would make the write decode
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# to PSLVERR, which the APB-to-TileLink bridge reports as `denied` and Rocket
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# can take as a store access fault. Set to 0 to build firmware for a bitstream
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# that predates the register.
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GPS_WARM_SEED_ENABLE ?= 1
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# Persistent ephemeris cache in the top two 64 KiB flash sectors. Set to 0 to
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# build firmware that never writes to flash.
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GPS_EPHEMERIS_FLASH_ENABLE ?= 1
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# Test hooks. MAX_SLOTS caps slots per sector so flash compaction is reachable
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# on hardware in seconds instead of after a full sector; FORCE_FORMAT erases
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# both sectors at boot. Both must be 0 in a production image.
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GPS_EPHEMERIS_STORE_MAX_SLOTS ?= 0
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GPS_EPHEMERIS_FLASH_FORCE_FORMAT ?= 0
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GPS_EPHEMERIS_FLASH_SEED_INITIAL ?= 1
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GPS_EPHEMERIS_FLASH_BASE ?= 0x01fe0000
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GPS_NAV_CONTEXT_ENABLE ?= 1
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GPS_NAV_CONTEXT_FLASH_BASE ?= 0x01fc0000
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GPS_PPS_STATUS_LOG_INTERVAL ?= 10
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GPS_PPS_DOPPLER_PREDICTOR_ENABLE ?= 1
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GPS_PPS_DOPPLER_PREDICTOR_AB_UPDATES ?= 0
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include ../common/app.mk
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CFLAGS += -Iheader
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CFLAGS += $(IMU_BACKEND_CFLAG) \
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-DGPS_BUILD_ID=\"$(GPS_BUILD_ID)\" \
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-DIMU_ODR_HZ=$(IMU_ODR_HZ) \
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-DIMU_ACCEL_FS_G=$(IMU_ACCEL_FS_G) \
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-DIMU_GYRO_FS_DPS=$(IMU_GYRO_FS_DPS) \
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-DGPS_ESKF_ENABLE=$(GPS_ESKF_ENABLE) \
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-DIMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES=$(IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES) \
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-DGPS_NAV_SOLVE_TIMER_TICKS=$(GPS_NAV_SOLVE_TIMER_TICKS) \
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-DGPS_WARM_SEED_ENABLE=$(GPS_WARM_SEED_ENABLE) \
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-DGPS_EPHEMERIS_FLASH_ENABLE=$(GPS_EPHEMERIS_FLASH_ENABLE) \
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-DGPS_EPHEMERIS_STORE_MAX_SLOTS=$(GPS_EPHEMERIS_STORE_MAX_SLOTS)u \
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-DGPS_EPHEMERIS_FLASH_FORCE_FORMAT=$(GPS_EPHEMERIS_FLASH_FORCE_FORMAT) \
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-DGPS_EPHEMERIS_FLASH_SEED_INITIAL=$(GPS_EPHEMERIS_FLASH_SEED_INITIAL) \
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-DGPS_EPHEMERIS_FLASH_BASE=$(GPS_EPHEMERIS_FLASH_BASE)UL \
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-DGPS_NAV_CONTEXT_ENABLE=$(GPS_NAV_CONTEXT_ENABLE) \
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-DGPS_NAV_CONTEXT_FLASH_BASE=$(GPS_NAV_CONTEXT_FLASH_BASE)UL \
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-DGPS_PPS_STATUS_LOG_INTERVAL=$(GPS_PPS_STATUS_LOG_INTERVAL) \
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-DGPS_PPS_DOPPLER_PREDICTOR_ENABLE=$(GPS_PPS_DOPPLER_PREDICTOR_ENABLE) \
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-DGPS_PPS_DOPPLER_PREDICTOR_AB_UPDATES=$(GPS_PPS_DOPPLER_PREDICTOR_AB_UPDATES)
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LDLIBS += -lm
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ifeq ($(GPS_DEBUG),1)
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CFLAGS += -DDEBUG -DGPS_DEBUG_LEVEL=$(GPS_DEBUG_LEVEL)
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endif
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ifeq ($(GPS_NAV_DIAGNOSTICS),1)
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CFLAGS += -DGPS_NAV_JUMP_DIAGNOSTICS=1
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endif
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