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.
197 lines
6.5 KiB
C
197 lines
6.5 KiB
C
#include <assert.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include "gps/gps_acq_manager.h"
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static gps_acq_manager_t make_manager(
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uint64_t retry_delay,
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uint64_t hot_retry_delay,
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uint64_t hot_window,
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unsigned int max_hot_streak)
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{
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gps_acq_manager_t manager;
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const gps_acq_manager_config_t config = {
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.retry_delay_ticks = retry_delay,
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.hot_retry_delay_ticks = hot_retry_delay,
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.hot_window_ticks = hot_window,
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.unknown_probe_interval_ticks = 2u,
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.visibility_probe_interval_ticks = 60u,
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.max_hot_streak = max_hot_streak
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};
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gps_acq_manager_init(&manager, &config);
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return manager;
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}
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static unsigned int start_next(
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gps_acq_manager_t* manager,
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uint64_t now,
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bool expected_hot)
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{
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unsigned int prn = GPS_ACQ_MANAGER_INVALID_PRN;
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bool hot = !expected_hot;
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assert(gps_acq_manager_start_next(manager, now, &prn, &hot));
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assert(hot == expected_hot);
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return prn;
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}
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static void test_cold_round_robin_and_retry_from_tick_zero(void)
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{
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gps_acq_manager_t manager =
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make_manager(5u, 5u, 100u, 4u);
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assert(gps_acq_manager_enable_cold(&manager, 0u));
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assert(gps_acq_manager_enable_cold(&manager, 1u));
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assert(gps_acq_manager_enable_cold(&manager, 2u));
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assert(start_next(&manager, 0u, false) == 0u);
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/* A tick-zero attempt is real and must still observe retry delay. */
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gps_acq_manager_mark_failed(&manager, 0u, 0u);
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assert(start_next(&manager, 0u, false) == 1u);
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gps_acq_manager_mark_failed(&manager, 1u, 0u);
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assert(start_next(&manager, 0u, false) == 2u);
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gps_acq_manager_mark_failed(&manager, 2u, 0u);
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unsigned int ignored;
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assert(!gps_acq_manager_start_next(
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&manager, 4u, &ignored, NULL));
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assert(start_next(&manager, 5u, false) == 0u);
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}
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static void test_hot_priority_round_robin_and_cold_fairness(void)
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{
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gps_acq_manager_t manager =
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make_manager(1u, 1u, 100u, 2u);
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assert(gps_acq_manager_enable_cold(&manager, 0u));
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assert(gps_acq_manager_enable_cold(&manager, 1u));
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gps_acq_manager_mark_lost(&manager, 7u, 10u);
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gps_acq_manager_mark_lost(&manager, 8u, 10u);
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assert(start_next(&manager, 10u, true) == 7u);
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gps_acq_manager_mark_failed(&manager, 7u, 11u);
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assert(start_next(&manager, 11u, true) == 8u);
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gps_acq_manager_mark_failed(&manager, 8u, 12u);
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/* Two hot attempts force one cold discovery attempt. */
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assert(start_next(&manager, 12u, false) == 0u);
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gps_acq_manager_mark_failed(&manager, 0u, 13u);
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assert(start_next(&manager, 13u, true) == 7u);
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}
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static void test_expired_hot_becomes_cold_and_tracking_is_excluded(void)
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{
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gps_acq_manager_t manager =
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make_manager(1u, 1u, 10u, 4u);
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assert(gps_acq_manager_enable_cold(&manager, 2u));
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gps_acq_manager_mark_lost(&manager, 9u, 20u);
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unsigned int prn = start_next(&manager, 31u, false);
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assert(prn == 2u);
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gps_acq_manager_mark_tracking(&manager, prn);
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prn = start_next(&manager, 31u, false);
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assert(prn == 9u);
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gps_acq_manager_mark_acquired(&manager, prn);
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unsigned int ignored;
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assert(!gps_acq_manager_start_next(
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&manager, 100u, &ignored, NULL));
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gps_acq_manager_mark_tracking(&manager, 9u);
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gps_acq_manager_mark_stale(&manager, 9u);
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assert(gps_acq_manager_state(&manager, 9u) ==
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GPS_ACQ_PRN_STALE);
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gps_acq_manager_mark_lost(&manager, 9u, 101u);
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assert(gps_acq_manager_state(&manager, 9u) ==
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GPS_ACQ_PRN_HOT);
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}
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static void test_invalid_inputs_are_safe(void)
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{
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gps_acq_manager_t manager =
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make_manager(1u, 1u, 10u, 0u);
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assert(!gps_acq_manager_enable_cold(
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&manager, GPS_ACQ_MANAGER_PRN_COUNT));
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assert(gps_acq_manager_state(
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&manager, GPS_ACQ_MANAGER_PRN_COUNT) ==
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GPS_ACQ_PRN_DISABLED);
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assert(!gps_acq_manager_start_next(NULL, 0u, NULL, NULL));
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assert(gps_acq_manager_count_searchable(NULL) == 0u);
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}
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static void test_failed_hot_search_is_backed_off(void)
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{
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gps_acq_manager_t manager =
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make_manager(1u, 30u, 100u, 4u);
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assert(gps_acq_manager_enable_cold(&manager, 0u));
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gps_acq_manager_mark_lost(&manager, 20u, 0u);
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assert(start_next(&manager, 0u, true) == 20u);
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gps_acq_manager_mark_failed(&manager, 20u, 5u);
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assert(start_next(&manager, 5u, false) == 0u);
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gps_acq_manager_mark_failed(&manager, 0u, 6u);
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assert(start_next(&manager, 7u, false) == 0u);
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gps_acq_manager_mark_failed(&manager, 0u, 8u);
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assert(start_next(&manager, 35u, true) == 20u);
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}
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static void test_visibility_priority_discovery_and_safety_probe(void)
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{
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gps_acq_manager_t manager =
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make_manager(1u, 1u, 100u, 4u);
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for(unsigned int prn = 1u ; prn <= 4u ; prn++)
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{
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assert(gps_acq_manager_enable_cold(&manager, prn));
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}
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assert(gps_acq_manager_set_visibility(
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&manager, 1u, true, true, 400));
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assert(gps_acq_manager_set_visibility(
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&manager, 2u, true, false, -100));
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assert(gps_acq_manager_set_visibility(
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&manager, 3u, true, true, 200));
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assert(gps_acq_manager_set_visibility(
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&manager, 4u, false, false, 0));
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gps_acq_manager_set_visibility_mode(&manager, true, 10u);
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/* Highest predicted elevation wins, independent of numeric PRN. */
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assert(start_next(&manager, 10u, false) == 1u);
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/* Keep the highest predicted-visible satellite absent and retryable. This
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* used to starve every unknown PRN forever. */
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gps_acq_manager_mark_failed(&manager, 1u, 10u);
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assert(start_next(&manager, 11u, false) == 1u);
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gps_acq_manager_mark_failed(&manager, 1u, 11u);
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/* The independent discovery deadline overrides that failing visible
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* candidate and advances through the unknown-orbit queue. */
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assert(start_next(&manager, 12u, false) == 4u);
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gps_acq_manager_mark_tracking(&manager, 4u);
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assert(start_next(&manager, 12u, false) == 1u);
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gps_acq_manager_mark_tracking(&manager, 1u);
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assert(start_next(&manager, 12u, false) == 3u);
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gps_acq_manager_mark_tracking(&manager, 3u);
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unsigned int ignored;
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assert(!gps_acq_manager_start_next(
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&manager, 69u, &ignored, NULL));
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/* Known below-mask PRNs are not scanned continuously. Exactly one is
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* admitted when the slower stale-model safety probe becomes due. */
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assert(start_next(&manager, 70u, false) == 2u);
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gps_acq_manager_mark_failed(&manager, 2u, 70u);
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assert(!gps_acq_manager_start_next(
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&manager, 71u, &ignored, NULL));
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/* Removing the position/time model restores full cold-search behavior. */
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gps_acq_manager_set_visibility_mode(&manager, false, 72u);
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assert(start_next(&manager, 72u, false) == 2u);
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}
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int main(void)
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{
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test_cold_round_robin_and_retry_from_tick_zero();
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test_hot_priority_round_robin_and_cold_fairness();
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test_expired_hot_becomes_cold_and_tracking_is_excluded();
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test_invalid_inputs_are_safe();
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test_failed_hot_search_is_backed_off();
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test_visibility_priority_discovery_and_safety_probe();
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puts("gps acquisition manager tests passed");
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return 0;
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}
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