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.
83 lines
2.9 KiB
C
83 lines
2.9 KiB
C
#include "gps/gps_measurement_freshness.h"
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#include <assert.h>
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#include <stdio.h>
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#define SYSTICK_HZ 10u
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#define PERIODIC_DEADLINE_TICKS (3u * SYSTICK_HZ)
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#define LNAV_SUBFRAME_TICKS (6u * SYSTICK_HZ)
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static void cold_lnav_cadence_never_uses_periodic_deadline(void)
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{
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gps_measurement_freshness_t freshness;
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gps_measurement_freshness_init(&freshness);
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/* Three cold-acquisition subframes span the full ephemeris collection
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* interval. Every gap is longer than the periodic deadline. */
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for(uint64_t subframe = 0u; subframe < 3u; subframe++)
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{
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uint64_t event_tick = subframe * LNAV_SUBFRAME_TICKS;
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gps_measurement_freshness_note_lnav(
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&freshness, true, event_tick);
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assert(gps_measurement_freshness_usable(
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&freshness,
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event_tick + LNAV_SUBFRAME_TICKS - 1u,
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PERIODIC_DEADLINE_TICKS));
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assert(!gps_measurement_freshness_expired(
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&freshness,
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event_tick + LNAV_SUBFRAME_TICKS - 1u,
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PERIODIC_DEADLINE_TICKS));
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}
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assert(freshness.phase == GPS_MEASUREMENT_PHASE_LNAV);
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}
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static void armed_and_active_measurements_use_periodic_deadline(void)
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{
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gps_measurement_freshness_t freshness;
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gps_measurement_freshness_init(&freshness);
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gps_measurement_freshness_note_lnav(&freshness, true, 120u);
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gps_measurement_freshness_arm_nav_solve(&freshness, true, 121u);
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assert(freshness.phase == GPS_MEASUREMENT_PHASE_NAV_SOLVE_ARMED);
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assert(gps_measurement_freshness_usable(
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&freshness, 151u, PERIODIC_DEADLINE_TICKS));
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assert(gps_measurement_freshness_expired(
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&freshness, 152u, PERIODIC_DEADLINE_TICKS));
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/* A six-second LNAV event is still decoded in NAV-solve mode, but cannot
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* hide the missing short-period measurement stream. */
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gps_measurement_freshness_note_lnav(&freshness, true, 160u);
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assert(gps_measurement_freshness_expired(
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&freshness, 160u, PERIODIC_DEADLINE_TICKS));
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gps_measurement_freshness_note_nav_solve(&freshness, true, 161u);
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assert(freshness.phase == GPS_MEASUREMENT_PHASE_NAV_SOLVE_ACTIVE);
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assert(gps_measurement_freshness_usable(
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&freshness, 180u, PERIODIC_DEADLINE_TICKS));
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assert(gps_measurement_freshness_expired(
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&freshness, 192u, PERIODIC_DEADLINE_TICKS));
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}
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static void unlock_invalidates_every_phase(void)
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{
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gps_measurement_freshness_t freshness;
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gps_measurement_freshness_init(&freshness);
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gps_measurement_freshness_note_lnav(&freshness, true, 10u);
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gps_measurement_freshness_note_lnav(&freshness, false, 11u);
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assert(!gps_measurement_freshness_usable(
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&freshness, 11u, PERIODIC_DEADLINE_TICKS));
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gps_measurement_freshness_arm_nav_solve(&freshness, true, 20u);
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gps_measurement_freshness_note_nav_solve(&freshness, false, 21u);
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assert(!gps_measurement_freshness_usable(
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&freshness, 21u, PERIODIC_DEADLINE_TICKS));
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}
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int main(void)
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{
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cold_lnav_cadence_never_uses_periodic_deadline();
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armed_and_active_measurements_use_periodic_deadline();
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unlock_invalidates_every_phase();
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puts("gps measurement freshness tests passed");
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return 0;
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}
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