From: Keith Packard <keithp@keithp.com>
Date: Wed, 3 Jan 2024 20:41:51 +0000 (-0800)
Subject: altos: Share same task struct for ublox and mosaic GPS drivers
X-Git-Tag: 1.9.17.1~2
X-Git-Url: https://git.gag.com/?a=commitdiff_plain;h=9d6cbe079e623120473dbfc993d461c3c4da330d;p=fw%2Faltos

altos: Share same task struct for ublox and mosaic GPS drivers

No sense wasting memory for a driver which won't get used.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/drivers/ao_gps_mosaic.c b/src/drivers/ao_gps_mosaic.c
index 0f0dc6fb..874acfda 100644
--- a/src/drivers/ao_gps_mosaic.c
+++ b/src/drivers/ao_gps_mosaic.c
@@ -183,17 +183,13 @@ clip_value(float value, float low, float high)
 	return (int32_t) roundf(value);
 }
 
-static void
-mosaic(void)
+void
+ao_gps_mosaic(void)
 {
 	AO_TICK_TYPE		packet_start_tick;
 	AO_TICK_TYPE		solution_tick = 0;
 
 #ifndef AO_GPS_TEST
-	ao_config_get();
-	if (!ao_config.gps_mosaic)
-		ao_exit();
-
 	ao_cmd_register(&ao_mosaic_cmds[0]);
 #endif
 	mosaic_setup();
@@ -361,14 +357,4 @@ mosaic(void)
 	}
 }
 
-#ifndef AO_GPS_TEST
-static struct ao_task mosaic_task;
-
-void
-ao_gps_mosaic_init(void)
-{
-	ao_add_task(&mosaic_task, mosaic, "mosaic");
-}
-#endif
-
 #endif
diff --git a/src/drivers/ao_gps_mosaic.h b/src/drivers/ao_gps_mosaic.h
index 1e881bb3..88ab03a2 100644
--- a/src/drivers/ao_gps_mosaic.h
+++ b/src/drivers/ao_gps_mosaic.h
@@ -20,7 +20,7 @@
 #define _AO_GPS_MOSAIC_H_
 
 void
-ao_gps_mosaic_init(void);
+ao_gps_mosaic(void);
 
 struct sbf_header {
 	uint16_t	crc;
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index a328f813..9afa5d38 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -20,6 +20,10 @@
 #include "ao.h"
 #endif
 
+#ifdef HAS_GPS_MOSAIC
+#include "ao_gps_mosaic.h"
+#endif
+
 #include "ao_gps_ublox.h"
 
 #define AO_UBLOX_DEBUG 0
@@ -851,10 +855,14 @@ ao_gps(void)
 
 #ifdef HAS_GPS_MOSAIC
 	ao_config_get();
-	if (ao_config.gps_mosaic)
-		ao_exit();
+	if (ao_config.gps_mosaic) {
+		ao_gps_mosaic();
+		return;
+	}
 #endif
+#ifndef AO_GPS_TEST
 	ao_cmd_register(&ao_gps_cmds[0]);
+#endif
 
 	ao_gps_setup();
 
diff --git a/src/kernel/ao.h b/src/kernel/ao.h
index b3f780f5..9b81fe5c 100644
--- a/src/kernel/ao.h
+++ b/src/kernel/ao.h
@@ -827,7 +827,13 @@ extern const char ao_product[];
  * Fifos
  */
 
+#ifndef AO_FIFO_SIZE
+#ifdef HAS_GPS_MOSAIC
+#define AO_FIFO_SIZE	256
+#else
 #define AO_FIFO_SIZE	32
+#endif
+#endif
 
 struct ao_fifo {
 	uint8_t	insert;
diff --git a/src/telemega-v3.0/ao_telemega.c b/src/telemega-v3.0/ao_telemega.c
index c21a57c1..d987c1ec 100644
--- a/src/telemega-v3.0/ao_telemega.c
+++ b/src/telemega-v3.0/ao_telemega.c
@@ -25,9 +25,6 @@
 #include <ao_companion.h>
 #include <ao_profile.h>
 #include <ao_eeprom.h>
-#ifdef HAS_GPS_MOSAIC
-#include <ao_gps_mosaic.h>
-#endif
 #if HAS_SAMPLE_PROFILE
 #include <ao_sample_profile.h>
 #endif
@@ -82,9 +79,6 @@ main(void)
 
 	ao_usb_init();
 	ao_gps_init();
-#ifdef HAS_GPS_MOSAIC
-	ao_gps_mosaic_init();
-#endif
 	ao_gps_report_mega_init();
 	ao_telemetry_init();
 	ao_radio_init();
diff --git a/src/telemega-v4.0/ao_telemega.c b/src/telemega-v4.0/ao_telemega.c
index 6c02f42c..2c5ee615 100644
--- a/src/telemega-v4.0/ao_telemega.c
+++ b/src/telemega-v4.0/ao_telemega.c
@@ -25,9 +25,6 @@
 #include <ao_companion.h>
 #include <ao_profile.h>
 #include <ao_eeprom.h>
-#ifdef HAS_GPS_MOSAIC
-#include <ao_gps_mosaic.h>
-#endif
 #if HAS_SAMPLE_PROFILE
 #include <ao_sample_profile.h>
 #endif
@@ -75,9 +72,6 @@ main(void)
 
 	ao_usb_init();
 	ao_gps_init();
-#ifdef HAS_GPS_MOSAIC
-	ao_gps_mosaic_init();
-#endif
 	ao_gps_report_mega_init();
 	ao_telemetry_init();
 	ao_radio_init();
diff --git a/src/telemega-v5.0/ao_telemega.c b/src/telemega-v5.0/ao_telemega.c
index 745d7472..4e85c390 100644
--- a/src/telemega-v5.0/ao_telemega.c
+++ b/src/telemega-v5.0/ao_telemega.c
@@ -27,9 +27,6 @@
 #include <ao_profile.h>
 #include <ao_eeprom.h>
 #include <ao_i2c_bit.h>
-#ifdef HAS_GPS_MOSAIC
-#include <ao_gps_mosaic.h>
-#endif
 #if HAS_SAMPLE_PROFILE
 #include <ao_sample_profile.h>
 #endif
@@ -81,9 +78,6 @@ main(void)
 
 	ao_usb_init();
 	ao_gps_init();
-#ifdef HAS_GPS_MOSAIC
-	ao_gps_mosaic_init();
-#endif
 	ao_gps_report_mega_init();
 	ao_telemetry_init();
 	ao_radio_init();
diff --git a/src/telemega-v6.0/ao_telemega.c b/src/telemega-v6.0/ao_telemega.c
index b778e789..91526a86 100644
--- a/src/telemega-v6.0/ao_telemega.c
+++ b/src/telemega-v6.0/ao_telemega.c
@@ -27,9 +27,6 @@
 #include <ao_profile.h>
 #include <ao_eeprom.h>
 #include <ao_i2c_bit.h>
-#ifdef HAS_GPS_MOSAIC
-#include <ao_gps_mosaic.h>
-#endif
 #if HAS_SAMPLE_PROFILE
 #include <ao_sample_profile.h>
 #endif
@@ -81,9 +78,6 @@ main(void)
 
 	ao_usb_init();
 	ao_gps_init();
-#ifdef HAS_GPS_MOSAIC
-	ao_gps_mosaic_init();
-#endif
 	ao_gps_report_mega_init();
 	ao_telemetry_init();
 	ao_radio_init();