gps: make the driver compile and run on QURT

src/drivers/gps/ashtech.cpp

@@ -12,9 +12,13 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/satellite_info.h>
 #include <drivers/drv_hrt.h>
+#include <px4_time.h>
+#include <px4_defines.h>
+#ifdef __PX4_QURT
+#include <dspal_time.h>
+#endif
 
 #include <fcntl.h>
-#include <math.h>
 
 ASHTECH::ASHTECH(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info):
 	_fd(fd),
@@ -99,6 +103,9 @@ int ASHTECH::handle_message(int len)
 		timeinfo.tm_hour = ashtech_hour;
 		timeinfo.tm_min = ashtech_minute;
 		timeinfo.tm_sec = int(ashtech_sec);
+
+		// TODO: this functionality is not available on the Snapdragon yet
+#ifndef __PX4_QURT
 		time_t epoch = mktime(&timeinfo);
 
 		if (epoch > GPS_EPOCH_SECS) {
@@ -112,7 +119,7 @@ int ASHTECH::handle_message(int len)
 			ts.tv_sec = epoch;
 			ts.tv_nsec = usecs * 1000;
 
-			if (clock_settime(CLOCK_REALTIME, &ts)) {
+			if (px4_clock_settime(CLOCK_REALTIME, &ts)) {
 				warn("failed setting clock");
 			}
 
@@ -123,6 +130,10 @@ int ASHTECH::handle_message(int len)
 			_gps_position->time_utc_usec = 0;
 		}
 
+#else
+		_gps_position->time_utc_usec = 0;
+#endif
+
 		_gps_position->timestamp_time = hrt_absolute_time();
 	}
 
@@ -514,10 +525,6 @@ int ASHTECH::handle_message(int len)
 int ASHTECH::receive(unsigned timeout)
 {
 	{
-		/* poll descriptor */
-		pollfd fds[1];
-		fds[0].fd = _fd;
-		fds[0].events = POLLIN;
 
 		uint8_t buf[32];
 
@@ -541,38 +548,31 @@ int ASHTECH::receive(unsigned timeout)
 					}
 				}
 
-				/* in case we keep trying but only get crap from GPS */
-				if (time_started + timeout * 1000 * 2 < hrt_absolute_time()) {
-					return -1;
-				}
-
 				j++;
 			}
 
 			/* everything is read */
 			j = bytes_count = 0;
 
-			/* then poll for new data */
-			int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout * 2);
+			/* then poll or read for new data */
+			int ret = poll_or_read(_fd, buf, sizeof(buf), timeout * 2);
 
 			if (ret < 0) {
 				/* something went wrong when polling */
 				return -1;
 
 			} else if (ret == 0) {
-				/* Timeout */
-				return -1;
+				/* Timeout while polling or just nothing read if reading, let's
+				 * stay here, and use timeout below. */
 
 			} else if (ret > 0) {
 				/* if we have new data from GPS, go handle it */
-				if (fds[0].revents & POLLIN) {
-					/*
-					 * We are here because poll says there is some data, so this
-					 * won't block even on a blocking device.  If more bytes are
-					 * available, we'll go back to poll() again...
-					 */
-					bytes_count = ::read(_fd, buf, sizeof(buf));
-				}
+				bytes_count = ret;
+			}
+
+			/* in case we get crap from GPS or time out */
+			if (time_started + timeout * 1000 * 2 < hrt_absolute_time()) {
+				return -1;
 			}
 		}
 	}