QuRT and POSIX changes - part 2

Second staged group of changes for QuRT and related POSIX changes

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/platforms/px4_adc.h

@@ -60,7 +60,7 @@ struct adc_msg_s
 
 // Example settings 
 #define ADC_BATTERY_VOLTAGE_CHANNEL     10
-#define ADC_BATTERY_CURRENT_CHANNEL     -1
+#define ADC_BATTERY_CURRENT_CHANNEL     ((uint8_t)(-1))
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL    11
 #define ADCSIM0_DEVICE_PATH	"/dev/adc0"
 #else

src/platforms/px4_config.h

@@ -41,7 +41,7 @@
 #pragma once
 
 #if defined(__PX4_NUTTX)
-#include <px4_config.h>
+#include <nuttx/config.h>
 #elif defined (__PX4_POSIX) || defined (__PX4_QURT)
 #define CONFIG_NFILE_STREAMS 1
 #define CONFIG_SCHED_WORKQUEUE 1

src/platforms/px4_i2c.h

@@ -117,13 +117,26 @@ inline bool px4_interrupt_context(void) { return false; }
 inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count);
 inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count) { return 0; }
 
-struct i2c_msg_s
+#ifdef __PX4_QURT
+
+struct i2c_msg
 {
-  uint16_t  addr;                  /* Slave address */
-  uint16_t  flags;                 /* See I2C_M_* definitions */
-  uint8_t  *buffer;
-  int       length;
+	uint16_t  addr;                  /* Slave address */
+	uint16_t  flags;                 /* See I2C_M_* definitions */
+	uint8_t  *buf;
+	int       len;
 };
+
+#define I2C_RDWR 0x0FFF
+
+struct i2c_rdwr_ioctl_data {
+	struct i2c_msg *msgs;   /* pointers to i2c_msgs */
+	uint32_t nmsgs;         /* number of i2c_msgs */
+};
+
+int ioctl(int fd, int flags, unsigned long data);
+int write(int fd, const char *buffer, int buflen);
+#endif
 #else
 #error "No target platform defined"
 #endif

src/platforms/px4_includes.h

@@ -102,7 +102,7 @@
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 
-#elif defined(__PX4_POSIX)
+#elif defined(__PX4_POSIX) && !defined(__PX4_QURT)
 #include <string.h>
 #include <assert.h>
 #include <uORB/uORB.h>

src/platforms/px4_nodehandle.h

@@ -42,6 +42,7 @@
 #include "px4_subscriber.h"
 #include "px4_publisher.h"
 #include "px4_middleware.h"
+#include "px4_posix.h"
 #include "px4_app.h"
 
 #if defined(__PX4_ROS)
@@ -274,10 +275,10 @@ public:
 			}
 
 			/* Poll fd with smallest interval */
-			struct pollfd pfd;
+			px4_pollfd_struct_t pfd;
 			pfd.fd = _sub_min_interval->getUORBHandle();
 			pfd.events = POLLIN;
-			poll(&pfd, 1, timeout_ms);
+			px4_poll(&pfd, 1, timeout_ms);
 			spinOnce();
 		}
 	}