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/drivers/device/module.mk

@@ -43,8 +43,7 @@ SRCS =		  \
 		  pio.cpp \
 		  spi.cpp \
 		  ringbuffer.cpp
-endif
+else
-ifeq ($(PX4_TARGET_OS),posix)
 SRCS =		  vdev.cpp \
 		  device.cpp \
 		  vdev_posix.cpp \

src/drivers/device/ringbuffer.cpp

@@ -234,6 +234,8 @@ RingBuffer::force(double val)
 	return force(&val, sizeof(val));
 }
 
+// FIXME - clang crashes on this get() call
+#ifndef __PX4_QURT
 bool
 RingBuffer::get(void *val, size_t val_size) 
 {
@@ -263,6 +265,7 @@ RingBuffer::get(void *val, size_t val_size)
 		return false;
 	}
 }
+#endif
 
 bool
 RingBuffer::get(int8_t &val)

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  addr;                  /* Slave address */
-  uint16_t  flags;                 /* See I2C_M_* definitions */
+	uint16_t  flags;                 /* See I2C_M_* definitions */
-  uint8_t  *buffer;
+	uint8_t  *buf;
-  int       length;
+	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();
 		}
 	}

src/systemcmds/param/param.c

@@ -305,7 +305,7 @@ do_show_print(void *arg, param_t param)
 	switch (param_type(param)) {
 	case PARAM_TYPE_INT32:
 		if (!param_get(param, &i)) {
-			printf("%d\n", i);
+			printf("%ld\n", (long)i);
 			return;
 		}
 
@@ -320,7 +320,7 @@ do_show_print(void *arg, param_t param)
 		break;
 
 	case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
-		printf("<struct type %d size %lu>\n", 0 + param_type(param), param_size(param));
+		printf("<struct type %d size %zu>\n", 0 + param_type(param), param_size(param));
 		return;
 
 	default:
@@ -328,7 +328,7 @@ do_show_print(void *arg, param_t param)
 		return;
 	}
 
-	printf("<error fetching parameter %lu>\n", param);
+	printf("<error fetching parameter %lu>\n", (unsigned long)param);
 }
 
 static int
@@ -365,9 +365,9 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
 				printf("unchanged\n");
 
 			} else {
-				printf("curr: %d", i);
+				printf("curr: %ld", (long)i);
 				param_set(param, &newval);
-				printf(" -> new: %d\n", newval);
+				printf(" -> new: %ld\n", (long)newval);
 			}
 		}
 
@@ -436,7 +436,7 @@ do_compare(const char *name, char *vals[], unsigned comparisons)
 				int j = strtol(vals[k], &end, 10);
 
 				if (i == j) {
-					printf(" %d: ", i);
+					printf(" %ld: ", (long)i);
 					ret = 0;
 				}
 			}