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Support 10.11 and 10.12 in parallel in PX4

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This commit is contained in:
Lorenz Meier
2016-09-27 11:56:49 +02:00
committed by Lorenz Meier
parent f49eabdb9d
commit af8cbee6d5
3 changed files with 50 additions and 2 deletions
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src/platforms/posix/px4_layer/drv_hrt.c
+26 -1
View File
@@ -93,7 +93,32 @@ static void hrt_unlock(void)
px4_sem_post(&_hrt_lock);
}
#if defined(__QURT)
#if defined(__PX4_APPLE_LEGACY)
#include <time.h>
#include <sys/time.h>
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{
struct timeval now;
int rv = gettimeofday(&now, NULL);
if (rv) {
return rv;
}
tp->tv_sec = now.tv_sec;
tp->tv_nsec = now.tv_usec * 1000;
return 0;
}
int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
{
/* do nothing right now */
return 0;
}
#elif defined(__QURT)
#include "dspal_time.h"
src/platforms/px4_time.h
+14 -1
View File
@@ -3,7 +3,20 @@
#include <sys/types.h>
#include <time.h>
#if defined(__PX4_LINUX) || defined(__PX4_NUTTX) || defined(__PX4_DARWIN)
#if defined(__PX4_APPLE_LEGACY)
__BEGIN_DECLS
#define clockid_t unsigned
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
int px4_clock_settime(clockid_t clk_id, struct timespec *tp);
__EXPORT unsigned int sleep(unsigned int sec);
__END_DECLS
#elif defined(__PX4_LINUX) || defined(__PX4_NUTTX) || defined(__PX4_DARWIN)
#define px4_clock_gettime clock_gettime
#define px4_clock_settime clock_settime