Assorted hacks to at least compile on Mac OS, does not link yetosx

11 files changed, 69 insertions, 22 deletions

diff --git a/makefiles/posix/config_posix_default.mk b/makefiles/posix/config_posix_default.mk
index 53b315346..6618faa5c 100644
--- a/makefiles/posix/config_posix_default.mk
+++ b/makefiles/posix/config_posix_default.mk
@@ -20,13 +20,13 @@ MODULES	+= systemcmds/param
 #
 # General system control
 #
-MODULES		+= modules/mavlink
+#MODULES		+= modules/mavlink
 
 #
 # Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
+#MODULES		+= modules/ekf_att_pos_estimator
 
 #
 # Vehicle Control
@@ -37,10 +37,10 @@ MODULES		+= modules/mc_att_control
 # Library modules
 #
 MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
+#MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
 MODULES		+= modules/dataman
-MODULES		+= modules/sdlog2
+#MODULES		+= modules/sdlog2
 MODULES		+= modules/simulator
 MODULES		+= modules/commander
 
diff --git a/makefiles/toolchain_native.mk b/makefiles/toolchain_native.mk
index 763b25ce8..b9a6a4dcc 100644
--- a/makefiles/toolchain_native.mk
+++ b/makefiles/toolchain_native.mk
@@ -120,7 +120,7 @@ ifeq ($(CONFIG_BOARD),)
 $(error Board config does not define CONFIG_BOARD)
 endif
 ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-			-D__PX4_LINUX -D__PX4_POSIX \
+			-D__PX4_POSIX \
 			-Dnoreturn_function= \
 			-I$(PX4_BASE)/src/lib/eigen \
 			-I$(PX4_BASE)/src/platforms/posix/include \
@@ -206,7 +206,8 @@ ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
 # pull in *just* libm from the toolchain ... this is grody
 LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
 #EXTRA_LIBS		+= $(LIBM)
-EXTRA_LIBS		+= -pthread -lm -lrt
+EXTRA_LIBS		+= -pthread -lm 
+#-lrt
 
 # Flags we pass to the C compiler
 #
@@ -258,7 +259,7 @@ LDFLAGS			+= $(EXTRALDFLAGS) \
 
 # Compiler support library
 #
-LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
+LIBGCC			:= #$(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
 
 # Files that the final link depends on
 #
@@ -302,19 +303,19 @@ endef
 define PRELINK
 	@$(ECHO) "PRELINK: $1"
 	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) -Ur -o $1 $2
+	$(Q) $(LD) -r -o $1 $2
 
 endef
 # Produce partially-linked $1 from files in $2
 #
-#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
+#$(Q) $(LD) -r -o $1 $2 # -Ur not supported in ld.gold
 define PRELINKF
 	@$(ECHO) "PRELINK: $1"
 	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
+	$(Q) $(LD) -r -o $1 $2
 
 endef
-#	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+#	$(Q) $(LD) -r -o $1 $2 && $(OBJCOPY) --localize-hidden $1
 
 # Update the archive $1 with the files in $2
 #
diff --git a/src/drivers/device/i2c_posix.cpp b/src/drivers/device/i2c_posix.cpp
index 51e8e2083..37671e26f 100644
--- a/src/drivers/device/i2c_posix.cpp
+++ b/src/drivers/device/i2c_posix.cpp
@@ -127,6 +127,7 @@ I2C::init()
 int
 I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
 {
+	#ifdef __PX4_LINUX
 	struct i2c_msg msgv[2];
 	unsigned msgs;
 	struct i2c_rdwr_ioctl_data packets;
@@ -183,11 +184,15 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 	} while (retry_count++ < _retries);
 
 	return ret;
+	#else
+	return 1;
+	#endif
 }
 
 int
 I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
 {
+	#ifdef __PX4_LINUX
 	struct i2c_rdwr_ioctl_data packets;
 	int ret;
 	unsigned retry_count = 0;
@@ -219,6 +224,9 @@ I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
 	} while (retry_count++ < _retries);
 
 	return ret;
+	#else
+	return 1;
+	#endif
 }
 
 int I2C::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
@@ -226,9 +234,11 @@ int I2C::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
 	//struct i2c_rdwr_ioctl_data *packets = (i2c_rdwr_ioctl_data *)(void *)arg;
 
 	switch (cmd) {
+		#ifdef __PX4_LINUX
 	case I2C_RDWR:
         	warnx("Use I2C::transfer, not ioctl");
 		return 0;
+		#endif
 	default:
 		/* give it to the superclass */
 		return VDev::ioctl(handlep, cmd, arg);
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 3a09b44bb..afca06588 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -50,7 +50,6 @@
 #include <poll.h>
 #include <fcntl.h>
 #include <float.h>
-#include <sys/prctl.h>
 #include <termios.h>
 #include <errno.h>
 #include <limits.h>
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 4248ad282..56360e986 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -132,7 +132,6 @@
 #include <stdio.h>
 #include <poll.h>
 #include <fcntl.h>
-#include <sys/prctl.h>
 #include <math.h>
 #include <float.h>
 #include <mathlib/mathlib.h>
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 97873e462..0c8168243 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -54,7 +54,9 @@
 #include <systemlib/err.h>
 #include <systemlib/circuit_breaker.h>
 //#include <debug.h>
+#ifndef __PX4_POSIX
 #include <sys/prctl.h>
+#endif
 #include <sys/stat.h>
 #include <string.h>
 #include <math.h>
@@ -2567,8 +2569,10 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
 
 void *commander_low_prio_loop(void *arg)
 {
+	#ifndef __PX4_POSIX
 	/* Set thread name */
 	prctl(PR_SET_NAME, "commander_low_prio", getpid());
+	#endif
 
 	/* Subscribe to command topic */
 	int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
diff --git a/src/modules/mavlink/mavlink_main_posix.cpp b/src/modules/mavlink/mavlink_main_posix.cpp
index 784118916..b4dbd58d4 100644
--- a/src/modules/mavlink/mavlink_main_posix.cpp
+++ b/src/modules/mavlink/mavlink_main_posix.cpp
@@ -590,8 +590,16 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
 
 	case 230400: speed = B230400; break;
 
+	#ifndef B460800
+		#define B460800 460800
+	#endif
+
 	case 460800: speed = B460800; break;
 
+	#ifndef B921600
+		#define B921600 921600
+	#endif
+
 	case 921600: speed = B921600; break;
 
 	default:
@@ -729,9 +737,12 @@ Mavlink::get_free_tx_buf()
 	 */
 	int buf_free = 0;
 
-// No FIONWRITE on Linux
-#ifndef __PX4_LINUX
-	(void) ioctl(_uart_fd, FIONWRITE, (unsigned long)&buf_free);
+// No FIONWRITE on POSIX
+#ifdef __PX4_POSIX
+	// fake a big buffer on larger systems
+	buf_free = 1000;
+#else
+	(void) ioctl(_uart_fd, FIONWRITESIOCOUTQ, (unsigned long)&buf_free);
 #endif
 
 	if (get_flow_control_enabled() && buf_free < FLOW_CONTROL_DISABLE_THRESHOLD) {
diff --git a/src/modules/mavlink/mavlink_receiver_posix.cpp b/src/modules/mavlink/mavlink_receiver_posix.cpp
index bfe7a4552..6e8e713de 100644
--- a/src/modules/mavlink/mavlink_receiver_posix.cpp
+++ b/src/modules/mavlink/mavlink_receiver_posix.cpp
@@ -48,7 +48,7 @@
 #include <math.h>
 #include <stdbool.h>
 #include <fcntl.h>
-#include <mqueue.h>
+#include <sys/fcntl.h>
 #include <string.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_accel.h>
@@ -59,7 +59,9 @@
 #include <time.h>
 #include <float.h>
 #include <unistd.h>
+#ifdef __PX4_LINUX
 #include <sys/prctl.h>
+#endif
 #include <termios.h>
 #include <errno.h>
 #include <stdlib.h>
@@ -1493,7 +1495,10 @@ MavlinkReceiver::receive_thread(void *arg)
 	/* set thread name */
 	char thread_name[24];
 	sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id());
+
+	#ifdef __PX4_LINUX
 	prctl(PR_SET_NAME, thread_name, getpid());
+	#endif
 
 	px4_pollfd_struct_t fds[1];
 	fds[0].fd = uart_fd;
diff --git a/src/modules/systemlib/param/param.h b/src/modules/systemlib/param/param.h
index da810abea..e0515f137 100644
--- a/src/modules/systemlib/param/param.h
+++ b/src/modules/systemlib/param/param.h
@@ -340,7 +340,7 @@ __EXPORT int 		param_load_default(void);
 /** define an int32 parameter */
 #define PARAM_DEFINE_INT32(_name, _default)		\
 	static const					\
-	__attribute__((used, section("__param")))	\
+	__attribute__((used, section(".paramsec,__param")))	\
 	struct param_info_s __param__##_name = {	\
 		#_name,					\
 		PARAM_TYPE_INT32,			\
@@ -350,7 +350,7 @@ __EXPORT int 		param_load_default(void);
 /** define a float parameter */
 #define PARAM_DEFINE_FLOAT(_name, _default)		\
 	static const					\
-	__attribute__((used, section("__param")))	\
+	__attribute__((used, section(".paramsec,__param")))	\
 	struct param_info_s __param__##_name = {	\
 		#_name,					\
 		PARAM_TYPE_FLOAT,			\
@@ -360,7 +360,7 @@ __EXPORT int 		param_load_default(void);
 /** define a parameter that points to a structure */
 #define PARAM_DEFINE_STRUCT(_name, _default)		\
 	static const					\
-	__attribute__((used, section("__param")))	\
+	__attribute__((used, section(".paramsec,__param")))	\
 	struct param_info_s __param__##_name = {	\
 		#_name,					\
 		PARAM_TYPE_STRUCT + sizeof(_default),	\
diff --git a/src/platforms/posix/px4_layer/drv_hrt.c b/src/platforms/posix/px4_layer/drv_hrt.c
index 066abe70d..013c33982 100644
--- a/src/platforms/posix/px4_layer/drv_hrt.c
+++ b/src/platforms/posix/px4_layer/drv_hrt.c
@@ -41,6 +41,13 @@
 #include <time.h>
 #include <string.h>
 
+#include <mach/mach_time.h>
+#define ORWL_NANO (+1.0E-9)
+#define ORWL_GIGA UINT64_C(1000000000)
+
+static double orwl_timebase = 0.0;
+static uint64_t orwl_timestart = 0;
+
 static struct sq_queue_s	callout_queue;
 
 /* latency histogram */
@@ -61,7 +68,18 @@ hrt_abstime hrt_absolute_time(void)
 {
 	struct timespec ts;
 
-	clock_gettime(CLOCK_MONOTONIC, &ts);
+	// clock_gettime(CLOCK_MONOTONIC, &ts);
+	// be more careful in a multithreaded environement
+  if (!orwl_timestart) {
+    mach_timebase_info_data_t tb = {};
+    mach_timebase_info(&tb);
+    orwl_timebase = tb.numer;
+    orwl_timebase /= tb.denom;
+    orwl_timestart = mach_absolute_time();
+  }
+  double diff = (mach_absolute_time() - orwl_timestart) * orwl_timebase;
+  ts.tv_sec = diff * ORWL_NANO;
+  ts.tv_nsec = diff - (ts.tv_sec * ORWL_GIGA);
 	return ts_to_abstime(&ts);
 }
 
diff --git a/src/platforms/posix/px4_layer/px4_posix_tasks.cpp b/src/platforms/posix/px4_layer/px4_posix_tasks.cpp
index fd5863727..7b178f7d2 100644
--- a/src/platforms/posix/px4_layer/px4_posix_tasks.cpp
+++ b/src/platforms/posix/px4_layer/px4_posix_tasks.cpp
@@ -271,7 +271,7 @@ void px4_show_tasks()
 	for (idx=0; idx < PX4_MAX_TASKS; idx++)
 	{
 		if (taskmap[idx].isused) {
-			printf("   %-10s %lu\n", taskmap[idx].name.c_str(), taskmap[idx].pid);
+			printf("   %-10s %lu\n", taskmap[idx].name.c_str(), (unsigned long)taskmap[idx].pid);
 			count++;
 		}
 	}