From f8542c86b607e9bcc8bb7aac32edaceb876f8e30 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 14 Jan 2018 17:25:23 +1100
Subject: [PATCH] AP_Terrain: added support for AP_Terrain for ChibiOS

---
 libraries/AP_Terrain/AP_Terrain.cpp  | 4 +++-
 libraries/AP_Terrain/AP_Terrain.h    | 2 +-
 libraries/AP_Terrain/TerrainIO.cpp   | 8 +++++++-
 libraries/AP_Terrain/TerrainUtil.cpp | 4 +++-
 4 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Terrain/AP_Terrain.cpp b/libraries/AP_Terrain/AP_Terrain.cpp
index e4231b08d6..28760df9cc 100644
--- a/libraries/AP_Terrain/AP_Terrain.cpp
+++ b/libraries/AP_Terrain/AP_Terrain.cpp
@@ -25,10 +25,12 @@
 
 #include <assert.h>
 #include <stdio.h>
+#if HAL_OS_POSIX_IO
 #include <unistd.h>
-#include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
+#endif
+#include <sys/types.h>
 #include <errno.h>
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_Terrain/AP_Terrain.h b/libraries/AP_Terrain/AP_Terrain.h
index 72315a56a2..a5608c69b6 100644
--- a/libraries/AP_Terrain/AP_Terrain.h
+++ b/libraries/AP_Terrain/AP_Terrain.h
@@ -18,7 +18,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <DataFlash/DataFlash.h>
 
-#if HAL_OS_POSIX_IO && defined(HAL_BOARD_TERRAIN_DIRECTORY)
+#if (HAL_OS_POSIX_IO || HAL_OS_FATFS_IO) && defined(HAL_BOARD_TERRAIN_DIRECTORY)
 #define AP_TERRAIN_AVAILABLE 1
 #else
 #define AP_TERRAIN_AVAILABLE 0
diff --git a/libraries/AP_Terrain/TerrainIO.cpp b/libraries/AP_Terrain/TerrainIO.cpp
index 0ab4245b8b..c1e684bf28 100644
--- a/libraries/AP_Terrain/TerrainIO.cpp
+++ b/libraries/AP_Terrain/TerrainIO.cpp
@@ -27,11 +27,13 @@
 
 #include <assert.h>
 #include <stdio.h>
+#if HAL_OS_POSIX_IO
 #include <unistd.h>
-#include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
 #include <errno.h>
+#endif
+#include <sys/types.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -196,7 +198,11 @@ void AP_Terrain::open_file(void)
     if (fd != -1) {
         ::close(fd);
     }
+#if HAL_OS_POSIX_IO
     fd = ::open(file_path, O_RDWR|O_CREAT|O_CLOEXEC, 0644);
+#else
+    fd = ::open(file_path, O_RDWR|O_CREAT|O_CLOEXEC);
+#endif
     if (fd == -1) {
 #if TERRAIN_DEBUG
         hal.console->printf("Open %s failed - %s\n",
diff --git a/libraries/AP_Terrain/TerrainUtil.cpp b/libraries/AP_Terrain/TerrainUtil.cpp
index e006448288..24d64ab3d9 100644
--- a/libraries/AP_Terrain/TerrainUtil.cpp
+++ b/libraries/AP_Terrain/TerrainUtil.cpp
@@ -27,10 +27,12 @@
 
 #include <assert.h>
 #include <stdio.h>
+#if HAL_OS_POSIX_IO
 #include <unistd.h>
-#include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
+#endif
+#include <sys/types.h>
 #include <errno.h>
 
 extern const AP_HAL::HAL& hal;