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AP_Terrain: added support for AP_Terrain for ChibiOS

This commit is contained in:
Andrew Tridgell 2018-01-14 17:25:23 +11:00
parent 2773b17fad
commit f8542c86b6
4 changed files with 14 additions and 4 deletions
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4
libraries/AP_Terrain/AP_Terrain.cpp
View File

@ -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;

2
libraries/AP_Terrain/AP_Terrain.h
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@ -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

8
libraries/AP_Terrain/TerrainIO.cpp
View File

@ -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",

4
libraries/AP_Terrain/TerrainUtil.cpp
View File

@ -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;