From 313003d2ac0b365e394d288aa3d35289650daf98 Mon Sep 17 00:00:00 2001
From: Eric Katzfey <eric.katzfey@modalai.com>
Date: Wed, 6 Mar 2024 08:51:29 -0800
Subject: [PATCH] Made fixes for Qurt platform build and merge issues

---
 boards/modalai/voxl2-slpi/default.px4board          |  1 +
 platforms/common/CMakeLists.txt                     |  1 +
 platforms/common/include/px4_platform_common/time.h | 13 +++++++++++--
 platforms/qurt/src/px4/drv_hrt.cpp                  |  2 +-
 src/drivers/gps/gps.cpp                             |  1 +
 5 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board
index 23cf292ade..abba5df26d 100644
--- a/boards/modalai/voxl2-slpi/default.px4board
+++ b/boards/modalai/voxl2-slpi/default.px4board
@@ -4,6 +4,7 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
+CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
diff --git a/platforms/common/CMakeLists.txt b/platforms/common/CMakeLists.txt
index a0bafe7d59..cb0721fe69 100644
--- a/platforms/common/CMakeLists.txt
+++ b/platforms/common/CMakeLists.txt
@@ -52,6 +52,7 @@ add_library(px4_platform STATIC
 	shutdown.cpp
 	spi.cpp
 	pab_manifest.c
+	Serial.cpp
 	${SRCS}
 )
 target_link_libraries(px4_platform prebuild_targets px4_work_queue)
diff --git a/platforms/common/include/px4_platform_common/time.h b/platforms/common/include/px4_platform_common/time.h
index 1b4d8a2756..d61e23c75c 100644
--- a/platforms/common/include/px4_platform_common/time.h
+++ b/platforms/common/include/px4_platform_common/time.h
@@ -13,11 +13,21 @@ __END_DECLS
 #define px4_clock_gettime system_clock_gettime
 #endif
 
-#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
 
 __BEGIN_DECLS
 __EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
+__END_DECLS
 
+#else
+
+#define px4_clock_settime system_clock_settime
+
+#endif
+
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+
+__BEGIN_DECLS
 __EXPORT int px4_usleep(useconds_t usec);
 __EXPORT unsigned int px4_sleep(unsigned int seconds);
 __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
@@ -27,7 +37,6 @@ __END_DECLS
 
 #else
 
-#define px4_clock_settime system_clock_settime
 #define px4_usleep system_usleep
 #define px4_sleep system_sleep
 #define px4_pthread_cond_timedwait system_pthread_cond_timedwait
diff --git a/platforms/qurt/src/px4/drv_hrt.cpp b/platforms/qurt/src/px4/drv_hrt.cpp
index 8bb9546a01..2ef1520832 100644
--- a/platforms/qurt/src/px4/drv_hrt.cpp
+++ b/platforms/qurt/src/px4/drv_hrt.cpp
@@ -81,7 +81,7 @@ static void hrt_unlock()
 	px4_sem_post(&_hrt_lock);
 }
 
-int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
+int px4_clock_settime(clockid_t clk_id, const struct timespec *tp)
 {
 	return 0;
 }
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 431a871f04..ec6917e756 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -56,6 +56,7 @@
 #include <px4_platform_common/cli.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
+#include <px4_platform_common/time.h>
 #include <px4_platform_common/Serial.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>