From 22c6ed2ada67710c03cd1fab8a6939ac1f56cb16 Mon Sep 17 00:00:00 2001
From: Pavel Pisa <pisa@cmp.felk.cvut.cz>
Date: Fri, 9 Oct 2015 19:39:15 +0200
Subject: [PATCH] RPi PXMC Test: preliminary preparations for compatibility
 with RTEMS.

Signed-off-by: Pavel Pisa <pisa@cmp.felk.cvut.cz>
---
 src/app/rpi-pmsm-test1/Makefile.omk | 2 ++
 src/app/rpi-pmsm-test1/appl_utils.c | 8 +++++++-
 src/app/rpi-pmsm-test1/rpi_gpclk.c  | 1 -
 3 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/app/rpi-pmsm-test1/Makefile.omk b/src/app/rpi-pmsm-test1/Makefile.omk
index 3bc65c2..b2ad2cf 100644
--- a/src/app/rpi-pmsm-test1/Makefile.omk
+++ b/src/app/rpi-pmsm-test1/Makefile.omk
@@ -55,8 +55,10 @@ ifeq ($(CONFIG_OC_ULUT),y)
 lib_LOADLIBES += ulut
 endif
 
+ifneq ($(CONFIG_OC_BUILD4RTEMS),y)
 lib_LOADLIBES += rt
 lib_LOADLIBES += pthread
+endif
 lib_LOADLIBES += m
 
 #link_VARIANTS = app sdram
diff --git a/src/app/rpi-pmsm-test1/appl_utils.c b/src/app/rpi-pmsm-test1/appl_utils.c
index 1fd9563..692a40c 100644
--- a/src/app/rpi-pmsm-test1/appl_utils.c
+++ b/src/app/rpi-pmsm-test1/appl_utils.c
@@ -5,6 +5,7 @@
 #include <sys/stat.h>
 #include <fcntl.h>
 #include <stdint.h>
+#include <sched.h>
 #include <unistd.h>
 #include <sys/mman.h>  /* this provides mlockall() */
 #include <pthread.h>
@@ -65,7 +66,11 @@ int sample_period_wait_next(sample_period_t *sper)
     sper->period_time.tv_nsec -= 1000*1000*1000;
     sper->period_time.tv_sec += 1;
   }
+#if !defined(__rtems__)
   return clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &sper->period_time, NULL);
+#else
+  return nanosleep(&sper->period_time, NULL);
+#endif /*__rtems__*/
 }
 
 void appl_sig_handler(int sig)
@@ -84,11 +89,12 @@ int appl_setup_environment(const char *argv0)
   if (appl_base_task_prio < fifo_min_prio)
     appl_base_task_prio = fifo_min_prio;
 
-
+#if !defined(__rtems__)
   if (mlockall(MCL_FUTURE | MCL_CURRENT) < 0) {
     fprintf(stderr, "%s: mlockall failed - cannot lock application in memory\n", argv0);
     exit(1);
   }
+#endif /*__rtems__*/
 
   atexit(appl_stop);
 
diff --git a/src/app/rpi-pmsm-test1/rpi_gpclk.c b/src/app/rpi-pmsm-test1/rpi_gpclk.c
index 5eb6682..56eab20 100644
--- a/src/app/rpi-pmsm-test1/rpi_gpclk.c
+++ b/src/app/rpi-pmsm-test1/rpi_gpclk.c
@@ -11,7 +11,6 @@
 #include <stdint.h>
 #include <stdlib.h>
 #include <ctype.h>
-#include <poll.h>
 #include <unistd.h>
 #include <errno.h>
 #include <string.h>
-- 
2.39.2