From 52957ab0ccbdcde4f92aefc080bd0b156644b362 Mon Sep 17 00:00:00 2001
From: Mark Charlebois <charlebm@gmail.com>
Date: Wed, 18 Nov 2015 20:14:48 -0800
Subject: [PATCH] Don't add DriverFramework dir for NuttX

I am unable to get the nuttx build dependencies set up so that
it builds the export dir before it builds df_driver_framework.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
---
 CMakeLists.txt                           | 5 ++---
 cmake/nuttx/px4_impl_nuttx.cmake         | 5 ++++-
 cmake/qurt/px4_impl_qurt.cmake           | 2 +-
 src/firmware/nuttx/CMakeLists.txt        | 2 +-
 src/lib/DriverFramework                  | 2 +-
 src/modules/commander/PreflightCheck.cpp | 6 ++----
 6 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 64c73efa67..56aacd2bbe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -335,10 +335,9 @@ foreach(module ${config_module_list})
 endforeach()
 
 add_subdirectory(src/firmware/${OS})
-add_subdirectory(src/lib/DriverFramework)
 
-if("${OS}" STREQUAL "nuttx")
-	add_dependencies(df_driver_framework nuttx_export_${BOARD})
+if (NOT "${OS}" STREQUAL "nuttx")
+	add_subdirectory(src/lib/DriverFramework)
 endif()
 
 if (config_io_board)
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 14bd2ee3d6..756c42d635 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -423,6 +423,7 @@ function(px4_os_add_flags)
 		${nuttx_export_dir}/include/cxx
 		${nuttx_export_dir}/arch/chip
 		${nuttx_export_dir}/arch/common
+		src/lib/DriverFramework/framework/include
 		)
 	set(added_link_dirs
 		${nuttx_export_dir}/libs
@@ -440,7 +441,7 @@ function(px4_os_add_flags)
 		-nostdlib
 		)
 
-	set(added_exe_linker_flags) # none currently
+	set(added_exe_linker_flags -lstdc++) # none currently
 
 	set(cpu_flags)
 	if (${BOARD} STREQUAL "px4fmu-v1")
@@ -490,6 +491,8 @@ function(px4_os_add_flags)
 		#message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
 	endforeach()
 
+	set(DF_TARGET "nuttx" PARENT_SCOPE)
+
 endfunction()
 
 #=============================================================================
diff --git a/cmake/qurt/px4_impl_qurt.cmake b/cmake/qurt/px4_impl_qurt.cmake
index 87c71b1ecd..01025ce270 100644
--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@@ -187,7 +187,7 @@ function(px4_os_add_flags)
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
 
-	set(DF_TARGET "qurt")
+	set(DF_TARGET "qurt" PARENT_SCOPE)
 
 	# output
 	foreach(var ${inout_vars})
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index be6f9b1062..992987f9de 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -13,7 +13,7 @@ add_executable(firmware_nuttx
 set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
 
 set(link_libs
-	romfs apps nuttx m gcc
+	romfs apps nuttx m gcc df_driver_framework
 	)
 
 if(NOT ${BOARD} STREQUAL "sim")
diff --git a/src/lib/DriverFramework b/src/lib/DriverFramework
index 737d2cbf2c..a759ad3142 160000
--- a/src/lib/DriverFramework
+++ b/src/lib/DriverFramework
@@ -1 +1 @@
-Subproject commit 737d2cbf2c94210b964cf00d55903f1b9c52b2f6
+Subproject commit a759ad3142b3b30d4e3a3157ec684966f7dcc83c
diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index c1cbfad910..d542707ba4 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -197,7 +197,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
 	if (dynamic) {
 		/* check measurement result range */
 		struct accel_report acc;
-		ret = px4_read(fd, &acc, sizeof(acc));
+		ret = h.read(&acc, sizeof(acc));
 
 		if (ret == sizeof(acc)) {
 			/* evaluate values */
@@ -219,9 +219,7 @@ static bool accelerometerCheck(int mavlink_fd, unsigned instance, bool optional,
 #endif
 
 out:
-#ifdef __PX4_NUTTX
-	px4_close(fd);
-#endif
+	DevMgr::releaseHandle(h);
 	return success;
 }