POSIX HRT: Use correct define, formatting fixes

src/platforms/posix/px4_layer/drv_hrt.c

@@ -77,7 +77,8 @@ static void hrt_unlock(void)
 	sem_post(&_hrt_lock);
 }
 
-#ifndef clock_gettime
+#ifdef __PX4_DARWIN
+
 #include <mach/mach_time.h>
 #define MAC_NANO (+1.0E-9)
 #define MAC_GIGA UINT64_C(1000000000)
@@ -323,6 +324,7 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
 {
 	//PX4_INFO("hrt_call_internal deadline=%lu interval = %lu", deadline, interval);
 	hrt_lock();
+
 	//PX4_INFO("hrt_call_internal after lock");
 	/* if the entry is currently queued, remove it */
 	/* note that we are using a potentially uninitialised
@@ -332,14 +334,17 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
 	   queue for the uninitialised entry->link but we don't do
 	   anything actually unsafe.
 	*/
-	if (entry->deadline != 0)
+	if (entry->deadline != 0) {
 		sq_rem(&entry->link, &callout_queue);
+	}
 
 #if 0
+
 	// Use this to debug busy CPU that keeps rescheduling with 0 period time
 	if (interval < HRT_INTERVAL_MIN) {
 		PX4_ERR("hrt_call_internal interval too short: %" PRIu64, interval);
 	}
+
 #endif
 	entry->deadline = deadline;
 	entry->period = interval;
@@ -403,17 +408,20 @@ hrt_call_invoke(void)
 	hrt_abstime deadline;
 
 	hrt_lock();
+
 	while (true) {
 		/* get the current time */
 		hrt_abstime now = hrt_absolute_time();
 
 		call = (struct hrt_call *)sq_peek(&callout_queue);
 
-		if (call == NULL)
+		if (call == NULL) {
 			break;
+		}
 
-		if (call->deadline > now)
+		if (call->deadline > now) {
 			break;
+		}
 
 		sq_rem(&call->link, &callout_queue);
 		//PX4_INFO("call pop");
@@ -448,6 +456,7 @@ hrt_call_invoke(void)
 			hrt_call_enter(call);
 		}
 	}
+
 	hrt_unlock();
 }