From 53eb5ed0bb984560fa51cda12b1ae03d42f1b2ff Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Wed, 10 Jul 2013 14:21:23 -0700
Subject: [PATCH] No clock_gettime on OS X; must use gettimeofday.

---
 .../MotionDriver/lib/UNIX/libMotionDriver.a   | Bin 61870 -> 61894 bytes
 interface/external/MotionDriver/src/inv_tty.c |  10 ++++++----
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/interface/external/MotionDriver/lib/UNIX/libMotionDriver.a b/interface/external/MotionDriver/lib/UNIX/libMotionDriver.a
index 4915e9910be513af4bd2e5e0a02d55684dd0ff2c..c29bf3ef8ec5645ce6c8962daa20bcad16293b0a 100644
GIT binary patch
delta 514
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RoA-rPGQ$ICb4XOwbO6rZhhP8z

delta 511
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zz0w)tl}X+b%q9j3lk=nW83Q(Zdy6rfcyu1y&%nUI@B&159C!V}aB7ydN4M((kIq9L
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diff --git a/interface/external/MotionDriver/src/inv_tty.c b/interface/external/MotionDriver/src/inv_tty.c
index 62f4e86660..3fa2bbe17e 100644
--- a/interface/external/MotionDriver/src/inv_tty.c
+++ b/interface/external/MotionDriver/src/inv_tty.c
@@ -7,6 +7,7 @@
 
 #include <time.h>
 #include <unistd.h>
+#include <sys/time.h>
 
 #include "inv_tty.h"
 
@@ -81,8 +82,9 @@ void tty_delay_ms(unsigned long num_ms) {
 }
 
 void tty_get_ms(unsigned long *count) {
-    struct timespec time;
-    clock_gettime(CLOCK_REALTIME, &time);
-    const long NANOSECONDS_PER_SECOND = 1000000000;
-    *count = time.tv_sec * NANOSECONDS_PER_SECOND + time.tv_nsec;
+    struct timeval time;
+    gettimeofday(&time, 0);
+    const long MILLISECONDS_PER_SECOND = 1000;
+    const long MICROSECONDS_PER_MILLISECOND = 1000;
+    *count = time.tv_sec * MILLISECONDS_PER_SECOND + time.tv_usec / MICROSECONDS_PER_MILLISECOND; 
 }