From 8bff7aa9e4f3b3e080a108e4510781cb7ea738bb Mon Sep 17 00:00:00 2001
From: podhrmic <michal.podhradsky@aggiemail.usu.edu>
Date: Wed, 10 Aug 2016 14:12:52 -0700
Subject: [PATCH 1/4] Fix for undefined baudrates at Mac OS (see #1840)

---
 sw/lib/ocaml/cserial.c | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)

diff --git a/sw/lib/ocaml/cserial.c b/sw/lib/ocaml/cserial.c
index 5905077e8ab..e782cde56d6 100644
--- a/sw/lib/ocaml/cserial.c
+++ b/sw/lib/ocaml/cserial.c
@@ -35,6 +35,29 @@
 #include <caml/alloc.h>
 #include <caml/memory.h>
 
+/* MacOS doesn't support higher baudrates (>230400B) */
+#ifdef __APPLE__
+static int baudrates[] = {
+    B0,
+    B50,
+    B75,
+    B110,
+    B134,
+    B150,
+    B200,
+    B300,
+    B600,
+    B1200,
+    B1800,
+    B2400,
+    B4800,
+    B9600,
+    B19200,
+    B38400,
+    B57600,
+    B115200,
+    B230400 };
+#else /* regular Linux with higher baudrates */
 static int baudrates[] = {
     B0,
     B50,
@@ -58,6 +81,8 @@ static int baudrates[] = {
     B921600,
     B1500000,
     B3000000 };
+#endif /* ifdef __APPLE__ */
+
 
 
 /****************************************************************************/

From af37fa9de3cd6eb3e0c66abe3a0ab7f94347d357 Mon Sep 17 00:00:00 2001
From: podhrmic <michal.podhradsky@aggiemail.usu.edu>
Date: Wed, 10 Aug 2016 15:04:15 -0700
Subject: [PATCH 2/4] [ocaml] Added bounds check for baudrate index

---
 sw/lib/ocaml/cserial.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/sw/lib/ocaml/cserial.c b/sw/lib/ocaml/cserial.c
index e782cde56d6..2ece9261d90 100644
--- a/sw/lib/ocaml/cserial.c
+++ b/sw/lib/ocaml/cserial.c
@@ -93,7 +93,11 @@ value c_init_serial(value device, value speed, value hw_flow_control)
   CAMLparam3 (device, speed, hw_flow_control);
   struct termios orig_termios, cur_termios;
 
-  int br = baudrates[Int_val(speed)];
+  int br_idx = Int_val(speed);
+  if (br_idx >= sizeof(baudrates)){
+    failwith("Baud rate not supported - are you using MacOS? (br_idx out of bounds)");
+  }
+  int br = baudrates[br_idx];
 
   int fd = open(String_val(device), O_RDWR|O_NOCTTY|O_NONBLOCK);
 

From 8700b94f697fe90a52ab903c347e8e2feb16ccc1 Mon Sep 17 00:00:00 2001
From: Michal Podhradsky <podhrmic@users.noreply.github.com>
Date: Thu, 11 Aug 2016 10:08:41 -0700
Subject: [PATCH 3/4] [superbitrf] Removed unused code (#1837)

---
 sw/airborne/subsystems/datalink/superbitrf.c | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/sw/airborne/subsystems/datalink/superbitrf.c b/sw/airborne/subsystems/datalink/superbitrf.c
index 83669677984..65f9c3acd40 100644
--- a/sw/airborne/subsystems/datalink/superbitrf.c
+++ b/sw/airborne/subsystems/datalink/superbitrf.c
@@ -563,11 +563,6 @@ void superbitrf_event(void)
         case 5:
           superbitrf.state = 7;
           break;
-          // Start receiving
-          cyrf6936_multi_write(&superbitrf.cyrf6936, cyrf_start_receive, 2);
-          superbitrf.timer = (get_sys_time_usec() + SUPERBITRF_DATARECVB_TIME) % 0xFFFFFFFF;
-          superbitrf.state++;
-          break;
         case 6:
           // Wait for telemetry data
           if (superbitrf.timer < get_sys_time_usec()) {

From 0f6125f7e52c0e7afb15824e11037d4a50051365 Mon Sep 17 00:00:00 2001
From: podhrmic <michal.podhradsky@aggiemail.usu.edu>
Date: Thu, 11 Aug 2016 10:21:45 -0700
Subject: [PATCH 4/4] [chibios] Indentantion fix

---
 conf/Makefile.chibios | 1 -
 1 file changed, 1 deletion(-)

diff --git a/conf/Makefile.chibios b/conf/Makefile.chibios
index cd01fed70eb..0956171b1b5 100644
--- a/conf/Makefile.chibios
+++ b/conf/Makefile.chibios
@@ -80,7 +80,6 @@ ifeq (,$(findstring $(RTOS_DEBUG),0 FALSE))
 else
   CH_OPT ?= 2 -ggdb
 endif
-
   USE_OPT = -std=gnu99 -O$(CH_OPT) \
 	-falign-functions=16 -fomit-frame-pointer \
 	-W -Wall \