/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file subsystem_info.h
* Definition of the subsystem info topic.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef TOPIC_SUBSYSTEM_INFO_H_
#define TOPIC_SUBSYSTEM_INFO_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
*/
enum SUBSYSTEM_TYPE
{
SUBSYSTEM_TYPE_GYRO = 1,
SUBSYSTEM_TYPE_ACC = 2,
SUBSYSTEM_TYPE_MAG = 4,
SUBSYSTEM_TYPE_ABSPRESSURE = 8,
SUBSYSTEM_TYPE_DIFFPRESSURE = 16,
SUBSYSTEM_TYPE_GPS = 32,
SUBSYSTEM_TYPE_OPTICALFLOW = 64,
SUBSYSTEM_TYPE_CVPOSITION = 128,
SUBSYSTEM_TYPE_LASERPOSITION = 256,
SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512,
SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024,
SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048,
SUBSYSTEM_TYPE_YAWPOSITION = 4096,
SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
SUBSYSTEM_TYPE_MOTORCONTROL = 65536
};
/**
* State of individual sub systems
*/
struct subsystem_info_s {
bool present;
bool enabled;
bool ok;
enum SUBSYSTEM_TYPE subsystem_type;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(subsystem_info);
#endif /* TOPIC_SUBSYSTEM_INFO_H_ */
