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/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* 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.
*
****************************************************************************/
#ifndef _DRV_UORB_H
#define _DRV_UORB_H
/**
* @file drv_orb_dev.h
*
* uORB published object driver.
*/
#include <sys/types.h>
#include <sys/ioctl.h>
#include <stdint.h>
/* XXX for ORB_DECLARE used in many drivers */
#include "../modules/uORB/uORB.h"
/*
* ioctl() definitions
*/
/** path to the uORB control device for pub/sub topics */
#define TOPIC_MASTER_DEVICE_PATH "/obj/_obj_"
/** path to the uORB control device for parameter topics */
#define PARAM_MASTER_DEVICE_PATH "/param/_param_"
/** maximum ogbject name length */
#define ORB_MAXNAME 32
#define _ORBIOCBASE (0x2600)
#define _ORBIOC(_n) (_IOC(_ORBIOCBASE, _n))
/*
* IOCTLs for the uORB control device
*/
/** Advertise a new topic described by *(uorb_metadata *)arg */
#define ORBIOCADVERTISE _ORBIOC(0)
/*
* IOCTLs for individual topics.
*/
/** Fetch the time at which the topic was last updated into *(uint64_t *)arg */
#define ORBIOCLASTUPDATE _ORBIOC(10)
/** Check whether the topic has been updated since it was last read, sets *(bool *)arg */
#define ORBIOCUPDATED _ORBIOC(11)
/** Set the minimum interval at which the topic can be seen to be updated for this subscription */
#define ORBIOCSETINTERVAL _ORBIOC(12)
/** Get the global advertiser handle for the topic */
#define ORBIOCGADVERTISER _ORBIOC(13)
/** Get the priority for the topic */
#define ORBIOCGPRIORITY _ORBIOC(14)
#endif /* _DRV_UORB_H */
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