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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/drivers/drv_orb_dev.h | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/drivers/drv_orb_dev.h')
-rw-r--r-- | apps/drivers/drv_orb_dev.h | 84 |
1 files changed, 84 insertions, 0 deletions
diff --git a/apps/drivers/drv_orb_dev.h b/apps/drivers/drv_orb_dev.h new file mode 100644 index 000000000..bacef1cd3 --- /dev/null +++ b/apps/drivers/drv_orb_dev.h @@ -0,0 +1,84 @@ +/**************************************************************************** + * + * Copyright (C) 2012 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 uORB published object driver. + */ + +#include <sys/types.h> +#include <sys/ioctl.h> +#include <stdint.h> + +/* XXX for ORB_DECLARE used in many drivers */ +#include "../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 (_DIOCBASE + 0x80) +#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) + +#endif /* _DRV_UORB_H */ |