Fresh import of the PX4 firmware sources.

1 files changed, 83 insertions, 0 deletions

diff --git a/apps/mavlink/mavlink_log.h b/apps/mavlink/mavlink_log.h
new file mode 100644
index 000000000..1ad1364be
--- /dev/null
+++ b/apps/mavlink/mavlink_log.h
@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.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 mavlink_log.h
+ * MAVLink text logging.
+ */
+
+#ifndef MAVLINK_LOG
+#define MAVLINK_LOG
+
+/*
+ * IOCTL interface for sending log messages.
+ */
+#include <sys/ioctl.h>
+
+/*
+ * The mavlink log device node; must be opened before messages
+ * can be logged.
+ */
+#define MAVLINK_LOG_DEVICE			"/dev/mavlink"
+
+#define MAVLINK_IOC_SEND_TEXT_INFO		_IOC(0x1100, 1)
+#define MAVLINK_IOC_SEND_TEXT_CRITICAL		_IOC(0x1100, 2)
+#define MAVLINK_IOC_SEND_TEXT_EMERGENCY		_IOC(0x1100, 3)
+
+/**
+ * Send a mavlink emergency message.
+ *
+ * @param _fd		A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
+ * @param _text		The text to log;
+ */
+#define mavlink_log_emergency(_fd, _text)	ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text);
+
+/**
+ * Send a mavlink critical message.
+ *
+ * @param _fd		A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
+ * @param _text		The text to log;
+ */
+#define mavlink_log_critical(_fd, _text)	ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text);
+
+/**
+ * Send a mavlink info message.
+ *
+ * @param _fd		A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
+ * @param _text		The text to log;
+ */
+#define mavlink_log_info(_fd, _text)		ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
+
+#endif
+