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author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-30 00:25:26 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-30 00:25:26 +0400 |
commit | d2553bfd2930eb02664d564559fa361b80c63f61 (patch) | |
tree | 21cda568519c33a261edaaa9c370cc9ba9c7f466 /src/modules/uORB/topics/encoders.h | |
parent | 0789189c0588ebebd24a523f9639411be89c6a9b (diff) | |
parent | 9b1de5004c673ebe8bdf68f1b518565cccd6b05b (diff) | |
download | px4-firmware-d2553bfd2930eb02664d564559fa361b80c63f61.tar.gz px4-firmware-d2553bfd2930eb02664d564559fa361b80c63f61.tar.bz2 px4-firmware-d2553bfd2930eb02664d564559fa361b80c63f61.zip |
Merge branch 'master' into offboard2
Diffstat (limited to 'src/modules/uORB/topics/encoders.h')
-rw-r--r-- | src/modules/uORB/topics/encoders.h | 66 |
1 files changed, 66 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/encoders.h b/src/modules/uORB/topics/encoders.h new file mode 100644 index 000000000..588c0ddb1 --- /dev/null +++ b/src/modules/uORB/topics/encoders.h @@ -0,0 +1,66 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @file encoders.h + * + * Encoders topic. + * + */ + +#ifndef TOPIC_ENCODERS_H +#define TOPIC_ENCODERS_H + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +#define NUM_ENCODERS 4 + +struct encoders_s { + uint64_t timestamp; + int64_t counts[NUM_ENCODERS]; // counts of encoder + float velocity[NUM_ENCODERS]; // counts of encoder/ second +}; + +/** + * @} + */ + +ORB_DECLARE(encoders); + +#endif |