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author | M.H.Kabir <mhkabir98@gmail.com> | 2015-01-11 12:59:30 +0530 |
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committer | Mohammed Kabir <mhkabir98@gmail.com> | 2015-04-14 13:14:15 +0530 |
commit | 66e6938c6d979b1a955af7dbb3abb4d420d7c241 (patch) | |
tree | 0c39edb99b92e9146625fdd40628b717532641ba /src/modules/uORB | |
parent | 3c36a615692d746996e4d32a97e8e24285330913 (diff) | |
download | px4-firmware-66e6938c6d979b1a955af7dbb3abb4d420d7c241.tar.gz px4-firmware-66e6938c6d979b1a955af7dbb3abb4d420d7c241.tar.bz2 px4-firmware-66e6938c6d979b1a955af7dbb3abb4d420d7c241.zip |
timesync: Add uORB topic, general fixes
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 4 | ||||
-rw-r--r-- | src/modules/uORB/topics/time_offset.h | 67 |
2 files changed, 71 insertions, 0 deletions
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index dbed29774..75977ffd1 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -250,3 +250,7 @@ ORB_DEFINE(wind_estimate, struct wind_estimate_s); #include "topics/rc_parameter_map.h" ORB_DEFINE(rc_parameter_map, struct rc_parameter_map_s); + +#include "topics/time_offset.h" +ORB_DEFINE(time_offset, struct time_offset_s); + diff --git a/src/modules/uORB/topics/time_offset.h b/src/modules/uORB/topics/time_offset.h new file mode 100644 index 000000000..99e526c76 --- /dev/null +++ b/src/modules/uORB/topics/time_offset.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * Copyright (c) 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. + * + ****************************************************************************/ + +/** + * @file time_offset.h + * Time synchronisation offset + */ + +#ifndef TOPIC_TIME_OFFSET_H_ +#define TOPIC_TIME_OFFSET_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Timesync offset for synchronisation with companion computer, GCS, etc. + */ +struct time_offset_s { + + uint64_t offset_ns; /**< time offset between companion system and PX4, in nanoseconds */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(time_offset); + +#endif /* TOPIC_TIME_OFFSET_H_ */ |