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Diffstat (limited to 'src/modules/uORB/topics/subsystem_info.h')
-rw-r--r-- | src/modules/uORB/topics/subsystem_info.h | 97 |
1 files changed, 97 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h new file mode 100644 index 000000000..c415e832e --- /dev/null +++ b/src/modules/uORB/topics/subsystem_info.h @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.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 subsystem_info.h + * Definition of the subsystem info topic. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + */ + +#ifndef TOPIC_SUBSYSTEM_INFO_H_ +#define TOPIC_SUBSYSTEM_INFO_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + */ + +enum SUBSYSTEM_TYPE +{ + SUBSYSTEM_TYPE_GYRO = 1, + SUBSYSTEM_TYPE_ACC = 2, + SUBSYSTEM_TYPE_MAG = 4, + SUBSYSTEM_TYPE_ABSPRESSURE = 8, + SUBSYSTEM_TYPE_DIFFPRESSURE = 16, + SUBSYSTEM_TYPE_GPS = 32, + SUBSYSTEM_TYPE_OPTICALFLOW = 64, + SUBSYSTEM_TYPE_CVPOSITION = 128, + SUBSYSTEM_TYPE_LASERPOSITION = 256, + SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512, + SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024, + SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048, + SUBSYSTEM_TYPE_YAWPOSITION = 4096, + SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384, + SUBSYSTEM_TYPE_POSITIONCONTROL = 32768, + SUBSYSTEM_TYPE_MOTORCONTROL = 65536, + SUBSYSTEM_TYPE_RANGEFINDER = 131072 +}; + +/** + * State of individual sub systems + */ +struct subsystem_info_s { + bool present; + bool enabled; + bool ok; + + enum SUBSYSTEM_TYPE subsystem_type; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(subsystem_info); + +#endif /* TOPIC_SUBSYSTEM_INFO_H_ */ + |