From 88f0080a0ffb299006950c0453eabddb7d17f078 Mon Sep 17 00:00:00 2001 From: px4dev Date: Tue, 21 Aug 2012 23:44:22 -0700 Subject: Fix an architectural issue with the ORB that prevented publication from interrupt context. ORB topic advertisements are now global handles that can be used in any context. It is still possible to open a topic node as a publisher, but it's not the default. As a consequence, the type of the handle returned from orb_advertise has changed; all other API remains the same. --- apps/drivers/drv_orb_dev.h | 3 +++ 1 file changed, 3 insertions(+) (limited to 'apps/drivers/drv_orb_dev.h') diff --git a/apps/drivers/drv_orb_dev.h b/apps/drivers/drv_orb_dev.h index b3fc01a5f..50288f690 100644 --- a/apps/drivers/drv_orb_dev.h +++ b/apps/drivers/drv_orb_dev.h @@ -81,4 +81,7 @@ /** Set the minimum interval at which the topic can be seen to be updated for this subscription */ #define ORBIOCSETINTERVAL _ORBIOC(12) +/** Get the global advertiser handle for the topic */ +#define ORBIOCGADVERTISER _ORBIOC(13) + #endif /* _DRV_UORB_H */ -- cgit v1.2.3