From 66e6938c6d979b1a955af7dbb3abb4d420d7c241 Mon Sep 17 00:00:00 2001 From: "M.H.Kabir" Date: Sun, 11 Jan 2015 12:59:30 +0530 Subject: timesync: Add uORB topic, general fixes --- src/modules/uORB/topics/time_offset.h | 67 +++++++++++++++++++++++++++++++++++ 1 file changed, 67 insertions(+) create mode 100644 src/modules/uORB/topics/time_offset.h (limited to 'src/modules/uORB/topics') 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 +#include +#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_ */ -- cgit v1.2.3