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87 lines
3.0 KiB
87 lines
3.0 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#ifndef _DRV_UORB_H |
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#define _DRV_UORB_H |
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/** |
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* @file uORB published object driver. |
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*/ |
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#include <sys/types.h> |
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#include <sys/ioctl.h> |
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#include <stdint.h> |
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/* XXX for ORB_DECLARE used in many drivers */ |
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#include "../uORB/uORB.h" |
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/* |
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* ioctl() definitions |
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*/ |
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/** path to the uORB control device for pub/sub topics */ |
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#define TOPIC_MASTER_DEVICE_PATH "/obj/_obj_" |
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/** path to the uORB control device for parameter topics */ |
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#define PARAM_MASTER_DEVICE_PATH "/param/_param_" |
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/** maximum ogbject name length */ |
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#define ORB_MAXNAME 32 |
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#define _ORBIOCBASE (0x2600) |
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#define _ORBIOC(_n) (_IOC(_ORBIOCBASE, _n)) |
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/* |
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* IOCTLs for the uORB control device |
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*/ |
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/** Advertise a new topic described by *(uorb_metadata *)arg */ |
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#define ORBIOCADVERTISE _ORBIOC(0) |
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/* |
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* IOCTLs for individual topics. |
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*/ |
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/** Fetch the time at which the topic was last updated into *(uint64_t *)arg */ |
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#define ORBIOCLASTUPDATE _ORBIOC(10) |
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/** Check whether the topic has been updated since it was last read, sets *(bool *)arg */ |
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#define ORBIOCUPDATED _ORBIOC(11) |
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/** Set the minimum interval at which the topic can be seen to be updated for this subscription */ |
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#define ORBIOCSETINTERVAL _ORBIOC(12) |
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/** Get the global advertiser handle for the topic */ |
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#define ORBIOCGADVERTISER _ORBIOC(13) |
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#endif /* _DRV_UORB_H */
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