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83 lines
3.0 KiB
83 lines
3.0 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. |
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* Author: @author Lorenz Meier <lm@inf.ethz.ch> |
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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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/** |
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* @file mavlink_log.h |
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* MAVLink text logging. |
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*/ |
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#ifndef MAVLINK_LOG |
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#define MAVLINK_LOG |
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/* |
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* IOCTL interface for sending log messages. |
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*/ |
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#include <sys/ioctl.h> |
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/* |
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* The mavlink log device node; must be opened before messages |
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* can be logged. |
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*/ |
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#define MAVLINK_LOG_DEVICE "/dev/mavlink" |
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#define MAVLINK_IOC_SEND_TEXT_INFO _IOC(0x1100, 1) |
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#define MAVLINK_IOC_SEND_TEXT_CRITICAL _IOC(0x1100, 2) |
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#define MAVLINK_IOC_SEND_TEXT_EMERGENCY _IOC(0x1100, 3) |
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/** |
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* Send a mavlink emergency message. |
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* |
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* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); |
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* @param _text The text to log; |
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*/ |
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#define mavlink_log_emergency(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text); |
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/** |
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* Send a mavlink critical message. |
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* |
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* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); |
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* @param _text The text to log; |
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*/ |
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#define mavlink_log_critical(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text); |
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/** |
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* Send a mavlink info message. |
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* |
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* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); |
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* @param _text The text to log; |
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*/ |
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#define mavlink_log_info(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text); |
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#endif |
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