drv_orb_dev.h
2.83 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
/****************************************************************************
*
* Copyright (c) 2012-2015 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.
*
****************************************************************************/
#ifndef _DRV_UORB_H
#define _DRV_UORB_H
/**
* @file drv_orb_dev.h
*
* uORB published object driver.
*/
#include <px4_platform_common/defines.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <stdint.h>
#define _ORBIOCBASE (0x2600)
#define _ORBIOC(_n) (_PX4_IOC(_ORBIOCBASE, _n))
/*
* IOCTLs for individual topics.
*/
/** Check whether the topic has been updated since it was last read, sets *(bool *)arg */
#define ORBIOCUPDATED _ORBIOC(11)
/** 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)
/** Get the priority for the topic */
#define ORBIOCGPRIORITY _ORBIOC(14)
/** Set the queue size of the topic */
#define ORBIOCSETQUEUESIZE _ORBIOC(15)
/** Get the minimum interval at which the topic can be seen to be updated for this subscription */
#define ORBIOCGETINTERVAL _ORBIOC(16)
/** Check whether the topic is advertised, sets *(unsigned long *)arg to 1 if advertised, 0 otherwise */
#define ORBIOCISADVERTISED _ORBIOC(17)
#endif /* _DRV_UORB_H */