mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
5fcd7932e9
* uORB orb_stat() and update(uint64_t *time, void *dst) are now obsolete and have been deleted * mavlink messages add more advertised checks in streams get_size() check to improve data rate calculation across different scenarios
77 lines
2.8 KiB
C
77 lines
2.8 KiB
C
/****************************************************************************
|
|
*
|
|
* 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 */
|