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101 lines
3.9 KiB
C
101 lines
3.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013 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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/**
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* @file telemetry_status.h
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*
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* Telemetry status topics - radio status outputs
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*/
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#ifndef TOPIC_TELEMETRY_STATUS_H
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#define TOPIC_TELEMETRY_STATUS_H
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#include <stdint.h>
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#include "../uORB.h"
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enum TELEMETRY_STATUS_RADIO_TYPE {
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TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0,
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TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO,
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TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET,
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TELEMETRY_STATUS_RADIO_TYPE_WIRE
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};
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/**
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* @addtogroup topics
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* @{
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*/
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struct telemetry_status_s {
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uint64_t timestamp;
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uint64_t heartbeat_time; /**< Time of last received heartbeat from remote system */
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uint64_t telem_time; /**< Time of last received telemetry status packet, 0 for none */
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enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */
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uint8_t rssi; /**< local signal strength */
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uint8_t remote_rssi; /**< remote signal strength */
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uint16_t rxerrors; /**< receive errors */
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uint16_t fixed; /**< count of error corrected packets */
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uint8_t noise; /**< background noise level */
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uint8_t remote_noise; /**< remote background noise level */
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uint8_t txbuf; /**< how full the tx buffer is as a percentage */
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};
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/**
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* @}
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*/
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ORB_DECLARE(telemetry_status_0);
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ORB_DECLARE(telemetry_status_1);
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ORB_DECLARE(telemetry_status_2);
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ORB_DECLARE(telemetry_status_3);
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#define TELEMETRY_STATUS_ORB_ID_NUM 4
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static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = {
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ORB_ID(telemetry_status_0),
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ORB_ID(telemetry_status_1),
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ORB_ID(telemetry_status_2),
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ORB_ID(telemetry_status_3),
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};
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// This is a hack to quiet an unused-variable warning for when telemetry_status.h is
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// included but telemetry_status_orb_id is not referenced. The inline works if you
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// choose to use it, but you can continue to just directly index into the array as well.
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// If you don't use the inline this ends up being a no-op with no additional code emitted.
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extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index);
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extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index)
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{
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return telemetry_status_orb_id[index];
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}
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#endif /* TOPIC_TELEMETRY_STATUS_H */
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