PX4 Firmware
PX4 Autopilot Software http://px4.io
drv_orb_dev.h
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 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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*
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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 drv_orb_dev.h
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*
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* uORB published object driver.
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*/
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#include <px4_platform_common/defines.h>
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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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#define _ORBIOCBASE (0x2600)
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#define _ORBIOC(_n) (_PX4_IOC(_ORBIOCBASE, _n))
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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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/** Get the priority for the topic */
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#define ORBIOCGPRIORITY _ORBIOC(14)
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/** Set the queue size of the topic */
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#define ORBIOCSETQUEUESIZE _ORBIOC(15)
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/** Get the minimum interval at which the topic can be seen to be updated for this subscription */
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#define ORBIOCGETINTERVAL _ORBIOC(16)
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/** Check whether the topic is advertised, sets *(unsigned long *)arg to 1 if advertised, 0 otherwise */
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#define ORBIOCISADVERTISED _ORBIOC(17)
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#endif
/* _DRV_UORB_H */
src
drivers
drv_orb_dev.h
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