2012-08-23 19:01:23 -03:00
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/****************************************************************************
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*
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2012-11-10 07:13:40 -04:00
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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* Thomas Gubler <thomasgubler@student.ethz.ch>
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* Julian Oes <joes@student.ethz.ch>
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2012-08-23 19:01:23 -03:00
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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 subsystem_info.h
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* Definition of the subsystem info topic.
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2012-11-10 07:13:40 -04:00
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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2012-08-23 19:01:23 -03:00
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*/
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#ifndef TOPIC_SUBSYSTEM_INFO_H_
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#define TOPIC_SUBSYSTEM_INFO_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics
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*/
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enum SUBSYSTEM_TYPE
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{
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SUBSYSTEM_TYPE_GYRO = 1,
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SUBSYSTEM_TYPE_ACC = 2,
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SUBSYSTEM_TYPE_MAG = 4,
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SUBSYSTEM_TYPE_ABSPRESSURE = 8,
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SUBSYSTEM_TYPE_DIFFPRESSURE = 16,
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SUBSYSTEM_TYPE_GPS = 32,
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SUBSYSTEM_TYPE_OPTICALFLOW = 64,
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SUBSYSTEM_TYPE_CVPOSITION = 128,
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SUBSYSTEM_TYPE_LASERPOSITION = 256,
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SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512,
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SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024,
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SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048,
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SUBSYSTEM_TYPE_YAWPOSITION = 4096,
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SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
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SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
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SUBSYSTEM_TYPE_MOTORCONTROL = 65536
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};
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/**
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* State of individual sub systems
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*/
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struct subsystem_info_s {
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bool present;
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bool enabled;
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bool ok;
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enum SUBSYSTEM_TYPE subsystem_type;
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(subsystem_info);
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#endif /* TOPIC_SUBSYSTEM_INFO_H_ */
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