forked from Archive/PX4-Autopilot
69 lines
2.2 KiB
C
69 lines
2.2 KiB
C
|
/* Structure for storage of shared variables (extended( */
|
||
|
|
|
||
|
|
/* global_data_subsystem_info stores a buffer of the sensor info/status messages (sent by sensors or gps app), this is then handled by the commander. (The commander then writes to global_data_sys_status which is read by mavlink) */
|
||
|
|
|
||
|
|
/* (any app) --> global_data_subsystem_info (buffered) --> (commander app) --> global_data_sys_status --> (mavlink app) */
|
||
|
|
|
||
|
|
#ifndef GLOBAL_DATA_SUBSYSTEM_INFO_T_H_ //adjust this line!
|
||
|
|
#define GLOBAL_DATA_SUBSYSTEM_INFO_T_H_ //adjust this line!
|
||
|
|
|
||
|
|
#define SUBSYSTEM_INFO_BUFFER_SIZE 10
|
||
|
|
|
||
|
|
#include "global_data_access.h"
|
||
|
|
|
||
|
|
typedef enum //values correspond to bitmasks of mavlink message sys_status, this is crucial for the underlying bitmask to work
|
||
|
|
{
|
||
|
|
SUBSYSTEM_TYPE_GYRO = 0,
|
||
|
|
SUBSYSTEM_TYPE_ACC = 1,
|
||
|
|
SUBSYSTEM_TYPE_MAG = 2,
|
||
|
|
SUBSYSTEM_TYPE_ABSPRESSURE = 3,
|
||
|
|
SUBSYSTEM_TYPE_DIFFPRESSURE = 4,
|
||
|
|
SUBSYSTEM_TYPE_GPS = 5,
|
||
|
|
SUBSYSTEM_TYPE_OPTICALFLOW = 6,
|
||
|
|
SUBSYSTEM_TYPE_CVPOSITION = 7,
|
||
|
|
SUBSYSTEM_TYPE_LASERPOSITION = 8,
|
||
|
|
SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 9,
|
||
|
|
SUBSYSTEM_TYPE_ANGULARRATECONTROL = 10,
|
||
|
|
SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 11,
|
||
|
|
SUBSYSTEM_TYPE_YAWPOSITION = 12,
|
||
|
|
SUBSYSTEM_TYPE_ALTITUDECONTROL = 13,
|
||
|
|
SUBSYSTEM_TYPE_POSITIONCONTROL = 14,
|
||
|
|
SUBSYSTEM_TYPE_MOTORCONTROL = 15
|
||
|
|
|
||
|
|
} subsystem_type_t;
|
||
|
|
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
uint8_t present;
|
||
|
|
uint8_t enabled;
|
||
|
|
uint8_t health;
|
||
|
|
|
||
|
|
subsystem_type_t subsystem_type;
|
||
|
|
|
||
|
|
} __attribute__((__packed__)) subsystem_info_t;
|
||
|
|
|
||
|
|
typedef struct
|
||
|
|
{
|
||
|
|
/* Struct which stores the access configuration, this is the same for all shared structs */
|
||
|
|
|
||
|
|
access_conf_t access_conf; //don't remove this line!
|
||
|
|
|
||
|
|
/* use of a counter and timestamp recommended (but not necessary) */
|
||
|
|
|
||
|
|
uint16_t counter; //incremented by the writing thread everytime new data is stored
|
||
|
|
uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
|
||
|
|
|
||
|
|
/* Actual data, this is specific to the type of data which is stored in this struct */
|
||
|
|
|
||
|
|
//***** Start: Add your variables here *****
|
||
|
|
subsystem_info_t info[SUBSYSTEM_INFO_BUFFER_SIZE];
|
||
|
|
uint8_t current_info;
|
||
|
|
|
||
|
|
//*****END: Add your variables here *****
|
||
|
|
|
||
|
|
} global_data_subsystem_info_t; //adjust this line!
|
||
|
|
|
||
|
|
extern global_data_subsystem_info_t* global_data_subsystem_info; //adjust this line!
|
||
|
|
|
||
|
|
#endif
|