text: /****************************************************************************
   *
   *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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   * Redistribution and use in source and binary forms, with or without
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   * 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.
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   *    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
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  #ifndef _DRV_UORB_H
  #define _DRV_UORB_H
  
  /**
   * @file drv_orb_dev.h
   *
   * uORB published object driver.
   */
  
  #include <px4_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.
   */
  
  /** Fetch the time at which the topic was last updated into *(uint64_t *)arg */
  #define ORBIOCLASTUPDATE	_ORBIOC(10)
  
  /** 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 published, sets *(unsigned long *)arg to 1 if published, 0 otherwise */
  #define ORBIOCISPUBLISHED	_ORBIOC(17)
  
  #endif /* _DRV_UORB_H */
  