airspeedsim.h

/****************************************************************************
 *
 *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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#include <px4_config.h>
#include <px4_defines.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>

#include <px4_workqueue.h>
#include <arch/board/board.h>

#include <systemlib/err.h>
#include <parameters/param.h>
#include <perf/perf_counter.h>

#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <lib/cdev/CDev.hpp>

#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>

/* Default I2C bus */
#define PX4_I2C_BUS_DEFAULT     PX4_I2C_BUS_EXPANSION

#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif

class __EXPORT AirspeedSim : public cdev::CDev
{
public:
    AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path);
    virtual ~AirspeedSim();

    virtual int init();

    virtual ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen);
    virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);

    virtual void    print_info();

private:
    ringbuffer::RingBuffer      *_reports;

    unsigned _retries;  // XXX this should come from the SIM class

    /* this class has pointer data members and should not be copied */
    AirspeedSim(const AirspeedSim &);
    AirspeedSim &operator=(const AirspeedSim &);

protected:
    virtual int probe();

    virtual void    cycle() = 0;
    virtual int measure() = 0;
    virtual int collect() = 0;

    virtual int transfer(const uint8_t *send, unsigned send_len,
                 uint8_t *recv, unsigned recv_len);

    struct work_s           _work {};
    bool            _sensor_ok;
    int         _measure_ticks;
    bool            _collect_phase;
    float           _diff_pres_offset;

    orb_advert_t        _airspeed_pub;

    int         _class_instance;

    int     _conversion_interval;

    perf_counter_t      _sample_perf;
    perf_counter_t      _comms_errors;


    int probe_address(uint8_t address);

    void    start();

    void    stop();

    static void cycle_trampoline(void *arg);

    void    new_report(const differential_pressure_s &report);
};