airspeed.h

/****************************************************************************
 *
 *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 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.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    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
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#pragma once

#include <string.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_workqueue.h>
#include <perf/perf_counter.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/uORB.h>

/* Default I2C bus */
static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;

class __EXPORT Airspeed : public device::I2C
{
public:
    Airspeed(int bus, int address, unsigned conversion_interval, const char *path);
    virtual ~Airspeed();

    virtual int init();

    virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);

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

protected:
    virtual int probe();

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

    work_s          _work;
    bool            _sensor_ok;
    int             _measure_ticks;
    bool            _collect_phase;
    float           _diff_pres_offset;

    orb_advert_t        _airspeed_pub;
    int         _airspeed_orb_class_instance;

    int         _class_instance;

    unsigned        _conversion_interval;

    perf_counter_t      _sample_perf;
    perf_counter_t      _comms_errors;

    void    start();

    void    stop();

    static void cycle_trampoline(void *arg);

    void    new_report(const differential_pressure_s &report);
};