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/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file airspeed.h
* @author Simon Wilks
*
* Generic driver for airspeed sensors connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.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 <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <systemlib/airspeed.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/subsystem_info.h>
/* Default I2C bus */
#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
/* Oddly, ERROR is not defined for C++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class __EXPORT Airspeed : public device::I2C
{
public:
Airspeed(int bus, int address, unsigned conversion_interval, const char* path);
virtual ~Airspeed();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
virtual void print_info();
private:
RingBuffer *_reports;
perf_counter_t _buffer_overflows;
protected:
virtual int probe();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
virtual void cycle() = 0;
virtual int measure() = 0;
virtual int collect() = 0;
/**
* Update the subsystem status
*/
void update_status();
work_s _work;
float _max_differential_pressure_pa;
bool _sensor_ok;
bool _last_published_sensor_ok;
int _measure_ticks;
bool _collect_phase;
float _diff_pres_offset;
orb_advert_t _airspeed_pub;
orb_advert_t _subsys_pub;
int _class_instance;
unsigned _conversion_interval;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
/**
* add a new report to the reports queue
*
* @param report differential_pressure_s report
*/
void new_report(const differential_pressure_s &report);
};
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