1 files changed, 14 insertions, 384 deletions

diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index 0dbbfb4c3..3e3930715 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -72,9 +72,7 @@
 #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
+#include <drivers/airspeed/airspeed.h>
 
 /* I2C bus address */
 #define I2C_ADDRESS	0x75	/* 7-bit address. 8-bit address is 0xEA */
@@ -91,349 +89,33 @@
 /* Measurement rate is 100Hz */
 #define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
 
-/* 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 ETSAirspeed : public device::I2C
+class ETSAirspeed : public Airspeed
 {
 public:
 	ETSAirspeed(int bus, int address = I2C_ADDRESS);
 	virtual ~ETSAirspeed();
 
-	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.
-	 */
-	void		print_info();
-
 protected:
-	virtual int	probe();
-
-private:
-	work_s			_work;
-	unsigned		_num_reports;
-	volatile unsigned	_next_report;
-	volatile unsigned	_oldest_report;
-	differential_pressure_s	*_reports;
-	bool			_sensor_ok;
-	int			_measure_ticks;
-	bool			_collect_phase;
-	float			_diff_pres_offset;
-
-	orb_advert_t		_airspeed_pub;
-
-	perf_counter_t		_sample_perf;
-	perf_counter_t		_comms_errors;
-	perf_counter_t		_buffer_overflows;
-
-
-	/**
-	* 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();
 
 	/**
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
 	*/
-	void	cycle();
-	int	measure();
-	int	collect();
-
-	/**
-	* 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);
-
+	virtual void	cycle();
+	virtual int	measure();
+	virtual int	collect();
 
 };
 
-/* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
-
 /*
  * Driver 'main' command.
  */
 extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
 
-ETSAirspeed::ETSAirspeed(int bus, int address) :
-	I2C("ETSAirspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000),
-	_num_reports(0),
-	_next_report(0),
-	_oldest_report(0),
-	_reports(nullptr),
-	_sensor_ok(false),
-	_measure_ticks(0),
-	_collect_phase(false),
-	_diff_pres_offset(0.0f),
-	_airspeed_pub(-1),
-	_sample_perf(perf_alloc(PC_ELAPSED, "ets_airspeed_read")),
-	_comms_errors(perf_alloc(PC_COUNT, "ets_airspeed_comms_errors")),
-	_buffer_overflows(perf_alloc(PC_COUNT, "ets_airspeed_buffer_overflows"))
-{
-	// enable debug() calls
-	_debug_enabled = true;
-
-	// work_cancel in the dtor will explode if we don't do this...
-	memset(&_work, 0, sizeof(_work));
-}
-
-ETSAirspeed::~ETSAirspeed()
-{
-	/* make sure we are truly inactive */
-	stop();
-
-	/* free any existing reports */
-	if (_reports != nullptr)
-		delete[] _reports;
-}
-
-int
-ETSAirspeed::init()
-{
-	int ret = ERROR;
-
-	/* do I2C init (and probe) first */
-	if (I2C::init() != OK)
-		goto out;
-
-	/* allocate basic report buffers */
-	_num_reports = 2;
-	_reports = new struct differential_pressure_s[_num_reports];
-
-	for (unsigned i = 0; i < _num_reports; i++)
-		_reports[i].max_differential_pressure_pa = 0;
-
-	if (_reports == nullptr)
-		goto out;
-
-	_oldest_report = _next_report = 0;
-
-	/* get a publish handle on the airspeed topic */
-	memset(&_reports[0], 0, sizeof(_reports[0]));
-	_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_reports[0]);
-
-	if (_airspeed_pub < 0)
-		debug("failed to create airspeed sensor object. Did you start uOrb?");
-
-	ret = OK;
-	/* sensor is ok, but we don't really know if it is within range */
-	_sensor_ok = true;
-out:
-	return ret;
-}
-
-int
-ETSAirspeed::probe()
-{
-	return measure();
-}
-
-int
-ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	switch (cmd) {
-
-	case SENSORIOCSPOLLRATE: {
-			switch (arg) {
-
-				/* switching to manual polling */
-			case SENSOR_POLLRATE_MANUAL:
-				stop();
-				_measure_ticks = 0;
-				return OK;
-
-				/* external signalling (DRDY) not supported */
-			case SENSOR_POLLRATE_EXTERNAL:
-
-				/* zero would be bad */
-			case 0:
-				return -EINVAL;
-
-				/* set default/max polling rate */
-			case SENSOR_POLLRATE_MAX:
-			case SENSOR_POLLRATE_DEFAULT: {
-					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
-
-					/* set interval for next measurement to minimum legal value */
-					_measure_ticks = USEC2TICK(CONVERSION_INTERVAL);
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start)
-						start();
-
-					return OK;
-				}
-
-				/* adjust to a legal polling interval in Hz */
-			default: {
-					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
-
-					/* convert hz to tick interval via microseconds */
-					unsigned ticks = USEC2TICK(1000000 / arg);
-
-					/* check against maximum rate */
-					if (ticks < USEC2TICK(CONVERSION_INTERVAL))
-						return -EINVAL;
-
-					/* update interval for next measurement */
-					_measure_ticks = ticks;
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start)
-						start();
-
-					return OK;
-				}
-			}
-		}
-
-	case SENSORIOCGPOLLRATE:
-		if (_measure_ticks == 0)
-			return SENSOR_POLLRATE_MANUAL;
-
-		return (1000 / _measure_ticks);
-
-	case SENSORIOCSQUEUEDEPTH: {
-			/* add one to account for the sentinel in the ring */
-			arg++;
-
-			/* lower bound is mandatory, upper bound is a sanity check */
-			if ((arg < 2) || (arg > 100))
-				return -EINVAL;
-
-			/* allocate new buffer */
-			struct differential_pressure_s *buf = new struct differential_pressure_s[arg];
-
-			if (nullptr == buf)
-				return -ENOMEM;
-
-			/* reset the measurement state machine with the new buffer, free the old */
-			stop();
-			delete[] _reports;
-			_num_reports = arg;
-			_reports = buf;
-			start();
-
-			return OK;
-		}
-
-	case SENSORIOCGQUEUEDEPTH:
-		return _num_reports - 1;
-
-	case SENSORIOCRESET:
-		/* XXX implement this */
-		return -EINVAL;
-
-	case AIRSPEEDIOCSSCALE: {
-		struct airspeed_scale *s = (struct airspeed_scale*)arg;
-		_diff_pres_offset = s->offset_pa;
-		return OK;
-		}
-
-	case AIRSPEEDIOCGSCALE: {
-		struct airspeed_scale *s = (struct airspeed_scale*)arg;
-		s->offset_pa = _diff_pres_offset;
-		s->scale = 1.0f;
-		return OK;
-		}
-
-	default:
-		/* give it to the superclass */
-		return I2C::ioctl(filp, cmd, arg);
-	}
-}
-
-ssize_t
-ETSAirspeed::read(struct file *filp, char *buffer, size_t buflen)
+ETSAirspeed::ETSAirspeed(int bus, int address) : Airspeed(bus, address,
+	CONVERSION_INTERVAL)
 {
-	unsigned count = buflen / sizeof(struct differential_pressure_s);
-	int ret = 0;
-
-	/* buffer must be large enough */
-	if (count < 1)
-		return -ENOSPC;
-
-	/* if automatic measurement is enabled */
-	if (_measure_ticks > 0) {
-
-		/*
-		 * While there is space in the caller's buffer, and reports, copy them.
-		 * Note that we may be pre-empted by the workq thread while we are doing this;
-		 * we are careful to avoid racing with them.
-		 */
-		while (count--) {
-			if (_oldest_report != _next_report) {
-				memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
-				ret += sizeof(_reports[0]);
-				INCREMENT(_oldest_report, _num_reports);
-			}
-		}
-
-		/* if there was no data, warn the caller */
-		return ret ? ret : -EAGAIN;
-	}
-
-	/* manual measurement - run one conversion */
-	/* XXX really it'd be nice to lock against other readers here */
-	do {
-		_oldest_report = _next_report = 0;
-
-		/* trigger a measurement */
-		if (OK != measure()) {
-			ret = -EIO;
-			break;
-		}
-
-		/* wait for it to complete */
-		usleep(CONVERSION_INTERVAL);
-
-		/* run the collection phase */
-		if (OK != collect()) {
-			ret = -EIO;
-			break;
-		}
-
-		/* state machine will have generated a report, copy it out */
-		memcpy(buffer, _reports, sizeof(*_reports));
-		ret = sizeof(*_reports);
 
-	} while (0);
-
-	return ret;
 }
 
 int
@@ -517,47 +199,6 @@ ETSAirspeed::collect()
 }
 
 void
-ETSAirspeed::start()
-{
-	/* reset the report ring and state machine */
-	_collect_phase = false;
-	_oldest_report = _next_report = 0;
-
-	/* schedule a cycle to start things */
-	work_queue(HPWORK, &_work, (worker_t)&ETSAirspeed::cycle_trampoline, this, 1);
-
-	/* notify about state change */
-	struct subsystem_info_s info = {
-		true,
-		true,
-		true,
-		SUBSYSTEM_TYPE_DIFFPRESSURE
-	};
-	static orb_advert_t pub = -1;
-
-	if (pub > 0) {
-		orb_publish(ORB_ID(subsystem_info), pub, &info);
-
-	} else {
-		pub = orb_advertise(ORB_ID(subsystem_info), &info);
-	}
-}
-
-void
-ETSAirspeed::stop()
-{
-	work_cancel(HPWORK, &_work);
-}
-
-void
-ETSAirspeed::cycle_trampoline(void *arg)
-{
-	ETSAirspeed *dev = (ETSAirspeed *)arg;
-
-	dev->cycle();
-}
-
-void
 ETSAirspeed::cycle()
 {
 	/* collection phase? */
@@ -582,7 +223,7 @@ ETSAirspeed::cycle()
 			/* schedule a fresh cycle call when we are ready to measure again */
 			work_queue(HPWORK,
 				   &_work,
-				   (worker_t)&ETSAirspeed::cycle_trampoline,
+				   (worker_t)&Airspeed::cycle_trampoline,
 				   this,
 				   _measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
 
@@ -600,22 +241,11 @@ ETSAirspeed::cycle()
 	/* schedule a fresh cycle call when the measurement is done */
 	work_queue(HPWORK,
 		   &_work,
-		   (worker_t)&ETSAirspeed::cycle_trampoline,
+		   (worker_t)&Airspeed::cycle_trampoline,
 		   this,
 		   USEC2TICK(CONVERSION_INTERVAL));
 }
 
-void
-ETSAirspeed::print_info()
-{
-	perf_print_counter(_sample_perf);
-	perf_print_counter(_comms_errors);
-	perf_print_counter(_buffer_overflows);
-	printf("poll interval:  %u ticks\n", _measure_ticks);
-	printf("report queue:   %u (%u/%u @ %p)\n",
-	       _num_reports, _oldest_report, _next_report, _reports);
-}
-
 /**
  * Local functions in support of the shell command.
  */
@@ -790,11 +420,11 @@ info()
 static void
 ets_airspeed_usage()
 {
-	fprintf(stderr, "usage: ets_airspeed command [options]\n");
-	fprintf(stderr, "options:\n");
-	fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT);
-	fprintf(stderr, "command:\n");
-	fprintf(stderr, "\tstart|stop|reset|test|info\n");
+	warnx("usage: ets_airspeed command [options]");
+	warnx("options:");
+	warnx("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
+	warnx("command:");
+	warnx("\tstart|stop|reset|test|info");
 }
 
 int