airspeed.h
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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.
*
****************************************************************************/
#pragma once
#include <string.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <perf/perf_counter.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/PublicationMulti.hpp>
class __EXPORT Airspeed : public device::I2C
{
public:
Airspeed(int bus, int bus_frequency, int address, unsigned conversion_interval);
virtual ~Airspeed();
int init() override;
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
private:
Airspeed(const Airspeed &) = delete;
Airspeed &operator=(const Airspeed &) = delete;
protected:
int probe() override;
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
virtual int measure() = 0;
virtual int collect() = 0;
bool _sensor_ok;
int _measure_interval;
bool _collect_phase;
float _diff_pres_offset;
uORB::PublicationMulti<differential_pressure_s> _airspeed_pub{ORB_ID(differential_pressure)};
int _airspeed_orb_class_instance;
int _class_instance;
unsigned _conversion_interval;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
};