airspeed.h

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#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/uORB.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

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

class __EXPORT Airspeed : public device::I2C, public px4::ScheduledWorkItem
{
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();

    /**
    * Perform a poll cycle; collect from the previous measurement
    * and start a new one.
    */
    virtual void    Run() = 0;
    virtual int measure() = 0;
    virtual int collect() = 0;

    bool            _sensor_ok;
    int             _measure_interval;
    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;

    /**
    * 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();

    /**
    * add a new report to the reports queue
    *
    * @param report     differential_pressure_s report
    */
    void    new_report(const differential_pressure_s &report);
};