drivers/differential_pressure move all to px4 work queue

src/drivers/differential_pressure/ets/ets_airspeed.cpp

@@ -84,9 +84,9 @@ protected:
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
 	*/
-	virtual void	cycle();
+	void	Run() override;
-	virtual int	measure();
+	int	measure() override;
-	virtual int	collect();
+	int	collect() override;
 
 };
 
@@ -174,7 +174,7 @@ ETSAirspeed::collect()
 }
 
 void
-ETSAirspeed::cycle()
+ETSAirspeed::Run()
 {
 	int ret;
 
@@ -198,14 +198,10 @@ ETSAirspeed::cycle()
 		/*
 		 * Is there a collect->measure gap?
 		 */
-		if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
+		if (_measure_interval > CONVERSION_INTERVAL) {
 
 			/* schedule a fresh cycle call when we are ready to measure again */
-			work_queue(HPWORK,
+			ScheduleDelayed(_measure_interval - CONVERSION_INTERVAL);
-				   &_work,
-				   (worker_t)&Airspeed::cycle_trampoline,
-				   this,
-				   _measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
 
 			return;
 		}
@@ -224,11 +220,7 @@ ETSAirspeed::cycle()
 	_collect_phase = true;
 
 	/* schedule a fresh cycle call when the measurement is done */
-	work_queue(HPWORK,
+	ScheduleDelayed(CONVERSION_INTERVAL);
-		   &_work,
-		   (worker_t)&Airspeed::cycle_trampoline,
-		   this,
-		   USEC2TICK(CONVERSION_INTERVAL));
 }
 
 /**

src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp

@@ -99,9 +99,9 @@ protected:
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
 	*/
-	virtual void	cycle();
+	void	Run() override;
-	virtual int	measure();
+	int	measure() override;
-	virtual int	collect();
+	int	collect() override;
 
 	math::LowPassFilter2p	_filter{MEAS_RATE, MEAS_DRIVER_FILTER_FREQ};
 
@@ -238,7 +238,7 @@ MEASAirspeed::collect()
 }
 
 void
-MEASAirspeed::cycle()
+MEASAirspeed::Run()
 {
 	int ret;
 
@@ -261,14 +261,10 @@ MEASAirspeed::cycle()
 		/*
 		 * Is there a collect->measure gap?
 		 */
-		if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
+		if (_measure_interval > CONVERSION_INTERVAL) {
 
 			/* schedule a fresh cycle call when we are ready to measure again */
-			work_queue(HPWORK,
+			ScheduleDelayed(_measure_interval - CONVERSION_INTERVAL);
-				   &_work,
-				   (worker_t)&Airspeed::cycle_trampoline,
-				   this,
-				   _measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
 
 			return;
 		}
@@ -287,11 +283,7 @@ MEASAirspeed::cycle()
 	_collect_phase = true;
 
 	/* schedule a fresh cycle call when the measurement is done */
-	work_queue(HPWORK,
+	ScheduleDelayed(CONVERSION_INTERVAL);
-		   &_work,
-		   (worker_t)&Airspeed::cycle_trampoline,
-		   this,
-		   USEC2TICK(CONVERSION_INTERVAL));
 }
 
 /**

src/drivers/differential_pressure/ms5525/MS5525.cpp

@@ -272,7 +272,7 @@ MS5525::collect()
 }
 
 void
-MS5525::cycle()
+MS5525::Run()
 {
 	int ret = PX4_ERROR;
 
@@ -292,11 +292,10 @@ MS5525::cycle()
 		_collect_phase = false;
 
 		// is there a collect->measure gap?
-		if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
+		if (_measure_interval > CONVERSION_INTERVAL) {
 
 			// schedule a fresh cycle call when we are ready to measure again
-			work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this,
+			ScheduleDelayed(_measure_interval - CONVERSION_INTERVAL);
-				   _measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
 
 			return;
 		}
@@ -315,5 +314,5 @@ MS5525::cycle()
 	_collect_phase = true;
 
 	// schedule a fresh cycle call when the measurement is done
-	work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, USEC2TICK(CONVERSION_INTERVAL));
+	ScheduleDelayed(CONVERSION_INTERVAL);
 }

src/drivers/differential_pressure/ms5525/MS5525.hpp

@@ -71,7 +71,7 @@ private:
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
 	*/
-	void cycle() override;
+	void Run() override;
 
 	int measure() override;
 	int collect() override;

src/drivers/differential_pressure/sdp3x/SDP3X.cpp

@@ -168,7 +168,7 @@ SDP3X::collect()
 }
 
 void
-SDP3X::cycle()
+SDP3X::Run()
 {
 	int ret = PX4_ERROR;
 
@@ -181,7 +181,7 @@ SDP3X::cycle()
 	}
 
 	// schedule a fresh cycle call when the measurement is done
-	work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, USEC2TICK(CONVERSION_INTERVAL));
+	ScheduleDelayed(CONVERSION_INTERVAL);
 }
 
 bool SDP3X::crc(const uint8_t data[], unsigned size, uint8_t checksum)

src/drivers/differential_pressure/sdp3x/SDP3X.hpp

@@ -87,7 +87,7 @@ private:
 	 * Perform a poll cycle; collect from the previous measurement
 	 * and start a new one.
 	 */
-	void	cycle() override;
+	void	Run() override;
 	int	measure() override { return 0; }
 	int	collect() override;
 	int	probe() override;

src/lib/drivers/airspeed/airspeed.cpp

@@ -58,8 +58,9 @@
 
 Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
 	I2C("Airspeed", path, bus, address, 100000),
+	ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
 	_sensor_ok(false),
-	_measure_ticks(0),
+	_measure_interval(0),
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
 	_airspeed_pub(nullptr),
@@ -69,11 +70,6 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
 	_sample_perf(perf_alloc(PC_ELAPSED, "aspd_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "aspd_com_err"))
 {
-	// enable debug() calls
-	_debug_enabled = false;
-
-	// work_cancel in the dtor will explode if we don't do this...
-	memset(&_work, 0, sizeof(_work));
 }
 
 Airspeed::~Airspeed()
@@ -148,10 +144,10 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 			/* set default polling rate */
 			case SENSOR_POLLRATE_DEFAULT: {
 					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
+					bool want_start = (_measure_interval == 0);
 
 					/* set interval for next measurement to minimum legal value */
-					_measure_ticks = USEC2TICK(_conversion_interval);
+					_measure_interval = USEC2TICK(_conversion_interval);
 
 					/* if we need to start the poll state machine, do it */
 					if (want_start) {
@@ -164,18 +160,18 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 			/* adjust to a legal polling interval in Hz */
 			default: {
 					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
+					bool want_start = (_measure_interval == 0);
 
 					/* convert hz to tick interval via microseconds */
-					unsigned ticks = USEC2TICK(1000000 / arg);
+					unsigned interval = (1000000 / arg);
 
 					/* check against maximum rate */
-					if (ticks < USEC2TICK(_conversion_interval)) {
+					if (interval < _conversion_interval) {
 						return -EINVAL;
 					}
 
 					/* update interval for next measurement */
-					_measure_ticks = ticks;
+					_measure_interval = interval;
 
 					/* if we need to start the poll state machine, do it */
 					if (want_start) {
@@ -207,18 +203,11 @@ Airspeed::start()
 	_collect_phase = false;
 
 	/* schedule a cycle to start things */
-	work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
+	ScheduleNow();
 }
 
 void
 Airspeed::stop()
 {
-	work_cancel(HPWORK, &_work);
+	ScheduleClear();
-}
-
-void
-Airspeed::cycle_trampoline(void *arg)
-{
-	Airspeed *dev = (Airspeed *)arg;
-	dev->cycle();
 }

src/lib/drivers/airspeed/airspeed.h

@@ -39,15 +39,15 @@
 #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>
+#include <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
+class __EXPORT Airspeed : public device::I2C, public px4::ScheduledWorkItem
 {
 public:
 	Airspeed(int bus, int address, unsigned conversion_interval, const char *path);
@@ -69,13 +69,12 @@ protected:
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
 	*/
-	virtual void	cycle() = 0;
+	virtual void	Run() = 0;
 	virtual int	measure() = 0;
 	virtual int	collect() = 0;
 
-	work_s			_work;
 	bool			_sensor_ok;
-	int				_measure_ticks;
+	int				_measure_interval;
 	bool			_collect_phase;
 	float			_diff_pres_offset;
 
@@ -102,14 +101,6 @@ protected:
 	*/
 	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
 	*