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100 lines
3.0 KiB
C++
100 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file airspeed.cpp
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* @author Simon Wilks <simon@px4.io>
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* @author Lorenz Meier <lorenz@px4.io>
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*
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*/
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#include <px4_platform_common/px4_config.h>
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#include <drivers/device/device.h>
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#include <drivers/device/i2c.h>
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#include <systemlib/err.h>
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#include <parameters/param.h>
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#include <perf/perf_counter.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/differential_pressure.h>
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#include <drivers/airspeed/airspeed.h>
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Airspeed::Airspeed(int bus, int bus_frequency, int address, unsigned conversion_interval) :
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I2C(0, "Airspeed", bus, address, bus_frequency),
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_sensor_ok(false),
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_measure_interval(conversion_interval),
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_collect_phase(false),
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_conversion_interval(conversion_interval),
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_sample_perf(perf_alloc(PC_ELAPSED, "aspd_read")),
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_comms_errors(perf_alloc(PC_COUNT, "aspd_com_err"))
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{
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}
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Airspeed::~Airspeed()
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{
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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}
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int
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Airspeed::init()
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{
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/* do I2C init (and probe) first */
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if (I2C::init() != PX4_OK) {
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return PX4_ERROR;
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}
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/* advertise sensor topic, measure manually to initialize valid report */
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measure();
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return PX4_OK;
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}
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int
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Airspeed::probe()
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{
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/* on initial power up the device may need more than one retry
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for detection. Once it is running the number of retries can
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be reduced
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*/
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_retries = 1;
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int ret = measure();
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return ret;
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}
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