/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#ifndef __AP_INERTIAL_SENSOR_L3G4200D_H__
#define __AP_INERTIAL_SENSOR_L3G4200D_H__

#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX

#include <pthread.h>

#include "AP_InertialSensor.h"
#include <Filter/Filter.h>
#include <Filter/LowPassFilter2p.h>

class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
{
public:

    AP_InertialSensor_L3G4200D(AP_InertialSensor &imu);
    ~AP_InertialSensor_L3G4200D();

    /* update accel and gyro state */
    bool update();

    // detect the sensor
    static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);

    // return product ID
    int16_t product_id(void) const { return AP_PRODUCT_ID_L3G4200D; }

private:
    bool            _init_sensor(void);
    void            _accumulate(void);

    // gyro and accel instances
    uint8_t _gyro_instance;
    uint8_t _accel_instance;
};
#endif
#endif // __AP_INERTIAL_SENSOR_L3G4200D_H__