mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 01:48:29 -04:00
9c6bd38e91
Due to the way the headers are organized changing a single change in an inertial sensor driver would trigger a rebuild for most of the files in the project. Time could be saved by using ccache (since most of the things didn't change) but we can do better, i.e. re-organize the headers so we don't have to re-build everything. With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to most users. There are some corner cases to integrate with some example code, but most of the places now depend only on this header and this header doesn't depend on the specific backends. Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers a rebuild only of these files: $ waf copter 'copter' finished successfully (0.000s) Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure' [ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp [ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp [310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a [370/370] Linking build/minlure/bin/arducopter Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
37 lines
869 B
C++
37 lines
869 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <Filter/Filter.h>
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#include <Filter/LowPassFilter2p.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_L3G4200D(AP_InertialSensor &imu);
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~AP_InertialSensor_L3G4200D();
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/* update accel and gyro state */
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bool update();
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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// return product ID
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int16_t product_id() const { return AP_PRODUCT_ID_L3G4200D; }
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private:
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bool _init_sensor();
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void _accumulate();
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// gyro and accel instances
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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};
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#endif
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