text: /****************************************************************************
   *
   *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  class MPU9250;
  
  /**
   * Helper class implementing the gyro driver node.
   */
  class MPU9250_gyro : public device::CDev
  {
  public:
  	MPU9250_gyro(MPU9250 *parent, const char *path);
  	~MPU9250_gyro();
  
  	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
  	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
  
  	virtual int		init();
  
  protected:
  	friend class MPU9250;
  
  	void			parent_poll_notify();
  
  private:
  	MPU9250			*_parent;
  	orb_advert_t		_gyro_topic;
  	int			_gyro_orb_class_instance;
  	int			_gyro_class_instance;
  
  	/* do not allow to copy this class due to pointer data members */
  	MPU9250_gyro(const MPU9250_gyro &);
  	MPU9250_gyro operator=(const MPU9250_gyro &);
  };
  