Linux: Added simulated gyro

The code is based on mpu6000.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

makefiles/linux/config_linux_default.mk

@@ -59,6 +59,7 @@ MODULES		+= lib/conversion
 #
 MODULES		+= platforms/linux/px4_layer
 MODULES		+= platforms/linux/drivers/accelsim
+MODULES		+= platforms/linux/drivers/gyrosim
 
 #
 # Unit tests

src/drivers/drv_sensor.h

@@ -52,17 +52,19 @@
  * Used to create a unique device id for redundant and combo sensors
  */
 
-#define DRV_MAG_DEVTYPE_HMC5883 0x01
-#define DRV_MAG_DEVTYPE_LSM303D 0x02
+#define DRV_MAG_DEVTYPE_HMC5883  0x01
+#define DRV_MAG_DEVTYPE_LSM303D  0x02
 #define DRV_MAG_DEVTYPE_ACCELSIM 0x03
-#define DRV_ACC_DEVTYPE_LSM303D 0x11
-#define DRV_ACC_DEVTYPE_BMA180  0x12
-#define DRV_ACC_DEVTYPE_MPU6000 0x13
+#define DRV_ACC_DEVTYPE_LSM303D  0x11
+#define DRV_ACC_DEVTYPE_BMA180   0x12
+#define DRV_ACC_DEVTYPE_MPU6000  0x13
 #define DRV_ACC_DEVTYPE_ACCELSIM 0x14
-#define DRV_GYR_DEVTYPE_MPU6000 0x21
-#define DRV_GYR_DEVTYPE_L3GD20  0x22
-#define DRV_RNG_DEVTYPE_MB12XX  0x31
-#define DRV_RNG_DEVTYPE_LL40LS  0x32
+#define DRV_ACC_DEVTYPE_GYROSIM  0x15
+#define DRV_GYR_DEVTYPE_MPU6000  0x21
+#define DRV_GYR_DEVTYPE_L3GD20   0x22
+#define DRV_GYR_DEVTYPE_GYROSIM  0x23
+#define DRV_RNG_DEVTYPE_MB12XX   0x31
+#define DRV_RNG_DEVTYPE_LL40LS   0x32
 
 /*
  * ioctl() definitions

src/platforms/linux/drivers/gyrosim/module.mk

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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.
+#
+############################################################################
+
+#
+# Makefile to build the MPU6000 driver.
+#
+
+MODULE_COMMAND	= gyrosim
+
+SRCS		= gyrosim.cpp
+
+MODULE_STACKSIZE	= 1200
+
+EXTRACXXFLAGS	= -Weffc++
+
+MAXOPTIMIZATION	 = -Os