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75 lines
2.9 KiB
Markdown
75 lines
2.9 KiB
Markdown
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# About
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This is a manual test application for the driver of the L3GXXXX 3-axis
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gyroscope sensor family. It demonstrates the use of a L3Gxxxx sensor.
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The different functionalities of the driver are enabled and tested by
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using different modules.
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# Usage
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The used sensor must be specified by setting the variable DRIVER to
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`l3gd20h`, `l3gd20`, `l3g4200d_ng`, `i3g4250d` or `a3g4250d` which enables
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the corresponding pseudomodule:
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```
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DRIVER=l3gd20h BOARD=... make -C tests/driver_l3gxxxx
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```
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If the DRIVER variable is not set, `l3gd20h` is used.
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By default, the application will initialize the gyroscope with the default
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configuration parameter set as defined in the `l3gxxxx_params.h` file:
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Configuration Parameter | Default value
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:---------------------------|:----------------------
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Output data rate | 100 Hz
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LPF2 cutoff frequency | 25 Hz
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Full scale | 245 dps
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Filter selection | HPF and LPF2 are used
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HPF mode | Normal with autoreset
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HPF cutoff frequency | 8 Hz
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The default configuration uses the I2C interface (module `l3gxxxx_i2c`)
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of the sensor and polls the data periodically every 200 ms. If the SPI
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interface of the sensor should be used, the module `l3gxxxx_spi` has to
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be used:
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```
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DRIVER=l3gd20h USEMODULE=l3gxxxx_spi BOARD=... make -C tests/driver_l3gxxxx
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```
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The application is configurable by using different pseudomodules to test
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most of the functionalities of the L3Gxxxx driver.
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- Module `l3gxxxx_irq_drdy`:
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Instead of polling the sensor regularly for data, the data ready interrupt
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on signal `INT2/DRDY` is used to read the data. If module `l3gxxxx_fifo`
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is used at the same time, the FIFO status interrupts are enabled instead
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of the data ready interrupt. The GPIO pin used for the interrupt signal
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can be overridden, for example:
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```
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DRIVER=l3gd20h USEMODULE=l3gxxxx_irq_drdy \
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CFLAGS='-DL3GXXXX_INT2_PIN=GPIO_PIN\(0,5\) BOARD=... make -C tests/driver_l3gxxxx
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```
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- Module `l3gxxxx_irq_event`:
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Event interrupt generation is configured according to default
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configuration parameters in the `l3gxxxx_params.h` file to generate
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interrupts on signal `INT1` when the absolute value of the angular rate
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of any axis exceeds the default threshold. The GPIO pin used for the
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interrupt signal can be overridden, for example:
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```
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DRIVER=l3gd20h USEMODULE=l3gxxxx_irq_event \
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CFLAGS='-DL3GXXXX_INT1_PIN=GPIO_PIN\(0,6\) BOARD=... make -C tests/driver_l3gxxxx
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```
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- Module `l3gxxxx_fifo`:
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Instead of fetching single data samples from the sensor, the FIFO of
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the sensor is enabled. Depending on the use of module `l3gxxxx_irq_drdy`,
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the FIFO state is either polled regularly or FIFO status interrupts on
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signal `INT2/DRDY` are used. All available data samples are read from
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the FIFO with a single burst access.
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- Module `l3gxxxx_config`:
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The configuration of the event interrupt generation is changed at
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runtime.
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