tests: add driver for ITG320X 3-axis gyroscope

tests/driver_itg320x/Makefile

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+include ../Makefile.tests_common
+
+USEMODULE += itg320x
+USEMODULE += xtimer
+
+include $(RIOTBASE)/Makefile.include

tests/driver_itg320x/README.md

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+# About
+
+This is a manual test application for the InvenSense ITG320X 3-axis gyroscope driver.
+
+# Usage
+
+The test application demonstrates the use of the ITG320X. It uses the
+default configuration parameters:
+
+- Low pass filter bandwidth (LPF_BW) of 5 Hz (`ITG320X_LPF_BW_5`)
+- Internal sample rate (ISR) of 1 kHz which results from LPF_BW of 5 Hz
+- Internal sample rate divider (ISR_DIV) of 99 (`ITG320X_PARAM_ISR_DIV`)
+- Output data rate (ODR) of 10 Hz resulting from ODR = ISR / (ISR_DIV + 1)
+
+The application may use two different approaches to retrieve new data,
+either
+
+- periodically fetching the data at a rate lower than the sensor's
+  output data rate (ODR), or
+- fetching the data when the data-ready interrupt is triggered.
+
+To use the latter approach, module `itg320x_int` has to be enabled and the
+GPIO to which the sensor's **INT** output pin is connected has to be
+defined by #ITG320X_PARAM_INT_PIN, for example:
+
+```
+USEMODULE=itg320x_int CFLAGS="-DITG320X_PARAM_INT_PIN=\(GPIO_PIN\(0,3\)\)" \
+make flash -C tests/driver_itg320x BOARD=...
+```

tests/driver_itg320x/main.c

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+/*
+ * Copyright (C) 2018 Gunar Schorcht
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     tests
+ * @brief       Test application for InvenSense ITG320X 3-axis gyroscope
+ * @author      Gunar Schorcht <gunar@schorcht.net>
+ * @file
+ *
+ * The test application demonstrates the use of the ITG320X. It uses the
+ * default configuration parameters:
+ *
+ * - Low pass filter bandwidth (LPF_BW) of 5 Hz (#ITG320X_LPF_BW_5)
+ * - Internal sample rate (ISR) of 1 kHz which results from LPF_BW of 5 Hz
+ * - Internal sample rate divider (ISR_DIV) of 99 (#ITG320X_PARAM_ISR_DIV)
+ * - Output data rate (ODR) of 10 Hz resulting from
+ *
+ *      ODR = ISR / (ISR_DIV + 1)
+ *
+ * The application may use two different approaches to retrieve new data,
+ * either
+ *
+ * - periodically fetching the data at a rate lower than the sensor's
+ *   output data rate (ODR), or
+ * - fetching the data when the data-ready interrupt is triggered.
+ *
+ * To use the latter approach, module `itg320x_int` has to be enabled and the
+ * GPIO to which the sensor's **INT** output pin is connected has to be
+ * defined by #ITG320X_PARAM_INT_PIN, for example:
+ *
+ * ```
+ * USEMODULE=itg320x_int CFLAGS="-DITG320X_PARAM_INT_PIN=\(GPIO_PIN\(0,3\)\)" \
+ * make flash -C tests/driver_itg320x BOARD=...
+ * ```
+*/
+
+#include <stdio.h>
+
+#include "thread.h"
+#include "xtimer.h"
+
+#include "itg320x.h"
+#include "itg320x_params.h"
+
+#define ITG320X_SLEEP   (50 * US_PER_MS)
+
+static kernel_pid_t p_main;
+
+#ifdef MODULE_ITG320X_INT
+static void itg320x_isr_data_ready (void *arg)
+{
+    (void)arg;
+    /* send a message to trigger main thread to handle the interrupt */
+    msg_t msg;
+    msg_send(&msg, p_main);
+}
+#endif
+
+
+int main(void)
+{
+    itg320x_t dev;
+
+    p_main = sched_active_pid;
+
+    puts("ITG320X gyroscope driver test application\n");
+    puts("Initializing ITG320X sensor");
+
+    /* initialize the sensor with default configuration parameters */
+    if (itg320x_init(&dev, &itg320x_params[0]) == ITG320X_OK) {
+        puts("[OK]\n");
+    }
+    else {
+        puts("[Failed]");
+        return 1;
+    }
+
+#ifdef MODULE_ITG320X_INT
+    /* init interrupt */
+    itg320x_init_int(&dev, itg320x_isr_data_ready, 0);
+#endif
+
+    while (1) {
+#ifdef MODULE_ITG320X_INT
+        /* wait for data ready interrupt */
+        msg_t msg;
+        msg_receive(&msg);
+#else
+        while (1) {
+            /* wait longer than period of ITG320X DOR */
+            xtimer_usleep(ITG320X_SLEEP);
+            if (itg320x_data_ready(&dev) == ITG320X_OK) {
+                break;
+            }
+        }
+#endif
+        /* read and print data in any case */
+        itg320x_data_t data;
+        if (itg320x_read(&dev, &data) == ITG320X_OK) {
+            printf("gyro [dps/10] x: "
+                    "%+5" PRIi16 " y: %+5" PRIi16 " z: %+5" PRIi16 "\n",
+                    data.x, data.y, data.z);
+        }
+    }
+
+    return 0;
+}