/*
 * 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 = thread_getpid();

    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;
}