RIOT/tests/drivers/l3gxxxx

About

This is a manual test application for the driver of the L3GXXXX 3-axis gyroscope sensor family. It demonstrates the use of a L3Gxxxx sensor. The different functionalities of the driver are enabled and tested by using different modules.

Usage

The used sensor must be specified by setting the variable DRIVER to l3gd20h, l3gd20, l3g4200d_ng, i3g4250d or a3g4250d which enables the corresponding pseudomodule:

DRIVER=l3gd20h BOARD=... make -C tests/drivers/l3gxxxx

If the DRIVER variable is not set, l3gd20h is used.

By default, the application will initialize the gyroscope with the default configuration parameter set as defined in the l3gxxxx_params.h file:

Configuration Parameter	Default value
Output data rate	100 Hz
LPF2 cutoff frequency	25 Hz
Full scale	245 dps
Filter selection	HPF and LPF2 are used
HPF mode	Normal with autoreset
HPF cutoff frequency	8 Hz

The default configuration uses the I2C interface (module l3gxxxx_i2c) of the sensor and polls the data periodically every 200 ms. If the SPI interface of the sensor should be used, the module l3gxxxx_spi has to be used:

DRIVER=l3gd20h USEMODULE=l3gxxxx_spi BOARD=... make -C tests/drivers/l3gxxxx

The application is configurable by using different pseudomodules to test most of the functionalities of the L3Gxxxx driver.

• Module l3gxxxx_irq_drdy: Instead of polling the sensor regularly for data, the data ready interrupt on signal INT2/DRDY is used to read the data. If module l3gxxxx_fifo is used at the same time, the FIFO status interrupts are enabled instead of the data ready interrupt. The GPIO pin used for the interrupt signal can be overridden, for example:

  DRIVER=l3gd20h USEMODULE=l3gxxxx_irq_drdy \
  CFLAGS='-DL3GXXXX_INT2_PIN=GPIO_PIN\(0,5\) BOARD=... make -C tests/drivers/l3gxxxx
  

• Module l3gxxxx_irq_event: Event interrupt generation is configured according to default configuration parameters in the l3gxxxx_params.h file to generate interrupts on signal INT1 when the absolute value of the angular rate of any axis exceeds the default threshold. The GPIO pin used for the interrupt signal can be overridden, for example:

  DRIVER=l3gd20h USEMODULE=l3gxxxx_irq_event \
  CFLAGS='-DL3GXXXX_INT1_PIN=GPIO_PIN\(0,6\) BOARD=... make -C tests/drivers/l3gxxxx
  

• Module l3gxxxx_fifo: Instead of fetching single data samples from the sensor, the FIFO of the sensor is enabled. Depending on the use of module l3gxxxx_irq_drdy, the FIFO state is either polled regularly or FIFO status interrupts on signal INT2/DRDY are used. All available data samples are read from the FIFO with a single burst access.

• Module l3gxxxx_config: The configuration of the event interrupt generation is changed at runtime.