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