driver_l3gd20h_read_test.c

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#include "driver_l3gd20h_read_test.h"
#include <stdlib.h>
 
static l3gd20h_handle_t gs_handle;        

uint8_t l3gd20h_read_test(l3gd20h_interface_t interface, l3gd20h_address_t addr_pin, uint32_t times)
{
    uint8_t res;
    float dps_threshold;
    uint16_t threshold, i;
    l3gd20h_info_t info;
    
    /* link interface function */
    DRIVER_L3GD20H_LINK_INIT(&gs_handle, l3gd20h_handle_t);
    DRIVER_L3GD20H_LINK_IIC_INIT(&gs_handle, l3gd20h_interface_iic_init);
    DRIVER_L3GD20H_LINK_IIC_DEINIT(&gs_handle, l3gd20h_interface_iic_deinit);
    DRIVER_L3GD20H_LINK_IIC_READ(&gs_handle, l3gd20h_interface_iic_read);
    DRIVER_L3GD20H_LINK_IIC_WRITE(&gs_handle, l3gd20h_interface_iic_write);
    DRIVER_L3GD20H_LINK_SPI_INIT(&gs_handle, l3gd20h_interface_spi_init);
    DRIVER_L3GD20H_LINK_SPI_DEINIT(&gs_handle, l3gd20h_interface_spi_deinit);
    DRIVER_L3GD20H_LINK_SPI_READ(&gs_handle, l3gd20h_interface_spi_read);
    DRIVER_L3GD20H_LINK_SPI_WRITE(&gs_handle, l3gd20h_interface_spi_write);
    DRIVER_L3GD20H_LINK_DELAY_MS(&gs_handle, l3gd20h_interface_delay_ms);
    DRIVER_L3GD20H_LINK_DEBUG_PRINT(&gs_handle, l3gd20h_interface_debug_print);
    DRIVER_L3GD20H_LINK_RECEIVE_CALLBACK(&gs_handle, l3gd20h_interface_receive_callback);
    
    /* get information */
    res = l3gd20h_info(&info);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: get info failed.\n");
       
        return 1;
    }
    else
    {
        /* print chip info */
        l3gd20h_interface_debug_print("l3gd20h: chip is %s.\n", info.chip_name);
        l3gd20h_interface_debug_print("l3gd20h: manufacturer is %s.\n", info.manufacturer_name);
        l3gd20h_interface_debug_print("l3gd20h: interface is %s.\n", info.interface);
        l3gd20h_interface_debug_print("l3gd20h: driver version is %d.%d.\n", info.driver_version / 1000, (info.driver_version % 1000) / 100);
        l3gd20h_interface_debug_print("l3gd20h: min supply voltage is %0.1fV.\n", info.supply_voltage_min_v);
        l3gd20h_interface_debug_print("l3gd20h: max supply voltage is %0.1fV.\n", info.supply_voltage_max_v);
        l3gd20h_interface_debug_print("l3gd20h: max current is %0.2fmA.\n", info.max_current_ma);
        l3gd20h_interface_debug_print("l3gd20h: max temperature is %0.1fC.\n", info.temperature_max);
        l3gd20h_interface_debug_print("l3gd20h: min temperature is %0.1fC.\n", info.temperature_min);
    }
    
    /* start read test */
    l3gd20h_interface_debug_print("l3gd20h: start read test.\n");
    
    /* set the interface */
    res = l3gd20h_set_interface(&gs_handle, interface);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interface failed.\n");
       
        return 1;
    }
    
    /* set the address pin */
    res = l3gd20h_set_addr_pin(&gs_handle, addr_pin);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set addr pin failed.\n");
       
        return 1;
    }
    
    /* init the l3gd20h */
    res = l3gd20h_init(&gs_handle);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: init failed.\n");
       
        return 1;
    }
   
    /* set normal boot */
    res = l3gd20h_set_boot(&gs_handle, L3GD20H_BOOT_NORMAL);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set boot failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* enable x axis*/
    res = l3gd20h_set_axis(&gs_handle, L3GD20H_AXIS_X, L3GD20H_BOOL_TRUE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set axis failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* enable y axis*/
    res = l3gd20h_set_axis(&gs_handle, L3GD20H_AXIS_Y, L3GD20H_BOOL_TRUE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set axis failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* enable z axis*/
    res = l3gd20h_set_axis(&gs_handle, L3GD20H_AXIS_Z, L3GD20H_BOOL_TRUE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set axis failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set 100 Hz rate bandwidth 12.5 Hz */
    res = l3gd20h_set_rate_bandwidth(&gs_handle, L3GD20H_LOW_ODR_0_ODR_100HZ_BW_0_12P5HZ);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set rate bandwidth failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable edge trigger */
    res = l3gd20h_set_edge_trigger(&gs_handle, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set edge trigger failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable level trigger */
    res = l3gd20h_set_level_trigger(&gs_handle, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set level trigger failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* enable latched */
    res = l3gd20h_set_level_sensitive_latched(&gs_handle, L3GD20H_BOOL_TRUE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set level sensitive latched failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* normal mode */
    res = l3gd20h_set_self_test(&gs_handle, L3GD20H_SELF_TEST_NORMAL);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set self test failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set high pass filter normal mode */
    res = l3gd20h_set_high_pass_filter_mode(&gs_handle, L3GD20H_HIGH_PASS_FILTER_MODE_NORMAL);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set high pass filter normal mode failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set high pass filter cut-off frequency 0 */
    res = l3gd20h_set_high_pass_filter_cut_off_frequency(&gs_handle, L3GD20H_HIGH_PASS_FILTER_CUT_OFF_FREQUENCY_0);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set high pass filter cut off frequency failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* enable high pass filter */
    res = l3gd20h_set_high_pass_filter(&gs_handle, L3GD20H_BOOL_TRUE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set high pass filter failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable block data update */
    res = l3gd20h_set_block_data_update(&gs_handle, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set block data update failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set LPF1-HPF-LPF2 */
    res = l3gd20h_set_out_selection(&gs_handle, L3GD20H_SELECTION_LPF1_HPF_LPF2);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set out selection failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set LPF1-HPF-LPF2 */
    res = l3gd20h_set_interrupt_selection(&gs_handle, L3GD20H_SELECTION_LPF1_HPF_LPF2);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt selection failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set high pass filter reference 0x00 */
    res = l3gd20h_set_high_pass_filter_reference(&gs_handle, 0x00);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set high pass filter reference failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* bypass mode */
    res = l3gd20h_set_fifo_mode(&gs_handle, L3GD20H_FIFO_MODE_BYPASS);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo mode failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable interrupt 1*/
    res = l3gd20h_set_interrupt1(&gs_handle, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt1 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable boot on interrupt 1*/
    res = l3gd20h_set_boot_on_interrupt1(&gs_handle, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set boot on interrupt1 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* active level low */
    res = l3gd20h_set_interrupt_active_level(&gs_handle, L3GD20H_INTERRUPT_ACTIVE_LEVEL_LOW);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt active level failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* push-pull pin type */
    res = l3gd20h_set_interrupt_pin_type(&gs_handle, L3GD20H_PIN_PUSH_PULL);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt pin type failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable data ready on interrupt2 */
    res = l3gd20h_set_data_ready_on_interrupt2(&gs_handle, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set data ready on interrupt2 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* fifo threshold on interrupt2 */
    res = l3gd20h_set_fifo_threshold_on_interrupt2(&gs_handle, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo threshold on interrupt2 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* fifo overrun on interrupt2 */
    res = l3gd20h_set_fifo_overrun_on_interrupt2(&gs_handle, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo overrun on interrupt2 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* fifo empty on interrupt2 */
    res = l3gd20h_set_fifo_empty_on_interrupt2(&gs_handle, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo empty on interrupt2 failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable L3GD20H_INTERRUPT_EVENT_AND_OR_COMBINATION */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_AND_OR_COMBINATION, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable L3GD20H_INTERRUPT_EVENT_LATCH */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_LATCH, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable L3GD20H_INTERRUPT_EVENT_Z_HIGH_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_Z_HIGH_EVENT, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable L3GD20H_INTERRUPT_EVENT_Z_LOW_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_Z_LOW_EVENT, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable L3GD20H_INTERRUPT_EVENT_Y_HIGH_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_Y_HIGH_EVENT, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable L3GD20H_INTERRUPT_EVENT_Y_LOW_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_Y_LOW_EVENT, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable L3GD20H_INTERRUPT_EVENT_X_HIGH_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_X_HIGH_EVENT, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable L3GD20H_INTERRUPT_EVENT_X_LOW_EVENT */
    res = l3gd20h_set_interrupt_event(&gs_handle, L3GD20H_INTERRUPT_EVENT_X_LOW_EVENT, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set interrupt event failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* 0.0f */
    dps_threshold = 0.0f;
    res = l3gd20h_interrupt_threshold_convert_to_register(&gs_handle, dps_threshold, (uint16_t *)&threshold);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: convert to register failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set x interrupt threshold */
    res = l3gd20h_set_x_interrupt_threshold(&gs_handle, threshold);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set x interrupt threshold failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set y interrupt threshold */
    res = l3gd20h_set_y_interrupt_threshold(&gs_handle, threshold);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set y interrupt threshold failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set z interrupt threshold */
    res = l3gd20h_set_z_interrupt_threshold(&gs_handle, threshold);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set z interrupt threshold failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* reset counter mode */
    res = l3gd20h_set_counter_mode(&gs_handle, L3GD20H_COUNTER_MODE_RESET);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set counter mode failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* enable wait */
    res = l3gd20h_set_wait(&gs_handle, L3GD20H_BOOL_TRUE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set wait failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set duration 0x01 */
    res = l3gd20h_set_duration(&gs_handle, 0x01);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set duration failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set data ready active level low */
    res = l3gd20h_set_data_ready_active_level(&gs_handle, L3GD20H_INTERRUPT_ACTIVE_LEVEL_LOW);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set data ready active level failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable fifo */
    res = l3gd20h_set_fifo(&gs_handle, L3GD20H_BOOL_FALSE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* enable stop on fifo threshold */
    res = l3gd20h_set_stop_on_fifo_threshold(&gs_handle, L3GD20H_BOOL_TRUE);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set stop on fifo threshold failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* fifo threshold 16 */
    res = l3gd20h_set_fifo_threshold(&gs_handle, 16);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set fifo threshold failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* little endian */
    res = l3gd20h_set_data_format(&gs_handle, L3GD20H_DATA_FORMAT_LITTLE_ENDIAN);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set data format failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* ±245 dps */
    res = l3gd20h_set_full_scale(&gs_handle, L3GD20H_FULL_SCALE_245_DPS);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set full scale failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* normal mode */
    res = l3gd20h_set_mode(&gs_handle, L3GD20H_MODE_NORMAL);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set mode failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
 
    /* ±245 dps */
    res = l3gd20h_set_full_scale(&gs_handle, L3GD20H_FULL_SCALE_245_DPS);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set full scale failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    l3gd20h_interface_delay_ms(1000);
    
    /* ±245 dps */
    l3gd20h_interface_debug_print("l3gd20h: set full scale 245 dps.\n");
    for (i = 0; i < times; i++)
    {
        int16_t raw[1][3];
        float dps[1][3];
        uint16_t len;
            
        len = 1;
        res = l3gd20h_read(&gs_handle, (int16_t (*)[3])(raw), (float (*)[3])(dps), (uint16_t *)&len);
        if (res != 0)
        {
            l3gd20h_interface_debug_print("l3gd20h: read failed.\n");
            (void)l3gd20h_deinit(&gs_handle);
            
            return 1;
        }
        l3gd20h_interface_debug_print("l3gd20h: x %0.2f dps.\n", dps[0][0]);
        l3gd20h_interface_debug_print("l3gd20h: y %0.2f dps.\n", dps[0][1]);
        l3gd20h_interface_debug_print("l3gd20h: z %0.2f dps.\n", dps[0][2]);
        l3gd20h_interface_delay_ms(1000);
    }
 
    /* ±500 dps */
    res = l3gd20h_set_full_scale(&gs_handle, L3GD20H_FULL_SCALE_500_DPS);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set full scale failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    l3gd20h_interface_delay_ms(1000);
    
    /* ±500 dps */
    l3gd20h_interface_debug_print("l3gd20h: set full scale 500 dps.\n");
    for (i = 0; i < times; i++)
    {
        int16_t raw[1][3];
        float dps[1][3];
        uint16_t len;
            
        len = 1;
        res = l3gd20h_read(&gs_handle, (int16_t (*)[3])(raw), (float (*)[3])(dps), (uint16_t *)&len);
        if (res != 0)
        {
            l3gd20h_interface_debug_print("l3gd20h: read failed.\n");
            (void)l3gd20h_deinit(&gs_handle);
            
            return 1;
        }
        l3gd20h_interface_debug_print("l3gd20h: x %0.2f dps.\n", dps[0][0]);
        l3gd20h_interface_debug_print("l3gd20h: y %0.2f dps.\n", dps[0][1]);
        l3gd20h_interface_debug_print("l3gd20h: z %0.2f dps.\n", dps[0][2]);
        l3gd20h_interface_delay_ms(1000);
    }
 
    /* ±2000 dps */
    res = l3gd20h_set_full_scale(&gs_handle, L3GD20H_FULL_SCALE_2000_DPS);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set full scale failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    l3gd20h_interface_delay_ms(1000);
    
    /* ±2000 dps */
    l3gd20h_interface_debug_print("l3gd20h: set full scale 2000 dps.\n");
    for (i = 0; i < times; i++)
    {
        int16_t raw[1][3];
        float dps[1][3];
        uint16_t len;
            
        len = 1;
        res = l3gd20h_read(&gs_handle, (int16_t (*)[3])(raw), (float (*)[3])(dps), (uint16_t *)&len);
        if (res != 0)
        {
            l3gd20h_interface_debug_print("l3gd20h: read failed.\n");
            (void)l3gd20h_deinit(&gs_handle);
            
            return 1;
        }
        l3gd20h_interface_debug_print("l3gd20h: x %0.2f dps.\n", dps[0][0]);
        l3gd20h_interface_debug_print("l3gd20h: y %0.2f dps.\n", dps[0][1]);
        l3gd20h_interface_debug_print("l3gd20h: z %0.2f dps.\n", dps[0][2]);
        l3gd20h_interface_delay_ms(1000);
    }
    
    /* big endian */
    res = l3gd20h_set_data_format(&gs_handle, L3GD20H_DATA_FORMAT_BIG_ENDIAN);
    if (res != 0)
    {
        l3gd20h_interface_debug_print("l3gd20h: set data format failed.\n");
        (void)l3gd20h_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set big endian */
    l3gd20h_interface_debug_print("l3gd20h: set big endian.\n");
    for (i = 0; i < times; i++)
    {
        int16_t raw[1][3];
        float dps[1][3];
        uint16_t len;
            
        len = 1;
        res = l3gd20h_read(&gs_handle, (int16_t (*)[3])(raw), (float (*)[3])(dps), (uint16_t *)&len);
        if (res != 0)
        {
            l3gd20h_interface_debug_print("l3gd20h: read failed.\n");
            (void)l3gd20h_deinit(&gs_handle);
            
            return 1;
        }
        l3gd20h_interface_debug_print("l3gd20h: x %0.2f dps.\n", dps[0][0]);
        l3gd20h_interface_debug_print("l3gd20h: y %0.2f dps.\n", dps[0][1]);
        l3gd20h_interface_debug_print("l3gd20h: z %0.2f dps.\n", dps[0][2]);
        l3gd20h_interface_delay_ms(1000);
    }
    
    /* read the temperature */
    l3gd20h_interface_debug_print("l3gd20h: read the temperature.\n");
    for (i = 0; i < times; i++)
    {
        int8_t raw;
        float temp;
 
        res = l3gd20h_read_temperature(&gs_handle, (int8_t *)&raw, (float *)&temp);
        if (res != 0)
        {
            l3gd20h_interface_debug_print("l3gd20h: read temperature failed.\n");
            (void)l3gd20h_deinit(&gs_handle);
            
            return 1;
        }
        l3gd20h_interface_debug_print("l3gd20h: temperature is %0.2fC.\n", temp);
        l3gd20h_interface_delay_ms(1000);
    }
    
    /* finish read test */
    l3gd20h_interface_debug_print("l3gd20h: finish read test.\n");
    (void)l3gd20h_deinit(&gs_handle);
    
    return 0;
}