Added support for setting data rate

adafruit_l3gd20.py

@@ -67,6 +67,11 @@
 L3DS20_RANGE_500DPS = const(1)
 L3DS20_RANGE_2000DPS = const(2)
 
+L3DS20_RATE_100HZ = const(0x00)
+L3DS20_RATE_200HZ = const(0x40)
+L3DS20_RATE_400HZ = const(0x80)
+L3DS20_RATE_800HZ = const(0xC0)
+
 _L3GD20_REGISTER_CTRL_REG1 = const(0x20)
 _L3GD20_REGISTER_CTRL_REG4 = const(0x23)
 
@@ -91,9 +96,12 @@ class L3GD20:
 
     :param int rng: a range value one of L3DS20_RANGE_250DPS (default), L3DS20_RANGE_500DPS, or
         L3DS20_RANGE_2000DPS
+
+    :param int rate: a rate value one of L3DS20_RATE_100HZ (default), L3DS20_RATE_200HZ,
+        L3DS20_RATE_400HZ, or L3DS20_RATE_800HZ
     """
 
-    def __init__(self, rng=L3DS20_RANGE_250DPS):
+    def __init__(self, rng=L3DS20_RANGE_250DPS, rate=L3DS20_RATE_100HZ):
         chip_id = self.read_register(_ID_REGISTER)
         if chip_id not in (_L3GD20_CHIP_ID, _L3GD20H_CHIP_ID):
             raise RuntimeError(
@@ -119,7 +127,8 @@ def __init__(self, rng=L3DS20_RANGE_250DPS):
         #     0  XEN       X-axis enable (0 = disabled, 1 = enabled)
 
         # Switch to normal mode and enable all three channels
-        self.write_register(_L3GD20_REGISTER_CTRL_REG1, 0x0F)
+        # self.write_register(_L3GD20_REGISTER_CTRL_REG1, 0x0F)
+        self.write_register(_L3GD20_REGISTER_CTRL_REG1, rate + 0x0F)
 
         # Set CTRL_REG2 (0x21)
         # ====================================================================
@@ -212,12 +221,14 @@ class L3GD20_I2C(L3GD20):
     gyro_raw = Struct(_L3GD20_REGISTER_OUT_X_L_X80, "<hhh")
     """Gives the raw gyro readings, in units of rad/s."""
 
-    def __init__(self, i2c, rng=L3DS20_RANGE_250DPS, address=0x6B):
+    def __init__(
+        self, i2c, rng=L3DS20_RANGE_250DPS, rate=L3DS20_RATE_100HZ, address=0x6B
+    ):
         import adafruit_bus_device.i2c_device as i2c_device  # pylint: disable=import-outside-toplevel
 
         self.i2c_device = i2c_device.I2CDevice(i2c, address)
         self.buffer = bytearray(2)
-        super().__init__(rng)
+        super().__init__(rng, rate)
 
     def write_register(self, register, value):
         """
@@ -254,13 +265,20 @@ class L3GD20_SPI(L3GD20):
     :param baudrate: spi baud rate default is 100000
     """
 
-    def __init__(self, spi_busio, cs, rng=L3DS20_RANGE_250DPS, baudrate=100000):
+    def __init__(
+        self,
+        spi_busio,
+        cs,
+        rng=L3DS20_RANGE_250DPS,
+        rate=L3DS20_RATE_100HZ,
+        baudrate=100000,
+    ):  # pylint: disable=too-many-arguments
         import adafruit_bus_device.spi_device as spi_device  # pylint: disable=import-outside-toplevel
 
         self._spi = spi_device.SPIDevice(spi_busio, cs, baudrate=baudrate)
         self._spi_bytearray1 = bytearray(1)
         self._spi_bytearray6 = bytearray(6)
-        super().__init__(rng)
+        super().__init__(rng, rate)
 
     def write_register(self, register, value):
         """

docs/conf.py

@@ -147,7 +147,7 @@
         "Adafruit L3GD20 Library Documentation",
         author,
         "manual",
-    ),
+    )
 ]
 
 # -- Options for manual page output ---------------------------------------
@@ -178,5 +178,5 @@
         "AdafruitL3GD20Library",
         "One line description of project.",
         "Miscellaneous",
-    ),
+    )
 ]

examples/l3gd20_simpletest.py

@@ -5,13 +5,35 @@
 
 # Hardware I2C setup:
 I2C = busio.I2C(board.SCL, board.SDA)
+# Initializes L3GD20 object using default range, 250dps
 SENSOR = adafruit_l3gd20.L3GD20_I2C(I2C)
+# Initialize L3GD20 object using a custom range and output data rate (ODR).
+# SENSOR = adafruit_l3gd20.L3GD20_I2C(
+#    I2C, rng=adafruit_l3gd20.L3DS20_RANGE_500DPS, rate=adafruit_l3gd20.L3DS20_RATE_200HZ
+# )
+
+# Possible values for rng are:
+# adafruit_l3gd20.L3DS20_Range_250DPS, 250 degrees per second. Default range
+# adafruit_l3gd20.L3DS20_Range_500DPS, 500 degrees per second
+# adafruit_l3gd20.L3DS20_Range_2000DPS, 2000 degrees per second
+
+# Possible values for rate are:
+# adafruit_l3gd20.L3DS20_RATE_100HZ, 100Hz data rate. Default data rate
+# adafruit_l3gd20.L3DS20_RATE_200HZ, 200Hz data rate
+# adafruit_l3gd20.L3DS20_RATE_400HZ, 400Hz data rate
+# adafruit_l3gd20.L3DS20_RATE_800HZ, 800Hz data rate
 
 # Hardware SPI setup:
 # import digitalio
 # CS = digitalio.DigitalInOut(board.D5)
 # SPIB = busio.SPI(board.SCK, board.MOSI, board.MISO)
 # SENSOR = adafruit_l3gd20.L3GD20_SPI(SPIB, CS)
+# SENSOR = adafruit_l3gd20.L3GD20_I2C(
+#    SPIB,
+#    CS,
+#    rng=adafruit_l3gd20.L3DS20_RANGE_500DPS,
+#    rate=adafruit_l3gd20.L3DS20_RATE_200HZ,
+# )
 
 while True:
     print("Angular Momentum (rad/s): {}".format(SENSOR.gyro))