... | ... | @@ -149,4 +149,18 @@ Reset the `CTRL_REG6_XL` register to its original value to disable the accelerom |
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```
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/usr/sbin/i2cset -y 2 0x6a 0x20 0x0
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```
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The bits in the status register will remain set until any remaining temperature or accelerometer data is read. |
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\ No newline at end of file |
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The bits in the status register will remain set until any remaining temperature or accelerometer data is read.
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The gyroscope can be read via sysfs if the `st_gyro_i2c` module is enabled.
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Finding [this commit](https://github.com/dwery/beagleboard-linux/commit/5d2d79435d62063dfe9da5f0e549af76bc6a1cb6) which mentions iio, and looking for an `iio` node under `/dev`, I found `/dev/iio:device0`. Looking inside `/sys/class/i2c-adapter/i2c-2` (knowing that bus 2 is used), I found the nodes called `2-000a`, `2-003c`, `2-005a` and `2-006a`. Since chip address `0x6a` was used above to access the accelerometer, I looked inside the last of these nodes to find `iio:device0` which contains nodes with names related to angular velocity as well as other relevant nodes:
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* `current_timestamp_clock`
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* `in_anglvel_scale_available`
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* `in_anglvel_x_raw`
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* `in_anglvel_x_scale`
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* `in_anglvel_y_raw`
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* `in_anglvel_y_scale`
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* `in_anglvel_z_raw`
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* `in_anglvel_z_scale`
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* `sampling_frequency`
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* `sampling_frequency_available` |