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Gyroscope Module 3-Axis L3G4200D (#27911)
The Gyroscope Module is a low power 3-Axis angular rate sensor with temperature data. The gyroscope
shows the rate of change in rotation on its X,Y and Z axes. Temperature output data and raw measured
angular rate is accessed from the selectable digital interface (I²C or SPI). The module is a small package
design and has an easy to access SIP interface with a mounting hole for quick connectivity to your
projects. The module is designed for use with a large variety of microcontrollers with different voltage
requirements.
Features
3-Axis angular rate sensor (yaw, pitch, and roll)
Supports I
2
C and SPI communications
Three selectable scales: 250/500/2000 degrees/sec (dps)
High shock survivability
Embedded temperature sensor -40 to +185 °F
(-40 to + 85 °C)
Embedded power-down and sleep mode
16 bit-rate value data output
8-bit temperature data output
Key Specifications
Power Requirements: 2.7 to 6.5 VDC
Communication Interface: I
2
C (up to 400 kHz) or SPI (10 MHz; 4 & 3 wire)
Operating temperature: -40 to +185 °F (-40 to +85 °C)
Dimensions: 0.85 X 0.80 in (2.16 X 2.03 cm)
Application Ideas
Gaming
3D motion control
Virtual reality input devices
Robotics
UAV, IMU systems
Downloads & Resources
More resources, example code, the device schematic, and open-source hardware files are available from
the 27911 product page at
www.parallax.com.
Copyright © Parallax Inc.
Gyroscope Module 3-Axis L3G4200D (#27911)
v1.1 4/19/2013 Page 1 of 5
Quick-Start Guide
The following is a very basic procedure to get started initializing and reading values from the Gyroscope
Module. Example test code for the Propeller and Basic Stamp can be found on the 27911 product page at
www.parallax.com.
This module’s default communication setup is I²C. Use of SPI communication is configured by pulling the
CS line low. See the datasheet for 3-wire and 4-wire SPI configuration and use.
1. With main power off, make the proper connections between the module and a microcontroller as
shown below. The voltage connected to the VIN pin should be the same as the voltage powering
the microcontroller communicating with the device.
2. Power on the device and load the BASIC Stamp or Propeller sample code provided on the 27911
product page.
NOTE: The SDA pin is connected to a bi-directional level shifting IC, used to translate the lower
I/O voltage of the L3G4200D to the possibly higher voltage used by an externally connected
device. This particular level shifter has built-in pull-up resistors to each supply rail so it can be
driven by open drain outputs for I
2
C; but can also be driven low/high for SPI protocol. The CLK
and CS pins operate exclusively as inputs, so a simpler level shifting circuit with a resistor and
Schottky diode is used. For the SDO pin another simple level shifting circuit is used along with a
MOSFET and two resistors.
In summary, there is no need for any external hardware to operate.
Calibration
Each L3G4200D is factory tested and trimmed for zero-rate level and sensitivity. So, for most common
applications, no further calibration is required. For details on the calibration, please reference page 31 of
Gyro_app_Note1.pdf on the product page.
Copyright © Parallax Inc.
Gyroscope Module 3-Axis L3G4200D (#27911)
v1.1 4/19/2013 Page 2 of 5
Device Information
Complete device information for the L3G4200D can be found in the manufacturer’s datasheet, which is
available for download from the 27911 product page at
www.parallax.com
Pin Definitions and Ratings
0V Supply, Ground Pin
Supply Voltage from +2.7 – +6.5VDC
SPI enable (Default is I²C enabled)
3
CS
I
I
2
C/SPI mode selection (1: I²C communication enabled; 0: SPI
communication mode / I2C disabled)
4
SCL
I
I
2
C & SPI serial clock (SCL)
I
2
C serial data (SDA)
5
SDA/SDI/SDO
IO
SPI serial data input (SDI)
3-wire interface serial data output (SDO)
SPI serial data output (SDO)
6
SDO
O
I
2
C least significant bit of the device address (SA0)
7
INT1
O
Programmable interrupt, see datasheet for more details
8
INT2
O
Data ready/FIFO interrupt, see datasheet for more details
Pin Type: P = Power, G = Ground, I = Input, O = Output
Pin
1
2
Name
GND
VIN
Type
G
P
Function
Module Dimensions
Copyright © Parallax Inc.
Gyroscope Module 3-Axis L3G4200D (#27911)
v1.1 4/19/2013 Page 3 of 5
L3G4200D Mechanical Characteristics
Characterized @ Vdd = 3.0 V, T = 25 °C
Parameter
Symbol
FS
Measurement range
Test condition
User-selectable
FS = 250 dps
FS = 500 dps
FS = 2000 dps
From -40 °C to +85 °C
FS = 250 dps
FS = 500 dps
FS = 2000 dps
FS = 250 dps
FS = 500 dps
Best fit straight line
FS = 250 dps
FS = 500 dps
FS = 2000 dps
BW = 50 Hz
Typical
±250
±500
±2000
8.75
17.50
70
±2
±10
±15
±75
±0.03
±0.04
0.2
130
200
530
0.03
100/200/
400/800
Units
dps
So
SoDr
DVoff
Sensitivity
Sensitivity change vs.
temperature
Digital zero-rate level
Zero-rate level change
vs. temperature
Non linearity
Self-test output change
Rate noise density
Digital output data rate
Mdps/digit
%
dps
OffDr
NL
DST
Rn
ODR
dps/°C
% FS
dps
dps/sqrt(Hz)
Hz
Data excerpt from the L3G4200D datasheet.
Communication Protocol
Note: details on the communication protocol and FIFO modes are taken from the L3G4200D datasheet.
Please reference the datasheet for much more detailed explanations and configurations.
Communication Settings
You can select between I²C (2-wire) or SPI (3 or 4 wire) communication protocols; I²C is the default
setting for this module. These serial interfaces are mapped onto the same pins.
I²C
The Gyroscope module I
2
C is a bus slave. I²C communication is used to read and write to and from the
Gyroscope’s data registers.
The two signals need for I²C operation are the serial clock line (SCL) and the serial data line (SDA). The
SDA line is bidirectional and used for sending and receiving the data to/from the interface.
SPI
The SPI is a bus slave. The SPI communication is used to read and write to and from the Gyroscope’s
data registers. The serial interface interacts with the external world through 4 wires: CS, SCL, SDI, and
SDO (see Pin Definitions and Ratings for descriptions).
Copyright © Parallax Inc.
Gyroscope Module 3-Axis L3G4200D (#27911)
v1.1 4/19/2013 Page 4 of 5
FIFO Modes
FIFO is an acronym for First In, First Out. It used to buffer data to help with flow of communication to
devices.
There are 32 slots of FIFO data, for each of the three output channels: yaw, pitch, and roll (X,Y,Z). Each
slot has 16 bits of data.
The great thing about having a FIFO is the host processor does not need to continuously poll data from
the sensor. Instead, it can wake up only when needed and burst the significant data out from the FIFO.
This buffer can work in five different modes.
There are five FIFO mode settings available; the default mode is “Bypass mode.” To see how to access
different modes, see FIFO_CTRL_REG and FIFO_SRC_REG in the datasheet posted to the 27911 product
page at www.parallax.com.
Bypass Mode
In bypass mode, the FIFO is not operational and for this reason it remains empty.
FIFO Mode
In FIFO mode, data from the yaw, pitch, and roll channels are stored in the FIFO.
Stream Mode
In stream mode, data from yaw, pitch, and roll measurements are stored in the FIFO. The FIFO
continues filling until full (32 slots of 16-bit data for yaw, pitch, and roll). When full, the FIFO discards the
older data as the new data arrives.
Bypass-to-stream Mode
In bypass-to-stream mode, the FIFO starts operating in bypass mode, and once a trigger event occurs,
the FIFO starts operating in stream mode.
Stream-to-FIFO Mode
In stream-to-FIFO mode, data from yaw, pitch, and roll measurements are stored in the
FIFO. An interrupt can be enabled on pin INT2, setting the I2_WTM bit in CTRL_REG3, which is triggered
when the FIFO is filled to the level specified in the WTM. The FIFO continues filling until full (32 slots of
16-bit data for yaw, pitch, and roll).
Example Code
Example code is available for download from the 27911 product page at
www.parallax.com
BASIC Stamp 2
The L3G4200D_Gyroscope_Demo.bs2 program reads raw X,Y,Z values from the Gyroscope module using
the default I²C interface, and displays the values in the BASIC Stamp Editor’s Debug Terminal. The
software is a free download from
www.parallax.com/basicstampsoftware.
Propeller™ P8X32A
The L3G4200D_example_code.spin program reads raw X,Y,Z values from the Gyroscope module using
the default I²C interface, and displays the values in a serial terminal. It calls FullDuplexSerial.spin, a
library object of the Propeller Tool software, which is available from
www.parallax.com/Propeller.
Revision History
Version 1.1: Corrected Type for pins 7 and 8 in Pin Definitions and Ratings table, page 3.
Copyright © Parallax Inc.
Gyroscope Module 3-Axis L3G4200D (#27911)
v1.1 4/19/2013 Page 5 of 5
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