From the mbed microcontroller Cookbook.

ITG 3200 Gyroscope

The ITG-3200 is a triple-axis, digital output gyroscope. It features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyro outputs, a user-selectable internal low-pass filter bandwidth, and a Fast-Mode I2C (400kHz) interface, as well as an embedded temperature sensor and a 2% accurate internal oscillator.

Hello World!

» Import this program
ITG3200_HelloWorld - main.cpp

00001 #include "ITG3200.h"
00002 
00003 Serial pc(USBTX, USBRX);
00004 ITG3200 gyro(p9, p10);
00005 
00006 int main() {
00007 
00008     pc.printf("Now starting ITG-3200 test...\n");
00009     
00010     //Set highest bandwidth.
00011     gyro.setLpBandwidth(LPFBW_42HZ);
00012 
00013     while (1) {
00014 
00015         //Arbitrary wait for printf clarity.
00016         wait(0.1);
00017         pc.printf("%i, %i, %i\n", gyro.getGyroX(),
00018                   gyro.getGyroY(), gyro.getGyroZ());
00019 
00020     }
00021 
00022 }

Wiring

ITG-3200 Signal Name	mbed pin
VCC	VOUT
VLOGIC	VOUT
GND	GND
SDA	p9
SCL	p10

API

» Import this library into a program
ITG3200 - ITG3200 Class Reference

Public Member Functions
	ITG3200 (PinName sda, PinName scl)
	Constructor.
char	getWhoAmI (void)
	Get the identity of the device.
void	setWhoAmI (char address)
	Set the address of the device.
char	getSampleRateDivider (void)
	Get the sample rate divider.
void	setSampleRateDivider (char divider)
	Set the sample rate divider.
int	getInternalSampleRate (void)
	Get the internal sample rate.
void	setLpBandwidth (char bandwidth)
	Set the low pass filter bandwidth.
char	getInterruptConfiguration (void)
	Get the interrupt configuration.
void	setInterruptConfiguration (char config)
	Set the interrupt configuration.
bool	isPllReady (void)
	Check the ITG_RDY bit of the INT_STATUS register.
bool	isRawDataReady (void)
	Check the RAW_DATA_RDY bit of the INT_STATUS register.
float	getTemperature (void)
	Get the temperature of the device.
int	getGyroX (void)
	Get the output for the x-axis gyroscope.
int	getGyroY (void)
	Get the output for the y-axis gyroscope.
int	getGyroZ (void)
	Get the output on the z-axis gyroscope.
char	getPowerManagement (void)
	Get the power management configuration.
void	setPowerManagement (char config)
	Set power management configuration.

Library

» Import this library into a program ITG3200

ITG-3200 triple axis, digital gyroscope library.

Reference

ITG-3200 Datasheet

Page history

Last modified 27 Nov 2010, by Aaron Berk

No tags | 24 comments

24 comments on ITG 3200 Gyroscope:

Jason Martin

# 05 Nov 2010

I recently received the ITG-3200 Gyro to use with my project and was all excited to use the gyro. I loaded you code into the controller and the gyro appears to hang on each steep. I folled all the instructions you provided. Do you have any suggestion on what I could do next.

Tim Marvin

# 11 Nov 2010

Two things I found you have to look out for in this lib (which is awesome btw...thanks Aaron!)

1) Depending if you are pulling up or down pin 9 on the gyro, it will change the address of the device. In my case, I had to edit ITG3200.h line 44 to reflect 0x68 instead of 0x69

Code

#define ITG3200_I2C_ADDRESS 0x68 //7-bit address.(or 0x69)

2) The library now appears to return signed integers of the rate counts instead of floats for deg/sec, so in the example hello world code seen above all the %f's in the printf() need to be changed to %i's. Also I added \r to keep all the text in a column. Don't know if that's just my terminal's issue or not.

Code

pc.printf("%i, %i, %i\n\r", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ());

Hope this helps.

Tim

seshakiran chemudipati

# 08 Mar 2011

I bought ITG 3200 recently, and interfaced with mbed board as shown above and tried the same program, but I am getting the same data all the time which is -12852 -12852 -12852 on all axis. can you suggest me what to do...

Peter Swanson

# 11 Mar 2011

I have been trying to use the program provided above, but I believe something in the library is incorrect. I even tried the suggestions given above by Tim Marvin, but that did not work either. My terminal can print from other programs, but this library has an error in it that prevents any printing while running the the program on the mbed. (It compiles so its obviously not a syntactical error, but a run-time error)

Stanislaus Eichstaedt

# 11 Mar 2011

Hi all, I've tested the lib with the IMU and it seems to work sometimes and sometimes it prevents any printing to the terminal programm - like Peter described it above. Strange is, that it's working sometimes. It's really a great library and I like it. I'll try to test only the code above without IMU stuff over weekend - if I'll find some spare time. It's important to connect VLOGIC and VCC to mbed VOUT (3.3V). Did you use a bread board for wiring up the gyro, like me? If so, maybe this is a mechanical reason because of bad contacts? Let us all know if someone is investigating a solution for this, please. Regards Stanislaus

seshakiran chemudipati

# 14 Mar 2011

Hi all, I am still unable to use the Gyro module (ITG-3200 Breakout board) while interfacing with mbed as shown above....

i tried it with the following changes...

1. Changing I2C address to 0x68 by changing gyro pin 9 connection.. 2. vcc and vlogic connecting to mbed vout. 3. without connecting vlogic..

in all cases i am getting some garbage value -12858,-12858,-12858.

i am still trying the same with proper wiring... can anyone suggest me better solution for this..

regards, seshu

Chema Moto

# 14 Mar 2011

seshakiran chemudipati wrote:

Hi all, I am still unable to use the Gyro module (ITG-3200 Breakout board) while interfacing with mbed as shown above....

i tried it with the following changes...

1. Changing I2C address to 0x68 by changing gyro pin 9 connection.. 2. vcc and vlogic connecting to mbed vout. 3. without connecting vlogic..

in all cases i am getting some garbage value -12858,-12858,-12858.

i am still trying the same with proper wiring... can anyone suggest me better solution for this..

regards, seshu

Make sure I2C are working well(pull ups, etc) and a device has right ID. You can use

» Import this program I2CU

to see list of devices on I2C

seshakiran chemudipati

# 15 Mar 2011

Chema Moto wrote:

seshakiran chemudipati wrote:

Hi all, I am still unable to use the Gyro module (ITG-3200 Breakout board) while interfacing with mbed as shown above....

i tried it with the following changes...

1. Changing I2C address to 0x68 by changing gyro pin 9 connection.. 2. vcc and vlogic connecting to mbed vout. 3. without connecting vlogic..

in all cases i am getting some garbage value -12858,-12858,-12858.

i am still trying the same with proper wiring... can anyone suggest me better solution for this..

regards, seshu

Make sure I2C are working well(pull ups, etc) and a device has right ID. You can use

» Import this program I2CU

to see list of devices on I2C

Thank you very much, I tried the I2CU program to find the I2C address_{I am getting 0 devices found message back... so I think its because of improper wiring...}

I tried in both ways.. by pulling up and pulling down pin 9 of gyroscope...

do I need to change the lpbandwidth?

Seshu.

Chema Moto

# 15 Mar 2011

seshakiran chemudipati wrote:

Thank you very much, I tried the I2CU program to find the I2C address I am getting 0 devices found message back... so I think its because of improper wiring...

I tried in both ways.. by pulling up and pulling down pin 9 of gyroscope...

do I need to change the lpbandwidth?

Seshu.

pull up SDA,SCL
vcc,vlogic to 3.3V

seshakiran chemudipati

# 15 Mar 2011

Chema Moto wrote:

seshakiran chemudipati wrote:

Thank you very much, I tried the I2CU program to find the I2C address I am getting 0 devices found message back... so I think its because of improper wiring...

I tried in both ways.. by pulling up and pulling down pin 9 of gyroscope...

do I need to change the lpbandwidth?

Seshu.

pull up SDA,SCL
vcc,vlogic to 3.3V

Thank you very much.... I got it.

also made some difference between vcc and vlogic ( vlogic<vcc) I connected USB voltage to Gyro vcc and mbed 3.3v to vlogic.

I think its not good practice to use usb 5v I have to find other alternative.

seshu.

matthew tetlow

# 25 Mar 2011

I seem to have a similar problem. I just get a steady stream of -12852 output for all three gyros. My ITG3200 is part of a sens10321 stick, so has a 3 axis accelerometer and 3 axis magnetometer as well. I tried I2CU and it says 3 devices found, which is correct. Any ideas? The only outputs from the stick are Vcc,GND,Scl,Sda so no option to play with Vlogic and Vcc pins on the ITG 3200 chip

Chema Moto

# 25 Mar 2011

matthew tetlow wrote:

ITG3200 I2C ADDRESS: 0x68 or 0x69

seshakiran chemudipati

# 28 Mar 2011

matthew tetlow wrote:

Hi there,

you can see VIO on the gyro which is vlogic... keep vlogic always less that vcc.... may be try like this.. connect the vcc to usb voltage and then vlogic to mbed 3.3v_{also try connecting pull up resistors to sda and scl lines....}

also check the connections..

all the best

seshu

Renishaw Renishaw

# 23 Aug 2011

Hi, Has anybody managed to run this gyro? In case of choosing analog output or I2C output gyroscope which one has the major advantage? Cheers, Milan

A: I2C provide digital output so will probably has better resolution?/faster, noise redundant, less power. Right?

Anastasios Kanakis

# 23 Aug 2011

Hi Milan,

The SJ1 is used for 7bit I2C address byte and define the LSB bit. Just read the datasheet everything is there! By default SJ1 is already set to high which mean 0x69 7bit address, but you can unsolder it and solder it to ground, then the 7bit address will be 0x68. The SJ2 is need to be soldered together if no external clock is used or you can leave it as it is but connect the pin5 of the JP2 to GND. So I solder this SJ2 for mine board and left to unconnected the pin5 on JP2.

Regards, Stas

Renishaw Renishaw

# 23 Aug 2011

Hi, Thank you for the answer I will go back to the manual soon. As I realised that SJ1/2 are optional I deleted my question and it disappeared at the same time as you typed the answer ;) I think that your comment explains the case of 0x68 and 0x69. Have you managed to run this gyroscope? Regards, Milan

Anastasios Kanakis

# 23 Aug 2011

Yes I have complete system with accel, gyro and magnetometer but I am use STM32 MCU for this 9 degree of freedom project where I have build mine library from the scratch.

Anastasios Kanakis

# 30 Aug 2011

Hi Milan,

Watch this video http://youtu.be/4-LIT6xSot0

Regards, Stas

Renishaw Renishaw

# 01 Sep 2011

nice nice nice, what next? have u got an application for it? I just received free samples yesterday and got footprint to Altium today so hopefully start soon. Amazing keep growng

Anastasios Kanakis

# 03 Sep 2011

Thanks! :) Yes I have two.

All the best to you too!

M N

# 31 Oct 2011

>> (problem: it reads continuously -12858,-12858,-12858.)

If you're using the "workshop board", pin 9 may be constantly pulled high. Change to another I2C interface, for example pins 28/27

A brief summary of what I found out.

For the coolcomponents ITG-3200 breakout board, I believe the following applies:

It -is- necessary to add pull-up resistors in one way or the other (there are two empty slots on the board). 1.8k was recommended somewhere.
Both supplies should be connected to 3.3V.
The datasheet clearly states Vdd max. 3.6V. Further, Vlogic may not exceed vdd. Why anybody would consider 5 V is beyond me.
The clock input is not required to make it work. Close the jumper on the bottom side of the board to ground it
My board shipped with the address line set high (jumper), as the documentation states. If so, the address is 0x69.
The I2CU program (see above) works as expected
The current version of the example code works as expected

I hope this saves someone else some time...

M N

# 02 Nov 2011

I think the RAW_RDY_EN bit is not as described in the header (see register map in data sheet).

I got data interrupts working using gyro.setInterruptConfiguration(1)

Antros Christofi

# 22 Mar 2012

Hi all,

Does anyone has the code for this gyro sensor? http://www.active-robots.com/gyro-breakout-board-ly530al-300degrees-s.html

Regards Andrew

Farkas Felix Attila

# 1 week, 6 days ago

It is working fine, have to use a >4 OHM resistor between the SCL->VIO or VDD and also SDA-> VIO or VDD to act as pull up.

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ITG 3200 Gyroscope

Hello World!

» Import this programITG3200_HelloWorld - main.cpp

Wiring

API

» Import this library into a programITG3200 - ITG3200 Class Reference

Public Member Functions

Library

» Import this library into a programITG3200

Reference

24 comments on ITG 3200 Gyroscope:

Code

Code

seshakiran chemudipati wrote:

» Import this programI2CU

Chema Moto wrote:

seshakiran chemudipati wrote:

» Import this programI2CU

seshakiran chemudipati wrote:

Chema Moto wrote:

seshakiran chemudipati wrote:

matthew tetlow wrote:

matthew tetlow wrote:

» Import this program
ITG3200_HelloWorld - main.cpp

» Import this library into a program
ITG3200 - ITG3200 Class Reference

» Import this library into a program ITG3200

» Import this program I2CU

» Import this program I2CU