30 min

Provide real-time orientation data for improved guidance with L20G20IS and PIC18F4585

Spin to win: Mastering gyroscopic control!

Gyro 4 Click with EasyPIC v7

Published Oct 05, 2023

Click board™

Gyro 4 Click

Development board

EasyPIC v7


NECTO Studio



Revolutionize the world of robotics and autonomous systems with our gyroscope, offering enhanced motion sensing and control



Hardware Overview

How does it work?

Gyro 4 Click is based on the L20G20IS, a two-axis MEMS gyroscope from STMicroelectronics. An angular rate gyroscope is a device that produces a positive-going digital output for counterclockwise rotation around the sensitive axis considered. Sensitivity describes the sensor's gain and can be determined by applying a defined angular velocity. This value changes very little over temperature and time. The zero-rate level describes the actual output signal if there is no angular rate present. The zero-rate level of highly accurate MEMS sensors is, to some extent, a result of stress to the sensor and therefore the zero-rate level can

slightly change after mounting the sensor on a printed circuit board or after exposing it to extensive mechanical stress. This value changes very little over temperature and time. The L20G20IS includes temperature sensor and data can be retrieved from the registers, as two's complement data in 12-bit format left-justified. The output of the temperature sensor is 0 at 25 °C. On the L20G20IS the angular rate data can be retrieved using a synchronous read. To perform a synchronous read, CTRL4_OIS (0Eh R/W) (DRDY_EN) has to be set to '1' in order to enable the data-ready interrupt on the INT pin. To

properly perform a synchronous read, the angular rate data have to be read every time the DRDY pin goes high. The INT signal can be latched (default condition) or pulsed. When a latched condition is selected, the interrupt goes low when the high part of one of the output channels is read and returns high when new data is generated. When a pulsed condition is selected, the interrupt behavior is independent from the read operations and remains high for 75 µs every time new data is generated. The INT pin is set by default as push-pull output, but it can be configured as open-drain output.

Gyro 4 Click top side image
Gyro 4 Click bottom side image

Features overview

Development board

EasyPIC v7 is the seventh generation of PIC development boards specially designed to develop embedded applications rapidly. It supports a wide range of 8-bit PIC microcontrollers from Microchip and has a broad set of unique functions, such as a powerful onboard mikroProg programmer and In-Circuit debugger over USB-B. The development board is well organized and designed so that the end-user has all the necessary elements in one place, such as switches, buttons, indicators, connectors, and others. With four different connectors for each port, EasyPIC v7 allows you to connect accessory boards, sensors, and custom electronics more efficiently than ever. Each part of

the EasyPIC v7 development board contains the components necessary for the most efficient operation of the same board. An integrated mikroProg, a fast USB 2.0 programmer with mikroICD hardware In-Circuit Debugger, offers many valuable programming/debugging options and seamless integration with the Mikroe software environment. Besides it also includes a clean and regulated power supply block for the development board. It can use various external power sources, including an external 12V power supply, 7-23V AC or 9-32V DC via DC connector/screw terminals, and a power source via the USB Type-B (USB-B) connector. Communication options such as

USB-UART and RS-232 are also included, alongside the well-established mikroBUS™ standard, three display options (7-segment, graphical, and character-based LCD), and several different DIP sockets. These sockets cover a wide range of 8-bit PIC MCUs, from PIC10F, PIC12F, PIC16F, PIC16Enh, PIC18F, PIC18FJ, and PIC18FK families. EasyPIC v7 is an integral part of the Mikroe ecosystem for rapid development. Natively supported by Mikroe software tools, it covers many aspects of prototyping and development thanks to a considerable number of different Click boards™ (over a thousand boards), the number of which is growing every day.

EasyPIC v7 horizontal image

Microcontroller Overview

MCU Card / MCU




MCU Memory (KB)


Silicon Vendor


Pin count


RAM (Bytes)


Used MCU Pins

mikroBUS™ mapper

SPI Chip Select
SPI Clock
Power Supply

Take a closer look


Gyro 4 Click Schematic schematic

Step by step

Project assembly

EasyPIC v7 front image hardware assembly

Start by selecting your development board and Click board™. Begin with the EasyPIC v7 as your development board.

EasyPIC v7 front image hardware assembly
Buck 22 Click front image hardware assembly
MCU DIP 40 hardware assembly
EasyPIC v7 MB 1 - upright/background hardware assembly
Necto image step 2 hardware assembly
Necto image step 3 hardware assembly
Necto image step 4 hardware assembly
NECTO Compiler Selection Step Image hardware assembly
NECTO Output Selection Step Image hardware assembly
Necto image step 6 hardware assembly
Necto DIP image step 7 hardware assembly
EasyPIC PRO v7a Display Selection Necto Step hardware assembly
Necto image step 9 hardware assembly
Necto image step 10 hardware assembly
Necto PreFlash Image hardware assembly

Track your results in real time

Application Output

After pressing the "FLASH" button on the left-side panel, it is necessary to open the UART terminal to display the achieved results. By clicking on the Tools icon in the right-hand panel, multiple different functions are displayed, among which is the UART Terminal. Click on the offered "UART Terminal" icon.

UART Application Output Step 1

Once the UART terminal is opened, the window takes on a new form. At the top of the tab are two buttons, one for adjusting the parameters of the UART terminal and the other for connecting the UART terminal. The tab's lower part is reserved for displaying the achieved results. Before connecting, the terminal has a Disconnected status, indicating that the terminal is not yet active. Before connecting, it is necessary to check the set parameters of the UART terminal. Click on the "OPTIONS" button.

UART Application Output Step 2

In the newly opened UART Terminal Options field, we check if the terminal settings are correct, such as the set port and the Baud rate of UART communication. If the data is not displayed properly, it is possible that the Baud rate value is not set correctly and needs to be adjusted to 115200. If all the parameters are set correctly, click on "CONFIGURE".

UART Application Output Step 3

The next step is to click on the "CONNECT" button, after which the terminal status changes from Disconnected to Connected in green, and the data is displayed in the Received data field.

UART Application Output Step 4

Software Support

Library Description

This library contains API for Gyro 4 Click driver.

Key functions:

  • gyro4_spi_get - Getting register content

  • gyro4_get_temperature - Getting die temperature value

  • gyro4_get_axes - Getting axes values

Open Source

Code example

This example can be found in NECTO Studio. Feel free to download the code, or you can copy the code below.

 * \file 
 * \brief Gyro4 Click example
 * # Description
 * This application is a two-axis MEMS gyroscope for optical image stabilization.
 * The demo application is composed of two sections :
 * ## Application Init 
 * Initializes SPI device
 * ## Application Task  
 * Checks for data ready interrupt, gets axes and temperature data and logs those values
 * \author MikroE Team
// ------------------------------------------------------------------- INCLUDES

#include "board.h"
#include "log.h"
#include "gyro4.h"

// ------------------------------------------------------------------ VARIABLES

static gyro4_t gyro4;
static log_t logger;

// ------------------------------------------------------ APPLICATION FUNCTIONS

void application_init ( void )
    log_cfg_t log_cfg;
    gyro4_cfg_t cfg;
    uint8_t initialize_flag;

     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, "---- Application Init ----" );

    //  Click initialization.

    gyro4_cfg_setup( &cfg );
    gyro4_init( &gyro4, &cfg );

    Delay_ms( 500 );
    initialize_flag = gyro4_initialize( &gyro4 );
    if ( initialize_flag == 1 )
        log_printf( &logger, "> App init fail \r\n" );
    else if ( initialize_flag == 0 )
        log_printf( &logger, "> App init done \r\n" );

void application_task ( )
    uint8_t int_flag;
    float x_axis;
    float y_axis;
    float die_temperature;

    int_flag = gyro4_int_get( &gyro4 );
    while ( int_flag == 1 )
        int_flag = gyro4_int_get( &gyro4 );

    gyro4_get_temperature( &gyro4, &die_temperature );
    gyro4_get_axes( &gyro4, &x_axis, &y_axis );

    log_printf( &logger, "\r\n" );
    log_printf( &logger, "> Die temperature : %.2f degrees Celsius \r\n", die_temperature );
    log_printf( &logger, "> X axis : %.2f degrees per second \r\n", x_axis );
    log_printf( &logger, "> Y axis : %.2f degrees per second \r\n", y_axis );

    Delay_ms( 500 );

void main ( void )
    application_init( );

    for ( ; ; )
        application_task( );

// ------------------------------------------------------------------------ END

Additional Support