Provide real-time orientation data for improved guidance with L20G20IS and PIC18F4585
Spin to win: Mastering gyroscopic control!
Published Oct 05, 2023
Click board™
Gyro 4 Click
Dev Board
EasyPIC v7
Compiler
NECTO Studio
MCU
PIC18F4585
Revolutionize the world of robotics and autonomous systems with our gyroscope, offering enhanced motion sensing and control
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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.
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.
Microcontroller Overview
MCU Card / MCU
Architecture
PIC
MCU Memory (KB)
48
Silicon Vendor
Microchip
Pin count
40
RAM (Bytes)
3328
Used MCU Pins
mikroBUS™ mapper
Take a closer look
Schematic
Step by step
Project assembly
Start by selecting your development board and Click board™. Begin with the EasyPIC v7 as your development board.
Track your results in real time
Application Output via UART Mode
1. Once the code example is loaded, pressing the "FLASH" button initiates the build process, and programs it on the created setup.
2. After the programming is completed, click on the Tools icon in the upper-right panel, and select the UART Terminal.
3. After opening the UART Terminal tab, first check the baud rate setting in the Options menu (default is 115200). If this parameter is correct, activate the terminal by clicking the "CONNECT" button.
4. Now terminal status changes from Disconnected to Connected in green, and the data is displayed in the Received data field.
Software Support
Library Description
This library contains API for Gyro 4 Click driver.
Key functions:
gyro4_spi_get- Getting register contentgyro4_get_temperature- Getting die temperature valuegyro4_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_MAP_MIKROBUS( cfg, MIKROBUS_1 );
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
