Provide real-time orientation data for improved guidance with L20G20IS and ATmega644P
Spin to win: Mastering gyroscopic control!
Published Oct 05, 2023
Click board™
Gyro 4 Click
Dev. board
EasyAVR v7
Compiler
NECTO Studio
MCU
ATmega644P
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
EasyAVR v7 is the seventh generation of AVR development boards specially designed for the needs of rapid development of embedded applications. It supports a wide range of 16-bit AVR microcontrollers from Microchip and has a broad set of unique functions, such as a powerful onboard mikroProg programmer and In-Circuit debugger over USB. 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, EasyAVR v7 allows you to connect accessory boards, sensors, and custom electronics more
efficiently than ever. Each part of the EasyAVR 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 a wide range of external power sources, including an external 12V power supply, 7-12V AC or 9-15V 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 which cover a wide range of 16-bit AVR MCUs. EasyAVR 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
AVR
MCU Memory (KB)
64
Silicon Vendor
Microchip
Pin count
40
RAM (Bytes)
4096
Used MCU Pins
mikroBUS™ mapper
Take a closer look
Click board™ Schematic
Step by step
Project assembly
Start by selecting your development board and Click board™. Begin with the EasyAVR v7 as your development board.
Track your results in real time
Application Output
1. Application Output - In Debug mode, the 'Application Output' window enables real-time data monitoring, offering direct insight into execution results. Ensure proper data display by configuring the environment correctly using the provided tutorial.
2. UART Terminal - Use the UART Terminal to monitor data transmission via a USB to UART converter, allowing direct communication between the Click board™ and your development system. Configure the baud rate and other serial settings according to your project's requirements to ensure proper functionality. For step-by-step setup instructions, refer to the provided tutorial.
3. Plot Output - The Plot feature offers a powerful way to visualize real-time sensor data, enabling trend analysis, debugging, and comparison of multiple data points. To set it up correctly, follow the provided tutorial, which includes a step-by-step example of using the Plot feature to display Click board™ readings. To use the Plot feature in your code, use the function: plot(*insert_graph_name*, variable_name);. This is a general format, and it is up to the user to replace 'insert_graph_name' with the actual graph name and 'variable_name' with the parameter to be displayed.
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
The complete application code and a ready-to-use project are available through the NECTO Studio Package Manager for direct installation in the NECTO Studio. The application code can also be found on the MIKROE GitHub account.
/*!
* \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
