Provide real-time orientation data for improved guidance with L20G20IS and STM32F091RC
Spin to win: Mastering gyroscopic control!
Published Feb 26, 2024
Click board™
Gyro 4 Click
Dev. board
Nucleo-64 with STM32F091RC MCU
Compiler
NECTO Studio
MCU
STM32F091RC
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
Nucleo-64 with STM32F091RC MCU offers a cost-effective and adaptable platform for developers to explore new ideas and prototype their designs. This board harnesses the versatility of the STM32 microcontroller, enabling users to select the optimal balance of performance and power consumption for their projects. It accommodates the STM32 microcontroller in the LQFP64 package and includes essential components such as a user LED, which doubles as an ARDUINO® signal, alongside user and reset push-buttons, and a 32.768kHz crystal oscillator for precise timing operations. Designed with expansion and flexibility in mind, the Nucleo-64 board features an ARDUINO® Uno V3 expansion connector and ST morpho extension pin
headers, granting complete access to the STM32's I/Os for comprehensive project integration. Power supply options are adaptable, supporting ST-LINK USB VBUS or external power sources, ensuring adaptability in various development environments. The board also has an on-board ST-LINK debugger/programmer with USB re-enumeration capability, simplifying the programming and debugging process. Moreover, the board is designed to simplify advanced development with its external SMPS for efficient Vcore logic supply, support for USB Device full speed or USB SNK/UFP full speed, and built-in cryptographic features, enhancing both the power efficiency and security of projects. Additional connectivity is
provided through dedicated connectors for external SMPS experimentation, a USB connector for the ST-LINK, and a MIPI® debug connector, expanding the possibilities for hardware interfacing and experimentation. Developers will find extensive support through comprehensive free software libraries and examples, courtesy of the STM32Cube MCU Package. This, combined with compatibility with a wide array of Integrated Development Environments (IDEs), including IAR Embedded Workbench®, MDK-ARM, and STM32CubeIDE, ensures a smooth and efficient development experience, allowing users to fully leverage the capabilities of the Nucleo-64 board in their projects.
Microcontroller Overview
MCU Card / MCU
Architecture
ARM Cortex-M0
MCU Memory (KB)
256
Silicon Vendor
STMicroelectronics
Pin count
64
RAM (Bytes)
32768
You complete me!
Accessories
Click Shield for Nucleo-64 comes equipped with two proprietary mikroBUS™ sockets, allowing all the Click board™ devices to be interfaced with the STM32 Nucleo-64 board with no effort. This way, Mikroe allows its users to add any functionality from our ever-growing range of Click boards™, such as WiFi, GSM, GPS, Bluetooth, ZigBee, environmental sensors, LEDs, speech recognition, motor control, movement sensors, and many more. More than 1537 Click boards™, which can be stacked and integrated, are at your disposal. The STM32 Nucleo-64 boards are based on the microcontrollers in 64-pin packages, a 32-bit MCU with an ARM Cortex M4 processor operating at 84MHz, 512Kb Flash, and 96KB SRAM, divided into two regions where the top section represents the ST-Link/V2 debugger and programmer while the bottom section of the board is an actual development board. These boards are controlled and powered conveniently through a USB connection to program and efficiently debug the Nucleo-64 board out of the box, with an additional USB cable connected to the USB mini port on the board. Most of the STM32 microcontroller pins are brought to the IO pins on the left and right edge of the board, which are then connected to two existing mikroBUS™ sockets. This Click Shield also has several switches that perform functions such as selecting the logic levels of analog signals on mikroBUS™ sockets and selecting logic voltage levels of the mikroBUS™ sockets themselves. Besides, the user is offered the possibility of using any Click board™ with the help of existing bidirectional level-shifting voltage translators, regardless of whether the Click board™ operates at a 3.3V or 5V logic voltage level. Once you connect the STM32 Nucleo-64 board with our Click Shield for Nucleo-64, you can access hundreds of Click boards™, working with 3.3V or 5V logic voltage levels.
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 Nucleo-64 with STM32F091RC MCU 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 );
}
int main ( void )
{
/* Do not remove this line or clock might not be set correctly. */
#ifdef PREINIT_SUPPORTED
preinit();
#endif
application_init( );
for ( ; ; )
{
application_task( );
}
return 0;
}
// ------------------------------------------------------------------------ END
