Building stable motion sensing solution with ICG-1020S and STM32L496AG

Helping you keep your balance in a topsy-turvy world!

Gyro 7 Click with Discovery kit with STM32L496AG MCU

Published Jul 22, 2025

Click board™

Gyro 7 Click

Dev. board

Discovery kit with STM32L496AG MCU

Compiler

NECTO Studio

MCU

STM32L496AG

Advanced solution for precise orientation and angular velocity measurement and stabilization

Hardware Overview

How does it work?

Gyro 7 Click is based on the ICG-1020S, a high-performance 2-axis gyroscope from TDK InvenSense. The ICG-1020S is highly configurable with a full-scale programmable range from ±46.5dps to ±374dps. The single structure vibratory MEMS rate gyroscope detects the X- and Y-axis rotation. When the gyroscope is rotated about any sense axes, the Coriolis effect causes a detected vibration. The resulting signal is amplified, demodulated, and filtered to produce a proportional voltage to the angular rate. With its 2-axis integration, this Click board™ allows users to design it into an optical image stabilization (OIS) application. Two-axis MEMS rate gyroscope sensor, the ICG-1020S,

comes with integrated 16-bit ADCs and signal conditioning with two axes XY configuration. After digitizing the signal, data is processed through a digital filter and output through sensor data registers. Besides, the ICG-1020S is also characterized by high resolution and low RMS noise, noise density, a fast sample rate of up to 32kHz, and low power consumption. Gyro 7 Click communicates with MCU through a register-selectable standard SPI interface that enables high clock speed up to 20MHz, supporting the two most common SPI modes, SPI Mode 0 and 3. Other blocks include onboard clocking, temperature compensation, and bias circuits.

The sensor data registers contain the latest gyro data, which are read-only registers accessible via the serial interface. Data from these registers may be read anytime. It also possesses an additional interrupt signal, routed on the INT pin of the mikroBUS™ socket labeled as INT, indicating when a specific interrupt event occurs. This Click board™ can only be operated with a 3.3V logic voltage level. The board must perform appropriate logic voltage level conversion before using MCUs with different logic levels. However, the Click board™ comes equipped with a library containing functions and an example code that can be used as a reference for further development.

Features overview

Development board

The 32L496GDISCOVERY Discovery kit serves as a comprehensive demonstration and development platform for the STM32L496AG microcontroller, featuring an Arm® Cortex®-M4 core. Designed for applications that demand a balance of high performance, advanced graphics, and ultra-low power consumption, this kit enables seamless prototyping for a wide range of embedded solutions. With its innovative energy-efficient

architecture, the STM32L496AG integrates extended RAM and the Chrom-ART Accelerator, enhancing graphics performance while maintaining low power consumption. This makes the kit particularly well-suited for applications involving audio processing, graphical user interfaces, and real-time data acquisition, where energy efficiency is a key requirement. For ease of development, the board includes an onboard ST-LINK/V2-1

debugger/programmer, providing a seamless out-of-the-box experience for loading, debugging, and testing applications without requiring additional hardware. The combination of low power features, enhanced memory capabilities, and built-in debugging tools makes the 32L496GDISCOVERY kit an ideal choice for prototyping advanced embedded systems with state-of-the-art energy efficiency.

Discovery kit with STM32L496AG MCU double side image

Microcontroller Overview

MCU Card / MCU

Architecture

ARM Cortex-M4

MCU Memory (KB)

1024

Silicon Vendor

STMicroelectronics

Pin count

169

RAM (Bytes)

327680

Used MCU Pins

mikroBUS™ mapper

RST

SPI Chip Select

PG11

SPI Clock

PI1

SCK

SPI Data OUT

PD3

MISO

SPI Data IN

PI3

MOSI

Power Supply

3.3V

Ground

GND

PWM

Interrupt

PH2

INT

SCL

SDA

Ground

GND

Take a closer look

Click board™ Schematic

Step by step

Project assembly

Discovery kit with STM32H750XB MCU front image hardware assembly

Start by selecting your development board and Click board™. Begin with the Discovery kit with STM32L496AG MCU as your development board.

Thermo 21 Click front image hardware assembly

Board mapper by product7 hardware assembly

Discovery kit with STM32H750XB MCU NECTO MCU Selection Step hardware assembly

Necto No Display image step 8 hardware assembly

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 7 Click driver.

Key functions:

gyro7_get_int_pin This function returns the INT pin logic state.
gyro7_read_gyroscope This function reads the gyroscope's X and Y axis in degrees per second (dps).
gyro7_read_temperature This function reads the internal temperature in Celsius.

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 main.c
 * @brief Gyro7 Click example
 *
 * # Description
 * This example demonstrates the use of Gyro 7 Click board by reading and displaying
 * the values of X and Y axis in degrees per second and the chip internal temperature in Celsius.
 *
 * The demo application is composed of two sections :
 *
 * ## Application Init
 * Initializes the driver and performs the Click default configuration which sets the sample rate
 * to 40 Hz, gyroscope resolution to 374 dps, and enables the data ready interrupt.
 *
 * ## Application Task
 * Waits for the data ready interrupt, then reads the values of X and Y gyroscope axis as well as
 * the chip internal temperature and displays the results on the USB UART. The data sample rate is 
 * set to 40Hz by default, therefore the data is being read approximately every 25ms.
 *
 * @author Stefan Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "gyro7.h"

static gyro7_t gyro7;
static log_t logger;

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    gyro7_cfg_t gyro7_cfg;  /**< Click config object. */

    /** 
     * 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.
    gyro7_cfg_setup( &gyro7_cfg );
    GYRO7_MAP_MIKROBUS( gyro7_cfg, MIKROBUS_1 );
    if ( SPI_MASTER_ERROR == gyro7_init( &gyro7, &gyro7_cfg ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( GYRO7_ERROR == gyro7_default_cfg ( &gyro7 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

void application_task ( void )
{
    if ( gyro7_get_int_pin ( &gyro7 ) )
    {
        float x_axis, y_axis, temperature;
        if ( GYRO7_OK == gyro7_read_gyroscope ( &gyro7, &x_axis, &y_axis ) )
        {
            log_printf( &logger, " X : %.2f dps\r\n", x_axis );
            log_printf( &logger, " Y : %.2f dps\r\n", y_axis );
        }
        if ( GYRO7_OK == gyro7_read_temperature ( &gyro7, &temperature ) )
        {
            log_printf( &logger, " Temperature : %.2f C\r\n\n", temperature );
        }
    }
}

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;
}

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