User Manual

Copyright © Parallax Inc. Gyroscope Module 3-Axis L3G4200D (#27911) v1.0 10/24/2011 Page 4 of 5
L3G4200D Mechanical Characteristics
Characterized @ Vdd = 3.0 V, T = 25 °C
Symbol
Parameter
Test condition Typical Units
FS Measurement range User-selectable
±250
dps ±500
±2000
So Sensitivity
FS = 250 dps 8.75
Mdps/digit FS = 500 dps 17.50
FS = 2000 dps 70
SoDr
Sensitivity change vs.
temperature
From -40 °C to +85 °C ±2 %
DVoff Digital zero-rate level
FS = 250 dps ±10
dps FS = 500 dps ±15
FS = 2000 dps ±75
OffDr
Zero-rate level change
vs. temperature
FS = 250 dps ±0.03
dps/°C
FS = 500 dps ±0.04
NL
Non linearity
Best fit straight line 0.2 % FS
DST Self-test output change
FS = 250 dps 130
dps FS = 500 dps 200
FS = 2000 dps 530
Rn
Rate noise density
BW = 50 Hz 0.03 dps/sqrt(Hz)
ODR
Digital output data rate 100/200/
400/800
Hz
Data excerpt from the L3G4200D datasheet.
Communication Protocol
Note: details on the communication protocol and FIFO modes are taken from the L3G4200D datasheet.
Please reference the datasheet for much more detailed explanations and configurations.
Communication Settings
You can select between I²C (2-wire) or SPI (3 or 4 wire) communication protocols; I²C is the default
setting for this module. These serial interfaces are mapped onto the same pins.
I²C
The Gyroscope module I
2
C is a bus slave. I²C communication is used to read and write to and from the
Gyroscope’s data registers.
The two signals need for I²C operation are the serial clock line (SCL) and the serial data line (SDA). The
SDA line is bidirectional and used for sending and receiving the data to/from the interface.
SPI
The SPI is a bus slave. The SPI communication is used to read and write to and from the Gyroscope’s
data registers. The serial interface interacts with the external world through 4 wires: CS, SCL, SDI, and
SDO (see Pin Definitions and Ratings for descriptions).