Parallax 27911 Bedienungsanleitung

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Parallax Gyroscope Module KickStart (#27911)

What It Can Do

•Modular angular rate sensor tracks motion in three axes

•Three selectable measurement scales, with rates up to 2000° per second

•Built-in temperature sensor; can be used separately, or for temperature drift compensation

The 3-Axis Gyroscope module provides separate data values for yaw, pitch, and roll. Motion is

indicated as a positive or negative value, depending on the direction of rotation. The sensor is

useful in 3D simulation, virtual gaming input devices, robotics, and for remotely controlled or

unpiloted aircraft and submersibles.

Gyroscopes are commonly used with multi-axis accelerometers, where the data from both

sensors can provide useful information detailing speed and direction of travel. The Memsic 2125

Dual-axis Accelerometer and MMA7455 3-Axis Accelerometer Module are good companion

accelerometers for the 3-Axis Gyroscope module

It may also be used with an accelerometer and 3-axis compass to construct a 9-axis IMU (inertial

measurement unit), common in unmanned aerial vehicles, such as drones and quadcopters.

Parts List

•3-Axis Gyroscope module

•BASIC Stamp HomeWork Board, Propeller BOE, Propeller QuickStart, or Arduino Uno

microcontroller (with breadboard, as needed)

•22 gauge solid conductor hookup wire

Basic Wiring

•Power Requirements: 2.7 to 6.5 VDC

•Communication Interface: I2C (up to 400 kHz) or SPI (10 MHz; 4 & 3 wire)

•Dimensions: 0.85 X 0.80 in (2.16 X 2.03 cm)

Program KickStarts

The KickStart examples display raw data output for each of the three axes. Values are retrieved

from the module using the I2C interface.

BASIC Stamp HomeWork Board

' {$STAMP BS2}

' {$PBASIC 2.5}

SDA PIN 0 ' SDA of gyro connected to P0

SCL PIN 1 ' SCL of gyro connected to P1

WRITE_Data CON $D2 ' Request Write operation

READ_Data CON $D3 ' Request Read operation

' Control registers

CTRL_REG1 CON $20

CTRL_REG2 CON $21

CTRL_REG3 CON $22

CTRL_REG4 CON $23

STATUS_REG CON $27

OUT_X_INC CON $A8

X VAR Word

Y VAR Word

Z VAR Word

rawl VAR Word

rawh VAR Word

' Variables for I2C communications

I2C_DATA VAR Byte

I2C_LSB VAR Bit

I2C_REG VAR Byte

I2C_VAL VAR Byte

PAUSE 100 ' Power up delay

' Set up data ready signal

I2C_REG = CTRL_REG3

I2C_VAL = $08

GOSUB I2C_Write_Reg

' Set up "block data update" mode

I2C_REG = CTRL_REG4

I2C_VAL = $80

GOSUB I2C_Write_Reg

' Send the get continuous output command

I2C_REG = CTRL_REG1

I2C_VAL = $1F

GOSUB I2C_Write_Reg

GOSUB Gyro_Get_Raw ' Get XYZ data

' Divide X Y Z, by 114 to reduce noise

IF (X.BIT15) THEN

X = (ABS X) / 114

X = -X

ELSE

X = X / 114

ENDIF

IF (Y.BIT15) THEN

Y = (ABS Y) / 114

Y = -Y

ELSE

Y = Y / 114

ENDIF

IF (Z.BIT15) THEN

Z = (ABS Z) / 114

Z = -Z

ELSE

Z = Z / 114

ENDIF

DEBUG HOME, "RAW X = ",11, SDEC X, CR ' Display data

DEBUG "RAW Y = ",11, SDEC Y, CR

DEBUG "RAW Z = ",11, SDEC Z, CR

PAUSE 250

LOOP

Gyro_Get_Raw:

GOSUB Wait_For_Data_Ready

GOSUB I2C_Start

I2C_DATA = WRITE_DATA

GOSUB I2C_Write ' Read the data starting

I2C_DATA = OUT_X_INC ' at pointer register

GOSUB I2C_Write

GOSUB I2C_Stop

GOSUB I2C_Start

I2C_DATA = READ_DATA

GOSUB I2C_Write

GOSUB I2C_Read

rawL = I2C_DATA ' Read high byte

GOSUB I2C_ACK

GOSUB I2C_Read

rawH = I2C_DATA ' Read low byte

GOSUB I2C_ACK

X = (rawH <&lt 8) | rawL ' OR high and low into X

' Do the same for Y and Z:

GOSUB I2C_Read

rawL = I2C_DATA

GOSUB I2C_ACK

GOSUB I2C_Read

rawH = I2C_DATA

GOSUB I2C_ACK

Y = (rawH <&lt 8) | rawL

GOSUB I2C_Read

rawL = I2C_DATA

GOSUB I2C_ACK

GOSUB I2C_Read

rawH = I2C_DATA

GOSUB I2C_NACK

Z = (rawH << 8) | rawL

GOSUB I2C_Stop

RETURN

'---------I2C functions------------

' Read the status register until the ZYXDA bit is high

Wait_For_Data_Ready:

I2C_REG = STATUS_REG

GOSUB I2C_Read_Reg

LOOP UNTIL ((I2C_DATA & $08) <> 0)

RETURN

' Set I2C_REG & I2C_VAL before calling this

I2C_Write_Reg:

GOSUB I2C_Start

I2C_DATA = WRITE_DATA

GOSUB I2C_Write

I2C_DATA = I2C_REG

GOSUB I2C_Write

I2C_DATA = I2C_VAL

GOSUB I2C_Write

GOSUB I2C_Stop

RETURN

' Set I2C_REG before calling this, I2C_DATA will have result

I2C_Read_Reg:

GOSUB I2C_Start

I2C_DATA = WRITE_DATA

GOSUB I2C_Write

I2C_DATA = I2C_REG

GOSUB I2C_Write

GOSUB I2C_Stop

GOSUB I2C_Start

I2C_DATA = READ_DATA

GOSUB I2C_Write

GOSUB I2C_Read

GOSUB I2C_NACK

GOSUB I2C_Stop

RETURN

I2C_Start:

LOW SDA

LOW SCL

RETURN

I2C_Stop:

LOW SDA

INPUT SCL

INPUT SDA

RETURN

I2C_ACK:

LOW SDA

INPUT SCL

LOW SCL

INPUT SDA

RETURN

I2C_NACK:

INPUT SDA

INPUT SCL

LOW SCL

RETURN

I2C_Read:

SHIFTIN SDA, SCL, MSBPRE, [I2C_DATA]

RETURN

I2C_Write:

I2C_LSB = I2C_DATA.BIT0

I2C_DATA = I2C_DATA / 2

SHIFTOUT SDA, SCL, MSBFIRST, [I2C_DATA\7]

IF I2C_LSB THEN INPUT SDA ELSE LOW SDA

INPUT SCL

LOW SCL

INPUT SDA

INPUT SCL

LOW SCL

RETURN

Note: When this program is run the BASIC Stamp Debug Terminal will automatically open.

Propeller BOE and Propeller QuickStart

Propeller BOE Wiring Diagram

Propeller QuickStart Wiring Diagram

OBJ

pst : "FullDuplexSerial"

CON

_clkmode = xtal1 + pll16x

_clkfreq = 80_000_000

SDApin = 0 ' SDA of gyro connected to P0

SCLpin = 1 ' SCL of gyro connected to P1

WRITE = $D2 ' Request Write operation

READ = $D3 ' Request Read operation

' Control registers

CTRL_REG1 = $20

CTRL_REG2 = $21

CTRL_REG3 = $22

CTRL_REG4 = $23

STATUS_REG = $27

OUT_X_INC = $A8

x_idx = 0

y_idx = 1

z_idx = 2

VAR

long x

long y

long z

long cx

long cy

long cz

long ff_x

long ff_y

long ff_z

long multiBYTE[3]

PUB Go | last_ticks

pst.start(31, 30, 0, 115200)

' Set modes

Wrt_1B(CTRL_REG3, $08) ' Data ready signal

Wrt_1B(CTRL_REG4, $80) ' Block data update

Wrt_1B(CTRL_REG1, $1F) ' Enable all axes

last_ticks := cnt

repeat

pst.tx(1) ' Set Terminal data

WaitForDataReady ' at top of screen

Read_MultiB(OUT_X_INC) ' Read XYZ bytes

' Divide by 114 to reduce noise

x := (x - cx) / 114

y := (y - cy) / 114

z := (z - cz) / 114

RawXYZ

WaitCnt(ClkFreq / 4 + Cnt) ' Delay before next loop

PUB RawXYZ

'Display Raw X,Y,Z data

pst.str(string("RAW X ",11))

pst.dec(x)

pst.str(string(13, "RAW Y ",11))

pst.dec(y)

pst.str(string(13, "RAW Z ",11))

pst.dec(z)

'' Below here routines to support I2C interfacing

PUB WaitForDataReady | status

repeat

status := Read_1B(STATUS_REG)

if (status & $08) == $08

quit

PUB Wrt_1B(SUB1, data)

''Write single byte to Gyroscope.

start

send(WRITE)

send(SUB1)

send(data)

stop

PUB Read_1B(SUB3) | rxd

''Read single byte from Gyroscope

start

send(WRITE)

send(SUB3)

stop

start

send(READ)

rxd := receive(false)

stop

result := rxd

PUB Read_MultiB(SUB3)

''Read multiple bytes from Gyroscope

start

send(WRITE)

send(SUB3)

stop

start

send(READ)

multiBYTE[x_idx] := (receive(true)) | (receive(true)) << 8

multiBYTE[y_idx] := (receive(true)) | (receive(true)) << 8

multiBYTE[z_idx] := (receive(true)) | (receive(false)) << 8

stop

x := ~~multiBYTE[x_idx]

y := ~~multiBYTE[y_idx]

z := ~~multiBYTE[z_idx]

PRI send(value)

value := ((!value) >< 8)

repeat 8

dira[SDApin] := value

dira[SCLpin] := false

dira[SCLpin] := true

value >>= 1

dira[SDApin] := false

dira[SCLpin] := false

result := not(ina[SDApin])

dira[SCLpin] := true

dira[SDApin] := true

PRI receive(aknowledge)

dira[SDApin] := false

repeat 8

result <<= 1

dira[SCLpin] := false

result |= ina[SDApin]

dira[SCLpin] := true

dira[SDApin] := (aknowledge)

dira[SCLpin] := false

dira[SCLpin] := true

dira[SDApin] := true

PRI start

outa[SDApin] := false

outa[SCLpin] := false

dira[SDApin] := true

dira[SCLpin] := true

PRI stop

dira[SCLpin] := false

dira[SDApin] := false

Note: To view the results of the demonstration, after uploading is complete run the Parallax

Serial Terminal from the Run menu, or press F12. Click the Enable button in the Terminal

window, then momentarily depress the Reset button on the Propeller QuickStart board to restart

the program.

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