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Home | Product Categories | 3-axis | SEN-09801

Triple-Axis Digital-Output Gyro ITG-3200 Breakout

sku: SEN-09801 RoHS Compliant In Fritzing Library

Description: This is a breakout board for InvenSense's ITG-3200, a groundbreaking triple-axis, digital output gyroscope. The ITG-3200 features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyro outputs, a user-selectable internal low-pass filter bandwidth, and a Fast-Mode I2C (400kHz) interface. Additional features include an embedded temperature sensor and a 2% accurate internal oscillator.

The ITG-3200 can be powered at anywhere between 2.1 and 3.6V. For power supply flexibility, the ITG-3200 has a separate VLOGIC reference pin (labeled VIO), in addition to its analog supply pin (VDD) which sets the logic levels of its serial interface. The VLOGIC voltage may be anywhere from 1.71V min to VDD max. For general use, VLOGIC can be tied to VCC. The normal operating current of the sensor is just 6.5mA.

Communication with the ITG-3200 is achieved over a two-wire (I2C) interface. The sensor also features a interrupt output, and an optional clock input. A jumper on the top of the board allows you to easily select the I2C address, by pulling the AD0 pin to either VCC or GND; the board is shipped with this jumper tied to VCC. If you don't plan on using the CLKIN pin, you can short the jumper on the bottom of the board to tie it to GND.

This breakout board is shipped as shown in the images. Note that there are two unpopulated resistors on the I2C lines, these can be added later by the customer if desired.

Not sure which gyro is right for you? Our Accelerometer and Gyro Buying Guide might help!

Features:

  • Digital-output X-, Y-, and Z-Axis angular rate sensors (gyros) on one integrated circuit
  • Digitally-programmable low-pass filter
  • Low 6.5mA operating current consumption for long battery life
  • Wide VDD supply voltage range of 2.1V to 3.6V
  • Standby current: 5μA
  • Digital-output temperature sensor
  • Fast Mode I2C (400kHz) serial interface
  • Optional external clock inputs of 32.768kHz or 19.2MHz to synchronize with system clock
  • Pins broken out to a breadboard friendly 7-pin 0.1" pitch header

Dimensions: 0.70 x 0.55" (17.78 x 13.97mm)

Documents:

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images are CC BY-NC-SA 3.0

ASCII version


Comments 50 comments

  • josheeg | about 2 years ago 3

    their is a single chip 3 axis acselerometer..
    Home > Modern Device > Sensors > 3-Axis Accelerometer Module
    so check it out whack em together using kicad for a full open source system.

  • Cameri | about a year ago 2

    I developed a simple-yet-comprehensive library for Arduino to use this sensor.
    It contains two examples, one that basically just reads the axes and a more advanced one that uses the interrupt functionality of the ITG-3200.
    You can find a feature list on the README file.
    Source Code:
    https://github.com/Cameri/Itglib
    Direct Download:
    https://github.com/Cameri/Itglib/zipball/master

    • green47 | last year 1

      thanks for this! i’m attempting to adapt it to work on this sparkfun 9dof sensor board:
      http://www.sparkfun.com/products/10125 and haven’t quite figured it out. i edited your init function to perform the same register setup as the sparkfun test firmware, but haven’t gotten anything out of the gyro yet.
      any tips?

      • Member #243994 | about 10 months ago 1

        To get data out of the 9DOF board, you have to run the non-interrupt program, because that board doesn’t break out the interrupt pins, and change the address from 0x69 to 0x68- the address pin is pulled on the 9 DOF i think.

    • Easton L | last year 1

      thank you for this!

  • Otatiaro | about 2 years ago 1

    Wouhout !!!!
    Damn I was waiting for this one !!!!!
    Can’t wait to play with it !!!
    Thanks a lot Sparkfun.
    Regards,
    Thomas Legrand.

  • tz | about 2 years ago 1

    THANKS! You’ve implemented every request I’ve had or could think of and beyond for I2C sensor devices – unpopulated pullups on the lines, separate VCC, special function pins accessible, and a solder-bridge I2C Address selection. WOW.
    I will definitely be ordering one.

  • madprog | about 2 years ago 1

    Gyros work great. I like the built-in filtering options.
    Heads up — for me it came set to use the alternate I2C address (0x69) instead of the default (0x68).
    Has anyone gotten good data from the temperature sensor? I’m getting values around -16,000, at room temp =/.

    • skiizer | about 2 years ago 1

      The description above mentions that they pulled AD0 high, so 0x69 is the expected address.
      Then see Table 3.1 in the manual. -13200 represents 35 celsius, then every 280 from there is another degree celsius. (Admittedly a bit confusing to decipher from the table).
      So code would look like:
      tempC = 35.0 + ((rawVal + 13200)/280.0);
      Also note that you divide the gyro values by 14.375 to get degrees per second.

  • BadgerHat | about 2 years ago 1

    I’m having some problems with this module. I’ve got it wired up with CLK to ground, VIO and VDD tied together (to 3.3v), interrupt linked to a JN5148 microcontroller with no pullup, clk tied to ground via the little jumper and SDA and SCL connected also to JN5148 with 3.3k Pullups. I2C is in 400kHz mode.
    Sometimes it works; sometimes it doesn’t. I added an LED which is blinked every time the interrupt is triggered which appears to be on solidly when the module is working. It seems really sensitive to capacitance – if I touch my finger against the int/ground pins on the module it either makes the module start producing data or it stops it – very bizarre!
    I’ve had a look at the output of the int pin using a bus pirate in logic mode. When data isn’t being produced the int pin isn’t pulsing. I’ve tried 100nF caps to decouple the supply but it makes no difference. Also tried using a battery and had the same problem.
    Anyone got any ideas abou what might be causing this erratic behaviour?!

  • Mulder | about 2 years ago 1

    Can a pro tell me if I can diretly hook this up to a 5V Arduino?
    The absolute max VDD rating is 6V, and the logic input can take max VDD+0.5V
    My fear is that if I give it 3.3V VDD but logic 5V it’ll release the magic smoke.
    whereas running it entirely on 5V should work or not?

  • mrmark | about 2 years ago 1

    how well does this gyro handle vibration? i dont want to put it on my quadrocopter just to find out that it won’t give accurate readings, any help would be appreciated, thanks.

    • TheBigOne | about 2 years ago 1

      I would be very interested in this as well… this seems like the perfect chip for quadcopter use, assuming it actually works on-board…

      • Tori | about 2 years ago 1

        The datasheet specifies a resonant frequency of around 30 kHz for each axis, which is comparable to IDG-500 gyros that are popular with quads. The AeroQuad project is currently testing these gyros (for their v2 shield) and they report that they work very well (together with the similar BMA180 accelerometer).
        This is it, gents. The gyro.
        :)

        • mrmark | about 2 years ago 1

          thanks, this gyro will for sure be part of my quads system, along with the bma180 accel, a perfect digitial imu combination.

          • GearJammer | about a year ago 1

            I’d be interested to hear how this gyro works for you on a quad. From what I’ve read the 30kHz resonant freq is a big problem. Motor vibration tends to be in that realm causing false readings on those gyros. I’ve heard many people stick with analog devices gyros because they’re resonance is 5kHz which is much lower than typical mechanical vibration you’d get on a quad. Any real world feedback on these?

  • cyberfish | about 2 years ago 1

    It looks great and I want to grab one for my quadrocopter, but is there a reason why this is $50 when the chip is $10 in single quantities?
    http://www.cdiweb.com/ProductDetail/ITG3200/405256/

    • N8B | about 2 years ago 1

      I wish I knew how pricing worked around here as well.

      • cyberfish | about 2 years ago 1

        I guess the price was when the chip first came out. It was in short supply and prices were high (the naked chip sells for $25 here, too). But now supply is stable and it’s cheap :).

  • AngeloCirino | about 2 years ago 1

    First of all, I received my board with two pairs of pins in short, due to solder excess. The pins seem to be unused by the IC, so I guess there should be no problem. But the board doesn’t work.
    I am trying to use the board with a PSoC evaluation board with no success. I examined the I2C communication with an Agilent oscilloscope capable of capturing and examining the I2C protocol and the I2C master is generating the clock and data signals correctly, but the gyro slave doesn’t respond.
    For instance, I scanned all the I2C addresses and the gyro did not ACK the master. I tried the same connections as BadgerHat, even connected a LED to the INT pin with no sign of activity.
    Is it possible for the board to be DOA? Otherwise, how should I be sure it is operational? Are there any suggested test procedures?

  • fornow | about 2 years ago 1

    Hi, might anyone have a schematic to show connection of this gyro sensor to an Uno and some Arduino example code ? Thanks!

  • EO | about a year ago 1

    Hi All,


    I have a problem with the sensor, I would really appreciate if you can help me. I read data from the sensor however after some seconds the sensor stops sending data and microcontroller also stops (I guess waits for reasonable signal from the sensor like ACK signal) however since there is a problem in I2C connection microcontroller does waits there forever expecting the required signal. I wonder if any of you can run the sensor without any CLKIN signal because I grounded it. I have also tried different values for CLK_SEL register, but it did not solve the problem. Do you have any suggestions?? By the way I use PIC 16F887 and connect the gyro with PIC using the level converter of SParkfun.

  • Kirk R | about a year ago 1

    Hey,
    Is there any chance it would be possible to purchase this board without the IC installed, to use it for another InvenSense product with a similar layout?

  • Member #198229 | about a year ago 1

    Having problems getting ITG-3200 working with Arduino UNO (5V). Connected VDD and VIO to 3.3V, CLK and GND to Arduino GND, INT floating, SDA and SCL to A4 and A5, resp. No external pullups on SDA and SCL (I assumed the Arduino Wire Library uses the Atmega internal pullups). It appears that AD0 is set to 1, however just in case, I tried both addresses (0x68 and 0x69). I used the example code below, measured the SCL and SDA waveforms with a scope and for both addresses the bit patterns look valid. However, neither address is getting ACK’d by the gyro device during the ACK/NACK clock pulse. Can anybody out there advise?
    void setup()
    {
    Wire.begin();
    Serial.begin(9600);
    }
    void loop()
    {
    Wire.beginTransmission(0x69);
    Wire.endTransmission();
    Wire.beginTransmission(0x68);
    Wire.endTransmission();
    delay(500);
    }

    • Member #158485 | about a year ago * 1

      I had the same problem where the device would not respond to anything I sent it.
      The data sheet says VLogic (VIO) voltage can be up to VDD. Wrong! You can’t just tie them together.
      To solve this I made a small voltage divider circuit with two 10k resistors in series between 3.3V and ground. I connected VIO to the junction between the two resistors (3.3V/2 = 1.65V) and now the gyro works every time.

      • mehmetg | last year 1

        It can be they just can’t be tied together. VLogic needs to be powered up after VDD, that’s all.

  • leandrot | about a year ago 1

    Can gyros sense very small and precise tilt? Not full degree but arc-minute and even arc-seconds tilts?

  • jesgatt | about a year ago 1

    If I am not mistaken, generally gyroscopes have an internal High pass filter not a low pass filter as specified in the features. Would it be that there is a misprint in the datasheet and on this site?
    Thanks

  • Member #223821 | about a year ago 1

    Hi,
    I am having trouble connecting the gyro to a PIC24FJ256GA110. I have the following connections:
    VIO: 1.84V
    VDD: 3.3V
    SCL, SDA: Two pull-up ressistor to 3.3V
    CLK: to GND
    INT: Floating
    I am using the following code to run it:

    define GYRO_MASTER 0x9000

    define GYRO_BAUD_RATE 0x0027 // 100.00 kHz

    //Initialize ITG3200 for experimentation
    void gyro_Initialize(){

    //Configure IO pins  
GYRO_SCL_PORT = 0x0;        // SCL3 is an input  
GYRO_TRIS_SCL_PORT= 0x1;    // SCL3 is an input  
GYRO_SDA_PORT = 0x0;        // SDA3 is an input  
GYRO_TRIS_SDA_PORT = 0x1;   // SDA3 is an input  
OpenI2C3(GYRO_MASTER, GYRO_BAUD_RATE);    //OPEN I2C3  
return;

    }
    int gyro_read(int command){

    int gyro_read;  
StartI2C3();                //SEND START  
IdleI2C3();  
MasterWriteI2C3( 0xD2 );  // sends address to the itg3200 if pin 9 is held high (b1101001) 69,  
                    //someone is 'avin a larf. Bit 8 is the r/w bit (low) THEREFORE D2  
IdleI2C3();  
MasterWriteI2C3( 0x0 );    //access device ID register. Bit 8 is the r/w bit (low)  
RestartI2C3();                //SEND reSTART  
IdleI2C3();  
MasterWriteI2C3( 0xD3 );    //address device with r/w bit high as we want to read from the device THEREFORE D3  
IdleI2C3();  
//OS_Delay(10);  
gyro_read = MasterReadI2C3();    //READ THE ADDRESS INTO THE ITG3200ID VARIABLE  
IdleI2C3();  
NotAckI2C3();            //SEND A NACK TO FINISH COMMS  
IdleI2C3();  
StopI2C3();            // stop all I2C communication  
return gyro_read;

    }
    In the oscope I see the signal SCD and SCL sending the right address but I done get the ACK (instead of 0 in the 9th clock I get a 1). Finally, the answer I get from the gyro are all 1’s (i.e. 255). Does anybody know what can be going on?
    Thanks a lot.

  • Member #172027 | about a year ago 1

    The address of itg-3200 is no 0XD2, i think that is 0x69

    • Member #223821 | about a year ago 1

      No, it is actually 0xD2 for writing and 0xD3 for reading. The address if the ITG is 1101001b but the eighth bit tells if you are writing (0) or reading (1) so it becomes:
      Writing: 1101001 0b = 0xD2
      Reading: 1101001 1b = 0xD3

  • Member #223821 | about a year ago 1

    If I am using a PIC24 at 5V, do I need a level shifter to communicate with the ITG-3200???
    thanks

  • Member #13737 | about a year ago 1

    I would really like it if the pullup resistors were populated on the board. It would be much easier to depopulate them if unneeded than to try and add the surface mount resistors. I almost destroyed my board trying to put the surface mount resistors on. The schematic shows the resistors on the board.
    Once I got all the resistors and jumpers set, the board worked well!

  • Member #223821 | last year 1

    Hi all,
    I just want to confirm if there is a very small typo in the DataSheet. Table 7 (page 22) states that Register 0 has the ID from bit 6 to bit 1. (bit 0 is not used). Doesn’t the ID (which is 7 bit long) go from bit 6 to bit 0 (inclusive)????
    Thanks.

    • mehmetg | about 11 months ago 1

      If you read reg address 0 the device should respond 104d… Bit 0 (LSB) is hard coded to 0, if I am not mistaken. Depending on if you’re reading or writing the MSB will change.

  • NoahSH | last year 1

    the Quickstart link is broken

  • sampan | about 10 months ago 1

    Any encounter unable to set the Full Scale register bits?
    I am sure my code is working properly, because I was able to set it.
    Now I can’t set DLPF_FS register, but I can still set all the other registers (INT_CFG, PWR_MGM…etc.) But I cannot set the Full Scale bits to 3.

  • Ritch | about 10 months ago 1

    Label the axes please other it’s just annoying.

  • Member #134728 | about 10 months ago 1

    Good product by Invense. However, unfortunately, all manufacturers speak about precision static conditions. In dynamics, Coriolis force principle for measurement rotation velocity produces accumulating errors. It would be nice if more information is provided for an end user when doing marketing. So additional efforts have to be spent to filter “bad” stuff in dynamics conditions like the following. This is what I was able to accomplish with this board: http://www.youtube.com/watch?v=pN-20mkjZxE

  • zaro | about 9 months ago 1

    Any body test the differece between L3G4200D and ITG3200?

  • NoahSH | about 9 months ago 1

    I successfully used this MEMS gyro breakout ( with https://github.com/Cameri/Itglib) to create a fun musical synth prototype. Check it out here: http://www.youtube.com/watch?v=KiCoMHCS9Iw

  • Member #266917 | about a month ago 1

    Are we need to use I2C voltage-level translator for connecting to arduino uno board.

  • Member #322505 | about 3 weeks ago 1

    Hi everyone ;

    I have a ITG3200 and I am controlling it a with PIC 16F877a. But I have a problem. I don’t read data it. I am using mikroC and I am using I2C protocol. Written program that ;

    void main(){ int X; TRISB=0; PORTB=0; TRISC=0xFF; PORTC=0; while(1){ I2C_Init(400000); I2C_Start(); I2C_Wr(0xD2); I2C_Wr(0x3E); I2C_Wr(0x80); I2C_Stop();

    Delay_ms(100);

    I2C_Start(); I2C_Wr(0xD2); I2C_Wr(0x00); I2C_Wr(0x69); I2C_Stop();

    Delay_ms(100);

    I2C_Start(); I2C_Wr(0xD2); I2C_Wr(0x16); I2C_Wr(0x18); I2C_Stop();

    Delay_ms(100);

    I2C_Start(); I2C_Wr(0xD2); I2C_Wr(0x3E); I2C_Wr(0x00); I2C_Stop();

    Delay_ms(100);

    I2C_Start(); I2C_Wr(0xD2); I2C_Wr(0x22); I2C_Repeated_Start(); I2C_Wr(0xD3); X = I2C_Rd(0u); PORTB=X; I2C_Stop(); } }

    What’s the problem this ? Can you help me ? please .. (S.O.S)