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preliminary data this is preliminary information on a new product now in deve lopment or undergoing evaluation. details are subject to change without notice. december 2010 doc id 17116 rev 3 1/42 42 L3G4200D mems motion sensor: ultra-stable three-axis digital output gyroscope features three selectable full scales (250/500/2000 dps) i 2 c/spi digital output interface 16 bit-rate value data output 8-bit temperature data output two digital output lines (interrupt and data ready) integrated low- and high-pass filters with user- selectable bandwidth ultra-stable over temperature and time wide supply voltage: 2.4 v to 3.6 v low voltage-compatible ios (1.8 v) embedded power-down and sleep mode embedded temperature sensor embedded fifo high shock survivability extended operating temperature range (-40 c to +85 c) ecopack ? rohs and ?green? compliant applications gaming and virtual reality input devices motion control with mmi (man-machine interface) gps navigation systems appliances and robotics description the L3G4200D is a low-power three-axis angular rate sensor able to provide unprecedented stablility of zero rate level and sensitivity over temperature and time. it includes a sensing element and an ic interface capable of providing the measured angular rate to the external world through a digital interface (i 2 c/spi). the sensing element is manufactured using a dedicated micro-machining process developed by stmicroelectronics to produce inertial sensors and actuators on silicon wafers. the ic interface is manufactured using a cmos process that allows a high level of integration to design a dedicated circuit which is trimmed to better match the sensing element characteristics. the L3G4200D has a full scale of 250/500/ 2000 dps and is capable of measuring rates with a user-selectable bandwidth. the L3G4200D is available in a plastic land grid array (lga) package and can operate within a temperature range of -40 c to +85 c. lga-16 (4x4x1.1 mm) table 1. device summary order code temperature range (c) package packing L3G4200D -40 to +85 lga-16 (4x4x1.1 mm) tray L3G4200Dtr -40 to +85 lga-16 (4x4x1.1 mm) tape and reel www.st.com
L3G4200D 2/42 doc id 17116 rev 3 contents 1 block diagram and pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.1 pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2 mechanical and electrical characte ristics . . . . . . . . . . . . . . . . . . . . . . . 10 2.1 mechanical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.2 electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.3 temperature sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.4 communication interface characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.4.1 spi - serial peripheral interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.4.2 i2c - inter ic control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.5 absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.6 terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.6.1 sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.6.2 zero-rate level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.6.3 self-test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.7 soldering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3 main digital blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.1 block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.2 fifo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.2.1 bypass mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.2.2 fifo mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.2.3 stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.2.4 bypass-to-stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.2.5 stream-to-fifo mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.2.6 retrieve data from fifo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4 application hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 5 digital interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 5.1 i2c serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 5.1.1 i2c operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 5.2 spi bus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 5.2.1 spi read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
L3G4200D doc id 17116 rev 3 3/42 5.2.2 spi write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 5.2.3 spi read in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 6 output register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 7 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 7.1 who_am_i (0fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 7.2 ctrl_reg1 (20h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 7.3 ctrl_reg2 (21h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 7.4 ctrl_reg3 (22h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 7.5 ctrl_reg4 (23h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 7.6 ctrl_reg5 (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 7.7 reference/datacapture (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 7.8 out_temp (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 7.9 status_reg (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 7.10 out_x_l (28h), out_x_h (29h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 7.11 out_y_l (2ah), out_y_h (2bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 7.12 out_z_l (2ch), out_z_h (2dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 7.13 fifo_ctrl_reg (2eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 7.14 fifo_src_reg (2fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 7.15 int1_cfg (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 7.16 int1_src (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 7.17 int1_ths_xh (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 7.18 int1_ths_xl (33h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 7.19 int1_ths_yh (34h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 7.20 int1_ths_yl (35h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 7.21 int1_ths_zh (36h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 7.22 int1_ths_zl (37h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 7.23 int1_duration (38h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 8 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 9 revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
list of tables L3G4200D 4/42 doc id 17116 rev 3 list of tables table 1. device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 table 2. pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 table 3. filter values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 table 4. mechanical characteristics @ vdd = 3.0 v, t = 25 c, unless otherwise noted . . . . . . . . . . . . 10 table 5. electrical characteristics @ vdd =3.0 v, t=25 c, unless otherwise noted . . . . . . . . . . . . . . . . 11 table 6. temp. sensor characteristics @ vdd =3.0 v, t=25 c, unless otherwise noted . . . . . . . . . . . 11 table 7. spi slave timing values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 table 8. i2c slave timing values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 table 9. absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 table 10. pll low-pass filter component values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 0 table 11. serial interface pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 table 12. i2c terminology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 table 13. sad+read/write patterns. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 table 14. transfer when master is writing one byte to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 table 15. transfer when master is writing multiple bytes to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 table 16. transfer when master is receiving (reading) one byte of data from slave . . . . . . . . . . . . . 23 table 17. transfer when master is receiving (reading) multiple bytes of data from slave . . . . . . . . . 23 table 18. register address map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 table 19. who_am_i register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 table 20. ctrl_reg1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 table 21. ctrl_reg1 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 table 22. dr and bw configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 table 23. power mode selection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 table 24. ctrl_reg2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 table 25. ctrl_reg2 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 table 26. high pass filter mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 table 27. high pass filter cut off frecuency configuration [hz] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 table 28. ctrl_reg1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 table 29. ctrl_reg3 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 table 30. ctrl_reg4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 table 31. ctrl_reg4 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 table 32. self test mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 table 33. ctrl_reg5 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 table 34. ctrl_reg5 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 table 35. out_sel configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 table 36. int_sel configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 table 37. reference register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 table 38. reference register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 4 table 39. out_temp register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 table 40. out_temp register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 table 41. status_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 table 42. status_reg description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 table 43. reference register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 table 44. reference register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 5 table 45. fifo mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 table 46. fifo_src register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 table 47. fifo_src register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 table 48. int1_cfg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
L3G4200D list of tables doc id 17116 rev 3 5/42 table 49. int1_cfg description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 table 50. int1_src register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 table 51. int1_src description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 table 52. int1_ths_xh register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 table 53. int1_ths_xh description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 table 54. int1_ths_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 table 55. int1_ths_xl description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 table 56. int1_ths_yh register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 table 57. int1_ths_yh description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 table 58. int1_ths_yl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 table 59. int1_ths_yl description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 table 60. int1_ths_zh register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 table 61. int1_ths_zh description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 table 62. int1_ths_zl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 table 63. int1_ths_zl description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 table 64. int1_duration register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 table 65. int1_duration description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 table 66. document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
list of figures L3G4200D 6/42 doc id 17116 rev 3 list of figures figure 1. block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 figure 2. pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 figure 3. L3G4200D external low-pass filter values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 figure 4. spi slave timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 figure 5. i2c slave timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 figure 6. block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 figure 7. bypass mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 figure 8. fifo mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 figure 9. stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 figure 10. bypass-to-stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 figure 11. trigger stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 figure 12. L3G4200D electrical connections and external component values . . . . . . . . . . . . . . . . . . 20 figure 13. read and write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 figure 14. spi read protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 figure 15. multiple byte spi read protocol (2-byte example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 figure 16. spi write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 figure 17. multiple byte spi write protocol (2-byte example). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 figure 18. spi read protocol in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 figure 19. int1_sel and out_sel configuration block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 figure 20. wait disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 figure 21. wait enabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 figure 22. lga-16: mechanical data and package dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
L3G4200D block diagram and pin description doc id 17116 rev 3 7/42 1 block diagram and pin description figure 1. block diagram the vibration of the structure is maintained by drive circuitry in a feedback loop. the sensing signal is filtered and appears as a digital signal at the output. 1.1 pin description figure 2. pin connection fifo trimming circuit s reference mixer charge amp clock low-pa ss filter + x,y,z i2c s pi c s s cl/ s pc s da/ s do/ s di s do y+ z+ y- z- x+ x- driving ma ss feed ba ck loop m u x a d d c i g i t a l f i l t e r i n g control logic & interrupt gen. int1 drdy/int2 a d c t e m p e r a t u r e s e n s o r 1 2 & pha s e generator ? am07225v1 (top view) direction s of the detectable angular rate s 1 x vdd_io s cl/ s pc s da/ s di/ s do s do/ s a0 re s re s re s re s int drdy/int2 c s re s pllfilt re s vdd gnd 1 8 12 5 4 9 1 3 16 +? z +? x bottom view +? y am07226v1
block diagram and pin description L3G4200D 8/42 doc id 17116 rev 3 figure 3. L3G4200D external low-pass filter values (a) table 2. pin description pin# name function 1 vdd_io power supply for i/o pins 2 scl spc i 2 c serial clock (scl) spi serial port clock (spc) 3 sda sdi sdo i 2 c serial data (sda) spi serial data input (sdi) 3-wire interface serial data output (sdo) 4 sdo sa0 spi serial data output (sdo) i 2 c least significant bit of the device address (sa0) 5cs spi enable i 2 c/spi mode selection (1:spi idle mode / i 2 c communication enabled; 0: spi communication mode / i 2 c disabled) 6 drdy/int2 data ready/fifo interrupt 7 int1 programmable interrupt 8 reserved connect to gnd 9 reserved connect to gnd 10 reserved connect to gnd 11 reserved connect to gnd 12 reserved connect to gnd 13 gnd 0 v supply 14 pllfilt phase-locked loop filter (see figure 3 ) 15 reserved connect to vdd 16 vdd power supply a. pin 14 pllfilt maximum voltage level is equal to vdd. % 4 % %crcekvqthqt vqrkp )0& .qyrcuuhknvgt #/x
L3G4200D block diagram and pin description doc id 17116 rev 3 9/42 table 3. filter values parameter typical value c1 10 nf c2 470 nf r2 10 k ?
mechanical and electrical characteristics L3G4200D 10/42 doc id 17116 rev 3 2 mechanical and electrical characteristics 2.1 mechanical characteristics table 4. mechanical characteristics @ vdd = 3.0 v, t = 25 c, unless otherwise noted (1) symbol parameter test condition min. typ. (2) max. unit 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 (3) fs = 250 dps 0.03 dps/c fs = 2000 dps 0.04 dps/c nl non linearity (4) 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 top operating temperature range -40 +85 c 1. the product is factory calibrated at 3.0 v. the operational power supply range is specified in table 5 . 2. typical specificat ions are not guaranteed. 3. min/max values have been estimated based on the m easurements of the current gyros in production. 4. guaranteed by design.
L3G4200D mechanical and electrical characteristics doc id 17116 rev 3 11/42 2.2 electrical characteristics 2.3 temperature sensor characteristics table 5. electrical characteristics @ vdd =3.0 v, t=25 c, unless otherwise noted (1) symbol parameter test condition min. typ. (2) max. unit vdd supply voltage 2.4 3.0 3.6 v vdd_io i/o pins supply voltage (3) 1.71 vdd+0.1 v idd supply current 6.1 ma iddsl supply current in sleep mode (4) selectable by digital interface 1.5 ma iddpdn supply current in power-down mode selectable by digital interface 5a to p operating temperature range -40 +85 c 1. the product is factory calibrated at 3.0 v. 2. typical specificat ions are not guaranteed. 3. it is possible to remove vdd maintaining vdd_io withou t blocking the communication busse s, in this condition the measurement chain is powered off. 4. sleep mode introduces a faster turn -on time compared to power-down mode. table 6. temp. sensor characteristics @ vdd =3.0 v, t=25 c, unless otherwise noted (1) symbol parameter test condition min. typ. (2) max. unit tsdr temperature sensor output change vs. temperature -1 c/digit todr temperature refresh rate 1 hz to p operating temperature range -40 +85 c 1. the product is factory calibrated at 3.0 v. 2. typical specificat ions are not guaranteed.
mechanical and electrical characteristics L3G4200D 12/42 doc id 17116 rev 3 2.4 communication interface characteristics 2.4.1 spi - serial peripheral interface subject to general operating conditions for vdd and top. figure 4. spi slave timing diagram (b) table 7. spi slave timing values symbol parameter value (1) unit min. max. tc(spc) spi clock cycle 100 ns fc(spc) spi clock frequency 10 mhz tsu(cs) cs setup time 5 ns th(cs) cs hold time 8 tsu(si) sdi input setup time 5 th(si) sdi input hold time 15 tv(so) sdo valid output time 50 th(so) sdo output hold time 6 tdis(so) sdo output disable time 50 1. values are guaranteed at 10 mhz clock fr equency for spi with both 4 and 3 wires, based on characterization results; not tested in production. b. measurement points are done at 0.2vdd_io and 0.8vdd_io, for both input and output ports. 63& &6 6', 6'2 w vx&6 w y62 w k62 w k6, w vx6, w k&6 w glv62 w f63& 06%,1 06%287 /6%287 /6%,1 !-v
L3G4200D mechanical and electrical characteristics doc id 17116 rev 3 13/42 2.4.2 i 2 c - inter ic control interface subject to general operating conditions for vdd and top. figure 5. i 2 c slave timing diagram (c) table 8. i 2 c slave timing values symbol parameter i 2 c standard mode (1) i 2 c fast mode (1) unit min max min max f (scl) scl clock frequency 0 100 0 400 khz t w(scll) scl clock low time 4.7 1.3 s t w(sclh) scl clock high time 4.0 0.6 t su(sda) sda setup time 250 100 ns t h(sda) sda data hold time 0 3.45 0 0.9 s t r(sda) t r(scl) sda and scl rise time 1000 20 + 0.1c b (2) 300 ns t f(sda) t f(scl) sda and scl fall time 300 20 + 0.1c b (2) 300 t h(st) start condition hold time 4 0.6 s t su(sr) repeated start condition setup time 4.7 0.6 t su(sp) stop condition setup time 4 0.6 t w(sp:sr) bus free time between stop and start condition 4.7 1.3 1. data based on standard i 2 c protocol requirement; not tested in production. 2. cb = total capacitance of one bus line, in pf. c. measurement points are done at 0.2vdd_io and 0.8vdd_io, for both ports. 6'$ 6&/ w i6'$ w vx63 w z6&// w vx6'$ w u6'$ w vx65 w k67 w z6&/+ w k6'$ w u6&/ w i6&/ w z6365 67$57 5(3($7(' 67$57 6723 67$57 !-v
mechanical and electrical characteristics L3G4200D 14/42 doc id 17116 rev 3 2.5 absolute maximum ratings any stress above that listed as ?absolute maximum ratings? may cause permanent damage to the device. this is a stress rating only and functional operation of the device under these conditions is not implied. exposure to maximum rating conditions for extended periods may affect device reliability. table 9. absolute maximum ratings symbol ratings maximum value unit vdd supply voltage -0.3 to 4.8 v t stg storage temperature range -40 to +125 c sg acceleration g for 0.1 ms 10,000 g esd electrostatic discharge protection 2 (hbm) kv this is a mechanical shock sensitive device, improper handling can cause permanent damage to the part this is an esd sensitive device, improper handling can cause permanent damage to the part
L3G4200D mechanical and electrical characteristics doc id 17116 rev 3 15/42 2.6 terminology 2.6.1 sensitivity 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 gain of the sensor and can be determined by applying a defined angular velocity to it. this value changes very little over temperature and time. 2.6.2 zero-rate level zero-rate level describes the actual output signal if there is no angular rate present. the zero-rate level of precise mems sensors is, to some extent, a result of stress to the sensor and, therefore, the zero-rate level can slig htly change after mounting the sensor onto a printed circuit board or after exposing it to extensive mechanical stress. this value changes very little over temperature and time. 2.6.3 stability over temperature and time thanks to the unique single driving mass approach and optimized design, st gyroscopes are able to guarantee a perfect match of the mems mechanical mass and the asic interface, and deliver unprecedented levels of stab ility over temper ature and time. with zero rate level and sensitivity performances, up to ten times better than equivalent products now available on the market, L3G4200D allows the user to avoid any further compensation and calibration during production for faster time to market, easy application implementation, higher performances and cost saving. 2.7 soldering information the lga package is compliant with the ecopack ? , rohs and ?green? standard. it is qualified for soldering heat resist ance according to jedec j-std-020. leave ?pin 1 indicator? unconnected during soldering. land pattern and soldering recommendations are available at www.st.com/ .
main digital blocks L3G4200D 16/42 doc id 17116 rev 3 3 main digital blocks 3.1 block diagram figure 6. block diagram 3.2 fifo the L3G4200D embeds a 32-slot, 16-bit data fifo for each of the three output channels: yaw, pitch, and roll. this allows consistent power saving for the system, as the host processor does not need to continuously poll data from the sensor. instead, it can wake up only when needed and burst the significant data out from the fifo. this buffer can work in five different modes. each mode is selected by the fifo_mode bits in the fifo_ctrl_reg. programmable watermark le vel, fifo_empty or fifo_full events can be enabled to generate dedicated interrupts on the drdy/int2 pin (configured through ctrl_reg3), and event detection informat ion is available in fifo_src_reg. the watermark level can be configured to wtm4:0 in fifo_ctrl_reg. 3.2.1 bypass mode in bypass mode, the fifo is not operational and for this reason it remains empty. as illustrated in figure 7 , only the first address is used for each channel. the remaining fifo slots are empty. when new data is available, the old data is overwritten. !$# ,0& (0& (0en ,0& /ut?3e l $ata2eg )nterrupt generator ).4?3el ) # 30) ).4 3#22%' #/.&2%' &)&/ x x !-v
L3G4200D main digital blocks doc id 17116 rev 3 17/42 figure 7. bypass mode 3.2.2 fifo mode in fifo mode, data from the yaw, pitch, and roll channels are stored in the fifo. a watermark interrupt can be enabled (i2_wmk bit in ctrl_reg3), which is triggered when the fifo is filled to the leve l specified in the wtm 4:0 bits of fifo_ctrl_reg. the fifo continues filling until it is full (32 slots of 16-bit data for yaw, pitch, and roll). when full, the fifo stops collecting data from the input channels. to restart data collection, it is necessary to write fifo_ctrl_reg back to bypass mode. fifo mode is represented in figure 8 . figure 8. fifo mode 3.2.3 stream mode in stream mode, data from yaw, pitch, and roll measurements are stored in the fifo. a watermark interrupt can be enabled and set as in fifo mode. the fifo continues filling until full (32 slots of 16-bit data for yaw, pitch, and roll). when full, the fifo discards the x y i z y x y z x y z x y z x i y i z i empt y !-v x y i z y x y z x y z x y z x i y i z i !-v
main digital blocks L3G4200D 18/42 doc id 17116 rev 3 older data as the new data arrives. programmable watermark level events can be enabled to generate dedicated interrupts on the drdy/int2 pin (configured through ctrl_reg3). stream mode is represented in figure 9 . figure 9. stream mode 3.2.4 bypass-to-stream mode in bypass-to-stream mode, the fifo starts operating in bypass mode, and once a trigger event occurs (related to int1_cfg register events), the fifo starts operating in stream mode (see figure 10 ). figure 10. bypass-to-stream mode x y z x y z x y z x y z x i y i z i x y z !-v x y i z y x y z x y z x y z x i y i z i %mpt y " y passmode 3t reammode 4riggerevent x y z x y z x y z x y z x i y i z i x y z !-v
L3G4200D main digital blocks doc id 17116 rev 3 19/42 3.2.5 stream-to-fifo mode in stream-to-fifo mode, data from yaw, pitch, and roll measurements are stored in the fifo. a watermark interrupt can be enabled on pin drdy/int2, setting the i2_wtm bit in ctrl_reg3, which is triggered when the fifo is filled to the level sp ecified in the wtm4:0 bits of fifo_ctrl_reg. the fifo continues filling until full (32 sl ots of 16-bit data for yaw, pitch, and roll). when full, the fifo discards the older data as the new data arrives. once a trigger event occurs (related to int1_cfg register events), the fifo starts operating in fifo mode (see figure 11 ). figure 11. trigger stream mode 3.2.6 retrieve data from fifo fifo data is read through the out_x, out_y and out_z registers. when the fifo is in stream, trigger or fifo mode, a read operation to the out_x, out_y or out_z registers provides the data stored in the fifo. each time data is read from the fifo, the oldest pitch, roll, and yaw data are placed in the out_x, out_y and out_z registers and both single read and read_burst (x,y & z with auto-incremental address) operations can be used. in read_burst mode, when data included in out_z_h is read, the system again starts to read information from addr out_x_l. x y i z y x y z x y z x y z x i y i z i 3tream-ode &)&/ -ode 4riggerevent x y z x y z x y z x y z x i y i z i x y z !-v
application hints L3G4200D 20/42 doc id 17116 rev 3 4 application hints figure 12. L3G4200D electrical connections and external component values power supply decoupling capacitors (100 nf ceramic or polyester +10 f) should be placed as near as possible to the device (common design practice). if vdd and vdd_io are not connected together, power supply decoupling capacitors (100 nf and 10 f between vdd and common ground, 100 nf between vdd_io and common ground) should be placed as near as possible to the device (common design practice). the L3G4200D ic includes a pll (phase locked loop) circuit to synchronize driving and sensing interfaces. capacitors and resistors must be added at the pllfilt pin (as shown in figure 12 ) to implement a second-order low-pass filter. table 10 summarizes the pll low- pass filter component values. table 10. pll low-pass filter component values component value c1 10 nf 10 % c2 470 nf 10 % r2 10 k ? 10 % 100 nf 10kohm 470nf vdd gnd c1 r2 c2 gnd 10 f s cl/ s pc c s dr s do/ s a0 s da_ s di_ s do 10nf vdd_io pllfilt vdd 1 8 12 5 49 1 3 16 top view pllfilt gnd int gnd (top view) direction s of the detectable angular rate s 1 x +? z +? x +? y vdd i2c bus rp u = 10kohm rp u s cl/ s pc s da_ s di_ s do p u ll- u p to b e a dded when i2c interf a ce i s us ed am07949v1
L3G4200D digital interfaces doc id 17116 rev 3 21/42 5 digital interfaces the registers embedded in the L3G4200D may be accessed through both the i 2 c and spi serial interfaces. the latter may be software-configured to operate either in 3-wire or 4-wire interface mode. the serial interfaces are mapped onto the same pins. to select/exploit the i 2 c interface, the cs line must be tied high (i.e., connected to vdd_io). 5.1 i 2 c serial interface the L3G4200D i 2 c is a bus slave. the i 2 c is employed to write data to registers whose content can also be read back. the relevant i 2 c terminology is given in the table below. there are two signals associated with the i 2 c bus: the serial clock line (scl) and the serial data line (sda). the latter is a bidirectional line used for sending and receiving the data to/from the interface. both lines must be connected to vdd_io through an external pull-up resistor. when the bus is free both the lines are high. the i 2 c interface is compliant with fast mode (400 khz) i 2 c standards as well as with normal mode. table 11. serial interface pin description pin name pin description cs spi enable i 2 c/spi mode selection (1:spi idle mode / i 2 c communication enabled; 0: spi communication mode / i 2 c disabled) scl/spc i 2 c serial clock (scl) spi serial port clock (spc) sda/sdi/sdo i 2 c serial data (sda) spi serial data input (sdi) 3-wire interface serial data output (sdo) sdo spi serial data output (sdo) i 2 c least significant bit of the device address table 12. i 2 c terminology term description transmitter the device which sends data to the bus receiver the device which receives data from the bus master the device which initiates a transfer, generates clock signals and terminates a transfer slave the device addressed by the master
digital interfaces L3G4200D 22/42 doc id 17116 rev 3 5.1.1 i 2 c operation the transaction on the bus is started through a start (st) signal. a start condition is defined as a high to low transition on the data line while the scl line is held high. after this has been transmitted by the master, the bus is considered busy. the next byte of data transmitted after the start condition contains the address of the slave in the first 7 bits and the eighth bit tells whether the master is receiving data from the slave or transmitting data to the slave. when an address is sent, each device in the system compares the first 7 bits after a start condition with its address. if they match, the device considers itself addressed by the master. the slave address (sad) associated with the L3G4200D is 110100xb. the sdo pin can be used to modify the least significant bit (lsb ) of the device address. if the sdo pin is connected to the voltage supply, lsb is ?1? (address 1101001b). otherwise, if the sdo pin is connected to ground, the lsb value is ?0? (address 1101000b). this solution permits the connection and addressing of two different gyroscopes to the same i 2 c bus. data transfer with acknowledge is mandatory. the transmitter must release the sda line during the acknowledge pulse. the receiver must then pull the data line low so that it remains stable low during the high period of the acknowledge clock pulse. a receiver which has been addressed is obliged to generate an acknowledge after each byte of data received. the i 2 c embedded in the L3G4200D behaves like a slave device, and the following protocol must be adhered to. after the start (st) condition, a slave address is sent. once a slave acknowledge (sak) has been returned, an 8-bit sub-addr ess is transmitted. the 7 lsb represent the actual register address while the msb enables address auto-increment. if the msb of the sub field is 1, the sub (register address) is automatically incremented to allow multiple data read/write. the slave address is completed with a read/write bit. if the bit is ?1? (read), a repeated start (sr) condition must be issued after the two sub-address bytes; if the bit is ?0? (write) the master transmits to the slave with the direction unchanged. table 13 describes how the sad+read/write bit pattern is composed, listing all the possible configurations. table 13. sad+read/write patterns command sad[6:1] sad[0] = sdo r/w sad+r/w read 110100 0 1 11010001 (d1h) write 110100 0 0 11010000 (d0h) read 110100 1 1 11010011 (d3h) write 110100 1 0 11010010 (d2h) table 14. transfer when master is writing one byte to slave master st sad + w sub data sp slave sak sak sak
L3G4200D digital interfaces doc id 17116 rev 3 23/42 data are transmitted in byte format (data). each data transfer contains 8 bits. the number of bytes transferred per transfer is unlimited. data is transferred with the most significant bit (msb) first. if a receiver cannot receive another complete byte of data until it has performed some other function, it can hold the clock line scl low to force the transmitter into a wait state. data transfer only continues when the receiver is ready for another byte and releases the data line. if a slave receiver does not acknowledge the slave address (i.e., it is not able to receive because it is performing some real-time function) the data line must be left high by the slave. the master can then abort the transfer. a low to high transition on the sda line while the scl line is high is defined as a stop condition. each data transfer must be terminated by the generation of a stop (sp) condition. in order to read multiple bytes, it is necessary to assert the most significant bit of the sub- address field. in other words, sub(7) must be equal to 1, while sub(6-0) represents the address of the first register to be read. in the presented communication format, mak is ?master acknowledge? and nmak is ?no master acknowledge?. 5.2 spi bus interface the spi is a bus slave. the spi allows writing and reading of the device registers. the serial interface interacts with the external world through 4 wires: cs, spc, sdi, and sdo . table 15. transfer when master is writing multiple bytes to slave master st sad + w sub data data sp slave sak sak sak sak table 16. transfer when master is receiving (reading) one byte of data from slave master st sad + w sub sr sad + r nmak sp slave sak sak sak data table 17. transfer when master is receiving (reading) multiple bytes of data from slave master st sad+w sub sr sad+r mak mak nmak sp slave sak sak sak data data data
digital interfaces L3G4200D 24/42 doc id 17116 rev 3 figure 13. read and write protocol cs is the serial port enable and is controlled by the spi master. it goes low at the start of the transmission and returns to high at the end. spc is the serial port clock and is controlled by the spi master. it is stopped high when cs is high (no transmission). sdi and sdo are, respectively, the serial port da ta input and ou tput. these lines are driven at the falling edge of spc and should be captured at the rising edge of spc . both the read register and write register commands are completed in 16 clock pulses, or in multiples of 8 in case of multip le read/write bytes. bit duration is the time between two falling edges of spc . the first bit (bit 0) starts at the first falling edge of spc after the falling edge of cs while the last bit (bit 15, bit 23, et c.) starts at the last falling edge of spc just before the rising edge of cs . bit 0 : rw bit. when 0, the data di(7:0) is written to the device. when 1, the data do(7:0) from the device is read. in the latter case, the chip drives sdo at the start of bit 8. bit 1 : ms bit. when 0, the address remains unchanged in multiple read/write commands. when 1, the address is auto-incremented in multiple read/write commands. bit 2-7 : address ad(5:0). this is the address field of the indexed register. bit 8-15 : data di(7:0) (write mode). this is the data that is written to the device (msb first). bit 8-15 : data do(7:0) (read mode). this is the data that is read from the device (msb first). in multiple read/write commands, further blocks of 8 clock periods are added. when the ms bit is 0, the address used to read/write data remains the same for every block. when the ms bit is 1, the address used to read/write data is incremented at every block. the function and the behavior of sdi and sdo remain unchanged. 5.2.1 spi read figure 14. spi read protocol cs spc sdi sdo rw ad5 ad4 ad3 ad2 ad1 ad0 di7 di6 di5 di4 di3 di2 di1 di0 do7do6do5do4do3do2do1do0 ms cs spc sdi sdo rw do7 do6 do5 do4 do3 do2 do1 do0 ad5 ad4 ad3 ad2 ad1 ad0 ms
L3G4200D digital interfaces doc id 17116 rev 3 25/42 the spi read command is performed with 16 clock pulses. a multiple byte read command is performed by adding blocks of 8 clock pulses to the previous one. bit 0 : read bit. the value is 1. bit 1 : ms bit. when 0, do not increment address; when 1, increment address in multiple reading. bit 2-7 : address ad(5:0). this is the address field of the indexed register. bit 8-15 : data do(7:0) (read mode). this is the data that is read from the device (msb first). bit 16-... : data do(...-8). further data in multiple byte reading. figure 15. multiple byte spi read protocol (2-byte example) 5.2.2 spi write figure 16. spi write protocol the spi write command is performed with 16 cl ock pulses. a multiple byte write command is performed by adding blocks of 8 clock pulses to the previous one. bit 0 : write bit. the value is 0. bit 1 : ms bit. when 0, do not increment address; when 1, increment address in multiple writing. bit 2 -7 : address ad(5:0). this is the address field of the indexed register. bit 8-15 : data di(7:0) (write mode). this is the data that is written to the device (msb first). bit 16-... : data di(...-8). further data in multiple byte writing. cs spc sdi sdo rw do7do6do5do4do3do2do1do0 ad5 ad4 ad3 ad2 ad1 ad0 do15 do14 do13 do12 do11 do10 do9 do8 ms cs spc sdi rw di7 di6 di5 di4 di3 di2 di1 di0 ad5 ad4 ad3 ad2 ad1 ad0 ms
digital interfaces L3G4200D 26/42 doc id 17116 rev 3 figure 17. multiple byte spi write protocol (2-byte example) 5.2.3 spi read in 3-wire mode 3-wire mode is entered by setting the sim (spi serial interface mode selection) bit to 1 in ctrl_reg2. figure 18. spi read protocol in 3-wire mode the spi read command is performed with 16 clock pulses: bit 0 : read bit. the value is 1. bit 1 : ms bit. when 0, do not increment address; when 1, increment address in multiple reading. bit 2-7 : address ad(5:0). this is the address field of the indexed register. bit 8-15 : data do(7:0) (read mode). this is the data that is read from the device (msb first). the multiple read command is also available in 3-wire mode. cs spc sdi rw ad5 ad4 ad3 ad2 ad1 ad0 di7 di6 di5 di4 di3 di2 di1 di0 di15 di14 di13 di12 di11 di10 di9 di8 ms cs spc sdi/o rw do7 do6 do5 do4 do3 do2 do1 do0 ad5 ad4 ad3 ad2 ad1 ad0 ms
L3G4200D output register mapping doc id 17116 rev 3 27/42 6 output register mapping the table given below provides a listing of the 8 bit registers embedded in the device and the related addresses: table 18. register address map name type register address default comment hex binary reserved - 00-0e - - who_am_i r 0f 000 1111 11010011 reserved - 10-1f - - ctrl_reg1 rw 20 010 0000 00000111 ctrl_reg2 rw 21 010 0001 00000000 ctrl_reg3 rw 22 010 0010 00000000 ctrl_reg4 rw 23 010 0011 00000000 ctrl_reg5 rw 24 010 0100 00000000 reference rw 25 010 0101 00000000 out_temp r 26 010 0110 output status_reg r 27 010 0111 output out_x_l r 28 010 1000 output out_x_h r 29 010 1001 output out_y_l r 2a 010 1010 output out_y_h r 2b 010 1011 output out_z_l r 2c 010 1100 output out_z_h r 2d 010 1101 output fifo_ctrl_reg rw 2e 010 1110 00000000 fifo_src_reg r 2f 010 1111 output int1_cfg rw 30 011 0000 00000000 int1_src r 31 011 0001 output int1_tsh_xh rw 32 011 0010 00000000 int1_tsh_xl rw 33 011 0011 00000000 int1_tsh_yh rw 34 011 0100 00000000 int1_tsh_yl rw 35 011 0101 00000000 int1_tsh_zh rw 36 011 0110 00000000 int1_tsh_zl rw 37 011 0111 00000000 int1_duration rw 38 011 1000 00000000
output register mapping L3G4200D 28/42 doc id 17116 rev 3 registers marked as reserved must not be changed. the writing to those registers may cause permanent damages to the device. the content of the registers that are loaded at boot should not be changed. they contain the factory calibration values. their content is automatically restored when the device is powered-up.
L3G4200D register description doc id 17116 rev 3 29/42 7 register description the device contains a set of registers which are used to control its behavior and to retrieve acceleration data. the registers address, made of 7 bits, is used to identify them and to write the data through serial interface. 7.1 who_am_i (0fh) device identification register. 7.2 ctrl_reg1 (20h) dr<1:0> is used to set odr selection. bw <1:0> is used to set bandwidth selection. in the following table are reported all frequency resulting in combination of dr / bw bits. table 19. who_am_i register 11010011 table 20. ctrl_reg1 register dr1 dr0 bw1 bw0 pd zen yen xen table 21. ctrl_reg1 description dr1-dr0 output data rate selection. refer to table 22 bw1-bw0 bandwidth selection. refer to table 22 pd power down mode enable. default value: 0 (0: power down mode, 1: normal mode or sleep mode) zen z axis enable. default value: 1 (0: z axis disabled; 1: z axis enabled) yen y axis enable. default value: 1 (0: y axis disabled; 1: y axis enabled) xen x axis enable. default value: 1 (0: x axis disabled; 1: x axis enabled) table 22. dr and bw configuration setting dr <1:0> bw <1:0> odr [hz] cut-off 00 00 100 12.5 00 01 100 25 00 10 100 25 00 11 100 25
register description L3G4200D 30/42 doc id 17116 rev 3 combination of pd, zen, yen, xen are used to set device in different modes (power down / normal / sleep mode) accord ing with the following table. 7.3 ctrl_reg2 (21h) 01 00 200 12.5 01 01 200 25 01 10 200 50 01 11 200 70 10 00 400 20 10 01 400 25 10 10 400 50 10 11 400 110 11 00 800 30 11 01 800 35 11 10 800 50 11 11 800 110 table 23. power mode selection configuration mode pd zen yen xen power down 0 - - - sleep 1 0 0 0 normal 1 - - - table 22. dr and bw configuration setting (continued) dr <1:0> bw <1:0> odr [hz] cut-off table 24. ctrl_reg2 register 0 (1) 1. value loaded at boot. this value must not be changed 0 (1) hpm1 hpm1 hpcf3 hpcf2 hpcf1 hpcf0 table 25. ctrl_reg2 description hpm1- hpm0 high pass filter mode select ion. default value: 00 refer to table 26 hpcf3- hpcf0 high pass filter cut off frequency selection refer to table 28
L3G4200D register description doc id 17116 rev 3 31/42 7.4 ctrl_reg3 (22h) table 26. high pass filter mode configuration hpm1 hpm0 high p ass filter mode 0 0 normal mode (reset reading hp_reset_filter) 0 1 reference signal for filtering 10normal mode 1 1 autoreset on interrupt event table 27. high pass filter cut off frecuency configuration [hz] hpcf3 odr= 100 hz odr= 200 hz odr= 400 hz odr= 800 hz 00008 153056 0001 4 8 15 30 0010 2 4 8 15 00111248 0100 0.5 1 2 4 0101 0.2 0.5 1 2 0110 0.1 0.2 0.5 1 0111 0.05 0.1 0.2 0.5 1000 0.02 0.05 0.1 0.2 1001 0.01 0.02 0.05 0.1 table 28. ctrl_reg1 register i1_int1 i1_boot h_lactive pp_od i2_drdy i2_wtm i2_orun i2_empty table 29. ctrl_reg3 description i1_int1 interrupt enable on int1 pin. de fault value 0. (0: disable; 1: enable) i1_boot boot status available on int1. defa ult value 0. (0: disable; 1: enable) h_lactive interrupt active configuration on int1. default value 0. (0: high; 1:low) pp_od push- pull / open drain. default value: 0. (0: push- pull; 1: open drain) i2_drdy date ready on drdy/int2. default value 0. (0: disable; 1: enable) i2_wtm fifo watermark interrupt on drdy/int2. default value: 0. (0: disable; 1: enable) i2_orun fifo overrun interrupt on drdy/int2 default value: 0. (0: disable; 1: enable) i2_empty fifo empty interrupt on drdy/int2. default value: 0. (0: disable; 1: enable)
register description L3G4200D 32/42 doc id 17116 rev 3 7.5 ctrl_reg4 (23h) 7.6 ctrl_reg5 (24h) table 30. ctrl_reg4 register bdu ble fs1 fs0 - st1 st0 sim table 31. ctrl_reg4 description bdu block data update. default value: 0 (0: continous update; 1: output r egisters not updated until msb and lsb reading) ble big/little endian data selection. default value 0. (0: data lsb @ lower address; 1: data msb @ lower address) fs1-fs0 full scale selection. default value: 00 (00: 250 dps; 01: 500 dps; 10: 2000 dps; 11: 2000 dps) st1-st0 self test enable. default value: 00 (00: self test disabled; other: see table ) sim spi serial interface mode selection. default value: 0 (0: 4-wire interface; 1: 3-wire interface). table 32. self test mode configuration st1 st0 self test mode 0 0 normal mode 01self test 0 (+) (1) 1. dst sign (absolute value in table 4 ) 10-- 11self test 1 (-) (1) table 33. ctrl_reg5 register boot fifo_en -- hpen int1_sel1 i nt1_sel0 out_sel1 out_sel0 table 34. ctrl_reg5 description boot reboot memory content. default value: 0 (0: normal mode; 1: reboot memory content) fifo_en fifo enable. default value: 0 (0: fifo disable; 1: fifo enable) hpen high pass filter enable. default value: 0 (0: hpf disabled; 1: hpf enabled. see figure 20 ) int1_sel1- int1_sel0 int1 selection configuration. default value: 0 (see figure 20 ) out_sel1- out_sel1 out selection configuration. default value: 0 (see figure 20
L3G4200D register description doc id 17116 rev 3 33/42 figure 19. int1_sel and out_sel configuration block diagram table 35. out_sel configuration setting hpen out_sel1 out_sel0 description x00 data in datareg and fifo are non-high- pass-filtered x01 data in datareg and fifo are high-pass- filtered 01x data in datareg and fifo are low-pass- filtered by lpf2 11x data in datareg and fifo are high-pass and low-pass-filtered by lpf2 table 36. int_sel configuration setting hpen int_sel1 int_ sel2 description x00 non-high-pass-filtered data are used for interrupt generation x01 high-pass-filtered data are used for interrupt generation 01x low-pass-filtered data are used for interrupt generation 11x high-pass and low-pass-filtered data are used for interrupt generation adc lpf1 hpf 0 1 hpen lpf2 10 11 01 00 o u t_ s el <1:0> d a t a reg fifo 3 2x16x 3 00 11 10 01 interr u pt gener a tor int1_ s el <1:0> am07949v2
register description L3G4200D 34/42 doc id 17116 rev 3 7.7 reference/datacapture (25h) 7.8 out_temp (26h) 7.9 status_reg (27h) table 37. reference register ref7 ref6 ref5 ref4 ref3 ref2 ref1 ref0 table 38. reference register description ref 7-ref0 reference value for interr upt generation. default value: 0 table 39. out_temp register temp7 temp6 temp5 temp4 temp3 temp2 temp1 temp0 table 40. out_temp register description temp7-temp0 temperature data. table 41. status_reg register zyxor zor yor xor zyxda zda yda xda table 42. status_reg description zyxor x, y, z -axis data overrun. default value: 0 (0: no overrun has occurred; 1: new data has overwritten the previous one before it was read) zor z axis data overrun. default value: 0 (0: no overrun has occurred; 1: a new data fo r the z-axis has overwritten the previous one) yor y axis data overrun. default value: 0 (0: no overrun has occurred; 1: a new data for the y-axis has overwritten the previous one) xor x axis data overrun. default value: 0 (0: no overrun has occurred; 1: a new data for the x-axis has overwritten the previous one) zyxda x, y, z -axis new data available. default value: 0 (0: a new set of data is not yet availabl e; 1: a new set of data is available) zda z axis new data available. default value: 0 (0: a new data for the z-axis is not yet availabl e; 1: a new data for the z-axis is available) yda y axis new data available. default value: 0 (0: a new data for the y-axis is not yet available;1: a new data for the y-axis is available) xda x axis new data available. default value: 0 (0: a new data for the x-axis is not yet availabl e; 1: a new data for the x-axis is available)
L3G4200D register description doc id 17116 rev 3 35/42 7.10 out_x_l (28h), out_x_h (29h) x-axis angular rate data. the value is expressed as two?s complement. 7.11 out_y_l (2ah), out_y_h (2bh) y-axis angular rate data. the value is expressed as two?s complement. 7.12 out_z_l (2ch), out_z_h (2dh) z-axis angular rate data. the value is expressed as two?s complement. 7.13 fifo_ctrl_reg (2eh) 7.14 fifo_src_reg (2fh) table 43. reference register fm2 fm1 fm0 wtm4 wtm3 wtm2 wtm1 wtm0 table 44. reference register description fm2-fm0 fifo mode selection. default value: 00 (see table ) wtm4-wtm0 fifo threshold. watermark level setting table 45. fifo mode configuration fm2 fm1 fm0 fifo mode 000bypass mode 001fifo mode 010stream mode 011stream-to-fifo mode 100bypass-to-stream mode table 46. fifo_src register wtm ovrn empty fss4 fss3 fss2 fss1 fss0 table 47. fifo_src register description wtm watermark status. (0: fifo filling is lower than wtm level; 1: fifo filling is equal or higher than wtm level) ovrn overrun bit status. (0: fifo is not completely fill ed; 1:fifo is completely filled)
register description L3G4200D 36/42 doc id 17116 rev 3 7.15 int1_cfg (30h) configuration register for interrupt source. 7.16 int1_src (31h) empty fifo empty bit. ( 0: fifo not empty; 1: fifo empty) fss4-fss1 fifo stored data level table 47. fifo_src register description (continued) table 48. int1_cfg register and/or lir zhie zlie yhie ylie xhie xlie table 49. int1_cfg description and/or and/or combination of interrupt events. default value: 0 (0: or combination of interrupt events 1: and combination of interrupt events lir latch interrupt request. default value: 0 (0: interrupt request not latched ; 1: interrupt request latched) cleared by reading int1_src reg. zhie enable interrupt generation on z high event. default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) zlie enable interrupt generation on z low event. default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value lower than preset threshold) yhie enable interrupt generation on y high event. default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) ylie enable interrupt generation on y low event. default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value lower than preset threshold) xhie enable interrupt generation on x high event. default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) xlie enable interrupt generation on x low event. default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value lower than preset threshold) table 50. int1_src register 0 ia zhzlyhylxhxl
L3G4200D register description doc id 17116 rev 3 37/42 interrupt source register. read only register. reading at this address clears int1_src ia bit (and eventually the interrupt signal on int1 pin) and allows the refreshment of data in the int1_src register if the latched option was chosen. 7.17 int1_ths_xh (32h) 7.18 int1_ths_xl (33h) 7.19 int1_ths_yh (34h) table 51. int1_src description ia interrupt active. default value: 0 (0: no interrupt has been generated; 1: one or more interrupts have been generated) zh z high. default value: 0 (0: no interrupt, 1: z high event has occurred) zl z low. default value: 0 (0: no interrupt; 1: z low event has occurred) yh y high. default value: 0 (0: no interrupt, 1: y high event has occurred) yl y low. default value: 0 (0: no interrupt, 1: y low event has occurred) xh x high. default value: 0 (0: no interrupt, 1: x high event has occurred) xl x low. default value: 0 (0: no interrupt, 1: x low event has occurred) table 52. int1_ths_xh register - thsx14 thsx13 thsx12 thsx11 thsx10 thsx9 thsx8 table 53. int1_ths_xh description thsx14 - thsx9 interrupt threshold. default value: 0000 0000 table 54. int1_ths_xl register thsx7 thsx6 thsx5 thsx4 thsx3 thsx2 thsx1 thsx0 table 55. int1_ths_xl description thsx7 - thsx0 interrupt threshold. default value: 0000 0000 table 56. int1_ths_yh register - thsy14 thsy13 thsy12 thsy11 thsy10 thsy9 thsy8 table 57. int1_ths_yh description thsy14 - thsy9 interrupt threshold. default value: 0000 0000
register description L3G4200D 38/42 doc id 17116 rev 3 7.20 int1_ths_yl (35h) 7.21 int1_ths_zh (36h) 7.22 int1_ths_zl (37h) 7.23 int1_duration (38h) d6 - d0 bits set the minimum duration of the interrupt event to be recognized. duration steps and maximum values depend on the odr chosen. wait bit has the following meaning: wait =?0?: the interrupt falls immediately if signal crosses the selected threshold table 58. int1_ths_yl register thsr7 thsy6 thsy5 thsy4 thsy3 thsy2 thsy1 thsy0 table 59. int1_ths_yl description thsy7 - thsy0 interrupt threshold. default value: 0000 0000 table 60. int1_ths_zh register - thsz14 thsz13 thsz12 thsz11 thsz10 thsz9 thsz8 table 61. int1_ths_zh description thsz14 - thsz9 interrupt threshold. default value: 0000 0000 table 62. int1_ths_zl register thsz7 thsz6 thsz5 thsz4 thsz3 thsz2 thsz1 thsz0 table 63. int1_ths_zl description thsz7 - thsz0 interrupt threshold. default value: 0000 0000 table 64. int1_duration register wait d6 d5 d4 d3 d2 d1 d0 table 65. int1_duration description wait wait enable. default value: 0 (0: disable; 1: enable) d6 - d0 duration value. default value: 000 0000
L3G4200D register description doc id 17116 rev 3 39/42 wait =?1?: if signal crosses the selected threshold, the interrupt falls only after the duration has counted number of samples at the selected data rate, written into the duration counter register. figure 20. wait disabled figure 21. wait enabled
package information L3G4200D 40/42 doc id 17116 rev 3 8 package information in order to meet environmental requirements, st offers these devices in different grades of ecopack ? packages, depending on their level of environmental compliance. ecopack ? specifications, grade definitions and product status are available at www.st.com. ecopack is an st trademark. figure 22. lga-16: mechanical data and package dimensions
L3G4200D revision history doc id 17116 rev 3 41/42 9 revision history table 66. document revision history date revision changes 01-apr-2010 1 initial release. 03-sep-2010 2 complete datasheet review. 22-dec-2010 3 inserted section 6: output register mapping and section 7: register description .
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