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Interfacing L3G4200 triple axis gyro module with Arduino


Hello everyone yassine here,

In this article we gonna try to interface L3G4200 module with Arduino board, we’ll just wire it and get the raw values that we can use later in a project or something, but first we should make it work!!

So what is a triple axis gyro/gyroscope? First a gyrscope  is a device used for measuring or maintaining orientation and angular velocity. It is a spinning wheel or disc in which the axis of rotation is free to assume any orientation by itself.When rotating, the orientation of this axis is unaffected by tilting or rotation of the mounting, according to the conservation of angular momentum. (source: “Gyroscope”Oxford Dictionaries)

But in our module we don’t have a spinning wheel, we have a microelectromechanical system that uses similar technics (tuning forks, vibrating wheels, or resonant solids of various designs…)

They are used a lot in navigation, positioning, and also on smartphones, tablets… if you ever wondered how a phone know you are tilting it, and it flips the screen automatically, because it uses one of these.

So to not make this long, here is the Wiring and code used.




I’ll try to use another codes in the future, or simple libraries.

Here is the “.ino” code: Download here

Here is the txt version:

//This code is to use with L3G4200 triple axis gyro
//Modified by SurtrTech

#include <Wire.h>

#define CTRL_REG1 0x20
#define CTRL_REG2 0x21
#define CTRL_REG3 0x22
#define CTRL_REG4 0x23
#define CTRL_REG5 0x24

int L3G4200D_Address = 105; //I2C address of the L3G4200D

int x;
int y;
int z;

void setup(){


Serial.println("starting up L3G4200D");
 setupL3G4200D(2000); // Configure L3G4200 - 250, 500 or 2000 deg/sec

delay(1500); //wait for the sensor to be ready 

void loop(){
 getGyroValues(); // This will update x, y, and z with new values

 Serial.print(x); //Here you can do some operations befor you use that value
 //For example set it on a surface and substract or add numbers to get 0,0,0 if you want that position to be your reference
 Serial.print(" Y:");

Serial.print(" Z:");

delay(100); //Just here to slow down the serial to make it more readable

void getGyroValues(){

byte xMSB = readRegister(L3G4200D_Address, 0x29);
 byte xLSB = readRegister(L3G4200D_Address, 0x28);
 x = ((xMSB << 8) | xLSB);

byte yMSB = readRegister(L3G4200D_Address, 0x2B);
 byte yLSB = readRegister(L3G4200D_Address, 0x2A);
 y = ((yMSB << 8) | yLSB);

byte zMSB = readRegister(L3G4200D_Address, 0x2D);
 byte zLSB = readRegister(L3G4200D_Address, 0x2C);
 z = ((zMSB << 8) | zLSB);

int setupL3G4200D(int scale){
 //From Jim Lindblom of Sparkfun's code

// Enable x, y, z and turn off power down:
 writeRegister(L3G4200D_Address, CTRL_REG1, 0b00001111);

// If you'd like to adjust/use the HPF, you can edit the line below to configure CTRL_REG2:
 writeRegister(L3G4200D_Address, CTRL_REG2, 0b00000000);

// Configure CTRL_REG3 to generate data ready interrupt on INT2
 // No interrupts used on INT1, if you'd like to configure INT1
 // or INT2 otherwise, consult the datasheet:
 writeRegister(L3G4200D_Address, CTRL_REG3, 0b00001000);

// CTRL_REG4 controls the full-scale range, among other things:

if(scale == 250){
 writeRegister(L3G4200D_Address, CTRL_REG4, 0b00000000);
 }else if(scale == 500){
 writeRegister(L3G4200D_Address, CTRL_REG4, 0b00010000);
 writeRegister(L3G4200D_Address, CTRL_REG4, 0b00110000);

// CTRL_REG5 controls high-pass filtering of outputs, use it
 // if you'd like:
 writeRegister(L3G4200D_Address, CTRL_REG5, 0b00000000);

void writeRegister(int deviceAddress, byte address, byte val) {
 Wire.beginTransmission(deviceAddress); // start transmission to device 
 Wire.write(address); // send register address
 Wire.write(val); // send value to write
 Wire.endTransmission(); // end transmission

int readRegister(int deviceAddress, byte address){

int v;
 Wire.write(address); // register to read

Wire.requestFrom(deviceAddress, 1); // read a byte

while(!Wire.available()) {
 // waiting

v =;
 return v;

Yassine View All

Automation and Electrical Engineer, Electronics amateur trying to share my little projects.

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