ESP32 and a L3GD20 sensor example

The L3GD20 is a low-power three-axis angular rate sensor.

It includes a sensing element and an IC interface capable of providing the measured angular rate to the external world through a digital interface (I2C/SPI).

The sensing element is manufactured using a dedicated micro-machining process developed by STMicroelectronics to produce inertial sensors and actuators on silicon wafers.

lsm303 module

Features

• Three selectable full scales (250/500/2000 dps)
• I² 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
• 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

Here is a schematic showing the module I had.

l3gd20

Parts Required

Here are the parts I used

Name	Link
ESP32		Aliexpress link Amazon Ebay
LTR390		Aliexpress link Ebay link
Connecting cables		Aliexpress link Amazon Ebay

Connection

And here is a layout

lolin32 and L3GD20

Code

I managed to find the following library that seemed to work well – https://github.com/pololu/l3g-arduino

This is the test example

#include <Wire.h>
#include <L3G.h>

L3G gyro;

void setup() {
Serial.begin(9600);
Wire.begin();

if (!gyro.init())
{
Serial.println("Failed to autodetect gyro type!");
while (1);
}

gyro.enableDefault();
}

void loop() {
gyro.read();

Serial.print("G ");
Serial.print("X: ");
Serial.print((int)gyro.g.x);
Serial.print(" Y: ");
Serial.print((int)gyro.g.y);
Serial.print(" Z: ");
Serial.println((int)gyro.g.z);

delay(100);
}