CJMCU-320 L3GD20H three-axis high-precision gyroscope sensor module

/*
  CJMCU-320 L3GD20H Gyroscope Basic Read Example
*/

#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_L3GD20_U.h>

// Create gyroscope object (I2C address 0x6B default)
Adafruit_L3GD20_Unified gyro = Adafruit_L3GD20_Unified(20);

void setup() {
  Serial.begin(115200);
  
  // Initialize the sensor
  if (!gyro.begin()) {
    Serial.println("L3GD20H sensor not found! Check wiring.");
    while (1);
  }
  
  // Set measurement range (±245, ±500, or ±2000 dps)
  gyro.setRange(L3GD20_RANGE_2000_DPS);
  
  // Set data rate (100, 200, 400, or 800 Hz)
  gyro.setDataRate(L3GD20_DATARATE_400_HZ);
  
  Serial.println("CJMCU-320 L3GD20H Ready");
  Serial.println("-----------------------------");
}

void loop() {
  sensors_event_t event;
  gyro.getEvent(&event);
  
  // Gyroscope readings are in radians per second
  // Convert to degrees per second for easier interpretation
  float gx = event.gyro.x * (180.0 / PI);
  float gy = event.gyro.y * (180.0 / PI);
  float gz = event.gyro.z * (180.0 / PI);
  
  Serial.print("Gyro (°/s): ");
  Serial.print(gx); Serial.print(", ");
  Serial.print(gy); Serial.print(", ");
  Serial.println(gz);
  
  delay(100);
}

/*
  L3GD20H Raw Register Read Example
*/

#include <Wire.h>

#define L3GD20H_ADDR 0x6B  // SDO = VCC, address 0x6B

void setup() {
  Serial.begin(115200);
  Wire.begin();
  
  // Initialize L3GD20H
  initL3GD20H();
  
  Serial.println("L3GD20H Raw Readings");
}

void loop() {
  // Read angular velocity (16-bit signed values)
  int16_t gx = readRegister16(0x28);  // X-axis angular rate
  int16_t gy = readRegister16(0x2A);  // Y-axis angular rate
  int16_t gz = readRegister16(0x2C);  // Z-axis angular rate
  
  // For ±2000 dps range, sensitivity is 70 mdps/digit = 0.07 dps/LSB
  float gx_dps = gx * 0.07;
  float gy_dps = gy * 0.07;
  float gz_dps = gz * 0.07;
  
  Serial.print("X: "); Serial.print(gx_dps);
  Serial.print(" dps, Y: "); Serial.print(gy_dps);
  Serial.print(" dps, Z: "); Serial.println(gz_dps);
  
  delay(100);
}

void initL3GD20H() {
  // Wake up and configure the sensor
  Wire.beginTransmission(L3GD20H_ADDR);
  Wire.write(0x20);  // CTRL_REG1
  Wire.write(0x0F);  // Enable all axes, normal mode, ODR = 100 Hz
  Wire.endTransmission();
  
  Wire.beginTransmission(L3GD20H_ADDR);
  Wire.write(0x23);  // CTRL_REG4
  Wire.write(0x20);  // ±2000 dps range
  Wire.endTransmission();
}

int16_t readRegister16(uint8_t reg) {
  Wire.beginTransmission(L3GD20H_ADDR);
  Wire.write(reg);
  Wire.endTransmission();
  
  Wire.requestFrom(L3GD20H_ADDR, 2);
  int16_t value = Wire.read() | (Wire.read() << 8);
  return value;
}

// Configure FIFO mode (example: stream mode, watermark at 16 samples)
Wire.beginTransmission(L3GD20H_ADDR);
Wire.write(0x2E);  // FIFO_CTRL_REG
Wire.write(0x40 | 0x10);  // Stream mode, watermark = 16
Wire.endTransmission();

angle = angle + (gyro_rate × dt)

unsigned long lastTime = micros();
float angleX = 0, angleY = 0, angleZ = 0;

void updateAngles(float rateX, float rateY, float rateZ) {
  unsigned long now = micros();
  float dt = (now - lastTime) / 1000000.0;
  lastTime = now;
  
  angleX += rateX * dt;
  angleY += rateY * dt;
  angleZ += rateZ * dt;
}