Reference
ITG3205
3-axis gyroscope (found on the GY-85 9-DoF board).
- Connects over
- I²C
- Address
- 0x68 (or 0x69)
- Made by
- TDK InvenSense
- Datasheet
- invensense.tdk.com
Use it
hardware {
device itg3205: ITG3205
}
every 1s {
let value: float = itg3205.x()
log("itg3205", "x={value}")
}
On its own, the declaration puts the ITG3205 on the first I²C bus (SDA 21, SCL 22 on the ESP32) at 0x68. To choose the pins or the address, declare the bus and attach the device: device itg3205: ITG3205 on i2c0 at 0x69 with i2c i2c0(sda: 21, scl: 22).
Methods
-
itg3205.x() -> float
X rotation rate in °/s
-
itg3205.y() -> float
Y rotation rate in °/s
-
itg3205.z() -> float
Z rotation rate in °/s
-
itg3205.magnitude() -> float
Total rotation rate in °/s
Wiring
| Pin | Connect to |
|---|---|
VCC | 3.3V or 5V on GY-85 |
GND | Ground |
SDA | GPIO21 on ESP32 |
SCL | GPIO22 on ESP32 |
Specifications
- Voltage
- 3.3V (GY-85 has an onboard regulator)
- Range
- ±2000 °/s (14.375 LSB/°/s)
- Sample rate
- 100 Hz, 42 Hz low-pass
Tips
- Same 0x68 address as an MPU6050 — the two cannot share a bus.
- Reads a small bias at rest; subtract the average of the first second if you need absolute rates.
Alternatives worth knowing:
- MPU6050: Accel + gyro in one chip.