Gyroscope parameter writing method, system and device

Abstract

The invention discloses a gyroscope parameter write-in method, system and device, which can realize batch non-permanent write-in and permanent write-in based on the cooperation of a processor and a volatile memory and a non-volatile memory in a gyroscope. And the gyroscope output corresponding to the non-permanent write-in can be sent to the interaction device side for evaluation, so that parameter adjustment is facilitated, and compared with a traditional write-in method, the production efficiency is remarkably improved.

Description

Technical Field

[0001] This invention relates to a method, system, and device for writing gyroscope parameters, belonging to the field of microelectromechanical systems (MEMS) sensing technology. Background Technology

[0002] MEMS gyroscopes are widely used in inertial navigation, attitude detection, and other fields. In the actual chip manufacturing testing phase, a comprehensive and in-depth evaluation of various performance indicators of the chip is conducted to determine the optimal parameter configuration scheme, and finally, the optimal parameters are written into the gyroscope chip. Traditional writing methods usually require connecting and burning each chip individually, which is inefficient and not suitable for mass production. Summary of the Invention

[0003] This invention provides a method, system, and apparatus for writing gyroscope parameters, which solves the problems disclosed in the background art.

[0004] According to one aspect of this application, a method for writing gyroscope parameters is provided, the method being implemented within a processor, the processor being disposed between the gyroscope and an interactive device, the method comprising: If a first configuration instruction sent by the interactive device is received, and batch configuration parameters sent by the interactive device are received, the batch configuration parameters are temporarily stored in its own FLASH according to a preset format. After receiving the configuration end instruction, the batch configuration parameters in its own FLASH are written into the EEPROM of the corresponding batch gyroscope, and the gyroscope output with the written configuration parameters is transmitted to the interactive device; wherein, the first configuration instruction indicates that this writing is a non-permanent writing. If a second configuration instruction sent by the interactive device is received, and batch configuration parameters sent by the interactive device are received, the batch configuration parameters are temporarily stored in its own RAM according to a preset format. After receiving the configuration end instruction, the preset configuration parameters in its own RAM are written into the OTP of the corresponding batch gyroscope, and the gyroscope output with the written configuration parameters is transmitted to the interactive device; wherein, the second configuration instruction indicates that this write is a permanent write.

[0005] Furthermore, the method also includes, if a first configuration instruction sent by the interactive device is received and non-batch configuration parameters sent by the interactive device are received, the non-batch configuration parameters are temporarily stored in its own FLASH according to a preset format, and after receiving a configuration end instruction, the non-batch configuration parameters in its own FLASH are written into the EEPROM of the corresponding non-batch gyroscope, and the gyroscope output with the configuration parameters written is transmitted to the interactive device. If a second configuration command is received from the interactive device, and non-batch configuration parameters are received from the interactive device, the non-batch configuration parameters are temporarily stored in its own RAM according to a preset format. After receiving the configuration end command, the non-batch configuration parameters in its own RAM are written into the OTP of the corresponding non-batch gyroscope, and the gyroscope output with the written configuration parameters is transmitted to the interactive device.

[0006] Furthermore, the configuration parameters arranged in a preset format are, in order, a start symbol and the write parameters of several gyroscope chips arranged by chip serial number; wherein, the start symbol includes a non-permanent write identifier or a permanent write identifier arranged in sequence, and the serial number of the starting chip, which is the first gyroscope chip in the sequence.

[0007] Furthermore, after the configuration parameters are written, the flag bits in its own FLASH are updated; if a non-permanent write is performed, the flag bits are updated to the first flag bit; if a permanent write is performed, the flag bits are updated to the second flag bit. The method further includes: if there is a power outage and restart, after restarting, detecting the flag bit in its own FLASH; if the flag bit is the first flag bit, writing the configuration parameters in its own FLASH before the power outage into the EEPROM of the corresponding gyroscope, and transmitting the data output by the gyroscope to the interactive device; if the flag bit is the second flag bit, directly transmitting the data output by the gyroscope to the interactive device.

[0008] According to another aspect of this application, a gyroscope parameter writing system is provided, the system being loaded within a processor, the processor being disposed between the gyroscope and an interactive device, the system comprising: The first batch writing module, upon receiving a first configuration instruction from the interactive device and receiving batch configuration parameters from the interactive device, temporarily stores the batch configuration parameters in its own FLASH according to a preset format. After receiving a configuration end instruction, it writes the batch configuration parameters in its own FLASH into the EEPROM of the corresponding batch gyroscope and transmits the gyroscope output containing the written configuration parameters to the interactive device. The first configuration instruction indicates that this writing is a non-permanent write. The second batch writing module, if it receives the second configuration instruction sent by the interactive device and the batch configuration parameters sent by the interactive device, temporarily stores the batch configuration parameters in its own RAM according to a preset format. After receiving the configuration end instruction, it writes the preset configuration parameters in its own RAM into the OTP of the corresponding batch gyroscope and transmits the gyroscope output with the written configuration parameters to the interactive device. The second configuration instruction indicates that this writing is a permanent write.

[0009] Furthermore, the system also includes: If the first non-batch writing module receives the first configuration instruction sent by the interactive device and receives the non-batch configuration parameters sent by the interactive device, it temporarily stores the non-batch configuration parameters in its own FLASH according to a preset format. After receiving the configuration end instruction, it writes the non-batch configuration parameters in its own FLASH into the EEPROM of the corresponding non-batch gyroscope and transmits the gyroscope output with the written configuration parameters to the interactive device. If the second non-batch writing module receives the second configuration instruction sent by the interactive device and receives the non-batch configuration parameters sent by the interactive device, it temporarily stores the non-batch configuration parameters in its own RAM according to a preset format. After receiving the configuration end instruction, it writes the non-batch configuration parameters in its own RAM into the OTP of the corresponding non-batch gyroscope and transmits the gyroscope output with the written configuration parameters to the interactive device.

[0010] Furthermore, the configuration parameters arranged in a preset format are, in order, a start symbol and the write parameters of several gyroscope chips arranged by chip serial number; wherein, the start symbol includes a non-permanent write identifier or a permanent write identifier arranged in sequence, and the serial number of the starting chip, which is the first gyroscope chip in the sequence.

[0011] Furthermore, after the configuration parameters are written, the flag bits in its own FLASH are updated; if a non-permanent write is performed, the flag bits are updated to the first flag bit; if a permanent write is performed, the flag bits are updated to the second flag bit. The system also includes a power-off restart module. If a power-off restart occurs, after restarting, the module checks the flag bit in its own FLASH. If the flag bit is the first flag bit, the module writes the configuration parameters in its own FLASH before the power-off into the EEPROM of the corresponding gyroscope and transmits the data output by the gyroscope to the interactive device. If the flag bit is the second flag bit, the module directly transmits the data output by the gyroscope to the interactive device.

[0012] According to another aspect of this application, a gyroscope parameter writing device is provided, including a processor and an interactive device, wherein the interactive device is connected to a plurality of gyroscopes through the processor; wherein the processor writes parameters using a gyroscope parameter writing method.

[0013] Furthermore, the processor is an STM32, which connects to the gyroscope via the SPI bus and to the interactive device via the serial bus.

[0014] The beneficial effects achieved by this invention are as follows: Based on the combination of volatile and non-volatile memory in the processor and gyroscope, this invention can realize batch non-permanent writing and permanent writing. Furthermore, the gyroscope output corresponding to non-permanent writing can be sent to the interactive device for evaluation, thereby facilitating parameter adjustment. Compared with traditional writing methods, this invention significantly improves production efficiency. Attached Figure Description

[0015] Figure 1 A detailed flowchart of the method for writing gyroscope parameters; Figure 2 A block diagram of the device for writing gyroscope parameters. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0017] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application.

[0018] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0019] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0020] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0021] It should be noted that similar symbols and letters in the accompanying drawings represent similar items; therefore, once an item is defined in one accompanying drawing, it does not need to be discussed further in subsequent accompanying drawings.

[0022] Furthermore, in the description of the embodiments of this application, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features.

[0023] This application provides a method for writing gyroscope parameters. This method is primarily implemented within a processor, which is connected between the gyroscope and the interactive device. The method may include at least the following: If a first configuration instruction sent by the interactive device is received, and batch configuration parameters sent by the interactive device are received, the batch configuration parameters are temporarily stored in its own FLASH according to a preset format. After receiving the configuration end instruction, the batch configuration parameters in its own FLASH are written into the EEPROM of the corresponding batch gyroscope, and the gyroscope output with the written configuration parameters is transmitted to the interactive device; wherein, the first configuration instruction indicates that this writing is a non-permanent writing. If a second configuration instruction sent by the interactive device is received, and batch configuration parameters sent by the interactive device are received, the batch configuration parameters are temporarily stored in its own RAM according to a preset format. After receiving the configuration end instruction, the preset configuration parameters in its own RAM are written into the OTP of the corresponding batch gyroscope, and the gyroscope output with the written configuration parameters is transmitted to the interactive device; wherein, the second configuration instruction indicates that this write is a permanent write.

[0024] The above method, based on the combination of volatile and non-volatile memory in the processor and gyroscope, can realize batch non-permanent writing and permanent writing. Furthermore, the gyroscope output corresponding to non-permanent writing can be sent to the interactive device for evaluation, thereby facilitating parameter adjustment. Compared with traditional writing methods, it significantly improves production efficiency.

[0025] It should be noted that the parameter writing method can achieve not only batch writing but also non-batch writing, i.e., single writing. The method can be similar to batch writing, specifically: if a first configuration command sent by the interactive device is received, and non-batch configuration parameters are also received from the interactive device, the non-batch configuration parameters are temporarily stored in its own FLASH according to a preset format. After receiving a configuration end command, the non-batch configuration parameters in its own FLASH are written into the EEPROM of the corresponding non-batch gyroscope, and the gyroscope output with the written configuration parameters is transmitted to the interactive device; if a second configuration command sent by the interactive device is received, and non-batch configuration parameters are also received from the interactive device, the non-batch configuration parameters are temporarily stored in its own RAM according to a preset format. After receiving a configuration end command, the non-batch configuration parameters in its own RAM are written into the OTP of the corresponding non-batch gyroscope, and the gyroscope output with the written configuration parameters is transmitted to the interactive device.

[0026] It should be noted that the format of the stored configuration parameters can be set manually. In order to improve efficiency, it is necessary to minimize the data transmission. Therefore, in some embodiments, the format is set as: start character + parameter..., that is, the configuration parameters arranged according to the configuration format are, in order, the start character and the write parameters of several gyroscope chips arranged by chip number; wherein, the start character includes a non-permanent write identifier or a permanent write identifier arranged in sequence, and the sequence number of the starting chip, which is the first gyroscope chip; the difference between batch configuration and non-batch configuration is only the difference in the number of parameters connected after the start character.

[0027] During the writing process, the serial number of the starting chip is first identified, and the first parameter is written to the corresponding gyroscope chip. Then, the subsequent parameters are written to the gyroscope chips after the starting chip, thus completing both batch and non-batch writing.

[0028] It should be noted that in some embodiments, after the configuration parameters are written, the flag bits in the FLASH memory are further updated; specifically, if a non-permanent write is performed, the flag bits are updated to the first flag bit; if a permanent write is performed, the flag bits are updated to the second flag bit. In the gyroscope parameter writing method, if there is a power outage and restart, after restarting, the flag bits in the FLASH memory are checked. If the flag bit is the first flag bit, the configuration parameters in the FLASH memory before the power outage are written to the EEPROM of the corresponding gyroscope, and the data output by the gyroscope is transmitted to the interactive device; if the flag bit is the second flag bit, the data output by the gyroscope is directly transmitted to the interactive device.

[0029] It should be noted that initially, the flag in the FLASH memory is set to the second flag by default. However, since no parameters are written, the gyroscope has no output. The flag is updated accordingly each time parameters are written.

[0030] For details of the above method, please refer to [link / reference]. Figure 1 : 1) Initialization, that is, when the device is initially powered on or reset, it retrieves the flag bit from its own FLASH memory to determine the output mode.

[0031] If it is the first flag bit, the output mode can be defined as software configuration output mode; if it is the second flag bit, the output mode can be defined as OTP output mode.

[0032] 2) Process data according to the output mode and wait for configuration instructions.

[0033] If it is in software configuration output mode, the configuration parameters in its own FLASH before power-on or reset are written into the EEPROM of the corresponding gyroscope, and the data is output after the gyroscope is dynamically configured.

[0034] If it is in OTP output mode, the gyroscope outputs data according to the internal OTP memory configuration.

[0035] Since it is the initial power-on, the second flag is set at this time, and no parameters have been written, so the gyroscope has no output.

[0036] 3) Configure accordingly based on the configuration quality.

[0037] The issuance of configuration commands mainly involves several steps: The system issues a confirmation command to enter configuration mode. If command 0000 is received, it jumps to configuration mode. At this point, all commands except configuration-type commands are suspended, and an error message is output to the interactive device, awaiting further configuration-type commands. Configuration-type commands include commands to enter OTP configuration and commands to enter software configuration; OTP configuration indicates permanent write operations, while software configuration indicates non-permanent write operations. Command 0001 can be defined as the OTP configuration command, and command 0002 as the software configuration command.

[0038] Upon receiving a configuration type instruction, different configurations are performed, namely OTP configuration and software configuration. Then, the system waits for configuration parameters. For example, for a single write, it will receive a start character and the parameters to be written. For a batch write, it will receive a start character and batch configuration parameters. The received configuration parameters are then stored in a preset format.

[0039] For example, in a single write operation, if 01XX and parameter 1 are received, the corresponding storage format is 01XX+parameter1; where 01 is the permanent write identifier, XX is the sequence number (hexadecimal number) of the starting chip (e.g., from the first chip to chip 255, the chip sequence numbers correspond to 01~FF), and parameter 1 is the parameter written to chip XX. In a batch write operation, if 02XX, parameter 1, and parameter 2 are received, the corresponding storage format is 02XX+parameter1+parameter2; where 02 is the non-permanent write identifier, indicating that starting from chip XX, the parameters of two chips are written consecutively.

[0040] Upon receiving a configuration end command, such as command 0003, the configuration ends, the stored configuration parameters are written to the EEPROM or OTP of the corresponding gyroscope chip, the flag is updated, and the process returns to step 2). Based on the written parameters, data can be displayed on the interactive device, allowing for manual evaluation of the written parameters and further adjustment of the parameters.

[0041] This application also discloses a gyroscope parameter writing system, which is a virtual system, i.e., software, and can be loaded into a processor. The processor is connected between the gyroscope and the interactive device, and may include at least: The first batch writing module, upon receiving a first configuration instruction from the interactive device and receiving batch configuration parameters from the interactive device, temporarily stores the batch configuration parameters in its own FLASH according to a preset format. After receiving a configuration end instruction, it writes the batch configuration parameters in its own FLASH into the EEPROM of the corresponding batch gyroscope and transmits the gyroscope output containing the written configuration parameters to the interactive device. The first configuration instruction indicates that this writing is a non-permanent write.

[0042] The second batch writing module, if it receives the second configuration instruction sent by the interactive device and the batch configuration parameters sent by the interactive device, temporarily stores the batch configuration parameters in its own RAM according to a preset format. After receiving the configuration end instruction, it writes the preset configuration parameters in its own RAM into the OTP of the corresponding batch gyroscope and transmits the gyroscope output with the written configuration parameters to the interactive device. The second configuration instruction indicates that this writing is a permanent write.

[0043] If the first non-batch writing module receives the first configuration instruction sent by the interactive device and receives the non-batch configuration parameters sent by the interactive device, it temporarily stores the non-batch configuration parameters in its own FLASH according to a preset format. After receiving the configuration end instruction, it writes the non-batch configuration parameters in its own FLASH into the EEPROM of the corresponding non-batch gyroscope and transmits the gyroscope output with the written configuration parameters to the interactive device.

[0044] If the second non-batch writing module receives the second configuration instruction sent by the interactive device and receives the non-batch configuration parameters sent by the interactive device, it temporarily stores the non-batch configuration parameters in its own RAM according to a preset format. After receiving the configuration end instruction, it writes the non-batch configuration parameters in its own RAM into the OTP of the corresponding non-batch gyroscope and transmits the gyroscope output with the written configuration parameters to the interactive device.

[0045] It should be noted that in the above module, the configuration parameters arranged in the preset format are, in order, a start symbol and the write parameters of several gyroscope chips arranged by chip serial number; among them, the start symbol includes non-permanent write identifiers or permanent write identifiers arranged in sequence, and the serial number of the starting chip, which is the first gyroscope chip in the sequence.

[0046] It should be noted that in the above module, after the configuration parameters are written, the flag bit in its own FLASH is updated; if a non-permanent write is performed, the flag bit is updated to the first flag bit; if a permanent write is performed, the flag bit is updated to the second flag bit.

[0047] The system also includes a power-off restart module. If a power-off restart occurs, after restarting, the module checks the flag bit in its own FLASH. If the flag bit is the first flag bit, the module writes the configuration parameters in its own FLASH before the power-off to the EEPROM of the corresponding gyroscope and transmits the data output by the gyroscope to the interactive device. If the flag bit is the second flag bit, the module directly transmits the data output by the gyroscope to the interactive device.

[0048] The aforementioned system, based on the combination of volatile and non-volatile memory in the processor and gyroscope, can achieve batch non-permanent and permanent writing. Furthermore, the gyroscope output corresponding to non-permanent writing can be sent to the interactive device for evaluation, thereby facilitating parameter adjustment. Compared with traditional writing methods, this significantly improves production efficiency.

[0049] See Figure 2 , Figure 2 This is a structural block diagram of a gyroscope parameter writing device provided in an embodiment of this application. The device may include at least a processor and an interaction device. The interaction device is connected to several gyroscopes through the processor, and the processor writes parameters using the above-described gyroscope parameter writing method.

[0050] It should be noted that the interactive device can be a computer, or other smart terminals. The processor can be an STM32. The STM32 connects to the gyroscope via the SPI bus and to the interactive device via the serial bus.

[0051] The aforementioned device uses serial communication protocol and state machine logic to write parameters of batch gyroscopes, significantly improving production efficiency and flexibility.

[0052] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention.

Claims

1. A method for writing gyroscope parameters, characterized in that, The method is implemented within a processor, which is positioned between the gyroscope and the interactive device, and the method includes: If a first configuration instruction sent by the interactive device is received, and batch configuration parameters sent by the interactive device are received, the batch configuration parameters are temporarily stored in its own FLASH according to a preset format. After receiving the configuration end instruction, the batch configuration parameters in its own FLASH are written into the EEPROM of the corresponding batch gyroscope, and the gyroscope output with the written configuration parameters is transmitted to the interactive device; wherein, the first configuration instruction indicates that this writing is a non-permanent writing. If a second configuration instruction sent by the interactive device is received, and batch configuration parameters sent by the interactive device are received, the batch configuration parameters are temporarily stored in its own RAM according to a preset format. After receiving the configuration end instruction, the preset configuration parameters in its own RAM are written into the OTP of the corresponding batch gyroscope, and the gyroscope output with the written configuration parameters is transmitted to the interactive device; wherein, the second configuration instruction indicates that this write is a permanent write.

2. The method according to claim 1, characterized in that, The method further includes, if a first configuration instruction sent by the interactive device is received and non-batch configuration parameters sent by the interactive device are received, the non-batch configuration parameters are temporarily stored in its own FLASH according to a preset format, and after receiving a configuration end instruction, the non-batch configuration parameters in its own FLASH are written into the EEPROM of the corresponding non-batch gyroscope, and the gyroscope output with the configuration parameters written is transmitted to the interactive device. If a second configuration command is received from the interactive device, and non-batch configuration parameters are received from the interactive device, the non-batch configuration parameters are temporarily stored in its own RAM according to a preset format. After receiving the configuration end command, the non-batch configuration parameters in its own RAM are written into the OTP of the corresponding non-batch gyroscope, and the gyroscope output with the written configuration parameters is transmitted to the interactive device.

3. The method according to claim 1 or 2, characterized in that, The configuration parameters arranged in a preset format are, in order, a start symbol and the write parameters of several gyroscope chips arranged by chip number; among them, the start symbol includes a non-permanent write identifier or a permanent write identifier arranged in sequence, and the sequence number of the starting chip, which is the first gyroscope chip in the sequence.

4. The method according to claim 1 or 2, characterized in that, After the configuration parameters are written, the flag bit in its own FLASH is updated; if a non-permanent write is performed, the flag bit is updated to the first flag bit; if a permanent write is performed, the flag bit is updated to the second flag bit. The method further includes: if there is a power outage and restart, after restarting, detecting the flag bit in its own FLASH; if the flag bit is the first flag bit, writing the configuration parameters in its own FLASH before the power outage into the EEPROM of the corresponding gyroscope, and transmitting the data output by the gyroscope to the interactive device; if the flag bit is the second flag bit, directly transmitting the data output by the gyroscope to the interactive device.

5. A gyroscope parameter writing system, characterized in that, The system is installed within a processor, which is positioned between the gyroscope and the interactive device. The system includes: The first batch writing module, upon receiving a first configuration instruction from the interactive device and receiving batch configuration parameters from the interactive device, temporarily stores the batch configuration parameters in its own FLASH according to a preset format. After receiving a configuration end instruction, it writes the batch configuration parameters in its own FLASH into the EEPROM of the corresponding batch gyroscope and transmits the gyroscope output containing the written configuration parameters to the interactive device. The first configuration instruction indicates that this writing is a non-permanent write. The second batch writing module, if it receives the second configuration instruction sent by the interactive device and the batch configuration parameters sent by the interactive device, temporarily stores the batch configuration parameters in its own RAM according to a preset format. After receiving the configuration end instruction, it writes the preset configuration parameters in its own RAM into the OTP of the corresponding batch gyroscope and transmits the gyroscope output with the written configuration parameters to the interactive device. The second configuration instruction indicates that this writing is a permanent write.

6. The system according to claim 5, characterized in that, The system also includes: If the first non-batch writing module receives the first configuration instruction sent by the interactive device and receives the non-batch configuration parameters sent by the interactive device, it temporarily stores the non-batch configuration parameters in its own FLASH according to a preset format. After receiving the configuration end instruction, it writes the non-batch configuration parameters in its own FLASH into the EEPROM of the corresponding non-batch gyroscope and transmits the gyroscope output with the written configuration parameters to the interactive device. If the second non-batch writing module receives the second configuration instruction sent by the interactive device and receives the non-batch configuration parameters sent by the interactive device, it temporarily stores the non-batch configuration parameters in its own RAM according to a preset format. After receiving the configuration end instruction, it writes the non-batch configuration parameters in its own RAM into the OTP of the corresponding non-batch gyroscope and transmits the gyroscope output with the written configuration parameters to the interactive device.

7. The system according to claim 5 or 6, characterized in that, The configuration parameters arranged in a preset format are, in order, a start symbol and the write parameters of several gyroscope chips arranged by chip number; among them, the start symbol includes a non-permanent write identifier or a permanent write identifier arranged in sequence, and the sequence number of the starting chip, which is the first gyroscope chip in the sequence.

8. The system according to claim 5 or 6, characterized in that, After the configuration parameters are written, the flag bit in its own FLASH is updated; if a non-permanent write is performed, the flag bit is updated to the first flag bit; if a permanent write is performed, the flag bit is updated to the second flag bit. The system also includes a power-off restart module. If a power-off restart occurs, after restarting, the module checks the flag bit in its own FLASH. If the flag bit is the first flag bit, the module writes the configuration parameters in its own FLASH before the power-off into the EEPROM of the corresponding gyroscope and transmits the data output by the gyroscope to the interactive device. If the flag bit is the second flag bit, the module directly transmits the data output by the gyroscope to the interactive device.

9. A gyroscope parameter writing device, characterized in that, It includes a processor and an interactive device, the interactive device being connected to several gyroscopes via the processor; wherein the processor writes parameters using the method described in any one of claims 1 to 4.

10. The apparatus according to claim 9, characterized in that, The processor is an STM32, which connects to the gyroscope via the SPI bus and to the interactive device via the serial bus.

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