High folks,

I have a Chipkit "PMOD" Gyro board that is basically just a breakout board for an L3G4200D. I'm using it via I2C with an Aduino Mega as part of a balancing robot. I am powering it from the 3.3vDC supply and I believe from the schematic that he inputs are 5v tolerant (zener diode clamps). I've been using it for weeks (months) and noticed that after a while my robot would go haywire... I thought this was Gyro drift.... but I noticed during some tests last night that the output values of the sensor lock up after a sudden jolt (like what would happen when a balancing robot fails to "balance"). I've been using the code from http://bildr.org/2011/06/l3g4200d-arduino/. Below is an example of the readout - you can see half way down the values that indicate me tilting the robot a bit and then letting is drop back into place. After the drop the values lock up and never change. If I reset the program the values are normal again until I give it another jolt. The repeating values are never the same from test to test. I believe I have interrupts disabled if anyone thinks that might be related... I'm open to theories.

```
starting up L3G4200D
X:19 Y:-138 Z:53
X:9 Y:-145 Z:59
X:8 Y:-148 Z:66
X:18 Y:-148 Z:36
X:6 Y:-146 Z:55
X:19 Y:-133 Z:51
X:20 Y:-146 Z:64
X:8 Y:-152 Z:56
X:5 Y:-160 Z:63
X:25 Y:-129 Z:55
X:17 Y:-147 Z:62
X:20 Y:-148 Z:66
X:18 Y:-139 Z:67
X:24 Y:-140 Z:42
X:19 Y:-143 Z:75
X:40 Y:-155 Z:61
X:16 Y:-193 Z:50
X:25 Y:-139 Z:49
X:26 Y:-135 Z:41
X:20 Y:-144 Z:51
X:25 Y:-144 Z:56
X:39 Y:-150 Z:49
X:22 Y:-161 Z:77
X:14 Y:-144 Z:77
X:36 Y:-135 Z:46
X:-3 Y:-130 Z:572
X:-76 Y:33 Z:300
X:-4969 Y:2750 Z:867
X:-5784 Y:2169 Z:1655
X:-752 Y:550 Z:-623
X:2702 Y:-655 Z:-2064
X:7136 Y:-3829 Z:-848
X:77 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
X:-2227 Y:-3525 Z:1552
```

Thanks for any help!

Brian