6dofimu17

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6DOF IMU 17 Click

6DOF IMU 17 Click demo application is developed using the NECTO Studio, ensuring compatibility with mikroSDK's open-source libraries and tools. Designed for plug-and-play implementation and testing, the demo is fully compatible with all development, starter, and mikromedia boards featuring a mikroBUS™ socket.

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Click Library

• Author : Nenad Filipovic
• Date : Jul 2021.
• Type : I2C/SPI type

Software Support

Example Description

This library contains API for 6DOF IMU 17 Click driver. The library initializes and defines the I2C or SPI bus drivers to write and read data from registers. The library also includes a function for reading accelerometer and gyroscope X-axis, Y-axis, and Z-axis data as well as the temperature in degrees Celsius.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.6DOFIMU17

Example Key Functions

• c6dofimu17_cfg_setup Config Object Initialization function.

void c6dofimu17_cfg_setup ( c6dofimu17_cfg_t *cfg );

• c6dofimu17_init Initialization function.

err_t c6dofimu17_init ( c6dofimu17_t *ctx, c6dofimu17_cfg_t *cfg );

• c6dofimu17_default_cfg Click Default Configuration function.

err_t c6dofimu17_default_cfg ( c6dofimu17_t *ctx );

• c6dofimu17_get_accel_data 6DOF IMU 17 get accel data function.

err_t c6dofimu17_get_accel_data ( c6dofimu17_t *ctx, c6dofimu17_axis_t *accel_data );

• c6dofimu17_get_gyro_data 6DOF IMU 17 get gyroscope data function.

err_t c6dofimu17_get_gyro_data ( c6dofimu17_t *ctx, c6dofimu17_axis_t *gyro_data );

• c6dofimu17_get_temperature 6DOF IMU 17 get temperature data function.

err_t c6dofimu17_get_temperature ( c6dofimu17_t *ctx, float *temperature );

Application Init

The initialization of I2C or SPI module, log UART, and additional pins. After the driver init, the app checks communication, sensor ID, and then executes a default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;                /**< Logger config object. */
    c6dofimu17_cfg_t c6dofimu17_cfg;  /**< Click config object. */
    uint8_t device_id;

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    c6dofimu17_cfg_setup( &c6dofimu17_cfg );
    C6DOFIMU17_MAP_MIKROBUS( c6dofimu17_cfg, MIKROBUS_POSITION_6DOFIMU17 );
    err_t init_flag  = c6dofimu17_init( &c6dofimu17, &c6dofimu17_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Application Init Error. " );
        log_info( &logger, " Please, run program again... " );

       for ( ; ; );
    }

    c6dofimu17_default_cfg ( &c6dofimu17 );
    Delay_ms ( 100 );
    
    c6dofimu17_get_device_id( &c6dofimu17, &device_id );
    Delay_ms ( 100 );
    if ( device_id == C6DOFIMU17_CHIP_ID ) 
    {
        log_printf( &logger, "\t\t  Communication OK\r\n" );
    }
    else 
    {
        log_printf( &logger, "\t\tCommunication ERROR\r\n" );
        log_printf( &logger, "\t\t  Reset the device\r\n" );

        for ( ; ; );
    }
    
    log_printf( &logger, "\t--------------------------------------\r\n" );
    Delay_ms ( 100 );
}

Application Task

This is an example that shows the use of a 6DOF IMU 17 Click board™. Measures and displays acceleration and gyroscope data for X-axis, Y-axis, and Z-axis and the temperature in degrees Celsius. Results are being sent to the USART terminal where the user can track their changes. This task repeats every 100 ms.

void application_task ( void )
{   
    c6dofimu17_axis_t accel_data;
    c6dofimu17_axis_t gyro_data;
    float temperature;
    if ( ( C6DOFIMU17_OK == c6dofimu17_get_accel_data( &c6dofimu17, &accel_data ) ) &&  
         ( C6DOFIMU17_OK == c6dofimu17_get_gyro_data( &c6dofimu17, &gyro_data ) ) &&  
         ( C6DOFIMU17_OK == c6dofimu17_get_temperature( &c6dofimu17, &temperature ) ) )
    {
        log_printf( &logger, "\t Accel X: %d\t|\tGyro X: %d\r\n", accel_data.x, gyro_data.x );
        log_printf( &logger, "\t Accel Y: %d\t|\tGyro Y: %d\r\n", accel_data.y, gyro_data.y );
        log_printf( &logger, "\t Accel Z: %d\t|\tGyro Z: %d\r\n", accel_data.z, gyro_data.z );
        log_printf( &logger, "\t- - - - - - - - - -  - - - - - - - - -\r\n" );
        log_printf( &logger, "\t\t Temperature: %.2f C\r\n", temperature );
        log_printf( &logger, "\t--------------------------------------\r\n" );
    }
    Delay_ms ( 100 );
}

Application Output

This Click board can be interfaced and monitored in two ways:

• Application Output - Use the "Application Output" window in Debug mode for real-time data monitoring. Set it up properly by following this tutorial.
• UART Terminal - Monitor data via the UART Terminal using a USB to UART converter. For detailed instructions, check out this tutorial.

Additional Notes and Information

The complete application code and a ready-to-use project are available through the NECTO Studio Package Manager for direct installation in the NECTO Studio. The application code can also be found on the MIKROE GitHub account.

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