6dofimu8

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6DOF IMU 8 Click

6DOF IMU 8 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 : MikroE Team
• Date : Dec 2019.
• Type : I2C/SPI type

Software Support

Example Description

This app gets three-axis gyroscope value, three-axis accelerometer value and temperature.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.6DofImu8

Example Key Functions

• c6dofimu8_cfg_setup Config Object Initialization function.

void c6dofimu8_cfg_setup ( c6dofimu8_cfg_t *cfg );

• c6dofimu8_init Initialization function.

err_t c6dofimu8_init ( c6dofimu8_t *ctx, c6dofimu8_cfg_t *cfg );

• c6dofimu8_default_cfg Click Default Configuration function.

void c6dofimu8_default_cfg ( c6dofimu8_t *ctx );

• c6dofimu8_get_int_1_pin This function checks does interrupt generated on the INT1 pin.

uint8_t c6dofimu8_get_int_1_pin ( c6dofimu8_t *ctx );

• c6dofimu8_get_drdy_status This function checks a data ready status for all measurements.

uint8_t c6dofimu8_get_drdy_status ( c6dofimu8_t *ctx, uint8_t bit_mask );

• c6dofimu8_get_magnetometer_data This function performs a magnetometer data reading.

void c6dofimu8_get_magnetometer_data ( c6dofimu8_t *ctx, t_c6dofimu8_axis *magneto_out );

Application Init

Initializes device and performs a device software reset and configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu8_cfg_t cfg;

    /** 
     * 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.

    c6dofimu8_cfg_setup( &cfg );
    C6DOFIMU8_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu8_init( &c6dofimu8, &cfg );

    Delay_ms ( 500 );
    
    c6dofimu8_default_cfg( &c6dofimu8 );

    log_printf( &logger, "** 6DOF IMU 8 is initialized **\r\n" );
    Delay_ms ( 300 );
}

Application Task

Waits until any new data is entered to the data registers and then reads the accelerometer, gyroscope and temperature data which will be converted and calculated to the properly units each second.

void application_task ( void )
{
    uint8_t data_ready;
    int8_t temperature;
    t_c6dofimu8_axis  accel_data;
    t_c6dofimu8_axis  gyro_data;

    data_ready = c6dofimu8_get_drdy_status( &c6dofimu8, C6DOFIMU8_TEMP_DRDY_MASK | 
                                                        C6DOFIMU8_G_DRDY_MASK | 
                                                        C6DOFIMU8_XL_DRDY_MASK );
    while ( data_ready == C6DOFIMU8_EVENT_NOT_DETECTED )
    {
        data_ready = c6dofimu8_get_drdy_status( &c6dofimu8, C6DOFIMU8_TEMP_DRDY_MASK | 
                                                            C6DOFIMU8_G_DRDY_MASK | 
                                                            C6DOFIMU8_XL_DRDY_MASK );
    }

    c6dofimu8_get_data( &c6dofimu8, &accel_data, &gyro_data, &temperature );

    log_printf( &logger, "** Accelerometer values : \r\n" );
    log_axis( &accel_data );

    log_printf( &logger, "** Gyroscope values : \r\n" );
    log_axis( &gyro_data );

    log_printf( &logger, "** Temperature value : %d degC \r\n", ( int16_t )temperature );
    log_printf( &logger, "-------------------------------------------------\r\n" );

    Delay_ms ( 1000 );
}

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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