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6DOF IMU 15 Click

6DOF IMU 15 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.

Click Library

  • Author : MikroE Team
  • Date : Sep 2020.
  • Type : I2C/SPI type

Software Support

Example Description

This example demonstrates the use of 6DOF IMU 15 Click board.

Example Libraries

  • MikroSDK.Board
  • MikroSDK.Log
  • Click.6DofImu15

Example Key Functions

  • c6dofimu15_cfg_setup Config Object Initialization function.
void c6dofimu15_cfg_setup ( c6dofimu15_cfg_t *cfg );
  • c6dofimu15_init Initialization function.
err_t c6dofimu15_init ( c6dofimu15_t *ctx, c6dofimu15_cfg_t *cfg );
  • c6dofimu15_default_cfg Click Default Configuration function.
void c6dofimu15_default_cfg ( c6dofimu15_t *ctx );
  • c6dofimu15_device_conf_set Enable the proper device configuration function.
void c6dofimu15_device_conf_set( c6dofimu15_t *ctx, uint8_t dev_cfg );
  • c6dofimu15_accel_data_rate Accelerometer data rate selection function.
void c6dofimu15_accel_data_rate( c6dofimu15_t *ctx, uint8_t data_rate );
  • c6dofimu15_accel_full_scale Accelerometer full-scale selection function.
void c6dofimu15_accel_full_scale( c6dofimu15_t *ctx, uint8_t fs_sel );

Application Init

Initializes the driver, checks the communication and sets the device default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu15_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.

    c6dofimu15_cfg_setup( &cfg );
    C6DOFIMU15_MAP_MIKROBUS( cfg, MIKROBUS_POSITION_6DOFIMU15 );
    c6dofimu15_init( &c6dofimu15, &cfg );
    Delay_ms ( 100 );

    if ( c6dofimu15_who_im_i( &c6dofimu15 ) )
    {
        log_printf( &logger, "---------------------- \r\n" );
        log_printf( &logger, "   6DOF IMU 15 Click    \r\n" );
        log_printf( &logger, "---------------------- \r\n" );
    }
    else
    {
        log_printf( &logger, "---------------------- \r\n" );
        log_printf( &logger, "    FATAL ERROR!!      \r\n" );
        log_printf( &logger, "---------------------- \r\n" );
        for ( ; ; );
    }

    c6dofimu15_default_cfg( &c6dofimu15 );

    log_printf( &logger, "  ---Initialised---    \r\n" );
    log_printf( &logger, "---------------------- \r\n" );

    Delay_ms ( 100 );
}

Application Task

Measures acceleration and gyroscope data and displays the results on USB UART each second.

void application_task ( void )
{
    float x_accel;
    float y_accel;
    float z_accel;
    float x_gyro;
    float y_gyro;
    float z_gyro;

    c6dofimu15_acceleration_rate( &c6dofimu15, &x_accel, &y_accel, &z_accel );
    c6dofimu15_angular_rate( &c6dofimu15, &x_gyro, &y_gyro, &z_gyro );

    log_printf( &logger, " Accel X: %.2f \t Gyro X: %.2f\r\n", x_accel, x_gyro );
    log_printf( &logger, " Accel Y: %.2f \t Gyro Y: %.2f\r\n", y_accel, y_gyro );
    log_printf( &logger, " Accel Z: %.2f \t Gyro Z: %.2f\r\n", z_accel, z_gyro );
    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.