Library Description

The library performs a magnetometer, accelerometer and temperature measurements and control of the 6DOF IMU 10 Click board. User also can select a desired range, scale and other config for the desired measurement. For more details check documentation.

Key functions:

• void c6dofimu10_default_cfg ( void ) - Default module configuration function
• void c6dofimu10_get_accel_axis ( c6dofimu10_axis_t *axis ) - Accelerometer axis data
• void c6dofimu10_get_mag_axis ( c6dofimu10_axis_t *axis ) - Magnetometer axis data

Examples description

The application is composed of three sections :

• System Initialization - Initializes I2C driver and GP1 - GP2 pins used as interrupt pins. And initializes the LOG module.
• Application Initialization - Runs a communication test that reads device id (registry Who_I_AM). It then starts the default module config that sets the module to its initial state of operation.
• Application Task - Reads the accelerometer and magnetometer axis data. And reads temperature values. All data logs on the USBUART.

void application_task ( )
{
    c6dofimu10_axis_t accel_axis;
    c6dofimu10_axis_t mag_axis;
    float temperature;

    c6dofimu10_get_accel_axis ( &accel_axis );
    c6dofimu10_get_mag_axis ( &mag_axis );
    temperature = c6dofimu10_get_temperature ( C6DOFIMU10_TEMP_FORMAT_CELSIUS );

    mikrobus_logWrite( "-- Accelerometer axis --", _LOG_LINE );
    app_display_axis_data( &accel_axis );
    Delay_ms( 2000 );

    mikrobus_logWrite( "-- Magnetometer axis --", _LOG_LINE );
    app_display_axis_data( &mag_axis );
    Delay_ms( 2000 );

    mikrobus_logWrite( "-- Temperature data --", _LOG_LINE );
    app_display_temp_data( temperature );
    Delay_ms( 2000 );
}

Additional Functions :

• app_display_axis_data ( ) - Display (accel and mag) axis data
• app_display_temp_data ( ) - Display temperature data

Other mikroE Libraries used in the example:

• I2C Library
• UART Library
• Conversions Library

Additional notes and informations

Depending on the development board you are using, you may need USB UART click, USB UART 2 click or RS232 click to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all MikroElektronika compilers, or any other terminal application of your choice, can be used to read the message.