c6dofimu11  2.0.0.0
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6DOF IMU 11 click

The 6DOF IMU 11 click is a Click boardâ„¢ based on the KMX63, a 6 Degrees-of-Freedom inertial sensor system on a single, silicon chip, which is designed to strike a balance between current consumption and noise performance with excellent bias stability over temperature.

click Product page


Click library

  • Author : MikroE Team
  • Date : Dec 2019.
  • Type : I2C type

Software Support

We provide a library for the 6DofImu11 Click as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.

Package can be downloaded/installed directly form compilers IDE(recommended way), or downloaded from our LibStock, or found on mikroE github account.

Library Description

This library contains API for 6DofImu11 Click driver.

Standard key functions :

  • Config Object Initialization function.

    void c6dofimu11_cfg_setup ( c6dofimu11_cfg_t *cfg );

  • Initialization function.

    C6DOFIMU11_RETVAL c6dofimu11_init ( c6dofimu11_t *ctx, c6dofimu11_cfg_t *cfg );

  • Click Default Configuration function.

    void c6dofimu11_default_cfg ( c6dofimu11_t *ctx );

Example key functions :

  • Configuration Accel function

    void c6dofimu11_config_accel ( c6dofimu11_t *ctx, uint8_t data_rate, uint8_t data_range, uint8_t data_resolution )

  • Configuration Magnetometer function

    void c6dofimu11_config_mag ( c6dofimu11_t *ctx, uint8_t data_rate, uint8_t data_resolution )

  • Get axis data function

    int16_t c6dofimu11_get_axis ( c6dofimu11_t *ctx, uint8_t reg_add_lsb )

  • Read Accel X-axis, Y-axis and Z-axis function

    void c6dofimu11_get_accel_data ( c6dofimu11_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z )

  • Read Magnetometer X-axis, Y-axis and Z-axis function

    void c6dofimu11_get_mag_data ( c6dofimu11_t *ctx, int16_t *mag_x, int16_t *mag_y, int16_t *mag_z )

  • Get Accel range X, Y and Z value ( g ) function

    void c6dofimu11_read_accel ( c6dofimu11_t *ctx, c6dofimu11_accel_t *accel_data )

  • Get Magnetometer magnetic field strength X, Y and Z value ( nT ) function

    void c6dofimu11_read_mag ( c6dofimu11_t *ctx, c6dofimu11_mag_t *mag_data )

Examples Description

Designed to strike a balance between current consumption and noise performance with excellent bias stability over temperature

The demo application is composed of two sections :

Application Init

Initialization driver enables - I2C, check device ID,

sets default configuration, also write log.

void application_init ( void )
{
log_cfg_t log_cfg;
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, "---- Application Init ----" );
// Click initialization.
C6DOFIMU11_MAP_MIKROBUS( cfg, MIKROBUS_1 );
c6dofimu11_init( &c6dofimu11, &cfg );
{
log_printf( &logger, " SUCCESS \r\n" );
log_printf( &logger, "--------------------------\r\n" );
}
else
{
log_printf( &logger, " ERROR \r\n" );
log_printf( &logger, " Reset the device \r\n" );
log_printf( &logger, "--------------------------\r\n" );
for ( ; ; );
}
c6dofimu11_default_cfg( &c6dofimu11 );
log_printf( &logger, " Set default config \r\n" );
log_printf( &logger, "--------------------------\r\n" );
Delay_ms( 100 );
}

Application Task

This is an example which demonstrates the use of 6DOF IMU 11 Click board. Measured and display Accel and Magnetometer magnetic field strength values for X-axis, Y-axis and Z-axis. Results are being sent to the Usart Terminal where you can track their changes. All data logs write on USB uart changes for every 2 sec.

void application_task ( void )
{
c6dofimu11_accel_t accel_data;
c6dofimu11_read_accel ( &c6dofimu11, &accel_data );
Delay_ms( 10 );
c6dofimu11_read_mag ( &c6dofimu11, &mag_data );
Delay_ms( 10 );
log_printf( &logger, " Accel X : %d %c g\r\n", accel_data.x );
c6dofimu11_uart_sign_print ( );
log_printf( &logger, " Accel Y : %d %c g\r\n", accel_data.y );
c6dofimu11_uart_sign_print ( );
log_printf( &logger, " Accel Z : %d %c g\r\n", accel_data.z );
c6dofimu11_uart_sign_print ( );
log_printf( &logger, " Mag X : %d %c uT\r\n", mag_data.x );
c6dofimu11_uart_sign_print ( );
log_printf( &logger, " Mag Y : %d %c uT\r\n", mag_data.y );
c6dofimu11_uart_sign_print ( );
log_printf( &logger, " Mag Z : %d %c uT\r\n", mag_data.z );
c6dofimu11_uart_sign_print ( );
Delay_ms( 2000 );
}

The full application code, and ready to use projects can be installed directly form compilers IDE(recommneded) or found on LibStock page or mikroE GitHub accaunt.

Other mikroE Libraries used in the example:

  • MikroSDK.Board
  • MikroSDK.Log
  • Click.6DofImu11

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.


c6dofimu11_init
C6DOFIMU11_RETVAL c6dofimu11_init(c6dofimu11_t *ctx, c6dofimu11_cfg_t *cfg)
Initialization function.
c6dofimu11_mag_t::x
float x
Definition: c6dofimu11.h:464
c6dofimu11_mag_t
Mag axis structure definition.
Definition: c6dofimu11.h:463
c6dofimu11_read_mag
void c6dofimu11_read_mag(c6dofimu11_t *ctx, c6dofimu11_mag_t *mag_data)
Read mag.
c6dofimu11_read_accel
void c6dofimu11_read_accel(c6dofimu11_t *ctx, c6dofimu11_accel_t *accel_data)
Read accel.
c6dofimu11_accel_t::x
float x
Definition: c6dofimu11.h:453
c6dofimu11_accel_t
Accel axis structure definition.
Definition: c6dofimu11.h:452
c6dofimu11_cfg_t
Click configuration structure definition.
Definition: c6dofimu11.h:430
application_task
void application_task(void)
Definition: main.c:79
c6dofimu11_mag_t::z
float z
Definition: c6dofimu11.h:466
c6dofimu11_accel_t::y
float y
Definition: c6dofimu11.h:454
C6DOFIMU11_CHECK_ID_SUCCESS
#define C6DOFIMU11_CHECK_ID_SUCCESS
Definition: c6dofimu11.h:385
c6dofimu11_mag_t::y
float y
Definition: c6dofimu11.h:465
C6DOFIMU11_MAP_MIKROBUS
#define C6DOFIMU11_MAP_MIKROBUS(cfg, mikrobus)
Definition: c6dofimu11.h:52
c6dofimu11_check_id
uint8_t c6dofimu11_check_id(c6dofimu11_t *ctx)
This function check id.
c6dofimu11_default_cfg
void c6dofimu11_default_cfg(c6dofimu11_t *ctx)
Click Default Configuration function.
application_init
void application_init(void)
Definition: main.c:35
c6dofimu11_accel_t::z
float z
Definition: c6dofimu11.h:455
c6dofimu11_cfg_setup
void c6dofimu11_cfg_setup(c6dofimu11_cfg_t *cfg)
Config Object Initialization function.