c6dofimu18  2.1.0.0
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6DOF IMU 18 click

6DOF IMU 18 Click is a compact add-on board with a 6-axis inertial measurement unit. This board features the ICM-42605, a high-performance 6-axis MotionTracking™ IMU from TDK InvenSense.

click Product page


Click library

  • Author : Stefan Ilic
  • Date : Jan 2023.
  • Type : I2C/SPI type

Software Support

We provide a library for the 6DOF IMU 18 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 from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Library Description

This library contains API for 6DOF IMU 18 Click driver.

Standard key functions :

Example key functions :

Example Description

This library contains API for 6DOF IMU 18 Click driver. The library initializes and defines the I2C and SPI bus drivers to

write and read data from registers, as well as the default configuration for reading gyroscope and accelerator data, and temperature.

The demo application is composed of two sections :

Application Init

Initializes the driver after that resets the device and performs default configuration and reads the device id.

void application_init ( void )
{
log_cfg_t log_cfg;
c6dofimu18_cfg_t c6dofimu18_cfg;
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
c6dofimu18_cfg_setup( &c6dofimu18_cfg );
C6DOFIMU18_MAP_MIKROBUS( c6dofimu18_cfg, MIKROBUS_1 );
err_t init_flag = c6dofimu18_init( &c6dofimu18, &c6dofimu18_cfg );
if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
Delay_ms( 100 );
uint8_t id = 0;
log_printf( &logger, " Device ID : 0x%.2X \r\n", ( uint16_t ) id );
{
log_error( &logger, " Communication error." );
for ( ; ; );
}
Delay_ms( 100 );
if ( C6DOFIMU18_OK != c6dofimu18_default_cfg ( &c6dofimu18 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
log_info( &logger, " Application Task " );
}

Application Task

This example demonstrates the use of the 6DOF IMU 18 Click board by

measuring and displaying acceleration and gyroscope data for X-axis, Y-axis, and Z-axis as well as temperature in degrees Celsius.

void application_task ( void )
{
if ( c6dofimu18_get_int1_state( &c6dofimu18) )
{
c6dofimu18_data_t accel_data;
c6dofimu18_data_t gyro_data;
float temp_data;
uint32_t tmst_data;
c6dofimu18_get_data_from_register( &c6dofimu18, &temp_data, &accel_data, &gyro_data, &tmst_data );
log_printf( &logger, " TEMP: %.2f \r\n", temp_data );
log_printf( &logger, " GYRO: x:%d y:%d z:%d \r\n", gyro_data.data_x,gyro_data.data_y,gyro_data.data_z );
log_printf( &logger, " ACCEL: x:%d y:%d z:%d \r\n", accel_data.data_x,accel_data.data_y,accel_data.data_z );
log_printf( &logger, "========================== \r\n" );
Delay_ms( 1000 );
}
}

The full application code, and ready to use projects can be installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Other Mikroe Libraries used in the example:

  • MikroSDK.Board
  • MikroSDK.Log
  • Click.6DOFIMU18

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. UART terminal is available in all MikroElektronika compilers.


c6dofimu18_init
err_t c6dofimu18_init(c6dofimu18_t *ctx, c6dofimu18_cfg_t *cfg)
6DOF IMU 18 initialization function.
C6DOFIMU18_WHO_AM_I_VALUE
#define C6DOFIMU18_WHO_AM_I_VALUE
6DOF IMU 18 who am i register values.
Definition: c6dofimu18.h:713
c6dofimu18_reg_read
err_t c6dofimu18_reg_read(c6dofimu18_t *ctx, uint8_t reg_bank, uint8_t reg, uint8_t *data_out, uint8_t len)
6DOF IMU 18 data reading function.
c6dofimu18_s
6DOF IMU 18 Click context object.
Definition: c6dofimu18.h:785
c6dofimu18_get_int1_state
uint8_t c6dofimu18_get_int1_state(c6dofimu18_t *ctx)
6DOF IMU 18 read INT1 pin state function.
c6dofimu18_default_cfg
err_t c6dofimu18_default_cfg(c6dofimu18_t *ctx)
6DOF IMU 18 default configuration function.
c6dofimu18_cfg_t
6DOF IMU 18 Click configuration object.
Definition: c6dofimu18.h:808
application_task
void application_task(void)
Definition: main.c:81
c6dofimu18_data_t::data_x
int16_t data_x
Definition: c6dofimu18.h:835
C6DOFIMU18_MAP_MIKROBUS
#define C6DOFIMU18_MAP_MIKROBUS(cfg, mikrobus)
MikroBUS pin mapping.
Definition: c6dofimu18.h:750
c6dofimu18_cfg_setup
void c6dofimu18_cfg_setup(c6dofimu18_cfg_t *cfg)
6DOF IMU 18 configuration object setup function.
C6DOFIMU18_REG_WHO_AM_I
#define C6DOFIMU18_REG_WHO_AM_I
Definition: c6dofimu18.h:123
c6dofimu18_data_t::data_z
int16_t data_z
Definition: c6dofimu18.h:837
C6DOFIMU18_OK
@ C6DOFIMU18_OK
Definition: c6dofimu18.h:847
C6DOFIMU18_BANK0_SEL
#define C6DOFIMU18_BANK0_SEL
6DOF IMU 18 description setting.
Definition: c6dofimu18.h:209
c6dofimu18_set_reg_bank
err_t c6dofimu18_set_reg_bank(c6dofimu18_t *ctx, uint8_t bank)
6DOF IMU 18 set register bank function.
application_init
void application_init(void)
Definition: main.c:33
c6dofimu18_data_t::data_y
int16_t data_y
Definition: c6dofimu18.h:836
c6dofimu18_get_data_from_register
err_t c6dofimu18_get_data_from_register(c6dofimu18_t *ctx, float *temperature_data, c6dofimu18_data_t *accel_data, c6dofimu18_data_t *gyro_data, uint32_t *tmst_data)
6DOF IMU 18 read data function.
c6dofimu18_data_t
6DOF IMU 18 data object.
Definition: c6dofimu18.h:834