c6dofimu20  2.1.0.0
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6DOF IMU 20 Click

6DOF IMU 20 Click is a compact add-on board with a 6-axis inertial measurement unit. This board features the BMI323, a high-performance, low-power inertial measurement unit (IMU) from Bosch Sensortec.

Click Product page


Click library

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

Software Support

We provide a library for the 6DOF IMU 20 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 20 Click driver.

Standard key functions :

Example key functions :

Example Description

This library contains API for 6DOF IMU 20 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;
c6dofimu20_cfg_t c6dofimu20_cfg;
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
c6dofimu20_cfg_setup( &c6dofimu20_cfg );
C6DOFIMU20_MAP_MIKROBUS( c6dofimu20_cfg, MIKROBUS_1 );
err_t init_flag = c6dofimu20_init( &c6dofimu20, &c6dofimu20_cfg );
if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
uint8_t chip_id;
c6dofimu20_get_id( &c6dofimu20, &chip_id );
if ( C6DOFIMU20_CHIP_ID != chip_id )
{
log_error( &logger, " Communication error." );
for ( ; ; );
}
if ( C6DOFIMU20_ERROR == c6dofimu20_default_cfg ( &c6dofimu20 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
log_info( &logger, " Application Task " );
}

Application Task

This example demonstrates the use of the 6DOF IMU 20 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 )
{
c6dofimu20_data_t accel_data;
c6dofimu20_data_t gyro_data;
uint16_t data_rdy;
float temperature;
c6dofimu20_get_reg( &c6dofimu20, C6DOFIMU20_REG_STATUS, &data_rdy );
{
c6dofimu20_get_acc_data( &c6dofimu20, &accel_data );
log_printf( &logger, " Accel: X: %d, Y: %d, Z: %d \r\n", accel_data.data_x, accel_data.data_y, accel_data.data_z );
}
{
c6dofimu20_get_gyr_data( &c6dofimu20, &gyro_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 );
}
{
c6dofimu20_get_temperature( &c6dofimu20, &temperature );
log_printf( &logger, " Temperature: %.2f degC \r\n", temperature );
}
log_printf( &logger, " - - - - - - - - - - - - - - - - - - - - - - - - \r\n" );
Delay_ms ( 500 );
}

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.6DOFIMU20

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.


c6dofimu20_get_reg
err_t c6dofimu20_get_reg(c6dofimu20_t *ctx, uint8_t reg, uint16_t *data_out)
6 DOF IMU 20 register data reading function.
C6DOFIMU20_REG_STATUS
#define C6DOFIMU20_REG_STATUS
Definition: c6dofimu20.h:77
c6dofimu20_data_t::data_z
int16_t data_z
Definition: c6dofimu20.h:557
c6dofimu20_data_t::data_y
int16_t data_y
Definition: c6dofimu20.h:556
C6DOFIMU20_STATUS_DRDY_ACC_FLAG
#define C6DOFIMU20_STATUS_DRDY_ACC_FLAG
Definition: c6dofimu20.h:218
C6DOFIMU20_MAP_MIKROBUS
#define C6DOFIMU20_MAP_MIKROBUS(cfg, mikrobus)
MikroBUS pin mapping.
Definition: c6dofimu20.h:470
C6DOFIMU20_CHIP_ID
#define C6DOFIMU20_CHIP_ID
6 DOF IMU 20 Chip ID.
Definition: c6dofimu20.h:433
c6dofimu20_cfg_t
6 DOF IMU 20 Click configuration object.
Definition: c6dofimu20.h:528
c6dofimu20_default_cfg
err_t c6dofimu20_default_cfg(c6dofimu20_t *ctx)
6 DOF IMU 20 default configuration function.
c6dofimu20_data_t
6 DOF IMU 20 Click data object.
Definition: c6dofimu20.h:554
C6DOFIMU20_ERROR
@ C6DOFIMU20_ERROR
Definition: c6dofimu20.h:568
application_task
void application_task(void)
Definition: main.c:78
c6dofimu20_init
err_t c6dofimu20_init(c6dofimu20_t *ctx, c6dofimu20_cfg_t *cfg)
6 DOF IMU 20 initialization function.
c6dofimu20_get_gyr_data
err_t c6dofimu20_get_gyr_data(c6dofimu20_t *ctx, c6dofimu20_data_t *gyr_data)
6 DOF IMU 20 gyro data reading function.
c6dofimu20_s
6 DOF IMU 20 Click context object.
Definition: c6dofimu20.h:505
c6dofimu20_cfg_setup
void c6dofimu20_cfg_setup(c6dofimu20_cfg_t *cfg)
6 DOF IMU 20 configuration object setup function.
C6DOFIMU20_STATUS_DRDY_GYR_FLAG
#define C6DOFIMU20_STATUS_DRDY_GYR_FLAG
Definition: c6dofimu20.h:217
application_init
void application_init(void)
Definition: main.c:33
c6dofimu20_get_id
err_t c6dofimu20_get_id(c6dofimu20_t *ctx, uint8_t *chip_id)
6 DOF IMU 20 register chip id reading function.
c6dofimu20_data_t::data_x
int16_t data_x
Definition: c6dofimu20.h:555
c6dofimu20_get_acc_data
err_t c6dofimu20_get_acc_data(c6dofimu20_t *ctx, c6dofimu20_data_t *acc_data)
6 DOF IMU 20 accel data reading function.
c6dofimu20_get_temperature
err_t c6dofimu20_get_temperature(c6dofimu20_t *ctx, float *temp_data)
6 DOF IMU 20 temperature reading function.
c6dofimu20_sw_reset
err_t c6dofimu20_sw_reset(c6dofimu20_t *ctx)
6 DOF IMU 20 software reset function.
C6DOFIMU20_STATUS_DRDY_TEMP_FLAG
#define C6DOFIMU20_STATUS_DRDY_TEMP_FLAG
Definition: c6dofimu20.h:216