c6dofimu21 2.1.0.0
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6DOF IMU 21 click

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Click library

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

Software Support

We provide a library for the 6DOF IMU 21 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 21 Click driver.

Standard key functions :

Example key functions :

Example Description

This example demonstrates the use of 6DOF IMU 21 click board by reading and displaying

the accelerometer and gyroscope data (X, Y, and Z axis).

The demo application is composed of two sections :

Application Init

Initializes the driver performs the click default configuration,

and checks communication by reading device ID.

void application_init ( void )
{
log_cfg_t log_cfg;
c6dofimu21_cfg_t c6dofimu21_cfg;
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
c6dofimu21_cfg_setup( &c6dofimu21_cfg );
C6DOFIMU21_MAP_MIKROBUS( c6dofimu21_cfg, MIKROBUS_1 );
err_t init_flag = c6dofimu21_init( &c6dofimu21, &c6dofimu21_cfg );
if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
if ( C6DOFIMU21_ERROR == c6dofimu21_default_cfg ( &c6dofimu21 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
uint8_t dev_id = 0;
if ( C6DOFIMU21_DEVICE_ID != dev_id )
{
log_error( &logger, " Communication error " );
}
log_printf( &logger, " Device ID: 0x%.2X \r\n", ( uint16_t ) dev_id );
log_info( &logger, " Application Task " );
}
@ C6DOFIMU21_ERROR
Definition: c6dofimu21.h:346
#define C6DOFIMU21_MAP_MIKROBUS(cfg, mikrobus)
MikroBUS pin mapping.
Definition: c6dofimu21.h:249
#define C6DOFIMU21_REG_DEVICE_ID
Definition: c6dofimu21.h:79
#define C6DOFIMU21_DEVICE_ID
6DOF IMU 21 device ID setting.
Definition: c6dofimu21.h:198
err_t c6dofimu21_generic_read(c6dofimu21_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len)
6DOF IMU 21 data reading function.
void application_init(void)
Definition: main.c:29

Application Task

Reading the accelerometer and gyroscope measurements, results are displayed on the USB UART every second.

void application_task ( void )
{
c6dofimu21_data_t accel_data;
c6dofimu21_data_t gyro_data;
c6dofimu21_read_accel_data( &c6dofimu21, &accel_data );
c6dofimu21_read_gyro_data( &c6dofimu21, &gyro_data );
log_printf( &logger, " Accel data | Gyro data \r\n" );
log_printf( &logger, " X: %.2f mg | %.2f mdps \r\n", accel_data.x_data, gyro_data.x_data );
log_printf( &logger, " Y: %.2f mg | %.2f mdps \r\n", accel_data.y_data, gyro_data.y_data );
log_printf( &logger, " Z: %.2f mg | %.2f mdps \r\n", accel_data.z_data, gyro_data.z_data );
Delay_ms( 1000 );
}
void application_task(void)
Definition: main.c:74
float y_data
Definition: c6dofimu21.h:334
float z_data
Definition: c6dofimu21.h:335
float x_data
Definition: c6dofimu21.h:333

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.C6DOFIMU21

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.