c6dofimu16  2.1.0.0
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6DOF IMU 16 click

6DOF IMU 16 Click is a compact add-on board with a 6-axis inertial measurement device. This board features the ICM-42605, a premium performance 6-axis MotionTracking™ IMU from TDK InvenSense. It combines a 3-axis gyroscope and a 3-axis accelerometer, supporting the lowest gyroscope and accelerometer sensor noise in this IMU class. It also has the highest stability against temperature, shock, SMT/bend-induced offset, and more.

click Product page


Click library

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

Software Support

We provide a library for the 6DOF IMU 16 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 16 Click driver.

Standard key functions :

Example key functions :

Example Description

This example demonstrates the use of 6DOF IMU 16 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;
c6dofimu16_cfg_t c6dofimu16_cfg;
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
c6dofimu16_cfg_setup( &c6dofimu16_cfg );
C6DOFIMU16_MAP_MIKROBUS( c6dofimu16_cfg, MIKROBUS_1 );
err_t init_flag = c6dofimu16_init( &c6dofimu16, &c6dofimu16_cfg );
if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
if ( C6DOFIMU16_ERROR == c6dofimu16_default_cfg ( &c6dofimu16 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
uint8_t dev_id = 0;
c6dofimu16_reg_read( &c6dofimu16, C6DOFIMU16_REG_WHO_AM_I, &dev_id );
if ( C6DOFIMU16_DEVICE_ID != dev_id )
{
log_error( &logger, " Communication error " );
for ( ; ; );
}
log_printf( &logger, " Device ID: 0x%.2X \r\n", ( uint16_t ) dev_id );
log_info( &logger, " Application Task " );
}

Application Task

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

void application_task ( void )
{
c6dofimu16_axis_t accel_data;
c6dofimu16_axis_t gyro_data;
c6dofimu16_get_accel_data( &c6dofimu16, &accel_data );
c6dofimu16_get_gyro_data( &c6dofimu16, &gyro_data );
log_printf( &logger, " Accel data | Gyro data \r\n" );
log_printf( &logger, " X: %.2f g | %.2f dps \r\n", accel_data.x_data, gyro_data.x_data );
log_printf( &logger, " Y: %.2f g | %.2f dps \r\n", accel_data.y_data, gyro_data.y_data );
log_printf( &logger, " Z: %.2f g | %.2f dps \r\n", accel_data.z_data, gyro_data.z_data );
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.C6DOFIMU16

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.


c6dofimu16_axis_t
6DOF IMU 16 Click axes data structure.
Definition: c6dofimu16.h:362
c6dofimu16_s
6DOF IMU 16 Click context object.
Definition: c6dofimu16.h:315
c6dofimu16_sw_reset
err_t c6dofimu16_sw_reset(c6dofimu16_t *ctx)
6DOF IMU 16 software reset device function.
c6dofimu16_get_accel_data
err_t c6dofimu16_get_accel_data(c6dofimu16_t *ctx, c6dofimu16_axis_t *accel_data)
6DOF IMU 16 read accel function.
c6dofimu16_axis_t::y_data
float y_data
Definition: c6dofimu16.h:364
C6DOFIMU16_REG_WHO_AM_I
#define C6DOFIMU16_REG_WHO_AM_I
Definition: c6dofimu16.h:122
c6dofimu16_cfg_t
6DOF IMU 16 Click configuration object.
Definition: c6dofimu16.h:336
application_task
void application_task(void)
Definition: main.c:76
c6dofimu16_init
err_t c6dofimu16_init(c6dofimu16_t *ctx, c6dofimu16_cfg_t *cfg)
6DOF IMU 16 initialization function.
C6DOFIMU16_MAP_MIKROBUS
#define C6DOFIMU16_MAP_MIKROBUS(cfg, mikrobus)
MikroBUS pin mapping.
Definition: c6dofimu16.h:279
C6DOFIMU16_ERROR
@ C6DOFIMU16_ERROR
Definition: c6dofimu16.h:376
c6dofimu16_cfg_setup
void c6dofimu16_cfg_setup(c6dofimu16_cfg_t *cfg)
6DOF IMU 16 configuration object setup function.
C6DOFIMU16_DEVICE_ID
#define C6DOFIMU16_DEVICE_ID
6DOF IMU 16 device ID setting.
Definition: c6dofimu16.h:224
c6dofimu16_axis_t::x_data
float x_data
Definition: c6dofimu16.h:363
c6dofimu16_get_gyro_data
err_t c6dofimu16_get_gyro_data(c6dofimu16_t *ctx, c6dofimu16_axis_t *gyro_data)
6DOF IMU 16 read gyro function.
application_init
void application_init(void)
Definition: main.c:29
c6dofimu16_default_cfg
err_t c6dofimu16_default_cfg(c6dofimu16_t *ctx)
6DOF IMU 16 default configuration function.
c6dofimu16_axis_t::z_data
float z_data
Definition: c6dofimu16.h:365
c6dofimu16_reg_read
err_t c6dofimu16_reg_read(c6dofimu16_t *ctx, uint8_t reg, uint8_t *data_out)
6DOF IMU 16 register data reading function.