c6dofimu23  2.1.0.0
Main Page

6DOF IMU 23 click

6DOF IMU 23 Click is a compact add-on board for precise motion tracking and measurement. This board features the IIM-20670, a high-performance 6-axis MotionTracking device from TDK InvenSense that integrates a 3-axis gyroscope and a 3-axis accelerometer. The gyroscope offers a full-scale range of up to ±1966 dps with high accuracy, while the accelerometer provides a range of ±2g to ±65g. Key features also include a 10MHz SPI interface, shock tolerance up to 10,000 g, on-chip 16-bit ADCs, and low current consumption.

click Product page


Click library

  • Author : Nenad Filipovic
  • Date : Dec 2023.
  • Type : SPI type

Software Support

We provide a library for the 6DOF IMU 23 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 23 Click driver.

Standard key functions :

Example key functions :

Example Description

This library contains API for 6DOF IMU 23 Click driver. The library initializes and defines the SPI bus drivers to write and read data. The library also includes a function for reading accelerometer and gyroscope X-axis, Y-axis, and Z-axis data as well as the internal temperature data.

The demo application is composed of two sections :

Application Init

The initialization of SPI module, log UART and enable the device.

void application_init ( void )
{
log_cfg_t log_cfg;
c6dofimu23_cfg_t c6dofimu23_cfg;
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
c6dofimu23_cfg_setup( &c6dofimu23_cfg );
C6DOFIMU23_MAP_MIKROBUS( c6dofimu23_cfg, MIKROBUS_1 );
if ( SPI_MASTER_ERROR == c6dofimu23_init( &c6dofimu23, &c6dofimu23_cfg ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
if ( C6DOFIMU23_ERROR == c6dofimu23_default_cfg ( &c6dofimu23 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
log_info( &logger, " Application Task " );
}

Application Task

This example demonstrates the use of the 6DOF IMU 23 Click board. Measures and displays acceleration and gyroscope data for X-axis, Y-axis, and Z-axis, and the internal temperature data. Results are being sent to the UART Terminal, where you can track their changes.

void application_task ( void )
{
float temperature = 0;
c6dofimu23_axis_t acc_axis, gyro_axis;
if ( ( C6DOFIMU23_OK == c6dofimu23_get_accel_data( &c6dofimu23, &acc_axis ) ) &&
( C6DOFIMU23_OK == c6dofimu23_get_gyro_data( &c6dofimu23, &gyro_axis ) ) &&
( C6DOFIMU23_OK == c6dofimu23_get_temperature( &c6dofimu23, &temperature ) ) )
{
log_printf( &logger, " Accel X: %.2f g | Gyro X: %.2f dps\r\n", acc_axis.x, gyro_axis.x );
log_printf( &logger, " Accel Y: %.2f g | Gyro Y: %.2f dps\r\n", acc_axis.y, gyro_axis.y );
log_printf( &logger, " Accel Z: %.2f g | Gyro Z: %.2f dps\r\n", acc_axis.z, gyro_axis.z );
log_printf( &logger, " Internal temperature: %.2f degC\r\n", temperature );
log_printf( &logger, " ----------------------------------\r\n" );
}
Delay_ms ( 100 );
}

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.6DOFIMU23

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.


c6dofimu23_axis_t::y
float y
Definition: c6dofimu23.h:243
c6dofimu23_cfg_t
6DOF IMU 23 Click configuration object.
Definition: c6dofimu23.h:217
c6dofimu23_get_temperature
err_t c6dofimu23_get_temperature(c6dofimu23_t *ctx, float *temperature)
6DOF IMU 23 get the internal temperature function.
application_task
void application_task(void)
Definition: main.c:70
c6dofimu23_axis_t
6DOF IMU 23 Click axes data structure.
Definition: c6dofimu23.h:241
c6dofimu23_cfg_setup
void c6dofimu23_cfg_setup(c6dofimu23_cfg_t *cfg)
6DOF IMU 23 configuration object setup function.
c6dofimu23_get_accel_data
err_t c6dofimu23_get_accel_data(c6dofimu23_t *ctx, c6dofimu23_axis_t *acc_axis)
6DOF IMU 23 get the accel sensor axes function.
c6dofimu23_axis_t::z
float z
Definition: c6dofimu23.h:244
c6dofimu23_t
6DOF IMU 23 Click context object.
Definition: c6dofimu23.h:195
C6DOFIMU23_OK
@ C6DOFIMU23_OK
Definition: c6dofimu23.h:254
C6DOFIMU23_ERROR
@ C6DOFIMU23_ERROR
Definition: c6dofimu23.h:255
C6DOFIMU23_MAP_MIKROBUS
#define C6DOFIMU23_MAP_MIKROBUS(cfg, mikrobus)
MikroBUS pin mapping.
Definition: c6dofimu23.h:179
c6dofimu23_init
err_t c6dofimu23_init(c6dofimu23_t *ctx, c6dofimu23_cfg_t *cfg)
6DOF IMU 23 initialization function.
application_init
void application_init(void)
Definition: main.c:34
c6dofimu23_default_cfg
err_t c6dofimu23_default_cfg(c6dofimu23_t *ctx)
6DOF IMU 23 default configuration function.
c6dofimu23_get_gyro_data
err_t c6dofimu23_get_gyro_data(c6dofimu23_t *ctx, c6dofimu23_axis_t *gyro_axis)
6DOF IMU 23 get the gyro sensor axes function.
c6dofimu23_axis_t::x
float x
Definition: c6dofimu23.h:242