smartdof4 2.1.0.0
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Smart DOF 4 Click

‍Smart DOF 4 Click is a compact add-on board for high-precision motion tracking and contextual sensing. This board features the BNO085, a 9-axis IMU System in Package (SiP) from CEVA, combining an accelerometer, gyroscope, and geomagnetic sensor with a 32-bit microcontroller running CEVA's SH-2 firmware. The board provides real-time, calibrated 3D orientation, linear acceleration, and angular velocity while dynamically compensating for temperature changes and sensor aging. It supports I2C and SPI interfaces, features advanced MotionEngineā„¢ technology for gesture detection and activity monitoring, and includes 'Always-On' capabilities like step counting and stability detection.

Click Product page


Click library

  • Author : Stefan Filipovic
  • Date : Aug 2024.
  • Type : I2C/SPI type

Software Support

We provide a library for the Smart DOF 4 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 Smart DOF 4 Click driver.

Standard key functions :

Example key functions :

Example Description

‍This example demonstrates the use of Smart DOF 4 Click board by reading the accelerometer, gyroscope, and magnetometer data measurements.

The demo application is composed of two sections :

Application Init

‍Initializes the driver and performs the Click default configuration enabling accelerometer, gyroscope, and magnetometer sensors with an output data rate of 10Hz. After that, it reads the software version, part number, and build number information.

void application_init ( void )
{
log_cfg_t log_cfg;
smartdof4_cfg_t smartdof4_cfg;
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
// Click initialization.
smartdof4_cfg_setup( &smartdof4_cfg );
SMARTDOF4_MAP_MIKROBUS( smartdof4_cfg, MIKROBUS_1 );
err_t init_flag = smartdof4_init( &smartdof4, &smartdof4_cfg );
if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
if ( SMARTDOF4_ERROR == smartdof4_default_cfg ( &smartdof4 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
if ( SMARTDOF4_OK == smartdof4_read_pid ( &smartdof4, &pid ) )
{
log_printf ( &logger, " SW Version: %u.%u.%u\r\n", ( uint16_t ) pid.sw_ver_major,
( uint16_t ) pid.sw_ver_minor,
( uint16_t ) pid.sw_ver_patch );
log_printf ( &logger, " SW Part Number: %lu\r\n", pid.sw_part_num );
log_printf ( &logger, " SW Build Number: %lu\r\n\n", pid.sw_build_num );
}
log_info( &logger, " Application Task " );
}
#define SMARTDOF4_MAP_MIKROBUS(cfg, mikrobus)
MikroBUS pin mapping.
Definition smartdof4.h:343
void application_init(void)
Definition main.c:31
@ SMARTDOF4_OK
Definition smartdof4.h:480
@ SMARTDOF4_ERROR
Definition smartdof4.h:481
uint32_t sw_part_num
Definition smartdof4.h:468
uint8_t sw_ver_minor
Definition smartdof4.h:467
uint32_t sw_build_num
Definition smartdof4.h:469
uint8_t sw_ver_major
Definition smartdof4.h:466
uint16_t sw_ver_patch
Definition smartdof4.h:470

Application Task

‍Reads the accelerometer (g), gyroscope (dps), and magnetometer (uT) measurements and displays results on the USB UART every 100ms approximately.

void application_task ( void )
{
static smartdof4_axis_t accel, gyro, mag;
if ( SMARTDOF4_OK == smartdof4_read_data ( &smartdof4, &accel, &gyro, &mag ) )
{
log_printf ( &logger, " Accel X: %.3f g\r\n", accel.x );
log_printf ( &logger, " Accel Y: %.3f g\r\n", accel.y );
log_printf ( &logger, " Accel Z: %.3f g\r\n", accel.z );
log_printf ( &logger, " Gyro X: %.1f dps\r\n", gyro.x );
log_printf ( &logger, " Gyro Y: %.1f dps\r\n", gyro.y );
log_printf ( &logger, " Gyro Z: %.1f dps\r\n", gyro.z );
log_printf ( &logger, " Mag X: %.1f uT\r\n", mag.x );
log_printf ( &logger, " Mag Y: %.1f uT\r\n", mag.y );
log_printf ( &logger, " Mag Z: %.1f uT\r\n\n", mag.z );
Delay_ms ( 100 );
}
}
void application_task(void)
Definition main.c:78
float y
Definition smartdof4.h:454
float x
Definition smartdof4.h:453
float z
Definition smartdof4.h:455

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.SmartDOF4

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.