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 MotionEngine⢠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 :
smartdof4_cfg_setup
Config Object Initialization function.
void smartdof4_cfg_setup(smartdof4_cfg_t *cfg)
Smart DOF 4 configuration object setup function.
Smart DOF 4 Click configuration object.
Definition smartdof4.h:410
smartdof4_init
Initialization function.
err_t smartdof4_init(smartdof4_t *ctx, smartdof4_cfg_t *cfg)
Smart DOF 4 initialization function.
Smart DOF 4 Click context object.
Definition smartdof4.h:386
smartdof4_default_cfg
Click Default Configuration function.
err_t smartdof4_default_cfg(smartdof4_t *ctx)
Smart DOF 4 default configuration function.
Example key functions :
smartdof4_read_pid
This function reads the product ID information.
err_t smartdof4_read_pid(smartdof4_t *ctx, smartdof4_pid_t *pid)
Smart DOF 4 read pid function.
Smart DOF 4 Click product ID object.
Definition smartdof4.h:464
smartdof4_feature_set
This function sets a full feature report.
err_t smartdof4_feature_set(smartdof4_t *ctx, smartdof4_feature_t *feat)
Smart DOF 4 feature set function.
Smart DOF 4 Click sensor feature object.
Definition smartdof4.h:437
smartdof4_read_data
This function reads the accelerometer (g), gyroscope (dps), and magnetometer (uT) 3-axis data from input report.
err_t smartdof4_read_data(smartdof4_t *ctx, smartdof4_axis_t *accel, smartdof4_axis_t *gyro, smartdof4_axis_t *mag)
Smart DOF 4 read data function.
Smart DOF 4 Click data axis object.
Definition smartdof4.h:452
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.
{
log_cfg_t log_cfg;
LOG_MAP_USB_UART( log_cfg );
log_init( &logger, &log_cfg );
log_info( &logger, " Application Init " );
if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
{
log_printf ( &logger,
" SW Version: %u.%u.%u\r\n", ( uint16_t ) pid.
sw_ver_major,
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.
{
{
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.