Library Description

The library covers all the necessary functions to control 10DOF Click board. Library performs the communication with the device via I2C driver by writing to registers and by reading from registers of BMP180 and BNO055 chip sensor. The library has generic write and reads function for both chips, get measurements function, get the temperature and pressure data from the register, a function for reading calibration, for sets configuration and all the necessary functions to control and read X-axis, Y-axis & Z axis data of accel, gyro and magnetometer coordinates. Function who gets temperature, humidity and pressure also read factory calibration and converts temperature data to degree Celsius [ °C ] and pressure value to mbar.

Key functions:

• void c10dof_getMeasurements( float *temperature, float *pressure ) - Get measurements - temperature and pressure data function.
• void c10dof_readAccel( int16_t *accelX, int16_t *accelY, int16_t *accelZ ) - Function read Accel X-axis, Y-axis and Z-axis.
• void c10dof_readMag( int16_t *magX, int16_t *magY, int16_t *magZ ) - Function read Magnetometar X-axis, Y-axis and Z-axis.

Examples description

The application is composed of three sections:

• System Initialization - Initializes GPIO, I2C or SPI and LOG structures, set INT pin as input, RST pin as output and start to write log.
• Application Initialization -  Initialization driver enables - I2C, the set default configuration of BMP180 and BNO055 chip, also display logs.
• Application Task - (code snippet) This is an example which demonstrates the use of 10DOF Click board. Measured temperature, humidity pressure data from the BMP180 and BNO055 chip sensor and accel, gyro, and magnetometer coordinate values for X-axis, Y-axis and Z-axis. Display temperature data to degrees Celsius [ °C ], pressure data [ mbar ], the rate in dps, accel in mg and magnetometer in µT. Results are being sent to the Usart Terminal where you can track their changes. All data logs write on usb uart changes for every 3 sec.

void applicationTask() 
{
    c10dof_readAccel( &accelX, &accelY, &accelZ );
    delay_ms( 10 );
    c10dof_readGyro(  &gyroX,  &gyroY, &gyroZ );
    delay_ms( 10 );
    c10dof_readMag(  &magX,  &magY, &magZ );
    delay_ms( 10 );
    temperature = c10dof_getTemperature();
    delay_ms( 10 );
    c10dof_getMeasurements( &temperature, &pressure );
    delay_ms( 10 );
    
    mikrobus_logWrite( " Accel X :", _LOG_TEXT );
    IntToStr( accelX, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro X :", _LOG_TEXT );
    IntToStr( gyroX, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Mag X :", _LOG_TEXT );
    IntToStr( magX, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  | ", _LOG_TEXT );
    mikrobus_logWrite( "Temp. : ", _LOG_TEXT );
    FloatToStr( temperature, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( degCel, _LOG_LINE );

    mikrobus_logWrite( " Accel Y :", _LOG_TEXT );
    IntToStr( accelY, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Y :", _LOG_TEXT );
    IntToStr( gyroY, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Mag Y :", _LOG_TEXT );
    IntToStr( magY, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_LINE );

    mikrobus_logWrite( " Accel Z :", _LOG_TEXT );
    IntToStr( accelZ, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Z :", _LOG_TEXT );
    IntToStr( gyroZ, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Mag Z :", _LOG_TEXT );
    IntToStr( magZ, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |", _LOG_TEXT );
    mikrobus_logWrite( " Press.: ", _LOG_TEXT );
    FloatToStr( pressure, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( " mbar", _LOG_LINE );
 
    delay_ms( 3000 );
}        

Other mikroE Libraries used in the example:

• I2C
• UART​
• Conversion

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. The terminal available in all MikroElektronika compilers, or any other terminal application of your choice, can be used to read the message