Library Description

The library performs a gyroscope, accelerometer and temperature measurements and control of the 6DOF IMU 4 Click board. User also can select a desired full scale range, offset and threshold for the desired measurement. The control of the 6DOF IMU 4 Click board can be performed by using I2C or SPI interface. For more details check documentation.

Key functions:

• T_C6DOFIMU4_RETVAL c6dofimu4_writeByte( uint8_t regAddr, uint8_t dataIn ) - Function writes one byte data to the desired register.
• T_C6DOFIMU4_RETVAL c6dofimu4_readBytes( uint8_t startAddr, uint8_t *dataOut, uint8_t nBytes ) - Function performs a sequential data reading starting from the desired address.
• void c6dofimu4_getData( T_c6dofimu4_axis *accelOut, T_c6dofimu4_axis *gyroOut, int8_t *tempOut ) - Function performs a data reading and all necessary calculations to get accelerometer, gyroscope and temperature data.
• T_C6DOFIMU4_RETVAL c6dofimu4_setFSR( uint8_t gyro_resol, uint8_t accel_resol ) - Function selects a measurement full scale range.

Examples description

The application is composed of the three sections :

• System Initialization - Initializes peripherals and pins.
• Application Initialization - Initializes I2C or SPI interface and performs a device reset and configurations.
• Application Task - (code snippet) - Waits until data is ready and then reads the all data registers, accelerometer, gyroscope and temperature data, and shows results to the uart terminal every 500ms.

void applicationTask()
{
    dataReady = c6dofimu4_getStatus( _C6DOFIMU4_DATA_RDY_INT_MASK );
    while (dataReady != _C6DOFIMU4_DATA_RDY_INT_OCCURED)
    {
        dataReady = c6dofimu4_getStatus( _C6DOFIMU4_DATA_RDY_INT_MASK );
    }
    
    c6dofimu4_getData( &accel_data, &gyro_data, &temperature );
    
    mikrobus_logWrite( "** Accelerometer values :", _LOG_LINE );
    logAxis( &accel_data, &accelUnit[0] );
    mikrobus_logWrite( "", _LOG_LINE );
    
    mikrobus_logWrite( "** Gyroscope values :", _LOG_LINE );
    logAxis( &gyro_data, &gyroUnit[0] );
    mikrobus_logWrite( "", _LOG_LINE );
    
    mikrobus_logWrite( "** Temperature value : ", _LOG_TEXT );
    ShortToStr( temperature, text );
    mikrobus_logWrite( text, _LOG_TEXT );
    mikrobus_logWrite( tempUnit, _LOG_LINE );
    mikrobus_logWrite( "-------------------------------------------------", _LOG_LINE );
    mikrobus_logWrite( "", _LOG_LINE );
    
    Delay_ms( 500 );
}

Additional Functions :

• floatCut - Makes to float values be rounded on two decimal places.
• logAxis - Logs axis values for the desired measured data on the uart terminal.

Other mikroE Libraries used in the example:

• I2C
• SPI
• UART

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.