Library Description

The library performs a control of the 6DOF IMU 8 Click board, which is able to measure the accelerometer, gyroscope, temperature and magnetometer axis data. The full scale range and data rate are adjustable for each measurement. 6DOF IMU 8 Click board has two serial interface, SPI and I2C. There is also a more others settings and configurations which the user can use to set a device for the desired operation mode. For more details check documentation.

Key functions:

• void c6dofimu8_getData( T_c6dofimu8_axis *accelOut, T_c6dofimu8_axis *gyroOut, int8_t *tempOut ) - Function performs a data reading and all necessary calculations to get accelerometer, gyroscope and temperature data.
• T_C6DOFIMU8_RETVAL c6dofimu8_setFSR( uint8_t gyro_fsr, uint8_t accel_fsr ) - Function selects a measurement full scale range.
• T_C6DOFIMU8_RETVAL c6dofimu8_setODR( uint8_t gyro_odr, uint8_t accel_odr ) - Function selects a measurement output data rate.

Examples description

The application is composed of the three sections :

• System Initialization - Initializes peripherals and pins.
• Application Initialization - Initializes SPI interface and performs a device software reset and configuration.
• Application Task - (code snippet) - Waits until any new data is entered to the data registers and then reads the accelerometer, gyroscope and temperature data which will be converted and calculated to the properly units every 300ms.

void applicationTask()
{
    dataReady = c6dofimu8_getDRDYStatus( _C6DOFIMU8_TEMP_DRDY_MASK | _C6DOFIMU8_G_DRDY_MASK | _C6DOFIMU8_XL_DRDY_MASK );
    while (dataReady == _C6DOFIMU8_EVENT_NOT_DETECTED)
    {
        dataReady = c6dofimu8_getDRDYStatus( _C6DOFIMU8_TEMP_DRDY_MASK | _C6DOFIMU8_G_DRDY_MASK | _C6DOFIMU8_XL_DRDY_MASK );
    }

    c6dofimu8_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( 300 );
}

Additional Functions :

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

Other mikroE Libraries used in the example:

• I2C
• UART
• SPI

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.