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Author: MIKROE
Last Updated: 2019-10-16
Package Version: 1.0.0.0
mikroSDK Library: 1.0.0.0
Category: Motion
Downloaded: 3382 times
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License: MIT license
6DOF IMU 7 Click is an advanced 6-axis motion tracking Click board, which utilizes the ICM-20649, a high-performance integrated motion sensor, equipped with a 3-axis gyroscope, and a 3-axis accelerometer.
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Library Description
The library covers all the necessary functions that enables the usage of the 6DOF IMU 7 Click board. It initializes and defines the I2C bus driver and drivers that offer a plethora of settings. The library also offers functions that allow reading of accelerometer,gyroscope and dye temperature, as well as generic read and write function that offer reading( and writing) of different lenghts of data(byte, word or user defined number of bytes).
Key functions:
void c6dofimu7_Gyroscope( float *xGyro, float *yGyro, float *zGyro, float gyroSens )
- Function is used to get angular momentum.void c6dofimu7_Accelerometer( float *xAccel, float *yAccel, float *zAccel, float accelSens )
- Function is used to get acceleration measurement.float c6dofimu7_getTemperatureC( float tempSens, float tempOffset )
- Function is used to get temperature in degree.Examples description
The application is composed of three sections :
void applicationTask()
{
c6dofimu7_Gyroscope( &xGyro, &yGyro, &zGyro, gyroSens );
FloatToStr( xGyro, logTxt );
mikrobus_logWrite( "X angular rate: ", _LOG_LINE );
Ltrim( logTxt );
mikrobus_logWrite( logTxt, _LOG_LINE );
FloatToStr( yGyro, logTxt );
mikrobus_logWrite( "Y angular rate: ", _LOG_LINE );
Ltrim( logTxt );
mikrobus_logWrite( logTxt, _LOG_LINE );
FloatToStr( zGyro, logTxt );
mikrobus_logWrite( "Z angular rate: ", _LOG_LINE );
Ltrim( logTxt );
mikrobus_logWrite( logTxt, _LOG_LINE );
mikrobus_logWrite( "---------------------", _LOG_LINE );
c6dofimu7_Accelerometer( &xAccel, &yAccel, &zAccel, accelSens );
FloatToStr( xAccel, logTxt );
mikrobus_logWrite( "X acceleration rate: ", _LOG_LINE );
Ltrim( logTxt );
mikrobus_logWrite( logTxt, _LOG_LINE );
FloatToStr( yAccel, logTxt );
mikrobus_logWrite( "Y acceleration rate: ", _LOG_LINE );
Ltrim( logTxt );
mikrobus_logWrite( logTxt, _LOG_LINE );
mikrobus_logWrite( "Z acceleration rate: ", _LOG_LINE );
Ltrim( logTxt );
FloatToStr( zAccel, logTxt );
mikrobus_logWrite( logTxt, _LOG_LINE );
mikrobus_logWrite( "---------------------", _LOG_LINE );
temperature = c6dofimu7_getTemperatureC( tempSens, tempOffset );
mikrobus_logWrite( "Temperature: ", _LOG_LINE );
Ltrim( logTxt );
FloatToStr( temperature, logTxt );
mikrobus_logWrite( logTxt, _LOG_TEXT );
mikrobus_logWrite( degCel, _LOG_LINE );
mikrobus_logWrite( "---------------------", _LOG_LINE );
Delay_ms( 1000 );
}
Other mikroE Libraries used in the example:
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.