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 :

• System Initialization - Initializes I2C module, LOG and GPIO structures, sets INT and PWM pins as input.
• Application Initialization - Initalizes I2C driver, applies default setup and writes an initial log.
• Application Task - (code snippet)This example demonstrates the use of 6DOF IMU 7 Click board. It calculates angular momentum, acceleration measurement and temperature in degree Centigrade. Results are displayed on USART terminal.

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:

• I2C
• UART
• Conversions

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.