Library Description

The library covers all the necessary functions to control 6DOF IMU 9 click board. Library performs a standard I2C or SPI interface communication.

Key functions:

• void c6dofimu9_get_accel_data( int16_t *p_accel_x, int16_t *p_accel_y, int16_t *p_accel_z ) - Read Accel X-axis, Y-axis and Z-axis axis function.
• void c6dofimu9_get_gyro_data( int16_t *p_gyro_x, int16_t *p_gyro_y, int16_t *p_gyro_z ) - Read Gyro X-axis, Y-axis and Z-axis axis function.

Examples description

The application is composed of three sections :

• System Initialization - Initializes I2C or SPI and start to write log.
• Application Initialization - Initialization driver enables - I2C or SPI, check device ID, configure accelerometer and gyroscope, also write log.
• Application Task - (code snippet) This is an example which demonstrates the use of 6DOF IMU 9 Click board. Measured and display Accel and Gyro data coordinates values for X-axis, Y-axis and Z-axis. Results are being sent to the Usart Terminal where you can track their changes. All data logs write on USB uart changes for every 1 sec.

void application_task( )
{
    c6dofimu9_get_accel_data( &accel_axis_x, &accel_axis_y, &accel_axis_z );
    Delay_10ms( );
    c6dofimu9_get_gyro_data( &gyro_axis_x,  &gyro_axis_y, &gyro_axis_z );
    Delay_10ms( );

    mikrobus_logWrite( " Accel X :", _LOG_TEXT );
    IntToStr( accel_axis_x, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro X :", _LOG_TEXT );
    IntToStr( gyro_axis_x, logText );
    mikrobus_logWrite( logText, _LOG_LINE );

    mikrobus_logWrite( " Accel Y :", _LOG_TEXT );
    IntToStr( accel_axis_y, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Y :", _LOG_TEXT );
    IntToStr( gyro_axis_y, logText );
    mikrobus_logWrite( logText, _LOG_LINE );

    mikrobus_logWrite( " Accel Z :", _LOG_TEXT );
    IntToStr( accel_axis_z, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Z :", _LOG_TEXT );
    IntToStr( gyro_axis_z, logText );
    mikrobus_logWrite( logText, _LOG_LINE );

    mikrobus_logWrite( "-------------------------------------", _LOG_LINE );
    Delay_1sec( );
}

Other mikroE Libraries used in the example:

• I2C or SPI
• 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.