Library Description

The library covers all the necessary functions to control 6DOF IMU 11 click board. Library performs a standard I2C interface communication.

Key functions:

• void c6dofimu11_set_default_sensor_config ( void ) - Set default sensor configuration function.
• void c6dofimu11_read_accel ( c6dofimu11_accel_t *accel_data ) - Get Accel range X, Y and Z value function.
• void c6dofimu11_read_mag ( c6dofimu11_mag_t *mag_data ) - Get Magnetometer magnetic field strength X, Y and Z value ( nT ) function.

Examples description

The application is composed of three sections :

• System Initialization - Initializes I2C and start to write log.
• Application Initialization - Initialization driver enables - I2C, check device ID, sets default configuration, also write log.
• Application Task - (code snippet) This is an example which demonstrates the use of 6DOF IMU 11 Click board. Measured and display Accel and Magnetometer magnetic field strength 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 2 sec.

void application_task ( )
{
    c6dofimu11_read_accel ( &accel_data );
    Delay_ms( 10 );
    c6dofimu11_read_mag ( &mag_data );
    Delay_ms( 10 );

    mikrobus_logWrite( " Accel X : ", _LOG_TEXT );
    FloatToStr( accel_data.x, log_text );
    c6dofimu11_uart_sign_print( );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " g", _LOG_LINE );

    mikrobus_logWrite( " Accel Y : ", _LOG_TEXT );
    FloatToStr( accel_data.y, log_text );
    c6dofimu11_uart_sign_print( );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " g", _LOG_LINE );

    mikrobus_logWrite( " Accel Z : ", _LOG_TEXT );
    FloatToStr( accel_data.z, log_text );
    c6dofimu11_uart_sign_print( );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " g", _LOG_LINE );
    mikrobus_logWrite( "- - - - - - - - - - - - - ", _LOG_LINE );

    mikrobus_logWrite( " Mag X   : ", _LOG_TEXT );
    FloatToStr( mag_data.x, log_text );
    c6dofimu11_uart_sign_print( );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " uT", _LOG_LINE );

    mikrobus_logWrite( " Mag Y   : ", _LOG_TEXT );
    FloatToStr( mag_data.y, log_text );
    c6dofimu11_uart_sign_print( );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " uT", _LOG_LINE );

    mikrobus_logWrite( " Mag Z   : ", _LOG_TEXT );
    FloatToStr( mag_data.z, log_text );
    c6dofimu11_uart_sign_print( );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " uT", _LOG_LINE );
    mikrobus_logWrite( "--------------------------", _LOG_LINE );
    Delay_ms( 1000 );
}

Additional Functions :

• void c6dofimu11_uart_sign_print ( ) - For beauty reasons in displaying the data log, this function inserts "+" sign when positive values have been read.

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.