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mikroSDK Library

6DOF IMU 5 Click

Rating:

5

Author: MIKROE

Last Updated: 2020-05-05

Package Version: 1.0.0.0

mikroSDK Library: 1.0.0.0

Category: Motion

Downloaded: 2593 times

Not followed.

License: MIT license  

6DOF IMU 5 Click features 7-Axis ICM-20789 chip, an integrated 6-axis inertial device that combines a 3-axis gyroscope, 3-axis accelerometer, and an ultra-low noise MEMS capacitive pressure sensor.

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  • mikroSDK Library 2.0.0.0
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mikroSDK Library Blog

6DOF IMU 5 Click

6DOF IMU 5 Click

Native view of the 6DOF IMU 5 Click board.

View full image
6DOF IMU 5 Click

6DOF IMU 5 Click

Front and back view of the 6DOF IMU 5 Click board.

View full image

Library Description

The library covers all the necessary functions that enables the usage of the 6DOF IMU 5 Click board. It initializes and defines the SPI and I2C bus drivers and drivers that offer a plethora of settings. The library also offers functions that allow reading of accelerometer,gyroscope pressure and temperature, as well as generic read and write function that offer reading( and writing ) of different lenghts of data.

Key functions:

  • float *z_ang_rte ); - Function is used to calculate angular rate.
  • float *z_accel_rte ); - Function is used to calculate acceleration rate.
  • float *temperature ); - Function processes raw data in order to get presure (in Pascals) and temperature(in degree Centigrade).

Examples description

The application is composed of three sections :

  • System Initialization - Initializes SPI and I2C modules, LOG and GPIO structures, sets INT pin as input.
  • Application Initialization - Initalizes SPI and I2C drivers, performs safety check, applies default and barometer setups and writes an initial log.
  • Application Task - (code snippet) Demonstrates use of 6DOF IMU 5 click board by reading angular rate, acceleration rate and pressure and temperature from on sensor barometer and displaying data via USART terminal.
void application_task ( )
{
    c6dofimu5_angular_rate( &x_gyro, &y_gyro, &z_gyro );

    mikrobus_logWrite( "Angular rate: ", _LOG_LINE );
    
    FloatToStr( x_gyro, log_txt );
    mikrobus_logWrite( "X-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_LINE );

    FloatToStr( y_gyro, log_txt );
    mikrobus_logWrite( "Y-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_LINE );

    FloatToStr( z_gyro, log_txt );
    mikrobus_logWrite( "Z-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_LINE );
    mikrobus_logWrite( "---------------------", _LOG_LINE );

    c6dofimu5_acceleration_rate( &x_accel, &y_accel, &z_accel );

    mikrobus_logWrite( "Acceleration rate: ", _LOG_LINE );
    
    FloatToStr( x_accel, log_txt );
    mikrobus_logWrite( "X-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_LINE );

    FloatToStr( y_accel, log_txt );
    mikrobus_logWrite( "Y-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_LINE );

    FloatToStr( z_accel, log_txt );
    mikrobus_logWrite( "Z-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_LINE );
    mikrobus_logWrite( "---------------------", _LOG_LINE );

    c6dofimu5_read_raw_data( &raw_pres, &raw_temp );
    c6dofimu5_process_data ( raw_pres, raw_temp, &pressure, &temperature );

    FloatToStr( pressure, log_txt );
    mikrobus_logWrite( "Pressure: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_LINE );

    FloatToStr( temperature, log_txt );
    mikrobus_logWrite( "Temperature: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_LINE );
    
    mikrobus_logWrite( "---------------------", _LOG_LINE );
    mikrobus_logWrite( "", _LOG_LINE );
    mikrobus_logWrite( "---------------------", _LOG_LINE );
    Delay_ms( 1000 );
}

Other mikroE Libraries used in the example:

  • I2C
  • SPI
  • UART
  • Conversions

Additional notes and informations

Depending on the development board you are using, you may need USB UART clickUSB 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.

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