Library Description

The library covers all the necessary functions that enables the usage of the 6DOF IMU 6 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 and temperature, as well as generic read and write function that offer reading( and writing ) of different lenghts of data.

Key functions:

• void c6dofimu5_angular_rate ( float *x_ang_rte, float *y_ang_rte, float *z_ang_rte ); - Function is used to calculate angular rate.
• void c6dofimu5_acceleration_rate ( float *x_accel_rte, float *y_accel_rte, float *z_accel_rte ); - Function is used to calculate acceleration rate.
• void c6dofimu6_def_settings ( ); - Function is used to apply the default settings to the device.

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 6 click board by reading angular rate, acceleration rate and displaying data via USART terminal.

void application_task( )
{
    c6dofimu6_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 );

    c6dofimu6_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 );
    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 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.