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mikroSDK Library

9DOF 2 Click

Rating:

5

Author: MIKROE

Last Updated: 2020-05-25

Package Version: 1.0.0.0

mikroSDK Library: 1.0.0.0

Category: Motion

Downloaded: 2242 times

Not followed.

License: MIT license  

9DOF 2 Click carries the ICM-20948, the world’s lowest power 9-axis MotionTracking IC that is idealy suited for smartphones, tablets, Wearable Sensors and IoT applications. The ICM-20948 is a multi-chip module (MCM) consisting of two dies integrated into a single package.

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  • mikroSDK Library 2.0.0.0
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mikroSDK Library Blog

9DOF 2 Click

9DOF 2 Click

Native view of the 9DOF 2 Click board.

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9DOF 2 Click

9DOF 2 Click

Front and back view of the 9DOF 2 Click board.

View full image

Library Description

The library covers all the necessary functions that enables the usage of the 9DOF 2 Click board. It initializes and defines the SPI bus driver 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 to all available registers.

Key functions:

  • void c9dof2_angular_rate ( float *x_ang_rte, float *y_ang_rte, float *z_ang_rte ); - Function is used to calculate angular rate.
  • void c9dof2_acceleration_rate ( float *x_accel_rte, float *y_accel_rte,float *z_accel_rte ); - Function is used to calculate acceleration rate.
  • void c9dof2_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 module, LOG and GPIO structures, sets INT pin as input and PWM as output.
  • Application Initialization - Initalizes SPI and device drivers, performs safety check, applies default and writes an initial log.
  • Application Task - (code snippet) Demonstrates use of 9DOF 2 click board by reading angular rate, acceleration rate and displaying data via USART terminal.
void application_task ( )
{
    c9dof2_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 );

    c9dof2_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:

  • 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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