6DOF IMU 11 Click

The 6DOF IMU 11 Click is a Click board™ based on the KMX63, a 6 Degrees-of-Freedom inertial sensor system on a single, silicon chip, which is designed to strike a balance between current consumption and noise performance with excellent bias stability over temperature.

Click Product page

Click library

• Author : MikroE Team
• Date : Dec 2019.
• Type : I2C type

Software Support

We provide a library for the 6DofImu11 Click as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.

Package can be downloaded/installed directly form compilers IDE(recommended way), or downloaded from our LibStock, or found on mikroE github account.

Library Description

This library contains API for 6DofImu11 Click driver.

Standard key functions :

• Config Object Initialization function.

  void c6dofimu11_cfg_setup ( c6dofimu11_cfg_t *cfg );

• Initialization function.

  C6DOFIMU11_RETVAL c6dofimu11_init ( c6dofimu11_t ctx, c6dofimu11_cfg_t cfg );

• Click Default Configuration function.

  void c6dofimu11_default_cfg ( c6dofimu11_t *ctx );

Example key functions :

• Configuration Accel function

  void c6dofimu11_config_accel ( c6dofimu11_t *ctx, uint8_t data_rate, uint8_t data_range, uint8_t data_resolution )

• Configuration Magnetometer function

  void c6dofimu11_config_mag ( c6dofimu11_t *ctx, uint8_t data_rate, uint8_t data_resolution )

• Get axis data function

  int16_t c6dofimu11_get_axis ( c6dofimu11_t *ctx, uint8_t reg_add_lsb )

• Read Accel X-axis, Y-axis and Z-axis function

  void c6dofimu11_get_accel_data ( c6dofimu11_t ctx, int16_t accel_x, int16_t accel_y, int16_t accel_z )

• Read Magnetometer X-axis, Y-axis and Z-axis function

  void c6dofimu11_get_mag_data ( c6dofimu11_t ctx, int16_t mag_x, int16_t mag_y, int16_t mag_z )

• Get Accel range X, Y and Z value ( g ) function

  void c6dofimu11_read_accel ( c6dofimu11_t ctx, c6dofimu11_accel_t accel_data )

• Get Magnetometer magnetic field strength X, Y and Z value ( nT ) function

  void c6dofimu11_read_mag ( c6dofimu11_t ctx, c6dofimu11_mag_t mag_data )

Examples Description

Designed to strike a balance between current consumption and noise performance with excellent bias stability over temperature

The demo application is composed of two sections :

Application Init

Initialization driver enables - I2C, check device ID, sets default configuration, also write log.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu11_cfg_t cfg;

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, "---- Application Init ----" );

    //  Click initialization.

    c6dofimu11_cfg_setup( &cfg );
    C6DOFIMU11_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu11_init( &c6dofimu11, &cfg );

    if ( c6dofimu11_check_id( &c6dofimu11 ) == C6DOFIMU11_CHECK_ID_SUCCESS )
    {
        log_printf( &logger, "         SUCCESS          \r\n" );
        log_printf( &logger, "--------------------------\r\n" );
    }
    else
    {
        log_printf( &logger, "          ERROR           \r\n" );
        log_printf( &logger, "     Reset the device     \r\n" );
        log_printf( &logger, "--------------------------\r\n" );
        for ( ; ; );
    }

    c6dofimu11_default_cfg(  &c6dofimu11 );

    log_printf( &logger, "    Set default config    \r\n" );
    log_printf( &logger, "--------------------------\r\n" );
    Delay_ms ( 100 );
}

Application Task

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 ( void )
{
c6dofimu11_mag_t mag_data;
   c6dofimu11_accel_t accel_data;

   c6dofimu11_read_accel ( &c6dofimu11, &accel_data );
    Delay_ms ( 10 );
    c6dofimu11_read_mag ( &c6dofimu11, &mag_data );
    Delay_ms ( 10 );

    log_printf( &logger, " Accel X : %d %c g\r\n", accel_data.x  );
    c6dofimu11_uart_sign_print (  );

    log_printf( &logger, " Accel Y : %d %c g\r\n", accel_data.y  );
    c6dofimu11_uart_sign_print (  ); 


    log_printf( &logger, " Accel Z : %d %c g\r\n", accel_data.z  );
    c6dofimu11_uart_sign_print (  );

    log_printf( &logger, " Mag X : %d %c uT\r\n", mag_data.x  );
    c6dofimu11_uart_sign_print (  );

    log_printf( &logger, " Mag Y : %d %c uT\r\n", mag_data.y  );
    c6dofimu11_uart_sign_print (  );

    log_printf( &logger, " Mag Z : %d %c uT\r\n", mag_data.z  );
    c6dofimu11_uart_sign_print (  );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );
}  

The full application code, and ready to use projects can be installed directly form compilers IDE(recommneded) or found on LibStock page or mikroE GitHub accaunt.

Other mikroE Libraries used in the example:

• MikroSDK.Board
• MikroSDK.Log
• Click.6DofImu11

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.