6DOF IMU 7 Click

6DOF IMU 7 Click is based on the ICM-20649, a high-performance, 6-axis MEMS MotionTracking™ IC from TDK Invensense. It is an advanced, integrated microelectromechanical gyroscope and accelerometer sensor (MEMS). This allows very high integration and very small dimensions, at an affordable cost.

Click Product page

Click library

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

Software Support

We provide a library for the 6DofImu7 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 6DofImu7 Click driver.

Standard key functions :

• Config Object Initialization function.

  void c6dofimu7_cfg_setup ( c6dofimu7_cfg_t *cfg );

• Initialization function.

  C6DOFIMU7_RETVAL c6dofimu7_init ( c6dofimu7_t ctx, c6dofimu7_cfg_t cfg );

• Click Default Configuration function.

  void c6dofimu7_default_cfg ( c6dofimu7_t *ctx );

Example key functions :

• This function reads gyroscope axis data and configures the gyro axis struct.

  void c6dofimu7_get_gyro_data ( c6dofimu7_t ctx, c6dofimu7_axis_t gyro, float sensitivity );

• This function reads accelerometer axis data and configures the accel axis struct.

  void c6dofimu7_get_accel_data ( c6dofimu7_t ctx, c6dofimu7_axis_t accel, float sensitivity );

• This function reads and returns temperature data.

  float c6dofimu7_get_temp_data ( c6dofimu7_t *ctx, float temp_sensitivity, float temp_offset );

Examples Description

This example showcases how to initialize and configure the logger and Click modules and read and display temperature measurements and axis data from the gyroscope and accelerometer.

The demo application is composed of two sections :

Application Init

This function initializes and configures the logger and Click modules.

void application_init ( )
{
    log_cfg_t log_cfg;
    c6dofimu7_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.

    c6dofimu7_cfg_setup( &cfg );
    C6DOFIMU7_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu7_init( &c6dofimu7, &cfg );
    c6dofimu7_default_cfg( &c6dofimu7 );
}

Application Task

This function reads and displays accelerometer, gyroscope and temperature data every second.

void application_task ( )
{
    float temperature;

    c6dofimu7_get_gyro_data( &c6dofimu7, &gyro, C6DOFIMU7_GYRO_SENSITIVITY );

    log_printf( &logger, " * Gyro_X: %.5f * \r\n", gyro.x_axis );
    log_printf( &logger, " * Gyro_Y: %.5f * \r\n", gyro.y_axis );
    log_printf( &logger, " * Gyro_Z: %.5f * \r\n", gyro.z_axis );
    log_printf( &logger, " ---------------------------- \r\n" );

    c6dofimu7_get_accel_data( &c6dofimu7, &accel, C6DOFIMU7_ACCEL_SENSITIVITY );

    log_printf( &logger, " * Accel_X: %.5f * \r\n", accel.x_axis );
    log_printf( &logger, " * Accel_Y: %.5f * \r\n", accel.y_axis );
    log_printf( &logger, " * Accel_Z: %.5f * \r\n", accel.z_axis );
    log_printf( &logger, " ---------------------------- \r\n" );

    temperature = c6dofimu7_get_temp_data( &c6dofimu7, C6DOFIMU7_TEMPERATURE_SENSITIVITY,
                                                       C6DOFIMU7_TEMPERATURE_OFFSET );

    log_printf( &logger, " * Temperature: %.5f C * \r\n\r\n", temperature );
    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.6DofImu7

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.