c6DOF IMU 4 Click

6DOF IMU 4 Click is an advanced 6-axis motion tracking Click board™, which utilizes the ICM-20602, a high-performance integrated motion sensor, equipped with a 3-axis gyroscope and a 3-axis accelerometer.

Click Product page

Click library

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

Software Support

We provide a library for the c6DofImu4 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 c6DofImu4 Click driver.

Standard key functions :

• Config Object Initialization function.

  void c6dofimu4_cfg_setup ( c6dofimu4_cfg_t *cfg );

• Initialization function.

  C6DOFIMU4_RETVAL c6dofimu4_init ( c6dofimu4_t ctx, c6dofimu4_cfg_t cfg );

• Click Default Configuration function.

  void c6dofimu4_default_cfg ( c6dofimu4_t *ctx );

Example key functions :

• Sync Pin Setting function

  void c6dofimu4_set_sync_pin ( c6dofimu4_t *ctx, uint8_t state );

• Data Get function

  void c6dofimu4_get_data ( c6dofimu4_t ctx, c6dofimu4_axis_t accel_out, c6dofimu4_axis_t gyro_out, int8_t temp_out );

• Full Scale Setting function

  uint8_t c6dofimu4_set_fsr ( c6dofimu4_t *ctx, uint8_t gyro_resol, uint8_t accel_resol );

Examples Description

This application measures gyroscopic, accelerometer, and temperature data.

The demo application is composed of two sections :

Application Init

Initializes I2C interface and performs a device reset and configurations.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu4_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.

    c6dofimu4_cfg_setup( &cfg );
    C6DOFIMU4_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu4_init( &c6dofimu4, &cfg );
    c6dofimu4_reset( &c6dofimu4 );

    c6dofimu4_default_cfg( &c6dofimu4 );
    Delay_ms ( 200 );

    log_printf( &logger, "** 6DOF IMU 4 is initialized **\r\n" );
}

Application Task

Waits until data is ready and then reads the all data registers, accelerometer, gyroscope and temperature data, and shows results to the uart terminal every 500ms.

void application_task ( void )
{
    c6dofimu4_axis_t  accel_data;
    c6dofimu4_axis_t  gyro_data;
    uint8_t data_ready;
    int8_t temperature;

    data_ready = c6dofimu4_get_status( &c6dofimu4, C6DOFIMU4_DATA_RDY_INT_MASK );

    while ( data_ready != C6DOFIMU4_DATA_RDY_INT_OCCURED )
    {
        data_ready = c6dofimu4_get_status( &c6dofimu4, C6DOFIMU4_DATA_RDY_INT_MASK );
    }

    c6dofimu4_get_data( &c6dofimu4, &accel_data, &gyro_data, &temperature );

    log_printf( &logger,"** Accelerometer values :\r\n" );
    log_printf( &logger, "* X-axis : %.2lf g ", accel_data.x );
    log_printf( &logger, "* Y-axis : %.2lf g ", accel_data.y );
    log_printf( &logger, "* Z-axis : %.2lf g ", accel_data.z );
    log_printf( &logger,"\r\n" );

    log_printf( &logger,"** Gyroscope values :\r\n" );
    log_printf( &logger, "* X-axis : %.2lf dps ", gyro_data.x );
    log_printf( &logger, "* Y-axis : %.2lf dps ", gyro_data.y );
    log_printf( &logger, "* Z-axis : %.2lf dps ", gyro_data.z );
    log_printf( &logger,"\r\n" );

    log_printf( &logger, "** Temperature value : %d C\r\n", temperature );
    log_printf( &logger,"------------------------------------------------- \r\n" );

    Delay_ms ( 500 );
}

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.6DofImu4

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.