Library Description

The library covers all the necessary functions to control 9DOF 3 click board. Library performs a standard I2C and SPI interface communication.

Key functions:

• void c9dof3_multi_write ( uint8_t sel_mode, uint8_t reg, uint8_t *p_tx_data, uint8_t n_bytes ) - Generic write sequence function.
• void c9dof3_default_config ( void ) - Set default configuration function.
• void c9dof3_get_data ( c9dof3_accel_t *accel_data, c9dof3_gyro_t *gyro_data, c9dof3_mag_t *mag_data ) - Read Accel, Gyro and Mag data function.

Examples description

The application is composed of three sections :

• System Initialization - Initializes I2C/SPI and start to write log.
• Application Initialization - Initialization driver enables - I2C/SPI, check communication, set default configuration for accelerometer, gyroscope and magnetometer, also write log.
• Application Task - (code snippet) This is an example which demonstrates the use of 9DOF 3 Click board. Measured and display Accel, Gyroscope and Magnetometer data coordinates 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 1 sec.

void application_task( )
{
    c9dof3_get_data ( &accel_data, &gyro_data, &mag_data );

    mikrobus_logWrite( " Accel X: ", _LOG_TEXT );
    IntToStr( accel_data.x, log_text );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " |", _LOG_TEXT );
    mikrobus_logWrite( " Gyro X: ", _LOG_TEXT );
    IntToStr( gyro_data.x, log_text );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " |", _LOG_TEXT );
    mikrobus_logWrite( " Mag X: ", _LOG_TEXT );
    IntToStr( mag_data.x, log_text );
    mikrobus_logWrite( log_text, _LOG_LINE );

    mikrobus_logWrite( " Accel Y: ", _LOG_TEXT );
    IntToStr( accel_data.y, log_text );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " |", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Y: ", _LOG_TEXT );
    IntToStr( gyro_data.y, log_text );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " |", _LOG_TEXT );
    mikrobus_logWrite( " Mag Y: ", _LOG_TEXT );
    IntToStr( mag_data.y, log_text );
    mikrobus_logWrite( log_text, _LOG_LINE );

    mikrobus_logWrite( " Accel Z: ", _LOG_TEXT );
    IntToStr( accel_data.z, log_text );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " |", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Z: ", _LOG_TEXT );
    IntToStr( gyro_data.z, log_text );
    mikrobus_logWrite( log_text, _LOG_TEXT );
    mikrobus_logWrite( " |", _LOG_TEXT );
    mikrobus_logWrite( " Mag Z: ", _LOG_TEXT );
    IntToStr( mag_data.z, log_text );
    mikrobus_logWrite( log_text, _LOG_LINE );
    mikrobus_logWrite( "-------------------------", _LOG_TEXT);
    mikrobus_logWrite( "-------------------------", _LOG_LINE );

    Delay_ms( 1000 );
}

Other mikroE Libraries used in the example:

• I2C or 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.