Library Description

The library covers all the necessary functions that enables the usage of the 6DOF IMU 13 Click board. It initializes and defines the I2C bus driver and drivers that offer a plethora of settings. The library also offers functions that allow reading of accelerometer and magnetometer, as well as generic read and write function that offer reading( and writing) of different lenghts of data.

Key functions:

• void c6dofimu13_get_magneto ( float *mag_x, float *mag_y, float *mag_z ); - Function is used to read magnetometer data.
• void c6dofimu13_get_accel ( float *accel_x, float *accel_y, float *accel_z ); - Function is used to get acceleration rate.
• void c6dofimu13_accel_init ( uint8_t samp_rate, uint8_t samp_range, uint8_t samp_res ); - Function is used to initialize accelerometer, user can select data rate, range and resolution.

Examples description

The application is composed of three sections :

• System Initialization - Initializes I2C module, LOG and GPIO structures, sets INT and AN pins as input.
• Application Initialization - Initalizes I2C driver, initates magnetometer and accelerometerand writes an initial log.
• Application Task - (code snippet) Demonstrates use of 6DOF IMU 13 click board by reading angular rate, acceleration rate and displaying data via USART terminal.

void application_task ( )
{
    mikrobus_logWrite( "-----------------------", _LOG_LINE );
    mikrobus_logWrite( " Magnetometer readings ", _LOG_LINE );
    c6dofimu13_get_magneto ( &mag_x, &mag_y, &mag_z );
    
    FloatToStr( mag_x, log_txt );
    mikrobus_logWrite( "X-axis :", _LOG_TEXT );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "µT", _LOG_LINE );
    
    FloatToStr( mag_y, log_txt );
    mikrobus_logWrite( "Y-axis :", _LOG_TEXT );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "µT", _LOG_LINE );
    
    FloatToStr( mag_z, log_txt );
    mikrobus_logWrite( "Z-axis :", _LOG_TEXT );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "µT", _LOG_LINE );
    
    mikrobus_logWrite( "-----------------------", _LOG_LINE );
    Delay_ms( 500 );

    mikrobus_logWrite( " Accelerometer readings ", _LOG_LINE );
    c6dofimu13_get_accel( &acc_x, &acc_y, &acc_z );

    FloatToStr( acc_x, log_txt );
    mikrobus_logWrite( "X-axis :", _LOG_TEXT );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "g", _LOG_LINE );

    FloatToStr( acc_y, log_txt );
    mikrobus_logWrite( "Y-axis :", _LOG_TEXT );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "g", _LOG_LINE );

    FloatToStr( acc_z, log_txt );
    mikrobus_logWrite( "Z-axis :", _LOG_TEXT );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "g", _LOG_LINE );

    mikrobus_logWrite( "-----------------------", _LOG_LINE );
    Delay_ms( 1000 );
}

Other mikroE Libraries used in the example:

• I2C
• 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.