Library Description

The library covers all the necessary functions that enables the usage of the 6DOF IMU 15 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, gyroscope and temperature, as well as generic read and write function that offer reading( and writing) of different lenghts of data.

Key functions:

• void c6dofimu15_acceleration_rate ( float *x_acel_rte, float *y_acel_rte, float *z_acel_rte ); - Function is used to calculate acceleration rate in milligravities.
• void c6dofimu15_angular_rate ( float *x_ang_rte, float *y_ang_rte, float *z_ang_rte ); - Function is used to calculate angular rate in milidegrees per second.
• float c6dofimu15_read_temp_out ( ); - Function is used to read temperture in degree Centigrade.

Examples description

The application is composed of three sections :

• System Initialization - Initializes SPI and I2C modules, LOG and GPIO structures, sets INT pin as input.
• Application Initialization - Initalizes SPI and I2C drivers, performs safety check, applies default setup and writes an log.
• Application Task - Demonstrates use of 6DOF IMU 6 click board by reading angular rate in milidegrees per second, and linear acceleration rate in milligravities and displaying data via USART terminal.

void application_task ( )
{
    c6dofimu15_angular_rate( &x_gyro, &y_gyro, &z_gyro );

    mikrobus_logWrite( "Angular rate: ", _LOG_LINE );

    FloatToStr( x_gyro, log_txt );
    mikrobus_logWrite( "X-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "mdps", _LOG_LINE );

    FloatToStr( y_gyro, log_txt );
    mikrobus_logWrite( "Y-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "mdps", _LOG_LINE );

    FloatToStr( z_gyro, log_txt );
    mikrobus_logWrite( "Z-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "mdps", _LOG_LINE );
    mikrobus_logWrite( "----------------------", _LOG_LINE );

    c6dofimu15_acceleration_rate( &x_accel, &y_accel, &z_accel );
    mikrobus_logWrite( "Acceleration rate: ", _LOG_LINE );

    FloatToStr( x_accel, log_txt );
    mikrobus_logWrite( "X-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "mg", _LOG_LINE );

    FloatToStr( y_accel, log_txt );
    mikrobus_logWrite( "Y-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "mg", _LOG_LINE );

    FloatToStr( z_accel, log_txt );
    mikrobus_logWrite( "Z-axis: ", _LOG_TEXT );
    Ltrim( log_txt );
    mikrobus_logWrite( log_txt, _LOG_TEXT );
    mikrobus_logWrite( "mg", _LOG_LINE );
    mikrobus_logWrite( "----------------------", _LOG_LINE );
    Delay_ms( 1000 );
}

Other mikroE Libraries used in the example:

• I2C
• 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.