c6DOF IMU 10 Click

6DOF IMU 10 Click is a 6 Degrees-of-Freedom inertial sensor module, that features KMX62 sensor whcih consist of tri-axial magnetometer (range ±2g / ±4g / ±8g / ±16g) plus a triaxial accelerometer (±1200µT).

Click Product page

Click library

• Author : MikroE Team
• Date : Feb 2020.
• Type : I2C type

Software Support

We provide a library for the c6DofImu10 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 c6DofImu10 Click driver.

Standard key functions :

• Config Object Initialization function.

  void c6dofimu10_cfg_setup ( c6dofimu10_cfg_t *cfg );

• Initialization function.

  c6DOFIMU10_RETVAL c6dofimu10_init ( c6dofimu10_t ctx, c6dofimu10_cfg_t cfg );

• Click Default Configuration function.

  void c6dofimu10_default_cfg ( c6dofimu10_t *ctx );

Example key functions :

• This function gets accelerometer axis data.

  void c6dofimu10_get_accel_axis ( c6dofimu10_t ctx, c6dofimu10_axis_t axis );

• This function gets magnetometer axis data.

  void c6dofimu10_get_mag_axis ( c6dofimu10_t ctx, c6dofimu10_axis_t axis );

• This function gets temperature data.

  float c6dofimu10_get_temperature ( c6dofimu10_t *ctx, uint8_t temp_format );

Examples Description

This app reads the accelerometer and magnetometer axis data.

The demo application is composed of two sections :

Application Init

Initializes device and runs a communication test that reads device id (registry Who_I_AM).

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu10_cfg_t cfg;
    uint8_t com_test;

    /** 
     * 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 ----\r\n" );

    //  Click initialization.

    c6dofimu10_cfg_setup( &cfg );
    c6DOFIMU10_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu10_init( &c6dofimu10, &cfg );

    // TEST COMMUNICATION
    com_test = c6dofimu10_communication_test( &c6dofimu10 );
    if ( com_test != C6DOFIMU10_DEVICE_OK )
    {
        log_printf( &logger, "-- Device communication ERROR --\r\n" );
        for( ; ; );
    }
    log_printf( &logger, "-- Device communication OK --\r\n" );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );

    c6dofimu10_default_cfg ( &c6dofimu10 );
    log_printf( &logger, "-- Device configuration --\r\n" );
    Delay_ms ( 500 );
}

Application Task

Reads the accelerometer and magnetometer axis data. And reads temperature values. All data logs on the USBUART.

void application_task ( void )
{
    c6dofimu10_axis_t accel_axis;
    c6dofimu10_axis_t mag_axis;
    float temperature;

    c6dofimu10_get_accel_axis ( &c6dofimu10, &accel_axis );
    c6dofimu10_get_mag_axis ( &c6dofimu10, &mag_axis );
    temperature = c6dofimu10_get_temperature( &c6dofimu10, C6DOFIMU10_TEMP_FORMAT_CELSIUS );

    log_printf( &logger, "-- Accelerometer axis --\r\n" );
    app_display_axis_data( &accel_axis );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );

    log_printf( &logger, "-- Magnetometer axis --\r\n" );
    app_display_axis_data( &mag_axis );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );

    log_printf( &logger, "-- Temperature data --\r\n" );
    app_display_temp_data( temperature );
    Delay_ms ( 1000 );
    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.6DofImu10

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.