MPU 9DOF Click

MPU 9DOF Click carries the MPU–9250 System in Package, which is the world’s first 9-axis Motion Tracking device. MPU–9250 comprises two chips. One is the MPU–6050 that contains a 3-axis accelerometer, a 3-axis gyroscope, and a DMP (digital motion processor); the other is AK8975, a 3-axis digital compass.

Click Product page

Click library

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

Software Support

We provide a library for the Mpu9Dof 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 Mpu9Dof Click driver.

Standard key functions :

• Config Object Initialization function.

  void mpu9dof_cfg_setup ( mpu9dof_cfg_t *cfg );

• Initialization function.

  MPU9DOF_RETVAL mpu9dof_init ( mpu9dof_t ctx, mpu9dof_cfg_t cfg );

• Click Default Configuration function.

  void mpu9dof_default_cfg ( mpu9dof_t *ctx );

Example key functions :

• Function read Gyro X-axis, Y-axis and Z-axis axis.

  void mpu9dof_read_accel ( mpu9dof_t ctx, int16_t accel_x, int16_t accel_y, int16_t accel_z );

• Function read Gyro X-axis, Y-axis and Z-axis axis.

  void mpu9dof_read_gyro ( mpu9dof_t ctx, int16_t gyro_x, int16_t gyro_y, int16_t gyro_z );

• Function read Magnetometar X-axis, Y-axis and Z-axis axis.

  void mpu9dof_read_mag ( mpu9dof_t ctx, int16_t mag_x, int16_t mag_y, int16_t mag_z );

Examples Description

MPU 9DOF Click carries the world’s first 9-axis Motion Tracking device. It comprises two chips: one that contains a 3-axis accelerometer, a 3-axis gyroscope, and a DMP (digital motion processor); the other is a 3-axis digital compass.

The demo application is composed of two sections :

Application Init

Initialization driver enable's - I2C, initialize MPU-9150 XL G & MPU-9150 MAG and start write log.

void application_init ( void )
{
    log_cfg_t log_cfg;
    mpu9dof_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.

    mpu9dof_cfg_setup( &cfg );
    MPU9DOF_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    mpu9dof_init( &mpu9dof, &cfg );

    Delay_10ms( );
    mpu9dof_default_cfg ( &mpu9dof );
}

Application Task

This is a example which demonstrates the use of MPU 9DOF Click board. Measured accel, gyro and magnetometar coordinates values ( X, Y, Z ) and temperature value in degrees celsius [ �C ] are being sent to the uart where you can track their changes. All data logs on usb uart for aproximetly every 1 sec.

void application_task ( void )
{
    mpu9dof_read_accel( &mpu9dof, &accel_x, &accel_y, &accel_z );
    Delay_10ms( );
    mpu9dof_read_gyro( &mpu9dof, &gyro_x,  &gyro_y, &gyro_z );
    Delay_10ms( );
    mpu9dof_read_mag( &mpu9dof, &mag_x,  &mag_y, &mag_z );
    Delay_10ms( );
    temperature = mpu9dof_read_temperature( &mpu9dof );
    Delay_10ms( );

    log_printf( &logger, " Accel X : %d   |   Gyro X : %d   |   Mag X : %d \r\n", accel_x, gyro_x, mag_x );
    log_printf( &logger, " Accel Y : %d   |   Gyro Y : %d   |   Mag Y : %d \r\n", accel_y, gyro_y, mag_y );
    log_printf( &logger, " Accel Z : %d   |   Gyro Z : %d   |   Mag Z : %d \r\n", accel_z, gyro_z, mag_z );
    Delay_10ms( );
    log_printf( &logger, "- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -\r\n" );
    Delay_10ms( );
    log_printf( &logger, "Temperature: %.2f C\r\n", temperature );
    Delay_100ms( );
    log_printf( &logger, "- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -\r\n" );
    log_printf( &logger, "\r\n");
    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.Mpu9Dof

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.