6DOF IMU 6 Click

6DOF IMU 6 Click features a 6-axis MotionTracking device that combines a 3-axis gyroscope, a 3-axis accelerometer, and a Digital Motion Processor™ (DMP) labeled as ICM-20689. The ICM-20689 from company TDK InvenSense includes on-chip 16-bit ADCs, programmable digital filters, an embedded temperature sensor, and programmable interrupts. The gyroscope and accelerometer are full-scale range, user-programmable sensors with factory-calibrated initial sensitivity for reduced production-line calibration requirements.

Click Product page

Click library

• Author : MikroE Team
• Date : sep 2020.
• Type : I2C/SPI type

Software Support

We provide a library for the 6DofImu6 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 6DofImu6 Click driver.

Standard key functions :

• Config Object Initialization function.

  void c6dofimu6_cfg_setup ( c6dofimu6_cfg_t *cfg );

• Initialization function.

  C6DOFIMU6_RETVAL c6dofimu6_init ( c6dofimu6_t ctx, c6dofimu6_cfg_t cfg );

• Click Default Configuration function.

  void c6dofimu6_default_cfg ( c6dofimu6_t *ctx );

Example key functions :

• This function executes default configuration for 6DOF IMU 6 Click.

  void c6dofimu6_default_cfg ( c6dofimu6_t *ctx );

• Function is used to calculate angular rate.

  void c6dofimu6_angular_rate ( c6dofimu6_t ctx, float x_ang_rte, float y_ang_rte, float z_ang_rte );

• Function is used to calculate acceleration rate.

  void c6dofimu6_acceleration_rate ( c6dofimu6_t ctx, float x_accel_rte, float y_accel_rte, float z_accel_rte );

Examples Description

6DOF IMU 6 Click features a 6-axis MotionTracking device that combines a 3-axis gyroscope, a 3-axis accelerometer, and a Digital Motion Processor.

The demo application is composed of two sections :

Application Init

Initalizes SPI and I2C drivers, performs safety check, applies default settings and writes an initial log.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu6_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.

    c6dofimu6_cfg_setup( &cfg );
    C6DOFIMU6_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu6_init( &c6dofimu6, &cfg );

    Delay_ms ( 100 );
    c6dofimu6_generic_read ( &c6dofimu6, C6DOFIMU6_WHO_AM_I, &id_val, 1 );
    if ( id_val == C6DOFIMU6_WHO_AM_I_VAL )
    {
        log_printf( &logger, "-------------------------\r\n" );
        log_printf( &logger, "   6DOF  IMU  6  Click   \r\n" );
        log_printf( &logger, "-------------------------\r\n" );
        c6dofimu6_power ( &c6dofimu6, C6DOFIMU6_POWER_ON );
    }
    else
    {
        log_printf( &logger, "-------------------------\r\n" );
        log_printf( &logger, "     FATAL  ERROR!!!     \r\n" );
        log_printf( &logger, "-------------------------\r\n" );
        for ( ; ; );
    }

    c6dofimu6_default_cfg( &c6dofimu6 );

    log_printf( &logger, "    ---Initialised---    \r\n" );
    log_printf( &logger, "-------------------------\r\n" );

    Delay_ms ( 100 );
}

Application Task

Demonstrates the use of 6DOF IMU 6 Click board by reading angular rate, acceleration rate and displaying data to USB UART.

void application_task ( void )
{
    c6dofimu6_angular_rate( &c6dofimu6, &x_gyro, &y_gyro, &z_gyro );

    log_printf( &logger, "Gyro \r\n" );

    log_printf( &logger, "X-axis: %.2f\r\n", x_gyro );
    log_printf( &logger, "Y-axis: %.2f\r\n", y_gyro );
    log_printf( &logger, "Z-axis: %.2f\r\n", z_gyro );
    log_printf( &logger, "---------------------\r\n" );

    c6dofimu6_acceleration_rate( &c6dofimu6, &x_accel, &y_accel, &z_accel );

    log_printf( &logger, "Accel \r\n" );

    log_printf( &logger, "X-axis: %.2f\r\n", x_accel );
    log_printf( &logger, "Y-axis: %.2f\r\n", y_accel );
    log_printf( &logger, "Z-axis: %.2f\r\n", z_accel );
    log_printf( &logger, "---------------------\r\n\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.6DofImu6

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.