6DOF IMU 15 Click

6DOF IMU 15 Click is a compact add-on board that contains a 6-axis MEMS motion tracking device combining a 3-axis gyroscope and a 3-axis accelerometer.

Click Product page

Click library

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

Software Support

We provide a library for the 6DofImu15 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 6DofImu15 Click driver.

Standard key functions :

• Config Object Initialization function.

  void c6dofimu15_cfg_setup ( c6dofimu15_cfg_t *cfg );

• Initialization function.

  C6DOFIMU15_RETVAL c6dofimu15_init ( c6dofimu15_t ctx, c6dofimu15_cfg_t cfg );

• Click Default Configuration function.

  void c6dofimu15_default_cfg ( c6dofimu15_t *ctx );

Example key functions :

• Enable the proper device configuration function

  void c6dofimu15_device_conf_set ( c6dofimu15_t *ctx, uint8_t dev_cfg );

• Accelerometer data rate selection function

  void c6dofimu15_accel_data_rate ( c6dofimu15_t *ctx, uint8_t data_rate );

• Accelerometer full-scale selection function

  void c6dofimu15_accel_full_scale ( c6dofimu15_t *ctx, uint8_t fs_sel );

Examples Description

This example demonstrates the use of 6DOF IMU 15 Click board.

The demo application is composed of two sections :

Application Init

Initializes the driver, checks the communication and sets the device default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu15_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.

    c6dofimu15_cfg_setup( &cfg );
    C6DOFIMU15_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu15_init( &c6dofimu15, &cfg );
    Delay_ms ( 100 );

    if ( c6dofimu15_who_im_i( &c6dofimu15 ) )
    {
        log_printf( &logger, "---------------------- \r\n" );
        log_printf( &logger, "   6DOF IMU 15 Click    \r\n" );
        log_printf( &logger, "---------------------- \r\n" );
    }
    else
    {
        log_printf( &logger, "---------------------- \r\n" );
        log_printf( &logger, "    FATAL ERROR!!      \r\n" );
        log_printf( &logger, "---------------------- \r\n" );
        for ( ; ; );
    }

    c6dofimu15_default_cfg( &c6dofimu15 );

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

    Delay_ms ( 100 );
}

Application Task

Measures acceleration and gyroscope data and displays the results on USB UART each second.

void application_task ( void )
{
    float x_accel;
    float y_accel;
    float z_accel;
    float x_gyro;
    float y_gyro;
    float z_gyro;

    c6dofimu15_acceleration_rate( &c6dofimu15, &x_accel, &y_accel, &z_accel );
    c6dofimu15_angular_rate( &c6dofimu15, &x_gyro, &y_gyro, &z_gyro );

    log_printf( &logger, " Accel X: %.2f \t Gyro X: %.2f\r\n", x_accel, x_gyro );
    log_printf( &logger, " Accel Y: %.2f \t Gyro Y: %.2f\r\n", y_accel, y_gyro );
    log_printf( &logger, " Accel Z: %.2f \t Gyro Z: %.2f\r\n", z_accel, z_gyro );
    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.6DofImu15

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.