6DOF IMU 5 click

6DOF IMU 5 Click features 7-Axis ICM-20789 chip from TDK, an integrated 6-axis inertial device that combines a 3-axis gyroscope, 3-axis accelerometer, and an ultra-low noise MEMS capacitive pressure sensor.

click Product page

Click library

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

Software Support

We provide a library for the C6DofImu5 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 C6DofImu5 Click driver.

Standard key functions :

• Config Object Initialization function.

  void c6dofimu5_cfg_setup ( c6dofimu5_cfg_t *cfg );

• Initialization function.

  C6DOFIMU5_RETVAL c6dofimu5_init ( c6dofimu5_t ctx, c6dofimu5_cfg_t cfg );

• Click Default Configuration function.

  void c6dofimu5_default_cfg ( c6dofimu5_t *ctx );

Example key functions :

• This function turns the device on or off.

  void c6dofimu5_power ( c6dofimu5_t *ctx, uint8_t on_off );

• This function is used to read gyroscope data.

  void c6dofimu5_read_gyroscope ( c6dofimu5_t ctx, int16_t gyro_x, int16_t gyro_y, int16_t gyro_z );

• This function is used to read accelerometer data.

  void c6dofimu5_read_accelerometer ( c6dofimu5_t ctx, int16_t accel_x, int16_t accel_y, int16_t accel_z );

Examples Description

This example demonstrates the use of 6DOF IMU 5 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;
    c6dofimu5_cfg_t cfg;
    uint8_t id_val;

    /** 
     * 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.

    c6dofimu5_cfg_setup( &cfg );
    C6DOFIMU5_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu5_init( &c6dofimu5, &cfg );

    c6dofimu5_read_bytes ( &c6dofimu5, C6DOFIMU5_WHO_AM_I, &id_val, 1 );
    if ( id_val == C6DOFIMU5_WHO_AM_I_VAL )
    {
        log_printf( &logger, "-------------------------\r\n " );
        log_printf( &logger, "   6DOF  IMU  5  click   \r\n " );
        log_printf( &logger, "-------------------------\r\n " );
        c6dofimu5_power ( &c6dofimu5, C6DOFIMU5_POWER_ON );
    }
    else
    {   
        log_printf( &logger, "-------------------------\r\n " );
        log_printf( &logger, "     FATAL  ERROR!!!     \r\n " );
        log_printf( &logger, "-------------------------\r\n " );
        for ( ; ; );
    }

    c6dofimu5_default_cfg( &c6dofimu5 );
    c6dofimu5_baro_settings( &c6dofimu5 );

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

    Delay_ms ( 100 );
}

Application Task

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

void application_task ( void )
{
    float x_gyro;
    float y_gyro;
    float z_gyro;
    float x_accel;
    float y_accel;
    float z_accel;
    uint32_t raw_pres;
    uint16_t raw_temp;
    c6dofimu5_process_data_t process_data;

    c6dofimu5_acceleration_rate( &c6dofimu5, &x_accel, &y_accel, &z_accel );
    c6dofimu5_angular_rate( &c6dofimu5, &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 " );

    c6dofimu5_read_raw_data( &c6dofimu5, &raw_pres, &raw_temp );

    process_data.p_raw = raw_pres;
    process_data.t_raw = raw_temp;

    c6dofimu5_process_data( &c6dofimu5, &process_data );

    log_printf( &logger, "Pressure: %.2f mBar\r\n " , process_data.pressure * 0.01 );
    log_printf( &logger, "Temperature: %.2f Celsius\r\n " , process_data.temperature );

    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.6DofImu5

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.