9DOF 2 Click

9DOF 2 Click is a compact add-on board for applications which require lowest power motion tracking and magnetometer functionality.

Click Product page

Click library

• Author : MikroE Team
• Date : May 2020.
• Type : SPI type

Software Support

We provide a library for the 9dof2 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 9dof2 Click driver.

Standard key functions :

• Config Object Initialization function.

  void c9dof2_cfg_setup ( c9dof2_cfg_t *cfg );

• Initialization function.

  C9DOF2_RETVAL c9dof2_init ( c9dof2_t ctx, c9dof2_cfg_t cfg );

• Click Default Configuration function.

  void c9dof2_default_cfg ( c9dof2_t *ctx );

Example key functions :

• Turns the device on or off.

  void c9dof2_power ( c9dof2_t *ctx, uint8_t on_off );

• Function is used to read gyroscope data.

  void c9dof2_read_gyroscope ( c9dof2_t ctx, int16_t gyro_x, int16_t gyro_y, int16_t gyro_z );

• Function is used to read accelerometer data.

  void c9dof2_read_accelerometer ( c9dof2_t ctx, int16_t accel_x, int16_t accel_y, int16_t accel_z );

Examples Description

This example demonstrates the use of 9DOF 2 Click board.

The demo application is composed of two sections :

Application Init

Initalizes SPI and device drivers, performs safety check, applies default configuration and writes an initial log.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c9dof2_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.

    c9dof2_cfg_setup( &cfg );
    C9DOF2_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c9dof2_init( &c9dof2, &cfg );

    c9dof2_dev_rst( &c9dof2 );
    Delay_ms ( 1000 );

    id_val = c9dof2_read_byte ( &c9dof2, C9DOF2_WHO_AM_I_ICM20948 );

    if ( id_val == C9DOF2_WHO_AM_I_ICM20948_VAL )
    {
        log_printf( &logger, "--------------------\r\n" );
        log_printf( &logger, "   9DOF  2  Click   \r\n" );
        log_printf( &logger, "--------------------\r\n" );
        c9dof2_power ( &c9dof2, C9DOF2_POWER_ON );
    }
    else
    {
        log_printf(  &logger, "--------------------\r\n" );
        log_printf(  &logger, "   FATAL ERROR!!!   \r\n" );
        log_printf(  &logger, "--------------------\r\n" );
        for ( ; ; );
    }

    c9dof2_def_settings( &c9dof2 );

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

    Delay_ms ( 1000 );
}

Application Task

Reads the angular and acceleration rates and displays the values of X, Y, and Z axis on the USB UART each second.

void application_task ( void )
{
    //  Task implementation.

    c9dof2_angular_rate( &c9dof2, &x_gyro, &y_gyro, &z_gyro );

    log_printf( &logger, "Angular rate: \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" );

    c9dof2_acceleration_rate( &c9dof2, &x_accel, &y_accel, &z_accel );

    log_printf( &logger, "Acceleration rate: \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" );

    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.9dof2

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.