6DOF IMU 14 click

6DOF IMU 14 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. This board features the ICM-42688-P, high precision 6-axis MEMS motion tracking device, from TDK InvenSense.

click Product page

Click library

• Author : Stefan Filipovic
• Date : May 2021.
• Type : I2C/SPI type

Software Support

We provide a library for the 6DOFIMU14 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 from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Library Description

This library contains API for 6DOFIMU14 Click driver.

Standard key functions :

• c6dofimu14_cfg_setup Config Object Initialization function.

  void c6dofimu14_cfg_setup ( c6dofimu14_cfg_t *cfg );

• c6dofimu14_init Initialization function.

  C6DOFIMU14_RETVAL c6dofimu14_init ( c6dofimu14_t *ctx, c6dofimu14_cfg_t *cfg );

• c6dofimu14_default_cfg Click Default Configuration function.

  void c6dofimu14_default_cfg ( c6dofimu14_t *ctx );

Example key functions :

• c6dofimu14_get_data This function reads accel and gyro data for all three axis.

  err_t c6dofimu14_get_data ( c6dofimu14_t *ctx, c6dofimu14_axis_t *acc_axis, c6dofimu14_axis_t *gyro_axis );

• c6dofimu14_get_temperature This function reads the raw temperature data and converts it to Celsius.

  err_t c6dofimu14_get_temperature ( c6dofimu14_t *ctx, float *temp );

• c6dofimu14_software_reset This function performs the device software reset.

  err_t c6dofimu14_software_reset ( c6dofimu14_t *ctx );

Example Description

This example demonstrates the use of 6DOF IMU 14 click board.

The demo application is composed of two sections :

Application Init

Initializes the driver and configures the click board.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu14_cfg_t c6dofimu14_cfg;  /**< Click config object. */

    /** 
     * 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 );
    Delay_ms ( 100 );
    log_info( &logger, " Application Init " );

    // Click initialization.

    c6dofimu14_cfg_setup( &c6dofimu14_cfg );
    C6DOFIMU14_MAP_MIKROBUS( c6dofimu14_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu14_init( &c6dofimu14, &c6dofimu14_cfg );
    if ( ( init_flag == I2C_MASTER_ERROR ) || ( init_flag == SPI_MASTER_ERROR ) ) 
    {
        log_error( &logger, " Application Init Error. " );
        log_info( &logger, " Please, run program again... " );

        for ( ; ; );
    }
    Delay_ms ( 100 );

    if ( c6dofimu14_default_cfg ( &c6dofimu14 ) != C6DOFIMU14_OK ) 
    {
        log_error( &logger, " Default Config Error. " );
        log_info( &logger, " Please, run program again... " );

        for ( ; ; );
    }
    Delay_ms ( 100 );

    log_info( &logger, " Application Task " );
}

Application Task

Reads accel, gyro, and temperature data and displays the results on the USB UART approximately every 500ms.

void application_task ( void )
{
    float temperature;
    c6dofimu14_axis_t accel;
    c6dofimu14_axis_t gyro;

    c6dofimu14_get_data( &c6dofimu14, &accel, &gyro );
    c6dofimu14_get_temperature( &c6dofimu14, &temperature );

    log_printf( &logger, " Accel X: %d | Gyro X: %d\r\n", accel.x, gyro.x );
    log_printf( &logger, " Accel Y: %d | Gyro Y: %d\r\n", accel.y, gyro.y );
    log_printf( &logger, " Accel Z: %d | Gyro Z: %d\r\n", accel.z, gyro.z );
    log_printf( &logger, " Temperature: %.2f C\r\n", temperature );
    log_printf( &logger, "----------------------------------\r\n");

    Delay_ms ( 500 );
}

Note

In the case of I2C, the example doesn't work properly on some of the 8-bit PICs (ex. PIC18F97J94).

The full application code, and ready to use projects can be installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Other Mikroe Libraries used in the example:

• MikroSDK.Board
• MikroSDK.Log
• Click.6DOFIMU14

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. UART terminal is available in all MikroElektronika compilers.