6DOF IMU 17 Click

6DOF IMU 17 Click is a compact add-on board that contains a 6-axis inertial measurement unit. This board features the IIM-42652, a 6-axis SmartIndustrial™ MotionTracking device that supports an extended operating temperature range for industrial applications from TDK InvenSense. It combines a 3-axis gyroscope and a 3-axis accelerometer featuring a 2K-byte FIFO that can lower the traffic on the serial bus interface (SPI or I2C) and reduce power consumption by allowing the system processor to burst read sensor data and then go into a low-power mode.

Click Product page

Click library

• Author : Nenad Filipovic
• Date : Jul 2021.
• Type : I2C/SPI type

Software Support

We provide a library for the 6DOFIMU17 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 6DOFIMU17 Click driver.

Standard key functions :

• c6dofimu17_cfg_setup Config Object Initialization function.

  void c6dofimu17_cfg_setup ( c6dofimu17_cfg_t *cfg );

• c6dofimu17_init Initialization function.

  err_t c6dofimu17_init ( c6dofimu17_t *ctx, c6dofimu17_cfg_t *cfg );

• c6dofimu17_default_cfg Click Default Configuration function.

  err_t c6dofimu17_default_cfg ( c6dofimu17_t *ctx );

Example key functions :

• c6dofimu17_get_accel_data 6DOF IMU 17 get accel data function.

  err_t c6dofimu17_get_accel_data ( c6dofimu17_t *ctx, c6dofimu17_axis_t *accel_data );

• c6dofimu17_get_gyro_data 6DOF IMU 17 get gyroscope data function.

  err_t c6dofimu17_get_gyro_data ( c6dofimu17_t *ctx, c6dofimu17_axis_t *gyro_data );

• c6dofimu17_get_temperature 6DOF IMU 17 get temperature data function.

  err_t c6dofimu17_get_temperature ( c6dofimu17_t *ctx, float *temperature );

Example Description

This library contains API for 6DOF IMU 17 Click driver. The library initializes and defines the I2C or SPI bus drivers to write and read data from registers. The library also includes a function for reading accelerometer and gyroscope X-axis, Y-axis, and Z-axis data as well as the temperature in degrees Celsius.

The demo application is composed of two sections :

Application Init

The initialization of I2C or SPI module, log UART, and additional pins. After the driver init, the app checks communication, sensor ID, and then executes a default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;                /**< Logger config object. */
    c6dofimu17_cfg_t c6dofimu17_cfg;  /**< Click config object. */
    uint8_t device_id;

    /** 
     * 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.
    c6dofimu17_cfg_setup( &c6dofimu17_cfg );
    C6DOFIMU17_MAP_MIKROBUS( c6dofimu17_cfg, MIKROBUS_1 );
    err_t init_flag  = c6dofimu17_init( &c6dofimu17, &c6dofimu17_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Application Init Error. " );
        log_info( &logger, " Please, run program again... " );

       for ( ; ; );
    }

    c6dofimu17_default_cfg ( &c6dofimu17 );
    Delay_ms ( 100 );

    c6dofimu17_get_device_id( &c6dofimu17, &device_id );
    Delay_ms ( 100 );
    if ( device_id == C6DOFIMU17_CHIP_ID ) 
    {
        log_printf( &logger, "\t\t  Communication OK\r\n" );
    }
    else 
    {
        log_printf( &logger, "\t\tCommunication ERROR\r\n" );
        log_printf( &logger, "\t\t  Reset the device\r\n" );

        for ( ; ; );
    }

    log_printf( &logger, "\t--------------------------------------\r\n" );
    Delay_ms ( 100 );
}

Application Task

This is an example that shows the use of a 6DOF IMU 17 Click board™. Measures and displays acceleration and gyroscope data for X-axis, Y-axis, and Z-axis and the temperature in degrees Celsius. Results are being sent to the USART terminal where the user can track their changes. This task repeats every 100 ms.

void application_task ( void )
{   
    c6dofimu17_axis_t accel_data;
    c6dofimu17_axis_t gyro_data;
    float temperature;
    if ( ( C6DOFIMU17_OK == c6dofimu17_get_accel_data( &c6dofimu17, &accel_data ) ) &&  
         ( C6DOFIMU17_OK == c6dofimu17_get_gyro_data( &c6dofimu17, &gyro_data ) ) &&  
         ( C6DOFIMU17_OK == c6dofimu17_get_temperature( &c6dofimu17, &temperature ) ) )
    {
        log_printf( &logger, "\t Accel X: %d\t|\tGyro X: %d\r\n", accel_data.x, gyro_data.x );
        log_printf( &logger, "\t Accel Y: %d\t|\tGyro Y: %d\r\n", accel_data.y, gyro_data.y );
        log_printf( &logger, "\t Accel Z: %d\t|\tGyro Z: %d\r\n", accel_data.z, gyro_data.z );
        log_printf( &logger, "\t- - - - - - - - - -  - - - - - - - - -\r\n" );
        log_printf( &logger, "\t\t Temperature: %.2f C\r\n", temperature );
        log_printf( &logger, "\t--------------------------------------\r\n" );
    }
    Delay_ms ( 100 );
}

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.6DOFIMU17

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.