6DOF IMU 21 Click

6DOF IMU 21 Click is a compact add-on board perfect for applications requiring accurate orientation and movement detection. This board features the WSEN-ISDS (2536030320001) sensor from Würth Elektronik, which integrates 3-axis acceleration and gyroscope sensors using advanced MEMS-based capacitive sensing technology. It offers a fully calibrated 16-bit digital output, with acceleration ranges from ±2g to ±16g and gyroscope ranges from ±125dps to ±2000dps, alongside a high output data rate of up to 6.6kHz for seamless movement tracking. Additionally, an embedded temperature sensor provides environmental monitoring capabilities.

Click Product page

Click library

• Author : Stefan Ilic
• Date : Dec 2023.
• Type : I2C/SPI type

Software Support

We provide a library for the 6DOF IMU 21 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 6DOF IMU 21 Click driver.

Standard key functions :

• c6dofimu21_cfg_setup Config Object Initialization function.

  void c6dofimu21_cfg_setup ( c6dofimu21_cfg_t *cfg );

• c6dofimu21_init Initialization function.

  err_t c6dofimu21_init ( c6dofimu21_t *ctx, c6dofimu21_cfg_t *cfg );

• c6dofimu21_default_cfg Click Default Configuration function.

  err_t c6dofimu21_default_cfg ( c6dofimu21_t *ctx );

Example key functions :

• c6dofimu21_software_reset This function performs the device software reset.

  err_t c6dofimu21_software_reset ( c6dofimu21_t *ctx );

• c6dofimu21_read_accel_data This function reads the accelerometer of X, Y, and Z axis relative to standard gravity (mg).

  err_t c6dofimu21_read_accel_data ( c6dofimu21_t *ctx, c6dofimu21_data_t *accel_data );

• c6dofimu21_read_gyro_data This function reads the angular rate of X, Y, and Z axis in degrees per second (mdps).

  err_t c6dofimu21_read_gyro_data ( c6dofimu21_t *ctx, c6dofimu21_data_t *gyro_data );

Example Description

This example demonstrates the use of 6DOF IMU 21 Click board by reading and displaying the accelerometer and gyroscope data (X, Y, and Z axis).

The demo application is composed of two sections :

Application Init

Initializes the driver performs the Click default configuration, and checks communication by reading device ID.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu21_cfg_t c6dofimu21_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 );
    log_info( &logger, " Application Init " );

    // Click initialization.
    c6dofimu21_cfg_setup( &c6dofimu21_cfg );
    C6DOFIMU21_MAP_MIKROBUS( c6dofimu21_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu21_init( &c6dofimu21, &c6dofimu21_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }

    if ( C6DOFIMU21_ERROR == c6dofimu21_default_cfg ( &c6dofimu21 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }

    uint8_t dev_id = 0;
    c6dofimu21_generic_read( &c6dofimu21, C6DOFIMU21_REG_DEVICE_ID, &dev_id, 1 );
    if ( C6DOFIMU21_DEVICE_ID != dev_id )
    {
        log_error( &logger, " Communication error " );
    }
    log_printf( &logger, " Device ID: 0x%.2X \r\n", ( uint16_t ) dev_id );

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

Application Task

Reading the accelerometer and gyroscope measurements, results are displayed on the USB UART every second.

void application_task ( void )
{
    c6dofimu21_data_t accel_data;
    c6dofimu21_data_t gyro_data;

    c6dofimu21_read_accel_data( &c6dofimu21, &accel_data );
    c6dofimu21_read_gyro_data( &c6dofimu21, &gyro_data );
    log_printf( &logger, " Accel data | Gyro data \r\n" );
    log_printf( &logger, " X: %.2f mg | %.2f mdps \r\n", accel_data.x_data, gyro_data.x_data );
    log_printf( &logger, " Y: %.2f mg | %.2f mdps \r\n", accel_data.y_data, gyro_data.y_data );
    log_printf( &logger, " Z: %.2f mg | %.2f mdps \r\n", accel_data.z_data, gyro_data.z_data );
    Delay_ms ( 1000 );
}

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.C6DOFIMU21

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.