Smart DOF 4 Click

Smart DOF 4 Click is a compact add-on board for high-precision motion tracking and contextual sensing. This board features the BNO085, a 9-axis IMU System in Package (SiP) from CEVA, combining an accelerometer, gyroscope, and geomagnetic sensor with a 32-bit microcontroller running CEVA's SH-2 firmware. The board provides real-time, calibrated 3D orientation, linear acceleration, and angular velocity while dynamically compensating for temperature changes and sensor aging. It supports I2C and SPI interfaces, features advanced MotionEngine™ technology for gesture detection and activity monitoring, and includes 'Always-On' capabilities like step counting and stability detection.

Click Product page

Click library

• Author : Stefan Filipovic
• Date : Aug 2024.
• Type : I2C/SPI type

Software Support

We provide a library for the Smart DOF 4 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 Smart DOF 4 Click driver.

Standard key functions :

• smartdof4_cfg_setup Config Object Initialization function.

  void smartdof4_cfg_setup ( smartdof4_cfg_t *cfg );

• smartdof4_init Initialization function.

  err_t smartdof4_init ( smartdof4_t *ctx, smartdof4_cfg_t *cfg );

• smartdof4_default_cfg Click Default Configuration function.

  err_t smartdof4_default_cfg ( smartdof4_t *ctx );

Example key functions :

• smartdof4_read_pid This function reads the product ID information.

  err_t smartdof4_read_pid ( smartdof4_t *ctx, smartdof4_pid_t *pid );

• smartdof4_feature_set This function sets a full feature report.

  err_t smartdof4_feature_set ( smartdof4_t *ctx, smartdof4_feature_t *feat );

• smartdof4_read_data This function reads the accelerometer (g), gyroscope (dps), and magnetometer (uT) 3-axis data from input report.

  err_t smartdof4_read_data ( smartdof4_t *ctx, smartdof4_axis_t *accel, 
                            smartdof4_axis_t *gyro, smartdof4_axis_t *mag );

Example Description

This example demonstrates the use of Smart DOF 4 Click board by reading the accelerometer, gyroscope, and magnetometer data measurements.

The demo application is composed of two sections :

Application Init

Initializes the driver and performs the Click default configuration enabling accelerometer, gyroscope, and magnetometer sensors with an output data rate of 10Hz. After that, it reads the software version, part number, and build number information.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    smartdof4_cfg_t smartdof4_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.
    smartdof4_cfg_setup( &smartdof4_cfg );
    SMARTDOF4_MAP_MIKROBUS( smartdof4_cfg, MIKROBUS_1 );
    err_t init_flag = smartdof4_init( &smartdof4, &smartdof4_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }

    if ( SMARTDOF4_ERROR == smartdof4_default_cfg ( &smartdof4 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }

    smartdof4_pid_t pid;
    if ( SMARTDOF4_OK == smartdof4_read_pid ( &smartdof4, &pid ) )
    {
        log_printf ( &logger, " SW Version: %u.%u.%u\r\n", ( uint16_t ) pid.sw_ver_major, 
                                                           ( uint16_t ) pid.sw_ver_minor, 
                                                           ( uint16_t ) pid.sw_ver_patch );
        log_printf ( &logger, " SW Part Number: %lu\r\n", pid.sw_part_num );
        log_printf ( &logger, " SW Build Number: %lu\r\n\n", pid.sw_build_num );
    }

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

Application Task

Reads the accelerometer (g), gyroscope (dps), and magnetometer (uT) measurements and displays results on the USB UART every 100ms approximately.

void application_task ( void )
{
    static smartdof4_axis_t accel, gyro, mag;
    if ( SMARTDOF4_OK == smartdof4_read_data ( &smartdof4, &accel, &gyro, &mag ) )
    {
        log_printf ( &logger, " Accel X: %.3f g\r\n", accel.x );
        log_printf ( &logger, " Accel Y: %.3f g\r\n", accel.y );
        log_printf ( &logger, " Accel Z: %.3f g\r\n", accel.z );
        log_printf ( &logger, " Gyro X: %.1f dps\r\n", gyro.x );
        log_printf ( &logger, " Gyro Y: %.1f dps\r\n", gyro.y );
        log_printf ( &logger, " Gyro Z: %.1f dps\r\n", gyro.z );
        log_printf ( &logger, " Mag X: %.1f uT\r\n", mag.x );
        log_printf ( &logger, " Mag Y: %.1f uT\r\n", mag.y );
        log_printf ( &logger, " Mag Z: %.1f uT\r\n\n", mag.z );
        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.SmartDOF4

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.