6dofimu3

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6DOF IMU 3 Click

6DOF IMU 3 Click is a complete 6-axis detection development board suitable for movement and position tracking devices.

Click Product page

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Click library

• Author : MikroE Team
• Date : Feb 2020.
• Type : I2C/SPI type

Software Support

We provide a library for the 6Dofimu3 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 6Dofimu3 Click driver.

Standard key functions :

• Config Object Initialization function.

void c6dofimu3_cfg_setup ( c6dofimu3_cfg_t *cfg );

• Initialization function.

C6DOFIMU3_RETVAL c6dofimu3_init ( c6dofimu3_t *ctx, c6dofimu3_cfg_t *cfg );

• Click Default Configuration function.

void c6dofimu3_default_cfg ( c6dofimu3_t *ctx );

Example key functions :

• Function check device ID by read ID value from the sensor ID register address of FXOS8700CQ 6-axis sensor with integrated linear accelerometer and magnetometer on 6DOF IMU 3 Click board.

C6DOFIMU3_RETVAL_T c6dofimu3_check_id ( c6dofimu3_t *ctx );

• Function read 16-bit ( signed ) Magnetometer X-axis, Y-axis data and Z-axis data from the 6 targeted starts from C6DOFIMU3_M_OUT_X_MSB register address of FXOS8700CQ 6-axis sensor with integrated linear accelerometer and magnetometer on 6DOF IMU 3 Click board.

void c6dofimu3_read_mag_data ( c6dofimu3_t *ctx, c6dofimu3_mag_t *mag_data );

• Function read 14-bit ( signed ) Accel X-axis, Y-axis data and Z-axis data from the 6 targeted starts from C6DOFIMU3_OUT_X_MSB register address of FXOS8700CQ 6-axis sensor with integrated linear accelerometer and magnetometer on 6DOF IMU 3 Click board.

void c6dofimu3_read_accel_data ( c6dofimu3_t *ctx, c6dofimu3_accel_t *accel_data );

Examples Description

This example demonstrates the use of 6DOF IMU 3 Click board.

The demo application is composed of two sections :

Application Init

Initializes the driver and sets the device default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu3_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.

    c6dofimu3_cfg_setup( &cfg );
    C6DOFIMU3_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu3_init( &c6dofimu3, &cfg );

    c6dofimu3_default_cfg( &c6dofimu3 );
    Delay_ms ( 100 );
}
  

Application Task

Measures acceleration and magnetometer data and displays the results on USB UART each second.

void application_task ( void )
{
    if ( c6dofimu3_check_data_ready( &c6dofimu3 ) )
    {
        c6dofimu3_get_data ( &c6dofimu3, &accel_data, &mag_data );

        log_printf( &logger, " Accel X : %.2f mg \t Mag X : %.2f uT\r\n", accel_data.x, mag_data.x );

        log_printf( &logger, " Accel Y : %.2f mg \t Mag Y : %.2f uT\r\n", accel_data.y, mag_data.y );
        
        log_printf( &logger, " Accel Z : %.2f mg \t Mag Z : %.2f uT\r\n", accel_data.z, mag_data.z );
        
        log_printf( &logger, "-------------------------------------\r\n" );

        Delay_ms ( 800 );
    }
}

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.6Dofimu3

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.

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