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6DOF IMU 8 Click

6DOF IMU 8 Click is an advanced 6-axis motion tracking Click board™, which utilizes the ISM330DLC, a high-performance System in Package (SiP), equipped with a 3-axis gyroscope, and a 3-axis accelerometer.

Click Product page

Click library

  • Author : MikroE Team
  • Date : Dec 2019.
  • Type : I2C/SPI type

Software Support

We provide a library for the 6DOF IMU 8 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 6DOF IMU 8 Click driver.

Standard key functions :

  • Config Object Initialization function.

void c6dofimu8_cfg_setup ( c6dofimu8_cfg_t *cfg );

  • Initialization function.

C6DOFIMU8_RETVAL c6dofimu8_init ( c6dofimu8_t *ctx, c6dofimu8_cfg_t *cfg );

  • Click Default Configuration function.

void c6dofimu8_default_cfg ( c6dofimu8_t *ctx );

Example key functions :

  • This function checks does interrupt generated on the INT1 pin.

uint8_t c6dofimu8_get_int_1_pin ( c6dofimu8_t *ctx );

  • This function checks a data ready status for all measurements.

uint8_t c6dofimu8_get_drdy_status ( c6dofimu8_t *ctx, uint8_t bit_mask );

  • This function performs a magnetometer data reading.

void c6dofimu8_get_magnetometer_data ( c6dofimu8_t *ctx, t_c6dofimu8_axis *magneto_out );

Examples Description

This app gets three-axis gyroscope value, three-axis accelerometer value and temperature.

The demo application is composed of two sections :

Application Init

Initializes device and performs a device software reset and configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu8_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.

    c6dofimu8_cfg_setup( &cfg );
    C6DOFIMU8_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu8_init( &c6dofimu8, &cfg );

    Delay_ms ( 500 );
    
    c6dofimu8_default_cfg( &c6dofimu8 );

    log_printf( &logger, "** 6DOF IMU 8 is initialized **\r\n" );
    Delay_ms ( 300 );
}

Application Task

Waits until any new data is entered to the data registers and then reads the accelerometer, gyroscope and temperature data which will be converted and calculated to the properly units each second.

void application_task ( void )
{
    uint8_t data_ready;
    int8_t temperature;
    t_c6dofimu8_axis  accel_data;
    t_c6dofimu8_axis  gyro_data;

    data_ready = c6dofimu8_get_drdy_status( &c6dofimu8, C6DOFIMU8_TEMP_DRDY_MASK | 
                                                        C6DOFIMU8_G_DRDY_MASK | 
                                                        C6DOFIMU8_XL_DRDY_MASK );
    while ( data_ready == C6DOFIMU8_EVENT_NOT_DETECTED )
    {
        data_ready = c6dofimu8_get_drdy_status( &c6dofimu8, C6DOFIMU8_TEMP_DRDY_MASK | 
                                                            C6DOFIMU8_G_DRDY_MASK | 
                                                            C6DOFIMU8_XL_DRDY_MASK );
    }

    c6dofimu8_get_data( &c6dofimu8, &accel_data, &gyro_data, &temperature );

    log_printf( &logger, "** Accelerometer values : \r\n" );
    log_axis( &accel_data );

    log_printf( &logger, "** Gyroscope values : \r\n" );
    log_axis( &gyro_data );

    log_printf( &logger, "** Temperature value : %d degC \r\n", ( int16_t )temperature );
    log_printf( &logger, "-------------------------------------------------\r\n" );

    Delay_ms ( 1000 );
}

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.6DofImu8

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.