6dofimu9

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6DOF IMU 9 Click

The 6DOF IMU 9 Click is a Click board™ which features the IAM-20680, a 6-axis MotionTracking device that combines a 3-axis gyroscope and a 3-axis accelerometer, from TDK InvenSense.

Click Product page

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Click library

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

Software Support

We provide a library for the 6DOFIMU9 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 6DOFIMU9 Click driver.

Standard key functions :

• Config Object Initialization function.

void c6dofimu9_cfg_setup ( c6dofimu9_cfg_t *cfg );

• Initialization function.

C6DOFIMU9_RETVAL c6dofimu9_init ( c6dofimu9_t *ctx, c6dofimu9_cfg_t *cfg );

Example key functions :

• Set Gyro configuration function

void c6dofimu9_set_gyro_config ( c6dofimu9_t *ctx, uint8_t gyro_config_data );

• Set Gyro measurement range configuration function

void c6dofimu9_set_gyro_measurement_range ( c6dofimu9_t *ctx, uint16_t gyro_full_scale_range );

• Set Accel measurement range configuration function

void c6dofimu9_set_accel_measurement_range ( c6dofimu9_t *ctx, uint8_t accel_full_scale_range );

Examples Description

This application measure 3-axis gyroscope and a 3-axis accelerometer.

The demo application is composed of two sections :

Application Init

Initialization driver enables - I2C, check device ID, configure accelerometer and gyroscope, also write log.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu9_cfg_t cfg;
    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.

    c6dofimu9_cfg_setup( &cfg );
    C6DOFIMU9_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu9_init( &c6dofimu9, &cfg );

    log_printf( &logger, "       Driver  Initialization        \r\n" );
    log_printf( &logger, "-------------------------------------\r\n" );
    Delay_100ms( );
    
    device_id = c6dofimu9_get_device_id( &c6dofimu9 );

    if ( device_id == C6DOFIMU9_DEVICE_ID )
    {
        log_printf( &logger, "       SUCCESS        \r\n" );
        log_printf( &logger, "-------------------------------------\r\n" );
    }
    else
    {
        log_printf( &logger, "                ERROR              \r\n" );
        log_printf( &logger, "            RESET DEVICE           \r\n" );
        log_printf( &logger, "-----------------------------------\r\n" );
        for ( ; ; );
    }

    c6dofimu9_set_gyro_config_lp_mode( &c6dofimu9, C6DOFIMU9_GYRO_AVERAGE_1x );
    c6dofimu9_set_gyro_measurement_range( &c6dofimu9, C6DOFIMU9_GYRO_FULL_SCALE_250dps );
    c6dofimu9_set_accel_measurement_range( &c6dofimu9, C6DOFIMU9_ACCEL_FULL_SCALE_2g );
    c6dofimu9_set_accel_avg_filter_mode( &c6dofimu9, C6DOFIMU9_ACCEL_AVERAGE_4_SAMPLES );
    
    log_printf( &logger, "            Start measurement             \r\n" );
    log_printf( &logger, "-------------------------------------\r\n" );
    Delay_100ms( );
}
  

Application Task

This is an example which demonstrates the use of 6DOF IMU 9 Click board. Measured and display Accel and Gyro data coordinates values for X-axis, Y-axis and Z-axis. Results are being sent to the Usart Terminal where you can track their changes. All data logs write on USB uart changes for every 1 sec.

void application_task ( )
{
    int16_t accel_axis_x;
    int16_t accel_axis_y;
    int16_t accel_axis_z;
    int16_t gyro_axis_x;
    int16_t gyro_axis_y;
    int16_t gyro_axis_z;

    c6dofimu9_get_accel_data( &c6dofimu9, &accel_axis_x, &accel_axis_y, &accel_axis_z );
    Delay_10ms( );
    c6dofimu9_get_gyro_data( &c6dofimu9, &gyro_axis_x,  &gyro_axis_y, &gyro_axis_z );
    Delay_10ms( );

    log_printf( &logger, " Accel X : %d ", accel_axis_x );
    log_printf( &logger, "    |     ");
    log_printf( &logger, " Gyro X : %d \r\n", gyro_axis_x );

    log_printf( &logger, " Accel Y : %d ", accel_axis_y );
    log_printf( &logger, "    |     ");
    log_printf( &logger, " Gyro Y : %d \r\n", gyro_axis_y);

    log_printf( &logger, " Accel Z : %d ", accel_axis_z );
    log_printf( &logger, "    |     ");
    log_printf( &logger, " Gyro Z : %d \r\n", gyro_axis_z);

    log_printf(&logger, "-------------------------------------\r\n");
    Delay_1sec( );
} 

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.6DOFIMU9

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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