9dof

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9 DOF Click

9DOF Click carries ST’s LSM9DS1 inertial measurement module that combines a 3D accelerometer, a 3D gyroscope and a 3D magnetometer into a single device outputting so called nine degrees of freedom data...

Click Product page

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Click library

• Author : Nenad Filipovic
• Date : Dec 2019.
• Type : I2C type

Software Support

We provide a library for the 9Dof 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 9Dof Click driver.

Standard key functions :

• Config Object Initialization function.

void c9dof_cfg_setup ( c9dof_cfg_t *cfg );

• Initialization function.

C9DOF_RETVAL c9dof_init ( c9dof_t *ctx, c9dof_cfg_t *cfg );

• Click Default Configuration function.

void c9dof_default_cfg ( c9dof_t *ctx );

Example key functions :

• Generic accelerometer read function.

void c9dof_read_accel ( c9dof_t *ctx, c9dof_accel_data_t *accel_data );

• Get gyroscope data function.

void c9dof_read_gyro ( c9dof_t *ctx, c9dof_gyro_data_t *gyro_data );

• Get magnetometer data function.

void c9dof_read_mag ( c9dof_t *ctx, c9dof_mag_data_t *mag_data );

Examples Description

This application shows accelerometer, gyroscope and magnetometer axes values.

The demo application is composed of two sections :

Application Init

Initializes GPIO pins, I2C, LOG modules and sets default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c9dof_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_printf( &logger, "----       Application Init       ----\r\n" );
    log_printf( &logger, "--------------------------------------\r\n" );

    //  Click initialization.

    c9dof_cfg_setup( &cfg );
    C9DOF_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c9dof_init( &c9dof, &cfg );
    
    c9dof_default_cfg ( &c9dof );
    Delay_ms ( 1000 );
    
    log_printf( &logger, "              9DOF Click\r\n" );
    log_printf( &logger, "--------------------------------------\r\n" );
}
  

Application Task

Gets accelerometer, gyroscope and magnetometer axes data and LOGs those values.

void application_task ( void )
{
    c9dof_read_accel( &c9dof, &accel_data );
    Delay_ms ( 10 );
    
    c9dof_read_gyro( &c9dof, &gyro_data );
    Delay_ms ( 10 );
    
    c9dof_read_mag( &c9dof, &mag_data );
    Delay_ms ( 10 );
    
    log_printf( &logger, "   Accel    |    Gyro    |    Mag\r\n" );
    log_printf( &logger, "--------------------------------------\r\n" );
    log_printf( &logger, " X = %6d | X = %6d | X = %6d\r\n", accel_data.x, gyro_data.x, mag_data.x );
    log_printf( &logger, " Y = %6d | Y = %6d | Y = %6d\r\n", accel_data.y, gyro_data.y, mag_data.y );
    log_printf( &logger, " Z = %6d | Z = %6d | Z = %6d\r\n", accel_data.z, gyro_data.z, mag_data.z );
    log_printf( &logger, "--------------------------------------\r\n" );
    Delay_ms ( 1000 );
    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.9Dof

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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