mpuimu

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MPU IMU Click

MPU IMU Click carries the integrated 6-axis motion tracking device that combines 3-axis gyroscope and accelerometer.

Click Product page

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Click library

• Author : Mihajlo Djordjevic
• Date : Dec 2019.
• Type : I2C/SPI type

Software Support

We provide a library for the MpuImu 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 MpuImu Click driver.

Standard key functions :

• Config Object Initialization function.

void mpuimu_cfg_setup ( mpuimu_cfg_t *cfg );

• Initialization function.

MPUIMU_RETVAL mpuimu_init ( mpuimu_t *ctx, mpuimu_cfg_t *cfg );

• Click Default Configuration function.

void mpuimu_default_cfg ( mpuimu_t *ctx );

Example key functions :

• This function read Accel X-axis, Y-axis and Z-axis.

void mpuimu_read_accel ( mpuimu_t *ctx, mpuimu_accel_data_t *accel_data );

• This function read Gyro X-axis, Y-axis and Z-axis.

void mpuimu_read_gyro ( mpuimu_t *ctx, mpuimu_gyro_data_t *gyro_data );

• This function reads temperature data.

float mpuimu_read_temperature ( mpuimu_t *ctx );

Examples Description

Example code performs acceleration, angular rate (gyroscopic), and temperature measurement.

The demo application is composed of two sections :

Application Init

Application Init performs Logger and Click initialization.

void application_init ( void )
{
    log_cfg_t log_cfg;
    mpuimu_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 ----" );
    Delay_ms ( 100 );

    //  Click initialization.

    mpuimu_cfg_setup( &cfg );
    MPUIMU_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    mpuimu_init( &mpuimu, &cfg );
    
    log_printf( &logger, "--------------------------\r\n" );
    log_printf( &logger, " ----  MPU IMU Click ----\r\n" );
    log_printf( &logger, "--------------------------\r\n" );
    Delay_ms ( 1000 );
    
    mpuimu_default_cfg ( &mpuimu );
    Delay_ms ( 1000 );
    
    log_printf( &logger, " ---- Initialization ---\r\n" );
    log_printf( &logger, "--------------------------\r\n" );
    Delay_ms ( 1000 );
}
  

Application Task

Measured Accel and Gyro coordinates (X,Y,Z) and Temperature in degrees C which are being sent to the UART where you can track their changes. All data logs on USB UART for every 1 sec.

void application_task ( void )
{
    mpuimu_read_accel( &mpuimu, &accel_data );
    Delay_ms ( 100 );
    mpuimu_read_gyro( &mpuimu, &gyro_data );
    Delay_ms ( 100 );
    temperature = mpuimu_read_temperature( &mpuimu );
    Delay_ms ( 100 );
    
    log_printf( &logger, "    Accel    |    Gyro    \r\n" );
    log_printf( &logger, "--------------------------\r\n" );
    log_printf( &logger, " X = %d  | X = %d \r\n", accel_data.accel_x, gyro_data.gyro_x );
    log_printf( &logger, " Y = %d  | Y = %d \r\n", accel_data.accel_y, gyro_data.gyro_y );
    log_printf( &logger, " Z = %d  | Z = %d \r\n", accel_data.accel_z, gyro_data.gyro_z );
    log_printf( &logger, "--------------------------\r\n" );
    log_printf( &logger, "      TEMP = %0.2f C\r\n", temperature );
    log_printf( &logger, "--------------------------\r\n" ); 
    
    software_reset ( &mpuimu );
    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.MpuImu

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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