6dofimu10

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c6DOF IMU 10 Click

6DOF IMU 10 Click demo application is developed using the NECTO Studio, ensuring compatibility with mikroSDK's open-source libraries and tools. Designed for plug-and-play implementation and testing, the demo is fully compatible with all development, starter, and mikromedia boards featuring a mikroBUS™ socket.

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Click Library

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

Software Support

Example Description

This app reads the accelerometer and magnetometer axis data.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.6DofImu10

Example Key Functions

• c6dofimu10_cfg_setup Config Object Initialization function.

void c6dofimu10_cfg_setup ( c6dofimu10_cfg_t *cfg );

• c6dofimu10_init Initialization function.

err_t c6dofimu10_init ( c6dofimu10_t *ctx, c6dofimu10_cfg_t *cfg );

• c6dofimu10_default_cfg Click Default Configuration function.

void c6dofimu10_default_cfg ( c6dofimu10_t *ctx );

• c6dofimu10_get_accel_axis This function gets accelerometer axis data.

void c6dofimu10_get_accel_axis ( c6dofimu10_t *ctx, c6dofimu10_axis_t *axis );

• c6dofimu10_get_mag_axis This function gets magnetometer axis data.

void c6dofimu10_get_mag_axis ( c6dofimu10_t *ctx, c6dofimu10_axis_t *axis );

• c6dofimu10_get_temperature This function gets temperature data.

float c6dofimu10_get_temperature ( c6dofimu10_t *ctx, uint8_t temp_format );

Application Init

Initializes device and runs a communication test that reads device id (registry Who_I_AM).

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu10_cfg_t cfg;
    uint8_t com_test;

    /** 
     * 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 ----\r\n" );

    //  Click initialization.

    c6dofimu10_cfg_setup( &cfg );
    c6DOFIMU10_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu10_init( &c6dofimu10, &cfg );

    // TEST COMMUNICATION
    com_test = c6dofimu10_communication_test( &c6dofimu10 );
    if ( com_test != C6DOFIMU10_DEVICE_OK )
    {
        log_printf( &logger, "-- Device communication ERROR --\r\n" );
        for( ; ; );
    }
    log_printf( &logger, "-- Device communication OK --\r\n" );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );
    
    c6dofimu10_default_cfg ( &c6dofimu10 );
    log_printf( &logger, "-- Device configuration --\r\n" );
    Delay_ms ( 500 );
}

Application Task

Reads the accelerometer and magnetometer axis data. And reads temperature values. All data logs on the USBUART.

void application_task ( void )
{
    c6dofimu10_axis_t accel_axis;
    c6dofimu10_axis_t mag_axis;
    float temperature;

    c6dofimu10_get_accel_axis ( &c6dofimu10, &accel_axis );
    c6dofimu10_get_mag_axis ( &c6dofimu10, &mag_axis );
    temperature = c6dofimu10_get_temperature( &c6dofimu10, C6DOFIMU10_TEMP_FORMAT_CELSIUS );

    log_printf( &logger, "-- Accelerometer axis --\r\n" );
    app_display_axis_data( &accel_axis );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );

    log_printf( &logger, "-- Magnetometer axis --\r\n" );
    app_display_axis_data( &mag_axis );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );

    log_printf( &logger, "-- Temperature data --\r\n" );
    app_display_temp_data( temperature );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );
}

Application Output

This Click board can be interfaced and monitored in two ways:

• Application Output - Use the "Application Output" window in Debug mode for real-time data monitoring. Set it up properly by following this tutorial.
• UART Terminal - Monitor data via the UART Terminal using a USB to UART converter. For detailed instructions, check out this tutorial.

Additional Notes and Information

The complete application code and a ready-to-use project are available through the NECTO Studio Package Manager for direct installation in the NECTO Studio. The application code can also be found on the MIKROE GitHub account.

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