Skip to content

Latest commit

 

History

History
164 lines (129 loc) · 5.54 KB

README.md

File metadata and controls

164 lines (129 loc) · 5.54 KB

6DOF IMU 18 Click

6DOF IMU 18 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.

Click Library

  • Author : Stefan Ilic
  • Date : Jan 2023.
  • Type : I2C/SPI type

Software Support

Example Description

This library contains API for 6DOF IMU 18 Click driver. The library initializes and defines the I2C and SPI bus drivers to write and read data from registers, as well as the default configuration for reading gyroscope and accelerator data, and temperature.

Example Libraries

  • MikroSDK.Board
  • MikroSDK.Log
  • Click.6DOFIMU18

Example Key Functions

  • c6dofimu18_cfg_setup Config Object Initialization function.
void c6dofimu18_cfg_setup ( c6dofimu18_cfg_t *cfg );
  • c6dofimu18_init Initialization function.
err_t c6dofimu18_init ( c6dofimu18_t *ctx, c6dofimu18_cfg_t *cfg );
  • c6dofimu18_default_cfg Click Default Configuration function.
err_t c6dofimu18_default_cfg ( c6dofimu18_t *ctx );
  • c6dofimu18_set_reg_bank 6DOF IMU 18 set register bank function.
err_t c6dofimu18_set_reg_bank( c6dofimu18_t *ctx, uint8_t bank );
  • c6dofimu18_get_int1_state 6DOF IMU 18 read INT1 pin state function.
uint8_t c6dofimu18_get_int1_state ( c6dofimu18_t *ctx );
  • c6dofimu18_get_data_from_register 6DOF IMU 18 read data function.
err_t c6dofimu18_get_data_from_register ( c6dofimu18_t *ctx, float *temperature_data, c6dofimu18_data_t *accel_data, c6dofimu18_data_t *gyro_data, uint32_t *tmst_data );

Application Init

Initializes the driver after that resets the device and performs default configuration and reads the device id.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu18_cfg_t c6dofimu18_cfg;  /**< Click config object. */

    /** 
     * 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.
    c6dofimu18_cfg_setup( &c6dofimu18_cfg );
    C6DOFIMU18_MAP_MIKROBUS( c6dofimu18_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu18_init( &c6dofimu18, &c6dofimu18_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    Delay_ms ( 100 );
    
    uint8_t id = 0;
    c6dofimu18_reg_read( &c6dofimu18, C6DOFIMU18_BANK0_SEL, C6DOFIMU18_REG_WHO_AM_I, &id, 1);
    log_printf( &logger, " Device ID : 0x%.2X \r\n", ( uint16_t ) id );
    if ( C6DOFIMU18_WHO_AM_I_VALUE != id )
    {
        log_error( &logger, " Communication error." );
        for ( ; ; );
    }
    Delay_ms ( 100 );
    
    if ( C6DOFIMU18_OK != c6dofimu18_default_cfg ( &c6dofimu18 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

Application Task

This example demonstrates the use of the 6DOF IMU 18 Click board by measuring and displaying acceleration and gyroscope data for X-axis, Y-axis, and Z-axis as well as temperature in degrees Celsius.

void application_task ( void )
{
    if ( c6dofimu18_get_int1_state( &c6dofimu18) )
    {       
        c6dofimu18_data_t accel_data;
        c6dofimu18_data_t gyro_data;
        float temp_data;
        uint32_t tmst_data;
        
        c6dofimu18_get_data_from_register( &c6dofimu18, &temp_data, &accel_data, &gyro_data, &tmst_data );
        log_printf( &logger, " TEMP: %.2f \r\n", temp_data );
        log_printf( &logger, " GYRO: x:%d y:%d z:%d \r\n", gyro_data.data_x,gyro_data.data_y,gyro_data.data_z );
        log_printf( &logger, " ACCEL: x:%d y:%d z:%d \r\n", accel_data.data_x,accel_data.data_y,accel_data.data_z );
        log_printf( &logger, "========================== \r\n" );
        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.