6dofimu23

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6DOF IMU 23 Click

6DOF IMU 23 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 : Nenad Filipovic
• Date : Dec 2023.
• Type : SPI type

Software Support

Example Description

This library contains API for 6DOF IMU 23 Click driver. The library initializes and defines the SPI bus drivers to write and read data. The library also includes a function for reading accelerometer and gyroscope X-axis, Y-axis, and Z-axis data as well as the internal temperature data.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.6DOFIMU23

Example Key Functions

• c6dofimu23_cfg_setup Config Object Initialization function.

void c6dofimu23_cfg_setup ( c6dofimu23_cfg_t *cfg );

• c6dofimu23_init Initialization function.

err_t c6dofimu23_init ( c6dofimu23_t *ctx, c6dofimu23_cfg_t *cfg );

• c6dofimu23_default_cfg Click Default Configuration function.

err_t c6dofimu23_default_cfg ( c6dofimu23_t *ctx );

• c6dofimu23_get_accel_data This function reads the accelerometer sensor axes measurement data.

err_t c6dofimu23_get_accel_data ( c6dofimu23_t *ctx, c6dofimu23_axis_t *acc_axis );

• c6dofimu23_get_gyro_data This function reads the gyroscope sensor axes measurement data.

err_t c6dofimu23_get_gyro_data ( c6dofimu23_t *ctx, c6dofimu23_axis_t *gyro_axis );

• c6dofimu23_get_temperature This function reads the internal temperature measurement data.

err_t c6dofimu23_get_temperature ( c6dofimu23_t *ctx, float *temperature );

Application Init

The initialization of SPI module, log UART and enable the device.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu23_cfg_t c6dofimu23_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.
    c6dofimu23_cfg_setup( &c6dofimu23_cfg );
    C6DOFIMU23_MAP_MIKROBUS( c6dofimu23_cfg, MIKROBUS_1 );
    if ( SPI_MASTER_ERROR == c6dofimu23_init( &c6dofimu23, &c6dofimu23_cfg ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( C6DOFIMU23_ERROR == c6dofimu23_default_cfg ( &c6dofimu23 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

Application Task

This example demonstrates the use of the 6DOF IMU 23 Click board. Measures and displays acceleration and gyroscope data for X-axis, Y-axis, and Z-axis, and the internal temperature data. Results are being sent to the UART Terminal, where you can track their changes.

void application_task ( void )
{
    float temperature = 0;
    c6dofimu23_axis_t acc_axis, gyro_axis;
    if ( ( C6DOFIMU23_OK == c6dofimu23_get_accel_data( &c6dofimu23, &acc_axis ) ) &&
         ( C6DOFIMU23_OK == c6dofimu23_get_gyro_data( &c6dofimu23, &gyro_axis ) ) &&
         ( C6DOFIMU23_OK == c6dofimu23_get_temperature( &c6dofimu23, &temperature ) ) )
    {
        log_printf( &logger, " Accel X: %.2f g | Gyro X: %.2f dps\r\n", acc_axis.x, gyro_axis.x );
        log_printf( &logger, " Accel Y: %.2f g | Gyro Y: %.2f dps\r\n", acc_axis.y, gyro_axis.y );
        log_printf( &logger, " Accel Z: %.2f g | Gyro Z: %.2f dps\r\n", acc_axis.z, gyro_axis.z );
        log_printf( &logger, " Internal temperature: %.2f degC\r\n", temperature );
        log_printf( &logger, " ----------------------------------\r\n" );
    }
    Delay_ms ( 100 );
}

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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