6dofimu7

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6DOF IMU 7 Click

6DOF IMU 7 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 : Dec 2019.
• Type : I2C type

Software Support

Example Description

This example showcases how to initialize and configure the logger and Click modules and read and display temperature measurements and axis data from the gyroscope and accelerometer.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.6DofImu7

Example Key Functions

• c6dofimu7_cfg_setup Config Object Initialization function.

void c6dofimu7_cfg_setup ( c6dofimu7_cfg_t *cfg );

• c6dofimu7_init Initialization function.

err_t c6dofimu7_init ( c6dofimu7_t *ctx, c6dofimu7_cfg_t *cfg );

• c6dofimu7_default_cfg Click Default Configuration function.

void c6dofimu7_default_cfg ( c6dofimu7_t *ctx );

• c6dofimu7_get_gyro_data This function reads gyroscope axis data and configures the gyro axis struct.

void c6dofimu7_get_gyro_data ( c6dofimu7_t *ctx, c6dofimu7_axis_t *gyro, float sensitivity );

• c6dofimu7_get_accel_data This function reads accelerometer axis data and configures the accel axis struct.

void c6dofimu7_get_accel_data ( c6dofimu7_t *ctx, c6dofimu7_axis_t *accel, float sensitivity );

• c6dofimu7_get_temp_data This function reads and returns temperature data.

float c6dofimu7_get_temp_data ( c6dofimu7_t *ctx, float temp_sensitivity, float temp_offset );

Application Init

This function initializes and configures the logger and Click modules.

void application_init ( )
{
    log_cfg_t log_cfg;
    c6dofimu7_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 ----" );

    //  Click initialization.

    c6dofimu7_cfg_setup( &cfg );
    C6DOFIMU7_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu7_init( &c6dofimu7, &cfg );
    c6dofimu7_default_cfg( &c6dofimu7 );
}

Application Task

This function reads and displays accelerometer, gyroscope and temperature data every second.

void application_task ( )
{
    float temperature;

    c6dofimu7_get_gyro_data( &c6dofimu7, &gyro, C6DOFIMU7_GYRO_SENSITIVITY );

    log_printf( &logger, " * Gyro_X: %.5f * \r\n", gyro.x_axis );
    log_printf( &logger, " * Gyro_Y: %.5f * \r\n", gyro.y_axis );
    log_printf( &logger, " * Gyro_Z: %.5f * \r\n", gyro.z_axis );
    log_printf( &logger, " ---------------------------- \r\n" );

    c6dofimu7_get_accel_data( &c6dofimu7, &accel, C6DOFIMU7_ACCEL_SENSITIVITY );

    log_printf( &logger, " * Accel_X: %.5f * \r\n", accel.x_axis );
    log_printf( &logger, " * Accel_Y: %.5f * \r\n", accel.y_axis );
    log_printf( &logger, " * Accel_Z: %.5f * \r\n", accel.z_axis );
    log_printf( &logger, " ---------------------------- \r\n" );

    temperature = c6dofimu7_get_temp_data( &c6dofimu7, C6DOFIMU7_TEMPERATURE_SENSITIVITY,
                                                       C6DOFIMU7_TEMPERATURE_OFFSET );

    log_printf( &logger, " * Temperature: %.5f C * \r\n\r\n", temperature );
    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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