9dof3

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9DOF 3 Click

9DOF 3 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 : jun 2020.
• Type : I2C/SPI type

Software Support

Example Description

This Click introduces a small-scale absolute orientation sensor in the class of low-noise 9-axis measurement units. It comprises the full functionality of a triaxial, low-g acceleration sensor, a triaxial angular rate sensor and a triaxial geomagnetic sensor. All three sensor components can be operated and addressed independently from each other. 9DOF 3 Click offers both SPI and I2C digital interfaces

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.9Dof3

Example Key Functions

• c9dof3_cfg_setup Config Object Initialization function.

void c9dof3_cfg_setup ( c9dof3_cfg_t *cfg );

• c9dof3_init Initialization function.

err_t c9dof3_init ( c9dof3_t *ctx, c9dof3_cfg_t *cfg );

• c9dof3_default_cfg Click Default Configuration function.

void c9dof3_default_cfg ( c9dof3_t *ctx );

• c9dof3_check_communication The function check device ID for accelerometer, gyroscope and magnetometer.

uint8_t c9dof3_check_communication ( c9dof3_t *ctx );

• c9dof3_get_data Function read Accel, Gyro and Mag X-axis, Y-axis data and Z-axis data.

void c9dof3_get_data ( c9dof3_t *ctx, c9dof3_accel_t *accel_data, c9dof3_gyro_t *gyro_data, c9dof3_mag_t *mag_data );

• c9dof3_generic_read This function reads data from the desired register.

void c9dof3_generic_read ( c9dof3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );

Application Init

Initialization driver enables - I2C or SPI, check communication, set default configuration for accelerometer, gyroscope and magnetometer, also write log.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c9dof3_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.

    c9dof3_cfg_setup( &cfg );
    C9DOF3_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c9dof3_init( &c9dof3, &cfg );
    Delay_ms ( 100 );

    if ( c9dof3_check_communication( &c9dof3 ) == ( C9DOF3_ACC_COMM_SUCCESS  |
                                                    C9DOF3_GYRO_COMM_SUCCESS |
                                                    C9DOF3_MAG_COMM_SUCCESS ) )
    {
        log_printf( &logger, "    Communication OK     \r\n" );
    }
    else
    {
        log_printf( &logger, "   Communication ERROR   \r\n" );
        log_printf( &logger, "     Reset the device    \r\n" );
        log_printf( &logger, "-------------------------\r\n" );
        for ( ; ; );
    }
    
    log_printf( &logger, "-------------------------\r\n" );
    c9dof3_default_cfg( &c9dof3 );
    Delay_ms ( 100 );
}

Application Task

This is an example which demonstrates the use of 9DOF 3 Click board. Measures and displays Accel, Gyroscope and Magnetometer values for X-axis, Y-axis and Z-axis. Results are being sent to the Usart Terminal where you can track their changes. All data logs write on USB uart changes for every 1 sec.

void application_task ( void )
{
    c9dof3_get_data ( &c9dof3, &accel_data, &gyro_data, &mag_data );

    log_printf( &logger, " Accel X: %d | Gyro X: %d |  Mag X: %d\r\n", accel_data.x, gyro_data.x, mag_data.x );
    log_printf( &logger, " Accel Y: %d | Gyro Y: %d |  Mag Y: %d\r\n", accel_data.y, gyro_data.y, mag_data.y );
    log_printf( &logger, " Accel Z: %d | Gyro Z: %d |  Mag Z: %d\r\n", accel_data.z, gyro_data.z, mag_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.

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