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6DOF IMU 25 Click

6DOF IMU 25 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 Filipovic
  • Date : Sep 2024.
  • Type : I2C/SPI type

Software Support

Example Description

This example demonstrates the use of 6DOF IMU 25 Click board by reading and displaying the accelerometer and gyroscope data (X, Y, and Z axis) as well as a temperature measurement in degrees Celsius.

Example Libraries

  • MikroSDK.Board
  • MikroSDK.Log
  • Click.6DOFIMU25

Example Key Functions

  • c6dofimu25_cfg_setup Config Object Initialization function.
void c6dofimu25_cfg_setup ( c6dofimu25_cfg_t *cfg );
  • c6dofimu25_init Initialization function.
err_t c6dofimu25_init ( c6dofimu25_t *ctx, c6dofimu25_cfg_t *cfg );
  • c6dofimu25_default_cfg Click Default Configuration function.
err_t c6dofimu25_default_cfg ( c6dofimu25_t *ctx );
  • c6dofimu25_get_int1_pin This function returns the interrupt 1 pin logic state.
uint8_t c6dofimu25_get_int1_pin ( c6dofimu25_t *ctx );
  • c6dofimu25_get_data This function reads the accelerometer, gyroscope, and temperature measurement data.
err_t c6dofimu25_get_data ( c6dofimu25_t *ctx, c6dofimu25_data_t *data_out );
  • c6dofimu25_set_accel_fsr This function sets the accel measurement full scale range.
err_t c6dofimu25_set_accel_fsr ( c6dofimu25_t *ctx, uint8_t fsr );

Application Init

Initializes the driver and performs the Click default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu25_cfg_t c6dofimu25_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.
    c6dofimu25_cfg_setup( &c6dofimu25_cfg );
    C6DOFIMU25_MAP_MIKROBUS( c6dofimu25_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu25_init( &c6dofimu25, &c6dofimu25_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( C6DOFIMU25_ERROR == c6dofimu25_default_cfg ( &c6dofimu25 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

Application Task

Waits for a data ready indication and then reads the accelerometer, gyroscope, and temperature measurements. The results are displayed on the USB UART at 7.5 Hz output data rate.

void application_task ( void )
{
    c6dofimu25_data_t meas_data;
    if ( c6dofimu25_get_int1_pin ( &c6dofimu25 ) ) 
    {
        if ( C6DOFIMU25_OK == c6dofimu25_get_data ( &c6dofimu25, &meas_data ) )
        {
            log_printf( &logger, " Accel X: %.3f g\r\n", meas_data.accel.x );
            log_printf( &logger, " Accel Y: %.3f g\r\n", meas_data.accel.y );
            log_printf( &logger, " Accel Z: %.3f g\r\n", meas_data.accel.z );
            log_printf( &logger, " Gyro X: %.1f dps\r\n", meas_data.gyro.x );
            log_printf( &logger, " Gyro Y: %.1f dps\r\n", meas_data.gyro.y );
            log_printf( &logger, " Gyro Z: %.1f dps\r\n", meas_data.gyro.z );
            log_printf( &logger, " Temperature: %.2f degC\r\n\n", meas_data.temperature );
        }
    }
}

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.