6dofimu6

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6DOF IMU 6 Click

6DOF IMU 6 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 : sep 2020.
• Type : I2C/SPI type

Software Support

Example Description

6DOF IMU 6 Click features a 6-axis MotionTracking device that combines a 3-axis gyroscope, a 3-axis accelerometer, and a Digital Motion Processor.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.6DofImu6

Example Key Functions

• c6dofimu6_cfg_setup Config Object Initialization function.

void c6dofimu6_cfg_setup ( c6dofimu6_cfg_t *cfg );

• c6dofimu6_init Initialization function.

err_t c6dofimu6_init ( c6dofimu6_t *ctx, c6dofimu6_cfg_t *cfg );

• c6dofimu6_default_cfg Click Default Configuration function.

void c6dofimu6_default_cfg ( c6dofimu6_t *ctx );

• c6dofimu6_default_cfg This function executes default configuration for 6DOF IMU 6 Click.

void c6dofimu6_default_cfg ( c6dofimu6_t *ctx );

• c6dofimu6_angular_rate Function is used to calculate angular rate.

void c6dofimu6_angular_rate ( c6dofimu6_t *ctx, float *x_ang_rte, float *y_ang_rte, float *z_ang_rte );

• c6dofimu6_acceleration_rate Function is used to calculate acceleration rate.

void c6dofimu6_acceleration_rate ( c6dofimu6_t *ctx, float *x_accel_rte, float *y_accel_rte, float *z_accel_rte );

Application Init

Initalizes SPI and I2C drivers, performs safety check, applies default settings and writes an initial log.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu6_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.

    c6dofimu6_cfg_setup( &cfg );
    C6DOFIMU6_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu6_init( &c6dofimu6, &cfg );

    Delay_ms ( 100 );
    c6dofimu6_generic_read ( &c6dofimu6, C6DOFIMU6_WHO_AM_I, &id_val, 1 );
    if ( id_val == C6DOFIMU6_WHO_AM_I_VAL )
    {
        log_printf( &logger, "-------------------------\r\n" );
        log_printf( &logger, "   6DOF  IMU  6  Click   \r\n" );
        log_printf( &logger, "-------------------------\r\n" );
        c6dofimu6_power ( &c6dofimu6, C6DOFIMU6_POWER_ON );
    }
    else
    {
        log_printf( &logger, "-------------------------\r\n" );
        log_printf( &logger, "     FATAL  ERROR!!!     \r\n" );
        log_printf( &logger, "-------------------------\r\n" );
        for ( ; ; );
    }

    c6dofimu6_default_cfg( &c6dofimu6 );

    log_printf( &logger, "    ---Initialised---    \r\n" );
    log_printf( &logger, "-------------------------\r\n" );

    Delay_ms ( 100 );
}

Application Task

Demonstrates the use of 6DOF IMU 6 Click board by reading angular rate, acceleration rate and displaying data to USB UART.

void application_task ( void )
{
    c6dofimu6_angular_rate( &c6dofimu6, &x_gyro, &y_gyro, &z_gyro );

    log_printf( &logger, "Gyro \r\n" );

    log_printf( &logger, "X-axis: %.2f\r\n", x_gyro );
    log_printf( &logger, "Y-axis: %.2f\r\n", y_gyro );
    log_printf( &logger, "Z-axis: %.2f\r\n", z_gyro );
    log_printf( &logger, "---------------------\r\n" );

    c6dofimu6_acceleration_rate( &c6dofimu6, &x_accel, &y_accel, &z_accel );

    log_printf( &logger, "Accel \r\n" );

    log_printf( &logger, "X-axis: %.2f\r\n", x_accel );
    log_printf( &logger, "Y-axis: %.2f\r\n", y_accel );
    log_printf( &logger, "Z-axis: %.2f\r\n", z_accel );
    log_printf( &logger, "---------------------\r\n\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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