6dofimu5

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6DOF IMU 5 Click

6DOF IMU 5 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 : Feb 2020.
• Type : I2C/SPI type

Software Support

Example Description

This example demonstrates the use of 6DOF IMU 5 Click board.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.6DofImu5

Example Key Functions

• c6dofimu5_cfg_setup Config Object Initialization function.

void c6dofimu5_cfg_setup ( c6dofimu5_cfg_t *cfg );

• c6dofimu5_init Initialization function.

err_t c6dofimu5_init ( c6dofimu5_t *ctx, c6dofimu5_cfg_t *cfg );

• c6dofimu5_default_cfg Click Default Configuration function.

void c6dofimu5_default_cfg ( c6dofimu5_t *ctx );

• c6dofimu5_power This function turns the device on or off.

void c6dofimu5_power ( c6dofimu5_t *ctx, uint8_t on_off );

• c6dofimu5_read_gyroscope This function is used to read gyroscope data.

void c6dofimu5_read_gyroscope ( c6dofimu5_t *ctx, int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z );

• c6dofimu5_read_accelerometer This function is used to read accelerometer data.

void c6dofimu5_read_accelerometer ( c6dofimu5_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z );

Application Init

Initializes the driver, checks the communication and sets the device default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu5_cfg_t cfg;
    uint8_t id_val;

    /** 
     * 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.

    c6dofimu5_cfg_setup( &cfg );
    C6DOFIMU5_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu5_init( &c6dofimu5, &cfg );
    
    c6dofimu5_read_bytes ( &c6dofimu5, C6DOFIMU5_WHO_AM_I, &id_val, 1 );
    if ( id_val == C6DOFIMU5_WHO_AM_I_VAL )
    {
        log_printf( &logger, "-------------------------\r\n " );
        log_printf( &logger, "   6DOF  IMU  5  Click   \r\n " );
        log_printf( &logger, "-------------------------\r\n " );
        c6dofimu5_power ( &c6dofimu5, C6DOFIMU5_POWER_ON );
    }
    else
    {   
        log_printf( &logger, "-------------------------\r\n " );
        log_printf( &logger, "     FATAL  ERROR!!!     \r\n " );
        log_printf( &logger, "-------------------------\r\n " );
        for ( ; ; );
    }

    c6dofimu5_default_cfg( &c6dofimu5 );
    c6dofimu5_baro_settings( &c6dofimu5 );

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

    Delay_ms ( 100 );
}

Application Task

Measures acceleration, gyroscope, temperature and pressure data and displays the results on USB UART each second.

void application_task ( void )
{
    float x_gyro;
    float y_gyro;
    float z_gyro;
    float x_accel;
    float y_accel;
    float z_accel;
    uint32_t raw_pres;
    uint16_t raw_temp;
    c6dofimu5_process_data_t process_data;

    c6dofimu5_acceleration_rate( &c6dofimu5, &x_accel, &y_accel, &z_accel );
    c6dofimu5_angular_rate( &c6dofimu5, &x_gyro, &y_gyro, &z_gyro );

    log_printf( &logger, " Accel X: %.2f \t Gyro X: %.2f\r\n", x_accel, x_gyro );
    log_printf( &logger, " Accel Y: %.2f \t Gyro Y: %.2f\r\n", y_accel, y_gyro );
    log_printf( &logger, " Accel Z: %.2f \t Gyro Z: %.2f\r\n", z_accel, z_gyro );
    
    log_printf( &logger, "-------------------------\r\n " );

    c6dofimu5_read_raw_data( &c6dofimu5, &raw_pres, &raw_temp );

    process_data.p_raw = raw_pres;
    process_data.t_raw = raw_temp;

    c6dofimu5_process_data( &c6dofimu5, &process_data );

    log_printf( &logger, "Pressure: %.2f mBar\r\n " , process_data.pressure * 0.01 );
    log_printf( &logger, "Temperature: %.2f Celsius\r\n " , process_data.temperature );

    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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