6dofimu3

---

6DOF IMU 3 Click

6DOF IMU 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.

---

Click Library

• Author : MikroE Team
• Date : Feb 2020.
• Type : I2C/SPI type

Software Support

Example Description

This example demonstrates the use of 6DOF IMU 3 Click board.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.6Dofimu3

Example Key Functions

• c6dofimu3_cfg_setup Config Object Initialization function.

void c6dofimu3_cfg_setup ( c6dofimu3_cfg_t *cfg );

• c6dofimu3_init Initialization function.

err_t c6dofimu3_init ( c6dofimu3_t *ctx, c6dofimu3_cfg_t *cfg );

• c6dofimu3_default_cfg Click Default Configuration function.

void c6dofimu3_default_cfg ( c6dofimu3_t *ctx );

• Function check device ID by read ID value from the sensor ID register address of FXOS8700CQ 6-axis sensor with integrated linear accelerometer and magnetometer on 6DOF IMU 3 Click board. err_t c6dofimu3_check_id ( c6dofimu3_t *ctx );

• Function read 16-bit ( signed ) Magnetometer X-axis, Y-axis data and Z-axis data from the 6 targeted starts from C6DOFIMU3_M_OUT_X_MSB register address of FXOS8700CQ 6-axis sensor with integrated linear accelerometer and magnetometer on 6DOF IMU 3 Click board.

void c6dofimu3_read_mag_data ( c6dofimu3_t *ctx, c6dofimu3_mag_t *mag_data );

• Function read 14-bit ( signed ) Accel X-axis, Y-axis data and Z-axis data from the 6 targeted starts from C6DOFIMU3_OUT_X_MSB register address of FXOS8700CQ 6-axis sensor with integrated linear accelerometer and magnetometer on 6DOF IMU 3 Click board.

void c6dofimu3_read_accel_data ( c6dofimu3_t *ctx, c6dofimu3_accel_t *accel_data );

Application Init

Initializes the driver and sets the device default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu3_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.

    c6dofimu3_cfg_setup( &cfg );
    C6DOFIMU3_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu3_init( &c6dofimu3, &cfg );

    c6dofimu3_default_cfg( &c6dofimu3 );
    Delay_ms ( 100 );
}

Application Task

Measures acceleration and magnetometer data and displays the results on USB UART each second.

void application_task ( void )
{
    if ( c6dofimu3_check_data_ready( &c6dofimu3 ) )
    {
        c6dofimu3_get_data ( &c6dofimu3, &accel_data, &mag_data );

        log_printf( &logger, " Accel X : %.2f mg \t Mag X : %.2f uT\r\n", accel_data.x, mag_data.x );

        log_printf( &logger, " Accel Y : %.2f mg \t Mag Y : %.2f uT\r\n", accel_data.y, mag_data.y );
        
        log_printf( &logger, " Accel Z : %.2f mg \t Mag Z : %.2f uT\r\n", accel_data.z, mag_data.z );
        
        log_printf( &logger, "-------------------------------------\r\n" );

        Delay_ms ( 800 );
    }
}

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.

---