• CIC Prefix : C6DOFIMU
• Author : Nenad Filipovic
• Verison : 1.0.0
• Date : Aug 2018.

We provide a library for the 6DOF IMU Click on our LibStock page, as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.

Library Description

The library covers all the necessary functions to control and read X-axis, Y-axis & Z-axis accel and gyro coordinates and temperatuer data from 6DOF IMU Click .

Key functions :

• void c6dofimu_readGyro( int16_t *gyroX, int16_t *gyroY, int16_t *gyroZ ) - Function read Gyro X-axis, Y-axis and Z-axis axis
• void c6dofimu_readAccel( int16_t *accelX, int16_t *accelY, int16_t *accelZ ) - Function read Accel X-axis, Y-axis and Z-axis
• float c6dofimu_readTemperature() - Function read temperature data

Examples Description

Description :

The application is composed of three sections :

• System Initialization - Initializes I2C, set INT pin as input.
• Application Initialization - Initialization driver enable's - I2C, initialize LSM6DS33 and start write log.
• Application Task - (code snippet) This is a example which demonstrates the use of 6DOF IMU Click board. Measured accel and gyro coordinates (X,Y,Z) and temperature in degrees C are being sent to the uart where you can track their changes. All data logs on usb uart for every 4 sec.

void applicationTask()
{
    c6dofimu_readAccel( &accelX, &accelY, &accelZ );
    Delay_1sec();
    c6dofimu_readGyro(  &gyroX,  &gyroY, &gyroZ );
    Delay_1sec();
    temperature = c6dofimu_readTemperature();
    Delay_1sec();

    mikrobus_logWrite( " Accel X :", _LOG_TEXT );
    IntToStr( accelX, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro X :", _LOG_TEXT );
    IntToStr( gyroX, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  *", _LOG_TEXT );
    mikrobus_logWrite( "*****************", _LOG_LINE );

    mikrobus_logWrite( " Accel Y :", _LOG_TEXT );
    IntToStr( accelY, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Y :", _LOG_TEXT );
    IntToStr( gyroY, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  *  ", _LOG_TEXT );
    mikrobus_logWrite( "Temp.:", _LOG_TEXT );
    IntToStr( temperature, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "° *  ", _LOG_LINE );

    mikrobus_logWrite( " Accel Z :", _LOG_TEXT );
    IntToStr( accelZ, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Z :", _LOG_TEXT );
    IntToStr( gyroZ, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  *", _LOG_TEXT );
    mikrobus_logWrite( "*****************", _LOG_LINE );

    mikrobus_logWrite("---------------------------------------------------------", _LOG_LINE);

    Delay_1sec();
}

The full application code, and ready to use projects can be found on our LibStock page.

Other mikroE Libraries used in the example:

• UART
• Conversions

Additional notes and informations

Depending on the development board you are using, you may need USB UART click, USB UART 2 Click or RS232 Click to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all Mikroelektronika compilers, or any other terminal application of your choice, can be used to read the message.