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6DOF IMU 21 Click is a compact add-on board perfect for applications requiring accurate orientation and movement detection. This board features the WSEN-ISDS (2536030320001) sensor from Würth Elektronik, which integrates 3-axis acceleration and gyroscope sensors using advanced MEMS-based capacitive sensing technology. It offers a fully calibrated 16-bit digital output, with acceleration ranges from ±2g to ±16g and gyroscope ranges from ±125dps to ±2000dps, alongside a high output data rate of up to 6.6kHz for seamless movement tracking. Additionally, an embedded temperature sensor provides environmental monitoring capabilities.
- Author : Stefan Ilic
- Date : Dec 2023.
- Type : I2C/SPI type
We provide a library for the 6DOF IMU 21 Click as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.
Package can be downloaded/installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.
This library contains API for 6DOF IMU 21 Click driver.
c6dofimu21_cfg_setup
Config Object Initialization function.
void c6dofimu21_cfg_setup ( c6dofimu21_cfg_t *cfg );
c6dofimu21_init
Initialization function.
err_t c6dofimu21_init ( c6dofimu21_t *ctx, c6dofimu21_cfg_t *cfg );
c6dofimu21_default_cfg
Click Default Configuration function.
err_t c6dofimu21_default_cfg ( c6dofimu21_t *ctx );
c6dofimu21_software_reset
This function performs the device software reset.
err_t c6dofimu21_software_reset ( c6dofimu21_t *ctx );
c6dofimu21_read_accel_data
This function reads the accelerometer of X, Y, and Z axis relative to standard gravity (mg).
err_t c6dofimu21_read_accel_data ( c6dofimu21_t *ctx, c6dofimu21_data_t *accel_data );
c6dofimu21_read_gyro_data
This function reads the angular rate of X, Y, and Z axis in degrees per second (mdps).
err_t c6dofimu21_read_gyro_data ( c6dofimu21_t *ctx, c6dofimu21_data_t *gyro_data );
This example demonstrates the use of 6DOF IMU 21 click board by reading and displaying the accelerometer and gyroscope data (X, Y, and Z axis).
The demo application is composed of two sections :
Initializes the driver performs the click default configuration, and checks communication by reading device ID.
void application_init ( void )
{
log_cfg_t log_cfg; /**< Logger config object. */
c6dofimu21_cfg_t c6dofimu21_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.
c6dofimu21_cfg_setup( &c6dofimu21_cfg );
C6DOFIMU21_MAP_MIKROBUS( c6dofimu21_cfg, MIKROBUS_1 );
err_t init_flag = c6dofimu21_init( &c6dofimu21, &c6dofimu21_cfg );
if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
if ( C6DOFIMU21_ERROR == c6dofimu21_default_cfg ( &c6dofimu21 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
uint8_t dev_id = 0;
c6dofimu21_generic_read( &c6dofimu21, C6DOFIMU21_REG_DEVICE_ID, &dev_id, 1 );
if ( C6DOFIMU21_DEVICE_ID != dev_id )
{
log_error( &logger, " Communication error " );
}
log_printf( &logger, " Device ID: 0x%.2X \r\n", ( uint16_t ) dev_id );
log_info( &logger, " Application Task " );
}
Reading the accelerometer and gyroscope measurements, results are displayed on the USB UART every second.
void application_task ( void )
{
c6dofimu21_data_t accel_data;
c6dofimu21_data_t gyro_data;
c6dofimu21_read_accel_data( &c6dofimu21, &accel_data );
c6dofimu21_read_gyro_data( &c6dofimu21, &gyro_data );
log_printf( &logger, " Accel data | Gyro data \r\n" );
log_printf( &logger, " X: %.2f mg | %.2f mdps \r\n", accel_data.x_data, gyro_data.x_data );
log_printf( &logger, " Y: %.2f mg | %.2f mdps \r\n", accel_data.y_data, gyro_data.y_data );
log_printf( &logger, " Z: %.2f mg | %.2f mdps \r\n", accel_data.z_data, gyro_data.z_data );
Delay_ms ( 1000 );
}
The full application code, and ready to use projects can be installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.
Other Mikroe Libraries used in the example:
- MikroSDK.Board
- MikroSDK.Log
- Click.C6DOFIMU21
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. UART terminal is available in all MikroElektronika compilers.