Detect motion, shock, and gestures with a 6-axis IMU, the LSM6DSV320X and STM32G474RE
Intelligent 6-axis IMU with machine learning core for smart motion and shock detection
Published Oct 21, 2025
Click board™
6DOF IMU 28 Click
Dev. board
Nucleo 64 with STM32G474RE MCU
Compiler
NECTO Studio
MCU
STM32G474RE
Low-power 6-axis motion sensing with embedded intelligence for high-g shock detection and advanced event processing
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Hardware Overview
How does it work?
6DOF IMU 28 Click is based on the LSM6DSV320X, a 6-axis IMU that combines a low-g and high-g accelerometer with a digital gyroscope and advanced embedded intelligence from STMicroelectronics. This sensor integrates a 3-axis digital low-g accelerometer up to ±16g, a 3-axis digital high-g accelerometer up to ±320g, and a 3-axis digital gyroscope, forming a unique quad-channel architecture that processes acceleration and angular rate data on four separate channels: user interface, optical image stabilization (OIS), electronic image stabilization (EIS), and high-g accelerometer data – each with its own configuration, processing, and filtering. By embedding a dedicated high-g sensor channel, the LSM6DSV320X enables high-g shock and impact detection, making it ideal for car crash detection, concussion monitoring, and extreme sports applications. The LSM6DSV320X pushes edge computing further with its integrated finite state machine (FSM) and machine learning core (MLC), which allow configurable motion tracking, context awareness, and exportable AI features without relying on the host processor. Its adaptive self-configuration (ASC) feature dynamically reconfigures the device in real time based on detected motion patterns or decision tree outputs from the MLC, enhancing responsiveness and lowering power consumption for IoT and wearable designs. This combination of high-resolution sensing, embedded intelligence, and dedicated high-g detection opens up a broad range of applications, including IoT and connected devices, asset tracking, smartphones and handhelds, car
crash and shock detection, wearables, gesture recognition and motion tracking, augmented/virtual/mixed reality experiences, indoor navigation, vibration monitoring and compensation, as well as advanced camera stabilization for EIS and OIS. This Click board™ is designed in a unique format supporting the newly introduced MIKROE feature called "Click Snap." Unlike the standardized version of Click boards, this feature allows the main sensor/IC/module area to become movable by breaking the PCB, opening up many new possibilities for implementation. Thanks to the Snap feature, the LSM6DSV320X can operate autonomously by accessing its signals directly on the pins marked 1-8. Additionally, the Snap part includes a specified and fixed screw hole position, enabling users to secure the Snap board in their desired location. This board supports communication with the host MCU through either SPI (maximum clock frequency of 10MHz) or I2C (maximum clock frequency of 1MHz) interfaces, with I2C being the default option. The communication interface is selected by adjusting the COMM SEL jumper to the desired position. To enhance flexibility, particularly with the detachable Snap section of the Click Snap format, an additional COMM SEL jumpers are available. These jumpers functions the same as the COMM SEL, allowing for independent communication interface selection when the Snap section is used independently. To ensure proper functionality, all COMM jumpers must be set to the same interface. For those using the I2C interface, the board also provides an ADDR SEL jumper, enabling users to
configure the I2C address as needed for their specific application. The LSM6DSV320X enhances intelligent motion sensing with its dual event-detection interrupt pins (IN1 and IN2), enabling recognition of a wide range of movement and its J1 header, allowing the LSM6DSV320X to context-awareness events such as free-fall detection, 6D orientation, single and double-click actions, activity or inactivity status, stationary or motion detection, and wake-up triggers. This Click board™ also provides hardware flexibility through connect to external sensors and expand its functionality by adding features such as a sensor hub, auxiliary SPI, and more. In this configuration, the board supports the use of either auxiliary I3C or auxiliary SPI (3- or 4-wire) for transferring measured acceleration and angular rate data. Within the Snap section, an AUX SEL jumper is available to select the auxiliary interface data and clock signals, automatically routing the appropriate lines depending on whether the auxiliary SPI or I3C interface is active. The OCS pin on the J1 header serves as the auxiliary interface selector: when driven high, the pin places the auxiliary SPI in idle mode and enables the I3C interface, while when driven low, it activates auxiliary SPI communication and disables the I3C interface. This Click board™ can be operated only with a 3.3V logic voltage level. The board must perform appropriate logic voltage level conversion before using MCUs with different logic levels. It also comes equipped with a library containing functions and example code that can be used as a reference for further development.
Features overview
Development board
Nucleo-64 with STM32G474R MCU offers a cost-effective and adaptable platform for developers to explore new ideas and prototype their designs. This board harnesses the versatility of the STM32 microcontroller, enabling users to select the optimal balance of performance and power consumption for their projects. It accommodates the STM32 microcontroller in the LQFP64 package and includes essential components such as a user LED, which doubles as an ARDUINO® signal, alongside user and reset push-buttons, and a 32.768kHz crystal oscillator for precise timing operations. Designed with expansion and flexibility in mind, the Nucleo-64 board features an ARDUINO® Uno V3 expansion connector and ST morpho extension pin
headers, granting complete access to the STM32's I/Os for comprehensive project integration. Power supply options are adaptable, supporting ST-LINK USB VBUS or external power sources, ensuring adaptability in various development environments. The board also has an on-board ST-LINK debugger/programmer with USB re-enumeration capability, simplifying the programming and debugging process. Moreover, the board is designed to simplify advanced development with its external SMPS for efficient Vcore logic supply, support for USB Device full speed or USB SNK/UFP full speed, and built-in cryptographic features, enhancing both the power efficiency and security of projects. Additional connectivity is
provided through dedicated connectors for external SMPS experimentation, a USB connector for the ST-LINK, and a MIPI® debug connector, expanding the possibilities for hardware interfacing and experimentation. Developers will find extensive support through comprehensive free software libraries and examples, courtesy of the STM32Cube MCU Package. This, combined with compatibility with a wide array of Integrated Development Environments (IDEs), including IAR Embedded Workbench®, MDK-ARM, and STM32CubeIDE, ensures a smooth and efficient development experience, allowing users to fully leverage the capabilities of the Nucleo-64 board in their projects.
Microcontroller Overview
MCU Card / MCU
Architecture
ARM Cortex-M4
MCU Memory (KB)
512
Silicon Vendor
STMicroelectronics
Pin count
64
RAM (Bytes)
128k
You complete me!
Accessories
Click Shield for Nucleo-64 comes equipped with two proprietary mikroBUS™ sockets, allowing all the Click board™ devices to be interfaced with the STM32 Nucleo-64 board with no effort. This way, Mikroe allows its users to add any functionality from our ever-growing range of Click boards™, such as WiFi, GSM, GPS, Bluetooth, ZigBee, environmental sensors, LEDs, speech recognition, motor control, movement sensors, and many more. More than 1537 Click boards™, which can be stacked and integrated, are at your disposal. The STM32 Nucleo-64 boards are based on the microcontrollers in 64-pin packages, a 32-bit MCU with an ARM Cortex M4 processor operating at 84MHz, 512Kb Flash, and 96KB SRAM, divided into two regions where the top section represents the ST-Link/V2 debugger and programmer while the bottom section of the board is an actual development board. These boards are controlled and powered conveniently through a USB connection to program and efficiently debug the Nucleo-64 board out of the box, with an additional USB cable connected to the USB mini port on the board. Most of the STM32 microcontroller pins are brought to the IO pins on the left and right edge of the board, which are then connected to two existing mikroBUS™ sockets. This Click Shield also has several switches that perform functions such as selecting the logic levels of analog signals on mikroBUS™ sockets and selecting logic voltage levels of the mikroBUS™ sockets themselves. Besides, the user is offered the possibility of using any Click board™ with the help of existing bidirectional level-shifting voltage translators, regardless of whether the Click board™ operates at a 3.3V or 5V logic voltage level. Once you connect the STM32 Nucleo-64 board with our Click Shield for Nucleo-64, you can access hundreds of Click boards™, working with 3.3V or 5V logic voltage levels.
Used MCU Pins
mikroBUS™ mapper
Take a closer look
Click board™ Schematic
Step by step
Project assembly
Start by selecting your development board and Click board™. Begin with the Nucleo 64 with STM32G474RE MCU as your development board.
Software Support
Library Description
6DOF IMU 28 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.
Example Description
This example demonstrates the use of 6DOF IMU 28 Click board by reading and displaying the accelerometer and gyroscope data (X, Y, and Z axis) as well as a temperature measurement in degrees Celsius.
Key functions:
c6dofimu28_cfg_setup- This function initializes Click configuration structure to initial values.c6dofimu28_init- This function initializes all necessary pins and peripherals used for this Click board.c6dofimu28_default_cfg- This function executes a default configuration of 6DOF IMU 28 Click board.c6dofimu28_get_int1_pin- This function returns the interrupt 1 pin logic state.c6dofimu28_get_data- This function reads the accelerometer, gyroscope, and temperature measurement data.
Application Init
Initializes the driver and performs the Click default configuration.
Application Task
Waits for a data ready indication and then reads the accelerometer, gyroscope, and temperature measurements. The results are displayed on the USB UART at 7.5 Hz output data rate.
Open Source
Code example
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.
/*!
* @file main.c
* @brief 6DOF IMU 28 Click example
*
* # Description
* This example demonstrates the use of 6DOF IMU 28 Click board by reading and displaying
* the accelerometer and gyroscope data (X, Y, and Z axis) as well as a temperature measurement
* in degrees Celsius.
*
* The demo application is composed of two sections :
*
* ## Application Init
* Initializes the driver and performs the Click default configuration.
*
* ## Application Task
* Waits for a data ready indication and then reads the accelerometer, gyroscope, and temperature
* measurements. The results are displayed on the USB UART at 7.5 Hz output data rate.
*
* @author Stefan Filipovic
*
*/
#include "board.h"
#include "log.h"
#include "c6dofimu28.h"
static c6dofimu28_t c6dofimu28;
static log_t logger;
void application_init ( void )
{
log_cfg_t log_cfg; /**< Logger config object. */
c6dofimu28_cfg_t c6dofimu28_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.
c6dofimu28_cfg_setup( &c6dofimu28_cfg );
C6DOFIMU28_MAP_MIKROBUS( c6dofimu28_cfg, MIKROBUS_1 );
err_t init_flag = c6dofimu28_init( &c6dofimu28, &c6dofimu28_cfg );
if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
{
log_error( &logger, " Communication init." );
for ( ; ; );
}
if ( C6DOFIMU28_ERROR == c6dofimu28_default_cfg ( &c6dofimu28 ) )
{
log_error( &logger, " Default configuration." );
for ( ; ; );
}
log_info( &logger, " Application Task " );
}
void application_task ( void )
{
c6dofimu28_data_t meas_data;
if ( c6dofimu28_get_int1_pin ( &c6dofimu28 ) )
{
if ( C6DOFIMU28_OK == c6dofimu28_get_data ( &c6dofimu28, &meas_data ) )
{
log_printf( &logger, " Accel X: %.3f g\r\n", meas_data.accel.x );
log_printf( &logger, " Accel Y: %.3f g\r\n", meas_data.accel.y );
log_printf( &logger, " Accel Z: %.3f g\r\n", meas_data.accel.z );
log_printf( &logger, " Gyro X: %.1f dps\r\n", meas_data.gyro.x );
log_printf( &logger, " Gyro Y: %.1f dps\r\n", meas_data.gyro.y );
log_printf( &logger, " Gyro Z: %.1f dps\r\n", meas_data.gyro.z );
log_printf( &logger, " Temperature: %.2f degC\r\n\n", meas_data.temperature );
}
}
}
int main ( void )
{
/* Do not remove this line or clock might not be set correctly. */
#ifdef PREINIT_SUPPORTED
preinit();
#endif
application_init( );
for ( ; ; )
{
application_task( );
}
return 0;
}
// ------------------------------------------------------------------------ END
Additional Support
Resources
Category:Motion
