30 min

Revolutionize the way you track movement with FXOS8700CQ and STM32F405RG

Your path to seamless motion tracking

6DOF IMU 3 Click with UNI-DS v8

Published 9月 12, 2023

Click board™

6DOF IMU 3 Click

Dev Board



NECTO Studio



Our 6DOF IMU solution empowers you to achieve precise motion and position tracking, opening doors to seamless navigation in various applications



Hardware Overview

How does it work?

6DOF IMU 3 Click is based on the FXOS8700CQ, a small, low-power, 3-axis, linear accelerometer and 3-axis magnetometer combined into a single package from NXP Semiconductor. The device features a selectable I2C or point-to-point SPI serial interface with a 14-bit accelerometer and 16-bit magnetometer ADC resolution and smart-embedded functions. The FXOS8700CQ has dynamically selectable acceleration full-scale ranges of ±2 g/±4 g/±8 g and a fixed magnetic measurement range of ±1200 μT. For each sensor, the user selects output data rates (ODR) from 1.563Hz to 800Hz. Interleaved magnetic and acceleration data is available at ODR rates up to 400Hz. The sensor's sensitivity is represented in mg/LSB for the accelerometer and μT/LSB for the magnetometer. The magnetometer sensitivity is

fixed at 0.1 μT/LSB. The accelerometer sensitivity changes with the full-scale range selected by the user. Accelerometer sensitivity is 0.244 mg/LSB in 2 g mode, 0.488 mg/LSB in 4 g mode, and 0.976 mg/LSB in 8 g mode, making it ideal for applications such as used for security, like motion detection, door opening, smart home applications, robotics and unmanned aerial vehicles (UAVs) with electronic compass (e-compass) function, in medical purposes, like patient monitoring, fall detection and more. 6DOF IMU 3 Click supports both SPI and I2C communication interfaces, allowing it to be used with various MCUs. The communication interface can be selected by moving SMD jumpers grouped under the COM SEL to an appropriate position (SPI or I2C). The slave I2C address can also be configured by an

SMD jumper when the Click board™ is operated in the I2C mode. An SMD jumper labeled ADDR SEL sets the least significant bit (LSB) of the I2C address. The I2C interface complies with fast mode (400 kHz) and normal mode (100 kHz) I2C standards, while the SPI interface is a classical Host/Peripheral serial port. The FXOS8700CQ is always considered as the peripheral and thus is never initiating the communication. 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. Also, it comes equipped with a library containing functions and an example code that can be used as a reference for further development.

6DOF IMU 3 Click top side image
6DOF IMU 3 Click bottom side image

Features overview

Development board

UNI-DS v8 is a development board specially designed for the needs of rapid development of embedded applications. It supports a wide range of microcontrollers, such as different STM32, Kinetis, TIVA, CEC, MSP, PIC, dsPIC, PIC32, and AVR MCUs regardless of their number of pins, and a broad set of unique functions, such as the first-ever embedded debugger/programmer over WiFi. The development board is well organized and designed so that the end-user has all the necessary elements, such as switches, buttons, indicators, connectors, and others, in one place. Thanks to innovative manufacturing technology, UNI-DS v8 provides a fluid and immersive working experience, allowing access anywhere and under any

circumstances at any time. Each part of the UNI-DS v8 development board contains the components necessary for the most efficient operation of the same board. An advanced integrated CODEGRIP programmer/debugger module offers many valuable programming/debugging options, including support for JTAG, SWD, and SWO Trace (Single Wire Output)), and seamless integration with the Mikroe software environment. Besides, it also includes a clean and regulated power supply module for the development board. It can use a wide range of external power sources, including a battery, an external 12V power supply, and a power source via the USB Type-C (USB-C) connector. Communication options such as USB-UART, USB

HOST/DEVICE, CAN (on the MCU card, if supported), and Ethernet is also included. In addition, it also has the well-established mikroBUS™ standard, a standardized socket for the MCU card (SiBRAIN standard), and two display options for the TFT board line of products and character-based LCD. UNI-DS v8 is an integral part of the Mikroe ecosystem for rapid development. Natively supported by Mikroe software tools, it covers many aspects of prototyping and development thanks to a considerable number of different Click boards™ (over a thousand boards), the number of which is growing every day.

UNI-DS v8 horizontal image

Microcontroller Overview

MCU Card / MCU



8th Generation


ARM Cortex-M4

MCU Memory (KB)


Silicon Vendor


Pin count


RAM (Bytes)


Used MCU Pins

mikroBUS™ mapper

SPI Chip Select
SPI Clock
Power Supply
I2C Clock
I2C Data

Take a closer look


6DOF IMU 3 Click Schematic schematic

Step by step

Project assembly

Fusion for PIC v8 front image hardware assembly

Start by selecting your development board and Click board™. Begin with the UNI-DS v8 as your development board.

Fusion for PIC v8 front image hardware assembly
Buck 22 Click front image hardware assembly
SiBRAIN for PIC32MZ1024EFK144 front image hardware assembly
v8 SiBRAIN MB 1 - upright/background hardware assembly
Necto image step 2 hardware assembly
Necto image step 3 hardware assembly
Necto image step 4 hardware assembly
NECTO Compiler Selection Step Image hardware assembly
NECTO Output Selection Step Image hardware assembly
Necto image step 6 hardware assembly
Necto image step 7 hardware assembly
Necto image step 8 hardware assembly
Necto image step 9 hardware assembly
Necto image step 10 hardware assembly
Necto PreFlash Image hardware assembly

Track your results in real time

Application Output

After pressing the "FLASH" button on the left-side panel, it is necessary to open the UART terminal to display the achieved results. By clicking on the Tools icon in the right-hand panel, multiple different functions are displayed, among which is the UART Terminal. Click on the offered "UART Terminal" icon.

UART Application Output Step 1

Once the UART terminal is opened, the window takes on a new form. At the top of the tab are two buttons, one for adjusting the parameters of the UART terminal and the other for connecting the UART terminal. The tab's lower part is reserved for displaying the achieved results. Before connecting, the terminal has a Disconnected status, indicating that the terminal is not yet active. Before connecting, it is necessary to check the set parameters of the UART terminal. Click on the "OPTIONS" button.

UART Application Output Step 2

In the newly opened UART Terminal Options field, we check if the terminal settings are correct, such as the set port and the Baud rate of UART communication. If the data is not displayed properly, it is possible that the Baud rate value is not set correctly and needs to be adjusted to 115200. If all the parameters are set correctly, click on "CONFIGURE".

UART Application Output Step 3

The next step is to click on the "CONNECT" button, after which the terminal status changes from Disconnected to Connected in green, and the data is displayed in the Received data field.

UART Application Output Step 4

Software Support

Library Description

This library contains API for 6DOF IMU 3 Click driver.

Key functions:

  • c6dofimu3_check_id - 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.

  • c6dofimu3_read_mag_data - 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.

  • c6dofimu3_read_accel_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.

Open Source

Code example

This example can be found in NECTO Studio. Feel free to download the code, or you can copy the code below.

 * \file 
 * \brief 6Dofimu3 Click example
 * # Description
 * This example demonstrates the use of 6DOF IMU 3 click board.
 * The demo application is composed of two sections :
 * ## Application Init 
 * Initializes the driver and sets the device default configuration.
 * ## Application Task  
 * Measures acceleration and magnetometer data and displays the results on USB UART each second.
 * \author MikroE Team
// ------------------------------------------------------------------- INCLUDES

#include "board.h"
#include "log.h"
#include "c6dofimu3.h"

// ------------------------------------------------------------------ VARIABLES

static c6dofimu3_t c6dofimu3;
static log_t logger;

c6dofimu3_accel_t accel_data;
c6dofimu3_mag_t mag_data;

// ------------------------------------------------------ APPLICATION FUNCTIONS

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_init( &c6dofimu3, &cfg );

    c6dofimu3_default_cfg( &c6dofimu3 );
    Delay_ms( 100 );

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 );

void main ( void )
    application_init( );

    for ( ; ; )
        application_task( );

// ------------------------------------------------------------------------ END

Additional Support