Unlock a realm of possibilities with our 9DOF low-power solution, where motion and magnetometer capabilities unite to redefine what's achievable in efficiency-driven applications without sacrificing the accuracy you demand
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Hardware Overview
How does it work?
9DOF 2 Click is based on the ICM-20948, a high performance, 9-axis MotionTracking™ IC from TDK Invensense. ICM-20948 also supports an auxiliary I2C interface to external sensors, which offers greater system flexibility. The output of each MEMS is processed and digitized by a separate sigma-delta 16-bit A/D converter (ADC). Three-axis gyroscope MEMS can be programmed to measure the rotation about each axis in four different ranges of rotational speed (degrees per angle, DPS): ±250, ±500, ±1000, and ±2000. Three-axis accelerometer MEMS can be programmed to measure the acceleration along each axis in four different acceleration ranges: ±2g, ±4g, ±8g, and ±16g. Three-axis magnetometer can do a full-scale measurement of ±4900 µT. Interrupt functionality is configured via the Interrupt Configuration register. Configurable items include the INT
pin configuration, the interrupt latching and clearing method, and triggers for the interrupt. The interrupt is routed to the INT pin of the mikroBUS™. A FIFO buffer helps to reduce the processing load further, offering temporary storage for the output data. The ICM-20948 contains a FIFO of size 512 bytes (FIFO size will vary depending on the DMP feature-set) accessible via the Serial Interface. The FIFO configuration register determines which data is written into the FIFO. Possible choices include gyro data, accelerometer data, temperature readings, auxiliary sensor readings, and FSYNC input. Synchronization with an external digital signal is possible over the FSYNC pin. This pin is routed to the PWM pin of the mikroBUS™, labeled as SNC. The embedded Digital Motion Processor (DMP) within the ICM-20948 offloads computation of
motion processing algorithms from the host processor. The DMP acquires data from accelerometers, gyroscopes, and additional third-party sensors such as magnetometers and processes the data. The resulting data can be read from the FIFO. The DMP has access to the external pins, which can be used for generating interrupts. ICM-20948 supports SPI and I2C communication interfaces, but only the SPI interface is used on the 9DOF 2 Click. The TXB0108 bidirectional voltage level translator converts the voltage level between ICM-20948 and 3.3V MCU. This Click Board™ uses only the SPI communication interface. It is designed to be operated only with 3.3V logic levels. A proper logic voltage level conversion should be performed before the Click board™ is used with MCUs with logic levels of 5V.
Features overview
Development board
EasyPIC PRO v8 is a development board specially designed for the needs of rapid development of embedded applications. It supports many high pin count 8-bit PIC microcontrollers from Microchip, 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, EasyPIC PRO v8 provides a fluid and immersive working experience, allowing access anywhere and under
any circumstances at any time. Each part of the EasyPIC PRO v8 development board contains the components necessary for the most efficient operation of the same board. In addition to the advanced integrated CODEGRIP programmer/debugger module, which offers many valuable programming/debugging options and seamless integration with the Mikroe software environment, the board 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 DEVICE, and Ethernet are also included, including the well-established mikroBUS™ standard, a standardized socket for the MCU card (SiBRAIN standard), and two display options (graphical and character-based LCD). EasyPIC PRO 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.
Microcontroller Overview
MCU Card / MCU
Type
8th Generation
Architecture
PIC
MCU Memory (KB)
96
Silicon Vendor
Microchip
Pin count
80
RAM (Bytes)
3936
Used MCU Pins
mikroBUS™ mapper
Take a closer look
Schematic
Step by step
Project assembly
Track your results in real time
Application Output via UART Mode
1. Once the code example is loaded, pressing the "FLASH" button initiates the build process, and programs it on the created setup.
2. After the programming is completed, click on the Tools icon in the upper-right panel, and select the UART Terminal.
3. After opening the UART Terminal tab, first check the baud rate setting in the Options menu (default is 115200). If this parameter is correct, activate the terminal by clicking the "CONNECT" button.
4. Now terminal status changes from Disconnected to Connected in green, and the data is displayed in the Received data field.
Software Support
Library Description
This library contains API for 9DOF 2 Click driver.
Key functions:
c9dof2_power
- Turns the device on or offc9dof2_read_gyroscope
- This function is used to read gyroscope datac9dof2_read_accelerometer
- This function is used to read accelerometer data
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 9dof2 Click example
*
* # Description
* This example demonstrates the use of 9DOF 2 Click board.
*
* The demo application is composed of two sections :
*
* ## Application Init
* Initalizes SPI and device drivers, performs safety check,
* applies default configuration and writes an initial log.
*
* ## Application Task
* Reads the angular and acceleration rates and displays the values of X, Y, and Z axis
* on the USB UART each second.
*
* \author MikroE Team
*
*/
// ------------------------------------------------------------------- INCLUDES
#include "board.h"
#include "log.h"
#include "c9dof2.h"
// ------------------------------------------------------------------ VARIABLES
static c9dof2_t c9dof2;
static log_t logger;
uint8_t id_val;
float x_accel;
float y_accel;
float z_accel;
float x_gyro;
float y_gyro;
float z_gyro;
// ------------------------------------------------------ APPLICATION FUNCTIONS
void application_init ( void )
{
log_cfg_t log_cfg;
c9dof2_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.
c9dof2_cfg_setup( &cfg );
C9DOF2_MAP_MIKROBUS( cfg, MIKROBUS_1 );
c9dof2_init( &c9dof2, &cfg );
c9dof2_dev_rst( &c9dof2 );
Delay_ms( 1000 );
id_val = c9dof2_read_byte ( &c9dof2, C9DOF2_WHO_AM_I_ICM20948 );
if ( id_val == C9DOF2_WHO_AM_I_ICM20948_VAL )
{
log_printf( &logger, "--------------------\r\n" );
log_printf( &logger, " 9DOF 2 click \r\n" );
log_printf( &logger, "--------------------\r\n" );
c9dof2_power ( &c9dof2, C9DOF2_POWER_ON );
}
else
{
log_printf( &logger, "--------------------\r\n" );
log_printf( &logger, " FATAL ERROR!!! \r\n" );
log_printf( &logger, "--------------------\r\n" );
for ( ; ; );
}
c9dof2_def_settings( &c9dof2 );
log_printf( &logger, "--- Initialised ---\r\n" );
log_printf( &logger, "--------------------\r\n" );
Delay_ms( 1000 );
}
void application_task ( void )
{
// Task implementation.
c9dof2_angular_rate( &c9dof2, &x_gyro, &y_gyro, &z_gyro );
log_printf( &logger, "Angular rate: \r\n" );
log_printf( &logger, "X-axis: %.2f \r\n", x_gyro );
log_printf( &logger, "Y-axis: %.2f \r\n", y_gyro );
log_printf( &logger, "Z-axis: %.2f \r\n", z_gyro );
log_printf( &logger, "---------------------\r\n" );
c9dof2_acceleration_rate( &c9dof2, &x_accel, &y_accel, &z_accel );
log_printf( &logger, "Acceleration rate: \r\n" );
log_printf( &logger, "X-axis: %.2f \r\n", x_accel );
log_printf( &logger, "Y-axis: %.2f \r\n", y_accel );
log_printf( &logger, "Z-axis: %.2f \r\n", z_accel );
log_printf( &logger, "---------------------\r\n" );
Delay_ms( 1000 );
}
void main ( void )
{
application_init( );
for ( ; ; )
{
application_task( );
}
}
// ------------------------------------------------------------------------ END