Intermediate
30 min
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Prosper in robotics, industrial automation, or vibration monitoring thanks to the ICM-42688-P and STM32F302VC

Precision in every move: Where innovation meets 6DoF technology

6DOF IMU 14 Click with Fusion for ARM v8

Published Oct 08, 2023

Click board™

6DOF IMU 14 Click

Development board

Fusion for ARM v8

Compiler

NECTO Studio

MCU

STM32F302VC

Experience a new level of immersion with our 6-axis motion tracking solution, which is engineered to deliver the most authentic and realistic experiences across various industries

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Hardware Overview

How does it work?

6DOF IMU 14 Click is based on the ICM-42688-P, high precision 6-axis MEMS motion tracking device from TDK InvenSense. It features a 2kB FIFO that can lower the traffic on the serial bus interface, and reduce power consumption by allowing the system processor to burst read sensor data, and then go into a low-power mode. It also supports external clock input for highly accurate 31kHz to 50kHz clock, which helps to reduce system-level sensitivity error and improve orientation measurement from gyroscope data. ICM-42688-P includes an industry-first 20-bits data format support in FIFO for high-data resolution. This FIFO format encapsulates 19-bits of gyroscope data and 18-bits of accelerometer data. This Click board™ includes a vibratory MEMS rate gyroscope that detects rotation about the X-, Y-, and Z- axes, and a 3-axis MEMS accelerometer. The full-scale range of the gyro sensors may be

digitally programmed from ±15.625 up to ±2000 degrees per second (DPS). The ICM-42688-P architecture reduces the accelerometer's sensitivity to fabrication variations as well as to thermal drift. When the device is placed on a flat surface, it will measure 0g on the X- and Y-axes and +1g on the Z-axis. The full-scale range of the digital output can be adjusted from ±2g, up to ±16g. The ICM-42688-P has a programmable interrupt system that can generate an interrupt signal. There are two interrupt outputs in which one of them represents frame synchronization input routed to the PWM pins on the mikroBUS™. An interrupt can be triggered while switching clock sources, when new data is available for reading (from the FIFO and data registers), during accelerometer events, FIFO watermark and overflow. 6DOF IMU 14 Click provides the possibility of using both I2C and SPI interfaces

with a maximum frequency of 1MHz for I2C and 25MHz for SPI communication. The selection can be done by positioning SMD jumpers labeled as COMM SEL to an appropriate position. Note that all the jumpers must be placed to the same side, or else the Click board™ may become unresponsive. While the I2C interface is selected, the ICM-42688-P allows the choice of the least significant bit (LSB) of its I2C slave address. This can be done by using the SMD jumper labeled as ADDR SEL. 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 14 Click top side image
6DOF IMU 14 Click bottom side image

Features overview

Development board

Fusion for ARM 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 ARM® Cortex®-M based 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, Fusion for ARM v8 provides a fluid and immersive working experience, allowing access anywhere and under any

circumstances at any time. Each part of the Fusion for ARM 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. Fusion for ARM 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.

Fusion for ARM v8 horizontal image

Microcontroller Overview

MCU Card / MCU

default

Type

8th Generation

Architecture

ARM Cortex-M4

MCU Memory (KB)

256

Silicon Vendor

STMicroelectronics

Pin count

100

RAM (Bytes)

40960

Used MCU Pins

mikroBUS™ mapper

NC
NC
AN
NC
NC
RST
SPI Chip Select
PE8
CS
SPI Clock
PA5
SCK
SPI Data OUT
PA6
MISO
SPI Data IN
PA7
MOSI
Power Supply
3.3V
3.3V
Ground
GND
GND
External sync
PF9
PWM
Interrupt
PE13
INT
NC
NC
TX
NC
NC
RX
I2C Clock
PA9
SCL
I2C Data
PA10
SDA
NC
NC
5V
Ground
GND
GND
1

Take a closer look

Schematic

6DOF IMU 14 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 Fusion for ARM 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 14 Click driver.

Key functions:

  • c6dofimu14_get_data - This function reads accel and gyro data for all three axis

  • c6dofimu14_get_temperature - This function reads the raw temperature data and converts it to Celsius

  • c6dofimu14_software_reset - This function performs the device software reset

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 main.c
 * @brief 6DOFIMU14 Click example
 *
 * # Description
 * This example demonstrates the use of 6DOF IMU 14 click board.
 *
 * The demo application is composed of two sections :
 *
 * ## Application Init
 * Initializes the driver and configures the click board.
 *
 * ## Application Task
 * Reads accel, gyro, and temperature data and displays the results 
 * on the USB UART approximately every 500ms.
 *
 * @note
 * In the case of I2C, the example doesn't work properly on some of the 8-bit PICs (ex. PIC18F97J94).
 * 
 * @author Stefan Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "c6dofimu14.h"

static c6dofimu14_t c6dofimu14;
static log_t logger;

void application_init ( void ) 
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu14_cfg_t c6dofimu14_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 );
    Delay_ms( 100 );
    log_info( &logger, " Application Init " );

    // Click initialization.

    c6dofimu14_cfg_setup( &c6dofimu14_cfg );
    C6DOFIMU14_MAP_MIKROBUS( c6dofimu14_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu14_init( &c6dofimu14, &c6dofimu14_cfg );
    if ( ( init_flag == I2C_MASTER_ERROR ) || ( init_flag == SPI_MASTER_ERROR ) ) 
    {
        log_error( &logger, " Application Init Error. " );
        log_info( &logger, " Please, run program again... " );

        for ( ; ; );
    }
    Delay_ms( 100 );

    if ( c6dofimu14_default_cfg ( &c6dofimu14 ) != C6DOFIMU14_OK ) 
    {
        log_error( &logger, " Default Config Error. " );
        log_info( &logger, " Please, run program again... " );

        for ( ; ; );
    }
    Delay_ms( 100 );
    
    log_info( &logger, " Application Task " );
}

void application_task ( void ) 
{
    float temperature;
    c6dofimu14_axis_t accel;
    c6dofimu14_axis_t gyro;
    
    c6dofimu14_get_data( &c6dofimu14, &accel, &gyro );
    c6dofimu14_get_temperature( &c6dofimu14, &temperature );
        
    log_printf( &logger, " Accel X: %d | Gyro X: %d\r\n", accel.x, gyro.x );
    log_printf( &logger, " Accel Y: %d | Gyro Y: %d\r\n", accel.y, gyro.y );
    log_printf( &logger, " Accel Z: %d | Gyro Z: %d\r\n", accel.z, gyro.z );
    log_printf( &logger, " Temperature: %.2f C\r\n", temperature );
    log_printf( &logger, "----------------------------------\r\n");
        
    Delay_ms( 500 );
}

void main ( void ) 
{
    application_init( );

    for ( ; ; ) 
    {
        application_task( );
    }
}

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

Additional Support

Resources