10 min

Embark on a journey of motion mastery with ISM330IS and PIC32MZ2048EFH144

Open the door to limitless possibilities in motion sensing and processing

Smart DOF 3 Click with Fusion for PIC32 v8

Published Nov 12, 2023

Click board™

Smart DOF 3 Click

Development board

Fusion for PIC32 v8


NECTO Studio



Revolutionize motion insights with our cutting-edge solution, blending the always-on 3-axis accelerometer and 3-axis gyroscope. This dynamic duo, enhanced by Intelligent Sensor Processing, delivers unparalleled accuracy, enabling a seamless understanding of movement for diverse applications.



Hardware Overview

How does it work?

Smart DOF 3 Click is based on the ISM330IS, an iNEMO inertial module from STMicroelectronics. There are three modes of operation in which both the accelerometer and gyroscope can be turned on/off independently of each other and are allowed to have different ODRs and power modes. It has a full-scale 3-axis selectable acceleration in a range of ±2/±4/±8/±16g. There are also self-test modes, both angular and linear, for acceleration. The 3-axis gyroscope comes in a selectable full-scale rate range of ±125/±250/±500/±1000/±2000dps. In addition to those two sensors, the third one is an embedded temperature sensor, whose values are used for calibration purposes. The ISPU core executes signal processing and AI algorithms on edge, and its main benefits are C programming and an enhanced ecosystem with libraries and third-party tools/IDE. The ISPU has 32KB of program RAM, 8KB of data RAM, and an FPU supporting addition, subtraction, and multiplication. It also features programmable interrupts and an embedded

sensor hub, which, besides an accelerometer and gyroscope, includes four more external sensors that can be connected directly to the ISM330IS and its internal master I2C lines. This I2C interface can connect over the 5-pin top header, which includes master SDA, SCL, and Ready pins (MSDA, MSCL, MRDY). To use this I2C interface, you must set all three MI2C SEL jumpers in the ON position (OFF set by default). Smart DOF 3 Click can communicate with the host MCU by selecting one between the I2C and SPI interfaces over the COMM SEL jumper, where the I2C is selected by default. All four jumpers must be set into the appropriate position for this Click board™ to work properly. The standard 2-Wire I2C interface supports fast mode (400KHz) and fast mode plus (1MHz) clock frequencies. The I2C address can be selected over the ADDR SEL jumper, where 0 is set by default. If your choice is the SPI, this Click board™ supports both 3- and 4-Wire SPI serial interfaces with clock frequencies up to 100MHz. This Click board™ can be reset over the RST pin.

There are also two programmable interrupt pins, IT1 and IT2. The IT2 is a shared pin with the master I2C interface, so this interrupt pin will not be available if you use an external sensor. You can assign one of the interrupts to a different sensor so you know which sensor detected the movement. Depending on the usage of the ISM330IS, there are two mode connections. Both Mode 1 and Mode 2 can work in all supported types of communication between the IC and the host MCU. Mode 1 is when only this IC and the host MCU are in a communication connection. Mode 2 is the scene where, in addition to the Mode 1 connection, there are external sensors connected over the master I2C to the ISM330IS. 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.

Smart DOF 3 Click hardware overview image

Features overview

Development board

Fusion for PIC32 v8 is a development board specially designed for the needs of rapid development of embedded applications. It supports a wide range of Microchip's PIC32 microcontrollers 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 PIC32 v8 provides a fluid and immersive working experience, allowing access anywhere and under any circumstances at any time. Each part of the

Fusion for PIC32 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 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 PIC32 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 PIC32 v8 horizontal image

Microcontroller Overview

MCU Card / MCU



8th Generation



MCU Memory (KB)


Silicon Vendor


Pin count


RAM (Bytes)


Used MCU Pins

mikroBUS™ mapper

Interrupt 2
SPI Chip Select
SPI Clock
Power Supply
Interrupt 1
I2C Clock
I2C Data

Take a closer look


Smart DOF 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 Fusion for PIC32 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 Smart DOF 3 Click driver.

Key functions:

  • smartdof3_get_acc_axis - Smart DOF 3 get the accel sensor axes function.

  • smartdof3_get_gyro_axis - Smart DOF 3 get the gyro sensor axes function.

  • smartdof3_get_temperature - Smart DOF 3 get the temperature function.

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 Smart DOF 3 Click example
 * # Description
 * This library contains API for Smart DOF 3 Click driver.
 * The library initializes and defines the I2C and SPI bus drivers to 
 * write and read data from registers, as well as the default 
 * configuration for reading accelerator and gyroscope data.
 * The demo application is composed of two sections :
 * ## Application Init
 * The initialization of I2C or SPI module, log UART, and additional pins.
 * After the driver init, the app executes a default configuration.
 * ## Application Task
 * This example demonstrates the use of the Smart DOF 3 Click board™.
 * Measures and displays acceleration and gyroscope data for X-axis, Y-axis, and Z-axis.
 * Results are being sent to the UART Terminal, where you can track their changes.
 * @author Nenad Filipovic

#include "board.h"
#include "log.h"
#include "smartdof3.h"

static smartdof3_t smartdof3;
static log_t logger;

void application_init ( void )
    log_cfg_t log_cfg;  /**< Logger config object. */
    smartdof3_cfg_t smartdof3_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.
    smartdof3_cfg_setup( &smartdof3_cfg );
    SMARTDOF3_MAP_MIKROBUS( smartdof3_cfg, MIKROBUS_1 );
    err_t init_flag = smartdof3_init( &smartdof3, &smartdof3_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
        log_error( &logger, " Communication init." );
        for ( ; ; );
    if ( SMARTDOF3_ERROR == smartdof3_default_cfg ( &smartdof3 ) )
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    log_info( &logger, " Application Task " );
    log_printf( &logger, "--------------------------------------\r\n" );
    Delay_ms( 100 );

void application_task ( void )
    static smartdof3_axis_t acc_axis, gyro_axis;
    if ( ( SMARTDOF3_OK == smartdof3_get_acc_axis( &smartdof3, &acc_axis ) ) &&
         ( SMARTDOF3_OK == smartdof3_get_gyro_axis( &smartdof3, &gyro_axis ) ) )
        log_printf( &logger, " Accel X: %.2f mg | Gyro X: %.2f dps\r\n", acc_axis.x, gyro_axis.x );
        log_printf( &logger, " Accel Y: %.2f mg | Gyro Y: %.2f dps\r\n", acc_axis.y, gyro_axis.y );
        log_printf( &logger, " Accel Z: %.2f mg | Gyro Z: %.2f dps\r\n", acc_axis.z, gyro_axis.z );
        log_printf( &logger, "--------------------------------------\r\n" );
    Delay_ms( 1000 );

void main ( void )
    application_init( );

    for ( ; ; )
        application_task( );

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

Additional Support