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6DOF IMU 11 Click with Fusion for STM32 v8

Published Sep 16, 2023

Click board™

6DOF IMU 11 Click

Development board

Fusion for STM32 v8


NECTO Studio



Add movement and rotation detection to your projects for unparalleled precision.



Hardware Overview

How does it work?

6DOF IMU 11 Click is based on the KMX63, a tri-axis accelerometer, tri-axis magnetometer, and temperature sensor on a single-chip combo solution from Kionix. The Accelerometer and Magnetometer data can be accumulated in an internal 384-byte FIFO buffer and transmitted to the application processor. Acceleration sensing is based on the principle of a differential capacitance arising from acceleration induced motion of the sense element, which utilizes common mode cancellation to decrease errors from process variation, temperature, and environmental stress. Capacitance changes are amplified and converted into digital signals which are processed by a dedicated digital signal processing unit. The digital signal processor applies filtering, bias, and sensitivity adjustments, as well as temperature compensation. Magnetic sensing is based on the principle of magnetic impedance. The magnetic

sensor detects very small magnetic fields by passing an electric pulse through a special electron spin aligned amorphous wire. Due to the high Curie temperature of the wire, the sensor’s thermal performance shows excellent stability. Noise performance is excellent with bias stability over temperature. Bias errors resulting from assembly can be trimmed digitally by the user. These sensors can accept supply voltages between 1.7V and 3.6V, and digital communication voltages from the MCU between 1.2V and 3.6V. The Kionix KMX63 digital sensor can communicate on the I2C digital serial interface bus. This flexibility allows for easy system integration by eliminating analog-to-digital converter requirements and by providing direct communication with system processors. The I2C interface is compliant with high-speed mode, fast mode, and standard mode I2C protocols. With 6DOF IMU 6 click you may

communicate by using I2C serial interface. The I2C is primarily used for serial communication between a Master device and one or more Slave devices. The KMX63 always operates as a Slave device during standard Master-Slave I2C operation. Given all of the possibilities its features offer, the 6DOF IMU 11 click can be used for applications which require movement and orientation features, such as screen orientation, navigation, game playing, machine/vibration analysis, and more. 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 11 Click top side image
6DOF IMU 11 Click bottom side image

Features overview

Development board

Fusion for STM32 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 32-bit ARM® Cortex®-M based MCUs from STMicroelectronics, 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 STM32 v8 provides a fluid and immersive working experience, allowing

access anywhere and under any circumstances at any time. Each part of the Fusion for STM32 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 STM32 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 STM32 v8 horizontal image

Microcontroller Overview

MCU Card / MCU



8th Generation


ARM Cortex-M0

MCU Memory (KB)


Silicon Vendor


Pin count


RAM (Bytes)


Used MCU Pins

mikroBUS™ mapper

Power Supply
General-Purpose I/O
General-Purpose I/O
I2C Clock
I2C Data

Take a closer look


6DOF IMU 11 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 STM32 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 11 Click driver.

Key functions:

  • c6dofimu11_config_accel - Configuration Accel function

  • c6dofimu11_config_mag - Configuration Magnetometer function

  • c6dofimu11_get_axis - Get axis data function

  • c6dofimu11_get_accel_data - Read Accel X-axis, Y-axis and Z-axis function

  • c6dofimu11_get_mag_data - Read Magnetometer X-axis, Y-axis and Z-axis function

  • c6dofimu11_read_accel - Get Accel range X, Y and Z value ( g ) function

  • c6dofimu11_read_mag - Get Magnetometer magnetic field strength X, Y and Z value ( nT ) 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 
 * \brief 6DofImu11 Click example
 * # Description
 * Designed to strike a balance between current consumption and noise performance with excellent bias stability over temperature
 * The demo application is composed of two sections :
 * ## Application Init 
 * Initialization driver enables - I2C, check device ID, sets default configuration, also write log.
 * ## Application Task  
 * This is an example which demonstrates the use of 6DOF IMU 11 Click board.
 * Measured and display Accel and Magnetometer magnetic field 
 * strength values for X-axis, Y-axis and Z-axis. 
 * Results are being sent to the Uart Terminal where
 * you can track their changes. 
 * All data logs write on USB uart changes for every 2 sec.
 * \author MikroE Team
// ------------------------------------------------------------------- INCLUDES

#include "board.h"
#include "log.h"
#include "c6dofimu11.h"

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

static c6dofimu11_t c6dofimu11;
static log_t logger;

void application_init ( void )
    log_cfg_t log_cfg;
    c6dofimu11_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.

    c6dofimu11_cfg_setup( &cfg );
    c6dofimu11_init( &c6dofimu11, &cfg );

    if ( c6dofimu11_check_id( &c6dofimu11 ) == C6DOFIMU11_CHECK_ID_SUCCESS )
        log_printf( &logger, "         SUCCESS          \r\n" );
        log_printf( &logger, "--------------------------\r\n" );
        log_printf( &logger, "          ERROR           \r\n" );
        log_printf( &logger, "     Reset the device     \r\n" );
        log_printf( &logger, "--------------------------\r\n" );
        for ( ; ; );

    c6dofimu11_default_cfg(  &c6dofimu11 );

    log_printf( &logger, "    Set default config    \r\n" );
    log_printf( &logger, "--------------------------\r\n" );
    Delay_ms( 100 );

void application_task ( void )
   c6dofimu11_mag_t mag_data;
   c6dofimu11_accel_t accel_data;
    c6dofimu11_read_accel ( &c6dofimu11, &accel_data );
    Delay_ms( 10 );
    c6dofimu11_read_mag ( &c6dofimu11, &mag_data );
    Delay_ms( 10 );

    log_printf( &logger, " Accel X : %.2f g\r\n", accel_data.x  );

    log_printf( &logger, " Accel Y : %.2f g\r\n", accel_data.y  );

    log_printf( &logger, " Accel Z : %.2f g\r\n", accel_data.z  );

    log_printf( &logger, "\r\n" );

    log_printf( &logger, " Mag X : %.2f uT\r\n", mag_data.x  );

    log_printf( &logger, " Mag Y : %.2f uT\r\n", mag_data.y  );
    log_printf( &logger, " Mag Z : %.2f uT\r\n", mag_data.z  );
    log_printf( &logger, "--------------------------\r\n" );

    Delay_ms( 2000 );

void main ( void )
    application_init( );

    for ( ; ; )
        application_task( );

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

Additional Support