30 min

Gain superior control and orientation capabilities with MC6470 and PIC24HJ256GP610

Versatile control in a compact package: The ultimate IMU

6DOF IMU 13 Click with Fusion for PIC v8

Published Sep 27, 2023

Click board™

6DOF IMU 13 Click

Development board

Fusion for PIC v8


NECTO Studio



Achieve exceptional precision in directional sensing, allowing for more accurate tracking and positioning in your projects



Hardware Overview

How does it work?

6DOF IMU 13 Click is based on the MC6470 that combines an accelerometer and magnetometer for a 6 DoF (6 Degrees of Freedom) sensor solution from mCube. An accelerometer has two states of operation: STANDBY, which is its default state after the Power-Up function, and WAKE. The STANDBY state offers the lowest power consumption, and only in this state the I2C interface is active, and all register reads and writes are allowed. This state has no event detection, sampling, or acceleration measurement. Only write access is permitted to the MODE register in the WAKE state. The full-scale acceleration range can be adjusted from ±2g up to ±16g with a 14-bit resolution. This Click board™ also includes a high-performance magnetic sensor with 0.15μT resolution, a broad field range up to ±2.4mT, and a programmable output data rate from 0.5 to 100 Hz. The magnetometer has two operational modes,

Standby and Active Mode with Force and Normal State, whose primary purpose is power management. It also provides additional functions such as the Data Ready Function, which occurs when new measured results are updated, Offset Calibration and Drift Functions, and the Temperature Measurement Function, which retrieves temperature data for internal compensation of output data from an internal temperature sensor. Each axis's magnetic sensor output value is positive when turned toward the magnetic north. The MC6470 possesses two interrupt outputs, a magnetometer (IN2) and an accelerometer (IN1) interrupts, routed to the AN and INT pins on the mikroBUS™ used to signal MCU that an event has been sensed. It also supports directional tap detection in ±X, ±Y, or ±Z axis, where each axis is independent, although only one direction per axis is supported

simultaneously. In this case, the interrupt pins can indicate that a tap event has been detected. 6DOF IMU 13 Click communicates with MCU using the standard I2C 2-Wire interface with a maximum frequency of 400kHz. The MC6470 always operates as an I2C peripheral device on both magnetometer and accelerometer I2C interfaces. It allows the choice of the least significant bit (LSB) of its I2C slave address, which can be done using the SMD jumper labeled 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 13 Click top side image
6DOF IMU 13 Click bottom side image

Features overview

Development board

Fusion for PIC 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 PIC, dsPIC, PIC24, and PIC32 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 PIC v8 provides a fluid and immersive working experience, allowing access anywhere and under any

circumstances at any time. Each part of the Fusion for PIC 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 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). Fusion for PIC 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 PIC v8 horizontal image

Microcontroller Overview

MCU Card / MCU



8th Generation



MCU Memory (KB)


Silicon Vendor


Pin count


RAM (Bytes)


Used MCU Pins

mikroBUS™ mapper

Magnet. Interrupt
Power Supply
Accel. Interrupt
I2C Clock
I2C Data

Take a closer look


6DOF IMU 13 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 PIC 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 13 Click driver.

Key functions:

  • c6dofimu13_mag_get_data - This function reads magnetometer X, Y, and Z-Axis data

  • c6dofimu13_accel_init - This function initializes accelerometer

  • c6dofimu13_accel_get_data - This function reads accelerometer X, Y, and Z-Axis 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 main.c
 * @brief 6DOFIMU13 Click example
 * # Description
 * This example demonstrates the use of 6DOF IMU 13 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 the USB UART every second.
 * @author Stefan Filipovic

#include "board.h"
#include "log.h"
#include "c6dofimu13.h"

static c6dofimu13_t c6dofimu13;
static log_t logger;

void application_init ( void ) 
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu13_cfg_t c6dofimu13_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.

    c6dofimu13_cfg_setup( &c6dofimu13_cfg );
    C6DOFIMU13_MAP_MIKROBUS( c6dofimu13_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu13_init( &c6dofimu13, &c6dofimu13_cfg );
    if ( init_flag == I2C_MASTER_ERROR ) 
        log_error( &logger, " Application Init Error. " );
        log_info( &logger, " Please, run program again... " );

        for ( ; ; );

    c6dofimu13_default_cfg ( &c6dofimu13 );
    log_info( &logger, " Application Task " );

void application_task ( void ) 
    float acc_x, acc_y, acc_z;
    float mag_x, mag_y, mag_z;

    c6dofimu13_accel_get_data( &c6dofimu13, &acc_x, &acc_y, &acc_z );
    c6dofimu13_mag_get_data( &c6dofimu13, &mag_x, &mag_y, &mag_z );

    log_printf( &logger, " Accel X: %.3f g\t Mag X: %.2f uT\r\n", acc_x, mag_x );
    log_printf( &logger, " Accel Y: %.3f g\t Mag Y: %.2f uT\r\n", acc_y, mag_y );
    log_printf( &logger, " Accel Z: %.3f g\t Mag Z: %.2f uT\r\n", acc_z, mag_z );
    log_printf( &logger, "----------------------------------\r\n");

    Delay_ms( 1000 );

void main ( void ) 
    application_init( );

    for ( ; ; ) 
        application_task( );

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

Additional Support