30 min

Unlock the magic of motion with BMI323 and PIC18F47K40

The future of orientation: Elevate your projects with 6DOF IMU

6DOF IMU 20 Click with EasyPIC v7a

Published Sep 13, 2023

Click board™

6DOF IMU 20 Click

Development board

EasyPIC v7a


NECTO Studio



Explore new realms of motion control and orientation sensing for applications where precision is paramount



Hardware Overview

How does it work?

6DOF IMU 20 Click is based on the BMI323, a versatile 6DoF (six degrees of freedom) sensor module from Bosch Sensortec. This IMU combines precise acceleration and angular rate (gyroscopic) measurement with intelligent integrated features triggered by motion. It also has a 2K-byte FIFO that can lower the traffic on the selected serial bus interface by allowing the system processor to burst read sensor data. The BMI323 provides improved accelerometer performance as well as lower power consumption. In high-performance mode, using both the gyroscope and the accelerometer, the BMI323 shows a significant reduction in power consumption of nearly 15% compared to its predecessor, the BMI160. The BMI323 supports various use cases, allowing customers to design it into various applications like angle and position detection, motion detection, tap recognition, and more. The BMI323

comprises a 16-bit triaxial gyroscope, a 16-bit triaxial accelerometer, and a 16-bit digital temperature sensor in a single package. The accelerometer measures the direction and magnitude of the force applied to the sensor. In a free fall scenario, an accelerometer will report a vector of zeros. The gyroscope measures the rotational rate and reports vector zeros when the device rests. The gyroscope supports full-scale range settings from ±125dps to ±2000dps, and the accelerometer supports range settings from ±2g to ±16g. In addition, the BMI323 also includes an auxiliary temperature sensor. This Click board™ allows the use of both I2C and SPI interfaces at a maximum frequency of 1MHz for I2C and 10MHz for SPI communication. Selection is made by positioning SMD jumpers marked COMM SEL to the appropriate position. All jumpers must be on the same side, or the Click board™ may become

unresponsive. When the I2C interface is selected, the BMI323 allows the choice of its I2C slave address, using the ADDR SEL SMD jumper set to an appropriate position marked 1 or 0. In addition to communication pins, this board also possesses two interrupts, IT1 and IT2, routed to, where by default, the AN and INT pins stand on the mikroBUS™ socket, entirely programmed by the user through a serial interface. They signal MCU that a motion event has been sensed. 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 20 Click top side image
6DOF IMU 20 Click bottom side image

Features overview

Development board

EasyPIC v7a is the seventh generation of PIC development boards specially designed for the needs of rapid development of embedded applications. It supports a wide range of 8-bit PIC microcontrollers from Microchip and has a broad set of unique functions, such as the first-ever embedded debugger/programmer over USB-C. The development board is well organized and designed so that the end-user has all the necessary elements in one place, such as switches, buttons, indicators, connectors, and others. With four different connectors for each port, EasyPIC v7a allows you to connect accessory boards, sensors, and custom electronics more efficiently than ever. Each part of the EasyPIC v7a 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 various external power sources, including an external 12V power supply, 7-23V AC or 9-32V DC via DC connector/screw terminals, and a power source via the USB Type-C (USB-C) connector. Communication options such as USB-UART and RS-232 are also included, alongside the well-

established mikroBUS™ standard, three display options (7-segment, graphical, and character-based LCD), and several different DIP sockets. These sockets cover a wide range of 8-bit PIC MCUs, from PIC10F, PIC12F, PIC16F, PIC16Enh, PIC18F, PIC18FJ, and PIC18FK families. EasyPIC v7a 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.

EasyPIC v7a double side image

Microcontroller Overview

MCU Card / MCU




MCU Memory (KB)


Silicon Vendor


Pin count


RAM (Bytes)


Used MCU Pins

mikroBUS™ mapper

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

Take a closer look


6DOF IMU 20 Click Schematic schematic

Step by step

Project assembly

EasyPIC v7a front image hardware assembly

Start by selecting your development board and Click board™. Begin with the EasyPIC v7a as your development board.

EasyPIC v7a front image hardware assembly
Buck 22 Click front image hardware assembly
MCU DIP 40 hardware assembly
EasyPIC v7a 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 DIP image step 7 hardware assembly
EasyPIC PRO v7a Display Selection Necto Step 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 20 Click driver.

Key functions:

  • c6dofimu20_get_gyr_data - 6DOF IMU 20 gyro data reading function

  • c6dofimu20_get_temperature - 6DOF IMU 20 temperature reading function

  • c6dofimu20_sw_reset - 6DOF IMU 20 software reset 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 6DOF IMU 20 Click example
 * # Description
 * This library contains API for 6DOF IMU 20 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 gyroscope and accelerator data, and temperature.
 * The demo application is composed of two sections :
 * ## Application Init
 * Initializes the driver after that resets the device and 
 * performs default configuration and reads the device id.
 * ## Application Task
 * This example demonstrates the use of the 6DOF IMU 20 Click board by 
 * measuring and displaying acceleration and gyroscope data for X-axis, 
 * Y-axis, and Z-axis as well as temperature in degrees Celsius.
 * @author Stefan Ilic

#include "board.h"
#include "log.h"
#include "c6dofimu20.h"

static c6dofimu20_t c6dofimu20;
static log_t logger;

void application_init ( void )
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu20_cfg_t c6dofimu20_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.
    c6dofimu20_cfg_setup( &c6dofimu20_cfg );
    C6DOFIMU20_MAP_MIKROBUS( c6dofimu20_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu20_init( &c6dofimu20, &c6dofimu20_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
        log_error( &logger, " Communication init." );
        for ( ; ; );
    uint8_t chip_id;
    c6dofimu20_get_id( &c6dofimu20, &chip_id );
    if ( C6DOFIMU20_CHIP_ID != chip_id )
        log_error( &logger, " Communication error." );
        for ( ; ; );
    if ( C6DOFIMU20_ERROR == c6dofimu20_default_cfg ( &c6dofimu20 ) )
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    log_info( &logger, " Application Task " );

void application_task ( void )
    c6dofimu20_data_t accel_data;
    c6dofimu20_data_t gyro_data;
    uint16_t data_rdy;
    float temperature;
    c6dofimu20_get_reg( &c6dofimu20, C6DOFIMU20_REG_STATUS, &data_rdy );
    if ( C6DOFIMU20_STATUS_DRDY_ACC_FLAG & data_rdy )
        c6dofimu20_get_acc_data( &c6dofimu20, &accel_data );
        log_printf( &logger, " Accel: X: %d, Y: %d, Z: %d \r\n", accel_data.data_x, accel_data.data_y, accel_data.data_z ); 
    if ( C6DOFIMU20_STATUS_DRDY_GYR_FLAG & data_rdy )
        c6dofimu20_get_gyr_data( &c6dofimu20, &gyro_data );
        log_printf( &logger, " Gyro: X: %d, Y: %d, Z: %d \r\n", gyro_data.data_x, gyro_data.data_y, gyro_data.data_z ); 
    if ( C6DOFIMU20_STATUS_DRDY_TEMP_FLAG & data_rdy )
        c6dofimu20_get_temperature( &c6dofimu20, &temperature );
        log_printf( &logger, " Temperature: %.2f degC \r\n", temperature );
    log_printf( &logger, " - - - - - - - - - - - - - - - - - - - - - - - - \r\n" ); 
    Delay_ms( 500 );

void main ( void )
    application_init( );

    for ( ; ; )
        application_task( );

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

Additional Support