Unlock the magic of motion with BMI323 and PIC18F26K22

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

Published Nov 01, 2023

Click board™

6DOF IMU 20 Click

Dev Board

EasyPIC v8

Compiler

NECTO Studio

MCU

PIC18F26K22

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.

Features overview

Development board

EasyPIC v8 is a development board specially designed for the needs of rapid development of embedded applications. It supports many high pin count 8-bit PIC microcontrollers from Microchip, regardless of their number of pins, and a broad set of unique functions, such as the first-ever embedded debugger/programmer. 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, EasyPIC v8 provides a fluid and immersive working experience, allowing access anywhere and under any

circumstances at any time. Each part of the EasyPIC 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 DEVICE, and CAN are also included, including the well-established mikroBUS™ standard, two display options (graphical and character-based LCD), and several different DIP sockets. These sockets cover a wide range of 8-bit PIC MCUs, from the smallest PIC MCU devices with only eight up to forty pins. EasyPIC 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.

Microcontroller Overview

MCU Card / MCU

Architecture

PIC

MCU Memory (KB)

Silicon Vendor

Microchip

Pin count

RAM (Bytes)

3896

Used MCU Pins

mikroBUS™ mapper

Interrupt 1

RA3

RST

SPI Chip Select

RA5

SPI Clock

RC3

SCK

SPI Data OUT

RC4

MISO

SPI Data IN

RC5

MOSI

Power Supply

3.3V

Ground

GND

PWM

Interrupt 2

RB1

INT

I2C Clock

RC3

SCL

I2C Data

RC4

SDA

Ground

GND

Take a closer look

Click board™ Schematic

Step by step

Project assembly

EasyPIC v8 front image hardware assembly

Start by selecting your development board and Click board™. Begin with the EasyPIC v8 as your development board.

NECTO Output Selection Step Image hardware assembly

In the advanced settings, pay special attention to the Redirect standard output field. By default, it is set to Application output as the method of displaying final results. To show results via a UART terminal, select the “UART” option in that field and click the “SAVE” button. You will be returned to the Compiler field, and now you can move on to the next step by pressing the “NEXT” button.

Rotary B 2 Click front image hardware assembly

EasyPIC v8 28pin-DIP - upright/background hardware assembly

NECTO Compiler Selection Step Image hardware assembly

Necto DIP image step 7 hardware assembly

Track your results in real time

Application Output

This Click board can be interfaced and monitored in two ways:

Application Output - Use the "Application Output" window in Debug mode for real-time data monitoring. Set it up properly by following this tutorial.

UART Terminal - Monitor data via the UART Terminal using a USB to UART converter. For detailed instructions, check out this tutorial.

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

The complete application code and a ready-to-use project are available through the NECTO Studio Package Manager for direct installation in the NECTO Studio. The application code can also be found on the MIKROE GitHub account.

/*!
 * @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