30 min

Elevate your project with PIC18F26K20 and ICM-20689 for a superior user interface

Your path to perfect motion: 6-axis innovation begins here

6DOF IMU 6 Click with EasyPIC v7a

Published Dec 29, 2023

Click board™

6DOF IMU 6 Click

Development board

EasyPIC v7a


NECTO Studio



Revolutionize robotics with improved motion awareness and control, enabling robots to perform tasks with precision and adaptability in various industries



Hardware Overview

How does it work?

6DOF IMU 6 Click is based on the ICM-20689, a 6-axis MotionTracking device that combines a 3-axis gyroscope, a 3-axis accelerometer, and a Digital Motion Processor™ (DMP) from TDK InvenSense. It also features a 4 Kbyte FIFO that can lower the traffic on the serial bus interface, and reduce power consumption by allowing the system processor to burst read sensor data and then go into a low-power mode.The ICM-20689, with its 6-axis integration, on-chip DMP, and run-time calibration firmware, enables manufacturers to eliminate the costly and complex selection, qualification, and system level integration of discrete devices, guaranteeing optimal motion performance. The gyroscope has a programmable full-scale of ±250, ±500, ±1000, and

±2000 degrees/sec. The accelerometer has a user-programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g. Factory-calibrated initial sensitivity of both sensors reduces production-line calibration requirements. Other industry-leading features include on-chip 16-bit ADCs, programmable digital filters, an embedded temperature sensor, and programmable interrupts. The device provides high robustness by supporting 10,000g shock reliability. The device features I2C and SPI serial interfaces, wide operating voltage range (VDD) and separate digital IO supply (VDDIO) from 1.71V to 3.45V. Communication with all registers of the device can be performed using either I2C at 400kHz or SPI at 8MHz. 6DOF IMU 6 Click supports both SPI

and I2C communication interfaces, allowing it to be used with a wide range of different MCUs. The communication interface can be selected by moving SMD jumpers grouped under the COM SEL to an appropriate position (SPI or I2C). The slave I2C address can also be configured by an SMD jumper when the Click board™ is operated in the I2C mode. An SMD jumper labeled as ADD SEL is used to set the least significant bit (LSB) of the I2C address. Excellent choices for applications include mobile phones, tablets, drones, handset and portable gaming, motion-based game controllers, wearable sensors for health, fitness and sports and 3D remote controls for internet-connected DTVs and set-top boxes and 3D mice.

6DOF IMU 6 Click top side image
6DOF IMU 6 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

SPI Chip Select
SPI Clock
Power Supply
I2C Clock
I2C Data

Take a closer look


6DOF IMU 6 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
Rotary B 2 Click front image hardware assembly
MCU DIP 28 hardware assembly
EasyPIC v7a MB 2 - 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 6 Click driver.

Key functions:

  • c6dofimu6_default_cfg - This function executes default configuration for 6DOF IMU 6 click

  • c6dofimu6_angular_rate - Function is used to calculate angular rate

  • c6dofimu6_acceleration_rate - Function is used to calculate acceleration rate

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 6DofImu6 Click example
 * # Description
 * 6DOF IMU 6 Click features a 6-axis MotionTracking device that combines a 3-axis gyroscope, 
 * a 3-axis accelerometer, and a Digital Motion Processor. 
 * The demo application is composed of two sections :
 * ## Application Init 
 * Initalizes SPI and I2C drivers, performs safety check, applies default 
 * settings and writes an initial log.
 * ## Application Task  
 * Demonstrates the use of 6DOF IMU 6 click board by reading angular rate, acceleration rate 
 * and displaying data to USB UART.
 * \author MikroE Team
// ------------------------------------------------------------------- INCLUDES

#include "board.h"
#include "log.h"
#include "c6dofimu6.h"

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

static c6dofimu6_t c6dofimu6;
static log_t logger;

static uint8_t id_val;
static float x_accel;
static float y_accel;
static float z_accel;
static float x_gyro;
static float y_gyro;
static float z_gyro;

// ------------------------------------------------------ APPLICATION FUNCTIONS

void application_init ( void )
    log_cfg_t log_cfg;
    c6dofimu6_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.

    c6dofimu6_cfg_setup( &cfg );
    c6dofimu6_init( &c6dofimu6, &cfg );

    Delay_ms( 100 );
    c6dofimu6_generic_read ( &c6dofimu6, C6DOFIMU6_WHO_AM_I, &id_val, 1 );
    if ( id_val == C6DOFIMU6_WHO_AM_I_VAL )
        log_printf( &logger, "-------------------------\r\n" );
        log_printf( &logger, "   6DOF  IMU  6  click   \r\n" );
        log_printf( &logger, "-------------------------\r\n" );
        c6dofimu6_power ( &c6dofimu6, C6DOFIMU6_POWER_ON );
        log_printf( &logger, "-------------------------\r\n" );
        log_printf( &logger, "     FATAL  ERROR!!!     \r\n" );
        log_printf( &logger, "-------------------------\r\n" );
        for ( ; ; );

    c6dofimu6_default_cfg( &c6dofimu6 );

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

    Delay_ms( 100 );

void application_task ( void )
    c6dofimu6_angular_rate( &c6dofimu6, &x_gyro, &y_gyro, &z_gyro );

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

    log_printf( &logger, "X-axis: %.2f\r\n", x_gyro );
    log_printf( &logger, "Y-axis: %.2f\r\n", y_gyro );
    log_printf( &logger, "Z-axis: %.2f\r\n", z_gyro );
    log_printf( &logger, "---------------------\r\n" );

    c6dofimu6_acceleration_rate( &c6dofimu6, &x_accel, &y_accel, &z_accel );

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

    log_printf( &logger, "X-axis: %.2f\r\n", x_accel );
    log_printf( &logger, "Y-axis: %.2f\r\n", y_accel );
    log_printf( &logger, "Z-axis: %.2f\r\n", z_accel );
    log_printf( &logger, "---------------------\r\n\r\n" );
    Delay_ms( 1000 );

void main ( void )
    application_init( );

    for ( ; ; )
        application_task( );

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

Additional Support