Empower your project with precise motion-sensing capabilities using ISM330DLC and PIC18F2682
3 axes + 3 dimensions = limitless possibilities
Published Dec 29, 2023
Click board™
6DOF IMU 8 Click
Dev Board
EasyPIC v7a
Compiler
NECTO Studio
MCU
PIC18F2682
Enhance logistics and automation processes by monitoring and optimizing the movement of goods, robots, and machinery, improving overall supply chain efficiency
A
A
Hardware Overview
How does it work?
6DOF IMU 8 Click is based on the ISM330DLC, a 3D accelerometer and 3D gyroscope with digital output for industrial applications from STMicroelectronics. It is an advanced inertial module from iNEMO series, featuring an integrated microelectromechanical gyroscope and an accelerometer sensor (MEMS) within the same package. This device is designed with Industry 4.0 in mind, and produced using well-proven CMOS and MEMS fabrication processes, providing a high integration scale on a wafer level. This allows for a very good matching between the IC and the MEMS, offering very good robustness, mechanical shock immunity, and improved stability. Three-axis gyroscope MEMS can be programmed to measure the rotation about each axis, in five different ranges of angular speed (degrees per angle, dps): ±125, ±250, ±500, ±1000, and ±2000. Three-axis accelerometer MEMS can be programmed to measure the acceleration along each axis, in four different acceleration ranges: ±2g, ±4g, ±8g, and ±16g. The developer can select an optimal range for both properties, depending on the application requirements. The ISM330DLC incorporates a
powerful programmable interrupt engine with two dedicated interrupt pins. The interrupt engine can detect many different events, including free-fall, wakeup, 6D orientation, tap, and double-tap events, activity and inactivity recognition, as well as a tilt detection with two configurable event detection options: an average window and an average threshold. The function of these two interrupt pins is not limited to these events. They can also be used for FIFO buffer-related events, such as a buffer is full, the buffer is empty, watermark level is reached, and the buffer is overrun. Data Ready event can also be signaled for each of the two sensors (gyro and accel). The INT 1 pin is routed to the mikroBUS™ INT pin, while the INT 2 pin is routed to the mikroBUS™ AN pin. These pins are labeled as IT1 and IT2 on the Click board™, respectively. A FIFO buffer helps to reduce the communication bus traffic, processing load, and the power consumption, offering temporary storage for the output data. The ISM330DLC features a smart FIFO buffer with the capacity of 4096 bytes, which can be set to work in five different modes. The FIFO buffer is highly
configurable. It is possible to select the data to be stored from several sources (gyroscope, accelerometer, timestamp, temperature…). As already discussed, the FIFO buffer itself can trigger interrupt for several events, alerting the host MCU about its status. 6DOF IMU 8 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 LSB is used to set the least significant bit (LSB) of the I2C address. When set to 1, the 7-bit I2C slave address becomes 0b1101011x. If set to 0, the address becomes 0b1101010x. The last digit (x) is the R/W bit. This Click Board™ uses both I2C and SPI communication interfaces. It is designed to be operated only with up to 3.3V logic levels. Proper conversion of logic voltage levels should be applied, before the Click board™ is used with MCUs operated at 5V.
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.
Microcontroller Overview
MCU Card / MCU
Architecture
PIC
MCU Memory (KB)
80
Silicon Vendor
Microchip
Pin count
28
RAM (Bytes)
3328
Used MCU Pins
mikroBUS™ mapper
Take a closer look
Schematic
Step by step
Project assembly
Start by selecting your development board and Click board™. Begin with the EasyPIC v7a as your development board.
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.
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.
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".
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.
Software Support
Library Description
This library contains API for 6DOF IMU 8 Click driver.
Key functions:
c6dofimu8_get_int_1_pin- This function checks does interrupt generated on the INT1 pinc6dofimu8_get_drdy_status- This function checks a data ready status for all measurementsc6dofimu8_get_magnetometer_data- This function performs a magnetometer data reading
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 c6DofImu8 Click example
*
* # Description
* This app gets three-axis gyroscope value, three-axis accelerometer value and temperature.
*
* The demo application is composed of two sections :
*
* ## Application Init
* Initializes device and performs a device software reset and configuration.
*
* ## Application Task
* Waits until any new data is entered to the data registers and then reads the accelerometer,
* gyroscope and temperature data which will be converted and calculated to the properly units each second.
*
* \author MikroE Team
*
*/
// ------------------------------------------------------------------- INCLUDES
#include "board.h"
#include "log.h"
#include "c6dofimu8.h"
// ------------------------------------------------------------------ VARIABLES
static c6dofimu8_t c6dofimu8;
static log_t logger;
// ------------------------------------------------------- ADDITIONAL FUNCTIONS
void log_axis ( t_c6dofimu8_axis *log_data )
{
log_printf( &logger, "* X-axis : %.3f \r\n", log_data->x );
log_printf( &logger, "* Y-axis : %.3f \r\n", log_data->y );
log_printf( &logger, "* Z-axis : %.3f \r\n", log_data->z );
}
// ------------------------------------------------------ APPLICATION FUNCTIONS
void application_init ( void )
{
log_cfg_t log_cfg;
c6dofimu8_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.
c6dofimu8_cfg_setup( &cfg );
C6DOFIMU8_MAP_MIKROBUS( cfg, MIKROBUS_1 );
c6dofimu8_init( &c6dofimu8, &cfg );
Delay_ms( 500 );
c6dofimu8_default_cfg( &c6dofimu8 );
log_printf( &logger, "** 6DOF IMU 8 is initialized **\r\n" );
Delay_ms( 300 );
}
void application_task ( void )
{
uint8_t data_ready;
int8_t temperature;
t_c6dofimu8_axis accel_data;
t_c6dofimu8_axis gyro_data;
data_ready = c6dofimu8_get_drdy_status( &c6dofimu8, C6DOFIMU8_TEMP_DRDY_MASK |
C6DOFIMU8_G_DRDY_MASK |
C6DOFIMU8_XL_DRDY_MASK );
while ( data_ready == C6DOFIMU8_EVENT_NOT_DETECTED )
{
data_ready = c6dofimu8_get_drdy_status( &c6dofimu8, C6DOFIMU8_TEMP_DRDY_MASK |
C6DOFIMU8_G_DRDY_MASK |
C6DOFIMU8_XL_DRDY_MASK );
}
c6dofimu8_get_data( &c6dofimu8, &accel_data, &gyro_data, &temperature );
log_printf( &logger, "** Accelerometer values : \r\n" );
log_axis( &accel_data );
log_printf( &logger, "** Gyroscope values : \r\n" );
log_axis( &gyro_data );
log_printf( &logger, "** Temperature value : %d degC \r\n", ( int16_t )temperature );
log_printf( &logger, "-------------------------------------------------\r\n" );
Delay_ms( 1000 );
}
void main ( void )
{
application_init( );
for ( ; ; )
{
application_task( );
}
}
// ------------------------------------------------------------------------ END
