From 3D to 6DoF with IIM-42652 and ATmega328P

/*!
 * @file main.c
 * @brief 6DOFIMU17 Click example
 *
 * # Description
 * This library contains API for 6DOF IMU 17 Click driver.
 * The library initializes and defines the I2C or SPI bus drivers 
 * to write and read data from registers. 
 * The library also includes a function for reading 
 * accelerometer and gyroscope X-axis, Y-axis, and Z-axis data 
 * as well as the temperature in degrees Celsius.
 *
 * The demo application is composed of two sections :
 *
 * ## Application Init
 * The initialization of I2C or SPI module, log UART, and additional pins. 
 * After the driver init, the app checks communication, 
 * sensor ID, and then executes a default configuration.
 *
 * ## Application Task
 * This is an example that shows the use of a 6DOF IMU 17 Click board™.
 * Measures and displays acceleration and gyroscope data for X-axis, Y-axis, and Z-axis
 * and the temperature in degrees Celsius. 
 * Results are being sent to the USART terminal where the user can track their changes. 
 * This task repeats every 100 ms.
 *
 * @author Nenad Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "c6dofimu17.h"

static c6dofimu17_t c6dofimu17;
static log_t logger;

void application_init ( void )
{
    log_cfg_t log_cfg;                /**< Logger config object. */
    c6dofimu17_cfg_t c6dofimu17_cfg;  /**< Click config object. */
    uint8_t device_id;

    /** 
     * 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.
    c6dofimu17_cfg_setup( &c6dofimu17_cfg );
    C6DOFIMU17_MAP_MIKROBUS( c6dofimu17_cfg, MIKROBUS_1 );
    err_t init_flag  = c6dofimu17_init( &c6dofimu17, &c6dofimu17_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Application Init Error. " );
        log_info( &logger, " Please, run program again... " );

       for ( ; ; );
    }

    c6dofimu17_default_cfg ( &c6dofimu17 );
    Delay_ms ( 100 );
    
    c6dofimu17_get_device_id( &c6dofimu17, &device_id );
    Delay_ms ( 100 );
    if ( device_id == C6DOFIMU17_CHIP_ID ) 
    {
        log_printf( &logger, "\t\t  Communication OK\r\n" );
    }
    else 
    {
        log_printf( &logger, "\t\tCommunication ERROR\r\n" );
        log_printf( &logger, "\t\t  Reset the device\r\n" );

        for ( ; ; );
    }
    
    log_printf( &logger, "\t--------------------------------------\r\n" );
    Delay_ms ( 100 );
}

void application_task ( void )
{   
    c6dofimu17_axis_t accel_data;
    c6dofimu17_axis_t gyro_data;
    float temperature;
    if ( ( C6DOFIMU17_OK == c6dofimu17_get_accel_data( &c6dofimu17, &accel_data ) ) &&  
         ( C6DOFIMU17_OK == c6dofimu17_get_gyro_data( &c6dofimu17, &gyro_data ) ) &&  
         ( C6DOFIMU17_OK == c6dofimu17_get_temperature( &c6dofimu17, &temperature ) ) )
    {
        log_printf( &logger, "\t Accel X: %d\t|\tGyro X: %d\r\n", accel_data.x, gyro_data.x );
        log_printf( &logger, "\t Accel Y: %d\t|\tGyro Y: %d\r\n", accel_data.y, gyro_data.y );
        log_printf( &logger, "\t Accel Z: %d\t|\tGyro Z: %d\r\n", accel_data.z, gyro_data.z );
        log_printf( &logger, "\t- - - - - - - - - -  - - - - - - - - -\r\n" );
        log_printf( &logger, "\t\t Temperature: %.2f C\r\n", temperature );
        log_printf( &logger, "\t--------------------------------------\r\n" );
    }
    Delay_ms ( 100 );
}

int main ( void ) 
{
    /* Do not remove this line or clock might not be set correctly. */
    #ifdef PREINIT_SUPPORTED
    preinit();
    #endif
    
    application_init( );
    
    for ( ; ; ) 
    {
        application_task( );
    }

    return 0;
}

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