10 min

Achieve precise detection of movements, crucial for motion-based applications, with ICM-42670-P and ATmega328P

Motion tracking and orientation detection based on a 6-axis MEMS MotionTracking IMU

6DOF IMU 22 Click with Arduino UNO Rev3

Published Mar 15, 2024

Click board™

6DOF IMU 22 Click


Arduino UNO Rev3


NECTO Studio



Accurately track and measure movements and orientations of an object by detecting how fast and in which direction it's moving or tilting



Hardware Overview

How does it work?

6DOF IMU 22 Click is based on the ICM-42670-P, a state-of-the-art 6-axis MEMS MotionTracking IMU from TDK InvenSense. This central component incorporates both a 3-axis gyroscope and a 3-axis accelerometer, making it an exceptional tool for precise motion tracking. It has a versatile host interface compatible with I2C and SPI serial communication protocols, a sizeable 2.25Kbytes FIFO, and two customizable interrupts supporting a wake-on-motion feature to reduce power consumption significantly. The gyroscope and accelerometer offer a range of programmable full-scale range settings, ensuring flexibility across various applications. The gyroscope supports four programmable full-scale range settings from ±250dps to ±2000dps, and the accelerometer supports four programmable full-scale range

settings from ±2g to ±16g. The ICM-42670-P stands out in its class for having the lowest noise levels and unparalleled stability under temperature fluctuations, physical shocks, or offsets caused by soldering or bending. It also offers protection against noise from vibrations outside its frequency band. Adding to its impressive feature set are an on-board APEX Motion Processing engine for advanced gesture and step recognition, programmable digital filters, and an integrated temperature sensor, making it ideally suited for creating wearables, smart home devices, robotics, and immersive AR/VR experiences. 6DOF IMU 22 Click supports both I2C and SPI interfaces, enabling communication at speeds up to 1MHz and 24MHz, respectively. Users can select the desired communication protocol by placing SMD jumpers

on the COMM SEL section, ensuring all jumpers align on the same side to avoid potential issues. For I2C usage, the device allows the adjustment of its I2C slave address's least significant bit via an SMD jumper marked as ADDR SEL. Additionally, the board features a data frame sync input pin routed to the FSY pin on the mikroBUS™ socket and two interrupt pins linked to the INT and IT2 pins, enabling the host MCU to detect user-specified events through the I2C/SPI interface. 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 22 Click hardware overview image

Features overview

Development board

Arduino UNO is a versatile microcontroller board built around the ATmega328P chip. It offers extensive connectivity options for various projects, featuring 14 digital input/output pins, six of which are PWM-capable, along with six analog inputs. Its core components include a 16MHz ceramic resonator, a USB connection, a power jack, an

ICSP header, and a reset button, providing everything necessary to power and program the board. The Uno is ready to go, whether connected to a computer via USB or powered by an AC-to-DC adapter or battery. As the first USB Arduino board, it serves as the benchmark for the Arduino platform, with "Uno" symbolizing its status as the

first in a series. This name choice, meaning "one" in Italian, commemorates the launch of Arduino Software (IDE) 1.0. Initially introduced alongside version 1.0 of the Arduino Software (IDE), the Uno has since become the foundational model for subsequent Arduino releases, embodying the platform's evolution.

Arduino UNO Rev3 double side image

Microcontroller Overview

MCU Card / MCU




MCU Memory (KB)


Silicon Vendor


Pin count


RAM (Bytes)


You complete me!


Click Shield for Arduino UNO has two proprietary mikroBUS™ sockets, allowing all the Click board™ devices to be interfaced with the Arduino UNO board without effort. The Arduino Uno, a microcontroller board based on the ATmega328P, provides an affordable and flexible way for users to try out new concepts and build prototypes with the ATmega328P microcontroller from various combinations of performance, power consumption, and features. The Arduino Uno has 14 digital input/output pins (of which six can be used as PWM outputs), six analog inputs, a 16 MHz ceramic resonator (CSTCE16M0V53-R0), a USB connection, a power jack, an ICSP header, and reset button. Most of the ATmega328P microcontroller pins are brought to the IO pins on the left and right edge of the board, which are then connected to two existing mikroBUS™ sockets. This Click Shield also has several switches that perform functions such as selecting the logic levels of analog signals on mikroBUS™ sockets and selecting logic voltage levels of the mikroBUS™ sockets themselves. Besides, the user is offered the possibility of using any Click board™ with the help of existing bidirectional level-shifting voltage translators, regardless of whether the Click board™ operates at a 3.3V or 5V logic voltage level. Once you connect the Arduino UNO board with our Click Shield for Arduino UNO, you can access hundreds of Click boards™, working with 3.3V or 5V logic voltage levels.

Click Shield for Arduino UNO accessories 1 image

Used MCU Pins

mikroBUS™ mapper

Interrupt 2
SPI Select / ID COMM
SPI Clock
Power Supply
Data Frame Sync
Interrupt 1
I2C Clock
I2C Data

Take a closer look


6DOF IMU 22 Click Schematic schematic

Step by step

Project assembly

Click Shield for Arduino UNO front image hardware assembly

Start by selecting your development board and Click board™. Begin with the Arduino UNO Rev3 as your development board.

Click Shield for Arduino UNO front image hardware assembly
Arduino UNO Rev3 front image hardware assembly
Barometer 13 Click front image hardware assembly
Prog-cut hardware assembly
Arduino UNO Rev3 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 image step 5 hardware assembly
Necto image step 6 hardware assembly
Arduino UNO MCU Step hardware assembly
Necto No Display image step 8 hardware assembly
Necto image step 9 hardware assembly
Necto image step 10 hardware assembly
Debug Image Necto Step hardware assembly

Track your results in real time

Application Output

After loading the code example, pressing the "DEBUG" button builds and programs it on the selected setup.

Application Output Step 1

After programming is completed, a header with buttons for various actions available in the IDE appears. By clicking the green "PLAY "button, we start reading the results achieved with Click board™.

Application Output Step 3

Upon completion of programming, the Application Output tab is automatically opened, where the achieved result can be read. In case of an inability to perform the Debug function, check if a proper connection between the MCU used by the setup and the CODEGRIP programmer has been established. A detailed explanation of the CODEGRIP-board connection can be found in the CODEGRIP User Manual. Please find it in the RESOURCES section.

Application Output Step 4

Software Support

Library Description

This library contains API for 6DOF IMU 22 Click driver.

Key functions:

  • c6dofimu22_read_data - This function reads the accelerometer, gyroscope, and temperature measurement data

  • c6dofimu22_get_int1_pin - This function returns the INT1 pin logic state

  • c6dofimu22_clear_data_ready - This function clears the data ready interrupt by reading the INT_STATUS_DRDY register

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 22 Click example
 * # Description
 * This example demonstrates the use of 6DOF IMU 22 click board by reading and displaying 
 * the accelerometer and gyroscope data (X, Y, and Z axis) as well as a temperature measurement
 * in degrees Celsius.
 * The demo application is composed of two sections :
 * ## Application Init
 * Initializes the driver and performs the click default configuration.
 * ## Application Task
 * Waits for a data ready indication and then reads the accelerometer, gyroscope, and temperature
 * measurements. The results are displayed on the USB UART every 80ms as per the accel and gyro
 * output data rate which is set to 12.5 Hz.
 * @author Stefan Filipovic

#include "board.h"
#include "log.h"
#include "c6dofimu22.h"

static c6dofimu22_t c6dofimu22;
static log_t logger;

void application_init ( void )
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu22_cfg_t c6dofimu22_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.
    c6dofimu22_cfg_setup( &c6dofimu22_cfg );
    C6DOFIMU22_MAP_MIKROBUS( c6dofimu22_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu22_init( &c6dofimu22, &c6dofimu22_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
        log_error( &logger, " Communication init." );
        for ( ; ; );
    if ( C6DOFIMU22_ERROR == c6dofimu22_default_cfg ( &c6dofimu22 ) )
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    log_info( &logger, " Application Task " );

void application_task ( void )
    static c6dofimu22_data_t meas_data;
    if ( !c6dofimu22_get_int1_pin ( &c6dofimu22 ) )
        c6dofimu22_clear_data_ready ( &c6dofimu22 );
        if ( C6DOFIMU22_OK == c6dofimu22_read_data ( &c6dofimu22, &meas_data ) )
            log_printf ( &logger, " Accel X: %.2f g\r\n", meas_data.accel.x );
            log_printf ( &logger, " Accel Y: %.2f g\r\n", meas_data.accel.y );
            log_printf ( &logger, " Accel Z: %.2f g\r\n", meas_data.accel.z );
            log_printf ( &logger, " Gyro X: %.1f dps\r\n", meas_data.gyro.x );
            log_printf ( &logger, " Gyro Y: %.1f dps\r\n", meas_data.gyro.y );
            log_printf ( &logger, " Gyro Z: %.1f dps\r\n", meas_data.gyro.z );
            log_printf ( &logger, " Temperature: %.2f C\r\n\n", meas_data.temperature );

void main ( void )
    application_init( );

    for ( ; ; )
        application_task( );

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

Additional Support