Unlock the magic of motion with BMI323 and STM32F091RC
The future of orientation: Elevate your projects with 6DOF IMU
Published Feb 26, 2024
Click board™
6DOF IMU 20 Click
Dev. board
Nucleo-64 with STM32F091RC MCU
Compiler
NECTO Studio
MCU
STM32F091RC
Explore new realms of motion control and orientation sensing for applications where precision is paramount
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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
Nucleo-64 with STM32F091RC MCU offers a cost-effective and adaptable platform for developers to explore new ideas and prototype their designs. This board harnesses the versatility of the STM32 microcontroller, enabling users to select the optimal balance of performance and power consumption for their projects. It accommodates the STM32 microcontroller in the LQFP64 package and includes essential components such as a user LED, which doubles as an ARDUINO® signal, alongside user and reset push-buttons, and a 32.768kHz crystal oscillator for precise timing operations. Designed with expansion and flexibility in mind, the Nucleo-64 board features an ARDUINO® Uno V3 expansion connector and ST morpho extension pin
headers, granting complete access to the STM32's I/Os for comprehensive project integration. Power supply options are adaptable, supporting ST-LINK USB VBUS or external power sources, ensuring adaptability in various development environments. The board also has an on-board ST-LINK debugger/programmer with USB re-enumeration capability, simplifying the programming and debugging process. Moreover, the board is designed to simplify advanced development with its external SMPS for efficient Vcore logic supply, support for USB Device full speed or USB SNK/UFP full speed, and built-in cryptographic features, enhancing both the power efficiency and security of projects. Additional connectivity is
provided through dedicated connectors for external SMPS experimentation, a USB connector for the ST-LINK, and a MIPI® debug connector, expanding the possibilities for hardware interfacing and experimentation. Developers will find extensive support through comprehensive free software libraries and examples, courtesy of the STM32Cube MCU Package. This, combined with compatibility with a wide array of Integrated Development Environments (IDEs), including IAR Embedded Workbench®, MDK-ARM, and STM32CubeIDE, ensures a smooth and efficient development experience, allowing users to fully leverage the capabilities of the Nucleo-64 board in their projects.
Microcontroller Overview
MCU Card / MCU
Architecture
ARM Cortex-M0
MCU Memory (KB)
256
Silicon Vendor
STMicroelectronics
Pin count
64
RAM (Bytes)
32768
You complete me!
Accessories
Click Shield for Nucleo-64 comes equipped with two proprietary mikroBUS™ sockets, allowing all the Click board™ devices to be interfaced with the STM32 Nucleo-64 board with no effort. This way, Mikroe allows its users to add any functionality from our ever-growing range of Click boards™, such as WiFi, GSM, GPS, Bluetooth, ZigBee, environmental sensors, LEDs, speech recognition, motor control, movement sensors, and many more. More than 1537 Click boards™, which can be stacked and integrated, are at your disposal. The STM32 Nucleo-64 boards are based on the microcontrollers in 64-pin packages, a 32-bit MCU with an ARM Cortex M4 processor operating at 84MHz, 512Kb Flash, and 96KB SRAM, divided into two regions where the top section represents the ST-Link/V2 debugger and programmer while the bottom section of the board is an actual development board. These boards are controlled and powered conveniently through a USB connection to program and efficiently debug the Nucleo-64 board out of the box, with an additional USB cable connected to the USB mini port on the board. Most of the STM32 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 STM32 Nucleo-64 board with our Click Shield for Nucleo-64, you can access hundreds of Click boards™, working with 3.3V or 5V logic voltage levels.
Used MCU Pins
mikroBUS™ mapper
Take a closer look
Click board™ Schematic
Step by step
Project assembly
Start by selecting your development board and Click board™. Begin with the Nucleo-64 with STM32F091RC MCU as your development board.
Track your results in real time
Application Output
1. Application Output - In Debug mode, the 'Application Output' window enables real-time data monitoring, offering direct insight into execution results. Ensure proper data display by configuring the environment correctly using the provided tutorial.
2. UART Terminal - Use the UART Terminal to monitor data transmission via a USB to UART converter, allowing direct communication between the Click board™ and your development system. Configure the baud rate and other serial settings according to your project's requirements to ensure proper functionality. For step-by-step setup instructions, refer to the provided tutorial.
3. Plot Output - The Plot feature offers a powerful way to visualize real-time sensor data, enabling trend analysis, debugging, and comparison of multiple data points. To set it up correctly, follow the provided tutorial, which includes a step-by-step example of using the Plot feature to display Click board™ readings. To use the Plot feature in your code, use the function: plot(*insert_graph_name*, variable_name);. This is a general format, and it is up to the user to replace 'insert_graph_name' with the actual graph name and 'variable_name' with the parameter to be displayed.
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 functionc6dofimu20_get_temperature- 6DOF IMU 20 temperature reading functionc6dofimu20_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 );
}
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;
}
// ------------------------------------------------------------------------ END
