Enhance your project's stability and navigation capabilities with ICM-20602 and STM32F091RC
Pioneering innovation for tomorrow's smart devices
Published Feb 26, 2024
Click board™
6DOF IMU 4 Click
Dev. board
Nucleo-64 with STM32F091RC MCU
Compiler
NECTO Studio
MCU
STM32F091RC
If you're an engineer, the integration of a 6-axis IMU with a 3-axis gyroscope and accelerometer allows you to develop precise motion control systems for a wide range of applications
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Hardware Overview
How does it work?
6DOF IMU 4 Click is based on the ICM-20602, a high-performance, 6-axis MEMS MotionTracking™ IC from TDK Invensense. It is an advanced, integrated microelectromechanical gyroscope and accelerometer sensor (MEMS). The ICM-20602 is produced using the patented CMOS-MEMS fabrication platform, specialized in MEMS production and its integration with accompanying logic sections, on a wafer level. This allows very high integration and very small dimensions, at an affordable cost. The IC contains a separate accelerometer and gyroscope MEMS on each axis. The output of each MEMS is processed and digitized by a separate sigma-delta 16-bit A/D converter (ADC). Three-axis gyroscope MEMS can be programmed to measure the rotation about each axis, in four different ranges of rotational speed (degrees per angle, DPS): ±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 user can select an optimal range for both properties,
depending on the application requirements. The ICM-20602 incorporates a powerful programmable interrupt engine. The interrupt engine can generate a signal on the interrupt pin for several interrupt sources, including FIFO Buffer overflow, Data Ready, I2C Master Error, and I2C Slave Error. The interrupt is routed to the INT pin of the mikroBUS™. A FIFO buffer helps to further reduce the processing load, offering temporary storage for the output data. The MPU6050 features a FIFO buffer with the capacity of 1024 bytes. The user can select which data will be stored in the FIFO buffer: gyro data, accel data, temperature readings, and auxiliary sensor readings. Once the FIFO buffer is full, it will start discarding the oldest data, allowing new data to be written. The FIFO buffer overflow condition can be used to trigger an interrupt, alerting the host MCU about its status. Synchronization with an external digital signal is possible over the FSYNC pin. This pin is routed to the PWM pin of the mikroBUS™, labeled as SYN. The ICM-20602 can be programmed to trigger an interrupt on the FSYN pin activity.
The polarity of the signal pulse applied at the FSYN pin can also be programmed. 6DOF IMU 4 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 chosen 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 a SMD jumper, when the Click board™ is operated in the I2C mode: a SMD jumper labeled as ADD SEL is used to set the least significant bit (LSB) of the I2C address. When set to 1, the 7-bit I2C slave address becomes 0b1101000x. If set to 0, the address becomes 0b1101001x. 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 3.3V logic levels. A proper logic voltage level conversion should be performed before the Click board™ is used with MCUs with logic levels of 5V.
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 4 Click driver.
Key functions:
c6dofimu4_set_sync_pin- Sync Pin Setting functionc6dofimu4_get_data- Data Get functionc6dofimu4_set_fsr- Full Scale Setting 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
* \brief c6DofImu4 Click example
*
* # Description
* This application measures gyroscopic, accelerometer, and temperature data.
*
* The demo application is composed of two sections :
*
* ## Application Init
* Initializes I2C interface and performs a device reset and configurations.
*
* ## Application Task
* Waits until data is ready and then reads the all data registers,
accelerometer, gyroscope and temperature data, and shows results to the uart terminal every 500ms.
*
* \author MikroE Team
*
*/
// ------------------------------------------------------------------- INCLUDES
#include "board.h"
#include "log.h"
#include "c6dofimu4.h"
// ------------------------------------------------------------------ VARIABLES
static c6dofimu4_t c6dofimu4;
static log_t logger;
// ------------------------------------------------------ APPLICATION FUNCTIONS
void application_init ( void )
{
log_cfg_t log_cfg;
c6dofimu4_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.
c6dofimu4_cfg_setup( &cfg );
C6DOFIMU4_MAP_MIKROBUS( cfg, MIKROBUS_1 );
c6dofimu4_init( &c6dofimu4, &cfg );
c6dofimu4_reset( &c6dofimu4 );
c6dofimu4_default_cfg( &c6dofimu4 );
Delay_ms ( 200 );
log_printf( &logger, "** 6DOF IMU 4 is initialized **\r\n" );
}
void application_task ( void )
{
c6dofimu4_axis_t accel_data;
c6dofimu4_axis_t gyro_data;
uint8_t data_ready;
int8_t temperature;
data_ready = c6dofimu4_get_status( &c6dofimu4, C6DOFIMU4_DATA_RDY_INT_MASK );
while ( data_ready != C6DOFIMU4_DATA_RDY_INT_OCCURED )
{
data_ready = c6dofimu4_get_status( &c6dofimu4, C6DOFIMU4_DATA_RDY_INT_MASK );
}
c6dofimu4_get_data( &c6dofimu4, &accel_data, &gyro_data, &temperature );
log_printf( &logger,"** Accelerometer values :\r\n" );
log_printf( &logger, "* X-axis : %.2lf g ", accel_data.x );
log_printf( &logger, "* Y-axis : %.2lf g ", accel_data.y );
log_printf( &logger, "* Z-axis : %.2lf g ", accel_data.z );
log_printf( &logger,"\r\n" );
log_printf( &logger,"** Gyroscope values :\r\n" );
log_printf( &logger, "* X-axis : %.2lf dps ", gyro_data.x );
log_printf( &logger, "* Y-axis : %.2lf dps ", gyro_data.y );
log_printf( &logger, "* Z-axis : %.2lf dps ", gyro_data.z );
log_printf( &logger,"\r\n" );
log_printf( &logger, "** Temperature value : %d C\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
