Achieve unparalleled control and responsiveness in your systems using ICM-20649 and STM32F031K6
Gyro + Accel = 6-axis excellence!
Published Oct 01, 2024
Click board™
6DOF IMU 7 Click
Dev Board
Nucleo 32 with STM32F031K6 MCU
Compiler
NECTO Studio
MCU
STM32F031K6
Enhance augmented reality (AR) experiences by accurately tracking user movements and surroundings, providing more realistic and interactive applications
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Hardware Overview
How does it work?
6DOF IMU 7 Click is based on the ICM-20649, a high-performance, 6-axis MEMS MotionTracking™ from TDK InvenSense. It is an advanced, integrated microelectromechanical gyroscope and accelerometer sensor (MEMS). This allows very high integration and very small dimensions, at an affordable cost. The IC contains a MEMS structure hermetically sealed and bonded at wafer level. The ICM-20649 is the world’s first wide-range 6-axis MotionTracking device for Sports and other High Impact applications. It is available in a 3x3x0.9 mm 24-pin QFN package. Many of today’s wearable and sports solutions, which analyze the motion of a user’s golf or tennis swings, soccer ball kicks, or basketball activities, require higher than currently available ±2000 dps (degrees per second) FSR for gyroscope and ±16g FSR for accelerometer to better insure that critical data is not lost at the point of high impact or high speed rotation. The
ICM-20649 - 6-axis inertial sensor used on the 6DOF IMU 7 click offers the smallest size, lowest profile and lowest power in conjunction with industry leading high FSR. With an extended FSR range of ±4000 dps for gyroscope and ±30g for accelerometer, it enables precise analysis of contact sports applications providing continuous motion sensor data before, during and after impact providing more accurate feedback. ICM-20649 devices, with their 6-axis integration, on-chip DMP, and run-time calibration firmware, enable manufacturers to eliminate the costly and complex selection, qualification, and system level integration of discrete devices, guaranteeing optimal motion performance for consumers. The gyroscope has a programmable full-scale range up to ±4000 dps. The accelerometer has a user-programmable accelerometer full-scale range up to ±30g. Factory-calibrated initial sensitivity of
both sensors reduces production-line calibration requirements. Other key features include on-chip 16-bit ADCs, programmable digital filters, an embedded temperature sensor, and programmable interrupts. The embedded Digital Motion Processor (DMP) within the ICM-20649 offloads computation of motion processing algorithms from the host processor. The DMP acquires data from accelerometers, gyroscopes, and additional third party sensors such as magnetometers, and processes the data. The resulting data can be read from the 512 bytes FIFO that is accessible via the I2C Serial Interface. The FIFO configuration register determines which data is written into the FIFO. The interrupt function may be used to determine when new data is available.
Features overview
Development board
Nucleo 32 with STM32F031K6 MCU board provides an affordable and flexible platform for experimenting with STM32 microcontrollers in 32-pin packages. Featuring Arduino™ Nano connectivity, it allows easy expansion with specialized shields, while being mbed-enabled for seamless integration with online resources. The
board includes an on-board ST-LINK/V2-1 debugger/programmer, supporting USB reenumeration with three interfaces: Virtual Com port, mass storage, and debug port. It offers a flexible power supply through either USB VBUS or an external source. Additionally, it includes three LEDs (LD1 for USB communication, LD2 for power,
and LD3 as a user LED) and a reset push button. The STM32 Nucleo-32 board is supported by various Integrated Development Environments (IDEs) such as IAR™, Keil®, and GCC-based IDEs like AC6 SW4STM32, making it a versatile tool for developers.
Microcontroller Overview
MCU Card / MCU
Architecture
ARM Cortex-M0
MCU Memory (KB)
32
Silicon Vendor
STMicroelectronics
Pin count
32
RAM (Bytes)
4096
You complete me!
Accessories
Click Shield for Nucleo-32 is the perfect way to expand your development board's functionalities with STM32 Nucleo-32 pinout. The Click Shield for Nucleo-32 provides two mikroBUS™ sockets to add any functionality from our ever-growing range of Click boards™. We are fully stocked with everything, from sensors and WiFi transceivers to motor control and audio amplifiers. The Click Shield for Nucleo-32 is compatible with the STM32 Nucleo-32 board, providing an affordable and flexible way for users to try out new ideas and quickly create prototypes with any STM32 microcontrollers, choosing from the various combinations of performance, power consumption, and features. The STM32 Nucleo-32 boards do not require any separate probe as they integrate the ST-LINK/V2-1 debugger/programmer and come with the STM32 comprehensive software HAL library and various packaged software examples. This development platform provides users with an effortless and common way to combine the STM32 Nucleo-32 footprint compatible board with their favorite Click boards™ in their upcoming projects.
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 Nucleo 32 with STM32F031K6 MCU as your development board.
Track your results in real time
Application Output via Debug Mode
1. Once the code example is loaded, pressing the "DEBUG" button initiates the build process, programs it on the created setup, and enters Debug mode.
2. After the programming is completed, a header with buttons for various actions within the IDE becomes visible. Clicking the green "PLAY" button starts reading the results achieved with the Click board™. The achieved results are displayed in the Application Output tab.
Software Support
Library Description
This library contains API for 6DOF IMU 7 Click driver.
Key functions:
c6dofimu7_get_gyro_data- This function reads gyroscope axis data and configures the gyro axis structc6dofimu7_get_accel_data- This function reads accelerometer axis data and configures the accel axis structc6dofimu7_get_temp_data- This function reads and returns temperature data
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 6DofImu7 Click example
*
* # Description
* This example showcases how to initialize and configure the logger and click modules and read
* and display temperature measurements and axis data from the gyroscope and accelerometer.
*
* The demo application is composed of two sections :
*
* ## Application Init
* This function initializes and configures the logger and click modules.
*
* ## Application Task
* This function reads and displays accelerometer, gyroscope and temperature data every second.
*
* \author MikroE Team
*
*/
// ------------------------------------------------------------------- INCLUDES
#include "board.h"
#include "log.h"
#include "c6dofimu7.h"
// ------------------------------------------------------------------ VARIABLES
static c6dofimu7_t c6dofimu7;
static log_t logger;
static c6dofimu7_axis_t gyro;
static c6dofimu7_axis_t accel;
// ------------------------------------------------------ APPLICATION FUNCTIONS
void application_init ( )
{
log_cfg_t log_cfg;
c6dofimu7_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.
c6dofimu7_cfg_setup( &cfg );
C6DOFIMU7_MAP_MIKROBUS( cfg, MIKROBUS_1 );
c6dofimu7_init( &c6dofimu7, &cfg );
c6dofimu7_default_cfg( &c6dofimu7 );
}
void application_task ( )
{
float temperature;
c6dofimu7_get_gyro_data( &c6dofimu7, &gyro, C6DOFIMU7_GYRO_SENSITIVITY );
log_printf( &logger, " * Gyro_X: %.5f * \r\n", gyro.x_axis );
log_printf( &logger, " * Gyro_Y: %.5f * \r\n", gyro.y_axis );
log_printf( &logger, " * Gyro_Z: %.5f * \r\n", gyro.z_axis );
log_printf( &logger, " ---------------------------- \r\n" );
c6dofimu7_get_accel_data( &c6dofimu7, &accel, C6DOFIMU7_ACCEL_SENSITIVITY );
log_printf( &logger, " * Accel_X: %.5f * \r\n", accel.x_axis );
log_printf( &logger, " * Accel_Y: %.5f * \r\n", accel.y_axis );
log_printf( &logger, " * Accel_Z: %.5f * \r\n", accel.z_axis );
log_printf( &logger, " ---------------------------- \r\n" );
temperature = c6dofimu7_get_temp_data( &c6dofimu7, C6DOFIMU7_TEMPERATURE_SENSITIVITY,
C6DOFIMU7_TEMPERATURE_OFFSET );
log_printf( &logger, " * Temperature: %.5f C * \r\n\r\n", temperature );
Delay_ms( 1000 );
}
void main ( )
{
application_init( );
for ( ; ; )
{
application_task( );
}
}
// ------------------------------------------------------------------------ END
