Intermediate
30 min

Experience the future of motion sensing with ICM-20948 and STM32F031K6

Unmatched low-power 9DOF motion mastery

9DOF 2 Click with Nucleo 32 with STM32F031K6 MCU

Published Oct 01, 2024

Click board™

9DOF 2 Click

Dev. board

Nucleo 32 with STM32F031K6 MCU

Compiler

NECTO Studio

MCU

STM32F031K6

Unlock a realm of possibilities with our 9DOF low-power solution, where motion and magnetometer capabilities unite to redefine what's achievable in efficiency-driven applications without sacrificing the accuracy you demand

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Hardware Overview

How does it work?

9DOF 2 Click is based on the ICM-20948, a high performance, 9-axis MotionTracking™ IC from TDK Invensense. ICM-20948 also supports an auxiliary I2C interface to external sensors, which offers greater system flexibility. 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. Three-axis magnetometer can do a full-scale measurement of ±4900 µT. Interrupt functionality is configured via the Interrupt Configuration register. Configurable items include the INT

pin configuration, the interrupt latching and clearing method, and triggers for the interrupt. The interrupt is routed to the INT pin of the mikroBUS™. A FIFO buffer helps to reduce the processing load further, offering temporary storage for the output data. The ICM-20948 contains a FIFO of size 512 bytes (FIFO size will vary depending on the DMP feature-set) accessible via the Serial Interface. The FIFO configuration register determines which data is written into the FIFO. Possible choices include gyro data, accelerometer data, temperature readings, auxiliary sensor readings, and FSYNC input. 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 SNC. The embedded Digital Motion Processor (DMP) within the ICM-20948 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 FIFO. The DMP has access to the external pins, which can be used for generating interrupts. ICM-20948 supports SPI and I2C communication interfaces, but only the SPI interface is used on the 9DOF 2 Click. The TXB0108 bidirectional voltage level translator converts the voltage level between ICM-20948 and 3.3V MCU. This Click Board™ uses only the SPI communication interface. 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.

9DOF 2 Click top side image
9DOF 2 Click bottom side image

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.

Nucleo 32 with STM32F031K6 MCU double side image

Microcontroller Overview

MCU Card / MCU

default

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.

Click Shield for Nucleo-32 accessories 1 image

Used MCU Pins

mikroBUS™ mapper

NC
NC
AN
NC
NC
RST
SPI Chip Select
PA4
CS
SPI Clock
PB3
SCK
SPI Data OUT
PB4
MISO
SPI Data IN
PB5
MOSI
Power Supply
3.3V
3.3V
Ground
GND
GND
External Sync
PA8
PWM
Interrupt
PA12
INT
NC
NC
TX
NC
NC
RX
NC
NC
SCL
NC
NC
SDA
NC
NC
5V
Ground
GND
GND
1

Take a closer look

Click board™ Schematic

9DOF 2 Click Schematic schematic

Step by step

Project assembly

Click Shield for Nucleo-144 front image hardware assembly

Start by selecting your development board and Click board™. Begin with the Nucleo 32 with STM32F031K6 MCU as your development board.

Click Shield for Nucleo-144 front image hardware assembly
Nucleo 144 with STM32L4A6ZG MCU front image hardware assembly
2x4 RGB Click front image hardware assembly
Prog-cut hardware assembly
Nucleo-32 with STM32 MCU 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
Clicker 4 for STM32F4 HA 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

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 9DOF 2 Click driver.

Key functions:

  • c9dof2_power - Turns the device on or off

  • c9dof2_read_gyroscope - This function is used to read gyroscope data

  • c9dof2_read_accelerometer - This function is used to read accelerometer data

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 9dof2 Click example
 * 
 * # Description
 * This example demonstrates the use of 9DOF 2 Click board.
 *
 * The demo application is composed of two sections :
 * 
 * ## Application Init 
 * Initalizes SPI and device drivers, performs safety check, 
 * applies default configuration and writes an initial log.
 * 
 * ## Application Task  
 * Reads the angular and acceleration rates and displays the values of X, Y, and Z axis
 * on the USB UART each second.
 * 
 * \author MikroE Team
 *
 */
// ------------------------------------------------------------------- INCLUDES

#include "board.h"
#include "log.h"
#include "c9dof2.h"

// ------------------------------------------------------------------ VARIABLES

static c9dof2_t c9dof2;
static log_t logger;

uint8_t id_val;
float x_accel;
float y_accel;
float z_accel;
float x_gyro;
float y_gyro;
float z_gyro;

// ------------------------------------------------------ APPLICATION FUNCTIONS

void application_init ( void )
{
    log_cfg_t log_cfg;
    c9dof2_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.

    c9dof2_cfg_setup( &cfg );
    C9DOF2_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c9dof2_init( &c9dof2, &cfg );

    c9dof2_dev_rst( &c9dof2 );
    Delay_ms ( 1000 );

    id_val = c9dof2_read_byte ( &c9dof2, C9DOF2_WHO_AM_I_ICM20948 );
     
    if ( id_val == C9DOF2_WHO_AM_I_ICM20948_VAL )
    {
        log_printf( &logger, "--------------------\r\n" );
        log_printf( &logger, "   9DOF  2  Click   \r\n" );
        log_printf( &logger, "--------------------\r\n" );
        c9dof2_power ( &c9dof2, C9DOF2_POWER_ON );
    }
    else
    {
        log_printf(  &logger, "--------------------\r\n" );
        log_printf(  &logger, "   FATAL ERROR!!!   \r\n" );
        log_printf(  &logger, "--------------------\r\n" );
        for ( ; ; );
    }
    
    c9dof2_def_settings( &c9dof2 );

    log_printf(  &logger, "--- Initialised ---\r\n" );
    log_printf(  &logger, "--------------------\r\n" );

    Delay_ms ( 1000 );
}

void application_task ( void )
{
    //  Task implementation.
    
    c9dof2_angular_rate( &c9dof2, &x_gyro, &y_gyro, &z_gyro );

    log_printf( &logger, "Angular rate: \r\n" );

    log_printf( &logger, "X-axis: %.2f \r\n", x_gyro );

    log_printf( &logger, "Y-axis: %.2f \r\n", y_gyro );

    log_printf( &logger, "Z-axis: %.2f \r\n", z_gyro );

    log_printf( &logger, "---------------------\r\n" );

    c9dof2_acceleration_rate( &c9dof2, &x_accel, &y_accel, &z_accel );

    log_printf( &logger, "Acceleration rate: \r\n" );

    log_printf( &logger, "X-axis: %.2f \r\n", x_accel );

    log_printf( &logger, "Y-axis: %.2f \r\n", y_accel );

    log_printf( &logger, "Z-axis: %.2f \r\n", z_accel );

    log_printf( &logger, "---------------------\r\n" );

    Delay_ms ( 1000 );
}

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

Additional Support

Resources

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