Beginner
10 min

Track both fast and slow motions with MPU-3250 and STM32F031K6

From tilt to turn

MPU 9DOF Click with Nucleo 32 with STM32F031K6 MCU

Published Oct 01, 2024

Click board™

MPU 9DOF Click

Dev. board

Nucleo 32 with STM32F031K6 MCU

Compiler

NECTO Studio

MCU

STM32F031K6

Revolutionize your solution by incorporating precise movement and rotation detection

A

A

Hardware Overview

How does it work?

MPU 9DOF Click is based on the MPU-9250, a 9-axis MotionTracking device combining a 3-axis gyroscope, accelerometer, magnetometer, and a Digital Motion Processor™ (DMP) from InvenSense. The MPU-9250 features three 16-bit ADCs for digitizing each part (gyroscope, accelerometer, and magnetometer) outputs, low power, and high performance. For precision tracking of both fast and slow motions, the MPU-9250 features a user-programmable full-scale gyroscope range of ±250, ±500, ±1000, and ±2000dps, and an accelerometer range of ±2g, ±4g, ±8g, and ±16g, and a magnetometer range of ±4800μT. The embedded DMP engine supports advanced MotionProcessing and low-power

functions, such as gesture recognition using programmable interrupts, alongside pedometer functionality allowing the host MCU to sleep while the DMP maintains the step count. The DMP acquires data from accelerometers, gyroscopes, and magnetometers and processes the data, which can be read from the DMP's registers or can be buffered in a 512-byte FIFO. In addition to all the above features, the DMP can generate an interrupt, routed to the INT pin of the mikroBUS™ socket, which can wake up the host MCU from Suspend mode. MPU 9DOF Click allows the use of both I2C and SPI interfaces with a maximum frequency of 400kHz for I2C and 1MHz for SPI communication. The selection can be made by

positioning SMD jumpers labeled SPI I2C in an appropriate position. Note that all the jumpers' positions must be on the same side, or the Click board™ may become unresponsive. While the I2C interface is selected, the MPU-9250 allows choosing the least significant bit (LSB) of its I2C slave address using the SMD jumper labeled ADDR SEL. 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. However, the Click board™ comes equipped with a library containing functions and an example code that can be used as a reference for further development.

MPU 9DOF Click hardware overview 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
NC
NC
PWM
Interrupt
PA12
INT
NC
NC
TX
NC
NC
RX
I2C Clock
PB6
SCL
I2C Data
PB7
SDA
NC
NC
5V
Ground
GND
GND
1

Take a closer look

Click board™ Schematic

MPU 9DOF 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
Stepper 22 Click front image hardware assembly
Prog-cut hardware assembly
Board mapper by product8 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
STM32 M4 Clicker HA MCU/Select 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 MPU 9DOF Click driver.

Key functions:

  • mpu9dof_read_accel - Function read Accel X-axis, Y-axis and Z-axis

  • mpu9dof_read_gyro - Function read Gyro X-axis, Y-axis and Z-axis

  • mpu9dof_read_mag - Function read Magnetometar X-axis, Y-axis and Z-axis

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 Mpu9Dof Click example
 * 
 * # Description
 * MPU 9DOF Click carries the world’s first 9-axis Motion Tracking device. It comprises two chips: one that contains 
 * a 3-axis accelerometer, a 3-axis gyroscope, and a DMP (digital motion processor); 
 * the other is a 3-axis digital compass.
 *
 * The demo application is composed of two sections :
 * 
 * ## Application Init 
 * Initialization driver enable's - I2C, initialize MPU-9150 XL G & MPU-9150 MAG and start write log.
 * 
 * ## Application Task  
 * This is a example which demonstrates the use of MPU 9DOF Click board.
 * Measured accel, gyro and magnetometar coordinates values ( X, Y, Z )
 * and temperature value in degrees celsius [ �C ] are being sent to the uart where you can track their changes.
 * All data logs on usb uart for aproximetly every 1 sec.
 * 
 * \author MikroE Team
 *
 */
// ------------------------------------------------------------------- INCLUDES

#include "board.h"
#include "log.h"
#include "mpu9dof.h"

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

static mpu9dof_t mpu9dof;
static log_t logger;

static int16_t accel_x;
static int16_t accel_y;
static int16_t accel_z;
static int16_t gyro_x;
static int16_t gyro_y;
static int16_t gyro_z;
static int16_t mag_x;
static int16_t mag_y;
static int16_t mag_z;
static float temperature;

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

void application_init ( void )
{
    log_cfg_t log_cfg;
    mpu9dof_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.

    mpu9dof_cfg_setup( &cfg );
    MPU9DOF_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    mpu9dof_init( &mpu9dof, &cfg );

    Delay_10ms( );
    mpu9dof_default_cfg ( &mpu9dof );
}

void application_task ( void )
{
    mpu9dof_read_accel( &mpu9dof, &accel_x, &accel_y, &accel_z );
    Delay_10ms( );
    mpu9dof_read_gyro( &mpu9dof, &gyro_x,  &gyro_y, &gyro_z );
    Delay_10ms( );
    temperature = mpu9dof_read_temperature( &mpu9dof );
    Delay_10ms( );
    mpu9dof_read_mag( &mpu9dof, &mag_x,  &mag_y, &mag_z );
    Delay_10ms( );

    log_printf( &logger, " Accel X : %d   |   Gyro X : %d   |   Mag X : %d \r\n", accel_x, gyro_x, mag_x );
    log_printf( &logger, " Accel Y : %d   |   Gyro Y : %d   |   Mag Y : %d \r\n", accel_y, gyro_y, mag_y );
    log_printf( &logger, " Accel Z : %d   |   Gyro Z : %d   |   Mag Z : %d \r\n", accel_z, gyro_z, mag_z );
    Delay_10ms( );
    log_printf( &logger, "- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -\r\n" );
    Delay_10ms( );
    log_printf( &logger, "Temperature: %.2f C\r\n", temperature );
    Delay_100ms( );
    log_printf( &logger, "- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -\r\n" );
    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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