Mikroelektronika d.o.o.
6DOF IMU 9 Click Board
6DOF IMU 9 Click Board
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Overview
The 6DOF IMU 9 Click Board™ features the IAM-20680, a 6-axis motion tracking device that combines a 3-axis gyroscope and a 3-axis accelerometer, from TDK InvenSense. A combination of the two most commonly used motion sensors allows for full 6D sensing. Tailored towards the Industry 4.0.
This Click Board™ can be used for automotive applications and navigation systems aids for dead reckoning, liftgate motion detection, accurate location for vehicle to vehicle and infrastructure, 360º view camera stabilization, car alarm, telematics and insurance vehicle tracking.
How Does The 6DOF IMU 9 Click Board™ Work?
The 6DOF IMU 9 Click Board™ is based on the IAM-20680 is a 6-axis MotionTracking device for Automotive applications from TDK, that combines a 3-axis gyroscope and a 3-axis accelerometer in a small 3x3x0.75mm (16-pin LGA) package. It also features a 512- byte FIFO that can lower the traffic on the serial bus interface and reduce power consumption by allowing the system processor to burst read sensor data and then go into a low-power mode. IAM-20680, with its 6-axis integration, enables manufacturers to eliminate the costly and complex selection, qualification, and system level integration of discrete devices, guaranteeing optimal motion performance.
The IAM-20680 has many features including the Digital-output X-, Y-, and Z-axis angular rate sensors (gyroscopes) with a user-programmable full-scale range of ±250 dps, ±500 dps, ±1000 dps, and ±2000 dps and integrated 16-bit ADCs, Digital-output X-, Y-, and Z-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g, and ±16g and integrated 16-bit ADCs and a User-programmable digital filters for gyroscope, accelerometer, and temperature sensor.
The IAM-20680 includes the following additional features such as minimal cross-axis sensitivity between the accelerometer and gyroscope axes, a 512-byte FIFO buffer enables the applications processor to read the data in bursts, with a digital-output temperature sensor and the MEMS structure hermetically sealed and bonded at wafer level.
The 6DOF IMU 9 communicates to a system processor using either a SPI or an I2C serial interface. The IAM-20680 contains a 512-byte FIFO register that is accessible via the Serial Interface. The FIFO configuration register determines which data are written into the FIFO. Possible choices include gyro data, accelerometer data, temperature readings, and FSYNC input. A FIFO counter keeps track of how many bytes of valid data are contained in the FIFO. The FIFO register supports burst reads. The interrupt function may be used to determine when new data are available. The IAM-20680 allows FIFO read in low-power accelerometer mode.
6DOF IMU 9 Click Board™ supports both SPI and I2C communication interfaces, allowing it to be used with a wide range of different MCUs. The communication interface can be selected 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 an SMD jumper when the Click Board™ is operated in the I2C mode an SMD jumper labelled as ADD LSB is used to set the least significant bit (LSB) of the I2C address.
Due to the IAM-20680, the 6DOF IMU 9 Click Board™ can be used for automotive applications and navigation systems aids for dead reckoning, lift gate motion detection, accurate location for vehicle to vehicle and infrastructure, 360º view camera stabilization, car alarm, telematics and insurance vehicle tracking.
SPECIFICATIONS
| Type | Motion |
| Applications | Automotive applications and navigation systems aids for dead reckoning, lift gate motion detection, accurate location for vehicle to vehicle and infrastructure, 360º view camera stabilization, car alarm, telematics and insurance vehicle tracking |
| On-board modules | IAM-20680, a 6-axis MotionTracking device that combines a 3-axis gyroscope and a 3-axis accelerometer, from TDK InvenSense |
| Key Features | 512-byte FIFO buffer, MEMS structure hermetically sealed and bonded at wafer level, Digital-output temperature sensor |
| Interface | I2C,SPI |
| Compatibility | mikroBUS |
| Click Board™ size | M (42.9 x 25.4 mm) |
| Input Voltage | 3.3V |
PINOUT DIAGRAM
This table shows how the pinout on 6DOF IMU 9 Click Board™ corresponds to the pinout on the mikroBUS socket (the latter shown in the two middle columns).
| Notes | Pin |  |
Pin | Notes | |||
|---|---|---|---|---|---|---|---|
| NC | 1 | AN | PWM | 16 | SYN | External sync | |
| NC | 2 | RST | INT | 15 | INT | Interrupt | |
| SPI Chip Select | CS | 3 | CS | RX | 14 | NC | |
| SPI Clock | SCK | 4 | SCK | TX | 13 | NC | |
| SPI Data OUT | SDO | 5 | MISO | SCL | 12 | SCL | I2C Clock |
| SPI Data IN | SDI | 6 | MOSI | SDA | 11 | SDA | I2C Data |
| Power Supply | 3.3V | 7 | 3.3V | 5V | 10 | NC | |
| Ground | GND | 8 | GND | GND | 9 | GND | Ground |
ONBOARD SETTINGS AND INDICATORS
| Label | Name | Default | Description |
|---|---|---|---|
| LD1 | PWR | - | Power LED Indicator |
| JP1-JP4 | COM SEL | Right | Communication interface selection: left position SPI, right position I2C |
| JP5 | ADD LSB | Right | Save I2C address LSB selection: left position 0, right position 1 |
Software Support
We provide a library for the 6DOF IMU 9 Click Board™ on our LibStock page, as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.
Library Description
The library covers all the necessary functions to control 6DOF IMU 9 Click Board™. Library performs a standard I2C or SPI interface communication.
Key Functions
void c6dofimu9_get_accel_data( int16_t *p_accel_x, int16_t *p_accel_y, int16_t *p_accel_z )- Read Accel X-axis, Y-axis and Z-axis axis function.void c6dofimu9_get_gyro_data( int16_t *p_gyro_x, int16_t *p_gyro_y, int16_t *p_gyro_z )- Read Gyro X-axis, Y-axis and Z-axis axis function.
Example Description
The application is composed of three sections :
- System Initialization - Initializes I2C or SPI and start to write log.
- Application Initialization - Initialization driver enables - I2C or SPI, check device ID, configure accelerometer and gyroscope, also write log.
- Application Task - (code snippet) This is an example which demonstrates the use of 6DOF IMU 9 Click Board™. Measured and display Accel and Gyro data coordinates values for X-axis, Y-axis and Z-axis. Results are being sent to the Usart Terminal where you can track their changes. All data logs write on USB uart changes for every 1 sec.
void application_task( )
{
c6dofimu9_get_accel_data( &accel_axis_x, &accel_axis_y, &accel_axis_z );
Delay_10ms( );
c6dofimu9_get_gyro_data( &gyro_axis_x, &gyro_axis_y, &gyro_axis_z );
Delay_10ms( );
mikroBUS_logWrite( " Accel X :", _LOG_TEXT );
IntToStr( accel_axis_x, logText );
mikroBUS_logWrite( logText, _LOG_TEXT );
mikroBUS_logWrite( " | ", _LOG_TEXT );
mikroBUS_logWrite( " Gyro X :", _LOG_TEXT );
IntToStr( gyro_axis_x, logText );
mikroBUS_logWrite( logText, _LOG_LINE );
mikroBUS_logWrite( " Accel Y :", _LOG_TEXT );
IntToStr( accel_axis_y, logText );
mikroBUS_logWrite( logText, _LOG_TEXT );
mikroBUS_logWrite( " | ", _LOG_TEXT );
mikroBUS_logWrite( " Gyro Y :", _LOG_TEXT );
IntToStr( gyro_axis_y, logText );
mikroBUS_logWrite( logText, _LOG_LINE );
mikroBUS_logWrite( " Accel Z :", _LOG_TEXT );
IntToStr( accel_axis_z, logText );
mikroBUS_logWrite( logText, _LOG_TEXT );
mikroBUS_logWrite( " | ", _LOG_TEXT );
mikroBUS_logWrite( " Gyro Z :", _LOG_TEXT );
IntToStr( gyro_axis_z, logText );
mikroBUS_logWrite( logText, _LOG_LINE );
mikroBUS_logWrite( "-------------------------------------", _LOG_LINE );
Delay_1sec( );
}
The full application code, and ready to use projects can be found on our LibStock page.
Other mikroE Libraries used in the example:
- I2C or SPI
- UART
- Conversions
Additional Notes and Information
Depending on the development board you are using, you may need USB UART Click Board™, USB UART 2 Click Board™ or RS232 Click Board™ to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all MikroElektronika compilers, or any other terminal application of your choice, can be used to read the message.
MIKROSDK
This Click Board™ is supported with mikroSDK - MikroElektronika Software Development Kit. To ensure proper operation of mikroSDK compliant Click Board™ demo applications, mikroSDK should be downloaded from the LibStock and installed for the compiler you are using.
Software Support
We provide a library for the 6DOF IMU 9 Click Board™ on our LibStock page, as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.
Library Description
The library covers all the necessary functions to control 6DOF IMU 9 Click Board™. Library performs a standard I2C or SPI interface communication.
Key Functions
void c6dofimu9_get_accel_data( int16_t *p_accel_x, int16_t *p_accel_y, int16_t *p_accel_z )- Read Accel X-axis, Y-axis and Z-axis axis function.void c6dofimu9_get_gyro_data( int16_t *p_gyro_x, int16_t *p_gyro_y, int16_t *p_gyro_z )- Read Gyro X-axis, Y-axis and Z-axis axis function.
Example Description
The application is composed of three sections :
- System Initialization - Initializes I2C or SPI and start to write log.
- Application Initialization - Initialization driver enables - I2C or SPI, check device ID, configure accelerometer and gyroscope, also write log.
- Application Task - (code snippet) This is an example which demonstrates the use of 6DOF IMU 9 Click Board™. Measured and display Accel and Gyro data coordinates values for X-axis, Y-axis and Z-axis. Results are being sent to the Usart Terminal where you can track their changes. All data logs write on USB uart changes for every 1 sec.
void application_task( )
{
c6dofimu9_get_accel_data( &accel_axis_x, &accel_axis_y, &accel_axis_z );
Delay_10ms( );
c6dofimu9_get_gyro_data( &gyro_axis_x, &gyro_axis_y, &gyro_axis_z );
Delay_10ms( );
mikroBUS_logWrite( " Accel X :", _LOG_TEXT );
IntToStr( accel_axis_x, logText );
mikroBUS_logWrite( logText, _LOG_TEXT );
mikroBUS_logWrite( " | ", _LOG_TEXT );
mikroBUS_logWrite( " Gyro X :", _LOG_TEXT );
IntToStr( gyro_axis_x, logText );
mikroBUS_logWrite( logText, _LOG_LINE );
mikroBUS_logWrite( " Accel Y :", _LOG_TEXT );
IntToStr( accel_axis_y, logText );
mikroBUS_logWrite( logText, _LOG_TEXT );
mikroBUS_logWrite( " | ", _LOG_TEXT );
mikroBUS_logWrite( " Gyro Y :", _LOG_TEXT );
IntToStr( gyro_axis_y, logText );
mikroBUS_logWrite( logText, _LOG_LINE );
mikroBUS_logWrite( " Accel Z :", _LOG_TEXT );
IntToStr( accel_axis_z, logText );
mikroBUS_logWrite( logText, _LOG_TEXT );
mikroBUS_logWrite( " | ", _LOG_TEXT );
mikroBUS_logWrite( " Gyro Z :", _LOG_TEXT );
IntToStr( gyro_axis_z, logText );
mikroBUS_logWrite( logText, _LOG_LINE );
mikroBUS_logWrite( "-------------------------------------", _LOG_LINE );
Delay_1sec( );
}
The full application code, and ready to use projects can be found on our LibStock page.
Other mikroE Libraries used in the example:
- I2C or SPI
- UART
- Conversions
Additional Notes and Information
Depending on the development board you are using, you may need USB UART Click Board™, USB UART 2 Click Board™ or RS232 Click Board™ to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all MikroElektronika compilers, or any other terminal application of your choice, can be used to read the message.
MIKROSDK
This Click Board™ is supported with mikroSDK - MikroElektronika Software Development Kit. To ensure proper operation of mikroSDK compliant Click Board™ demo applications, mikroSDK should be downloaded from the LibStock and installed for the compiler you are using.
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