9DOF 2 Click Board
9DOF 2 Click Board
The 9DOF 2 Click Board™ is a compact add-on board for applications that require the lowest power motion tracking and magnetometer functionality. This board features the ICM-20948 a 9-axis MotionTracking™ sensor from TDK Invensense, which consist of two sensors combined into one package for a universal 9DOF solution. In this package, we have a 3-axis gyroscope, a 3-axis accelerometer, a 3-axis magnetometer, combined with Digital Motion Processor™ (DMP) and run-time calibration firmware. All these features make the 9DOF 2 Click Board™ an excellent choice for manufacturers looking for a product to eliminate the costly and complex selection, qualification, and system-level integration of discrete devices, guaranteeing optimal motion performance for consumers. Its also ideally suited for wearable sensors and IoT applications needed low power motion tracking device expandable with additional I2C sensors.
The 9DOF 2 Click Board™ is supported by a mikroSDK compliant library, which includes functions that simplify software development. This Click Board™ comes as a fully tested product, ready to be used on a system equipped with the mikroBUS™ socket.
Software Support
We provide a library for the 9DOF 2 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 that enable the 9DOF 2 Click Board™. It initializes and defines the SPI bus driver and drivers that offer a plethora of settings. The library also offers functions that allow reading of accelerometer, gyroscope pressure and temperature, as well as generic read and write function that offers reading( and writing ) of different lengths of data to all available registers.
Key Functions
void c9dof2_angular_rate ( float *x_ang_rte, float *y_ang_rte, float *z_ang_rte );
- Function is used to calculate angular rate.void c9dof2_acceleration_rate ( float *x_accel_rte, float *y_accel_rte,float *z_accel_rte );
- Function is used to calculate acceleration rate.void c9dof2_def_settings ( );
- Function is used to apply the default settings to the device.
Example Description
The application is composed of three sections :
- System Initialization - Initializes SPI module, LOG and GPIO structures, sets INT pin as input and PWM as output.
- Application Initialization - Initializes SPI and device drivers, perform a safety check, applies default and writes an initial log.
- Application Task - (code snippet) Demonstrates use of 9DOF 2 click board by reading angular rate, acceleration rate and displaying data via USART terminal.
void application_task ( ) { c9dof2_angular_rate( &x_gyro, &y_gyro, &z_gyro ); mikrobus_logWrite( "Angular rate: ", _LOG_LINE ); FloatToStr( x_gyro, log_txt ); mikrobus_logWrite( "X-axis: ", _LOG_TEXT ); Ltrim( log_txt ); mikrobus_logWrite( log_txt, _LOG_LINE ); FloatToStr( y_gyro, log_txt ); mikrobus_logWrite( "Y-axis: ", _LOG_TEXT ); Ltrim( log_txt ); mikrobus_logWrite( log_txt, _LOG_LINE ); FloatToStr( z_gyro, log_txt ); mikrobus_logWrite( "Z-axis: ", _LOG_TEXT ); Ltrim( log_txt ); mikrobus_logWrite( log_txt, _LOG_LINE ); mikrobus_logWrite( "---------------------", _LOG_LINE ); c9dof2_acceleration_rate( &x_accel, &y_accel, &z_accel ); mikrobus_logWrite( "Acceleration rate: ", _LOG_LINE ); FloatToStr( x_accel, log_txt ); mikrobus_logWrite( "X-axis: ", _LOG_TEXT ); Ltrim( log_txt ); mikrobus_logWrite( log_txt, _LOG_LINE ); FloatToStr( y_accel, log_txt ); mikrobus_logWrite( "Y-axis: ", _LOG_TEXT ); Ltrim( log_txt ); mikrobus_logWrite( log_txt, _LOG_LINE ); FloatToStr( z_accel, log_txt ); mikrobus_logWrite( "Z-axis: ", _LOG_TEXT ); Ltrim( log_txt ); mikrobus_logWrite( log_txt, _LOG_LINE ); mikrobus_logWrite( "---------------------", _LOG_LINE ); Delay_ms( 1000 ); }
The full application code, and ready to use projects can be found on our LibStock page.
Other mikroE Libraries used in the example:
- SPI
- UART
- Conversions
Additional Notes and Information
Depending on the development board you are using, you may need a USB UART click, USB UART 2 click or RS232 click 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
The 9DOF 2 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.
9DOF 2 Click Board
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