9DOF Click

How does it work?

9DOF Click is based on the LSM9DS1, a motion-sensing system-in-a-chip from STMicroelectronics consisting of a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer. The LSM9DS1 can measure key properties of movement such as angular velocity, acceleration, and heading in three dimensions, producing nine pieces of data – acceleration in x/y/z, angular rotation in x/y/z, and magnetic force in x/y/z. It has a highly configurable linear acceleration full scale of ±2g/±4g/±8/±16g, a magnetic field full scale of ±4/±8/±12/±16G, and an angular rate of ±245/±500/±2000dps. With its 9-axis integration, this Click board™ guarantees customers’ optimal motion performance, allowing them to implement it into a wide range of consumer applications.

This Click board™ communicates with MCU using the standard I2C 2-Wire interface to read data and configure settings, supporting a Fast Mode operation up to 400kHz. Also, the LSM9DS1 allows choosing its I2C slave address using the SMD jumper labeled I2C ADDR. The internal parts of the LSM9DS1 have software-configurable modes of operation. The accelerometer and gyroscope have two operating modes: when only the accelerometer is active while the gyroscope is in power-down mode or both accelerometer and gyroscope sensors are active at the same ODR. The magnetic sensor has three operating modes: power-down (default), continuous, and single conversion.

Apart from the pins for establishing communication, this board uses two more pins of the mikroBUS™ socket, such as EN and INT pins. The INT pin represents a selectable interrupt based on the configuration achieved by populating the jumper marked with INT SEL to the appropriate position. With the chosen configuration, the LSM9DS1 forwards information to the INT pin, such as accelerometer and gyroscope alert on over/under thresholds, data ready, or FIFO overruns, as well as a magnetometer alert. On the other hand, with the EN pin, it is possible to perform an external trigger synchronization/stamp using three different modes such as level, impulse, or edge-sensitive trigger.

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.

Specifications

Pinout diagram

This table shows how the pinout on 9 DOF Click 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	NC
Accel/Gyro Data Enable	EN	2	RST	INT	15	INT	Interrupt
	NC	3	CS	RX	14	NC
	NC	4	SCK	TX	13	NC
	NC	5	MISO	SCL	12	SCL	I2C Clock
	NC	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

9DOF Click electrical specifications

Software Support

We provide a library for the 9 DOF Click as well as a demo application (example), developed using Mikroe compilers. The demo can run on all the main Mikroe development boards.

Package can be downloaded/installed directly from NECTO Studio Package Manager(recommended), downloaded from our LibStock™ or found on Mikroe github account.

Library Description

This library contains API for 9 DOF Click driver.

Key functions

• Generic accelerometer read function.

• Get gyroscope data function.

• Get magnetometer data function.

Example Description

This application shows accelerometer, gyroscope and magnetometer axes values.

 void application_task ( void ) 
 { 
     c9dof_read_accel( &c9dof, &accel_data ); 
     Delay_ms( 10 ); 

     c9dof_read_gyro( &c9dof, &gyro_data ); 
     Delay_ms( 10 ); 

     c9dof_read_mag( &c9dof, &mag_data ); 
     Delay_ms( 10 ); 

     log_printf( &logger, "   Accel    |    Gyro    |    Magrn" ); 
     log_printf( &logger, "--------------------------------------rn" ); 
     log_printf( &logger, " X = %6d | X = %6d | X = %6drn", accel_data.x, gyro_data.x, mag_data.x ); 
     log_printf( &logger, " Y = %6d | Y = %6d | Y = %6drn", accel_data.y, gyro_data.y, mag_data.y ); 
     log_printf( &logger, " Z = %6d | Z = %6d | Z = %6drn", accel_data.z, gyro_data.z, mag_data.z ); 
     log_printf( &logger, "--------------------------------------rn" ); 
     Delay_ms( 2000 ); 
 }

The full application code, and ready to use projects can be installed directly from NECTO Studio Package Manager(recommended), downloaded from our LibStock™ or found on Mikroe github account.

Other Mikroe Libraries used in the example:

• MikroSDK.Board
• MikroSDK.Log
• Click.9Dof

Additional notes and informations

Depending on the development board you are using, you may need 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. UART terminal is available in all Mikroe compilers.

mikroSDK

This Click board™ is supported with mikroSDK – Mikroe 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.

For more information about mikroSDK, visit the official page.