6DOF IMU 23 Click

How does it work?

6DOF IMU 23 Click is based on the IIM-20670, a high-performance SmartIndustrial™ 6-axis MotionTracking device from TDK InvenSense that combines a 3-axis gyroscope and a 3-axis accelerometer in a compact plastic package. Using InvenSense’s patented CMOS-MEMS fabrication platform, this component provides exceptional integration and performance within a small form factor. The gyroscope features a user-programmable full-scale range of up to ±1966 dps, with guaranteed accuracy up to ±300 dps, while the accelerometer offers a user-programmable full-scale range of ±2g to ±65g, with accuracy guaranteed up to ±36g.

Key features of the IIM-20670 also include a 10MHz SPI interface, a shock-tolerant structure capable of withstanding up to 10,000 g, and minimal offset and sensitivity variation across temperature changes. Additionally, the IIM-20670 boasts on-chip 16-bit ADCs, programmable digital filters, a selectable power supply, and a current consumption below 10mA in all operating conditions. This robust feature set makes it ideal for various industrial applications, including navigation, platform stabilization, asset tracking, robotics, industrial automation, smart transportation, and machinery for agriculture and construction.

As mentioned, the 6DOF IMU 23 Click communicates with the host MCU through a robust and efficient 4-wire SPI interface, which supports a maximum clock frequency of 10MHz, ensuring fast and reliable data transfer. This interface is critical for enabling precise and synchronized communication between the sensor and the host MCU. In addition to the standard communication pins, this Click board™ features a dedicated RST pin, which performs the resetting of the IIM-20670, allowing for quick reinitialization and troubleshooting. Furthermore, it also includes an ODR (Output Data Ready) pin that plays a vital role in providing synchronous sensor data readings by signaling when new data is available, thereby ensuring that the host MCU can promptly and accurately read sensor data without unnecessary delays.

This Click board™ can operate with either 3.3V or 5V logic voltage levels selected via the VCC SEL jumper. This way, both 3.3V and 5V capable MCUs can use the communication lines properly. Also, this Click board™ comes equipped with a library containing easy-to-use 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 6DOF IMU 23 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
Reset / ID SEL	RST	2	RST	INT	15	ODR	Output Data Ready
SPI Select / ID COMM	CS	3	CS	RX	14	NC
SPI Clock	SCK	4	SCK	TX	13	NC
SPI Data OUT	SDO	5	MISO	SCL	12	NC
SPI Data IN	SDI	6	MOSI	SDA	11	NC
Power Supply	3.3V	7	3.3V	5V	10	5V	Power Supply
Ground	GND	8	GND	GND	9	GND	Ground

Onboard settings and indicators

6DOF IMU 23 Click electrical specifications

Software Support

We provide a library for the 6DOF IMU 23 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 6DOF IMU 23 Click driver.

Key functions

• c6dofimu23_get_accel_data This function reads the accelerometer sensor axes measurement data.

• c6dofimu23_get_gyro_data This function reads the gyroscope sensor axes measurement data.

• c6dofimu23_get_temperature This function reads the internal temperature measurement data.

Example Description

This library contains API for 6DOF IMU 23 Click driver. The library initializes and defines the SPI bus drivers to write and read data. The library also includes a function for reading accelerometer and gyroscope X-axis, Y-axis, and Z-axis data as well as the internal temperature data.

void application_task ( void ) 
 { 
     float temperature = 0; 
     c6dofimu23_axis_t acc_axis, gyro_axis; 
     if ( ( C6DOFIMU23_OK == c6dofimu23_get_accel_data( &c6dofimu23, &acc_axis ) ) && 
          ( C6DOFIMU23_OK == c6dofimu23_get_gyro_data( &c6dofimu23, &gyro_axis ) ) && 
          ( C6DOFIMU23_OK == c6dofimu23_get_temperature( &c6dofimu23, &temperature ) ) ) 
     { 
         log_printf( &logger, " Accel X: %.2f g | Gyro X: %.2f dpsrn", acc_axis.x, gyro_axis.x ); 
         log_printf( &logger, " Accel Y: %.2f g | Gyro Y: %.2f dpsrn", acc_axis.y, gyro_axis.y ); 
         log_printf( &logger, " Accel Z: %.2f g | Gyro Z: %.2f dpsrn", acc_axis.z, gyro_axis.z ); 
         log_printf( &logger, " Internal temperature: %.2f degCrn", temperature ); 
         log_printf( &logger, " ----------------------------------rn" ); 
     } 
     Delay_ms( 100 ); 
 }

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.6DOFIMU23

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.