6DOF IMU 16 Click

How does it work?

6DOF IMU 16 Click is based on the ICM-45605, an ultra-high-performance 6-axis MEMS IMU with the world’s first BalancedGyro™ technology and the lowest power consumption from TDK InvenSense. The sensor combines a 3‑axis gyroscope and a 3‑axis accelerometer in a compact package. Thanks to the BalancedGyro™ technology, the gyroscope MEMS architecture, a supreme vibration rejection and temperature stability performance is achieved. It has a digital-output gyroscope angular rate with a programmable full-scale range of ±15.625, ±31.25, ±62.5, ±125, ±250, ±500, ±1000, and ±2000 degrees/sec. The accelerometer also has a digital output with a programmable full-scale range of ±2g, ±4g, ±8g, and ±16g.

The ICM-45605’s on-chip digital motion processor enables advanced motion algorithms and machine learning capability. The sensors have a self-test, low noise power mode support, good sensitivity, and more. The ICM-45605 also includes the APEX motion features such as pedometer, tilt detection, raise to wake/sleep, tap detection, wake on motion, and more. In addition, there is also a FIFO buffer of up to 8KB, enabling the application MCU to read the data in bursts.

6DOF IMU 16 Click can use a standard 4-wire SPI serial interface to communicate with the host MCU supporting clock frequency of up to 24MHz. It can also use a standard 2-wire I2C supporting a maximum bus speed of 1MHz. The I2C address can be selected over the ADDR SEL jumper. The communication selection can be made over the COMM SEL jumpers. You can also choose between a single or dual interface over the Interface jumper. This allows you to use an I2C interface as a host while using the SPI. The APEX hardware will interrupt the host MCU over two interrupt pins (I1 and I2) if an interrupt event occurs, such as tilt detection, tap, or whatever events are pre-programmed to those pins.

At the bottom of the board, two LP CUT low-power jumpers allow you to use 6DOF IMU 16 Click in a true low-power mode or with a battery-powered device, such as our Clicker 2 series of development boards.

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. Also, it 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 6DOF IMU 16 Click corresponds to the pinout on the mikroBUS™ socket (the latter shown in the two middle columns).

Notes	Pin					Pin	Notes
Interrupt 1	I1	1	AN	PWM	16	NC
ID SEL	RST	2	RST	INT	15	I2	Interrupt 2
SPI Chip 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	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

6DOF IMU 16 Click electrical specifications

Software Support

We provide a library for the 6DOF IMU 16 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 16 Click driver.

Key functions

• c6dofimu16_sw_reset This function performs the device software reset.

• c6dofimu16_get_gyro_data This function reads the angular rate of X, Y, and Z axis in degrees per second (mdps).

• c6dofimu16_get_accel_data This function reads the accelerometer of X, Y, and Z axis relative to standard gravity (mg).

Example Description

This example demonstrates the use of 6DOF IMU 16 click board by reading and displaying the accelerometer and gyroscope data (X, Y, and Z axis).

void application_task ( void ) 
 { 
     c6dofimu16_axis_t accel_data; 
     c6dofimu16_axis_t gyro_data; 

     c6dofimu16_get_accel_data( &c6dofimu16, &accel_data ); 
     c6dofimu16_get_gyro_data( &c6dofimu16, &gyro_data ); 
     log_printf( &logger, " Accel data | Gyro data rn" ); 
     log_printf( &logger, " X: %.2f g  | %.2f dps rn", accel_data.x_data, gyro_data.x_data ); 
     log_printf( &logger, " Y: %.2f g  | %.2f dps rn", accel_data.y_data, gyro_data.y_data ); 
     log_printf( &logger, " Z: %.2f g  | %.2f dps rn", accel_data.z_data, gyro_data.z_data ); 
     Delay_ms( 1000 ); 
 }

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.C6DOFIMU16

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.