6DOF IMU 24 Click

How does it work?

6DOF IMU 24 Click is based on the ICM-40609-D sensor from TDK InvenSense, specifically designed for high-performance applications in the drone market. This 6-axis MEMS MotionTracking™ device integrates a 3-axis gyroscope and a 3-axis accelerometer, offering exceptional precision and reliability even under demanding conditions. Its sophisticated architecture significantly enhances overall IMU performance, maintaining accuracy across a wide temperature range. This makes it particularly well-suited for drones and flight controllers, robotics, and IoT solutions, ensuring stability and precise control throughout extended flight durations, even when exposed to fluctuating temperatures.

A key advantage of the ICM-40609-D is its integrated 2KB FIFO buffer, which optimizes data processing by reducing serial interface traffic. This not only minimizes power consumption but also allows the system processor to operate in low-power mode while periodically retrieving burst data. The gyroscope offers eight programmable full-scale range settings, ranging from ±15.625dps to ±2000dps, providing flexibility for different motion tracking requirements. Additionally, the accelerometer supports four full-scale ranges, spanning from ±4g to an extended ±32g, enabling precise detection of both subtle and high-impact movements.

With an impressive maximum Output Data Rate (ODR) of 32kHz, this sensor delivers the highest sampling rate available in consumer-grade devices. Such a high ODR ensures that any anomalies or inconsistencies in movement can be detected and analyzed efficiently, making it a powerful tool for flight control and navigation systems. Further emphasizing its precision, the ICM-40609-D features a gyro noise level of just 4.5mdps/√Hz, a gyro offset stability temperature coefficient of ±10mdps/°C, and an exceptionally low gyro sensitivity error of ±0.5%. The accelerometer is equally precise, with an accel noise level of 100μg/√Hz, an offset stability temperature coefficient of ±0.15mg/°C, and an accel sensitivity error of just ±0.5%.

Motion data are accessed through the I2C or SPI interface, with a maximum frequency of 1MHz for I2C and 24MHz for SPI communication. The selection is made by positioning SMD jumpers labeled COMM SEL appropriately. Note that all the jumpers’ positions must be on the same side, or the Click board™ may become unresponsive. While the I2C interface is selected, the ICM-40609-D allows the least significant bit (LSB) of its I2C address to be chosen using the SMD jumper labeled ADDR SEL.

This board also possesses two interrupts, INT and IT2 entirely programmed by the user through a serial interface. These interrupt signals provide notifications about key system events, such as the clock generator locking to a new reference oscillator when switching clock sources, the availability of new data to be read from the FIFO and data registers, accelerometer event interrupts, the FIFO reaching a predefined watermark level, and FIFO overflow.

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. It also comes equipped with a library containing functions and example code that can be used as a reference for further development.

Specifications

Pinout diagram

This table shows how the pinout on 6DOF IMU 24 Click corresponds to the pinout on the mikroBUS™ socket (the latter shown in the two middle columns).

Notes	Pin					Pin	Notes
Interrupt	IT2	1	AN	PWM	16	NC
ID SEL	RST	2	RST	INT	15	INT	Interrupt
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	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 24 Click electrical specifications

Software Support

6DOF IMU 24 Click demo application is developed using the NECTO Studio, ensuring compatibility with mikroSDK‘s open-source libraries and tools. Designed for plug-and-play implementation and testing, the demo is fully compatible with all development, starter, and mikromedia boards featuring a mikroBUS™ socket.

Example Description

This example demonstrates the use of 6DOF IMU 24 Click board by reading and displaying the accelerometer and gyroscope data (X, Y, and Z axis) as well as a temperature measurement in degrees Celsius.

Key Functions

• c6dofimu24_cfg_setup Config Object Initialization function.
• c6dofimu24_init Initialization function.
• c6dofimu24_default_cfg Click Default Configuration function.
• c6dofimu24_get_int1_pin This function returns the INT1 pin logic state.
• c6dofimu24_clear_data_ready This function clears the data ready interrupt by reading the INT_STATUS register.
• c6dofimu24_read_data This function reads the accelerometer, gyroscope, and temperature measurement data.

Application Init

Initializes the driver and performs the Click default configuration.

Application Task

Waits for a data ready indication and then reads the accelerometer, gyroscope, and temperature measurements. The results are displayed on the USB UART every 80ms as per the accel and gyro output data rate which is set to 12.5 Hz.

Application Output

This Click board can be interfaced and monitored in two ways:

• Application Output – Use the “Application Output” window in Debug mode for real-time data monitoring. Set it up properly by following this tutorial.
• UART Terminal – Monitor data via the UART Terminal using a USB to UART converter. For detailed instructions, check out this tutorial.

Additional Notes and Information

The complete application code and a ready-to-use project are available through the NECTO Studio Package Manager for direct installation in the NECTO Studio. The application code can also be found on the MIKROE GitHub account.