6DOF IMU 9 Click

How does it work?

The 6DOF IMU 9 click is based on the IAM-20680 is a 6-axis MotionTracking device for Automotive applications from TDK, that combines a 3-axis gyroscope and a 3-axis accelerometer in a small 3x3x0.75mm (16-pin LGA) package. It also features a 512- byte FIFO that can lower the traffic on the serial bus interface and reduce power consumption by allowing the system processor to burst read sensor data and then go into a low-power mode. IAM-20680, with its 6-axis integration, enables manufacturers to eliminate the costly and complex selection, qualification, and system level integration of discrete devices, guaranteeing optimal motion performance.

The IAM-20680 has many features including the Digital-output X-, Y-, and Z-axis angular rate sensors (gyroscopes) with a user-programmable full-scale range of ±250 dps, ±500 dps, ±1000 dps, and ±2000 dps and integrated 16-bit ADCs, Digital-output X-, Y-, and Z-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g, and ±16g and integrated 16-bit ADCs and a User-programmable digital filters for gyroscope, accelerometer, and temperature sensor.

The IAM-20680 includes the following additional features such as minimal cross-axis sensitivity between the accelerometer and gyroscope axes, a 512-byte FIFO buffer enables the applications processor to read the data in bursts, with a digital-output temperature sensor and the MEMS structure hermetically sealed and bonded at wafer level.

The 6DOF IMU 9 communicates to a system processor using either a SPI or an I2C serial interface. The IAM-20680 contains a 512-byte FIFO register that is accessible via the Serial Interface. The FIFO configuration register determines which data are written into the FIFO. Possible choices include gyro data, accelerometer data, temperature readings, and FSYNC input. A FIFO counter keeps track of how many bytes of valid data are contained in the FIFO. The FIFO register supports burst reads. The interrupt function may be used to determine when new data are available. The IAM-20680 allows FIFO read in low-power accelerometer mode.

6DOF IMU 9 click supports both SPI and I2C communication interfaces, allowing it to be used with a wide range of different MCUs. The communication interface can be selected by moving SMD jumpers grouped under the COM SEL to an appropriate position (SPI or I2C). The slave I2C address can also be configured by an SMD jumper when the Click board™ is operated in the I2C mode an SMD jumper labeled as ADD LSB is used to set the least significant bit (LSB) of the I2C address.

Due to the IAM-20680, the 6DOF IMU 9 click can be used for automotive applications and navigation systems aids for dead reckoning, lift gate motion detection, accurate location for vehicle to vehicle and infrastructure, 360º view camera stabilization, car alarm, telematics and insurance vehicle tracking.

Specifications

Pinout diagram

This table shows how the pinout on 6DOF IMU 9 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	SYN	External sync
	NC	2	RST	INT	15	INT	Interrupt
SPI Chip Select	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

Software Support

We provide a library for the 6DOF IMU 9 Click 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 to control 6DOF IMU 9 click board. Library performs a standard I2C or SPI interface communication.

Key functions:

• void c6dofimu9_get_accel_data( int16_t *p_accel_x, int16_t *p_accel_y, int16_t *p_accel_z ) – Read Accel X-axis, Y-axis and Z-axis axis function.
• void c6dofimu9_get_gyro_data( int16_t *p_gyro_x, int16_t *p_gyro_y, int16_t *p_gyro_z ) – Read Gyro X-axis, Y-axis and Z-axis axis function.

Examples description

The application is composed of three sections :

• System Initialization – Initializes I2C or SPI and start to write log.
• Application Initialization – Initialization driver enables – I2C or SPI, check device ID, configure accelerometer and gyroscope, also write log.
• Application Task – (code snippet) This is an example which demonstrates the use of 6DOF IMU 9 Click board. Measured and display Accel and Gyro data coordinates values for X-axis, Y-axis and Z-axis. Results are being sent to the Usart Terminal where you can track their changes. All data logs write on USB uart changes for every 1 sec.

void application_task( )
{
    c6dofimu9_get_accel_data( &accel_axis_x, &accel_axis_y, &accel_axis_z );
    Delay_10ms( );
    c6dofimu9_get_gyro_data( &gyro_axis_x,  &gyro_axis_y, &gyro_axis_z );
    Delay_10ms( );

    mikrobus_logWrite( " Accel X :", _LOG_TEXT );
    IntToStr( accel_axis_x, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro X :", _LOG_TEXT );
    IntToStr( gyro_axis_x, logText );
    mikrobus_logWrite( logText, _LOG_LINE );

    mikrobus_logWrite( " Accel Y :", _LOG_TEXT );
    IntToStr( accel_axis_y, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Y :", _LOG_TEXT );
    IntToStr( gyro_axis_y, logText );
    mikrobus_logWrite( logText, _LOG_LINE );

    mikrobus_logWrite( " Accel Z :", _LOG_TEXT );
    IntToStr( accel_axis_z, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Z :", _LOG_TEXT );
    IntToStr( gyro_axis_z, logText );
    mikrobus_logWrite( logText, _LOG_LINE );

    mikrobus_logWrite( "-------------------------------------", _LOG_LINE );
    Delay_1sec( );
}

The full application code, and ready to use projects can be found on our LibStock page.

Other mikroE Libraries used in the example:

• I2C or SPI
• UART
• Conversions

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. The terminal available in all MikroElektronika compilers, or any other terminal application of your choice, can be used to read the message.

mikroSDK

This 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.

For more information about mikroSDK, visit the official page.