9dof3

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9DOF 3 Click

9DOF 3 Click introduces the BMX055, a small-scale absolute orientation sensor in the class of low-noise 9-axis measurement units, from Bosch Sensortec. It comprises the full functionality of a triaxial, low-g acceleration sensor, a triaxial angular rate sensor and a triaxial geomagnetic sensor. All three sensor components of the BMX055 can be operated and addressed independently from each other. On top, the BMX055 integrates a multitude of features that facilitate its use especially in the area of motion detection applications, such as device orientation measurement, gaming, HMI or menu browser control. 9DOF 3 Click offers both SPI and I2C digital interfaces for easy and fast system integration.

Click Product page

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Click library

• Author : MikroE Team
• Date : jun 2020.
• Type : I2C/SPI type

Software Support

We provide a library for the 9Dof3 Click as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.

Package can be downloaded/installed directly form compilers IDE(recommended way), or downloaded from our LibStock, or found on mikroE github account.

Library Description

This library contains API for 9Dof3 Click driver.

Standard key functions :

• Config Object Initialization function.

void c9dof3_cfg_setup ( c9dof3_cfg_t *cfg );

• Initialization function.

C9DOF3_RETVAL c9dof3_init ( c9dof3_t *ctx, c9dof3_cfg_t *cfg );

• Click Default Configuration function.

void c9dof3_default_cfg ( c9dof3_t *ctx );

Example key functions :

• The function check device ID for accelerometer, gyroscope and magnetometer.

uint8_t c9dof3_check_communication ( c9dof3_t *ctx );

• Function read Accel, Gyro and Mag X-axis, Y-axis data and Z-axis data.

void c9dof3_get_data ( c9dof3_t *ctx, c9dof3_accel_t *accel_data, c9dof3_gyro_t *gyro_data, c9dof3_mag_t *mag_data );

• This function reads data from the desired register.

void c9dof3_generic_read ( c9dof3_t *ctx, uint8_t reg, uint8_t *data_buf, uint8_t len );

Examples Description

This Click introduces a small-scale absolute orientation sensor in the class of low-noise 9-axis measurement units. It comprises the full functionality of a triaxial, low-g acceleration sensor, a triaxial angular rate sensor and a triaxial geomagnetic sensor. All three sensor components can be operated and addressed independently from each other. 9DOF 3 Click offers both SPI and I2C digital interfaces

The demo application is composed of two sections :

Application Init

Initialization driver enables - I2C or SPI, check communication, set default configuration for accelerometer, gyroscope and magnetometer, also write log.

void application_init ( void )
{
    log_cfg_t log_cfg;
    c9dof3_cfg_t cfg;

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, "---- Application Init ----" );

    //  Click initialization.

    c9dof3_cfg_setup( &cfg );
    C9DOF3_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c9dof3_init( &c9dof3, &cfg );
    Delay_ms ( 100 );

    if ( c9dof3_check_communication( &c9dof3 ) == ( C9DOF3_ACC_COMM_SUCCESS  |
                                                    C9DOF3_GYRO_COMM_SUCCESS |
                                                    C9DOF3_MAG_COMM_SUCCESS ) )
    {
        log_printf( &logger, "    Communication OK     \r\n" );
    }
    else
    {
        log_printf( &logger, "   Communication ERROR   \r\n" );
        log_printf( &logger, "     Reset the device    \r\n" );
        log_printf( &logger, "-------------------------\r\n" );
        for ( ; ; );
    }
    
    log_printf( &logger, "-------------------------\r\n" );
    c9dof3_default_cfg( &c9dof3 );
    Delay_ms ( 100 );
}
  

Application Task

This is an example which demonstrates the use of 9DOF 3 Click board. Measures and displays Accel, Gyroscope and Magnetometer 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 ( void )
{
    c9dof3_get_data ( &c9dof3, &accel_data, &gyro_data, &mag_data );

    log_printf( &logger, " Accel X: %d | Gyro X: %d |  Mag X: %d\r\n", accel_data.x, gyro_data.x, mag_data.x );
    log_printf( &logger, " Accel Y: %d | Gyro Y: %d |  Mag Y: %d\r\n", accel_data.y, gyro_data.y, mag_data.y );
    log_printf( &logger, " Accel Z: %d | Gyro Z: %d |  Mag Z: %d\r\n", accel_data.z, gyro_data.z, mag_data.z );

    log_printf( &logger, "------------------------------------------\r\n" );

    Delay_ms ( 1000 );
} 

The full application code, and ready to use projects can be installed directly form compilers IDE(recommneded) or found on LibStock page or mikroE GitHub accaunt.

Other mikroE Libraries used in the example:

• MikroSDK.Board
• MikroSDK.Log
• Click.9Dof3

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.

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