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9DOF Click

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• CIC Prefix : C9DOF
• Author : Nenad Filipovic
• Verison : 1.0.0
• Date : Aug 2018.

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Software Support

We provide a library for the 9DOF 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 and read X-axis, Y-axis & Z-axis data of accel, gyro and magnetometar coordinates and temperatuer data from 9DOF Click.

Key functions :

• void c9dof_readGyro( int16_t *gyroX, int16_t *gyroY, int16_t *gyroZ ) - Function read Gyro X-axis, Y-axis and Z-axis axis
• void c9dof_readAccel( int16_t *accelX, int16_t *accelY, int16_t *accelZ ) - Function read Accel X-axis, Y-axis and Z-axis
• void c9dof_readMag( int16_t *magX, int16_t *magY, int16_t *magZ ) - Function read Magnetometar X-axis, Y-axis and Z-axis

Examples Description

Description :

The application is composed of three sections :

• System Initialization - Initializes I2C, set INT pin as input.
• Application Initialization - Initialization driver enable's - I2C, initialize LSM9DS1 and start write log.
• Application Task - (code snippet) This is a example which demonstrates the use of 9DOF Click board. Measured accel, gyro and magnetometar coordinates values ( X, Y, Z ) and temperature value in degrees C are being sent to the uart where you can track their changes. All data logs on usb uart for aproximetly every 1 sec.

void applicationTask()
{
    c9dof_readAccel( &accelX, &accelY, &accelZ );
    Delay_10ms();
    c9dof_readGyro(  &gyroX,  &gyroY, &gyroZ );
    Delay_10ms();
    c9dof_readMag(  &magX,  &magY, &magZ );
    Delay_10ms();
    temperature = c9dof_readTemperature();
    Delay_10ms();

    mikrobus_logWrite( " Accel X :", _LOG_TEXT );
    IntToStr( accelX, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro X :", _LOG_TEXT );
    IntToStr( gyroX, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Mag X :", _LOG_TEXT );
    IntToStr( magX, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  *", _LOG_TEXT );
    mikrobus_logWrite( "*****************", _LOG_LINE );

    mikrobus_logWrite( " Accel Y :", _LOG_TEXT );
    IntToStr( accelY, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Y :", _LOG_TEXT );
    IntToStr( gyroY, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Mag Y :", _LOG_TEXT );
    IntToStr( magY, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  *  ", _LOG_TEXT );
    mikrobus_logWrite( "Temp.:", _LOG_TEXT );
    IntToStr( temperature, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "° *  ", _LOG_LINE );

    mikrobus_logWrite( " Accel Z :", _LOG_TEXT );
    IntToStr( accelZ, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Gyro Z :", _LOG_TEXT );
    IntToStr( gyroZ, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  |  ", _LOG_TEXT );
    mikrobus_logWrite( " Mag Z :", _LOG_TEXT );
    IntToStr( magZ, logText );
    mikrobus_logWrite( logText, _LOG_TEXT );
    mikrobus_logWrite( "  *", _LOG_TEXT );
    mikrobus_logWrite( "*****************", _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:

• 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.

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