6DOF IMU 4 CLICK
PID: MIKROE-3410 Weight: 23 g
6DOF IMU 4 Click is an advanced 6-axis motion tracking Click board™, which utilizes
the ICM-20602, a high-performance integrated motion sensor, equipped with a 3-axis
gyroscope, and a 3-axis accelerometer. There is a MEMS on each axis, sampled by a
16-bit A/D converter (ADC). Data streams from each axis are fed to a signal processing
engine, offering calibrated readings of each axis over the I2C or SPI interface. A FIFO
buffer with 1kb of memory allows MCU firmware optimization. Packed with a set of
powerful options, this Click board™ represents an ideal solution for development of
MotionTracking™ applications.
6DOF IMU 4 Click is supported by a mikroSDK compliant library, which includes
functions that simplify software development. This Click board™ comes as a fully tested
product, ready to be used on a system equipped with the mikroBUS™ socket.
Features such as low power consumption, high precision of motion detection, high
shock tolerance up to 20,000 g, a programmable full-scale range for increased
accuracy, allow 6DOF IMU 4 click to be used for development of different types of
motion detection and MotionTracking™ applications: motion-based game controllers,
3D and gesture controllers, IoT applications, wearable motion sensing applications, and
similar applications.
HOW DOES IT WORK?
6DOF IMU 4 click is based on the ICM‐20602, a high-performance, 6-axis MEMS
MotionTracking™ IC from TDK Invensense. It is an advanced, integrated
microelectromechanical gyroscope and accelerometer sensor (MEMS). The ICM-20602
is produced using the patented CMOS-MEMS fabrication platform, specialized in MEMS
production and its integration with accompanying logic sections, on a wafer level. This
allows very high integration and very small dimensions, at an affordable cost. The IC
contains a separate accelerometer and gyroscope MEMS on each axis. The output of
each MEMS is processed and digitized by a separate sigma-delta 16-bit A/D converter
(ADC).
Three-axis gyroscope MEMS can be programmed to measure the rotation about each
axis, in four different ranges of rotational speed (degrees per angle, DPS): ±250, ±500,
±1000, and ±2000. Three-axis accelerometer MEMS can be programmed to measure
the acceleration along each axis, in four different acceleration ranges: ±2g, ±4g, ±8g,
and ±16g. The user can select an optimal range for both properties, depending on the
application requirements.
The ICM-20602 incorporates a powerful programmable interrupt engine. The interrupt
engine can generate a signal on the interrupt pin for several interrupt sources, including
FIFO Buffer overflow, Data Ready, I2C Master Error, and I2C Slave Error. The interrupt
is routed to the INT pin of the mikroBUS™.
A FIFO buffer helps to further reduce the processing load, offering temporary storage
for the output data. The MPU6050 features a FIFO buffer with the capacity of 1024
bytes. The user can select which data will be stored in the FIFO buffer: gyro data, accel
data, temperature readings, and auxiliary sensor readings. Once the FIFO buffer is full,
it will start discarding the oldest data, allowing new data to be written. The FIFO buffer
overflow condition can be used to trigger an interrupt, alerting the host MCU about its
status.
Synchronization with an external digital signal is possible over the FSYNC pin. This pin
is routed to the PWM pin of the mikroBUS™, labeled as SYN. The ICM-20602 can be
programmed to trigger an interrupt on the FSYN pin activity. The polarity of the signal
pulse applied at the FSYN pin can also be programmed.
6DOF IMU 4 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 chosen
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 a SMD jumper, when the
Click board™ is operated in the I2C mode: a SMD jumper labeled as ADD SEL is used
to set the least significant bit (LSB) of the I2C address. When set to 1, the 7-bit I2C
slave address becomes 0b1101000x. If set to 0, the address becomes 0b1101001x.
The last digit (x) is the R/W bit.
This Click Board™ uses both I2C and SPI communication interfaces. It is designed to
be operated only with 3.3V logic levels. A proper logic voltage level conversion should
be performed before the Click board™ is used with MCUs with logic levels of 5V.
SPECIFICATIONS
Type
Motion
Applications
It is a perfect solution for development of different types of motion
detection and MotionTracking™ applications: motion-based game
controllers, 3D and gesture controllers, IoT applications, wearable
motion sensing applications, and similar applications.
On-board
modules
ICM-20602, a high-performance, 6-axis MEMS MotionTracking™
IC from TDK Invensense.
Key Features
Six independent MEMS (one on each axis), sampled by a
dedicated 16-bit ADC, external synchronization pin, output data
filtering, selectable accel and gyro ranges for increased precision, a
FIFO buffer with 1kb of memory, etc.
Interface
I2C,SPI
Input Voltage
3.3V
Click board
size
M (42.9 x 25.4 mm)
PINOUT DIAGRAM
This table shows how the pinout on 6DOF IMU 4 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
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
SPI Chip Select
Ground
ONBOARD SETTINGS AND INDICATORS
Label
Name
Default
Description
LD1
PWR
-
JP1, JP4
COM SEL
Left
Communication interface selection: left position
I2C, right position SPI
JP5
ADDR SEL
Left
Slave I2C address LSB selection: left position 0,
right position 1
Power LED indicator
SOFTWARE SUPPORT
We provide a library for the 6DOF IMU 4 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 performs a gyroscope, accelerometer and temperature measurements and
control of the 6DOF IMU 4 Click board. User also can select a desired full scale range,
offset and threshold for the desired measurement. The control of the 6DOF IMU 4 Click
board can be performed by using I2C or SPI interface. For more details check
documentation.
Key functions:
T_C6DOFIMU4_RETVAL c6dofimu4_writeByte( uint8_t regAddr, uint8_t dataIn ) - Function writes
one byte data to the desired register.
T_C6DOFIMU4_RETVAL c6dofimu4_readBytes( uint8_t startAddr, uint8_t *dataOut, uint8_t
nBytes ) - Function performs a sequential data reading starting from the desired address.
void c6dofimu4_getData( T_c6dofimu4_axis *accelOut, T_c6dofimu4_axis *gyroOut, int8_t
*tempOut ) - Function performs a data reading and all necessary calculations to get accelerometer,
gyroscope and temperature data.
T_C6DOFIMU4_RETVAL c6dofimu4_setFSR( uint8_t gyro_resol, uint8_t accel_resol )- Function
selects a measurement full scale range.
Examples description
The application is composed of the three sections :
System Initialization - Initializes peripherals and pins.
Application Initialization - Initializes I2C or SPI interface and performs a device reset and
configurations.
Application Task - (code snippet) - Waits until data is ready and then reads the all data registers,
accelerometer, gyroscope and temperature data, and shows results to the uart terminal every
500ms.
void applicationTask()
{
dataReady = c6dofimu4_getStatus( _C6DOFIMU4_DATA_RDY_INT_MASK );
while (dataReady != _C6DOFIMU4_DATA_RDY_INT_OCCURED)
{
dataReady = c6dofimu4_getStatus( _C6DOFIMU4_DATA_RDY_INT_MASK );
}
c6dofimu4_getData( &accel_data, &gyro_data, &temperature );
mikrobus_logWrite( "** Accelerometer values :", _LOG_LINE );
logAxis( &accel_data, &accelUnit[0] );
mikrobus_logWrite( "", _LOG_LINE );
mikrobus_logWrite( "** Gyroscope values :", _LOG_LINE );
logAxis( &gyro_data, &gyroUnit[0] );
mikrobus_logWrite( "", _LOG_LINE );
mikrobus_logWrite( "** Temperature value : ", _LOG_TEXT );
ShortToStr( temperature, text );
mikrobus_logWrite( text, _LOG_TEXT );
mikrobus_logWrite( tempUnit, _LOG_LINE );
mikrobus_logWrite( "‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐", _LOG_LINE );
mikrobus_logWrite( "", _LOG_LINE );
Delay_ms( 500 );
}
Additional Functions :
floatCut - Makes to float values be rounded on two decimal places.
logAxis - Logs axis values for the desired measured data on the uart terminal.
The full application code, and ready to use projects can be found on our LibStock page.
Other mikroE Libraries used in the example:
I2C
SPI
UART
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.
https://www.mikroe.com/6dof‐imu‐4‐click//3‐27‐19
