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MPU 9DOF Click

MPU 9DOF 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.

Click Library

  • Author : MikroE Team
  • Date : maj 2020.
  • Type : I2C type

Software Support

Example Description

MPU 9DOF Click carries the world’s first 9-axis Motion Tracking device. It comprises two chips: one that contains a 3-axis accelerometer, a 3-axis gyroscope, and a DMP (digital motion processor); the other is a 3-axis digital compass.

Example Libraries

  • MikroSDK.Board
  • MikroSDK.Log
  • Click.Mpu9Dof

Example Key Functions

  • mpu9dof_cfg_setup Config Object Initialization function.
void mpu9dof_cfg_setup ( mpu9dof_cfg_t *cfg );
  • mpu9dof_init Initialization function.
err_t mpu9dof_init ( mpu9dof_t *ctx, mpu9dof_cfg_t *cfg );
  • mpu9dof_default_cfg Click Default Configuration function.
void mpu9dof_default_cfg ( mpu9dof_t *ctx );
  • mpu9dof_read_accel Function read Gyro X-axis, Y-axis and Z-axis axis.
void mpu9dof_read_accel ( mpu9dof_t *ctx, int16_t *accel_x, int16_t *accel_y, int16_t *accel_z );
  • mpu9dof_read_gyro Function read Gyro X-axis, Y-axis and Z-axis axis.
void mpu9dof_read_gyro ( mpu9dof_t *ctx, int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z );
  • mpu9dof_read_mag Function read Magnetometar X-axis, Y-axis and Z-axis axis.
void mpu9dof_read_mag ( mpu9dof_t *ctx, int16_t *mag_x, int16_t *mag_y, int16_t *mag_z );

Application Init

Initialization driver enable's - I2C, initialize MPU-9150 XL G & MPU-9150 MAG and start write log.

void application_init ( void )
{
    log_cfg_t log_cfg;
    mpu9dof_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.

    mpu9dof_cfg_setup( &cfg );
    MPU9DOF_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    mpu9dof_init( &mpu9dof, &cfg );

    Delay_10ms( );
    mpu9dof_default_cfg ( &mpu9dof );
}

Application Task

This is a example which demonstrates the use of MPU 9DOF Click board. Measured accel, gyro and magnetometar coordinates values ( X, Y, Z ) and temperature value in degrees celsius [ �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 application_task ( void )
{
    mpu9dof_read_accel( &mpu9dof, &accel_x, &accel_y, &accel_z );
    Delay_10ms( );
    mpu9dof_read_gyro( &mpu9dof, &gyro_x,  &gyro_y, &gyro_z );
    Delay_10ms( );
    mpu9dof_read_mag( &mpu9dof, &mag_x,  &mag_y, &mag_z );
    Delay_10ms( );
    temperature = mpu9dof_read_temperature( &mpu9dof );
    Delay_10ms( );

    log_printf( &logger, " Accel X : %d   |   Gyro X : %d   |   Mag X : %d \r\n", accel_x, gyro_x, mag_x );
    log_printf( &logger, " Accel Y : %d   |   Gyro Y : %d   |   Mag Y : %d \r\n", accel_y, gyro_y, mag_y );
    log_printf( &logger, " Accel Z : %d   |   Gyro Z : %d   |   Mag Z : %d \r\n", accel_z, gyro_z, mag_z );
    Delay_10ms( );
    log_printf( &logger, "- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -\r\n" );
    Delay_10ms( );
    log_printf( &logger, "Temperature: %.2f C\r\n", temperature );
    Delay_100ms( );
    log_printf( &logger, "- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -\r\n" );
    log_printf( &logger, "\r\n");
    Delay_ms ( 1000 );
}

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.