Qwiic_9DoF_IMU_ICM20948_Py

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SparkFun 9DoF IMU Breakout - ICM-20948 (Qwiic)

Python module for the qwiic ICM-20948 sensor, which is included on the SparkFun 9DoF IMU Breakout - ICM-20948 (Qwiic)

This python package is a port of the existing SparkFun ICM-20948 Arduino Library

This package can be used in conjunction with the overall SparkFun qwiic Python Package

New to qwiic? Take a look at the entire SparkFun qwiic ecosystem.

Supported Platforms

The qwiic ICM20948 Python package current supports the following platforms:

Dependencies

This driver package depends on the qwiic I2C driver: Qwiic_I2C_Py

Documentation

The SparkFun qwiic ICM20948 module documentation is hosted at ReadTheDocs

Installation

PyPi Installation

This repository is hosted on PyPi as the sparkfun-qwiic-icm20948 package. On systems that support PyPi installation via pip, this library is installed using the following commands

For all users (note: the user must have sudo privileges):

sudo pip install sparkfun-qwiic-icm20948

For the current user:

pip install sparkfun-qwiic-icm20948

Local Installation

To install, make sure the setuptools package is installed on the system.

Direct installation at the command line:

python setup.py install

To build a package for use with pip:

python setup.py sdist

A package file is built and placed in a subdirectory called dist. This package file can be installed using pip.

cd dist
pip install sparkfun_qwiic_icm20948-<version>.tar.gz

Example Use

See the examples directory for more detailed use examples.

from __future__ import print_function
import qwiic_icm20948
import time
import sys

def runExample():

    print("\nSparkFun 9DoF ICM-20948 Sensor  Example 1\n")
    IMU = qwiic_icm20948.QwiicIcm20948()

    if IMU.connected == False:
        print("The Qwiic ICM20948 device isn't connected to the system. Please check your connection", \
            file=sys.stderr)
        return

    IMU.begin()

    while True:
        if IMU.dataReady():
            IMU.getAgmt() # read all axis and temp from sensor, note this also updates all instance variables
            print(\
             '{: 06d}'.format(IMU.axRaw)\
            , '\t', '{: 06d}'.format(IMU.ayRaw)\
            , '\t', '{: 06d}'.format(IMU.azRaw)\
            , '\t', '{: 06d}'.format(IMU.gxRaw)\
            , '\t', '{: 06d}'.format(IMU.gyRaw)\
            , '\t', '{: 06d}'.format(IMU.gzRaw)\
            , '\t', '{: 06d}'.format(IMU.mxRaw)\
            , '\t', '{: 06d}'.format(IMU.myRaw)\
            , '\t', '{: 06d}'.format(IMU.mzRaw)\
            )
            time.sleep(0.03)
        else:
            print("Waiting for data")
            time.sleep(0.5)

if __name__ == '__main__':
    try:
        runExample()
    except (KeyboardInterrupt, SystemExit) as exErr:
        print("\nEnding Example 1")
        sys.exit(0)

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Table of Contents

API Reference

qwiic_icm20948

Python module for the [SparkFun 9DoF IMU Breakout - ICM-20948 (Qwiic)](https://www.sparkfun.com/products/15335)

This python package is a port of the existing [SparkFun ICM-20948 Arduino Library](https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary)

This package can be used in conjunction with the overall [SparkFun qwiic Python Package](https://github.com/sparkfun/Qwiic_Py)

New to qwiic? Take a look at the entire [SparkFun qwiic ecosystem](https://www.sparkfun.com/qwiic).

class qwiic_icm20948.QwiicIcm20948(address=None, i2c_driver=None)[source]
Parameters:
  • address – The I2C address to use for the device. If not provided, the default address is used.
  • i2c_driver – An existing i2c driver object. If not provided a driver object is created.
Returns:

The ICM20948 device object.
Return type:

Object
ToSignedInt(input)[source]

Takes an input data of 16 bits, and returns the signed 32 bit int version of this data

Returns:Signed 32 bit integer
Return type:int
begin()[source]

Initialize the operation of the ICM20948 module

Returns:Returns true of the initializtion was successful, otherwise False.
Return type:bool
connected

Determine if a ICM20948 device is conntected to the system..

Returns:True if the device is connected, otherwise False.
Return type:bool
dataReady()[source]

Returns status of RAW_DATA_0_RDY_INT the ICM90248 module

Returns:Returns true if raw data is ready, otherwise False.
Return type:bool
enableDlpfAccel(on)[source]

Enables or disables the accelerometer DLPF of the ICM90248 module

Returns:Returns true if the DLPF mode setting write was successful, otherwise False.
Return type:bool
enableDlpfGyro(on)[source]

Enables or disables the Gyro DLPF of the ICM90248 module

Returns:Returns true if the DLPF mode setting write was successful, otherwise False.
Return type:bool
getAgmt()[source]

Reads and updates raw values from accel, gyro, mag and temp of the ICM90248 module

Returns:Returns True if I2C readBlock was successful, otherwise False.
Return type:bool
i2cMasterConfigureSlave(slave, addr, reg, len, Rw, enable, data_only, grp, swap)[source]

Configures Master/slave settings for the ICM20948 as master, and slave in slots 0-3

Returns:Returns true if the configuration was successful, otherwise False.
Return type:bool
i2cMasterEnable(enable)[source]

Enables or disables I2C Master

Returns:Returns true if the setting write was successful, otherwise False.
Return type:bool
i2cMasterPassthrough(passthrough)[source]

Enables or disables I2C Master Passthrough

Returns:Returns true if the setting write was successful, otherwise False.
Return type:bool
i2cMasterReset()[source]

Resets I2C Master Module

Returns:Returns true if the i2c write was successful, otherwise False.
Return type:bool
isConnected()[source]

Determine if a ICM20948 device is conntected to the system..

Returns:True if the device is connected, otherwise False.
Return type:bool
lowPower(on)[source]

Sets the ICM20948 module in or out of low power mode

Returns:Returns true if the power mode setting write was successful, otherwise False.
Return type:bool
magWhoIAm()[source]

Checks to see that the Magnatometer returns the correct ID value

Returns:Returns true if the check was successful, otherwise False.
Return type:bool
setBank(bank)[source]

Sets the bank register of the ICM20948 module

Returns:Returns true if the bank was a valid value and it was set, otherwise False.
Return type:bool
setDLPFcfgAccel(dlpcfg)[source]

Sets the digital low pass filter for the accel in the ICM20948 module

Returns:Returns true if the dlp setting write was successful, otherwise False.
Return type:bool
setDLPFcfgGyro(dlpcfg)[source]

Sets the digital low pass filter for the gyro in the ICM20948 module

Returns:Returns true if the dlp setting write was successful, otherwise False.
Return type:bool
setFullScaleRangeAccel(mode)[source]

Sets the full scale range for the accel in the ICM20948 module

Returns:Returns true if the full scale range setting write was successful, otherwise False.
Return type:bool
setFullScaleRangeGyro(mode)[source]

Sets the full scale range for the gyro in the ICM20948 module

Returns:Returns true if the full scale range setting write was successful, otherwise False.
Return type:bool
setSampleMode(sensors, mode)[source]

Sets the sample mode of the ICM90248 module

Returns:Returns true if the sample mode setting write was successful, otherwise False.
Return type:bool
sleep(on)[source]

Sets the ICM20948 module in or out of sleep mode

Returns:Returns true if the sleep setting write was successful, otherwise False.
Return type:bool
startupMagnetometer()[source]

Initialize the magnotometer with default values

Returns:Returns true of the initializtion was successful, otherwise False.
Return type:bool
swReset()[source]

Performs a software reset on the ICM20948 module

Returns:Returns true if the software reset was successful, otherwise False.
Return type:bool

Basic Operation

examples/ex1_qwiic_ICM20948.py
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#!/usr/bin/env python
#-----------------------------------------------------------------------------
# ex1_qwiic_ICM20948.py
#
# Simple Example for the Qwiic ICM20948 Device
#------------------------------------------------------------------------
#
# Written by  SparkFun Electronics, March 2020
# 
# This python library supports the SparkFun Electroncis qwiic 
# qwiic sensor/board ecosystem on a Raspberry Pi (and compatable) single
# board computers. 
#
# More information on qwiic is at https://www.sparkfun.com/qwiic
#
# Do you like this library? Help support SparkFun. Buy a board!
#
#==================================================================================
# Copyright (c) 2019 SparkFun Electronics
#
# Permission is hereby granted, free of charge, to any person obtaining a copy 
# of this software and associated documentation files (the "Software"), to deal 
# in the Software without restriction, including without limitation the rights 
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 
# copies of the Software, and to permit persons to whom the Software is 
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all 
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 
# SOFTWARE.
#==================================================================================
# Example 1
#

from __future__ import print_function
import qwiic_icm20948
import time
import sys

def runExample():

	print("\nSparkFun 9DoF ICM-20948 Sensor  Example 1\n")
	IMU = qwiic_icm20948.QwiicIcm20948()

	if IMU.connected == False:
		print("The Qwiic ICM20948 device isn't connected to the system. Please check your connection", \
			file=sys.stderr)
		return

	IMU.begin()

	while True:
		if IMU.dataReady():
			IMU.getAgmt() # read all axis and temp from sensor, note this also updates all instance variables
			print(\
			 '{: 06d}'.format(IMU.axRaw)\
			, '\t', '{: 06d}'.format(IMU.ayRaw)\
			, '\t', '{: 06d}'.format(IMU.azRaw)\
			, '\t', '{: 06d}'.format(IMU.gxRaw)\
			, '\t', '{: 06d}'.format(IMU.gyRaw)\
			, '\t', '{: 06d}'.format(IMU.gzRaw)\
			, '\t', '{: 06d}'.format(IMU.mxRaw)\
			, '\t', '{: 06d}'.format(IMU.myRaw)\
			, '\t', '{: 06d}'.format(IMU.mzRaw)\
			)
			time.sleep(0.03)
		else:
			print("Waiting for data")
			time.sleep(0.5)

if __name__ == '__main__':
	try:
		runExample()
	except (KeyboardInterrupt, SystemExit) as exErr:
		print("\nEnding Example 1")
		sys.exit(0)

Indices and tables