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)

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)

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()

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()

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)

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)

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()

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)

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)

Enables or disables I2C Master

Returns:Returns true if the setting write was successful, otherwise False. Return type:bool

i2cMasterPassthrough(passthrough)

Enables or disables I2C Master Passthrough

Returns:Returns true if the setting write was successful, otherwise False. Return type:bool

i2cMasterReset()

Resets I2C Master Module

Returns:Returns true if the i2c write was successful, otherwise False. Return type:bool

isConnected()

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

Returns:True if the device is connected, otherwise False. Return type:bool

lowPower(on)

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()

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)

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)

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)

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)

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)

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)

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)

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()

Initialize the magnotometer with default values

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

swReset()

Performs a software reset on the ICM20948 module

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