The SparkFun Qwiic 9 Degrees of Freedom IMU 9DOF Module provides a simple and cost effective solution for adding 9 Degrees of Freedom IMU capabilities to your project. Implementing a SparkFun Qwiic I2C interface, these sensors can be rapidly added to any project with boards that are part of the SparkFun Qwiic ecosystem.
This repository implements a Python package for the SparkFun Qwiic 9DOF. This package works with Python, MicroPython and CircuitPython.
This python package enables the user to access the features of the 9DOF via a single Qwiic cable. This includes reading acceleration, reading gyroscope, reading magnetometer, reading temperature and more. The capabilities of the 9DOF are each demonstrated in the included examples.
New to qwiic? Take a look at the entire SparkFun qwiic ecosystem.
Supported SparkFun ProductsThis Python package supports the following SparkFun qwiic products on Python, MicroPython and Circuit python.
Note
The listed supported platforms and boards are the primary platform targets tested. It is fully expected that this package will work across a wide variety of Python enabled systems.
The first step to using this package is installing it on your system. The install method depends on the python platform. The following sections outline installation on Python, MicroPython and CircuitPython.
The package is primarily installed using the pip3 command, downloading the package from the Python Index - "PyPi".
Note - the below instructions outline installation on a Linux-based (Raspberry Pi) system.
First, setup a virtual environment from a specific directory using venv:
python3 -m venv path/to/venv
You can pass any path as path/to/venv, just make sure you use the same one for all future steps. For more information on venv click here.
Next, install the qwiic package with:
path/to/venv/bin/pip3 install sparkfun-qwiic-icm20948
Now you should be able to run any example or custom python scripts that have import qwiic_icm20948 by running e.g.:
path/to/venv/bin/python3 example_script.py
If not already installed, follow the instructions here to install mpremote on your computer.
Connect a device with MicroPython installed to your computer and then install the package directly to your device with mpremote mip.
mpremote mip install github:sparkfun/qwiic_9dof_imu_icm20948_py
If you would also like to install the examples for this repository, issue the following mip command as well:
mpremote mip install --target "" github:sparkfun/qwiic_9dof_imu_icm20948_py@examplesCircuitPython Installation
If not already installed, follow the instructions here to install CircUp on your computer.
Ensure that you have the latest version of the SparkFun Qwiic CircuitPython bundle.
circup bundle-add sparkfun/Qwiic_Py
Finally, connect a device with CircuitPython installed to your computer and then install the package directly to your device with circup.
circup install --py qwiic_icm20948
If you would like to install any of the examples from this repository, issue the corresponding circup command from below. (NOTE: The below syntax assumes you are using CircUp on Windows. Linux and Mac will have different path seperators. See the CircUp "example" command documentation for more information)
circup example qwiic_icm20948\ex1_qwiic_ICM20948
Below is a quickstart program to print readings from the 9DOF.
See the examples directory for more detailed use examples and examples/README.md for a summary of the available examples.
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(\
'ax: {: 06d}'.format(IMU.axRaw)\
, '\t', 'ay: {: 06d}'.format(IMU.ayRaw)\
, '\t', 'az: {: 06d}'.format(IMU.azRaw)\
, '\t', 'gx: {: 06d}'.format(IMU.gxRaw)\
, '\t', 'gy: {: 06d}'.format(IMU.gyRaw)\
, '\t', 'gz: {: 06d}'.format(IMU.gzRaw)\
, '\t', 'mx: {: 06d}'.format(IMU.mxRaw)\
, '\t', 'my: {: 06d}'.format(IMU.myRaw)\
, '\t', 'mz: {: 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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