Qwiic_9DoF_IMU_ICM20948_Py

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.

Contents

• Supported Platforms
• Dependencies
• Installation
• Documentation
• Example Use

Supported Platforms

The qwiic ICM20948 Python package current supports the following platforms:

• Raspberry Pi
• NVidia Jetson Nano
• Google Coral Development Board

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)