MicroPython ICM20948 Driver¶

ICM20948¶

MicroPython Driver for the ICM20948 Accelerometer/Gyro Sensor

• Author(s): Jose D. Montoya

Implementation Notes¶

Software and Dependencies:

This library depends on Micropython

class micropython_icm20948.icm20948.ICM20948(i2c, address=0x69)[source]¶

Main class for the Sensor

Parameters:¶

i2c : I2C¶

The I2C bus the ICM20948 is connected to.

address : int¶

The I2C device address. Defaults to 0x69

Raises:¶

RuntimeError – if the sensor is not found

Quickstart: Importing and using the device

Here is an example of using the micropython_icm20948.ICM20948 class. First you will need to import the libraries to use the sensor

from machine import Pin, I2C
import micropython_icm20948.icm20948 as icm20948

Once this is done you can define your machine.I2C object and define your sensor object

i2c = I2C(1, sda=Pin(2), scl=Pin(3))
icm = icm20948.ICM20948(i2c)

Now you have access to the acceleration attribute and gyro attribute

accx, accy, accz = icm.accelerometer
gyro = icm.gyro

property acc_data_rate¶

The rate at which accelerometer measurements are taken in Hz

property acc_data_rate_divisor : int¶

Accepted values are:

* 7

* 10

* 15

* 22

* 31

* 63

* 127

* 255

* 513

* 1022

* 2044

* 4095

property acc_dlpf_cutoff : int¶

The cutoff frequency for the accelerometer’s digital low pass filter. Signals above the given frequency will be filtered out.

Note

Readings immediately following setting a cutoff frequency will be inaccurate due to the filter “warming up”

Mode	Value
icm20948.FREQ_246_0	0b001
icm20948.FREQ_111_4	0b010
icm20948.FREQ_50_4	0b011
icm20948.FREQ_23_9	0b100
icm20948.FREQ_11_5	0b101
icm20948.FREQ_5_7	0b110
icm20948.FREQ_473	0b111

property acc_enabled : str¶

Accelerometer enabled

Mode	Value
icm20948.ACC_ENABLED	0b000 Accelerometer (all axes) on
icm20948.ACC_DISABLED	0b111 Accelerometer (all axes) disabled

property acc_filter_choice : int¶

Enables accelerometer DLPF

property acceleration : tuple[float, float, float]¶

Acceleration Property. The x, y, z acceleration values returned in a 3-tuple and are in \(m / s ^ 2.\) :return: Acceleration Values

property accelerometer_range : str¶

Sensor acceleration_range

Mode	Value
icm20948.RANGE_2G	0b00
icm20948.RANGE_4G	0b01
icm20948.RANGE_8G	0b10
icm20948.RANGE_16G	0b11

property clock_select¶

CLK_SELECT_INTERNAL: Internal 20 MHz oscillator CLK_SELECT_BEST: Auto selects the best available clock source - PLL if ready, else use the Internal oscillator CLK_SELECT_STOP: Stops the clock and keeps timing generator in reset NOTE: CLKSEL should be set to CLK_SELECT_BEST to achieve full gyroscope performance.

Mode	Value
icm20948.CLK_SELECT_INTERNAL	0b000
icm20948.CLK_SELECT_BEST	0b001
icm20948.CLK_SELECT_STOP	0b111

property gyro : tuple[float, float, float]¶

Gyro Property. The x, y, z angular velocity values returned in a 3-tuple and are in \(degrees / second\) :return: Angular velocity Values

property gyro_data_rate¶

The rate at which gyro measurements are taken in Hz

property gyro_data_rate_divisor : int¶

Accepted values are:

* 1

* 2

* 3

* 4

* 5

* 7

* 8

* 10

* 15

* 16

* 22

* 31

* 32

* 63

* 64

* 255

property gyro_dlpf_cutoff : int¶

The cutoff frequency for the gyro’s digital low pass filter. Signals above the given frequency will be filtered out.

Note

Readings immediately following setting a cutoff frequency will be inaccurate due to the filter “warming up”

Mode	Value
icm20948.G_FREQ_196_6	0b000
icm20948.G_FREQ_151_8	0b001
icm20948.G_FREQ_119_5	0b010
icm20948.G_FREQ_51_2	0b011
icm20948.G_FREQ_23_9	0b100
icm20948.G_FREQ_11_6	0b101
icm20948.G_FREQ_5_7	0b110
icm20948.G_FREQ_361_4	0b111

property gyro_enabled : str¶

Gyro Enabled

Mode	Value
icm20948.GYRO_ENABLED	0b000 Gyroscope (all axes) on
icm20948.GYRO_DISABLED	0b111 Gyroscope (all axes) disabled

property gyro_filter_choice : int¶

Enables gyro DLPF

property gyro_full_scale : str¶

Sensor gyro_full_scale

Mode	Value
icm20948.FS_250_DPS	0b00
icm20948.FS_500_DPS	0b01
icm20948.FS_1000_DPS	0b10
icm20948.FS_2000_DPS	0b11

property power_bank : int¶

Power bank selected

property reset : int¶

Reset the internal registers and restores the default settings. Write a 1 to set the reset, the bit will auto clear

property temperature : float¶

Temperature Value. In the setup tested, there is the need to read either the values from acceleration, gyro and temperature or gyro and temperature at the same time in order to have a logic temperature value.

property temperature_enabled : str¶

Temperature Enabled. When set to 1, this bit disables the temperature sensor.

Mode	Value
icm20948.TEMP_ENABLED	0b0 Temperature on
icm20948.TEMP_DISABLED	0b1 Temperature disabled