AdafruitICM20X Library Documentation

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Bryan Siepert

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1 Dependencies 3

2 Installing from PyPI 5

3 Usage Example 7

4 Contributing 9

5 Documentation 11

6 Table of Contents 13

6.1 Simple test . . . 13

6.2 adafruit_icm20x . . . 14

6.2.1 Implementation Notes . . . 14

7 Indices and tables 17

Python Module Index 19

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AdafruitICM20X Library Documentation, Release 1.0

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Dependencies

This driver depends on: • Adafruit CircuitPython

• Bus Device

• Register

Please ensure all dependencies are available on the CircuitPython filesystem. This is easily achieved by downloading

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Installing from PyPI

On supported GNU/Linux systems like the Raspberry Pi, you can install the driver locallyfrom PyPI. To install for current user:

pip3 install adafruit-circuitpython-icm20x

To install system-wide (this may be required in some cases):

sudo pip3 install adafruit-circuitpython-icm20x

To install in a virtual environment in your current project:

mkdir project-name && cd project-name python3 -m venv .env

source .env/bin/activate

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Usage Example

For use with the ICM20649:

import time import board import busio

import adafruit_icm20x

i2c = busio.I2C(board.SCL, board.SDA) icm = adafruit_icm20x.ICM20649(i2c)

while True:

print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (icm.acceleration)) print("Gyro X:%.2f, Y: %.2f, Z: %.2f rads/s" % (icm.gyro))

print("") time.sleep(0.5)

For use with the ICM20948:

import time import board import busio

import adafruit_icm20x

i2c = busio.I2C(board.SCL, board.SDA) icm = adafruit_icm20x.ICM20948(i2c)

while True:

print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (icm.acceleration)) print("Gyro X:%.2f, Y: %.2f, Z: %.2f rads/s" % (icm.gyro))

print("Magnetometer X:%.2f, Y: %.2f, Z: %.2f uT" % (icm.magnetic)) print("")

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Contributing

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Documentation

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6.1 Simple test

Ensure your device works with one of these simple tests.

Listing 1: examples/icm20x_icm20649_simpletest.py 1 import time

2 import board 3 import busio

4 import adafruit_icm20x 5

6 i2c = busio.I2C(board.SCL, board.SDA) 7 icm = adafruit_icm20x.ICM20649(i2c) 8

9 while True:

10 print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (icm.acceleration)) 11 print("Gyro X:%.2f, Y: %.2f, Z: %.2f rads/s" % (icm.gyro))

12 print("") 13 time.sleep(0.5)

Listing 2: examples/icm20x_icm20948_simpletest.py 1 import time

2 import board 3 import busio

4 import adafruit_icm20x 5

6 i2c = busio.I2C(board.SCL, board.SDA) 7 icm = adafruit_icm20x.ICM20948(i2c) 8

9 while True:

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(continued from previous page) 12 print("Magnetometer X:%.2f, Y: %.2f, Z: %.2f uT" % (icm.magnetic))

13 print("") 14 time.sleep(0.5)

6.2 adafruit_icm20x

Library for the ST ICM20X Motion Sensor Family • Author(s): Bryan Siepert

6.2.1 Implementation Notes

Hardware:

• Adafruit’s ICM20649 Breakout:https://adafruit.com/product/4464

• Adafruit’s ICM20948 Breakout:https://adafruit.com/product/4554 Software and Dependencies:

• Adafruit CircuitPython firmware for the supported boards:https://circuitpython.org/downloads

• Adafruit’s Bus Device library:https://github.com/adafruit/Adafruit_CircuitPython_BusDevice

• Adafruit’s Register library:https://github.com/adafruit/Adafruit_CircuitPython_Register class adafruit_icm20x.AccelDLPFFreq

Options foraccel_dlpf_cutoff

class adafruit_icm20x.AccelRange

Options foraccelerometer_range

class adafruit_icm20x.CV

struct helper

classmethod add_values(value_tuples)

Add CV values to the class

classmethod is_valid(value)

Validate that a given value is a member

class adafruit_icm20x.GyroDLPFFreq

Options forgyro_dlpf_cutoff

class adafruit_icm20x.GyroRange

Options forgyro_data_range

class adafruit_icm20x.ICM20649(i2c_bus,address=104)

Library for the ST ICM-20649 Wide-Range 6-DoF Accelerometer and Gyro.

Parameters

• i2c_bus(I2C) – The I2C bus the ICM20649 is connected to. • address– The I2C slave address of the sensor

class adafruit_icm20x.ICM20948(i2c_bus,address=105)

Library for the ST ICM-20948 Wide-Range 6-DoF Accelerometer and Gyro.

Parameters

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magnetometer_data_rate

The rate at which the magenetometer takes measurements to update its output registers

class adafruit_icm20x.ICM20X(i2c_bus,address)

Library for the ST ICM-20X Wide-Range 6-DoF Accelerometer and Gyro Family

Parameters

• i2c_bus(I2C) – The I2C bus the ICM20X is connected to. • address– The I2C slave address of the sensor

accel_dlpf_cutoff

The cutoff frequency for the accelerometer’s digital low pass filter. Signals above the given frequency will be filtered out. Must be anAccelDLPFCutoff. Use AccelDLPFCutoff.DISABLED to disable the filter

Notereadings immediately following setting a cutoff frequency will be inaccurate due to the filter “warm-ing up”

acceleration

The x, y, z acceleration values returned in a 3-tuple and are in m / s ^ 2.

accelerometer_data_rate

The rate at which accelerometer measurements are taken in Hz

Note: The data rates are set indirectly by setting a rate divisor according to the following formula:

accelerometer_data_rate = 1125/(1+divisor)

This function does the math to find the divisor from a given rate but it will not be exactly as specified.

accelerometer_data_rate_divisor

The divisor for the rate at which accelerometer measurements are taken in Hz

accelerometer_data_rate = 1125/(1+divisor)

This function sets the raw rate divisor.

accelerometer_range

Adjusts the range of values that the sensor can measure, from +/- 4G to +/-30G Note that larger ranges will be less accurate. Must be anAccelRange

gyro

The x, y, z angular velocity values returned in a 3-tuple and are in degrees / second

gyro_data_rate

The rate at which gyro measurements are taken in Hz

gyro_data_rate = 1100/(1+divisor)This function does the math to find the divisor from a given rate but it will not be exactly as specified.

gyro_data_rate_divisor

The divisor for the rate at which gyro measurements are taken in Hz

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This function sets the raw rate divisor.

gyro_dlpf_cutoff

The cutoff frequency for the gyro’s digital low pass filter. Signals above the given frequency will be filtered out. Must be aGyroDLPFFreq. Use GyroDLPFCutoff.DISABLED to disable the filter

Notereadings immediately following setting a cutoff frequency will be inaccurate due to the filter “warm-ing up”

gyro_range

Adjusts the range of values that the sensor can measure, from 500 Degrees/second to 4000 degrees/s. Note that larger ranges will be less accurate. Must be aGyroRange

initialize()

Configure the sensors with the default settings. For use after callingreset()

reset()

Resets the internal registers and restores the default settings

class adafruit_icm20x.MagDataRate

Options formagnetometer_data_rate

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Indices and tables

• genindex • modindex • search

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a

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A

accel_dlpf_cutoff (adafruit_icm20x.ICM20X at-tribute),15

AccelDLPFFreq(class in adafruit_icm20x),14

acceleration (adafruit_icm20x.ICM20X attribute),

15

accelerometer_data_rate

(adafruit_icm20x.ICM20X attribute),15

accelerometer_data_rate_divisor

accelerometer_range (adafruit_icm20x.ICM20X attribute),15

AccelRange(class in adafruit_icm20x),14

adafruit_icm20x(module),14

add_values() (adafruit_icm20x.CV class method),

14

C

CV(class in adafruit_icm20x),14

G

gyro(adafruit_icm20x.ICM20X attribute),15

gyro_data_rate (adafruit_icm20x.ICM20X at-tribute),15

gyro_data_rate_divisor

gyro_dlpf_cutoff (adafruit_icm20x.ICM20X at-tribute),16

gyro_range(adafruit_icm20x.ICM20X attribute),16

GyroDLPFFreq(class in adafruit_icm20x),14

GyroRange(class in adafruit_icm20x),14

I

ICM20649(class in adafruit_icm20x),14

ICM20948(class in adafruit_icm20x),14

ICM20X(class in adafruit_icm20x),15

initialize()(adafruit_icm20x.ICM20X method),16

M

MagDataRate(class in adafruit_icm20x),16

magnetic(adafruit_icm20x.ICM20948 attribute),15

magnetometer_data_rate

(adafruit_icm20x.ICM20948 attribute),15