• No results found

Release Apr 17, 2020

N/A
N/A
Info
Download
Protected

Academic year: 2021

Share "Release Apr 17, 2020"

Copied!
29
0
0

Loading.... (view fulltext now)

Download now ( 29 Page )

Full text

(1)
(2)
(3)

1 Contents 3 2 Supported Platforms 5 3 Dependencies 7 4 Documentation 9 5 Installation 11 5.1 PyPi Installation . . . 11 5.2 Local Installation . . . 11 6 Example Use 13 7 Table of Contents 15 7.1 API Reference . . . 15 7.1.1 qwiic_icm20948 . . . 15 7.2 Basic Operation . . . 18

8 Indices and tables 21

Python Module Index 23

Index 25

(4)
(5)

New to qwiic? Take a look at the entireSparkFun qwiic ecosystem.

(6)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

(7)
(8)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

(9)

Supported Platforms

The qwiic ICM20948 Python package current supports the following platforms: β€’ Raspberry Pi

β€’ NVidia Jetson Nano

β€’ Google Coral Development Board

(10)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

(11)

Dependencies

This driver package depends on the qwiic I2C driver:Qwiic_I2C_Py

(12)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

(13)

Documentation

The SparkFun qwiic ICM20948 module documentation is hosted atReadTheDocs

(14)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

(15)

Installation

5.1 PyPi Installation

This repository is hosted on PyPi as thesparkfun-qwiic-icm20948package. 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

5.2 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

(16)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

(17)

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 Λ“β†’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 Λ“β†’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)\

(continues on next page)

(18)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

(continued from previous page)

)

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)

(19)

Table of Contents

7.1 API Reference

7.1.1 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

β€’ address – The I2C address to use for the device. If not provided, the default address is used.

β€’ 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

(20)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

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

(21)

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.

(22)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

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

7.2 Basic Operation

Listing 1: examples/ex1_qwiic_ICM20948.py 1 #!/usr/bin/env python 2 #---3 # ex1_qwiic_ICM20948.py 4 #

5 # Simple Example for the Qwiic ICM20948 Device

6 #---7 #

8 # Written by SparkFun Electronics, March 2020 9 #

10 # This python library supports the SparkFun Electroncis qwiic

11 # qwiic sensor/board ecosystem on a Raspberry Pi (and compatable) single 12 # board computers.

13 #

14 # More information on qwiic is at https://www.sparkfun.com/qwiic 15 #

16 # Do you like this library? Help support SparkFun. Buy a board! 17 #

18 #================================================================================== 19 # Copyright (c) 2019 SparkFun Electronics

20 #

21 # Permission is hereby granted, free of charge, to any person obtaining a copy 22 # of this software and associated documentation files (the "Software"), to deal 23 # in the Software without restriction, including without limitation the rights 24 # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 25 # copies of the Software, and to permit persons to whom the Software is 26 # furnished to do so, subject to the following conditions:

27 #

28 # The above copyright notice and this permission notice shall be included in all 29 # copies or substantial portions of the Software.

30 #

31 # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 32 # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 33 # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 34 # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

35 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 36 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 37 # SOFTWARE.

38 #==================================================================================

(continues on next page)

(23)

44 import time 45 import sys 46

47 def runExample():

48

49 print("\nSparkFun 9DoF ICM-20948 Sensor Example 1\n") 50 IMU = qwiic_icm20948.QwiicIcm20948()

51

52 if IMU.connected == False:

53 print("The Qwiic ICM20948 device isn't connected to the system.

Λ“β†’Please check your connection", \

54 file=sys.stderr)

55 return 56 57 IMU.begin() 58 59 while True: 60 if IMU.dataReady():

61 IMU.getAgmt() # read all axis and temp from sensor, note this

Λ“β†’also updates all instance variables

62 print(\ 63 '{: 06d}'.format(IMU.axRaw)\ 64 , '\t', '{: 06d}'.format(IMU.ayRaw)\ 65 , '\t', '{: 06d}'.format(IMU.azRaw)\ 66 , '\t', '{: 06d}'.format(IMU.gxRaw)\ 67 , '\t', '{: 06d}'.format(IMU.gyRaw)\ 68 , '\t', '{: 06d}'.format(IMU.gzRaw)\ 69 , '\t', '{: 06d}'.format(IMU.mxRaw)\ 70 , '\t', '{: 06d}'.format(IMU.myRaw)\ 71 , '\t', '{: 06d}'.format(IMU.mzRaw)\ 72 ) 73 time.sleep(0.03) 74 else:

75 print("Waiting for data") 76 time.sleep(0.5)

77

78 if __name__ == '__main__': 79 try:

80 runExample()

81 except (KeyboardInterrupt, SystemExit) as exErr: 82 print("\nEnding Example 1")

83 sys.exit(0) 84

85

(24)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

(25)

Indices and tables

β€’ genindex β€’ modindex β€’ search

(26)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

(27)

q

qwiic_icm20948,15

(28)

sparkfunπ‘žπ‘€π‘–π‘–π‘π‘–π‘π‘š20948, π‘…π‘’π‘™π‘’π‘Žπ‘ π‘’0.0.1

(29)

B

begin()(qwiic_icm20948.QwiicIcm20948 method),15

C

connected (qwiic_icm20948.QwiicIcm20948 at-tribute),16

D

dataReady() (qwiic_icm20948.QwiicIcm20948 method),16

E

enableDlpfAccel() (qwiic_icm20948.QwiicIcm20948 method), 16 enableDlpfGyro()(qwiic_icm20948.QwiicIcm20948 method),16

G

getAgmt()(qwiic_icm20948.QwiicIcm20948 method),

16

I

i2cMasterConfigureSlave() (qwiic_icm20948.QwiicIcm20948 method), 16 i2cMasterEnable() (qwiic_icm20948.QwiicIcm20948 method), 16 i2cMasterPassthrough() (qwiic_icm20948.QwiicIcm20948 method), 16 i2cMasterReset()(qwiic_icm20948.QwiicIcm20948 method),16 isConnected() (qwiic_icm20948.QwiicIcm20948 method),16

L

lowPower() (qwiic_icm20948.QwiicIcm20948 method),17

M

magWhoIAm() (qwiic_icm20948.QwiicIcm20948 method),17

Q

qwiic_icm20948(module),15

QwiicIcm20948(class in qwiic_icm20948),15

S

setBank()(qwiic_icm20948.QwiicIcm20948 method),

17 setDLPFcfgAccel() (qwiic_icm20948.QwiicIcm20948 method), 17 setDLPFcfgGyro()(qwiic_icm20948.QwiicIcm20948 method),17 setFullScaleRangeAccel() (qwiic_icm20948.QwiicIcm20948 method), 17 setFullScaleRangeGyro() (qwiic_icm20948.QwiicIcm20948 method), 17 setSampleMode() (qwiic_icm20948.QwiicIcm20948 method),17

sleep()(qwiic_icm20948.QwiicIcm20948 method),17

startupMagnetometer()

(qwiic_icm20948.QwiicIcm20948 method),

18

swReset()(qwiic_icm20948.QwiicIcm20948 method),

18

T

ToSignedInt() (qwiic_icm20948.QwiicIcm20948 method),15

References

Download now ( PDF - 29 Page - 238.86 KB )

Related documents

SoS Documentation. Release 4.2. Bryn Reeves. Aug 23, 2021

Parameters name (str) – The name of the service to check Returns True if service is present on the system, else False Return type bool. is_service_disabled(name) Is the service

Growth hormone nadir during oral glucose load depends on waist circumference, gender and age: normative data in 231 healthy subjects.

To analyse the best predictors of nadir GH postglucose in healthy subjects, we first performed a correlation study by calculat- ing the Spearman’s rho with the 95% confidence

Corchorus olitorius and Urtica pilulifera extracts alleviate copper induced oxidative damage and genotoxicity in tomato

According to the HPLC-TOF-MS analysis, jute seed extract contains gallic acid, vanillic acid, rosmarinic acid, salicylic acid (SA), and quercetin (Table 1). Amongst, vanillic acid

CSE 1223: Introduction to Computer Programming in Java Chapter 2 Java Fundamentals

returns true if the string aString is the same as the given string, false otherwise, e.g.,. String str

Chapter 17 – Files and Streams

boolean exists() Returns true if the name specified as the argument to the File constructor is a file or directory in the specified path; false otherwise.. boolean isFile()

Example use of Stack

Receives Stack containing it as a function member (perhaps implicitly) Returns: True if stack is empty, false otherwise..

Chapter 16 – Files and Streams

boolean exists() Returns true if the name specified as the argument to the File constructor is a file or directory in the specified path; false otherwise. boolean isFile()

Parts of python programming language Control Flow Statements Functions String List Dictionaries Tuples and Sets Files

The ________ function returns Boolean True value if all the keys in the dictionary are True else returns False.. Predict the output of the