WaveShare PICO 10DOF IMU for RaspberryPi Pico CircuitPython Example

_waveshare-ico-10dof-imu-for-raspberrypi-pico.md

This gist contains a simple example of the WaveShare Pico 10DOF IMU sensor module for RaspberyPi Pico using the Adafruit CircuitPython libraries instead of the chaotic WaveShare example code.

Setup for RaspberryPi Pico

You need to setup your RaspberryPi Pico to run CircuitPython by:

• Flashing the latest CircuitPython UF2 file.
• Downloading the latest CircuitPython Libraries

This example uses the following Adafruit libaries within CircuitPython:

• ICM20X
• LPS2X

After downloading the libraries, we need to grab the following libraries and copy them to your Pico (now named & mounted as 'CIRCUITPY') /lib folder:

• /adafruit_bus_device
• /adafruit_register
• adafruit_icm20x.mpy
• adafruit_lps2x.mpy

Once you've copied them over, you can utilise the code.py below and run the example which prints a steady stream of data from the sensors as shown below:

Acceleration: X:0.14, Y: -0.14, Z: 10.07 m/s^2
Gyro X:-0.02, Y: 0.02, Z: -0.01 rads/s
Magnetometer X:-7.50, Y: 14.85, Z: -96.60 uT
Pressure: 1001.28 hPa
Temperature: 21.59 C

Acceleration: X:0.11, Y: -0.12, Z: 10.18 m/s^2
Gyro X:-0.03, Y: 0.02, Z: -0.01 rads/s
Magnetometer X:-7.50, Y: 14.40, Z: -95.85 uT
Pressure: 1001.25 hPa
Temperature: 21.59 C

Acceleration: X:0.15, Y: -0.11, Z: 10.11 m/s^2
Gyro X:-0.02, Y: 0.02, Z: -0.00 rads/s
Magnetometer X:-8.25, Y: 15.15, Z: -94.80 uT
Pressure: 1001.28 hPa
Temperature: 21.59 C

Enjoy!

code.py

import time
import board
import busio
import adafruit_icm20x
import adafruit_lps2x

DEVICE_ADDRESS_ICM = 0x68
DEVICE_ADDRESS_LPS = 0x5C

DEVICE_I2C_SCL = board.GP7
DEVICE_I2C_SDA = board.GP6

i2c = busio.I2C(scl=DEVICE_I2C_SCL, sda=DEVICE_I2C_SDA)
icm = adafruit_icm20x.ICM20948(i2c, DEVICE_ADDRESS_ICM)
lps = adafruit_lps2x.LPS22(i2c, DEVICE_ADDRESS_LPS)

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("Pressure: %.2f hPa" % lps.pressure)
    print("Temperature: %.2f C" % lps.temperature)
    print("")
    time.sleep(1)