7Semi ICM20948 Arduino Library

Arduino driver for the TDK InvenSense ICM-20948 9-axis IMU sensor.

The ICM-20948 integrates a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer (AK09916), enabling motion tracking, orientation sensing, and navigation applications.

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Features

• 9-axis motion sensing

  • 3-axis Accelerometer
  • 3-axis Gyroscope
  • 3-axis Magnetometer

• Configurable sensor ranges

  • Accel: ±2g / ±4g / ±8g / ±16g
  • Gyro: ±250 / ±500 / ±1000 / ±2000 dps

• Digital Low Pass Filter (DLPF)

  • Noise reduction
  • Configurable bandwidth

• Adjustable sample rates

  • Accel: up to 1125 Hz
  • Gyro: up to 1100 Hz

• Internal I2C Master (for magnetometer)

  • AK09916 integration via SLV0/SLV4

• ISupports both communication interfaces

  • I²C
  • SPI

• Temperature measurement

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Connections / Wiring

The ICM-20948 supports both I²C and SPI communication.

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I²C Connection

ICM-20948 Pin	MCU Pin	Notes
VCC	3.3V	5V only if board supports
GND	GND	Common ground
SDA	SDA	I²C data
SCL	SCL	I²C clock
AD0	GND/3V3	Address select

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I²C Notes

• Default I²C address: 0x29
• Supported bus speeds:
  • 100 kHz
  • 400 kHz (recommended)

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SPI Connection

ICM-20948 Pin	MCU Pin
VCC	3.3V
GND	GND
SCK	SCK
MOSI	MOSI
MISO	MISO
CS	GPIO

Installation

Arduino Library Manager

1. Open Arduino IDE
2. Go to Library Manager
3. Search for 7Semi ICM20948
4. Click Install

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Manual Installation

1. Download repository as ZIP
2. Arduino IDE → Sketch → Include Library → Add .ZIP Library

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Library Overview

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Initialize Sensor

• I2C

if (!imu.beginI2C(0x69, Wire, 400000))
{
  Serial.println("IMU init failed");
  while (1);
}

• SPI

if (!imu.beginSPI(CS_PIN, SPI, 1000000))
{
  Serial.println("SPI init failed");
  while (1);
}

Enable Sensors

imu.setSensors(true, true, true);

• accel → enable accelerometer
• gyro → enable gyroscope
• temp → enable temperatur

Reading Accelerometer

float ax, ay, az;
imu.readAccel(ax, ay, az);

• Output in g

Reading Gyroscope

float gx, gy, gz;
imu.readGyro(gx, gy, gz);

• Output in degrees/sec

Reading Temperature

float temp;
imu.readTemperature(temp);

• Output in °C

Reading Magnetometer

imu.initMag();

float mx, my, mz;
imu.readMag(mx, my, mz);

• Output in microtesla (µT)

Setting Accelerometer Scale

imu.setAccelScale(G_4);

• G_2, G_4, G_8, G_16

Setting Gyroscope Scale

imu.setGyroScale(DPS_2000);

Setting Sample Rate

imu.setAccelSampleRate(225);
imu.setGyroSampleRate(225);

DLPF Configuration

imu.setAccelDLPF(ACCEL_DLPFCFG_3, false);
imu.setDLPF(GYRO_DLPF_3, false);

Averaging Configuration

imu.setAccelAveraging(AVG_8);

Applications

• Robotics (obstacle detection)
• Drones (altitude sensing)
• Wearables (activity tracking)
• Navigation systems (IMU fusion)
• ndustrial motion sensing
• Gaming controllers

License

• MIT License