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ISM330DL MicroPython Driver

MicroPython driver for the STMicroelectronics ISM330DL 6-axis IMU.

The ISM330DL integrates:

  • a 3-axis accelerometer
  • a 3-axis gyroscope

This driver provides a simple API to configure the sensor and read motion data using I²C.

Features

  • I²C communication
  • device identification (WHO_AM_I)
  • accelerometer configuration
  • gyroscope configuration
  • raw sensor readings
  • converted physical units
  • board orientation reading
  • accelerometer bias offset correction
  • board rotation reading
  • temperature reading
  • data-ready status helpers
  • power-down mode

Sensor overview

Sensor Range Unit
Accelerometer ±2g / ±4g / ±8g / ±16g g
Gyroscope ±125 / ±250 / ±500 / ±1000 / ±2000 degrees/s
Temperature internal sensor °C

I²C Address

The sensor can use two I²C addresses depending on the SA0 pin:

SA0 Address
0 0x6A
1 0x6B

The STeaMi board uses 0x6B (default).

Basic Usage

from machine import I2C
from ism330dl import ISM330DL

i2c = I2C(1)

imu = ISM330DL(i2c)

ax, ay, az = imu.acceleration_g()
gx, gy, gz = imu.gyroscope_dps()
temp = imu.temperature()

print("Accel:", ax, ay, az)
print("Gyro :", gx, gy, gz)
print("Temp :", temp)

API

Initialization

imu = ISM330DL(i2c)

Accelerometer

Raw data

imu.acceleration_raw()

Returns:

(x, y, z)

16-bit raw values.

Acceleration in g

imu.acceleration_g()

Example:

(0.01, -0.02, 0.99)

Acceleration in m/s²

imu.acceleration_ms2()

Board orientation

imu.orientation()

Accelerometer calibration

The driver supports accelerometer bias correction using per-axis offsets.

Set offsets

imu.set_accel_offset(ox=0.01, oy=-0.02, oz=0.03)

Get offsets

imu.get_accel_offset()
# -> (0.01, -0.02, 0.03)

Notes on persistent calibration (STeaMi)

On the STeaMi board, accelerometer calibration can be stored using steami_config and automatically applied at startup:

from steami_config import SteamiConfig
from daplink_bridge import DaplinkBridge

config = SteamiConfig(DaplinkBridge(i2c))
config.load()

imu = ISM330DL(i2c)
config.apply_accelerometer_calibration(imu)

Gyroscope

Raw data

imu.gyroscope_raw()

Angular velocity in degrees per second

imu.gyroscope_dps()

Example:

(0.5, -0.3, 1.2)

Angular velocity in radians per second

imu.gyroscope_rads()

Motion detection

imu.motion()

Temperature

imu.temperature()

Example:

26.3

Configuration

Accelerometer

imu.configure_accel(odr, scale)

Example:

from ism330dl.const import ACCEL_ODR_104HZ, ACCEL_FS_4G

imu.configure_accel(ACCEL_ODR_104HZ, ACCEL_FS_4G)

Gyroscope

imu.configure_gyro(odr, scale)

Example:

from ism330dl.const import GYRO_ODR_104HZ, GYRO_FS_500DPS

imu.configure_gyro(GYRO_ODR_104HZ, GYRO_FS_500DPS)

Status

imu.status()

Returns:

{
    "temp_ready": True,
    "gyro_ready": True,
    "accel_ready": True
}

Power Down

imu.power_off()

Stops accelerometer and gyroscope.

Examples

The repository provides several example scripts:

Example Description
basic_read.py Simple sensor readout
static_orientation.py Detect device orientation using the accelerometer
motion_orientation.py Detect rotation using the gyroscope
spirit_level.py Interactive digital bubble level using SSD1327 OLED