CircuitPython drivers for the DFRobot SEN0140 10-DOF IMU

Last updated October 19, 2026

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Code on Github

Drivers for the gyroscope and magnetometer on the DFRobot SEN0140 "Fermion 10 DOF IMU", a wrapper that presents all four sensors as one object, and a verification script. The accelerometer (ADXL345) and barometer (BMP280) use Adafruit's libraries.

File	What it is
`lib/itg3205.py`	Gyroscope driver (ITG-3205 / ITG-3200)
`lib/qmc5883.py`	Magnetometer driver. Detects HMC5883L, QMC5883L or VCM5883L at runtime
`lib/imu.py`	All four sensors as one object, plus an I2C scan helper
`lib/imu_calibration.py`	`CalibratedIMU`: readings with gyro bias and magnetometer offset removed, plus elevation change
`test_sensors.py`	Guided verification with PASS/FAIL results
`code.py`	Live readout of every sensor; press `g` for the guided test

This page (CircuitPython drivers for the DFRobot SEN0140 10-DOF IMU) was last updated on October 19, 2026.