more information: read the article on Medium

it turns out modern macbook pros have an undocumented mems accelerometer + gyroscope managed by the sensor processing unit (spu). this project reads both via iokit hid, along with lid angle and ambient light sensors from the same interface

git clone https://github.com/olvvier/apple-silicon-accelerometer
cd apple-silicon-accelerometer
python3 -m venv .venv && source .venv/bin/activate
pip install -e .[demo]
sudo .venv/bin/python3 motion_live.py

apple silicon chips (M2/M3/M4/M5) have a hard to find mems IMU (accelerometer + gyroscope) managed by the sensor processing unit (SPU). it's not exposed through any public api or framework. this project reads raw 3-axis acceleration and angular velocity data at ~800hz via iokit hid callbacks.

only tested on macbook pro m3 pro so far - might work on other apple silicon macs but no guarantees

the sensor lives under AppleSPUHIDDevice in the iokit registry, on vendor usage page 0xFF00. usage 3 is the accelerometer, usage 9 is the gyroscope (same physical IMU, believed to be Bosch BMI286 based on teardowns). the driver is AppleSPUHIDDriver which is part of the sensor processing unit. we open it with IOHIDDeviceCreate and register an asynchronous callback via IOHIDDeviceRegisterInputReportCallback. data comes as 22-byte hid reports with x/y/z as int32 little-endian at byte offsets 6, 10, 14. divide by 65536 to get the value in g (accel) or deg/s (gyro). callback rate is ~100hz (decimated from ~800hz native)

orientation is computed by fusing accel + gyro with a Mahony AHRS quaternion filter and displayed as roll/pitch/yaw gauges

you can verify the device exists on your machine with:

ioreg -l -w0 | grep -A5 AppleSPUHIDDevice

pip install macimu

if you get externally-managed-environment (homebrew python), use a venv:

python3 -m venv .venv && source .venv/bin/activate && pip install macimu

from macimu import IMU

if __name__ == '__main__':
    with IMU() as imu:
        accel = imu.latest_accel()       # Sample(x, y, z) in g
        gyro = imu.latest_gyro()         # Sample(x, y, z) in deg/s

        for s in imu.read_accel():       # all new samples since last call
            print(s.x, s.y, s.z)

requires root (sudo) because iokit hid device access needs elevated privileges. note: accelerometer reads ~1g at rest (gravity). use macimu.filters.remove_gravity() to isolate dynamic acceleration.

from macimu import IMU
print(IMU.available())   # True on macbook pro m2+

fuses accel + gyro with a mahony quaternion filter, no math needed on your side

from macimu import IMU

if __name__ == '__main__':
    with IMU(orientation=True) as imu:
        o = imu.orientation()
        print(f"{o.roll:.1f}° {o.pitch:.1f}° {o.yaw:.1f}°")
        print(o.qw, o.qx, o.qy, o.qz)  # raw quaternion

each sample includes a precise timestamp from the hid report (mach_absolute_time), not a python-side clock. every report gets its own unique timestamp.

from macimu import IMU

if __name__ == '__main__':
    with IMU() as imu:
        for s in imu.read_accel_timed():
            print(f"t={s.t:.6f}  x={s.x:.3f}  y={s.y:.3f}  z={s.z:.3f}")

import time
from macimu import IMU

def on_sample(s):
    print(s.x, s.y, s.z)

if __name__ == '__main__':
    with IMU() as imu:
        stop = imu.on_accel(on_sample)  # background thread
        time.sleep(10)
        stop()                          # unregister

IMU(sample_rate=200)  # ~200 hz (preferred way)
IMU(sample_rate=50)   # ~50 hz
IMU(decimation=1)     # ~800 hz (full native rate)
IMU(decimation=8)     # ~100 hz (default)

from macimu import IMU
from macimu.filters import magnitude, remove_gravity, high_pass, low_pass, peak_detect

if __name__ == '__main__':
    with IMU() as imu:
        samples = imu.read_accel()
        m = magnitude(samples[0].x, samples[0].y, samples[0].z)
        dynamic = remove_gravity(samples)               # kalman filter gravity removal
        smooth = low_pass(samples, 5.0, 100.0)          # 2nd-order butterworth
        taps = high_pass(samples, 10.0, 100.0, order=4) # 4th-order, -24 dB/oct
        mags = [magnitude(s.x, s.y, s.z) for s in samples]
        hits = peak_detect(mags, threshold=1.2)          # detect impacts

from macimu import IMU

imu = IMU.mock(duration=10.0, rate=100)  # synthetic sinusoidal data
for s in imu.stream_accel():
    print(s)

from macimu import IMU

if __name__ == '__main__':
    # record
    with IMU() as imu:
        imu.record_to("session.csv")
        time.sleep(10)

    # replay (no root needed)
    imu = IMU.from_recording("session.csv")
    for s in imu.stream_accel_timed():
        print(s)

constructor

IMU(accel=True, gyro=True, als=False, lid=False, orientation=False, decimation=8, sample_rate=None)

class methods (no root needed)

reading data

orientation & sensors

streaming

lifecycle

filters (from macimu.filters import ...) -- biquad butterworth, zero external deps

exceptions: macimu.SensorNotFound if no SPU device, PermissionError if not root

git clone https://github.com/olvvier/apple-silicon-accelerometer
cd apple-silicon-accelerometer
python3 -m venv .venv && source .venv/bin/activate
pip install -e .[demo]
sudo .venv/bin/python3 motion_live.py

the demo includes vibration detection, orientation gauges, experimental heartbeat (bcg), lid angle, ambient light, and optional keyboard flash

motion_live.py can flash the keyboard backlight from vibration intensity in near realtime. the repo now vendors KBPulse, including a prebuilt apple silicon binary at KBPulse/bin/KBPulse.

run as usual:

sudo python3 motion_live.py

optional overrides:

sudo python3 motion_live.py --no-kbpulse
sudo python3 motion_live.py --kbpulse-bin /path/to/KBPulse

If you have uv/uvx installed, you can also just

sudo uvx git+https://github.com/olvvier/apple-silicon-accelerometer.git

• macimu/ - python package (pip install macimu): high-level IMU class + low-level iokit bindings, shared memory ring buffers
• motion_live.py - demo app: vibration detection, heartbeat bcg, terminal ui
• KBPulse/ - vendored keyboard backlight driver code + binary (KBPulse/bin/KBPulse)

place your wrists on the laptop near the trackpad and wait 10-20 seconds for the signal to stabilize. this uses ballistocardiography - the mechanical vibrations from your heartbeat transmitted through your arms into the chassis. experimental, not reliable, just a fun use-case to show what the sensor can pick up. the bcg bandpass is 0.8-3hz and bpm is estimated via autocorrelation on the filtered signal

• experimental / undocumented AppleSPU hid path
• requires sudo
• may break on future macos updates
• use at your own risk
• not for medical use

• macbook pro m3 pro, macos 15.6.1
• python 3.14

• intel macs (no spu)
• m1 macbook pro (2020)
• mac studio m4 max

MIT

not affiliated with Apple or any employer