diff --git a/components/modules/imu/qma7981.c b/components/modules/imu/qma7981.c
new file mode 100644
index 0000000..624ced0
--- /dev/null
+++ b/components/modules/imu/qma7981.c
@@ -0,0 +1,198 @@
+/**
+ * @file qma7981.c
+ * @brief 
+ * @version 0.1
+ * @date 2021-09-01
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+
+// #include "bsp_i2c.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "i2c_bus.h"
+#include "qma7981.h"
+
+#define QMA7981_REG_CHIP_ID 0x00
+#define QMA7981_REG_DX_L 0x01
+#define QMA7981_REG_DX_H 0x02
+#define QMA7981_REG_DY_L 0x03
+#define QMA7981_REG_DY_H 0x04
+#define QMA7981_REG_DZ_L 0x05
+#define QMA7981_REG_DZ_H 0x06
+#define QMA7981_REG_STEP_L 0x07
+#define QMA7981_REG_STEP_H 0x08
+#define QMA7981_REG_INT_STAT_0 0x0A
+#define QMA7981_REG_INT_STAT_1 0x0B
+#define QMA7981_REG_INT_STAT_4 0x0D
+#define QMA7981_REG_RANGE 0x0F
+#define QMA7981_REG_BAND_WIDTH 0x10
+#define QMA7981_REG_PWR_MANAGE 0x11
+#define QMA7981_REG_STEP_CONF_0 0x12
+#define QMA7981_REG_STEP_CONF_1 0x13
+#define QMA7981_REG_STEP_CONF_2 0x14
+#define QMA7981_REG_STEP_CONF_3 0x15
+#define QMA7981_REG_INT_EN_0 0x16
+#define QMA7981_REG_INT_EN_1 0x17
+#define QMA7981_REG_INT_MAP_0 0x19
+#define QMA7981_REG_INT_MAP_1 0x1A
+#define QMA7981_REG_INT_MAP_2 0x1B
+#define QMA7981_REG_INT_MAP_3 0x1C
+#define QMA7981_REG_SIG_STEP_TH 0x1D
+#define QMA7981_REG_STEP 0x1F
+
+static const char *TAG = "qma7981";
+static qma_range_t qma_range = QMA_RANGE_2G;
+static i2c_bus_device_handle_t qma7981_handle;
+static i2c_bus_handle_t i2c_bus_handle;
+
+/**
+ * @brief 
+ * 
+ * @param reg_addr 
+ * @param data 
+ * @return esp_err_t 
+ */
+static esp_err_t qma7981_read_byte(uint8_t reg_addr, uint8_t *data)
+{
+	return i2c_bus_read_byte(qma7981_handle, reg_addr, data);
+}
+
+static esp_err_t qma7981_write_byte(uint8_t reg_addr, uint8_t data)
+{
+	return i2c_bus_write_byte(qma7981_handle, reg_addr, data);
+}
+
+static esp_err_t qma7981_read_bytes(uint8_t reg_addr, size_t data_len, uint8_t *data)
+{
+	return i2c_bus_read_bytes(qma7981_handle, reg_addr, data_len, data);
+}
+
+esp_err_t qma7981_init(void)
+{
+	if (NULL != qma7981_handle)
+	{
+		return ESP_FAIL;
+	}
+
+	esp_err_t ret_val = ESP_OK;
+
+	uint32_t clk_speed = 400000;
+
+	i2c_config_t conf = {
+		.mode = I2C_MODE_MASTER,
+		.scl_io_num = 5,
+		.sda_io_num = 4,
+		.scl_pullup_en = GPIO_PULLUP_ENABLE,
+		.sda_pullup_en = GPIO_PULLUP_ENABLE,
+		.master.clk_speed = clk_speed,
+	};
+
+	i2c_bus_handle = i2c_bus_create(0, &conf);
+	assert(i2c_bus_handle != NULL);
+
+	qma7981_handle = i2c_bus_device_create(i2c_bus_handle, 0x12, clk_speed);
+	assert(qma7981_handle != NULL);
+
+	uint8_t id = 0;
+	ret_val |= qma7981_read_byte(0x00, &id);
+	ESP_LOGW(TAG, "ID : %02X", id);
+
+	/* ******************************** ******************************** */
+	ret_val |= qma7981_write_byte(QMA7981_REG_PWR_MANAGE, 0xC0); /* Exit sleep mode*/
+	vTaskDelay(pdMS_TO_TICKS(20));
+	ret_val |= qma7981_write_byte(QMA7981_REG_RANGE, QMA_RANGE_2G);				  /* Set range */
+	ret_val |= qma7981_write_byte(QMA7981_REG_BAND_WIDTH, QMA_BANDWIDTH_1024_HZ); /* Set bandwidth */
+	/* ******************************** ******************************** */
+
+	return ret_val;
+}
+
+esp_err_t qma7981_get_step(uint16_t *data)
+{
+	esp_err_t ret_val = ESP_OK;
+	uint8_t step_h = 0, step_l = 0;
+
+	if (NULL == data)
+	{
+		return ESP_ERR_INVALID_ARG;
+	}
+
+	ret_val |= qma7981_read_byte(0x07, &step_l);
+	ret_val |= qma7981_read_byte(0x08, &step_h);
+
+	*data = (step_h << 8) + step_l;
+
+	return ret_val;
+}
+
+/**
+ * @brief 
+ * 
+ * @param range 
+ * @return esp_err_t 
+ */
+esp_err_t qma7981_set_range(qma_range_t range)
+{
+	esp_err_t ret_val = qma7981_write_byte(QMA7981_REG_RANGE, range);
+	qma_range = range;
+
+	return ret_val;
+}
+
+/**
+ * @brief 
+ * 
+ * @param x 
+ * @param y 
+ * @param z 
+ * @return esp_err_t 
+ */
+esp_err_t qma7981_get_acce(float *x, float *y, float *z)
+{
+	float multiple = 2;
+	esp_err_t ret_val = ESP_OK;
+	struct qma_acce_data_t
+	{
+		int16_t x;
+		int16_t y;
+		int16_t z;
+	} data;
+
+	switch (qma_range)
+	{
+	case QMA_RANGE_2G:
+		multiple = 2;
+		break;
+	case QMA_RANGE_4G:
+		multiple = 4;
+		break;
+	case QMA_RANGE_8G:
+		multiple = 8;
+		break;
+	case QMA_RANGE_16G:
+		multiple = 16;
+		break;
+	case QMA_RANGE_32G:
+		multiple = 32;
+		break;
+	default:
+		multiple = 2;
+		break;
+	}
+
+	ret_val |= qma7981_read_bytes(QMA7981_REG_DX_L, 6, &data);
+
+	/* QMA7981's range is 14 bit. Adjust data format */
+	data.x >>= 2;
+	data.y >>= 2;
+	data.z >>= 2;
+
+	/* Convert to acceleration of gravity */
+	*x = data.x / (float)(1 << 13) * multiple;
+	*y = data.y / (float)(1 << 13) * multiple;
+	*z = data.z / (float)(1 << 13) * multiple;
+
+	return ret_val;
+}
diff --git a/components/modules/imu/qma7981.h b/components/modules/imu/qma7981.h
new file mode 100644
index 0000000..27959ea
--- /dev/null
+++ b/components/modules/imu/qma7981.h
@@ -0,0 +1,61 @@
+/**
+ * @file qma7981.h
+ * @brief 
+ * @version 0.1
+ * @date 2021-09-01
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include "esp_err.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+	QMA_RANGE_2G = 0b0001,
+	QMA_RANGE_4G = 0b0010,
+	QMA_RANGE_8G = 0b0100,
+	QMA_RANGE_16G = 0b1000,
+	QMA_RANGE_32G = 0b1111,
+} qma_range_t;	/* Others will be 2G */
+
+typedef enum {
+	QMA_BANDWIDTH_128_HZ = 0b111,
+	QMA_BANDWIDTH_256_HZ = 0b110,
+	QMA_BANDWIDTH_1024_HZ = 0b101,
+} qma_bandwidth_t;
+
+/**
+ * @brief 
+ * 
+ * @return esp_err_t 
+ */
+esp_err_t qma7981_init(void);
+
+/**
+ * @brief 
+ * 
+ * @param range 
+ * @return esp_err_t 
+ */
+esp_err_t qma7981_set_range(qma_range_t range);
+
+/**
+ * @brief 
+ * 
+ * @param x 
+ * @param y 
+ * @param z 
+ * @return esp_err_t 
+ */
+esp_err_t qma7981_get_acce(float *x, float *y, float *z);
+
+#ifdef __cplusplus
+}
+#endif