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ICM-40607 中文数据手册.pdf
ICM-40607
ICM-40607
20201115
This document contains information on a pre-production product,
and should not be considered for production until qualification is
complete. InvenSense Inc. reserves the right to change specifications
and information herein without notice.
TDK Corporation
1745 Technology Drive, San Jose, CA 95110 U.S.A
+1(408) 988–7339
www.invensense.com
Document Number: DS-000240
Revision: 1.5
Rev. Date: 10/17/2018
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ICM-40607
1
. ................................................................................................................................................................... 8
1.1 . ............................................................................................................................................. 8
1.2 .......................................................................... 8
1.3 . ......................................................................................................................................................... 8
. ................................................................................................................................................................... 9
2
2.1 . ............................................................................................................................................. 9
2.2 . ............................................................................................................................................. 9
2.3 ................................................................................................................................................... 9
2.4 . ................................................................................................................................................. 9
3
........................................................................................................................................................... 10
3.1 ............................................................................................................................................ 10
3.2 . ........................................................................................................................................... 11
3.3 . ............................................................................................................................................... 12
3.4
3.5
3.6
I2C ................................................................................................................................................... 14
SPI – 4-Wire SPI . ........................................................................................................................... 15
SPI – 3-Wire SPI . ........................................................................................................................... 16
3.7 .................................................................................................................................... 17
4
. .......................................................................................................................................................... 18
4.1 .................................................................................................................................... 18
4.2 . ....................................................................................................................................... 19
4.3 . ............................................................................................................................... 20
4.4 . ............................................................................................................................................... 21
4.5 ........................................................................................................................................................ 21
4.6 16bitADC ................................................................................................. 21
4.7 16bitADC. ............................................................................................ 21
4.8
I2C SPI . ............................................................................................................................... 21
4.9 . ....................................................................................................................................................... 21
4.10
4.11
4.12
4.13
4.14
4.15
4.16
.................................................................................................................................................... 22
. ........................................................................................................................... 22
.................................................................................................................................................... 22
. ....................................................................................................................................... 22
Bias and LDOs . ................................................................................................................................... 22
................................................................................................................................................ 22
. ................................................................................................................................... 22
5
. .......................................................................................................................................................... 24
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6
7
8
5.1 ............................................................................................................ 24
5.2 . ........................................................................................................................................... 24
5.3 ......................................................................................................................................... 26
5.4 . ................................................................................................................................... 28
UI................................................................................................................................................. 28
5.5
ODR FSR .................................................................................................................................... 32
5.6
FIFO . .................................................................................................................................................................. 34
6.1 . ................................................................................................................................................... 34
FIFO Header . .......................................................................................................................................... 34
6.2
6.3 FIFO . ...................................................................................................................................... 35
6.4
FIFO . ................................................................................................................................... 35
. ...................................................................................................................................................... 37
APEX .................................................................................................................................................. 38
8.1
APEX ODR . ..................................................................................................................................... 38
8.2 . ........................................................................................................................................... 39
8.3 . ....................................................................................................................................... 40
8.4 . ....................................................................................................................................... 40
8.5 ......................................................................................................................................... 41
8.6 ............................................................................................................................. 41
9
. ......................................................................................................................................................... 43
9.1
9.2
9.3
9.4
9.5
I2C & SPI .................................................................................................................................. 43
I2C ................................................................................................................................................... 43
I2C . .......................................................................................................................................... 43
I2C ................................................................................................................................................... 45
SPI .................................................................................................................................................. 46
10 .............................................................................. 47
10.1 . ........................................................................................................................................... 47
10.2 . .......................................................................................................................................... 48
11 . .............................................................................................................................................. 50
12 . .......................................................................................................................................................... 51
12.1
12.2
12.3
12.4
. ............................................................................................................................... 51
(LP)......................................................................................... 51
I2CSPI. ............................................................................................................................ 51
. ................................................................................................... 51
13 ............................................................................ 52
13.1
13.2
13.3
Bank 0 .............................................................. 52
Bank 1 . .......................................................................................................................... 53
Bank 2 . .................................................................................................................. 54 13.4
Bank 4 . .......................................................................................................................... 54
14
Bank 0 – ................................................................................................................................ 55
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14.1
14.2
14.3
14.4
14.5
14.6
14.7
14.8
14.9
DEVICE_CONFIG .................................................................................................................................. 55
DRIVE_CONFIG .................................................................................................................................... 55
INT_CONFIG ........................................................................................................................................ 56
FIFO_CONFIG ...................................................................................................................................... 56
TEMP_DATA1 ...................................................................................................................................... 56
TEMP_DATA0 ...................................................................................................................................... 57
ACCEL_DATA_X1 ................................................................................................................................. 57
ACCEL_DATA_X0 ................................................................................................................................. 57
ACCEL_DATA_Y1 ................................................................................................................................. 57
14.10
ACCEL_DATA_Y0 ................................................................................................................................. 58
14.11
ACCEL_DATA_Z1 ................................................................................................................................. 58
14.12
ACCEL_DATA_Z0 ................................................................................................................................. 58
14.13
GYRO_DATA_X1 .................................................................................................................................. 58
14.14
GYRO_DATA_X0 .................................................................................................................................. 58
14.15
GYRO_DATA_Y1 .................................................................................................................................. 59
14.16
GYRO_DATA_Y0 .................................................................................................................................. 59
14.17
GYRO_DATA_Z1 .................................................................................................................................. 59
14.18
GYRO_DATA_Z0 .................................................................................................................................. 59
14.19
TMST_FSYNCH .................................................................................................................................... 59
14.20
TMST_FSYNCL ..................................................................................................................................... 60
14.21
INT_STATUS ........................................................................................................................................ 60
14.22
FIFO_COUNTH ..................................................................................................................................... 60
14.23
FIFO_COUNTL ..................................................................................................................................... 61
14.24
FIFO_DATA .......................................................................................................................................... 61
14.25
APEX_DATA0 ....................................................................................................................................... 61
14.26
APEX_DATA1 ....................................................................................................................................... 61
14.27
APEX_DATA2 ....................................................................................................................................... 62
14.28
APEX_DATA3 ....................................................................................................................................... 62
14.29
APEX_DATA4 ....................................................................................................................................... 62
14.30
INT_STATUS2 ...................................................................................................................................... 63
14.31
INT_STATUS3 ...................................................................................................................................... 63
14.32
SIGNAL_PATH_RESET .......................................................................................................................... 63
14.33
INTF_CONFIG0 .................................................................................................................................... 64
14.34
INTF_CONFIG1 .................................................................................................................................... 64
14.35
PWR_MGMT0 ..................................................................................................................................... 65
14.36
GYRO_CONFIG0 .................................................................................................................................. 66
14.37
ACCEL_CONFIG0 ................................................................................................................................. 67
14.38
GYRO_CONFIG1 .................................................................................................................................. 68
14.39
GYRO_ACCEL_CONFIG0 ...................................................................................................................... 69
14.40
ACCEL_CONFIG1 ................................................................................................................................. 70
Document Number: DS-000240
Revision: 1.5
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ICM-40607
14.41
TMST_CONFIG . .................................................................................................................................. 70
14.42
APEX_CONFIG0 . ................................................................................................................................. 71
14.43
SMD_CONFIG . .................................................................................................................................... 71
14.44
FIFO_CONFIG1 . .................................................................................................................................. 72
14.45
FIFO_CONFIG2 . .................................................................................................................................. 72
14.46
FIFO_CONFIG3 . .................................................................................................................................. 72
14.47
FSYNC_CONFIG . ................................................................................................................................. 73
14.48
INT_CONFIG0 . .................................................................................................................................... 73
14.49
INT_CONFIG1 . .................................................................................................................................... 74
14.50
INT_SOURCE0 . ................................................................................................................................... 74
14.51
INT_SOURCE1 . ................................................................................................................................... 75
14.52
INT_SOURCE3 . ................................................................................................................................... 75
14.53
INT_SOURCE4 . ................................................................................................................................... 76
14.54
FIFO_LOST_PKT0 . ............................................................................................................................... 76
14.55
FIFO_LOST_PKT1 . ............................................................................................................................... 76
SELF_TEST_CONFIG . ........................................................................................................................... 77
14.56
14.57 WHO_AM_I . ....................................................................................................................................... 77
14.58
REG_BANK_SEL . ................................................................................................................................. 77
15
Bank 1 –................................................................................................................................. 78
SENSOR_CONFIG0 . ............................................................................................................................ 78
15.1
15.2
15.3
15.4
15.5
15.6
15.7
15.8
15.9
GYRO_CONFIG_STATIC2 . ................................................................................................................... 78
GYRO_CONFIG_STATIC3 . ................................................................................................................... 78
GYRO_CONFIG_STATIC4 . ................................................................................................................... 79
GYRO_CONFIG_STATIC5 . ................................................................................................................... 79
GYRO_CONFIG_STATIC6 . ................................................................................................................... 79
GYRO_CONFIG_STATIC7 . ................................................................................................................... 79
GYRO_CONFIG_STATIC8 . ................................................................................................................... 80
GYRO_CONFIG_STATIC9 . ................................................................................................................... 80
15.10
GYRO_CONFIG_STATIC10 . ................................................................................................................. 80
15.11
XG_ST_DATA . ..................................................................................................................................... 81
15.12
YG_ST_DATA . ..................................................................................................................................... 81
15.13
ZG_ST_DATA . ..................................................................................................................................... 81
15.14
TMSTVAL0 . ......................................................................................................................................... 81
15.15
TMSTVAL1 . ......................................................................................................................................... 82
15.16
TMSTVAL2 . ......................................................................................................................................... 82
15.17
15.18
REG_BANK_SEL . ................................................................................................................................. 82
INTF_CONFIG4 . ........................................................................................................................ 83 15.19
INTF_CONFIG5 . .................................................................................................................................. 83
16 Bank 2 – ................................................................................................................................ 84
16.1
ACCEL_CONFIG_STATIC2 . .................................................................................................................. 84
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16.2
16.3
16.4
ACCEL_CONFIG_STATIC3 . .................................................................................................................. 84
ACCEL_CONFIG_STATIC4 . .................................................................................................................. 84
XA_ST_DATA . ..................................................................................................................................... 84
16.5
16.6
16.7
YA_ST_DATA . ..................................................................................................................................... 85
ZA_ST_DATA . ..................................................................................................................................... 85
REG_BANK_SEL . ................................................................................................................................. 85
17 Bank 4 –................................................................................................................................. 86
17.1
17.2
17.3
17.4
17.5
17.6
17.7
17.8
17.9
APEX_CONFIG1 . ................................................................................................................................. 86
APEX_CONFIG2 . ................................................................................................................................. 86
APEX_CONFIG3 . ................................................................................................................................. 87
APEX_CONFIG4 . ................................................................................................................................. 87
APEX_CONFIG7 . ................................................................................................................................. 88
APEX_CONFIG8 . ................................................................................................................................. 88
ACCEL_WOM_X_THR . ........................................................................................................................ 88
ACCEL_WOM_Y_THR . ........................................................................................................................ 88
ACCEL_WOM_Z_THR . ........................................................................................................................ 89
17.10
INT_SOURCE6 . ................................................................................................................................... 89
17.11
INT_SOURCE7 . ................................................................................................................................... 89
17.12
REG_BANK_SEL . ................................................................................................................................. 90
17.13
OFFSET_USER0 . .................................................................................................................................. 90
17.14
OFFSET_USER1 . .................................................................................................................................. 90
17.15
OFFSET_USER2 . .................................................................................................................................. 90
17.16
OFFSET_USER3 . .................................................................................................................................. 91
17.17
OFFSET_USER4 . .................................................................................................................................. 91
17.18
OFFSET_USER5 . .................................................................................................................................. 91
17.19
17.20
OFFSET_USER6 . .................................................................................................................................. 91
OFFSET_USER7 . .................................................................................................................................. 92
17.21
OFFSET_USER8 . .................................................................................................................................. 92
18 ................................................................................................................................................................... 93
19 . .......................................................................................................................................................... 94
19.1 . ........................................................................................................................................... 94
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TABLE OF FIGURES
Figure 1. I2C . ........................................................................................................................................................ 14
Figure 2. 4-Wire SPI Mode-3 ....................................................................... 15
Figure 3. 4-Wire SPI Mode-0 ................................................................................................................................ 15
Figure 4. 3-Wire Mode-3 SPI ................................................................................................................................ 16
Figure 5. 3-Wire Mode-0 SPI ................................................................................................................................ 16
Figure 6. ICM-40607 2.5x3.0x0.91 mm LGA . ....................................................................................................... 18
Figure 7. ICM-40607 (I2C ......................................................................................................................................... 19
Figure 8. ICM-40607 (SPI . ....................................................................................................................................... 19
Figure 9. ICM-40607 ............................................................................................................................................. 21
Figure 10. ICM-40607............................................................................................................................................ 24
Figure 11. FIFO . ................................................................................................................................................... 34
Figure 12. FIFO . .................................................................................................................................................. 35
Figure 13. START & STOP ......................................................................................................................................... 43
Figure 14. I2C Bus ....................................................................................................................................................... 44
Figure 15. I2C ....................................................................................................................................................... 44
Figure 16. SPI /............................................................................................................................................. 46
Figure 17. //. ................................................................................................................................... 47
TABLE OF TABLES
Table 1. ........................................................................................... 10
Table 2. ................................................................................................................................................................ 11
Table 3. D.C. . ....................................................................................................................................................... 12
Table 4. A.C. ......................................................................................................................................................... 13
Table 5. I2C .................................................................................................................................................................. 14
Table 6. SPI (<24-MHz ) . ............................................................................................................................................. 15
Table 7. SPI (>24-MHz ) ............................................................................................................................................... 16
Table 8. ...................................................................................................................................................... 17
Table 9. . ............................................................................................................................................................... 18
Table 10. ............................................................................................................................................................... 20
Table 11. ICM-40607 ..................................................................................................................................... 23
Table 12. I2C . .............................................................................................................................................................. 45
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1
1.1
ICM-406072.5x3x0.91 mm 14
LGA
ICM-40607
1.2
ICM-4060762.5x3x0.91 mm14LGA33
ICM-406076
±15.625dps±2000dps±2g±16g
16ADCI2CSPI
VDD1.71V3.6VVDDIO1.71V3.6V
I2CSPII2C1MHzSPI24 MHz
CMOS-MEMSMEMSCMOS
InvenSense
2.5x3x0.91 mm14LGA20000g
1.3
•
•
•
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