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ICM-20948数据手册(ICM-20948-v1.3).pdf
General Description
Ordering Information
Block Diagram
Applications
Features
Typical Operating Circuit
1 General Description
1.1 Purpose and Scope
1.2 Product Overview
1.3 Applications
2 Features
2.1 Gyroscope Features
2.2 Accelerometer Features
2.3 Magnetometer Features
2.4 DMP Features
2.5 Additional Features
3 Electrical Characteristics
3.1 Gyroscope Specifications
3.2 Accelerometer Specifications
3.3 Magnetometer Specifications
3.4 Electrical Specifications
D.C. Electrical Characteristics
A.C. Electrical Characteristics
Other Electrical Specifications
3.5 I2C Timing Characterization
3.6 SPI Timing Characterization
3.7 Absolute Maximum Ratings
4 Applications Information
4.1 Pin Out Diagram and Signal Description
4.2 Typical Operating Circuit
4.3 Bill of Materials for External Components
4.4 Exposed Die Pad Precautions
4.5 Block Diagram
4.6 Overview
4.7 Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning
4.8 Three-Axis MEMS Accelerometer with 16-bit ADCs and Signal Conditioning
4.9 Three-Axis MEMS Magnetometer with 16-bit ADCs and Signal Conditioning
4.10 Digital Motion Processor
4.11 Primary I2C and SPI Serial Communications Interfaces
ICM-20948 Solution Using I2C Interface
ICM-20948 Solution Using SPI Interface
4.12 Auxiliary I2C Serial Interface
4.13 Self-Test
4.14 Clocking
4.15 Sensor Data Registers
4.16 FIFO
4.17 FSYNC
4.18 Interrupts
4.19 Digital-Output Temperature Sensor
4.20 Bias and LDOs
4.21 Charge Pump
4.22 Power Modes
5 Programmable Interrupts
6 Digital Interface
6.1 I2C and SPI Serial Interfaces
6.2 I2C Interface
6.3 I2C Communications Protocol
6.4 I2C Terms
6.5 SPI Interface
7 Register Map for Gyroscope and Accelerometer
7.1 User Bank 0 Register Map
7.2 User Bank 1 Register Map
7.3 User Bank 2 Register Map
7.4 User Bank 3 Register Map
8 User Bank 0 Register Descriptions
8.1 WHO_AM_I
8.2 USER_CTRL
8.3 LP_CONFIG
8.4 PWR_MGMT_1
8.5 PWR_MGMT_2
8.6 INT_PIN_CFG
8.7 INT_ENABLE
8.8 INT_ENABLE_1
8.9 INT_ENABLE_2
8.10 INT_ENABLE_3
8.11 I2C_MST_STATUS
8.12 INT_STATUS
8.13 INT_STATUS_1
8.14 INT_STATUS_2
8.15 INT_STATUS_3
8.16 DELAY_TIMEH
8.17 DELAY_TIMEL
8.18 ACCEL_XOUT_H
8.19 ACCEL_XOUT_L
8.20 ACCEL_YOUT_H
8.21 ACCEL_YOUT_L
8.22 ACCEL_ZOUT_H
8.23 ACCEL_ZOUT_L
8.24 GYRO_XOUT_H
8.25 GYRO_XOUT_L
8.26 GYRO_YOUT_H
8.27 GYRO_YOUT_L
8.28 GYRO_ZOUT_H
8.29 GYRO_ZOUT_L
8.30 TEMP_OUT_H
8.31 TEMP_OUT_L
8.32 EXT_SLV_SENS_DATA_00
8.33 EXT_SLV_SENS_DATA_01
8.34 EXT_SLV_SENS_DATA_02
8.35 EXT_SLV_SENS_DATA_03
8.36 EXT_SLV_SENS_DATA_04
8.37 EXT_SLV_SENS_DATA_05
8.38 EXT_SLV_SENS_DATA_06
8.39 EXT_SLV_SENS_DATA_07
8.40 EXT_SLV_SENS_DATA_08
8.41 EXT_SLV_SENS_DATA_09
8.42 EXT_SLV_SENS_DATA_10
8.43 EXT_SLV_SENS_DATA_11
8.44 EXT_SLV_SENS_DATA_12
8.45 EXT_SLV_SENS_DATA_13
8.46 EXT_SLV_SENS_DATA_14
8.47 EXT_SLV_SENS_DATA_15
8.48 EXT_SLV_SENS_DATA_16
8.49 EXT_SLV_SENS_DATA_17
8.50 EXT_SLV_SENS_DATA_18
8.51 EXT_SLV_SENS_DATA_19
8.52 EXT_SLV_SENS_DATA_20
8.53 EXT_SLV_SENS_DATA_21
8.54 EXT_SLV_SENS_DATA_22
8.55 EXT_SLV_SENS_DATA_23
8.56 FIFO_EN_1
8.57 FIFO_EN_2
8.58 FIFO_RST
8.59 FIFO_MODE
8.60 FIFO_COUNTH
8.61 FIFO_COUNTL
8.62 FIFO_R_W
8.63 DATA_RDY_STATUS
8.64 FIFO_CFG
8.65 REG_BANK_SEL
9 USR Bank 1 Register Descriptions
9.1 SELF_TEST_X_GYRO
9.2 SELF_TEST_Y_GYRO
9.3 SELF_TEST_Z_GYRO
9.4 SELF_TEST_X_ACCEL
9.5 SELF_TEST_Y_ACCEL
9.6 SELF_TEST_Z_ACCEL
9.7 XA_OFFS_H
9.8 XA_OFFS_L
9.9 YA_OFFS_H
9.10 YA_OFFS_L
9.11 ZA_OFFS_H
9.12 ZA_OFFS_L
9.13 TIMEBASE_CORRECTION_PLL
9.14 REG_BANK_SEL
10 USR Bank 2 Register Map
10.1 GYRO_SMPLRT_DIV
10.2 GYRO_CONFIG_1
10.3 GYRO_CONFIG_2
10.4 XG_OFFS_USRH
10.5 XG_OFFS_USRL
10.6 YG_OFFS_USRH
10.7 YG_OFFS_USRL
10.8 ZG_OFFS_USRH
10.9 ZG_OFFS_USRL
10.10 ODR_ALIGN_EN
10.11 ACCEL_SMPLRT_DIV_1
10.12 ACCEL_SMPLRT_DIV_2
10.13 ACCEL_INTEL_CTRL
10.14 ACCEL_WOM_THR
10.15 ACCEL_CONFIG
10.16 ACCEL_CONFIG_2
10.17 FSYNC_CONFIG
10.18 TEMP_CONFIG
10.19 MOD_CTRL_USR
10.20 REG_BANK_SEL
11 USR Bank 3 Register Map
11.1 I2C_MST_ODR_CONFIG
11.2 I2C_MST_CTRL
11.3 I2C_MST_DELAY_CTRL
11.4 I2C_SLV0_ADDR
11.5 I2C_SLV0_REG
11.6 I2C_SLV0_CTRL
11.7 I2C_SLV0_DO
11.8 I2C_SLV1_ADDR
11.9 I2C_SLV1_REG
11.10 I2C_SLV1_CTRL
11.11 I2C_SLV1_DO
11.12 I2C_SLV2_ADDR
11.13 I2C_SLV2_REG
11.14 I2C_SLV2_CTRL
11.15 I2C_SLV2_DO
11.16 I2C_SLV3_ADDR
11.17 I2C_SLV3_REG
11.18 I2C_SLV3_CTRL
11.19 I2C_SLV3_DO
11.20 I2C_SLV4_ADDR
11.21 I2C_SLV4_REG
11.22 I2C_SLV4_CTRL
11.23 I2C_SLV4_DO
11.24 I2C_SLV4_DI
11.25 REG_BANK_SEL
12 Register Map for Magnetometer
12.1 Register Map Description
13 Detailed Descriptions for Magnetometer Registers
13.1 WIA: Device ID
13.2 ST1: Status 1
13.3 HXL to HZH: Measurement Data
13.4 ST2: Status 2
13.5 CNTL2: Control 2
13.6 CNTL3: Control 3
13.7 TS1, TS2: Test 1, 2
14 Use Notes
14.1 Gyroscope Mode Transition
14.2 Power Management 1 Register Setting
14.3 DMP Memory Access
14.4 Time Base Correction
14.5 I2C Master Clock Frequency
14.6 Clocking
14.7 LP_EN Bit-Field Usage
14.8 Register Access Using SPI Interface
15 Orientation of Axes
16 Package Dimensions
17 Part Number Part Markings
18 References
19 Document Information
19.1 Revision History
Compliance Declaration Disclaimer
ICM-20948
World’s Lowest Power 9-Axis MEMS MotionTracking™ Device
GENERAL DESCRIPTION
The ICM-20948 is the world’s lowest power 9-axis
MotionTracking device that is ideally suited for Smartphones,
Tablets, Wearable Sensors, and IoT applications.
•
3-axis gyroscope, 3-axis accelerometer, 3-axis
compass, and a Digital Motion Processor™ (DMPTM)
in a 3 mm x 3 mm x 1 mm (24-pin QFN) package
• DMP offloads computation of motion processing
algorithms from the host processor, improving
system power performance
Software drivers are fully compliant with Google’s
latest Android release
EIS FSYNC support
•
•
ICM-20948 supports an auxiliary I2C interface to external
sensors, on-chip 16-bit ADCs, programmable digital filters, an
embedded temperature sensor, and programmable
interrupts. The device features an operating voltage range
down to 1.71V. Communication ports include I2C and high
speed SPI at 7 MHz.
Note: ICM-20948 VDDIO range is 1.71V to 1.95V, different
than the MPU-9250 9-axis device.
ORDERING INFORMATION
PART
ICM-20948†
TEMP RANGE PACKAGE
24-Pin QFN
−40°C to +85°C
†Denotes RoHS and Green-Compliant Package
BLOCK DIAGRAM
APPLICATIONS
Smartphones and Tablets
•
• Wearable Sensors
•
IoT Applications
FEATURES
•
•
•
Lowest Power 9-Axis Device at 2.5 mW
3-Axis Gyroscope with Programmable FSR of
±250 dps, ±500 dps, ±1000 dps, and ±2000 dps
3-Axis Accelerometer with Programmable FSR of
±2g, ±4g, ±8g, and ±16g
3-Axis Compass with a wide range to ±4900 µT
•
• Onboard Digital Motion Processor (DMP)
• Android support
• Auxiliary I2C interface for external sensors
• On-Chip 16-bit ADCs and Programmable Filters
•
7 MHz SPI or 400 kHz Fast Mode I²C
• Digital-output temperature sensor
• VDD operating range of 1.71V to 3.6V
• MEMS structure hermetically sealed and bonded at
wafer level
• RoHS and Green compliant
TYPICAL OPERATING CIRCUIT
nCS
SCLK
SDI
K
L
C
S
/
L
C
S
I
D
S
/
A
D
S
A
D
_
X
U
A
S
C
n
V
S
E
R
V
S
E
R
4
2
3
2
2
2
1
2
0
2
9
1
ICM-20948
NC
NC
NC
NC
NC
NC
1
2
3
4
5
6
GND
NC
NC
NC
NC
VDD
18
17
16
15
14
13
1.71 – 3.6VDC
7 8 9
0
1
1
1
2
1
C2, 0.1 µF
1.71 – 1.95VDC
SDO
L
C
_
X
U
A
I
O
D
D
V
0
D
A
/
O
D
S
1
T
N
I
C
N
Y
S
F
T
U
O
G
E
R
C3, 0.1 µ F
C1, 0.1 µF
InvenSense reserves the right to change the detail
specifications as may be required to permit
improvements in the design of its products.
TDK Corporation
1745 Technology Drive, San Jose, CA 95110 U.S.A
+1(408) 988–7339
www.invensense.com
Document Number: DS-000189
Revision: 1.3
Release Date: 06/02/2017
ICM-20948
2
3
4
1.1
1.2
1.3
TABLE OF CONTENTS
GENERAL DESCRIPTION ......................................................................................................................................................... 1
ORDERING INFORMATION ..................................................................................................................................................... 1
BLOCK DIAGRAM ................................................................................................................................................................. 1
APPLICATIONS ..................................................................................................................................................................... 1
FEATURES .......................................................................................................................................................................... 1
TYPICAL OPERATING CIRCUIT ................................................................................................................................................. 1
1 GENERAL DESCRIPTION ........................................................................................................................................ 9
PURPOSE AND SCOPE ............................................................................................................................................... 9
PRODUCT OVERVIEW ............................................................................................................................................... 9
APPLICATIONS ......................................................................................................................................................... 9
FEATURES .......................................................................................................................................................... 10
2.1
GYROSCOPE FEATURES ........................................................................................................................................... 10
2.2
ACCELEROMETER FEATURES ..................................................................................................................................... 10
2.3 MAGNETOMETER FEATURES .................................................................................................................................... 10
DMP FEATURES .................................................................................................................................................... 10
2.4
2.5
ADDITIONAL FEATURES ........................................................................................................................................... 10
ELECTRICAL CHARACTERISTICS ........................................................................................................................... 11
GYROSCOPE SPECIFICATIONS .................................................................................................................................... 11
3.1
3.2
ACCELEROMETER SPECIFICATIONS ............................................................................................................................. 12
3.3 MAGNETOMETER SPECIFICATIONS ............................................................................................................................ 13
ELECTRICAL SPECIFICATIONS..................................................................................................................................... 13
3.4
D.C. Electrical Characteristics ................................................................................................................................... 13
A.C. Electrical Characteristics ................................................................................................................................... 14
Other Electrical Specifications .................................................................................................................................. 15
I2C TIMING CHARACTERIZATION ............................................................................................................................... 16
SPI TIMING CHARACTERIZATION ............................................................................................................................... 17
ABSOLUTE MAXIMUM RATINGS ............................................................................................................................... 18
APPLICATIONS INFORMATION ........................................................................................................................... 19
PIN OUT DIAGRAM AND SIGNAL DESCRIPTION ............................................................................................................ 19
4.1
TYPICAL OPERATING CIRCUIT ................................................................................................................................... 20
4.2
BILL OF MATERIALS FOR EXTERNAL COMPONENTS ....................................................................................................... 20
4.3
EXPOSED DIE PAD PRECAUTIONS .............................................................................................................................. 20
4.4
BLOCK DIAGRAM ................................................................................................................................................... 21
4.5
OVERVIEW ........................................................................................................................................................... 21
4.6
THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING ............................................................ 22
4.7
THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING ...................................................... 22
4.8
4.9
THREE-AXIS MEMS MAGNETOMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING ..................................................... 22
4.10 DIGITAL MOTION PROCESSOR .................................................................................................................................. 22
4.11 PRIMARY I2C AND SPI SERIAL COMMUNICATIONS INTERFACES ....................................................................................... 22
ICM-20948 Solution Using I2C Interface.................................................................................................................... 22
ICM-20948 Solution Using SPI Interface ................................................................................................................... 23
4.12 AUXILIARY I2C SERIAL INTERFACE .............................................................................................................................. 24
4.13
SELF-TEST ............................................................................................................................................................ 24
4.14 CLOCKING ............................................................................................................................................................ 25
SENSOR DATA REGISTERS ........................................................................................................................................ 25
4.15
3.5
3.6
3.7
Document Number: DS-000189
Revision: 1.3
Page 2 of 89
ICM-20948
7
7.1
7.2
7.3
7.4
6.1
6.2
6.3
6.4
6.5
FIFO ................................................................................................................................................................... 25
4.16
FSYNC ................................................................................................................................................................ 25
4.17
4.18
INTERRUPTS .......................................................................................................................................................... 25
4.19 DIGITAL-OUTPUT TEMPERATURE SENSOR ................................................................................................................... 26
4.20 BIAS AND LDOS .................................................................................................................................................... 26
4.21 CHARGE PUMP ...................................................................................................................................................... 26
4.22 POWER MODES..................................................................................................................................................... 26
PROGRAMMABLE INTERRUPTS .......................................................................................................................... 27
5
6 DIGITAL INTERFACE ............................................................................................................................................ 28
I2C AND SPI SERIAL INTERFACES ............................................................................................................................... 28
I2C INTERFACE ...................................................................................................................................................... 28
I2C COMMUNICATIONS PROTOCOL ........................................................................................................................... 28
I2C TERMS ........................................................................................................................................................... 30
SPI INTERFACE ...................................................................................................................................................... 31
REGISTER MAP FOR GYROSCOPE AND ACCELEROMETER ................................................................................... 32
USER BANK 0 REGISTER MAP .................................................................................................................................. 32
USER BANK 1 REGISTER MAP .................................................................................................................................. 33
USER BANK 2 REGISTER MAP .................................................................................................................................. 34
USER BANK 3 REGISTER MAP .................................................................................................................................. 34
8 USER BANK 0 REGISTER DESCRIPTIONS .............................................................................................................. 36
8.1 WHO_AM_I ....................................................................................................................................................... 36
8.2
USER_CTRL ........................................................................................................................................................ 36
LP_CONFIG ........................................................................................................................................................ 37
8.3
PWR_MGMT_1 ................................................................................................................................................. 37
8.4
PWR_MGMT_2 ................................................................................................................................................. 38
8.5
8.6
INT_PIN_CFG .................................................................................................................................................... 38
INT_ENABLE ...................................................................................................................................................... 39
8.7
INT_ENABLE_1 .................................................................................................................................................. 39
8.8
INT_ENABLE_2 .................................................................................................................................................. 39
8.9
8.10
INT_ENABLE_3 .................................................................................................................................................. 40
I2C_MST_STATUS ............................................................................................................................................. 40
8.11
INT_STATUS ...................................................................................................................................................... 40
8.12
INT_STATUS_1 .................................................................................................................................................. 41
8.13
8.14
INT_STATUS_2 .................................................................................................................................................. 41
8.15
INT_STATUS_3 .................................................................................................................................................. 41
8.16 DELAY_TIMEH ................................................................................................................................................... 41
8.17 DELAY_TIMEL .................................................................................................................................................... 42
8.18 ACCEL_XOUT_H ................................................................................................................................................ 42
8.19 ACCEL_XOUT_L ................................................................................................................................................. 42
8.20 ACCEL_YOUT_H ................................................................................................................................................ 42
8.21 ACCEL_YOUT_L ................................................................................................................................................. 43
8.22 ACCEL_ZOUT_H ................................................................................................................................................ 43
8.23 ACCEL_ZOUT_L ................................................................................................................................................. 43
8.24 GYRO_XOUT_H ................................................................................................................................................. 43
8.25 GYRO_XOUT_L .................................................................................................................................................. 44
8.26 GYRO_YOUT_H ................................................................................................................................................. 44
8.27 GYRO_YOUT_L .................................................................................................................................................. 44
8.28 GYRO_ZOUT_H ................................................................................................................................................. 44
Document Number: DS-000189
Revision: 1.3
Page 3 of 89
ICM-20948
8.29 GYRO_ZOUT_L .................................................................................................................................................. 45
TEMP_OUT_H ................................................................................................................................................... 45
8.30
TEMP_OUT_L .................................................................................................................................................... 45
8.31
EXT_SLV_SENS_DATA_00 ................................................................................................................................. 45
8.32
8.33
EXT_SLV_SENS_DATA_01 ................................................................................................................................. 46
EXT_SLV_SENS_DATA_02 ................................................................................................................................. 46
8.34
EXT_SLV_SENS_DATA_03 ................................................................................................................................. 46
8.35
EXT_SLV_SENS_DATA_04 ................................................................................................................................. 46
8.36
8.37
EXT_SLV_SENS_DATA_05 ................................................................................................................................. 47
EXT_SLV_SENS_DATA_06 ................................................................................................................................. 47
8.38
EXT_SLV_SENS_DATA_07 ................................................................................................................................. 47
8.39
EXT_SLV_SENS_DATA_08 ................................................................................................................................. 47
8.40
8.41
EXT_SLV_SENS_DATA_09 ................................................................................................................................. 48
EXT_SLV_SENS_DATA_10 ................................................................................................................................. 48
8.42
EXT_SLV_SENS_DATA_11 ................................................................................................................................. 48
8.43
EXT_SLV_SENS_DATA_12 ................................................................................................................................. 48
8.44
8.45
EXT_SLV_SENS_DATA_13 ................................................................................................................................. 49
EXT_SLV_SENS_DATA_14 ................................................................................................................................. 49
8.46
EXT_SLV_SENS_DATA_15 ................................................................................................................................. 49
8.47
EXT_SLV_SENS_DATA_16 ................................................................................................................................. 49
8.48
8.49
EXT_SLV_SENS_DATA_17 ................................................................................................................................. 50
EXT_SLV_SENS_DATA_18 ................................................................................................................................. 50
8.50
EXT_SLV_SENS_DATA_19 ................................................................................................................................. 50
8.51
EXT_SLV_SENS_DATA_20 ................................................................................................................................. 50
8.52
8.53
EXT_SLV_SENS_DATA_21 ................................................................................................................................. 51
EXT_SLV_SENS_DATA_22 ................................................................................................................................. 51
8.54
EXT_SLV_SENS_DATA_23 ................................................................................................................................. 51
8.55
FIFO_EN_1 ........................................................................................................................................................ 52
8.56
8.57
FIFO_EN_2 ........................................................................................................................................................ 52
FIFO_RST ........................................................................................................................................................... 53
8.58
FIFO_MODE ...................................................................................................................................................... 53
8.59
FIFO_COUNTH .................................................................................................................................................. 53
8.60
8.61
FIFO_COUNTL ................................................................................................................................................... 53
8.62
FIFO_R_W ......................................................................................................................................................... 54
8.63 DATA_RDY_STATUS .......................................................................................................................................... 54
8.64
FIFO_CFG .......................................................................................................................................................... 54
8.65 REG_BANK_SEL ................................................................................................................................................. 54
9 USR BANK 1 REGISTER DESCRIPTIONS ................................................................................................................ 55
SELF_TEST_X_GYRO .......................................................................................................................................... 55
SELF_TEST_Y_GYRO .......................................................................................................................................... 55
SELF_TEST_Z_GYRO .......................................................................................................................................... 55
SELF_TEST_X_ACCEL ......................................................................................................................................... 55
SELF_TEST_Y_ACCEL ......................................................................................................................................... 56
SELF_TEST_Z_ACCEL ......................................................................................................................................... 56
XA_OFFS_H ....................................................................................................................................................... 56
XA_OFFS_L ........................................................................................................................................................ 56
YA_OFFS_H ....................................................................................................................................................... 56
YA_OFFS_L ........................................................................................................................................................ 57
ZA_OFFS_H ....................................................................................................................................................... 57
ZA_OFFS_L ........................................................................................................................................................ 57
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8
9.9
9.10
9.11
9.12
Document Number: DS-000189
Revision: 1.3
Page 4 of 89
ICM-20948
10
11
9.13
TIMEBASE_CORRECTION_PLL ........................................................................................................................... 57
9.14 REG_BANK_SEL ................................................................................................................................................. 58
USR BANK 2 REGISTER MAP ........................................................................................................................... 59
10.1 GYRO_SMPLRT_DIV .......................................................................................................................................... 59
10.2 GYRO_CONFIG_1 .............................................................................................................................................. 59
10.3 GYRO_CONFIG_2 .............................................................................................................................................. 60
10.4 XG_OFFS_USRH ................................................................................................................................................ 61
10.5 XG_OFFS_USRL ................................................................................................................................................. 62
YG_OFFS_USRH ................................................................................................................................................ 62
10.6
YG_OFFS_USRL ................................................................................................................................................. 62
10.7
ZG_OFFS_USRH................................................................................................................................................. 62
10.8
10.9
ZG_OFFS_USRL ................................................................................................................................................. 62
ODR_ALIGN_EN ............................................................................................................................................ 63
10.10
ACCEL_SMPLRT_DIV_1 ................................................................................................................................. 63
10.11
ACCEL_SMPLRT_DIV_2 ................................................................................................................................. 63
10.12
10.13
ACCEL_INTEL_CTRL ....................................................................................................................................... 63
ACCEL_WOM_THR ........................................................................................................................................ 64
10.14
ACCEL_CONFIG ............................................................................................................................................. 64
10.15
ACCEL_CONFIG_2 ......................................................................................................................................... 65
10.16
10.17
FSYNC_CONFIG ............................................................................................................................................. 66
10.18
TEMP_CONFIG .............................................................................................................................................. 67
10.19 MOD_CTRL_USR ........................................................................................................................................... 67
10.20
REG_BANK_SEL ............................................................................................................................................. 67
USR BANK 3 REGISTER MAP ........................................................................................................................... 68
I2C_MST_ODR_CONFIG .................................................................................................................................... 68
I2C_MST_CTRL .................................................................................................................................................. 68
I2C_MST_DELAY_CTRL ...................................................................................................................................... 69
I2C_SLV0_ADDR ................................................................................................................................................ 69
I2C_SLV0_REG................................................................................................................................................... 69
I2C_SLV0_CTRL ................................................................................................................................................. 70
I2C_SLV0_DO .................................................................................................................................................... 70
I2C_SLV1_ADDR ................................................................................................................................................ 70
I2C_SLV1_REG................................................................................................................................................... 71
I2C_SLV1_CTRL ............................................................................................................................................. 71
I2C_SLV1_DO ................................................................................................................................................ 72
I2C_SLV2_ADDR ............................................................................................................................................ 72
I2C_SLV2_REG............................................................................................................................................... 72
I2C_SLV2_CTRL ............................................................................................................................................. 73
I2C_SLV2_DO ................................................................................................................................................ 73
I2C_SLV3_ADDR ............................................................................................................................................ 73
I2C_SLV3_REG............................................................................................................................................... 74
I2C_SLV3_CTRL ............................................................................................................................................. 74
I2C_SLV3_DO ................................................................................................................................................ 74
I2C_SLV4_ADDR ............................................................................................................................................ 75
I2C_SLV4_REG............................................................................................................................................... 75
I2C_SLV4_CTRL ............................................................................................................................................. 75
I2C_SLV4_DO ................................................................................................................................................ 75
I2C_SLV4_DI .................................................................................................................................................. 76
REG_BANK_SEL ............................................................................................................................................. 76
11.1
11.2
11.3
11.4
11.5
11.6
11.7
11.8
11.9
11.10
11.11
11.12
11.13
11.14
11.15
11.16
11.17
11.18
11.19
11.20
11.21
11.22
11.23
11.24
11.25
Document Number: DS-000189
Revision: 1.3
Page 5 of 89
ICM-20948
REGISTER MAP FOR MAGNETOMETER ........................................................................................................... 77
12.1 REGISTER MAP DESCRIPTION ................................................................................................................................... 77
DETAILED DESCRIPTIONS FOR MAGNETOMETER REGISTERS .......................................................................... 78
13.1 WIA: DEVICE ID ................................................................................................................................................... 78
13.2
ST1: STATUS 1 ..................................................................................................................................................... 78
13.3 HXL TO HZH: MEASUREMENT DATA ........................................................................................................................ 78
13.4
ST2: STATUS 2 ..................................................................................................................................................... 79
13.5 CNTL2: CONTROL 2 .............................................................................................................................................. 79
13.6 CNTL3: CONTROL 3 .............................................................................................................................................. 80
13.7
TS1, TS2: TEST 1, 2 .............................................................................................................................................. 80
USE NOTES ..................................................................................................................................................... 81
14.1 GYROSCOPE MODE TRANSITION ............................................................................................................................... 81
14.2 POWER MANAGEMENT 1 REGISTER SETTING .............................................................................................................. 81
14.3 DMP MEMORY ACCESS ......................................................................................................................................... 81
14.4
TIME BASE CORRECTION ......................................................................................................................................... 81
14.5
I2C MASTER CLOCK FREQUENCY ............................................................................................................................... 81
14.6 CLOCKING ............................................................................................................................................................ 82
14.7
LP_EN BIT-FIELD USAGE ........................................................................................................................................ 82
14.8 REGISTER ACCESS USING SPI INTERFACE .................................................................................................................... 82
ORIENTATION OF AXES .................................................................................................................................. 83
PACKAGE DIMENSIONS .................................................................................................................................. 84
PART NUMBER PART MARKINGS.................................................................................................................... 86
REFERENCES ................................................................................................................................................... 87
DOCUMENT INFORMATION ........................................................................................................................... 88
19.1 REVISION HISTORY ................................................................................................................................................. 88
COMPLIANCE DECLARATION DISCLAIMER ............................................................................................................................... 89
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14
15
16
17
18
19
Document Number: DS-000189
Revision: 1.3
Page 6 of 89
ICM-20948
LIST OF FIGURES
Figure 1. I2C Bus Timing Diagram ...................................................................................................................................... 16
Figure 2. SPI Bus Timing Diagram ..................................................................................................................................... 17
Figure 3. Pin out Diagram for ICM-20948 3 mm x 3 mm x 1 mm QFN ............................................................................. 19
Figure 4. ICM-20948 Application Schematic (a) I2C operation (b) SPI operation ............................................................. 20
Figure 5. ICM-20948 Block Diagram ................................................................................................................................. 21
Figure 6. ICM-20948 Solution Using I2C Interface ............................................................................................................ 23
Figure 7. ICM-20948 Solution Using SPI Interface ............................................................................................................ 24
Figure 8. START and STOP Conditions .............................................................................................................................. 28
Figure 9. Acknowledge on the I2C Bus .............................................................................................................................. 29
Figure 10. Complete I2C Data Transfer ............................................................................................................................. 29
Figure 11. Typical SPI Master / Slave Configuration ......................................................................................................... 31
Figure 12. Orientation of Axes of Sensitivity and Polarity of Rotation ............................................................................. 83
Figure 13. Orientation of Axes of Sensitivity for Magnetometer ..................................................................................... 83
Figure 14. Package Dimensions ........................................................................................................................................ 84
Figure 15. Part Number Part Markings ............................................................................................................................. 86
Document Number: DS-000189
Revision: 1.3
Page 7 of 89
ICM-20948
LIST OF TABLES
Table 1. Gyroscope Specifications .................................................................................................................................... 11
Table 2. Accelerometer Specifications ............................................................................................................................. 12
Table 3. Magnetometer Specifications ............................................................................................................................. 13
Table 4. D.C. Electrical Characteristics.............................................................................................................................. 13
Table 5. A.C. Electrical Characteristics .............................................................................................................................. 15
Table 6. Other Electrical Specifications ............................................................................................................................ 15
Table 7. I2C Timing Characteristics ................................................................................................................................... 16
Table 8. SPI Timing Characteristics (7 MHz) ..................................................................................................................... 17
Table 9. Absolute Maximum Ratings ................................................................................................................................ 18
Table 10. Signal Descriptions ............................................................................................................................................ 19
Table 11. Bill of Materials ................................................................................................................................................. 20
Table 12. Power Modes for ICM-20948 ............................................................................................................................ 26
Table 13. Interrupt Sources .............................................................................................................................................. 27
Table 14. Serial Interface .................................................................................................................................................. 28
Table 15. I2C Terms ........................................................................................................................................................... 30
Table 16. Gyroscope Configuration 1 ............................................................................................................................... 60
Table 17. Gyroscope Configuration 2 ............................................................................................................................... 61
Table 18. Accelerator Configuration ................................................................................................................................. 64
Table 19. Accelerator Configuration 2 .............................................................................................................................. 66
Table 20. Register Table for Magnetometer .................................................................................................................... 77
Table 21. Register Map for Magnetometer ...................................................................................................................... 77
Table 22. Magnetometer Measurement Data Format ..................................................................................................... 79
Table 23. I2C Master Clock Frequency .............................................................................................................................. 82
Table 24. Package Dimensions ......................................................................................................................................... 85
Table 26. Part Number Part Markings .............................................................................................................................. 86
Document Number: DS-000189
Revision: 1.3
Page 8 of 89
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