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ICM-20948

World’s Lowest Power 9-Axis MEMS MotionTracking™ Device

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

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™ (DMP

)

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 I

C 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 I

C 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

TEMP RANGE

PACKAGE

ICM-20948† −40°C to +85°C 24-Pin QFN

†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 I

C 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

AUX_CL

VDDIO

SDO

/ AD0

REGOUT

FSYNC

INT1

GND

SCL / SCLK

nCS

RESV

VDD

SDA / SDI

.71 – 3.6VDC

C2, 0.1 µF

C3, 0.1 µ F

1.71 – 1.95VDC

SCLK

SDI

AUX_DA

SDO

C1, 0.1 µF

RESV

ICM

-20948

nCS

ICM-20948

Document Number: DS-000189 Page 2 of 89

Revision: 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

1.1 PURPOSE AND SCOPE ............................................................................................................................................... 9

1.2 PRODUCT OVERVIEW ............................................................................................................................................... 9

1.3 APPLICATIONS ......................................................................................................................................................... 9

2 FEATURES .......................................................................................................................................................... 10

2.1 GYROSCOPE FEATURES ........................................................................................................................................... 10

2.2 ACCELEROMETER FEATURES ..................................................................................................................................... 10

2.3 MAGNETOMETER FEATURES .................................................................................................................................... 10

2.4 DMP FEATURES .................................................................................................................................................... 10

2.5 ADDITIONAL FEATURES ........................................................................................................................................... 10

3 ELECTRICAL CHARACTERISTICS ........................................................................................................................... 11

3.1 GYROSCOPE SPECIFICATIONS .................................................................................................................................... 11

3.2 ACCELEROMETER SPECIFICATIONS ............................................................................................................................. 12

3.3 MAGNETOMETER SPECIFICATIONS ............................................................................................................................ 13

3.4 ELECTRICAL SPECIFICATIONS..................................................................................................................................... 13

D.C. Electrical Characteristics ................................................................................................................................... 13

A.C. Electrical Characteristics ................................................................................................................................... 14

Other Electrical Specifications .................................................................................................................................. 15

3.5 I

C TIMING CHARACTERIZATION ............................................................................................................................... 16

3.6 SPI TIMING CHARACTERIZATION ............................................................................................................................... 17

3.7 ABSOLUTE MAXIMUM RATINGS ............................................................................................................................... 18

4 APPLICATIONS INFORMATION ........................................................................................................................... 19

4.1 PIN OUT DIAGRAM AND SIGNAL DESCRIPTION ............................................................................................................ 19

4.2 TYPICAL OPERATING CIRCUIT ................................................................................................................................... 20

4.3 BILL OF MATERIALS FOR EXTERNAL COMPONENTS ....................................................................................................... 20

4.4 EXPOSED DIE PAD PRECAUTIONS .............................................................................................................................. 20

4.5 BLOCK DIAGRAM ................................................................................................................................................... 21

4.6 OVERVIEW ........................................................................................................................................................... 21

4.7 THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING ............................................................ 22

4.8 THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING ...................................................... 22

4.9 THREE-AXIS MEMS MAGNETOMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING ..................................................... 22

4.10 DIGITAL MOTION PROCESSOR .................................................................................................................................. 22

4.11 PRIMARY I

C AND SPI SERIAL COMMUNICATIONS INTERFACES ....................................................................................... 22

ICM-20948 Solution Using I

C Interface.................................................................................................................... 22

ICM-20948 Solution Using SPI Interface ................................................................................................................... 23

4.12 AUXILIARY I

C SERIAL INTERFACE .............................................................................................................................. 24

4.13 SELF-TEST ............................................................................................................................................................ 24

4.14 CLOCKING ............................................................................................................................................................ 25

4.15 SENSOR DATA REGISTERS ........................................................................................................................................ 25

ICM-20948

Document Number: DS-000189 Page 3 of 89

Revision: 1.3

4.16 FIFO ................................................................................................................................................................... 25

4.17 FSYNC ................................................................................................................................................................ 25

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

5 PROGRAMMABLE INTERRUPTS .......................................................................................................................... 27

6 DIGITAL INTERFACE ............................................................................................................................................ 28

6.1 I

C AND SPI SERIAL INTERFACES ............................................................................................................................... 28

6.2 I

C INTERFACE ...................................................................................................................................................... 28

6.3 I

C COMMUNICATIONS PROTOCOL ........................................................................................................................... 28

6.4 I

C TERMS ........................................................................................................................................................... 30

6.5 SPI INTERFACE ...................................................................................................................................................... 31

7 REGISTER MAP FOR GYROSCOPE AND ACCELEROMETER ................................................................................... 32

7.1 USER BANK 0 REGISTER MAP .................................................................................................................................. 32

7.2 USER BANK 1 REGISTER MAP .................................................................................................................................. 33

7.3 USER BANK 2 REGISTER MAP .................................................................................................................................. 34

7.4 USER BANK 3 REGISTER MAP .................................................................................................................................. 34

8 USER BANK 0 REGISTER DESCRIPTIONS .............................................................................................................. 36

8.1 WHO_AM_I ....................................................................................................................................................... 36

8.2 USER_CTRL ........................................................................................................................................................ 36

8.3 LP_CONFIG ........................................................................................................................................................ 37

8.4 PWR_MGMT_1 ................................................................................................................................................. 37

8.5 PWR_MGMT_2 ................................................................................................................................................. 38

8.6 INT_PIN_CFG .................................................................................................................................................... 38

8.7 INT_ENABLE ...................................................................................................................................................... 39

8.8 INT_ENABLE_1 .................................................................................................................................................. 39

8.9 INT_ENABLE_2 .................................................................................................................................................. 39

8.10 INT_ENABLE_3 .................................................................................................................................................. 40

8.11 I2C_MST_STATUS ............................................................................................................................................. 40

8.12 INT_STATUS ...................................................................................................................................................... 40

8.13 INT_STATUS_1 .................................................................................................................................................. 41

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

ICM-20948

Document Number: DS-000189 Page 4 of 89

Revision: 1.3

8.29 GYRO_ZOUT_L .................................................................................................................................................. 45

8.30 TEMP_OUT_H ................................................................................................................................................... 45

8.31 TEMP_OUT_L .................................................................................................................................................... 45

8.32 EXT_SLV_SENS_DATA_00 ................................................................................................................................. 45

8.33 EXT_SLV_SENS_DATA_01 ................................................................................................................................. 46

8.34 EXT_SLV_SENS_DATA_02 ................................................................................................................................. 46

8.35 EXT_SLV_SENS_DATA_03 ................................................................................................................................. 46

8.36 EXT_SLV_SENS_DATA_04 ................................................................................................................................. 46

8.37 EXT_SLV_SENS_DATA_05 ................................................................................................................................. 47

8.38 EXT_SLV_SENS_DATA_06 ................................................................................................................................. 47

8.39 EXT_SLV_SENS_DATA_07 ................................................................................................................................. 47

8.40 EXT_SLV_SENS_DATA_08 ................................................................................................................................. 47

8.41 EXT_SLV_SENS_DATA_09 ................................................................................................................................. 48

8.42 EXT_SLV_SENS_DATA_10 ................................................................................................................................. 48

8.43 EXT_SLV_SENS_DATA_11 ................................................................................................................................. 48

8.44 EXT_SLV_SENS_DATA_12 ................................................................................................................................. 48

8.45 EXT_SLV_SENS_DATA_13 ................................................................................................................................. 49

8.46 EXT_SLV_SENS_DATA_14 ................................................................................................................................. 49

8.47 EXT_SLV_SENS_DATA_15 ................................................................................................................................. 49

8.48 EXT_SLV_SENS_DATA_16 ................................................................................................................................. 49

8.49 EXT_SLV_SENS_DATA_17 ................................................................................................................................. 50

8.50 EXT_SLV_SENS_DATA_18 ................................................................................................................................. 50

8.51 EXT_SLV_SENS_DATA_19 ................................................................................................................................. 50

8.52 EXT_SLV_SENS_DATA_20 ................................................................................................................................. 50

8.53 EXT_SLV_SENS_DATA_21 ................................................................................................................................. 51

8.54 EXT_SLV_SENS_DATA_22 ................................................................................................................................. 51

8.55 EXT_SLV_SENS_DATA_23 ................................................................................................................................. 51

8.56 FIFO_EN_1 ........................................................................................................................................................ 52

8.57 FIFO_EN_2 ........................................................................................................................................................ 52

8.58 FIFO_RST ........................................................................................................................................................... 53

8.59 FIFO_MODE ...................................................................................................................................................... 53

8.60 FIFO_COUNTH .................................................................................................................................................. 53

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

9.1 SELF_TEST_X_GYRO .......................................................................................................................................... 55

9.2 SELF_TEST_Y_GYRO .......................................................................................................................................... 55

9.3 SELF_TEST_Z_GYRO .......................................................................................................................................... 55

9.4 SELF_TEST_X_ACCEL ......................................................................................................................................... 55

9.5 SELF_TEST_Y_ACCEL ......................................................................................................................................... 56

9.6 SELF_TEST_Z_ACCEL ......................................................................................................................................... 56

9.7 XA_OFFS_H ....................................................................................................................................................... 56

9.8 XA_OFFS_L ........................................................................................................................................................ 56

9.9 YA_OFFS_H ....................................................................................................................................................... 56

9.10 YA_OFFS_L ........................................................................................................................................................ 57

9.11 ZA_OFFS_H ....................................................................................................................................................... 57

9.12 ZA_OFFS_L ........................................................................................................................................................ 57

ICM-20948

Document Number: DS-000189 Page 5 of 89

Revision: 1.3

9.13 TIMEBASE_CORRECTION_PLL ........................................................................................................................... 57

9.14 REG_BANK_SEL ................................................................................................................................................. 58

10 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

10.6 YG_OFFS_USRH ................................................................................................................................................ 62

10.7 YG_OFFS_USRL ................................................................................................................................................. 62

10.8 ZG_OFFS_USRH................................................................................................................................................. 62

10.9 ZG_OFFS_USRL ................................................................................................................................................. 62

10.10 ODR_ALIGN_EN ............................................................................................................................................ 63

10.11 ACCEL_SMPLRT_DIV_1 ................................................................................................................................. 63

10.12 ACCEL_SMPLRT_DIV_2 ................................................................................................................................. 63

10.13 ACCEL_INTEL_CTRL ....................................................................................................................................... 63

10.14 ACCEL_WOM_THR ........................................................................................................................................ 64

10.15 ACCEL_CONFIG ............................................................................................................................................. 64

10.16 ACCEL_CONFIG_2 ......................................................................................................................................... 65

10.17 FSYNC_CONFIG ............................................................................................................................................. 66

10.18 TEMP_CONFIG .............................................................................................................................................. 67

10.19 MOD_CTRL_USR ........................................................................................................................................... 67

10.20 REG_BANK_SEL ............................................................................................................................................. 67

11 USR BANK 3 REGISTER MAP ........................................................................................................................... 68

11.1 I2C_MST_ODR_CONFIG .................................................................................................................................... 68

11.2 I2C_MST_CTRL .................................................................................................................................................. 68

11.3 I2C_MST_DELAY_CTRL ...................................................................................................................................... 69

11.4 I2C_SLV0_ADDR ................................................................................................................................................ 69

11.5 I2C_SLV0_REG................................................................................................................................................... 69

11.6 I2C_SLV0_CTRL ................................................................................................................................................. 70

11.7 I2C_SLV0_DO .................................................................................................................................................... 70

11.8 I2C_SLV1_ADDR ................................................................................................................................................ 70

11.9 I2C_SLV1_REG................................................................................................................................................... 71

11.10 I2C_SLV1_CTRL ............................................................................................................................................. 71

11.11 I2C_SLV1_DO ................................................................................................................................................ 72

11.12 I2C_SLV2_ADDR ............................................................................................................................................ 72

11.13 I2C_SLV2_REG............................................................................................................................................... 72

11.14 I2C_SLV2_CTRL ............................................................................................................................................. 73

11.15 I2C_SLV2_DO ................................................................................................................................................ 73

11.16 I2C_SLV3_ADDR ............................................................................................................................................ 73

11.17 I2C_SLV3_REG............................................................................................................................................... 74

11.18 I2C_SLV3_CTRL ............................................................................................................................................. 74

11.19 I2C_SLV3_DO ................................................................................................................................................ 74

11.20 I2C_SLV4_ADDR ............................................................................................................................................ 75

11.21 I2C_SLV4_REG............................................................................................................................................... 75

11.22 I2C_SLV4_CTRL ............................................................................................................................................. 75

11.23 I2C_SLV4_DO ................................................................................................................................................ 75

11.24 I2C_SLV4_DI .................................................................................................................................................. 76

11.25 REG_BANK_SEL ............................................................................................................................................. 76