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icm-42605 v0.3.pdf
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ICM-42605
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-000228
Revision: 0.3
Rev. Date: 03/26/2018
ICM-42605 Datasheet
TDK Confidential
Preliminary Information
For Xiaomi Only
ICM-42605
Page 2 of 97
Document Number: DS-000228
Revision: 0.3
TABLE OF CONTENTS
Table of Figures ............................................................................................................................................................... 7
Table of Tables ................................................................................................................................................................ 7
1 Introduction ......................................................................................................................................................... 8
1.1 Purpose and Scope .................................................................................................................................... 8
1.2 Product Overview...................................................................................................................................... 8
1.3 Applications ............................................................................................................................................... 8
2 Features ............................................................................................................................................................... 9
2.1 Gyroscope Features .................................................................................................................................. 9
2.2 Accelerometer Features ............................................................................................................................ 9
2.3 Motion Features ........................................................................................................................................ 9
2.4 Additional Features ................................................................................................................................... 9
3 Electrical Characteristics .................................................................................................................................... 10
3.1 Gyroscope Specifications ........................................................................................................................ 10
3.2 Accelerometer Specifications .................................................................................................................. 11
3.3 Electrical Specifications ........................................................................................................................... 12
3.4 I
2
C Timing Characterization ..................................................................................................................... 14
3.5 SPI Timing Characterization – 4-Wire SPI Mode ..................................................................................... 15
3.6 SPI Timing Characterization – 3-Wire SPI Mode ..................................................................................... 16
3.7 Absolute Maximum Ratings .................................................................................................................... 17
4 Applications Information ................................................................................................................................... 18
4.1 Pin Out Diagram and Signal Description ................................................................................................. 18
4.2 Typical Operating Circuit ......................................................................................................................... 19
4.3 Bill of Materials for External Components .............................................................................................. 20
4.4 System Block Diagram ............................................................................................................................. 21
4.5 Overview ................................................................................................................................................. 21
4.6 Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning ............................................... 21
4.7 Three-Axis MEMS Accelerometer with 16-bit ADCs and Signal Conditioning ......................................... 21
4.8 I3C, I
2
C and SPI Host Interface ................................................................................................................ 21
4.9 Self-Test................................................................................................................................................... 21
4.10 Clocking ............................................................................................................................................... 22
4.11 Sensor Data Registers ......................................................................................................................... 22
4.12 Interrupts ............................................................................................................................................ 22
4.13 Digital-Output Temperature Sensor ................................................................................................... 22
4.14 Bias and LDOs ..................................................................................................................................... 22
4.15 Charge Pump ...................................................................................................................................... 22
4.16 Standard Power Modes ...................................................................................................................... 23
5 Signal Path ......................................................................................................................................................... 24
TDK Confidential
Preliminary Information
For Xiaomi Only
ICM-42605
Page 3 of 97
Document Number: DS-000228
Revision: 0.3
5.1 Summary of Parameters Used to Configure the Signal Path .................................................................. 24
5.2 Notch Filter ............................................................................................................................................. 24
5.3 Anti-Alias Filter ........................................................................................................................................ 26
5.4 User Programmable Offset ..................................................................................................................... 28
5.5 UI Filter Block .......................................................................................................................................... 28
5.6 ODR And FSR Selection ........................................................................................................................... 32
6 FIFO .................................................................................................................................................................... 34
6.1 Packet Structure ...................................................................................................................................... 34
6.2 FIFO Header ............................................................................................................................................ 34
6.3 Maximum FIFO Storage ........................................................................................................................... 35
6.4 FIFO Configuration Registers ................................................................................................................... 35
7 Programmable Interrupts .................................................................................................................................. 37
8 APEX Motion Functions ..................................................................................................................................... 38
8.1 APEX ODR Support .................................................................................................................................. 38
8.2 Pedometer Programming ........................................................................................................................ 39
8.3 Tilt Detection Programming .................................................................................................................... 39
8.4 Tap Detection Programming ................................................................................................................... 40
8.5 Wake on Motion Programming ............................................................................................................... 41
8.6 Significant Motion Detection Programming ........................................................................................... 41
9 Digital Interface ................................................................................................................................................. 43
9.1 I3C, I
2
C and SPI Serial Interfaces ............................................................................................................. 43
9.2 I3C Interface ............................................................................................................................................ 43
9.3 I
2
C Interface ............................................................................................................................................. 43
9.4 I
2
C Communications Protocol ................................................................................................................. 43
9.5 I
2
C Terms ................................................................................................................................................. 45
9.6 SPI Interface ............................................................................................................................................ 47
10 Assembly ............................................................................................................................................................ 48
10.1 Orientation of Axes ............................................................................................................................. 48
10.2 Package Dimensions ........................................................................................................................... 49
11 Part Number Package Marking .......................................................................................................................... 51
12 Use Notes ........................................................................................................................................................... 52
12.1 Accelerometer Mode Transitions ....................................................................................................... 52
12.2 Accelerometer Low Power (LP) Mode Averaging Filter Setting .......................................................... 52
12.3 I3C Operation ...................................................................................................................................... 52
12.4 Notch Filter and Anti-Alias Filter Operation ....................................................................................... 52
13 Register Map ...................................................................................................................................................... 53
13.1 User Bank 0 Register Map................................................................................................................... 53
13.2 User Bank 1 Register Map................................................................................................................... 54
13.3 User Bank 2 Register Map................................................................................................................... 55
13.4 User Bank 4 Register Map................................................................................................................... 55
TDK Confidential
Preliminary Information
For Xiaomi Only
ICM-42605
Page 4 of 97
Document Number: DS-000228
Revision: 0.3
14 User Bank 0 Register Map – Descriptions .......................................................................................................... 56
14.1 DEVICE_CONFIG .................................................................................................................................. 56
14.2 INT_CONFIG ........................................................................................................................................ 56
14.3 FIFO_CONFIG ...................................................................................................................................... 57
14.4 TEMP_DATA1 ...................................................................................................................................... 57
14.5 TEMP_DATA0 ...................................................................................................................................... 57
14.6 ACCEL_DATA_X1 ................................................................................................................................. 58
14.7 ACCEL_DATA_X0 ................................................................................................................................. 58
14.8 ACCEL_DATA_Y1 ................................................................................................................................. 58
14.9 ACCEL_DATA_Y0 ................................................................................................................................. 58
14.10 ACCEL_DATA_Z1 ................................................................................................................................. 59
14.11 ACCEL_DATA_Z0 ................................................................................................................................. 59
14.12 GYRO_DATA_X1 .................................................................................................................................. 59
14.13 GYRO_DATA_X0 .................................................................................................................................. 59
14.14 GYRO_DATA_Y1 .................................................................................................................................. 60
14.15 GYRO_DATA_Y0 .................................................................................................................................. 60
14.16 GYRO_DATA_Z1 .................................................................................................................................. 60
14.17 GYRO_DATA_Z0 .................................................................................................................................. 60
14.18 TMST_FSYNCH .................................................................................................................................... 60
14.19 TMST_FSYNCL ..................................................................................................................................... 61
14.20 INT_STATUS ........................................................................................................................................ 61
14.21 FIFO_COUNTH..................................................................................................................................... 61
14.22 FIFO_COUNTL ..................................................................................................................................... 62
14.23 FIFO_DATA .......................................................................................................................................... 62
14.24 APEX_DATA0 ....................................................................................................................................... 62
14.25 APEX_DATA1 ....................................................................................................................................... 62
14.26 APEX_DATA2 ....................................................................................................................................... 63
14.27 APEX_DATA3 ....................................................................................................................................... 63
14.28 APEX_DATA4 ....................................................................................................................................... 63
14.29 INT_STATUS2 ...................................................................................................................................... 64
14.30 INT_STATUS3 ...................................................................................................................................... 64
14.31 SIGNAL_PATH_RESET .......................................................................................................................... 64
14.32 INTF_CONFIG0 .................................................................................................................................... 65
14.33 INTF_CONFIG1 .................................................................................................................................... 65
14.34 PWR_MGMT0 ..................................................................................................................................... 66
14.35 GYRO_CONFIG0 .................................................................................................................................. 67
14.36 ACCEL_CONFIG0 ................................................................................................................................. 68
14.37 GYRO_CONFIG1 .................................................................................................................................. 69
14.38 GYRO_ACCEL_CONFIG0 ...................................................................................................................... 70
14.39 ACCEL_CONFIG1 ................................................................................................................................. 71
TDK Confidential
Preliminary Information
For Xiaomi Only
ICM-42605
Page 5 of 97
Document Number: DS-000228
Revision: 0.3
14.40 TMST_CONFIG .................................................................................................................................... 71
14.41 APEX_CONFIG0 ................................................................................................................................... 72
14.42 SMD_CONFIG ...................................................................................................................................... 72
14.43 FIFO_CONFIG1 .................................................................................................................................... 73
14.44 FIFO_CONFIG2 .................................................................................................................................... 73
14.45 FIFO_CONFIG3 .................................................................................................................................... 73
14.46 FSYNC_CONFIG ................................................................................................................................... 74
14.47 INT_CONFIG0 ...................................................................................................................................... 74
14.48 INT_SOURCE0 ..................................................................................................................................... 75
14.49 INT_SOURCE1 ..................................................................................................................................... 75
14.50 INT_SOURCE3 ..................................................................................................................................... 76
14.51 INT_SOURCE4 ..................................................................................................................................... 76
14.52 FIFO_LOST_PKT0 ................................................................................................................................. 77
14.53 FIFO_LOST_PKT1 ................................................................................................................................. 77
14.54 SELF_TEST_CONFIG ............................................................................................................................. 77
14.55 WHO_AM_I ......................................................................................................................................... 78
14.56 REG_BANK_SEL ................................................................................................................................... 78
15 User Bank 1 Register Map – Descriptions .......................................................................................................... 79
15.1 SENSOR_CONFIG0 .............................................................................................................................. 79
15.2 GYRO_CONFIG_STATIC2 ..................................................................................................................... 79
15.3 GYRO_CONFIG_STATIC3 ..................................................................................................................... 79
15.4 GYRO_CONFIG_STATIC4 ..................................................................................................................... 80
15.5 GYRO_CONFIG_STATIC5 ..................................................................................................................... 80
15.6 GYRO_CONFIG_STATIC6 ..................................................................................................................... 80
15.7 GYRO_CONFIG_STATIC7 ..................................................................................................................... 80
15.8 GYRO_CONFIG_STATIC8 ..................................................................................................................... 81
15.9 GYRO_CONFIG_STATIC9 ..................................................................................................................... 81
15.10 GYRO_CONFIG_STATIC10 ................................................................................................................... 81
15.11 XG_ST_DATA ....................................................................................................................................... 82
15.12 YG_ST_DATA ....................................................................................................................................... 82
15.13 ZG_ST_DATA ....................................................................................................................................... 82
15.14 TMSTVAL0 ........................................................................................................................................... 82
15.15 TMSTVAL1 ........................................................................................................................................... 83
15.16 TMSTVAL2 ........................................................................................................................................... 83
15.17 REG_BANK_SEL ................................................................................................................................... 83
15.18 INTF_CONFIG4 .................................................................................................................................... 84
15.19 INTF_CONFIG5 .................................................................................................................................... 84
15.20 INTF_CONFIG6 .................................................................................................................................... 84
16 User Bank 2 Register Map – Descriptions .......................................................................................................... 85
16.1 ACCEL_CONFIG_STATIC2 .................................................................................................................... 85
TDK Confidential
Preliminary Information
For Xiaomi Only
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