六轴传感器ICM40607中文资料翻译_LSM6DSD/ICM-42670

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ICM-40607

This document contains information on a pre-production product,

and should not be considered for production until qualification is

complete. InvenSense Inc. reserves the right to change specifications

and information herein without notice.

TDK Corporation

1745 Technology Drive, San Jose, CA 95110 U.S.A

+1(408) 988–7339

www.invensense.com

Document Number: DS-000240

Revision: 1.5

Rev. Date: 10/17/2018

ICM-40607 󵔑󵌏󵇬󴄭

󶾜󷭲 󶘞󵵇󳺻

2020󴸕11󵚩15󵖆

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󶚏󶚏󶚏 󴻶󴻶󴻶

1 󳹬󶹮 . ................................................................................................................................................................... 8

1.1 󶚏󶘥󴐭󷊤󴚕. ............................................................................................................................................. 8

1.2 󳹈󴑢󵤣󷾑.......................................................................... 8

1.3 󴸵󶓉 . ......................................................................................................................................................... 8

2 󶈚󶁚 . ................................................................................................................................................................... 9

2.1 󸗡󷝛󳺋󶈚󴿈. ............................................................................................................................................. 9

2.2 󴉁󷿀󴹇󶈚󴿈 . ............................................................................................................................................. 9

2.3 󷽱󴉉󶈚󴿈................................................................................................................................................... 9

2.4 󸗥󴉁󴉀󷂞. ................................................................................................................................................. 9

3 󶓖󵮵󶈚󴿈 ........................................................................................................................................................... 10

3.1 󸗡󷝛󳺋󷥥󵟝 ............................................................................................................................................ 10

3.2 󴉁󷿀󴹇󷥥󵟝. ........................................................................................................................................... 11

3.3 󶓖󵮵󶈚󴿈. ............................................................................................................................................... 12

3.4 I

C 󵖗󴸰................................................................................................................................................... 14

3.5 SPI 󵖗󴸰 – 4-Wire SPI . ........................................................................................................................... 15

3.6 SPI 󵖗󴸰 – 3-Wire SPI . ........................................................................................................................... 16

3.7 󶹾󴮚󵚡󴣈󸠾󴬻󳿝 .................................................................................................................................... 17

4 󴸵󶓉󳾂󵀐........................................................................................................................................................... 18

4.1 󴺶󷂻󷼴󴆛󴐭󳾂󴎘 .................................................................................................................................... 18

4.2 󴄙󴜬󴶆󳻽󶓖󷶐. ....................................................................................................................................... 19

4.3 󴢷󸂉󴃤󳺗󵛱󵔺󵶦󴋶. ............................................................................................................................... 20

4.4 󶲜󶺀󵟧󴚟 . ............................................................................................................................................... 21

4.5 󵤣󷾑 ........................................................................................................................................................ 21

4.6 󴷇16bitADC 󴐭󳾂󴎘󷮤󶎧󶘥󳶪󷼕󸗡󷝛󳺋................................................................................................. 21

4.7 󴷇16bitADC󴐭󳾂󴎘󷮤󶎧󶘥󳶪󷼕󴉁󷿀󴹇󷭂. ............................................................................................ 21

4.8 I

C 󴐭 SPI 󳷜󵛛󵍆󴎄. ............................................................................................................................... 21

4.9 󷆋󵳬. ....................................................................................................................................................... 21

4.10 󵖗󴸰.................................................................................................................................................... 22

4.11 󳻁󵃀󴘉󵔑󵌏󴭥󴫹󴘉. ........................................................................................................................... 22

4.12 󶹩󶪐 .................................................................................................................................................... 22

4.13 󵷊󴹇󳻁󵃀󴘉........................................................................................................................................ 22

4.14 Bias and LDOs . ................................................................................................................................... 22

4.15 󴃦󶓖󵲖................................................................................................................................................ 22

4.16 󵞨󴅧󶓖󵸱󵧂󴺰.................................................................................................................................... 22

5 󳾂󴎘󷶐󴼥........................................................................................................................................................... 24

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5.1 󶓉󳸯󸃮󶼏󳾂󴎘󷶐󴼥󶘥󴍣󵔑󵏹󷤢 ............................................................................................................ 24

5.2 󸘘󵲃󵺅󵲃󴘉. ........................................................................................................................................... 24

5.3 󵈸󵶘󴎁󵺅󵲃󴘉......................................................................................................................................... 26

5.4 󶓉󵇘󴎐󶺷󶦬󳿰󶦜. ................................................................................................................................... 28

5.5 UI󶫼󷾪󴘉................................................................................................................................................. 28

5.6 ODR 󴐭 FSR 󷾪󵊊 .................................................................................................................................... 32

6 FIFO . .................................................................................................................................................................. 34

6.1 󴊦󶹴󵜥. ................................................................................................................................................... 34

6.2 FIFO Header . .......................................................................................................................................... 34

6.3 󵚡󴣈 FIFO 󴫹󴁉 . ...................................................................................................................................... 35

6.4 FIFO 󸃮󶼏󴭥󴫹󴘉. ................................................................................................................................... 35

7 󴎐󶺷󶦬󳷎󵕎....................................................................................................................................................... 37

8 APEX 󷽱󴉉󴉀󷂞.................................................................................................................................................. 38

8.1 APEX ODR 󵓐󵊢 . ..................................................................................................................................... 38

8.2 󷭂󵬆󴘉󶺷󶦬. ........................................................................................................................................... 39

8.3 󳿟󵔽󵡡󵳬󶺷󶦬. ....................................................................................................................................... 40

8.4 󵉞󴣕󵡡󵳬󶺷󶦬. ....................................................................................................................................... 40

8.5 󷽱󴉉󴓅󸄳󶺷󶦬......................................................................................................................................... 41

8.6 󸅮󷤢󶘥󷽱󴉉󵡡󵳬󴉀󷂞............................................................................................................................. 41

9 󵔑󴫸󵍆󴎄 .......................................................................................................................................................... 43

9.1 I

C & SPI 󳷓󷟭󵍆󴎄.................................................................................................................................. 43

9.2 I

C 󵍆󴎄 ................................................................................................................................................... 43

9.3 I

C 󷾻󳾂󴋰󷭏........................................................................................................................................... 43

9.4 I

C 󵛐󷮎................................................................................................................................................... 45

9.5 SPI 󵍆󴎄 .................................................................................................................................................. 46

10 󵛛󵡑󶈚󴿈 .............................................................................. 47

10.1 󷼕󶹠󵕚󴎲............................................................................................................................................ 47

10.2 󴊦󷡦󴯛󴮙 . .......................................................................................................................................... 48

11 󸚗󳺗󴎘󴊦󷡦󵞨󷭑. .............................................................................................................................................. 50

12 󳼠󶓉󷮕󵖯........................................................................................................................................................... 51

12.1 󴉁󷿀󴹇󵧂󴺰󷼍󵌃................................................................................................................................ 51

12.2 󴉁󷿀󴹇󳻯󴉀󶌨󵧂󴺰(LP)󴸔󴛨󵺅󵲃󴘉󷭟󶼏......................................................................................... 51

12.3 I2C󴐭SPI󵑮󳻽󸃮󶼏............................................................................................................................. 51

12.4 󸘘󵲃󵺅󵲃󴘉󴐭󵈸󵶘󴎁󵺅󵲃󴘉󵑮󳻽. ................................................................................................... 51

13 󴭥󴫹󴘉󵗁󴮥 ............................................................................ 52

13.1 Bank 0 󴭥󴫹󴘉󵗁󴮥 .............................................................. 52

13.2 Bank 1 󴭥󴫹󴘉󵗁󴮥. .......................................................................................................................... 53

13.3 Bank 2 󴭥󴫹󴘉󵗁󴮥. .................................................................................................................. 54 13.4

Bank 4 󴭥󴫹󴘉󵗁󴮥. .......................................................................................................................... 54

14 Bank 0 󴭥󴫹󴘉󵗁󴮥– 󵍰󷾑................................................................................................................................ 55

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14.1 DEVICE_CONFIG .................................................................................................................................. 55

14.2 DRIVE_CONFIG .................................................................................................................................... 55

14.3 INT_CONFIG ........................................................................................................................................ 56

14.4 FIFO_CONFIG ...................................................................................................................................... 56

14.5 TEMP_DATA1 ...................................................................................................................................... 56

14.6 TEMP_DATA0 ...................................................................................................................................... 57

14.7 ACCEL_DATA_X1 ................................................................................................................................. 57

14.8 ACCEL_DATA_X0 ................................................................................................................................. 57

14.9 ACCEL_DATA_Y1 ................................................................................................................................. 57

14.10 ACCEL_DATA_Y0 ................................................................................................................................. 58

14.11 ACCEL_DATA_Z1 ................................................................................................................................. 58

14.12 ACCEL_DATA_Z0 ................................................................................................................................. 58

14.13 GYRO_DATA_X1 .................................................................................................................................. 58

14.14 GYRO_DATA_X0 .................................................................................................................................. 58

14.15 GYRO_DATA_Y1 .................................................................................................................................. 59

14.16 GYRO_DATA_Y0 .................................................................................................................................. 59

14.17 GYRO_DATA_Z1 .................................................................................................................................. 59

14.18 GYRO_DATA_Z0 .................................................................................................................................. 59

14.19 TMST_FSYNCH .................................................................................................................................... 59

14.20 TMST_FSYNCL ..................................................................................................................................... 60

14.21 INT_STATUS ........................................................................................................................................ 60

14.22 FIFO_COUNTH ..................................................................................................................................... 60

14.23 FIFO_COUNTL ..................................................................................................................................... 61

14.24 FIFO_DATA .......................................................................................................................................... 61

14.25 APEX_DATA0 ....................................................................................................................................... 61

14.26 APEX_DATA1 ....................................................................................................................................... 61

14.27 APEX_DATA2 ....................................................................................................................................... 62

14.28 APEX_DATA3 ....................................................................................................................................... 62

14.29 APEX_DATA4 ....................................................................................................................................... 62

14.30 INT_STATUS2 ...................................................................................................................................... 63

14.31 INT_STATUS3 ...................................................................................................................................... 63

14.32 SIGNAL_PATH_RESET .......................................................................................................................... 63

14.33 INTF_CONFIG0 .................................................................................................................................... 64

14.34 INTF_CONFIG1 .................................................................................................................................... 64

14.35 PWR_MGMT0 ..................................................................................................................................... 65

14.36 GYRO_CONFIG0 .................................................................................................................................. 66

14.37 ACCEL_CONFIG0 ................................................................................................................................. 67

14.38 GYRO_CONFIG1 .................................................................................................................................. 68

14.39 GYRO_ACCEL_CONFIG0 ...................................................................................................................... 69

14.40 ACCEL_CONFIG1 ................................................................................................................................. 70

ICM-40607

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Document Number: DS-000240

Revision: 1.5

14.41 TMST_CONFIG . .................................................................................................................................. 70

14.42 APEX_CONFIG0 . ................................................................................................................................. 71

14.43 SMD_CONFIG . .................................................................................................................................... 71

14.44 FIFO_CONFIG1 . .................................................................................................................................. 72

14.45 FIFO_CONFIG2 . .................................................................................................................................. 72

14.46 FIFO_CONFIG3 . .................................................................................................................................. 72

14.47 FSYNC_CONFIG . ................................................................................................................................. 73

14.48 INT_CONFIG0 . .................................................................................................................................... 73

14.49 INT_CONFIG1 . .................................................................................................................................... 74

14.50 INT_SOURCE0 . ................................................................................................................................... 74

14.51 INT_SOURCE1 . ................................................................................................................................... 75

14.52 INT_SOURCE3 . ................................................................................................................................... 75

14.53 INT_SOURCE4 . ................................................................................................................................... 76

14.54 FIFO_LOST_PKT0 . ............................................................................................................................... 76

14.55 FIFO_LOST_PKT1 . ............................................................................................................................... 76

14.56 SELF_TEST_CONFIG . ........................................................................................................................... 77

14.57 WHO_AM_I . ....................................................................................................................................... 77

14.58 REG_BANK_SEL . ................................................................................................................................. 77

15 Bank 1 󴭥󴫹󴘉󵗁󴮥–󵍰󷾑................................................................................................................................. 78

15.1 SENSOR_CONFIG0 . ............................................................................................................................ 78

15.2 GYRO_CONFIG_STATIC2 . ................................................................................................................... 78

15.3 GYRO_CONFIG_STATIC3 . ................................................................................................................... 78

15.4 GYRO_CONFIG_STATIC4 . ................................................................................................................... 79

15.5 GYRO_CONFIG_STATIC5 . ................................................................................................................... 79

15.6 GYRO_CONFIG_STATIC6 . ................................................................................................................... 79

15.7 GYRO_CONFIG_STATIC7 . ................................................................................................................... 79

15.8 GYRO_CONFIG_STATIC8 . ................................................................................................................... 80

15.9 GYRO_CONFIG_STATIC9 . ................................................................................................................... 80

15.10 GYRO_CONFIG_STATIC10 . ................................................................................................................. 80

15.11 XG_ST_DATA . ..................................................................................................................................... 81

15.12 YG_ST_DATA . ..................................................................................................................................... 81

15.13 ZG_ST_DATA . ..................................................................................................................................... 81

15.14 TMSTVAL0 . ......................................................................................................................................... 81

15.15 TMSTVAL1 . ......................................................................................................................................... 82

15.16 TMSTVAL2 . ......................................................................................................................................... 82

15.17 REG_BANK_SEL . ................................................................................................................................. 82

15.18 INTF_CONFIG4 . ........................................................................................................................ 83 15.19

INTF_CONFIG5 . .................................................................................................................................. 83

16 Bank 2 󴭥󴫹󴘉󵗁󴮥– 󵍰󷾑................................................................................................................................ 84

16.1 ACCEL_CONFIG_STATIC2 . .................................................................................................................. 84

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