ICM-20689-v2.2-002.pdf

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ICM-20689

High Performance 6-Axis MEMS MotionTracking™ Device in 4x4 mm Package

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-000114

Revision: 2.2

Revision Date: 03/14/2018

GENERAL DESCRIPTION

The ICM-20689 is a 6-axis MotionTracking device that

combines a 3-axis gyroscope, 3-axis accelerometer, and a

Digital Motion Processor™ (DMP) in a small 4x4x0.9 mm (24-

pin QFN) package.

• Large 4K-byte FIFO to reduce traffic on the serial bus

interface, and reduce power consumption by allowing the

system processor to burst read sensor data and then go

into a low-power mode

• Gyroscope programmable FSR of ±250dps, ±500dps,

±1000dps and ±2000dps

• Accelerometer with Programmable FSR of ±2g, ±4g, ±8g

and ±16g

• EIS FSYNC support

ICM-20689 includes on-chip 16-bit ADCs, programmable

digital filters, an embedded temperature sensor, and

programmable interrupts. The device features an operating

voltage range down to 1.71 V. Communication ports include

C and high speed SPI at 8 MHz.

ORDERING INFORMATION

PART

TEMP RANGE

PACKAGE

ICM-20689† −40°C to +85°C 24-Pin QFN

†Denotes RoHS and Green-Compliant Package

BLOCK DIAGRAM

APPLICATIONS

• Mobile phones and tablets

• Drones

• Motion-based game controllers

• 3D remote controls for Internet connected DTVs and

set top boxes, 3D mice

• Wearable sensors for health, fitness and sports

FEATURES

• User-programmable interrupts

• Wake-on-motion interrupt for low power operation

of applications processor

• 4K-byte FIFO buffer enables the applications

processor to read the data in bursts

• On-Chip 16-bit ADCs and Programmable Filters

• Host interface: 8 MHz SPI or 400 kHz Fast Mode I

• Digital-output temperature sensor

• VDD operating range of 1.71 V to 3.45 V

• MEMS structure hermetically sealed and bonded at

wafer level

• RoHS and Green compliant

TYPICAL OPERATING CIRCUIT

7 8 9 10 11 12

24 23 22 21 20 19

ICM-20689

GND

C3, 10nF

VDDIO: 1.71 – 3.45 VDC

AD0/SDO

GND

C1, 0.47µ F

FSYNC INT

GND

VDD: 1.71 – 3.45 VDC

C2, 0.1µ FC4, 2.2µ F

GND

nCS

SCL/SCLK

SDA/SDI

ICM-20689

Document Number: DS-000114 Page 2 of 53

Revision Date: 03/14/2018

Revision: 2.2

TABLE OF CONTENTS

General Description ............................................................................................................................................. 1

Ordering Information ........................................................................................................................................... 1

Block Diagram ...................................................................................................................................................... 1

Applications ......................................................................................................................................................... 1

Features ............................................................................................................................................................... 1

Typical Operating Circuit ...................................................................................................................................... 1

1 Introduction ......................................................................................................................................................... 7

1.1 Purpose and Scope .................................................................................................................................... 7

1.2 Product Overview...................................................................................................................................... 7

1.3 Applications ............................................................................................................................................... 7

2 Features ............................................................................................................................................................... 8

2.1 Gyroscope Features .................................................................................................................................. 8

2.2 Accelerometer Features ............................................................................................................................ 8

2.3 Additional Features ................................................................................................................................... 8

2.4 Motion Processing .................................................................................................................................... 8

3 Electrical Characteristics ...................................................................................................................................... 9

3.1 Gyroscope Specifications .......................................................................................................................... 9

3.2 Accelerometer Specifications .................................................................................................................. 10

3.3 Electrical Specifications ........................................................................................................................... 11

3.4 I

C Timing Characterization ..................................................................................................................... 15

3.5 SPI Timing Characterization .................................................................................................................... 16

3.6 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 .............................................................................................. 19

4.4 Block Diagram ......................................................................................................................................... 20

4.5 Overview ................................................................................................................................................. 20

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 Digital Motion Processor ......................................................................................................................... 21

4.9 I

C and SPI Serial Communications Interfaces ........................................................................................ 21

4.10 Self-Test .............................................................................................................................................. 22

4.11 Clocking ............................................................................................................................................... 22

4.12 Sensor Data Registers ......................................................................................................................... 22

4.13 FIFO ..................................................................................................................................................... 23

4.14 Interrupts ............................................................................................................................................ 23

4.15 Digital-Output Temperature Sensor ................................................................................................... 23

ICM-20689

Document Number: DS-000114 Page 3 of 53

Revision Date: 03/14/2018

Revision: 2.2

4.16 Bias and LDOs ..................................................................................................................................... 23

4.17 Charge Pump ...................................................................................................................................... 23

4.18 Standard Power Modes ...................................................................................................................... 23

5 Programmable Interrupts .................................................................................................................................. 24

5.1 Wake-on-Motion Interrupt ..................................................................................................................... 24

6 Digital Interface ................................................................................................................................................. 25

6.1 I

C and SPI Serial Interfaces .................................................................................................................... 25

6.2 I

C Interface ............................................................................................................................................. 25

6.3 I

C Communications Protocol ................................................................................................................. 25

6.4 I

C Terms ................................................................................................................................................. 28

6.5 SPI Interface ............................................................................................................................................ 29

7 Serial Interface Considerations .......................................................................................................................... 30

7.1 ICM-20689 Supported Interfaces ............................................................................................................ 30

8 Assembly ............................................................................................................................................................ 31

8.1 Orientation of Axes ................................................................................................................................. 31

8.2 Package Dimensions ................................................................................................................................ 32

9 Part Number Package Marking .......................................................................................................................... 33

10 Register Map ...................................................................................................................................................... 34

11 Register Descriptions ......................................................................................................................................... 36

11.1 Registers 0 to 2 – Gyroscope Self-Test Registers ................................................................................ 36

11.2 Registers 13 to 15 – Accelerometer Self-Test Registers ..................................................................... 36

11.3 REGISTER 19 – Gyro Offset Adjustment Register................................................................................ 37

11.4 Register 20 – Gyro Offset Adjustment Register .................................................................................. 37

11.5 Register 21 – Gyro Offset Adjustment Register .................................................................................. 37

11.6 Register 22 – Gyro Offset Adjustment Register .................................................................................. 38

11.7 Register 23 – Gyro Offset Adjustment Register .................................................................................. 38

11.8 Register 24 – Gyro Offset Adjustment Register .................................................................................. 38

11.9 Register 25 – Sample Rate Divider ...................................................................................................... 38

11.10 Register 26 – Configuration ................................................................................................................ 39

11.11 Register 27 – Gyroscope Configuration .............................................................................................. 40

11.12 Register 28 – Accelerometer Configuration ....................................................................................... 40

11.13 Register 29 – Accelerometer Configuration 2..................................................................................... 40

11.14 Register 30 – Low Power Mode Configuration ................................................................................... 42

11.15 Register 31 – X-Axis Wake-on Motion Threshold (Accelerometer) .................................................... 42

11.16 Register 32 – Y-Axis Wake-on Motion Threshold (Accelerometer) .................................................... 43

11.17 Register 33 – Z-Axis Wake-on Motion Threshold (Accelerometer) .................................................... 43

11.18 Register 35 – FIFO Enable ................................................................................................................... 43

11.19 Register 54 – FSYNC Interrupt Status.................................................................................................. 43

11.20 Register 55 – INT/DRDY Pin / Bypass Enable Configuration ............................................................... 44

ICM-20689

Document Number: DS-000114 Page 4 of 53

Revision Date: 03/14/2018

Revision: 2.2

11.21 Register 56 – Interrupt Enable ............................................................................................................ 44

11.22 Register 57 – DMP Interrupt Status .................................................................................................... 44

11.23 Register 58 – Interrupt Status ............................................................................................................. 45

11.24 Registers 59 to 64 – Accelerometer Measurements .......................................................................... 45

11.25 Registers 65 and 66 – Temperature Measurement ............................................................................ 46

11.26 Registers 67 to 72 – Gyroscope Measurements ................................................................................. 46

11.27 Register 104 – Signal Path Reset ......................................................................................................... 47

11.28 Register 105 – Accelerometer Intelligence Control ............................................................................ 47

11.29 Register 106 – User Control ................................................................................................................ 47

11.30 Register 107 – Power Management 1 ................................................................................................ 48

11.31 Register 108 – Power Management 2 ................................................................................................ 48

11.32 Register 114 and 115 – FIFO Count Registers .................................................................................... 49

11.33 Register 116 – FIFO Read Write .......................................................................................................... 49

11.34 Register 117 – Who Am I ................................................................................................................... 49

11.35 Registers 119, 120, 122, 123, 125, 126 Accelerometer Offset Registers ............................................ 50

12 Reference ........................................................................................................................................................... 51

13 Revision History ................................................................................................................................................. 52

ICM-20689

Document Number: DS-000114 Page 5 of 53

Revision Date: 03/14/2018

Revision: 2.2

LIST OF FIGURES

Figure 1. I

C Bus Timing Diagram ............................................................................................................................................................. 15

Figure 2. SPI Bus Timing Diagram ............................................................................................................................................................. 16

Figure 3. Pin out Diagram for ICM-20689 ................................................................................................................................................ 18

Figure 4. ICM-20689 Application Schematic ............................................................................................................................................ 19

Figure 5. ICM-20689 Block Diagram ......................................................................................................................................................... 20

Figure 6. ICM-20689 Solution Using I

C Interface .................................................................................................................................... 21

Figure 7. ICM-20689 Solution Using SPI Interface ................................................................................................................................... 22

Figure 8. START and STOP Conditions ...................................................................................................................................................... 25

Figure 9. Acknowledge on the I

C Bus ..................................................................................................................................................... 26

Figure 10. Complete I

C Data Transfer ..................................................................................................................................................... 27

Figure 11. Typical SPI Master/Slave Configuration .................................................................................................................................. 29

Figure 12. I/O Levels and Connections ..................................................................................................................................................... 30

Figure 13. Orientation of Axes of Sensitivity and Polarity of Rotation .................................................................................................... 31