ICM-20608-G Register Map Datasheet by TDK InvenSense

InvenSense
ICM-20608-G
InvenSense reserves the right to change the detail
specifications as may be required to permit
improvements in the design of its products.
InvenSense Inc.
1745 Technology Drive, San Jose, CA 95110 U.S.A
+1(408) 988–7339
www.invensense.com
Document Number: RM-000030
Rev Number: 1.0
Rev Date: 06/15/2015
ICM-20608-G Register Maps and Description
Revision 1.0
InvenSense
ICM-20608-G
Page 2 of 23
Document Number: RM-000030
Revision: 1.0
1 Purpose and Scope .............................................................................................................................................. 3
2 Register Map ........................................................................................................................................................ 4
3 Register Descriptions ........................................................................................................................................... 6
3.1 Registers 0 to 2 – Gyroscope Self-Test Registers ...................................................................................... 6
3.2 Registers 13 to 15 – Accelerometer Self-Test Registers ............................................................................ 6
3.3 Registers 19 – Gyro Offset Adjustment Register ....................................................................................... 7
3.1 Registers 20 – Gyro Offset Adjustment Register ....................................................................................... 7
3.2 Registers 21 – Gyro Offset Adjustment Register ....................................................................................... 7
3.3 Registers 22 – Gyro Offset Adjustment Register ....................................................................................... 7
3.4 Registers 23 – Gyro Offset Adjustment Register ....................................................................................... 8
3.5 Register 24 – Gyro Offset Adjustment Register ........................................................................................ 8
3.6 Register 25 – Sample Rate Divider ............................................................................................................ 8
3.7 Register 26 – Configuration....................................................................................................................... 9
3.8 Register 27 – Gyroscope Configuration .................................................................................................... 9
3.9 Register 28 – Accelerometer Configuration ............................................................................................ 10
3.10 Register 29 – Accelerometer Configuration 2..................................................................................... 10
3.11 Register 30 – Low Power Mode Configuration ................................................................................... 11
3.12 Register 31 – Wake-on Motion Threshold (Accelerometer) ............................................................... 13
3.13 Register 35 – FIFO Enable ................................................................................................................... 14
3.14 Register 54 – FSYNC Interrupt Status.................................................................................................. 14
3.15 Register 55 – INT/DRDY Pin / Bypass Enable Configuration ............................................................... 14
3.16 Register 56 – Interrupt Enable ............................................................................................................ 15
3.17 Register 58 – Interrupt Status ............................................................................................................. 15
3.18 Registers 59 to 64 – Accelerometer Measurements .......................................................................... 16
3.19 Registers 65 and 66 – Temperature Measurement ............................................................................ 16
3.20 Registers 67 to 72 – Gyroscope Measurements ................................................................................. 17
3.21 Register 104 – Signal Path Reset ......................................................................................................... 18
3.22 Register 105 – Accelerometer Intelligence Control ............................................................................ 18
3.23 Register 106 – User Control ................................................................................................................ 19
3.24 Register 107 – Power Management 1 ................................................................................................ 19
3.25 Register 108 – Power Management 2 ................................................................................................ 20
3.26 Register 114 and 115 – FIFO Count Registers ..................................................................................... 20
3.27 Register 116 – FIFO Read Write .......................................................................................................... 21
3.28 Register 117 – Who Am I .................................................................................................................... 21
3.29 Registers 119, 120, 122, 123, 125, 126 Accelerometer Offset Registers ............................................ 21
4 Revision History ................................................................................................................................................. 23
InvenSense
ICM-20608-G
Page 3 of 23
Document Number: RM-000030
Revision: 1.0
1 PURPOSE AND SCOPE
This document provides information regarding the register map and descriptions for the ICM-20608-G™. This document should be
used in conjunction with the ICM-20608-G Product Specification (PS-ICM-20608-G-00) for detailed features, specifications, and other
product information.
InvenSense
ICM-20608-G
Page 4 of 23
Document Number: RM-000030
Revision: 1.0
2 REGISTER MAP
The following table lists the register map for the ICM-20608-G.
Addr
(Hex)
Register Name
Serial
I/F
Accessible
(writable) in
Sleep Mode
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
00
SELF_TEST_X_GYRO
R/W
N
XG_ST_DATA[7:0]
01
SELF_TEST_Y_GYRO
R/W
N
YG_ST_DATA[7:0]
02
SELF_TEST_Z_GYRO
R/W
N
ZG_ST_DATA[7:0]
0D
SELF_TEST_X_ACCEL
R/W
N
XA_ST_DATA[7:0]
0E
SELF_TEST_Y_ACCEL
R/W
N
YA_ST_DATA[7:0]
0F
SELF_TEST_Z_ACCEL
R/W
N
ZA_ST_DATA[7:0]
13
XG_OFFS_USRH
R/W
N
X_OFFS_USR [15:8]
14
XG_OFFS_USRL
R/W
N
X_OFFS_USR [7:0]
15
YG_OFFS_USRH
R/W
N
Y_OFFS_USR [15:8]
16
YG_OFFS_USRL
R/W
N
Y_OFFS_USR [7:0]
17
ZG_OFFS_USRH
R/W
N
Z_OFFS_USR [15:8]
18
ZG_OFFS_USRL
R/W
N
Z_OFFS_USR [7:0]
19
SMPLRT_DIV
R/W
N
SMPLRT_DIV[7:0]
1A
CONFIG
R/W
N
-
FIFO_
MODE
EXT_SYNC_SET[2:0]
DLPF_CFG[2:0]
1B
GYRO_CONFIG
R/W
N
XG_ST
YG_ST
ZG_ST
FS_SEL [1:0]
-
FCHOICE_B[1:0]
1C
ACCEL_CONFIG
R/W
N
XA_ST
YA_ST
ZA_ST
ACCEL_FS_SEL[1:0]
-
1D
ACCEL_CONFIG 2
R/W
N
-
DEC2_CFG
ACCEL_FCHOI
CE_B
A_DLPF_CFG
1E
LP_MODE_CFG
R/W
N
GYRO_CYCL
E
G_AVGCFG[2:0]
-
LPOSC_CLKSEL
1F
ACCEL_WOM_THR
R/W
N
WOM_THR[7:0]
23
FIFO_EN
R/W
N
TEMP
_FIFO_EN
XG_FIFO_EN
YG_FIFO_EN
ZG_FIFO_EN
ACCEL_FIFO_
EN
-
-
-
36
FSYNC_INT
R/C
N
FSYNC_INT
-
-
-
-
-
-
-
37
INT_PIN_CFG
R/W
Y
INT_LEVEL
INT_OPEN
LATCH
_INT_EN
INT_RD
_CLEAR
FSYNC_INT_L
EVEL
FSYNC
_INT_MODE_
EN
-
-
38
INT_ENABLE
R/W
Y
WOM_INT_EN[7:5]
FIFO
_OFLOW
_EN
-
GDRIVE_INT_
EN
-
DATA_RDY_I
NT_EN
3A
INT_STATUS
R/C
N
WOM_INT[7:5]
FIFO
_OFLOW
_INT
-
GDRIVE_INT
-
DATA
_RDY_INT
3B
ACCEL_XOUT_H
R
N
ACCEL_XOUT_H[15:8]
3C
ACCEL_XOUT_L
R
N
ACCEL_XOUT_L[7:0]
3D
ACCEL_YOUT_H
R
N
ACCEL_YOUT_H[15:8]
3E
ACCEL_YOUT_L
R
N
ACCEL_YOUT_L[7:0]
3F
ACCEL_ZOUT_H
R
N
ACCEL_ZOUT_H[15:8]
40
ACCEL_ZOUT_L
R
N
ACCEL_ZOUT_L[7:0]
41
TEMP_OUT_H
R
N
TEMP_OUT[15:8]
42
TEMP_OUT_L
R
N
TEMP_OUT[7:0]
43
GYRO_XOUT_H
R
N
GYRO_XOUT[15:8]
44
GYRO_XOUT_L
R
N
GYRO_XOUT[7:0]
45
GYRO_YOUT_H
R
N
GYRO_YOUT[15:8]
46
GYRO_YOUT_L
R
N
GYRO_YOUT[7:0]
47
GYRO_ZOUT_H
R
N
GYRO_ZOUT[15:8]
48
GYRO_ZOUT_L
R
N
GYRO_ZOUT[7:0]
68
SIGNAL_PATH_RESET
R/W
N
-
-
-
-
-
-
ACCEL
_RST
TEMP
_RST
69
ACCEL_INTEL_CTRL
R/W
N
ACCEL_INTE
L_EN
ACCEL_INTEL
_MODE
-
6A
USER_CTRL
R/W
N
-
FIFO_EN
-
I2C_IF
_DIS
-
FIFO
_RST
-
SIG_COND
_RST
6B
PWR_MGMT_1
R/W
Y
DEVICE_RES
ET
SLEEP
ACCEL_CYCLE
GYRO_
STANDBY
TEMP_DIS
CLKSEL[2:0]
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ICM-20608-G
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Document Number: RM-000030
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Addr
(Hex)
Register Name
Serial
I/F
Accessible
(writable) in
Sleep Mode
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
6C
PWR_MGMT_2
R/W
Y
FIFO_LP_EN
-
STBY_XA
STBY_YA
STBY_ZA
STBY_XG
STBY_YG
STBY_ZG
72
FIFO_COUNTH
R
N
-
FIFO_COUNT[12:8]
73
FIFO_COUNTL
R
N
FIFO_COUNT[7:0]
74
FIFO_R_W
R/W
N
FIFO_DATA[7:0]
75
WHO_AM_I
R
N
WHOAMI[7:0]
77
XA_OFFSET_H
R/W
N
XA_OFFS [14:7]
78
XA_OFFSET_L
R/W
N
XA_OFFS [6:0]
-
7A
YA_OFFSET_H
R/W
N
YA_OFFS [14:7]
7B
YA_OFFSET_L
R/W
N
YA_OFFS [6:0]
-
7D
ZA_OFFSET_H
R/W
N
ZA_OFFS [14:7]
7E
ZA_OFFSET_L
R/W
N
ZA_OFFS [6:0]
-
Note: Register Names ending in _H and _L contain the high and low bytes, respectively, of an internal register value.
In the detailed register tables that follow, register names are in capital letters, while register values are in capital letters and
italicized. For example, the ACCEL_XOUT_H register (Register 59) contains the 8 most significant bits, ACCEL_XOUT[15:8], of the 16-
bit X-Axis accelerometer measurement, ACCEL_XOUT.
The reset value is 0x00 for all registers other than the registers below, also the self-test registers contain pre-programmed values
and will not be 0x00 after reset.
Register 107 (0x40) Power Management 1
Register 117 (0xAF) WHO_AM_I
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ICM-20608-G
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Document Number: RM-000030
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3 REGISTER DESCRIPTIONS
This section describes the function and contents of each register within the ICM-20608-G.
Note: The device will come up in sleep mode upon power-up.
3.1 REGISTERS 0 TO 2 – GYROSCOPE SELF-TEST REGISTERS
Register Name: SELF_TEST_X_GYRO, SELF_TEST_Y_GYRO, SELF_TEST_Z_GYRO
Type: READ/WRITE
Register Address: 00, 01, 02 (Decimal); 00, 01, 02 (Hex)
REGISTER
BIT
NAME
FUNCTION
SELF_TEST_X_GYRO
[7:0]
XG_ST_DATA[7:0]
The value in this register indicates the self-test output generated
during manufacturing tests. This value is to be used to check
against subsequent self-test outputs performed by the end user.
SELF_TEST_Y_GYRO
[7:0]
YG_ST_DATA[7:0]
The value in this register indicates the self-test output generated
during manufacturing tests. This value is to be used to check
against subsequent self-test outputs performed by the end user.
SELF_TEST_Z_GYRO
[7:0]
ZG_ST_DATA[7:0]
The value in this register indicates the self-test output generated
during manufacturing tests. This value is to be used to check
against subsequent self-test outputs performed by the end user.
The equation to convert self-test codes in OTP to factory self-test measurement is:
(lsb) 01.1*)2/2620(_ )1_(
codeSTFS
OTPST
where ST_OTP is the value that is stored in OTP of the device, FS is the Full Scale value, and ST_code is based on the Self-Test value
(ST_ FAC) determined in InvenSense’s factory final test and calculated based on the following equation:
1)
)01.1log(
))2/2620/(_log(
(_
FS
FACST
roundcodeST
3.2 REGISTERS 13 TO 15 – ACCELEROMETER SELF-TEST REGISTERS
Register Name: SELF_TEST_X_ACCEL, SELF_TEST_Y_ACCEL, SELF_TEST_Z_ACCEL
Type: READ/WRITE
Register Address: 13, 14, 15 (Decimal); 0D, 0E, 0F (Hex)
REGISTER
BITS
NAME
FUNCTION
SELF_TEST_X_ACCEL
[7:0]
XA_ST_DATA[7:0]
The value in this register indicates the self-test output
generated during manufacturing tests. This value is to be used
to check against subsequent self-test outputs performed by the
end user.
SELF_TEST_Y_ACCEL
[7:0]
YA_ST_DATA[7:0]
The value in this register indicates the self-test output
generated during manufacturing tests. This value is to be used
to check against subsequent self-test outputs performed by the
end user.
SELF_TEST_Z_ACCEL
[7:0]
ZA_ST_DATA[7:0]
The value in this register indicates the self-test output
generated during manufacturing tests. This value is to be used
to check against subsequent self-test outputs performed by the
end user.
The equation to convert self-test codes in OTP to factory self-test measurement is:
InvenSense
ICM-20608-G
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Document Number: RM-000030
Revision: 1.0
(lsb) 01.1*)2/2620(_ )1_(
codeSTFS
OTPST
where ST_OTP is the value that is stored in OTP of the device, FS is the Full Scale value, and ST_code is based on the Self-Test value
(ST_ FAC) determined in InvenSense’s factory final test and calculated based on the following equation:
1)
)01.1log(
))2/2620/(_log(
(_
FS
FACST
roundcodeST
3.3 REGISTERS 19 – GYRO OFFSET ADJUSTMENT REGISTER
Register Name: XG_OFFS_USRH
Register Type: READ/WRITE
Register Address: 19 (Decimal); 13 (Hex)
BIT
NAME
FUNCTION
[7:0]
X_OFFS_USR[15:8]
Bits 15 to 8 of the 16-bit offset of X gyroscope (2’s complement). This
register is used to remove DC bias from the sensor output. The value in
this register is added to the gyroscope sensor value before going into
the sensor register.
3.1 REGISTERS 20 – GYRO OFFSET ADJUSTMENT REGISTER
Register Name: XG_OFFS_USRL
Register Type: READ/WRITE
Register Address: 20 (Decimal); 14 (Hex)
BIT
NAME
FUNCTION
[7:0]
X_OFFS_USR[7:0]
Bits 7 to 0 of the 16-bit offset of X gyroscope (2’s complement). This
register is used to remove DC bias from the sensor output. The value in
this register is added to the gyroscope sensor value before going into
the sensor register.
3.2 REGISTERS 21 – GYRO OFFSET ADJUSTMENT REGISTER
Register Name: YG_OFFS_USRH
Register Type: READ/WRITE
Register Address: 21 (Decimal); 15 (Hex)
BIT
NAME
FUNCTION
[7:0]
Y_OFFS_USR[15:8]
Bits 15 to 8 of the 16-bit offset of Y gyroscope (2’s complement). This
register is used to remove DC bias from the sensor output. The value in
this register is added to the gyroscope sensor value before going into
the sensor register.
3.3 REGISTERS 22 – GYRO OFFSET ADJUSTMENT REGISTER
Register Name: YG_OFFS_USRL
Register Type: READ/WRITE
Register Address: 22 (Decimal); 16 (Hex)
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ICM-20608-G
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BIT
NAME
FUNCTION
[7:0]
Y_OFFS_USR[7:0]
Bits 7 to 0 of the 16-bit offset of Y gyroscope (2’s complement). This
register is used to remove DC bias from the sensor output. The value in
this register is added to the gyroscope sensor value before going into
the sensor register.
3.4 REGISTERS 23 – GYRO OFFSET ADJUSTMENT REGISTER
Register Name: ZG_OFFS_USRH
Register Type: READ/WRITE
Register Address: 23 (Decimal); 17 (Hex)
BIT
NAME
FUNCTION
[7:0]
Z_OFFS_USR[15:8]
Bits 15 to 8 of the 16-bit offset of Z gyroscope (2’s complement). This
register is used to remove DC bias from the sensor output. The value in
this register is added to the gyroscope sensor value before going into
the sensor register.
3.5 REGISTER 24 – GYRO OFFSET ADJUSTMENT REGISTER
Register Name: ZG_OFFS_USRL
Register Type: READ/WRITE
Register Address: 24 (Decimal); 18 (Hex)
BIT
NAME
FUNCTION
[7:0]
Z_OFFS_USR[7:0]
Bits 7 to 0 of the 16-bit offset of Z gyroscope (2’s complement). This
register is used to remove DC bias from the sensor output. The value in
this register is added to the gyroscope sensor value before going into
the sensor register.
3.6 REGISTER 25 – SAMPLE RATE DIVIDER
Register Name: SMPLRT_DIV
Register Type: READ/WRITE
Register Address: 25 (Decimal); 19 (Hex)
BIT
NAME
FUNCTION
[7:0]
SMPLRT_DIV[7:0]
Divides the internal sample rate (see register CONFIG) to generate the sample
rate that controls sensor data output rate, FIFO sample rate. NOTE: This register
is only effective when FCHOICE_B register bits are 2’b00, and (0 < DLPF_CFG < 7).
This is the update rate of the sensor register:
SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV)
Where INTERNAL_SAMPLE_RATE = 1kHz
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3.7 REGISTER 26 – CONFIGURATION
Register Name: CONFIG
Register Type: READ/WRITE
Register Address: 26 (Decimal); 1A (Hex)
BIT
NAME
FUNCTION
[7]
-
Always set to 0
[6]
FIFO_MODE
When set to ‘1’, when the FIFO is full, additional writes will not be written to FIFO.
When set to ‘0’, when the FIFO is full, additional writes will be written to the FIFO,
replacing the oldest data.
[5:3]
EXT_SYNC_SET[2:0]
Enables the FSYNC pin data to be sampled.
EXT_SYNC_SET
FSYNC bit location
0
function disabled
1
TEMP_OUT_L[0]
2
GYRO_XOUT_L[0]
3
GYRO_YOUT_L[0]
4
GYRO_ZOUT_L[0]
5
ACCEL_XOUT_L[0]
6
ACCEL_YOUT_L[0]
7
ACCEL_ZOUT_L[0]
FSYNC will be latched to capture short strobes. This will be done such that if FSYNC
toggles, the latched value toggles, but won’t toggle again until the new latched value
is captured by the sample rate strobe.
[2:0]
DLPF_CFG[2:0]
For the DLPF to be used, FCHOICE_B[1:0] is 2’b00.
See the table below.
The DLPF is configured by DLPF_CFG, when FCHOICE_B [1:0] = 2b’00. The gyroscope and temperature sensor are filtered
according to the value of DLPF_CFG and FCHOICE_B as shown in the table below.
FCHOICE_B
DLPF_CFG
Gyroscope
Temperature
Sensor
<1>
<0>
3-dB BW
(Hz)
Noise BW
(Hz)
Rate
(kHz)
3-dB BW (Hz)
X
1
X
8173
8595.1
32
4000
1
0
X
3281
3451.0
32
4000
0
0
0
250
306.6
8
4000
0
0
1
176
177.0
1
188
0
0
2
92
108.6
1
98
0
0
3
41
59.0
1
42
0
0
4
20
30.5
1
20
0
0
5
10
15.6
1
10
0
0
6
5
8.0
1
5
0
0
7
3281
3451.0
8
4000
3.8 REGISTER 27 – GYROSCOPE CONFIGURATION
Register Name: GYRO_CONFIG
Register Type: READ/WRITE
Register Address: 27 (Decimal); 1B (Hex)
BIT
NAME
FUNCTION
[7]
XG_ST
X Gyro self-test
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[6]
YG_ST
Y Gyro self-test
[5]
ZG_ST
Z Gyro self-test
[4:3]
FS_SEL[1:0]
Gyro Full Scale Select:
00 = ±250dps
01= ±500dps
10 = ±1000dps
11 = ±2000dps
[2]
-
Reserved
[1:0]
FCHOICE_B[1:0]
Used to bypass DLPF as shown in table 1 above.
3.9 REGISTER 28 – ACCELEROMETER CONFIGURATION
Register Name: ACCEL_CONFIG
Register Type: READ/WRITE
Register Address: 28 (Decimal); 1C (Hex)
BIT
NAME
FUNCTION
[7]
XA_ST
X Accel self-test
[6]
YA_ST
Y Accel self-test
[5]
ZA_ST
Z Accel self-test
[4:3]
ACCEL_FS_SEL[1:0]
Accel Full Scale Select:
±2g (00), ±4g (01), ±8g (10), ±16g (11)
[2:0]
-
Reserved
3.10 REGISTER 29 – ACCELEROMETER CONFIGURATION 2
Register Name: ACCEL_CONFIG2
Register Type: READ/WRITE
Register Address: 29 (Decimal); 1D (Hex)
BIT
NAME
FUNCTION
[7:6]
-
Reserved
[5:4]
DEC2_CFG[1:0]
Averaging filter settings for Low Power Accelerometer mode:
0 = Average 4 samples
1 = Average 8 samples
2 = Average 16 samples
3 = Average 32 samples
[3]
ACCEL_FCHOICE_B
Used to bypass DLPF as shown in the table below.
[2:0]
A_DLPF_CFG
Accelerometer low pass filter setting as shown in the table below.
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Accelerometer Data Rates and Bandwidths (Low-Noise Mode)
ACCEL_FCHOICE_B
A_DLPF_CFG
Accelerometer
3-dB BW
(Hz)
Noise BW
(Hz)
Rate
(kHz)
1
X
1046.0
1100.0
4
0
0
218.1
235.0
1
0
1
218.1
235.0
1
0
2
99.0
121.3
1
0
3
44.8
61.5
1
0
4
21.2
31.0
1
0
5
10.2
15.5
1
0
6
5.1
7.8
1
0
7
420.0
441.6
1
The data output rate of the DLPF filter block can be further reduced by a factor of 1/(1+SMPLRT_DIV), where SMPLRT_DIV is an 8-bit
integer. Following is a small subset of ODRs that are configurable for the accelerometer in the low-noise mode in this manner (Hz):
3.91, 7.81, 15.63, 31.25, 62.50, 125, 250, 500, 1K.
The following table lists the accelerometer filter bandwidths, noise, and current consumption available in the low-power mode of
operation. In the low-power mode of operation, the accelerometer is duty-cycled.
ACCEL_FCHOICE_B
1
0
0
0
0
A_DLPF_CFG
x
7
7
7
7
DEC2_CFG
x
0
1
2
3
Averages
1x
4x
8x
16x
32x
Ton (ms)
1.084
1.84
2.84
4.84
8.84
Noise BW (Hz)
1100.0
441.6
235.4
121.3
61.5
Noise (mg) TYP based on
250µg/Hz
8.3
5.3
3.8
2.8
2.0
SMPLRT_DIV
ODR
(Hz)
Current Consumption (µA) TYP
255
3.9
8.4
9.4
10.8
13.6
19.2
127
7.8
9.8
11.9
14.7
20.3
31.4
63
15.6
12.8
17.0
22.5
33.7
55.9
31
31.3
18.7
27.1
38.2
60.4
104.9
15
62.5
30.4
47.2
69.4
113.9
202.8
7
125.0
57.4
87.5
132.0
220.9
N/A
3
250.0
100.9
168.1
257.0
N/A
1
500.0
194.9
329.3
N/A
3.11 REGISTER 30 – LOW POWER MODE CONFIGURATION
Register Name: LP_MODE_CFG
Register Type: READ/WRITE
Register Address: 30 (Decimal); 1E (Hex)
BIT
NAME
FUNCTION
[7]
GYRO_CYCLE
When set to ‘1’ low-power gyroscope mode is enabled. Default
setting is ‘0’
[6:4]
G_AVGCFG[2:0]
Averaging filter configuration for low-power gyroscope mode.
Default setting is ‘000’
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[3:0]
LPOSC_CLKSEL
Sets the frequency of waking up the chip to take a sample of accel
data – the low power accel Output Data Rate
LPOSC_CLKSEL
Output Frequency (Hz)
0
0.24
1
0.49
2
0.98
3
1.95
4
3.91
5
7.81
6
15.63
7
31.25
8
62.50
9
125
10
250
11
500
12-15
Reserved
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Document Number: RM-000030
Revision: 1.0
To operate in gyroscope low-power mode or 6-axis low-power mode, GYRO_CYCLE should be set to ‘1.’ Gyroscope filter
configuration is determined by G_AVGCFG[2:0] that sets the averaging filter configuration. It is not dependent on DLPF_CFG[2:0].
The following table shows some example configurations for gyroscope low power mode.
FCHOICE_B
0
0
0
0
0
0
0
0
G_AVGCFG
0
1
2
3
4
5
6
7
Averages
1x
2x
4x
8x
16x
32x
64x
128x
Ton (ms)
1.73
2.23
3.23
5.23
9.23
17.23
33.23
65.23
Noise BW (Hz)
650.8
407.1
224.2
117.4
60.2
30.6
15.6
8.0
Noise (dps) TYP based on
0.008º/s/Hz
0.20
0.16
0.12
0.09
0.06
0.04
0.03
0.02
SMPLRT_DIV
ODR
(Hz)
Current Consumption (mA) TYP
255
3.9
1.3
1.3
1.3
1.3
1.4
1.4
1.5
1.8
99
10.0
1.3
1.3
1.4
1.4
1.5
1.6
1.9
2.5
64
15.4
1.4
1.4
1.4
1.5
1.6
1.8
2.2
N/A
32
30.3
1.4
1.4
1.5
1.6
1.8
2.2
N/A
19
50.0
1.5
1.5
1.6
1.8
2.1
2.8
9
100.0
1.6
1.7
1.9
2.2
3.0
N/A
7
125.0
1.7
1.8
2.0
2.5
N/A
4
200.0
1.9
2.1
2.5
N/A
3
250.0
2.1
2.3
2.7
2
333.3
2.3
2.6
N/A
1
500.0
2.9
N/A
3.12 REGISTER 31 – WAKE-ON MOTION THRESHOLD (ACCELEROMETER)
Register Name: ACCEL_WOM_THR
Register Type: READ/WRITE
Register Address: 31 (Decimal); 1F (Hex)
BIT
NAME
FUNCTION
[7:0]
WOM_THR[7:0]
This register holds the threshold value for the Wake on Motion Interrupt for
accelerometer.
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Document Number: RM-000030
Revision: 1.0
3.13 REGISTER 35 – FIFO ENABLE
Register Name: FIFO_EN
Register Type: READ/WRITE
Register Address: 35 (Decimal); 23 (Hex)
BIT
NAME
FUNCTION
[7]
TEMP_FIFO_EN
1 – Write TEMP_OUT_H and TEMP_OUT_L to the FIFO at the sample rate; If
enabled, buffering of data occurs even if data path is in standby.
0 – function is disabled
[6]
XG_FIFO_EN
1 – Write GYRO_XOUT_H and GYRO_XOUT_L to the FIFO at the sample rate; If
enabled, buffering of data occurs even if data path is in standby.
0 – function is disabled
[5]
YG_FIFO_EN
1 – Write GYRO_YOUT_H and GYRO_YOUT_L to the FIFO at the sample rate; If
enabled, buffering of data occurs even if data path is in standby.
0 – function is disabled
NOTE: Enabling any one of the bits corresponding to the Gyros or Temp data
paths, data is buffered into the FIFO even though that data path is not
enabled.
[4]
ZG_FIFO_EN
1 – Write GYRO_ZOUT_H and GYRO_ZOUT_L to the FIFO at the sample rate; If
enabled, buffering of data occurs even if data path is in standby.
0 – function is disabled
[3]
ACCEL_FIFO_EN
1 – write ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, ACCEL_YOUT_L,
ACCEL_ZOUT_H, and ACCEL_ZOUT_L to the FIFO at the sample rate;
0 – function is disabled
[2:0]
-
Reserved
3.14 REGISTER 54 – FSYNC INTERRUPT STATUS
Register Name: FSYNC_INT
Register Type: READ to CLEAR
Register Address: 54 (Decimal); 36 (Hex)
BIT
NAME
FUNCTION
[7]
FSYNC_INT
This bit automatically sets to 1 when a FSYNC interrupt has been generated.
The bit clears to 0 after the register has been read.
3.15 REGISTER 55 – INT/DRDY PIN / BYPASS ENABLE CONFIGURATION
Register Name: INT_PIN_CFG
Register Type: READ/WRITE
Register Address: 55 (Decimal); 37 (Hex)
BIT
NAME
FUNCTION
[7]
INT_LEVEL
1 – The logic level for INT/DRDY pin is active low.
0 – The logic level for INT/DRDY pin is active high.
[6]
INT_OPEN
1 – INT/DRDY pin is configured as open drain.
0 – INT/DRDY pin is configured as push-pull.
[5]
LATCH_INT_EN
1 – INT/DRDY pin level held until interrupt status is cleared.
0 – INT/DRDY pin indicates interrupt pulse’s width is 50us.
[4]
INT_RD_CLEAR
1 – Interrupt status is cleared if any read operation is performed.
0 – Interrupt status is cleared only by reading INT_STATUS register
[3]
FSYNC_INT_LEVEL
1 – The logic level for the FSYNC pin as an interrupt is active low.
0 – The logic level for the FSYNC pin as an interrupt is active high.
InvenSense equal to 0, the FSVNC pin is dxsabled from causing an interrupt.
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Revision: 1.0
BIT
NAME
FUNCTION
[2]
FSYNC_INT_MODE_EN
When this bit is equal to 1, the FSYNC pin will trigger an interrupt when it
transitions to the level specified by FSYNC_INT_LEVEL. When this bit is
equal to 0, the FSYNC pin is disabled from causing an interrupt.
[1]
-
Reserved
[0]
-
Always set to 0
3.16 REGISTER 56 – INTERRUPT ENABLE
Register Name: INT_ENABLE
Register Type: READ/WRITE
Register Address: 56 (Decimal); 38 (Hex)
BIT
NAME
FUNCTION
[7:5]
WOM_INT_EN[7:5]
111 – Enable WoM interrupt on accelerometer.
000 – Disable WoM interrupt on accelerometer.
[4]
FIFO_OFLOW_EN
1 – Enables a FIFO buffer overflow to generate an interrupt.
0 – Function is disabled.
[3]
-
Reserved
[2]
GDRIVE_INT_EN
Gyroscope Drive System Ready interrupt enable
[1]
-
Reserved
[0]
DATA_RDY_INT_EN
Data ready interrupt enable
3.17 REGISTER 58 – INTERRUPT STATUS
Register Name: INT_STATUS
Register Type: READ to CLEAR
Register Address: 58 (Decimal); 3A (Hex)
BIT
NAME
FUNCTION
[7:5]
WOM_INT
Accelerometer WoM interrupt status. Cleared on Read.
111 – WoM interrupt on accelerometer
[4]
FIFO_OFLOW_INT
This bit automatically sets to 1 when a FIFO buffer overflow has been
generated. The bit clears to 0 after the register has been read.
[3]
-
Reserved.
[2]
GDRIVE_INT
Gyroscope Drive System Ready interrupt
[1]
-
Reserved.
[0]
DATA_RDY_INT
This bit automatically sets to 1 when a Data Ready interrupt is generated. The
bit clears to 0 after the register has been read.
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Document Number: RM-000030
Revision: 1.0
3.18 REGISTERS 59 TO 64 – ACCELEROMETER MEASUREMENTS
Register Name: ACCEL_XOUT_H
Register Type: READ only
Register Address: 59 (Decimal); 3B (Hex)
BIT
NAME
FUNCTION
[7:0]
ACCEL_XOUT_H[15:8]
High byte of accelerometer x-axis data.
Register Name: ACCEL_XOUT_L
Register Type: READ only
Register Address: 60 (Decimal); 3C (Hex)
BIT
NAME
FUNCTION
[7:0]
ACCEL_XOUT_L[7:0]
Low byte of accelerometer x-axis data.
Register Name: ACCEL_YOUT_H
Register Type: READ only
Register Address: 61 (Decimal); 3D (Hex)
BIT
NAME
FUNCTION
[7:0]
ACCEL_YOUT_H[15:8]
High byte of accelerometer y-axis data.
Register Name: ACCEL_YOUT_L
Register Type: READ only
Register Address: 62 (Decimal); 3E (Hex)
BIT
NAME
FUNCTION
[7:0]
ACCEL_YOUT_L[7:0]
Low byte of accelerometer y-axis data.
Register Name: ACCEL_ZOUT_H
Register Type: READ only
Register Address: 63 (Decimal); 3F (Hex)
BIT
NAME
FUNCTION
[7:0]
ACCEL_ZOUT_H[15:8]
High byte of accelerometer z-axis data.
Register Name: ACCEL_ZOUT_L
Register Type: READ only
Register Address: 64 (Decimal); 40 (Hex)
BIT
NAME
FUNCTION
[7:0]
ACCEL_ZOUT_L[7:0]
Low byte of accelerometer z-axis data.
3.19 REGISTERS 65 AND 66 – TEMPERATURE MEASUREMENT
Register Name: TEMP_OUT_H
Register Type: READ only
Register Address: 65 (Decimal); 41 (Hex)
BIT
NAME
FUNCTION
[7:0]
TEMP_OUT[15:8]
High byte of the temperature sensor output
Register Name: TEMP_OUT_L
Register Type: READ only
Register Address: 66 (Decimal); 42 (Hex)
BIT
NAME
FUNCTION
InvenSense Register Address: 69 (Decimal); 45 (Hex)
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BIT
NAME
FUNCTION
[7:0]
TEMP_OUT[7:0]
Low byte of the temperature sensor output
TEMP_degC
= ((TEMP_OUT –
RoomTemp_Offset)/Temp_Sensitivity) +
25degC
3.20 REGISTERS 67 TO 72 – GYROSCOPE MEASUREMENTS
Register Name: GYRO_XOUT_H
Register Type: READ only
Register Address: 67 (Decimal); 43 (Hex)
BIT
NAME
FUNCTION
[7:0]
GYRO_XOUT[15:8]
High byte of the X-Axis gyroscope output
Register Name: GYRO_XOUT_L
Register Type: READ only
Register Address: 68 (Decimal); 44 (Hex)
BIT
NAME
FUNCTION
[7:0]
GYRO_XOUT[7:0]
Low byte of the X-Axis gyroscope output
GYRO_XOUT =
Gyro_Sensitivity * X_angular_rate
Nominal
Conditions
FS_SEL = 0
Gyro_Sensitivity = 131 LSB/(º/s)
Register Name: GYRO_YOUT_H
Register Type: READ only
Register Address: 69 (Decimal); 45 (Hex)
BIT
NAME
FUNCTION
[7:0]
GYRO_YOUT[15:8]
High byte of the Y-Axis gyroscope output
Register Name: GYRO_YOUT_L
Register Type: READ only
Register Address: 70 (Decimal); 46 (Hex)
BIT
NAME
FUNCTION
[7:0]
GYRO_YOUT[7:0]
Low byte of the Y-Axis gyroscope output
GYRO_YOUT =
Gyro_Sensitivity * Y_angular_rate
Nominal
Conditions
FS_SEL = 0
Gyro_Sensitivity = 131 LSB/(º/s)
Register Name: GYRO_ZOUT_H
Register Type: READ only
Register Address: 71 (Decimal); 47 (Hex)
InvenSense Register Type: READ only Register Address: 72 (Decimal); 48 (Hex)
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BIT
NAME
FUNCTION
[7:0]
GYRO_ZOUT[15:8]
High byte of the Z-Axis gyroscope output
Register Name: GYRO_ZOUT_L
Register Type: READ only
Register Address: 72 (Decimal); 48 (Hex)
3.21 REGISTER 104 – SIGNAL PATH RESET
Register Name: SIGNAL_PATH_RESET
Register Type: READ/WRITE
Register Address: 104 (Decimal); 68 (Hex)
BIT
NAME
FUNCTION
[7:2]
-
Reserved
[1]
ACCEL_RST
Reset accel digital signal path. Note: Sensor registers are not cleared. Use
SIG_COND_RST to clear sensor registers.
[0]
TEMP_RST
Reset temp digital signal path. Note: Sensor registers are not cleared. Use
SIG_COND_RST to clear sensor registers.
3.22 REGISTER 105 – ACCELEROMETER INTELLIGENCE CONTROL
Register Name: ACCEL_INTEL_CTRL
Register Type: READ/WRITE
Register Address: 105 (Decimal); 69 (Hex)
BIT
NAME
FUNCTION
[7]
ACCEL_INTEL_EN
This bit enables the Wake-on-Motion detection logic
[6]
ACCEL_INTEL_MODE
0 – Do not use
1 – Compare the current sample with the previous sample
[5:0]
-
Reserved
BIT
NAME
FUNCTION
[7:0]
GYRO_YOUT[7:0]
Low byte of the Z-Axis gyroscope output
GYRO_ZOUT
=
Gyro_Sensitivity *
Z_angular_rate
Nominal
Conditions
FS_SEL = 0
Gyro_Sensitivity = 131
LSB/(º/s)
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Document Number: RM-000030
Revision: 1.0
3.23 REGISTER 106 – USER CONTROL
Register Name: USER_CTRL
Register Type: READ/WRITE
Register Address: 106 (Decimal); 6A (Hex)
BIT
NAME
FUNCTION
[7]
-
Reserved.
[6]
FIFO_EN
1 – Enable FIFO operation mode.
0 – Disable FIFO access from serial interface. To disable FIFO writes by DMA, use
FIFO_EN register.
[5]
-
Reserved
[4]
I2C_IF_DIS
1 – Disable I2C Slave module and put the serial interface in SPI mode only.
[3]
-
Reserved.
[2]
FIFO_RST
1 – Reset FIFO module. Reset is asynchronous. This bit auto clears after one clock
cycle of the internal 20MHz clock.
[1]
-
Reserved
[0]
SIG_COND_RST
1 – Reset all gyro digital signal path, accel digital signal path, and temp digital signal
path. This bit also clears all the sensor registers.
3.24 REGISTER 107 – POWER MANAGEMENT 1
Register Name: PWR_MGMT_1
Register Type: READ/WRITE
Register Address: 107 (Decimal); 6B (Hex)
BIT
NAME
FUNCTION
[7]
DEVICE_RESET
1 – Reset the internal registers and restores the default settings. The bit
automatically clears to 0 once the reset is done.
[6]
SLEEP
When set to 1, the chip is set to sleep mode.
Note: The default value is 1, the chip comes up in Sleep mode
[5]
ACCEL_CYCLE
When set to 1, and SLEEP and STANDBY are not set to 1, the chip will cycle between
sleep and taking a single accelerometer sample at a rate determined by
SMPLRT_DIV
NOTE: When all accelerometer axes are disabled via PWR_MGMT_2 register bits
and cycle is enabled, the chip will wake up at the rate determined by the respective
registers above, but will not take any samples.
[4]
GYRO_STANDBY
When set, the gyro drive and pll circuitry are enabled, but the sense paths are
disabled. This is a low power mode that allows quick enabling of the gyros.
[3]
TEMP_DIS
When set to 1, this bit disables the temperature sensor.
[2:0]
CLKSEL[2:0]
Code
Clock Source
0
Internal 20MHz oscillator
1
Auto selects the best available clock source – PLL if ready, else use the
Internal oscillator
2
Auto selects the best available clock source – PLL if ready, else use the
Internal oscillator
3
Auto selects the best available clock source – PLL if ready, else use the
Internal oscillator
4
Auto selects the best available clock source – PLL if ready, else use the
Internal oscillator
5
Auto selects the best available clock source – PLL if ready, else use the
Internal oscillator
6
Internal 20MHz oscillator
7
Stops the clock and keeps timing generator in reset
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Document Number: RM-000030
Revision: 1.0
Note: The default value of CLKSEL[2:0] is 000. It is required that CLKSEL[2:0] be set to 001 to achieve full gyroscope performance.
3.25 REGISTER 108 – POWER MANAGEMENT 2
Register Name: PWR_MGMT_2
Register Type: READ/WRITE
Register Address: 108 (Decimal); 6C (Hex)
BIT
NAME
FUNCTION
[7]
FIFO_LP_EN
1 – Enable FIFO in low-power accelerometer mode. Default setting is 0.
[6]
-
Reserved.
[5]
STBY_XA
1 – X accelerometer is disabled
0 – X accelerometer is on
[4]
STBY_YA
1 – Y accelerometer is disabled
0 – Y accelerometer is on
[3]
STBY_ZA
1 – Z accelerometer is disabled
0 – Z accelerometer is on
[2]
STBY_XG
1 – X gyro is disabled
0 – X gyro is on
[1]
STBY_YG
1 – Y gyro is disabled
0 – Y gyro is on
[0]
STBY_ZG
1 – Z gyro is disabled
0 – Z gyro is on
3.26 REGISTER 114 AND 115 – FIFO COUNT REGISTERS
Register Name: FIFO_COUNTH
Register Type: READ Only
Register Address: 114 (Decimal); 72 (Hex)
BIT
NAME
FUNCTION
[7:5]
-
Reserved
[4:0]
FIFO_COUNT[12:8]
High Bits, count indicates the number of written bytes in the FIFO.
Reading this byte latches the data for both FIFO_COUNTH, and FIFO_COUNTL.
Register Name: FIFO_COUNTL
Register Type: READ Only
Register Address: 115 (Decimal); 73 (Hex)
InvenSense Descriglion:
ICM-20608-G
Page 21 of 23
Document Number: RM-000030
Revision: 1.0
BIT
NAME
FUNCTION
[7:0]
FIFO_COUNT[7:0]
Low Bits, count indicates the number of written bytes in the
FIFO. NOTE: Must read FIFO_COUNTH to latch new data for
both FIFO_COUNTH and FIFO_COUNTL.
3.27 REGISTER 116 – FIFO READ WRITE
Register Name: FIFO_R_W
Register Type: READ/WRITE
Register Address: 116 (Decimal); 74 (Hex)
BIT
NAME
FUNCTION
[7:0]
FIFO_DATA[7:0]
Read/Write command provides Read or Write operation for the
FIFO.
Description:
This register is used to read and write data from the FIFO buffer.
Data is written to the FIFO in order of register number (from lowest to highest). If all the FIFO enable flags (see below) are
enabled, the contents of registers 59 through 72 will be written in order at the Sample Rate.
The contents of the sensor data registers (Registers 59 to 72) are written into the FIFO buffer when their corresponding
FIFO enable flags are set to 1 in FIFO_EN (Register 35).
If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is automatically set to 1. This bit is located in INT_STATUS
(Register 58). When the FIFO buffer has overflowed, the oldest data will be lost and new data will be written to the FIFO
unless register 26 CONFIG, bit[6] FIFO_MODE = 1.
If the FIFO buffer is empty, reading register FIFO_DATA will return a unique value of 0xFF until new data is available.
Normal data is precluded from ever indicating 0xFF, so 0xFF gives a trustworthy indication of FIFO empty.
3.28 REGISTER 117 – WHO AM I
Register Name: WHO_AM_I
Register Type: READ only
Register Address: 117 (Decimal); 75 (Hex)
BIT
NAME
FUNCTION
[7:0]
WHOAMI
Register to indicate to user which device is being accessed.
This register is used to verify the identity of the device. The contents of WHOAMI is an 8-bit device ID. The default value of
the register is 0xAF. This is different from the I2C address of the device as seen on the slave I2C controller by the
applications processor. The I2C address of the ICM-20608-G is 0x68 or 0x69 depending upon the value driven on AD0 pin.
3.29 REGISTERS 119, 120, 122, 123, 125, 126 ACCELEROMETER OFFSET REGISTERS
Register Name: XA_OFFSET_H
Register Type: READ/WRITE
Register Address: 119 (Decimal); 77 (Hex)
BIT
NAME
FUNCTION
[7:0]
XA_OFFS[14:7]
Upper bits of the X accelerometer offset cancellation. +/- 16g Offset cancellation
in all Full Scale modes, 15 bit 0.98-mg steps
InvenSense
ICM-20608-G
Page 22 of 23
Document Number: RM-000030
Revision: 1.0
Register Name: XA_OFFSET_L
Register Type: READ/WRITE
Register Address: 120 (Decimal); 78 (Hex)
BIT
NAME
FUNCTION
[7:1]
XA_OFFS[6:0]
Lower bits of the X accelerometer offset cancellation. +/- 16g Offset cancellation
in all Full Scale modes, 15 bit 0.98-mg steps
[0]
-
Reserved
Register Name: YA_OFFSET_H
Register Type: READ/WRITE
Register Address: 122 (Decimal); 7A (Hex)
BIT
NAME
FUNCTION
[7:0]
YA_OFFS[14:7]
Upper bits of the Y accelerometer offset cancellation. +/- 16g Offset cancellation
in all Full Scale modes, 15 bit 0.98-mg steps
Register Name: YA_OFFSET_L
Register Type: READ/WRITE
Register Address: 123 (Decimal); 7B (Hex)
BIT
NAME
FUNCTION
[7:1]
YA_OFFS[6:0]
Lower bits of the Y accelerometer offset cancellation. +/- 16g Offset cancellation
in all Full Scale modes, 15 bit 0.98-mg steps
[0]
-
Reserved
Register Name: ZA_OFFSET_H
Register Type: READ/WRITE
Register Address: 125 (Decimal); 7D (Hex)
BIT
NAME
FUNCTION
[7:0]
ZA_OFFS[14:7]
Upper bits of the Z accelerometer offset cancellation. +/- 16g Offset cancellation
in all Full Scale modes, 15 bit 0.98-mg steps
Register Name: ZA_OFFSET_L
Register Type: READ/WRITE
Register Address: 126 (Decimal); 7E (Hex)
BIT
NAME
FUNCTION
[7:1]
ZA_OFFS[6:0]
Lower bits of the Z accelerometer offset cancellation. +/- 16g Offset cancellation
in all Full Scale modes, 15 bit 0.98-mg steps
[0]
-
Reserved
InvenSense InvenSense
ICM-20608-G
Page 23 of 23
Document Number: RM-000030
Revision: 1.0
4 REVISION HISTORY
Revision Date
Revision
Description
06/15/2015
1.0
Initial Release
This information furnished by InvenSense is believed to be accurate and reliable. However, no responsibility is assumed by InvenSense for its use, or for any
infringements of patents or other rights of third parties that may result from its use. Specifications are subject to change without notice. InvenSense reserves the
right to make changes to this product, including its circuits and software, in order to improve its design and/or performance, without prior notice. InvenSense makes
no warranties, neither expressed nor implied, regarding the information and specifications contained in this document. InvenSense assumes no responsibility for any
claims or damages arising from information contained in this document, or from the use of products and services detailed therein. This includes, but is not limited to,
claims or damages based on the infringement of patents, copyrights, mask work and/or other intellectual property rights.
Certain intellectual property owned by InvenSense and described in this document is patent protected. No license is granted by implication or otherwise under any
patent or patent rights of InvenSense. This publication supersedes and replaces all information previously supplied. Trademarks that are registered trademarks are
the property of their respective companies. InvenSense sensors should not be used or sold in the development, storage, production or utilization of any conventional
or mass-destructive weapons or for any other weapons or life threatening applications, as well as in any other life critical applications such as medical equipment,
transportation, aerospace and nuclear instruments, undersea equipment, power plant equipment, disaster prevention and crime prevention equipment.
©2015 InvenSense, Inc. All rights reserved. InvenSense, MotionTracking, MotionProcessing, MotionProcessor, MotionFusion, MotionApps, DMP, and the InvenSense
logo are trademarks of InvenSense, Inc. Other company and product names may be trademarks of the respective companies with which they are associated.
.
©2015 InvenSense, Inc. All rights reserved.