ICM-42688-P Datasheet
6MEMSMotionTracking
TM
Icm - 42688 p
ICM-42688-P6MEMS
33
I3C
SM
I
2
CSPI
2 kB FIFO2
ICM-42688-P
ODR
FIFO20
FIFO19
18
InvenSense
APEX
1.71V3.6VVDD
IOVDDIO1.
71V3.6V
Icm - 42688 p
:2.8 mdps/Hz
:70g/Hz
o60.88 mA
(dps):15.6/31.2/62.5/
125/250/500/1000/2000
(g):2/4/8/16
APEX:
o
o/
:12.5 MHz I3CSM, 1 MHz I2C, 24
MHz SPI
AR/VR
RoHS
Tdk-invensense
InvenSense
InvenSense, a TDK Group Company
1745 Technology Drive, San Jose, CA 95110 U.S.A +1
(408) 9887339 invensense.tdk.com
Document Number: DS-000347
Revision: 1.6
Rev. Date: 06/20/2021
InvenSensea
/
https://fanyi.youdao.com/download
ICM-42688-P
icm - 42688 p ........................................................................................................................................................................ 1
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icm - 42688 p ........................................................................................................................................................................ 1
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TDK-Invensense ........................................................................................................... 1
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1 .............................................................................................................................................................................................. 9
1.1 ....................................................................................................................................................................... 9
1.2 ........................................................................................................................................................................... 9
1.3 ................................................................................................................................................................................... 9
2 ............................................................................................................................................................................................ 10
2.1 .................................................................................................................................................................... 10
2.2 ................................................................................................................................................................. 10
2.3 ......................................................................................................................................................................... 10
2.4 ........................................................................................................................................................................ 10
3 ........................................................................................................................................................................................ 11
3.1 .................................................................................................................................................................... 11
3.2 ................................................................................................................................................................. 12
3.3 ........................................................................................................................................................................ 13
3.4 I
2
C .................................................................................................................................................................. 15
3.5 SPISPI ............................................................................................................................................16
3.6 SPISPI ............................................................................................................................................17
3.7 RTC (CLKIN) ................................................................................................................................................ 18
3.8 ................................................................................................................................................................ 19
4 ............................................................................................................................................................................ 20
4.1 ........................................................................................................................................................ 20
4.2 ................................................................................................................................................................ 21
4.3 ........................................................................................................................................................ 22
4.4 ......................................................................................................................................................................... 23
4.5 ................................................................................................................................................................................ 23
4.6 16adcMEMS .......................................................................................................... 23
4.7 16adcMEMS....................................................................................................... 23
4.8
I3CSMI2CSPI ........................................................................................................................................ 23
4.9 ................................................................................................................................................................................. 23
4.10 ............................................................................................................................................................................ 24
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4.11 ...................................................................................................................................................... 24
4.12 .......................................................................................................................................................................... 24
4.13 .............................................................................................................................................. 25
4.14 LDOs ............................................................................................................................................................ 25
4.15 ...................................................................................................................................................................... 25
4.16 .......................................................................................................................................................... 25
5 .................................................................................................................................................................................... 26
5.1 .................................................................................................................................... 26
5.2 .................................................................................................................................................................... 26
5.3 ............................................................................................................................................................ 28
5.4 ............................................................................................................................................................ 30
5.5 UI ....................................................................................................................................................................... 30
5.6 UIODRFSR................................................................................................................................................. 34
6 FIFO ............................................................................................................................................................................................ 37
6.1 ............................................................................................................................................................................. 37
6.2 FIFO ........................................................................................................................................................................... 39
6.3 FIFO................................................................................................................................................................ 40
6.4 FIFO................................................................................................................................................................ 40
7 ................................................................................................................................................................................ 42
8 APEX .......................................................................................................................................................................... 43
8.1 APEX ODR ............................................................................................................................................................ 43
8.2 DMP ............................................................................................................................................................... 44
8.3 ..................................................................................................................................................................... 44
8.4 ................................................................................................................................................................ 45
8.5 / .............................................................................................................................................................. 45
8.6 Tap ................................................................................................................................................................. 46
8.7 Wake on Motion Programming...................................................................................................................................... 47
8.8 ........................................................................................................................................................ 47
9 .................................................................................................................................................................................... 49
9.1
I3C
SM
I
2
CSPI ...............................................................................................................................................49
9.2
I3CSM .................................................................................................................................................................... 49
9.3
I2C........................................................................................................................................................................... 49
9.4 I
2
C .................................................................................................................................................................. 49
9.5
I
2
C .......................................................................................................................................................................... 51
9.6 SPI .......................................................................................................................................................................... 53
10 ............................................................................................................................................................................................ 54
10.1 .................................................................................................................................................................. 54
10.2 .................................................................................................................................................................. 55
11 ............................................................................................................................................................................ 57
12 Notes..................................................................................................................................................................................... 58
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12.1 ...................................................................................................................................................... 58
12.2 (LP)............................................................................................................ 58
12.3
I2CI3CSMSPI ................................................................................................................................... 58
12.4 ...................................................................................................................... 58
12.5 ODR .................................................................................................................................. 58
12.6 INT_ASYNC_RESET ...................................................................................................................................... 59
12.7 FIFO.............................................................................................................................................. 59
12.8 FIFO_HOLD_LAST_DATA_EN ............................................................................................................ 59
12.9 .............................................................................................................................................................. 60
13 ................................................................................................................................................................................. 61
13.1 0................................................................................................................................................. 61
13.2 1................................................................................................................................................. 62
13.3 2................................................................................................................................................. 63
13.4 4................................................................................................................................................. 63
14 0 ......................................................................................................................................................64
14.1 DEVICE_CONFIG.................................................................................................................................................... 64
14.2 DRIVE_CONFIG...................................................................................................................................................... 64
14.3 INT_CONFIG ........................................................................................................................................................... 65
14.4 FIFO_CONFIG ......................................................................................................................................................... 65
14.5 TEMP_DATA1......................................................................................................................................................... 65
14.6 TEMP_DATA0......................................................................................................................................................... 66
14.7 ACCEL_DATA_X1 ................................................................................................................................................. 66
14.8 ACCEL_DATA_X0 ................................................................................................................................................. 66
14.9 ACCEL_DATA_Y1 ................................................................................................................................................. 66
14.10 ACCEL_DATA_Y0 ................................................................................................................................................. 67
14.11 ACCEL_DATA_Z1 ................................................................................................................................................. 67
14.12 ACCEL_DATA_Z0 ................................................................................................................................................. 67
14.13 GYRO_DATA_X1 ................................................................................................................................................... 67
14.14 GYRO_DATA_X0 ................................................................................................................................................... 67
14.15 GYRO_DATA_Y1 ................................................................................................................................................... 68
14.16 GYRO_DATA_Y0 ................................................................................................................................................... 68
14.17 GYRO_DATA_Z1 ................................................................................................................................................... 68
14.18 GYRO_DATA_Z0 ................................................................................................................................................... 68
14.19 TMST_FSYNCH ...................................................................................................................................................... 68
14.20 TMST_FSYNCL ...................................................................................................................................................... 69
14.21 INT_STATUS .......................................................................................................................................................... 69
14.22 FIFO_COUNTH........................................................................................................................................................ 69
14.23 FIFO_COUNTL ....................................................................................................................................................... 70
14.24 FIFO_DATA ............................................................................................................................................................ 70
14.25 APEX_DATA0........................................................................................................................................................... 70
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14.26 APEX_DATA1............................................................................................................................................................................................. 70
14.27 APEX_DATA2............................................................................................................................................................................................. 71
14.28 APEX_DATA3............................................................................................................................................................................................. 71
14.29 APEX_DATA4............................................................................................................................................................................................. 72
14.30 APEX_DATA5............................................................................................................................................................................................. 72
14.31 INT_STATUS2 ........................................................................................................................................................................................... 73
14.32 INT_STATUS3 ........................................................................................................................................................................................... 73
14.33 SIGNAL_PATH_RESET............................................................................................................................................................................. 73
14.34 INTF_CONFIG0 ......................................................................................................................................................................................... 74
14.35 INTF_CONFIG1 ......................................................................................................................................................................................... 75
14.36 PWR_MGMT0 ............................................................................................................................................................................................ 76
14.37 GYRO_CONFIG0 ....................................................................................................................................................................................... 77
14.38 ACCEL_CONFIG0 ..................................................................................................................................................................................... 78
14.39 GYRO_CONFIG1 ....................................................................................................................................................................................... 79
14.40 GYRO_ACCEL_CONFIG0 ........................................................................................................................................................................ 80
14.41 ACCEL_CONFIG1 ..................................................................................................................................................................................... 81
14.42 TMST_CONFIG .......................................................................................................................................................................................... 81
14.43 APEX_CONFIG0 ........................................................................................................................................................................................ 82
14.44 SMD_CONFIG............................................................................................................................................................................................. 82
14.45 FIFO_CONFIG1 .......................................................................................................................................................................................... 83
14.46 FIFO_CONFIG2 .......................................................................................................................................................................................... 83
14.47 FIFO_CONFIG3 .......................................................................................................................................................................................... 83
14.48 FSYNC_CONFIG ....................................................................................................................................................................................... 84
14.49 INT_CONFIG0 ............................................................................................................................................................................................ 84
14.50 INT_CONFIG1 ............................................................................................................................................................................................ 85
14.51 INT_SOURCE0 ........................................................................................................................................................................................... 85
14.52 INT_SOURCE1 ........................................................................................................................................................................................... 86
14.53 INT_SOURCE3 ........................................................................................................................................................................................... 86
14.54 INT_SOURCE4 ........................................................................................................................................................................................... 87
14.55 FIFO_LOST_PKT0...................................................................................................................................................................................... 87
14.56 FIFO_LOST_PKT1...................................................................................................................................................................................... 87
14.57 SELF_TEST_CONFIG................................................................................................................................................................................ 88
14.58 WHO_AM_I................................................................................................................................................................................................. 88
14.59 REG_BANK_SEL ....................................................................................................................................................................................... 88
1 .............................................................................................................................................................................................89
15.1 SENSOR_CONFIG0 ................................................................................................................................................................................... 89
15.2 GYRO_CONFIG_STATIC2 ....................................................................................................................................................................... 89
15.3 GYRO_CONFIG_STATIC3 ....................................................................................................................................................................... 89
15.4 GYRO_CONFIG_STATIC4 ....................................................................................................................................................................... 90
15.5 GYRO_CONFIG_STATIC5 ........................................................................................................................................................................ 90
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