【免费】ICM42605v1.7版本数据手册资源-CSDN文库

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ICM-42605 Datasheet

Premium Performance 6-Axis MotionTracking

IMU

InvenSense Inc. reserves the right to change specifications and

information herein without notice unless the product is in mass

production and the datasheet has been designated by InvenSense in

writing as subject to a specified Product / Process Change Notification

Method regulation.

InvenSense, a TDK Group Company

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

+1(408) 988–7339

invensense.tdk.com

Document Number: DS-000292

Revision: 1.7

Rev. Date: 09/12/2022

ICM-42605 HIGHLIGHTS

The ICM-42605 is a 6-axis MEMS MotionTracking

device that combines a 3-axis gyroscope and a

3-axis accelerometer. It has a configurable host

interface that supports I3C

, I

C and SPI serial

communication, features a 2 kB FIFO and 2

programmable interrupts with ultra-low-power

wake-on-motion support to minimize system

power consumption.

The ICM-42605 supports the lowest gyro and

accel sensor noise in this IMU class, and has the

highest stability against temperature, shock (up

to 20,000g) or SMT/bend induced offset as well

as immunity against out-of-band vibration

induced noise.

Other industry-leading features include

InvenSense on-chip APEX Motion Processing

engine for gesture recognition, activity

classification, and pedometer, along with

programmable digital filters, and an embedded

temperature sensor.

The device supports a VDD operating range of

1.71V to 3.6V, and a separate digital IO supply,

VDDIO from 1.71V to 3.6V.

BLOCK DIAGRAM

ICM-42605 FEATURES

• Gyroscope Noise: 3.8 mdps/Hz &

Accelerometer Noise: 70 µg/Hz

o Low-Noise mode 6-axis current

consumption of 0.65 mA

• User selectable Gyro Full-scale range (dps):

± 15.2/31.2/62.5/125/250/500/1000/2000

• User selectable Accelerometer Full-scale

range (g): ± 2/4/8/16

• User-programmable digital filters for gyro,

accel, and temp sensor

• APEX Motion Functions:

o Pedometer, Tilt Detection, Tap Detection

o Wake on Motion, Raise to Wake/Sleep,

Significant Motion Detection

• Host interface: 12.5 MHz I3C

, 1 MHz I

24 MHz SPI

APPLICATIONS

• Smartphones, Computers, Tablets

• Smart Watches and Fitness Trackers

• Augmented & Virtual Reality Headsets and

Controllers

• Game Controllers

• IoT Applications

• Drones and Robotics

ORDERING INFORMATION

PART

TEMP RANGE

PACKAGE

ICM-42605†

−40°C to +85°C

2.5x3mm 14-Pin

LGA

†Denotes RoHS and Green-Compliant Package

TDK-INVENSENSE SENSORS FOR SMARTPHONE, MOBILE & IOT APPLICATIONS

Parameter

ICM-40607

Sensorhub

ICM-42605

Sensorhub

ICM-42686-P

Handheld Action

ICM-42688-P

HMD & Robotics

GYRO Noise (mdps/rt-Hz)

3.8

5.3

2.8

GYRO Offset Temp Stability (mdps/°C)

±30

±20

±10

±5

GYRO Range & Resolution

±2000dps; 16-bits

±4000dps; 16/19-bits

±2000dps; 16/19-bits

ACCEL Noise (µg/rt-Hz)

110

AXY: 65; AZ: 70

ACCEL Range & Resolution

±16g; 16-bits

±32g; 16/18-bits

±16g; 16/18-bits

ODR & Sample Synch

8kHz; No RTC

32kHz; RTC

 
ICM-42605 
 
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TABLE OF CONTENTS 
ICM-42605 Highlights .......................................................................................................................................... 1 
Block Diagram ...................................................................................................................................................... 1 
ICM-42605 Features ............................................................................................................................................ 1 
Applications ......................................................................................................................................................... 1 
Ordering Information ........................................................................................................................................... 1 
TDK-Invensense Sensors for Smartphone, Mobile & IoT Applications ................................................................ 1 
Table of Figures ............................................................................................................................................................... 8 
Table of Tables ................................................................................................................................................................ 8 
1  Introduction ......................................................................................................................................................... 9 
1.1  Purpose and Scope .................................................................................................................................... 9 
1.2  Product Overview...................................................................................................................................... 9 
1.3  Applications ............................................................................................................................................... 9 
2  Features ............................................................................................................................................................. 10 
2.1  Gyroscope Features ................................................................................................................................ 10 
2.2  Accelerometer Features .......................................................................................................................... 10 
2.3  Motion Features ...................................................................................................................................... 10 
2.4  Additional Features ................................................................................................................................. 10 
3  Electrical Characteristics .................................................................................................................................... 11 
3.1  Gyroscope Specifications ........................................................................................................................ 11 
3.2  Accelerometer Specifications .................................................................................................................. 12 
3.3  Electrical Specifications ........................................................................................................................... 13 
3.4  I
2
C Timing Characterization ..................................................................................................................... 15 
3.5  SPI Timing Characterization – 4-Wire SPI Mode ..................................................................................... 16 
3.6  SPI Timing Characterization – 3-Wire SPI Mode ..................................................................................... 17 
3.7  Absolute Maximum Ratings .................................................................................................................... 18 
4  Applications Information ................................................................................................................................... 19 
4.1  Pin Out Diagram and Signal Description ................................................................................................. 19 
4.2  Typical Operating Circuit ......................................................................................................................... 20 
4.3  Bill of Materials for External Components .............................................................................................. 21 
4.4  System Block Diagram ............................................................................................................................. 22 
4.5  Overview ................................................................................................................................................. 22 
4.6  Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning ............................................... 22 
4.7  Three-Axis MEMS Accelerometer with 16-bit ADCs and Signal Conditioning ......................................... 22 
4.8  I3C
SM
, I
2
C and SPI Host Interface ............................................................................................................. 22 
4.9  Self-Test................................................................................................................................................... 22 
4.10  Clocking ............................................................................................................................................... 23 
4.11  Sensor Data Registers ......................................................................................................................... 23 
4.12  Interrupts ............................................................................................................................................ 23 
4.13  Digital-Output Temperature Sensor ................................................................................................... 23 

 
ICM-42605 
 
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4.14  Bias and LDOs ..................................................................................................................................... 23 
4.15  Charge Pump ...................................................................................................................................... 23 
4.16  Standard Power Modes ...................................................................................................................... 24 
5  Signal Path ......................................................................................................................................................... 25 
5.1  Summary of Parameters Used to Configure the Signal Path .................................................................. 25 
5.2  Notch Filter ............................................................................................................................................. 25 
5.3  Anti-Alias Filter ........................................................................................................................................ 27 
5.4  User Programmable Offset ..................................................................................................................... 29 
5.5  UI Filter Block .......................................................................................................................................... 29 
5.6  ODR And FSR Selection ........................................................................................................................... 33 
6  FIFO .................................................................................................................................................................... 35 
6.1  Packet Structure ...................................................................................................................................... 35 
6.2  FIFO Header ............................................................................................................................................ 36 
6.3  Maximum FIFO Storage ........................................................................................................................... 37 
6.4  FIFO Configuration Registers ................................................................................................................... 37 
7  Programmable Interrupts .................................................................................................................................. 39 
8  APEX Motion Functions ..................................................................................................................................... 40 
8.1  APEX ODR Support .................................................................................................................................. 40 
8.2  DMP Power Save Mode .......................................................................................................................... 41 
8.3  Pedometer Programming ........................................................................................................................ 41 
8.4  Tilt Detection Programming .................................................................................................................... 42 
8.5  Raise To Wake/Sleep Programming ........................................................................................................ 42 
8.6  Tap Detection Programming ................................................................................................................... 43 
8.7  Wake on Motion Programming ............................................................................................................... 44 
8.8  Significant Motion Detection Programming ........................................................................................... 44 
9  Digital Interface ................................................................................................................................................. 46 
9.1  I3C
SM
, I
2
C and SPI Serial Interfaces .......................................................................................................... 46 
9.2  I3C
SM
 Interface ........................................................................................................................................ 46 
9.3  I
2
C Interface ............................................................................................................................................. 46 
9.4  I
2
C Communications Protocol ................................................................................................................. 46 
9.5  I
2
C Terms ................................................................................................................................................. 49 
9.6  SPI Interface ............................................................................................................................................ 50 
10  Assembly ............................................................................................................................................................ 51 
10.1  Orientation of Axes ............................................................................................................................. 51 
10.2  Package Dimensions ........................................................................................................................... 52 
11  Part Number Package Marking .......................................................................................................................... 54 
12  Use Notes ........................................................................................................................................................... 55 
12.1  Accelerometer Mode Transitions ....................................................................................................... 55 
12.2  Accelerometer Low Power (LP) Mode Averaging Filter Setting .......................................................... 55 
12.3  Settings for I
2
C, I3C
SM
, and SPI Operation ........................................................................................... 55 

 
ICM-42605 
 
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4  Notch Filter and Anti-Alias Filter Operation ....................................................................................... 55 
5  INT_ASYNC_RESET Configuration ....................................................................................................... 55 
6  Register Values Modification .............................................................................................................. 56 
Register Map ...................................................................................................................................................... 57 
1  User Bank 0 Register Map................................................................................................................... 57 
2  User Bank 1 Register Map................................................................................................................... 58 
3  User Bank 2 Register Map................................................................................................................... 59 
4  User Bank 4 Register Map................................................................................................................... 59 
User Bank 0 Register Map – Descriptions .......................................................................................................... 60 
1  DEVICE_CONFIG .................................................................................................................................. 60 
2  DRIVE_CONFIG .................................................................................................................................... 60 
3  INT_CONFIG ........................................................................................................................................ 61 
4  FIFO_CONFIG ...................................................................................................................................... 61 
5  TEMP_DATA1 ...................................................................................................................................... 61 
6  TEMP_DATA0 ...................................................................................................................................... 62 
7  ACCEL_DATA_X1 ................................................................................................................................. 62 
8  ACCEL_DATA_X0 ................................................................................................................................. 62 
9  ACCEL_DATA_Y1 ................................................................................................................................. 62 
10  ACCEL_DATA_Y0 ................................................................................................................................. 63 
11  ACCEL_DATA_Z1 ................................................................................................................................. 63 
12  ACCEL_DATA_Z0 ................................................................................................................................. 63 
13  GYRO_DATA_X1 .................................................................................................................................. 63 
14  GYRO_DATA_X0 .................................................................................................................................. 63 
15  GYRO_DATA_Y1 .................................................................................................................................. 64 
16  GYRO_DATA_Y0 .................................................................................................................................. 64 
17  GYRO_DATA_Z1 .................................................................................................................................. 64 
18  GYRO_DATA_Z0 .................................................................................................................................. 64 
19  TMST_FSYNCH .................................................................................................................................... 64 
20  TMST_FSYNCL ..................................................................................................................................... 65 
21  INT_STATUS ........................................................................................................................................ 65 
22  FIFO_COUNTH..................................................................................................................................... 65 
23  FIFO_COUNTL ..................................................................................................................................... 66 
24  FIFO_DATA .......................................................................................................................................... 66 
25  APEX_DATA0 ....................................................................................................................................... 66 
26  APEX_DATA1 ....................................................................................................................................... 66 
27  APEX_DATA2 ....................................................................................................................................... 67 
28  APEX_DATA3 ....................................................................................................................................... 67 
29  APEX_DATA4 ....................................................................................................................................... 68 
30  APEX_DATA5 ....................................................................................................................................... 68 
31  INT_STATUS2 ...................................................................................................................................... 69 

 
ICM-42605 
 
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Document Number: DS-000292 
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32  INT_STATUS3 ...................................................................................................................................... 69 
33  SIGNAL_PATH_RESET .......................................................................................................................... 69 
34  INTF_CONFIG0 .................................................................................................................................... 70 
35  INTF_CONFIG1 .................................................................................................................................... 71 
36  PWR_MGMT0 ..................................................................................................................................... 72 
37  GYRO_CONFIG0 .................................................................................................................................. 73 
38  ACCEL_CONFIG0 ................................................................................................................................. 74 
39  GYRO_CONFIG1 .................................................................................................................................. 75 
40  GYRO_ACCEL_CONFIG0 ...................................................................................................................... 76 
41  ACCEL_CONFIG1 ................................................................................................................................. 77 
42  TMST_CONFIG .................................................................................................................................... 77 
43  APEX_CONFIG0 ................................................................................................................................... 78 
44  SMD_CONFIG ...................................................................................................................................... 78 
45  FIFO_CONFIG1 .................................................................................................................................... 79 
46  FIFO_CONFIG2 .................................................................................................................................... 79 
47  FIFO_CONFIG3 .................................................................................................................................... 79 
48  FSYNC_CONFIG ................................................................................................................................... 80 
49  INT_CONFIG0 ...................................................................................................................................... 80 
50  INT_CONFIG1 ...................................................................................................................................... 81 
51  INT_SOURCE0 ..................................................................................................................................... 81 
52  INT_SOURCE1 ..................................................................................................................................... 82 
53  INT_SOURCE3 ..................................................................................................................................... 82 
54  INT_SOURCE4 ..................................................................................................................................... 83 
55  FIFO_LOST_PKT0 ................................................................................................................................. 83 
56  FIFO_LOST_PKT1 ................................................................................................................................. 83 
57  SELF_TEST_CONFIG ............................................................................................................................. 84 
58  WHO_AM_I ......................................................................................................................................... 84 
59  REG_BANK_SEL ................................................................................................................................... 84 
User Bank 1 Register Map – Descriptions .......................................................................................................... 85 
1  SENSOR_CONFIG0 .............................................................................................................................. 85 
2  GYRO_CONFIG_STATIC2 ..................................................................................................................... 85 
3  GYRO_CONFIG_STATIC3 ..................................................................................................................... 85 
4  GYRO_CONFIG_STATIC4 ..................................................................................................................... 86 
5  GYRO_CONFIG_STATIC5 ..................................................................................................................... 86 
6  GYRO_CONFIG_STATIC6 ..................................................................................................................... 86 
7  GYRO_CONFIG_STATIC7 ..................................................................................................................... 86 
8  GYRO_CONFIG_STATIC8 ..................................................................................................................... 87 
9  GYRO_CONFIG_STATIC9 ..................................................................................................................... 87 
10  GYRO_CONFIG_STATIC10 ................................................................................................................... 87 
11  XG_ST_DATA ....................................................................................................................................... 88 