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ICM-42688-P Datasheet

High Precision 6-Axis MEMS MotionTracking

Device

This document contains information on a pre-production product,

and should not be considered for production until qualification is

complete. InvenSense Inc. reserves the right to change specifications

and information herein without notice.

TDK Corporation

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

+1(408) 988–7339

www.invensense.com

Document Number: DS-000347

Revision: 1.2

Rev. Date: 04/19/2020

ICM-42688-P HIGHLIGHTS

The ICM-42688-P 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

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.

ICM-42688-P supports highly accurate external clock

input, that helps to reduce system level sensitivity

error, improve orientation measurement from

gyroscope data, reduce ODR sensitivity to

temperature and device to device variation.

The device includes industry first 20-bits data format

support in FIFO for high-data resolution. This FIFO

format encapsulates 19-bits of gyroscope data and 18-

bits of accelerometer data.

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-42688-P FEATURES

• Gyroscope Noise: 2.8 mdps/Hz &

Accelerometer Noise: 70 µg/Hz

o Low-Noise mode 6-axis current

consumption of 0.88 mA

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

± 15.6/31.2/62.5/125/250/500/1000/2000

• 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

• AR/VR Controllers

• Head Mounted Displays

• Wearables

• Sports

• Robotics

• IoT Applications

ORDERING INFORMATION

PART

TEMP RANGE

PACKAGE

ICM-42688-P†

−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-42688-P 
 
Page 2 of 109 
Document Number: DS-000347 
Revision: 1.2 
 
 
 
TABLE OF CONTENTS 
ICM-42688-P Highlights ....................................................................................................................................... 1 
Block Diagram ...................................................................................................................................................... 1 
ICM-42688-P 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 

 
ICM-42688-P 
 
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Document Number: DS-000347 
Revision: 1.2 
 
 
12  Interrupts ............................................................................................................................................ 23 
13  Digital-Output Temperature Sensor ................................................................................................... 24 
14  Bias and LDOs ..................................................................................................................................... 24 
15  Charge Pump ...................................................................................................................................... 24 
16  Standard Power Modes ...................................................................................................................... 24 
Signal Path ......................................................................................................................................................... 25 
1  Summary of Parameters Used to Configure the Signal Path .................................................................. 25 
2  Notch Filter ............................................................................................................................................. 25 
3  Anti-Alias Filter ........................................................................................................................................ 27 
4  User Programmable Offset ..................................................................................................................... 29 
5  UI Filter Block .......................................................................................................................................... 29 
6  UI Path ODR And FSR Selection ............................................................................................................... 33 
FIFO .................................................................................................................................................................... 36 
1  Packet Structure ...................................................................................................................................... 36 
2  FIFO Header ............................................................................................................................................ 38 
3  Maximum FIFO Storage ........................................................................................................................... 39 
4  FIFO Configuration Registers ................................................................................................................... 39 
Programmable Interrupts .................................................................................................................................. 41 
APEX Motion Functions ..................................................................................................................................... 42 
1  APEX ODR Support .................................................................................................................................. 42 
2  DMP Power Save Mode .......................................................................................................................... 43 
3  Pedometer Programming ........................................................................................................................ 43 
4  Tilt Detection Programming .................................................................................................................... 44 
5  Raise to Wake/Sleep Programming ........................................................................................................ 44 
6  Tap Detection Programming ................................................................................................................... 45 
7  Wake on Motion Programming ............................................................................................................... 46 
8  Significant Motion Detection Programming ........................................................................................... 46 
Digital Interface ................................................................................................................................................. 48 
1  I3C
SM
, I
2
C and SPI Serial Interfaces .......................................................................................................... 48 
2  I3C
SM
 Interface ........................................................................................................................................ 48 
3  I
2
C Interface ............................................................................................................................................. 48 
4  I
2
C Communications Protocol ................................................................................................................. 48 
5  I
2
C Terms ................................................................................................................................................. 50 
6  SPI Interface ............................................................................................................................................ 52 
Assembly ............................................................................................................................................................ 53 
1  Orientation of Axes ............................................................................................................................. 53 
2  Package Dimensions ........................................................................................................................... 54 
Part Number Package Marking .......................................................................................................................... 56 
Use Notes ........................................................................................................................................................... 57 
1  Accelerometer Mode Transitions ....................................................................................................... 57 

 
ICM-42688-P 
 
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Document Number: DS-000347 
Revision: 1.2 
 
 
2  Accelerometer Low Power (LP) Mode Averaging Filter Setting .......................................................... 57 
3  Settings for I
2
C, I3C
SM
, and SPI Operation ........................................................................................... 57 
4  Notch Filter and Anti-Alias Filter Operation ....................................................................................... 57 
5  External Clock Input Effect on ODR .................................................................................................... 57 
6  INT_ASYNC_RESET Configuration ....................................................................................................... 58 
7  FIFO Timestamp Interval Scaling......................................................................................................... 58 
8  Supplementary Information for FIFO_HOLD_LAST_DATA_EN ........................................................... 58 
Register Map ...................................................................................................................................................... 60 
1  User Bank 0 Register Map................................................................................................................... 60 
2  User Bank 1 Register Map................................................................................................................... 61 
3  User Bank 2 Register Map................................................................................................................... 62 
4  User Bank 4 Register Map................................................................................................................... 62 
User Bank 0 Register Map – Descriptions .......................................................................................................... 63 
1  DEVICE_CONFIG .................................................................................................................................. 63 
2  DRIVE_CONFIG .................................................................................................................................... 63 
3  INT_CONFIG ........................................................................................................................................ 64 
4  FIFO_CONFIG ...................................................................................................................................... 64 
5  TEMP_DATA1 ...................................................................................................................................... 64 
6  TEMP_DATA0 ...................................................................................................................................... 65 
7  ACCEL_DATA_X1 ................................................................................................................................. 65 
8  ACCEL_DATA_X0 ................................................................................................................................. 65 
9  ACCEL_DATA_Y1 ................................................................................................................................. 65 
10  ACCEL_DATA_Y0 ................................................................................................................................. 66 
11  ACCEL_DATA_Z1 ................................................................................................................................. 66 
12  ACCEL_DATA_Z0 ................................................................................................................................. 66 
13  GYRO_DATA_X1 .................................................................................................................................. 66 
14  GYRO_DATA_X0 .................................................................................................................................. 66 
15  GYRO_DATA_Y1 .................................................................................................................................. 67 
16  GYRO_DATA_Y0 .................................................................................................................................. 67 
17  GYRO_DATA_Z1 .................................................................................................................................. 67 
18  GYRO_DATA_Z0 .................................................................................................................................. 67 
19  TMST_FSYNCH .................................................................................................................................... 67 
20  TMST_FSYNCL ..................................................................................................................................... 68 
21  INT_STATUS ........................................................................................................................................ 68 
22  FIFO_COUNTH..................................................................................................................................... 68 
23  FIFO_COUNTL ..................................................................................................................................... 69 
24  FIFO_DATA .......................................................................................................................................... 69 
25  APEX_DATA0 ....................................................................................................................................... 69 
26  APEX_DATA1 ....................................................................................................................................... 69 
27  APEX_DATA2 ....................................................................................................................................... 70 

 
ICM-42688-P 
 
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Revision: 1.2 
 
 
28  APEX_DATA3 ....................................................................................................................................... 70 
29  APEX_DATA4 ....................................................................................................................................... 71 
30  APEX_DATA5 ....................................................................................................................................... 71 
31  INT_STATUS2 ...................................................................................................................................... 72 
32  INT_STATUS3 ...................................................................................................................................... 72 
33  SIGNAL_PATH_RESET .......................................................................................................................... 72 
34  INTF_CONFIG0 .................................................................................................................................... 73 
35  INTF_CONFIG1 .................................................................................................................................... 74 
36  PWR_MGMT0 ..................................................................................................................................... 75 
37  GYRO_CONFIG0 .................................................................................................................................. 76 
38  ACCEL_CONFIG0 ................................................................................................................................. 77 
39  GYRO_CONFIG1 .................................................................................................................................. 78 
40  GYRO_ACCEL_CONFIG0 ...................................................................................................................... 79 
41  ACCEL_CONFIG1 ................................................................................................................................. 80 
42  TMST_CONFIG .................................................................................................................................... 80 
43  APEX_CONFIG0 ................................................................................................................................... 81 
44  SMD_CONFIG ...................................................................................................................................... 81 
45  FIFO_CONFIG1 .................................................................................................................................... 82 
46  FIFO_CONFIG2 .................................................................................................................................... 82 
47  FIFO_CONFIG3 .................................................................................................................................... 82 
48  FSYNC_CONFIG ................................................................................................................................... 83 
49  INT_CONFIG0 ...................................................................................................................................... 83 
50  INT_CONFIG1 ...................................................................................................................................... 84 
51  INT_SOURCE0 ..................................................................................................................................... 84 
52  INT_SOURCE1 ..................................................................................................................................... 85 
53  INT_SOURCE3 ..................................................................................................................................... 85 
54  INT_SOURCE4 ..................................................................................................................................... 86 
55  FIFO_LOST_PKT0 ................................................................................................................................. 86 
56  FIFO_LOST_PKT1 ................................................................................................................................. 86 
57  SELF_TEST_CONFIG ............................................................................................................................. 87 
58  WHO_AM_I ......................................................................................................................................... 87 
59  REG_BANK_SEL ................................................................................................................................... 87 
User Bank 1 Register Map – Descriptions .......................................................................................................... 88 
1  SENSOR_CONFIG0 .............................................................................................................................. 88 
2  GYRO_CONFIG_STATIC2 ..................................................................................................................... 88 
3  GYRO_CONFIG_STATIC3 ..................................................................................................................... 88 
4  GYRO_CONFIG_STATIC4 ..................................................................................................................... 89 
5  GYRO_CONFIG_STATIC5 ..................................................................................................................... 89 
6  GYRO_CONFIG_STATIC6 ..................................................................................................................... 89 
7  GYRO_CONFIG_STATIC7 ..................................................................................................................... 89 