ICM-20602
4.6 THREE-AXIS MEMS GYROSCOPE WITH 16-BIT ADCS AND SIGNAL CONDITIONING
The ICM-20602 consists of three independent vibratory MEMS rate gyroscopes, which detect rotation about the X-, Y-, and Z- Axes.
When the gyros are rotated about any of the sense axes, the Coriolis Effect causes a vibration that is detected by a capacitive pickoff.
The resulting signal is amplified, demodulated, and filtered to produce a voltage that is proportional to the angular rate. This voltage
is digitized using individual on-chip 16-bit Analog-to-Digital Converters (ADCs) to sample each axis. The full-scale range of the gyro
sensors may be digitally programmed to ±250, ±500, ±1000, or ±2000 degrees per second (dps). The ADC sample rate is
programmable from 8,000 samples per second, down to 3.9 samples per second, and user-selectable low-pass filters enable a wide
range of cut-off frequencies.
4.7 THREE-AXIS MEMS ACCELEROMETER WITH 16-BIT ADCS AND SIGNAL CONDITIONING
The ICM-ꢈꢆꢉꢆꢈꢋs ꢕ-Axis accelerometer uses separate proof masses for each axis. Acceleration along a particular axis induces
displacement on the corresponding proof mass, and capacitive sensors detect the displacement differentially. The ICM-ꢈꢆꢉꢆꢈꢋs
aꢂꢃhiteꢃtuꢂe ꢂeduꢃes the aꢃꢃeleꢂoꢌeteꢂsꢋ susꢃeptiꢎilitꢑ to faꢎꢂiꢃatioꢁ ꢄaꢂiatioꢁs as ꢊell as to theꢂꢌal dꢂift. Wheꢁ the deꢄiꢃe is placed
on a flat surface, it will measure 0g on the X- and Y-axes and +1g on the Z-aꢀis. The aꢃꢃeleꢂoꢌeteꢂsꢋ sꢃale faꢃtoꢂ is ꢃaliꢎꢂated at the
factory and is nominally independent of supply voltage. Each sensor has a dedicated sigma-delta ADC for providing digital outputs.
The full scale range of the digital output can be adjusted to ±2g, ±4g, ±8g, or ±16g.
4.8 I2C AND SPI SERIAL COMMUNICATION INTERFACES
The ICM-20602 communicates to a system processor using either a SPI or an I2C serial interface. The ICM-20602 always acts as a
slave when communicating to the system processor. The LSB of the I2C slave address is set by pin 4 (SA0).
ICM-20602 Solution Using I2C Interface
In Figure 6, the system processor is an I2C master to the ICM-20602.
Interrupt
Status
Register
I2C Processor Bus: for reading all
sensor data from MPU
INT
ICM-20602
SA0
SCL
VDDIO or GND
Slave I2C
or SPI
Serial
SCL
SDA
System
Processor
SDA
Interface
FIFO
User & Config
Registers
Sensor
Register
Factory
Calibration
Bias & LDOs
VDD
GND
REGOUT
Figure 6. ICM-20602 Solution Using I2C Interface
Document Number: DS-000176
Revision: 1.0
Page 20 of 57
Revision Date: 10/03/2016
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