ICM-20602
ICM-20602 Solution Using SPI Interface
In the figure below, the system processor is an SPI master to the ICM-20602. Pins 2, 3, 4, and 5 are used to support the SPC, SDI,
SDO, and CS signals for SPI communications.
Processor SPI Bus: for reading all
data from MPU and for configuring
MPU
Interrupt
Status
Register
INT
nCS
CS
ICM-20602
SDO
SDI
System
Processor
Slave SPI
Serial
Interface
SPC
SDI
SPC
SDO
FIFO
Config
Register
Sensor
Register
Factory
Calibration
Bias & LDOs
VDD
GND
REGOUT
Figure 7. ICM-20602 Solution Using SPI Interface
4.9 SELF-TEST
Self-test allows for the testing of the mechanical and electrical portions of the sensors. The self-test for each measurement axis can
be activated by means of the gyroscope and accelerometer self-test registers (registers 27 and 28).
When the self-test is activated, the electronics cause the sensors to be actuated and produce an output signal. The output signal is
used to observe the self-test response.
The self-test response is defined as follows:
SELF-TEST RESPONSE = SENSOR OUTPUT WITH SELF-TEST ENABLED – SENSOR OUTPUT WITH SELF-TEST DISABLED
The self-test response for each gyroscope axis is defined in the gyroscope specification table, while that for each accelerometer axis
is defined in the accelerometer specification table.
When the value of the self-test response is within the specified min/max limits of the product specification, the part has passed self-
test. When the self-test response exceeds the min/max values, the part is deemed to have failed self-test.
For further information on Self-Test please refer to sections 8 and 9 of this document.
4.10 CLOCKING
The ICM-20602 has a flexible clocking scheme, allowing a variety of internal clock sources to be used for the internal synchronous
circuitry. This synchronous circuitry includes the signal conditioning and ADCs, and various control circuits and registers. An on-chip
PLL provides flexibility in the allowable inputs for generating this clock.
Allowable internal sources for generating the internal clock are:
a) An internal relaxation oscillator
b) Auto-select between internal relaxation oscillator and gyroscope MEMS oscillator to use the best available source
The only setting supporting specified performance in all modes is option b). It is recommended that option b) be used.
4.11 SENSOR DATA REGISTERS
The sensor data registers contain the latest gyroscope, accelerometer, and temperature measurement data. They are read-only
registers, and are accessed via the serial interface. Data from these registers may be read anytime.
Document Number: DS-000176
Revision: 1.0
Page 21 of 57
Revision Date: 10/03/2016
TDK [ TDK ELECTRONICS ]
