ICM-20602
5 PROGRAMMABLE INTERRUPTS
The ICM-20602 has a programmable interrupt system which can generate an interrupt signal on the INT and DRDY pins. Status flags
indicate the source of an interrupt. Interrupt sources may be enabled and disabled individually.
Interrupt Name
Motion Detection
FIFO Overflow
FIFO Watermark
Data Ready
Module
Motion
FIFO
FIFO
Sensor Registers
Table 12. Table of Interrupt Sources
For information regarding the interrupt enable/disable registers and flag registers, please refer to sections 11 and 12 of this
document. Some interrupt sources are explained below.
5.1 WAKE-ON-MOTION INTERRUPT
The ICM-20602 provides motion detection capability. A qualifying motion sample is one where the high passed sample from any axis
has an absolute value exceeding a user-programmable threshold. The following steps explain how to configure the Wake-on-Motion
Interrupt.
Step 1: Ensure that Accelerometer is running
In PWR_MGMT_1 register (0x6B) set CYCLE = 0, SLEEP = 0, and GYRO_STANDBY = 0
In PWR_MGMT_2 register (0x6C) set STBY_XA = STBY_YA = STBY_ZA = 0, and STBY_XG = STBY_YG = STBY_ZG = 1
Step 2: Accelerometer Configuration
In ACCEL_CONFIG2 register (0x1D) set ACCEL_FCHOICE_B = 1 and A_DLPF_CFG[2:0] = 1 (b001)
Step 3: Enable Motion Interrupt
In INT_ENABLE register (0x38) set WOM_X_INT_EN = WOM_Y_INT_EN = WOM_Z_INT_EN = 1 to enable motion interrupt for
X, Y, and Z axis
Step 4: Set Motion Threshold
Set the motion threshold for X-axis in ACCEL_WOM_X_THR register (0x20)
Set the motion threshold for Y-axis in ACCEL_WOM_Y_THR register (0x21)
Set the motion threshold for Z-axis in ACCEL_WOM_Z_THR register (0x22)
Step 5: Set Interrupt Mode
In ACCEL_INTEL_CTRL register (0x69) clear bit 0 (WOM_TH_MODE) to select the motion interrupt as an OR of the enabled
interrupts for X, Y, Z-axes and set bit 0 to make the interrupt an AND of the enabled interrupts for X, Y, Z axes
Step 6: Enable Accelerometer Hardware Intelligence
In ACCEL_INTEL_CTRL register (0x69) set ACCEL_INTEL_EN = ACCEL_INTEL_MODE = 1
Step 7: Set Frequency of Wake-Up
In SMPLRT_DIV register (0x19) set SMPLRT_DIV[7:0] = 3.9Hz – 500Hz
Step 8: Enable Cycle Mode (Accelerometer Low-Power Mode)
In PWR_MGMT_1 register (0x6B) set CYCLE = 1
Document Number: DS-000176
Revision: 1.0
Page 23 of 57
Revision Date: 10/03/2016
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