ICM-20602
9.8 REGISTERS 13 TO 15 ACCELEROMETER SELF-TEST REGISTERS
Register Name: SELF_TEST_X_ACCEL, SELF_TEST_Y_ACCEL, SELF_TEST_Z_ACCEL
Type: READ/WRITE
Register Address: 13, 14, 15 (Decimal); 0D, 0E, 0F (Hex)
REGISTER
BIT
NAME
FUNCTION
The value in this register indicates the self-test output generated
during manufacturing tests. This value is to be used to check
against subsequent self-test outputs performed by the end user.
SELF_TEST_X_ACCEL [7:0] XA_ST_DATA[7:0]
SELF_TEST_Y_ACCEL [7:0] YA_ST_DATA[7:0]
SELF_TEST_Z_ACCEL [7:0] ZA_ST_DATA[7:0]
The value in this register indicates the self-test output generated
during manufacturing tests. This value is to be used to check
against subsequent self-test outputs performed by the end user.
The value in this register indicates the self-test output generated
during manufacturing tests. This value is to be used to check
against subsequent self-test outputs performed by the end user.
The equation to convert self-test codes in OTP to factory self-test measurement is:
ST _OTP (2620/2FS )*1.01(ST _code1) (lsb)
where ST_OTP is the value that is stored in OTP of the device, FS is the Full Scale value, and ST_code is based on the Self-Test value
ꢒ“T_ FACꢓ deteꢂꢌiꢁed iꢁ Iꢁꢄeꢁ“eꢁseꢋs faꢃtoꢂꢑ fiꢁal test aꢁd ꢃalꢃulated ꢎased oꢁ the folloꢊiꢁg eꢔuatioꢁ:
log(ST _ FAC /(2620/2FS ))
ST _ code round(
) 1
log(1.01)
9.9 REGISTER 19 – X-GYRO OFFSET ADJUSTMENT REGISTER: HIGH BYTE
Register Name: XG_OFFS_USRH
Register Type: READ/WRITE
Register Address: 19 (Decimal); 13 (Hex)
BIT
NAME
FUNCTION
Bits 15 to 8 of the 16-bit offset of X gyroscope (2ꢋs complement). This register is used to
remove DC bias from the sensor output. The value in this register is added to the
gyroscope sensor value before going into the sensor register.
[7:0]
X_OFFS_USR[15:8]
9.10 REGISTER 20 – X-GYRO OFFSET ADJUSTMENT REGISTER: LOW BYTE
Register Name: XG_OFFS_USRL
Register Type: READ/WRITE
Register Address: 20 (Decimal); 14 (Hex)
BIT
NAME
FUNCTION
Bits 7 to 0 of the 16-bit offset of X gyroscope (2ꢋs complement). This register is used to
remove DC bias from the sensor output. The value in this register is added to the
gyroscope sensor value before going into the sensor register.
[7:0]
X_OFFS_USR[7:0]
Document Number: DS-000176
Revision: 1.0
Page 34 of 57
Revision Date: 10/03/2016
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