ICM-20690
5
6
Programmable Interrupts .................................................................................................................................. 25
5.1 Wake-on-Motion Interrupt .....................................................................................................................26
Digital Interface ................................................................................................................................................. 27
6.1 I2C and SPI Serial Interfaces ....................................................................................................................27
6.2 I2C Interface.............................................................................................................................................27
6.3 I2C Communications Protocol .................................................................................................................28
6.4 I2C Terms .................................................................................................................................................30
6.5 SPI Interface ............................................................................................................................................31
Assembly............................................................................................................................................................ 32
7.1 Orientation of Axes .................................................................................................................................32
7.2 Package Dimensions................................................................................................................................33
Part Number Package Marking.......................................................................................................................... 35
Environmental Compliance................................................................................................................................ 36
Use Notes........................................................................................................................................................... 37
7
8
9
10
10.1
Valid Combinations Of UI And OIS Datapath Settings ........................................................................37
FIFO Watermark Threshold ................................................................................................................37
FIFO Watermark Interrupt..................................................................................................................37
Accelerometer-Only Low-Noise Mode ...............................................................................................37
Accelerometer Low-Power Mode.......................................................................................................38
Sensor Mode Change..........................................................................................................................38
Temp Sensor during Gyroscope Standby Mode .................................................................................38
Gyroscope Mode Change....................................................................................................................38
Power Management 1 Register Setting ..............................................................................................38
Unlisted Register Locations ................................................................................................................38
Clock Transition When Gyroscope is Turned Off ................................................................................38
Sleep Mode.........................................................................................................................................38
No special operation needed for FIFO read in low power mode........................................................38
Gyroscope Standby Procedure ...........................................................................................................39
10.2
10.3
10.4
10.5
10.6
10.7
10.8
10.9
10.10
10.11
10.12
10.13
10.14
11
12
Register Map...................................................................................................................................................... 40
11.1 Registers Specific To Secondary Interface In OIS Mode .....................................................................43
Register Descriptions ......................................................................................................................................... 44
12.1
12.2
12.3
12.4
12.5
12.6
12.7
12.8
12.9
Registers 0 to 2 – Gyroscope Self-Test Registers................................................................................44
Registers 13 to 15 – Accelerometer Self-Test Registers .....................................................................45
Register 19 – Gyro Offset Adjustment Register..................................................................................45
Register 20 – Gyro Offset Adjustment Register..................................................................................45
Registers 21 – Gyro Offset Adjustment Register ................................................................................46
Registers 22 – Gyro Offset Adjustment Register ................................................................................46
Registers 23 – Gyro Offset Adjustment Register ................................................................................46
Register 24 – Gyro Offset Adjustment Register..................................................................................46
Register 25 – Sample Rate Divider......................................................................................................47
Page 3 of 76
Document Number: DS-000178
Revision: 1.0
TDK [ TDK ELECTRONICS ]
