ICM-20690
11 REGISTER MAP
The following table lists the register map for the ICM-20690. Note that all registers are accessible in all modes of device operation.
Addr
(Hex)
Addr
(Dec.)
Serial
I/F
Register Name
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
READ/
WRITE
00
01
02
0D
00
01
02
13
SELF_TEST_X_GYRO
XG_ST_DATA[7:0]
READ/
WRITE
SELF_TEST_Y_GYRO
SELF_TEST_Z_GYRO
SELF_TEST_X_ACCEL
YG_ST_DATA[7:0]
ZG_ST_DATA[7:0]
XA_ST_DATA[7:0]
READ/
WRITE
READ/
WRITE
READ/
WRITE
0E
0F
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
20
21
22
23
24
25
26
27
28
29
2A
2B
14
15
19
20
21
22
23
24
25
26
27
28
29
30
32
33
34
35
36
37
38
39
40
41
42
43
SELF_TEST_Y_ACCEL
SELF_TEST_Z_ACCEL
XG_OFFS_USRH
XG_OFFS_USRL
YG_OFFS_USRH
YG_OFFS_USRL
ZG_OFFS_USRH
ZG_OFFS_USRL
SMPLRT_DIV
YA_ST_DATA[7:0]
ZA_ST_DATA[7:0]
X_OFFS_USR [15:8]
X_OFFS_USR [7:0]
Y_OFFS_USR [15:8]
Y_OFFS_USR [7:0]
Z_OFFS_USR [15:8]
Z_OFFS_USR [7:0]
SMPLRT_DIV[7:0]
READ/
WRITE
READ/
WRITE
READ/
WRITE
READ/
WRITE
READ/
WRITE
READ/
WRITE
READ/
WRITE
READ/
WRITE
READ/
WRITE
FIFO_
MODE
CONFIG
-
EXT_SYNC_SET[2:0]
DLPF_CFG[2:0]
READ/
WRITE
GYRO_CONFIG
ACCEL_CONFIG
ACCEL_CONFIG 2
LP_MODE_CONFIG
ACCEL_WOM_X_THR
ACCEL_WOM_Y_THR
ACCEL_WOM_Z_THR
FIFO_EN
XG_ST
XA_ST
YG_ST
YA_ST
ZG_ST
ZA_ST
FS_SEL [2:0]
FCHOICE_B[1:0]
READ/
WRITE
AFS_SEL[1:0]
-
AFS_SEL_OIS[1:0]
READ/
WRITE
ACCEL_FC
HOICE_B
FIFO_SIZE
DEC2_CFG
A_DLPF_CFG
READ/
WRITE
GYRO_CYCL
E
GYRO_AVGCFG[2:0]
-
READ/
WRITE
WOM_X_TH[7:0]
READ/
WRITE
WOM_Y_TH[7:0]
WOM_Z_TH[7:0]
READ/
WRITE
READ/
WRITE
ACCEL_XY
Z_OUT
TEMP_OUT
GYRO_XOUT
GYRO_YOUT
GYRO_ZOUT
-
READ/
WRITE
MULT_MST
_EN
I2C_MST_P_N
SR
I2C_MST_CTRL
I2C_SLV0_ADDR
I2C_SLV0_REG
-
I2C_MST_CLK[3:0]
READ/
WRITE
I2C_SLV0_R
NW
I2C_ID_0[6:0]
READ/
WRITE
I2C_SLV0_REG[7:0]
READ/
WRITE
I2C_SLV0_E
N
I2C_SLV0_BY
TE_SW
I2C_SLV0_RE
G_DIS
I2C_SLV0_GR
P
I2C_SLV0_CTRL
I2C_SLV1_ADDR
I2C_SLV1_REG
I2C_SLV0_LENG[3:0]
I2C_SLV1_LENG[3:0]
READ/
WRITE
I2C_SLV1_R
NW
I2C_ID_1[6:0]
READ/
WRITE
I2C_SLV1_REG[7:0]
READ/
WRITE
I2C_SLV1_E
N
I2C_SLV1_BY
TE_SW
I2C_SLV1_RE
G_DIS
I2C_SLV1_GR
P
I2C_SLV1_CTRL
I2C_SLV2_ADDR
READ/
WRITE
I2C_SLV2_R
NW
I2C_ID_2[6:0]
Page 40 of 76
Document Number: DS-000178
Revision: 1.0
TDK [ TDK ELECTRONICS ]
