ICM-20690
12.2 REGISTERS 13 TO 15 – ACCELEROMETER SELF-TEST REGISTERS
Register Name: SELF_TEST_X_ACCEL, SELF_TEST_Y_ACCEL, SELF_TEST_Z_ACCEL
Register Type: READ/WRITE
Register Address: 13, 14, 15 (Decimal); 0D, OE, OF (Hex)
REGISTER
BITS
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]
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.
SELF_TEST_Y_ACCEL
SELF_TEST_Z_ACCEL
[7:0]
[7:0]
YA_ST_DATA[7:0]
ZA_ST_DATA[7:0]
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
(ST_ FAC) determined in InvenSense’s factory final test and calculated based on the following equation:
log(ST _ FAC /(2620/2FS ))
ST _ code round(
) 1
log(1.01)
12.3 REGISTER 19 – GYRO OFFSET ADJUSTMENT REGISTER
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 (2’s 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]
12.4 REGISTER 20 – GYRO OFFSET ADJUSTMENT REGISTER
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 (2’s 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]
Page 45 of 76
Document Number: DS-000178
Revision: 1.0
TDK [ TDK ELECTRONICS ]
