Datasheet · 2021

TDK InvenSense ICM-42688-P High Precision 6-Axis MEMS MotionTracking Device — Datasheet (DS-000347 rev 1.6)

The proposed carrier IMU for inertial aiming assist.

Author: TDK InvenSense
Year: 2021
Type: Datasheet
Credit: TDK (product.tdk.com)

imu
gyroscope
accelerometer

ICM-42688-P Datasheet High Precision 6-Axis MEMS MotionTrackingTM Device ICM-42688-P HIGHLIGHTS ICM-42688-P FEATURES The ICM-42688-P is a 6-axis MEMS MotionTracking device that combines a 3-axis gyroscope and a 3-axis accelerometer. It has a configurable host interface that supports I3CSM, I2C and SPI serial communication, features a 2 kB FIFO and 2 programmable interrupts with ultralow-power wake-on-motion support to minimize system power consumption. ICM-42688-P supports highly accurate external clock input, that helps to reduce system level sensitivity error, improve orientation measurement from gyroscope data, reduce ODR sensitivity to temperature and device to device variation. The device includes industry first 20-bits data format support in FIFO for high-data resolution. This FIFO format encapsulates 19-bits of gyroscope data and 18bits of accelerometer data. Other industry-leading features include InvenSense on-chip APEX Motion Processing engine for gesture recognition, activity classification, and pedometer, along with programmable digital filters, and an embedded temperature sensor. • Gyroscope Noise: 2.8 mdps/Hz & Accelerometer Noise: 70 µg/Hz o Low-Noise mode 6-axis current consumption of 0.88 mA • User selectable Gyro Full-scale range (dps): ± 15.6/31.2/62.5/125/250/500/1000/2000 • User selectable Accelerometer Full-scale range (g): ± 2/4/8/16 • User-programmable digital filters for gyro, accel, and temp sensor • APEX Motion Functions: o Pedometer, Tilt Detection, Tap Detection o Wake on Motion, Raise to Wake/Sleep, Significant Motion Detection • Host interface: 12.5 MHz I3CSM, 1 MHz I2C, 24 MHz SPI APPLICATIONS • • • • • • AR/VR Controllers Head Mounted Displays Wearables Sports Robotics IoT Applications The device supports a VDD operating range of 1.71V to 3.6V, and a separate digital IO supply, VDDIO from 1.71V to 3.6V. ORDERING INFORMATION BLOCK DIAGRAM PART TEMP RANGE ICM-42688-P† −40°C to +85°C PACKAGE 2.5x3mm 14-Pin LGA †Denotes RoHS and Green-Compliant Package TDK-INVENSENSE SENSORS FOR SMARTPHONE, MOBILE & IOT APPLICATIONS Parameter GYRO Noise (mdps/rt-Hz) GYRO Offset Temp Stability (mdps/°C) GYRO Range & Resolution ACCEL Noise (µg/rt-Hz) ACCEL Range & Resolution ODR & Sample Synch InvenSense Inc. reserves the right to change specifications and information herein without notice unless the product is in mass production and the datasheet has been designated by InvenSense in writing as subject to a specified Product / Process Change Notification Method regulation. ICM-40607 ICM-42605 ICM-42686-P ICM-42688-P Sensorhub Sensorhub Handheld Action HMD & Robotics 7 ±30 ±2000dps; 16-bits 110 ±16g; 16-bits 8kHz; No RTC 3.8 ±20 ±2000dps; 16-bits 70 ±16g; 16-bits 8kHz; No RTC 5.3 ±10 ±4000dps; 16/19-bits 70 ±32g; 16/18-bits 32kHz; RTC 2.8 ±5 ±2000dps; 16/19-bits AXY: 65; AZ: 70 ±16g; 16/18-bits 32kHz; RTC InvenSense, a TDK Group Company 1745 Technology Drive, San Jose, CA 95110 U.S.A +1(408) 988–7339 invensense.tdk.com Document Number: DS-000347 Revision: 1.6 Rev. Date: 06/20/2021 ICM-42688-P TABLE OF CONTENTS ICM-42688-P Highlights ....................................................................................................................................... 1 Block Diagram ...................................................................................................................................................... 1 ICM-42688-P Features ......................................................................................................................................... 1 Applications ......................................................................................................................................................... 1 Ordering Information ........................................................................................................................................... 1 TDK-Invensense Sensors for Smartphone, Mobile & IoT Applications ................................................................ 1 Table of Figures ............................................................................................................................................................... 8 Table of Tables ................................................................................................................................................................ 8 1 2 3 4 Introduction ......................................................................................................................................................... 9 1.1 Purpose and Scope .................................................................................................................................... 9 1.2 Product Overview...................................................................................................................................... 9 1.3 Applications............................................................................................................................................... 9 Features ............................................................................................................................................................. 10 2.1 Gyroscope Features ................................................................................................................................ 10 2.2 Accelerometer Features .......................................................................................................................... 10 2.3 Motion Features ...................................................................................................................................... 10 2.4 Additional Features ................................................................................................................................. 10 Electrical Characteristics .................................................................................................................................... 11 3.1 Gyroscope Specifications ........................................................................................................................ 11 3.2 Accelerometer Specifications.................................................................................................................. 12 3.3 Electrical Specifications ........................................................................................................................... 13 3.4 I2C Timing Characterization ..................................................................................................................... 15 3.5 SPI Timing Characterization – 4-Wire SPI Mode ..................................................................................... 16 3.6 SPI Timing Characterization – 3-Wire SPI Mode ..................................................................................... 17 3.7 RTC (CLKIN) Timing Characterization ...................................................................................................... 18 3.8 Absolute Maximum Ratings .................................................................................................................... 19 Applications Information ................................................................................................................................... 20 4.1 Pin Out Diagram and Signal Description ................................................................................................. 20 4.2 Typical Operating Circuit ......................................................................................................................... 21 4.3 Bill of Materials for External Components .............................................................................................. 22 4.4 System Block Diagram ............................................................................................................................. 23 4.5 Overview ................................................................................................................................................. 23 4.6 Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning ............................................... 23 4.7 Three-Axis MEMS Accelerometer with 16-bit ADCs and Signal Conditioning......................................... 23 4.8 I3CSM, I2C and SPI Host Interface ............................................................................................................. 23 4.9 Self-Test................................................................................................................................................... 23 4.10 Clocking............................................................................................................................................... 24 Page 2 of 110 Document Number: DS-000347 Revision: 1.6 ICM-42688-P 5 6 4.11 Sensor Data Registers ......................................................................................................................... 24 4.12 Interrupts ............................................................................................................................................ 24 4.13 Digital-Output Temperature Sensor ................................................................................................... 25 4.14 Bias and LDOs ..................................................................................................................................... 25 4.15 Charge Pump ...................................................................................................................................... 25 4.16 Standard Power Modes ...................................................................................................................... 25 Signal Path ......................................................................................................................................................... 26 5.1 Summary of Parameters Used to Configure the Signal Path .................................................................. 26 5.2 Notch Filter ............................................................................................................................................. 26 5.3 Anti-Alias Filter ........................................................................................................................................ 28 5.4 User Programmable Offset ..................................................................................................................... 30 5.5 UI Filter Block .......................................................................................................................................... 30 5.6 UI Path ODR And FSR Selection ............................................................................................................... 34 FIFO .................................................................................................................................................................... 37 6.1 Packet Structure ...................................................................................................................................... 37 6.2 FIFO Header ............................................................................................................................................ 39 6.3 Maximum FIFO Storage ........................................................................................................................... 40 6.4 FIFO Configuration Registers ................................................................................................................... 40 7 Programmable Interrupts .................................................................................................................................. 42 8 APEX Motion Functions ..................................................................................................................................... 43 9 10 8.1 APEX ODR Support .................................................................................................................................. 43 8.2 DMP Power Save Mode .......................................................................................................................... 44 8.3 Pedometer Programming ........................................................................................................................ 44 8.4 Tilt Detection Programming .................................................................................................................... 45 8.5 Raise to Wake/Sleep Programming ........................................................................................................ 45 8.6 Tap Detection Programming ................................................................................................................... 46 8.7 Wake on Motion Programming............................................................................................................... 47 8.8 Significant Motion Detection Programming ........................................................................................... 47 Digital Interface ................................................................................................................................................. 49 9.1 I3CSM, I2C and SPI Serial Interfaces .......................................................................................................... 49 9.2 I3CSM Interface ........................................................................................................................................ 49 9.3 I2C Interface............................................................................................................................................. 49 9.4 I2C Communications Protocol ................................................................................................................. 49 9.5 I2C Terms ................................................................................................................................................. 51 9.6 SPI Interface ............................................................................................................................................ 53 Assembly ............................................................................................................................................................ 54 10.1 Orientation of Axes ............................................................................................................................. 54 10.2 Package Dimensions ........................................................................................................................... 55 11 Part Number Package Marking .......................................................................................................................... 57 12 Use Notes ........................................................................................................................................................... 58 Page 3 of 110 Document Number: DS-000347 Revision: 1.6 ICM-42688-P 13 14 12.1 Accelerometer Mode Transitions ....................................................................................................... 58 12.2 Accelerometer Low Power (LP) Mode Averaging Filter Setting .......................................................... 58 12.3 Settings for I2C, I3CSM, and SPI Operation ........................................................................................... 58 12.4 Notch Filter and Anti-Alias Filter Operation ....................................................................................... 58 12.5 External Clock Input Effect on ODR .................................................................................................... 58 12.6 INT_ASYNC_RESET Configuration ....................................................................................................... 59 12.7 FIFO Timestamp Interval Scaling......................................................................................................... 59 12.8 Supplementary Information for FIFO_HOLD_LAST_DATA_EN ........................................................... 59 12.9 Register Values Modification .............................................................................................................. 60 Register Map ...................................................................................................................................................... 61 13.1 User Bank 0 Register Map................................................................................................................... 61 13.2 User Bank 1 Register Map................................................................................................................... 62 13.3 User Bank 2 Register Map................................................................................................................... 63 13.4 User Bank 4 Register Map................................................................................................................... 63 User Bank 0 Register Map – Descriptions .......................................................................................................... 64 14.1 DEVICE_CONFIG .................................................................................................................................. 64 14.2 DRIVE_CONFIG .................................................................................................................................... 64 14.3 INT_CONFIG ........................................................................................................................................ 65 14.4 FIFO_CONFIG ...................................................................................................................................... 65 14.5 TEMP_DATA1 ...................................................................................................................................... 65 14.6 TEMP_DATA0 ...................................................................................................................................... 66 14.7 ACCEL_DATA_X1 ................................................................................................................................. 66 14.8 ACCEL_DATA_X0 ................................................................................................................................. 66 14.9 ACCEL_DATA_Y1 ................................................................................................................................. 66 14.10 ACCEL_DATA_Y0 ................................................................................................................................. 67 14.11 ACCEL_DATA_Z1 ................................................................................................................................. 67 14.12 ACCEL_DATA_Z0 ................................................................................................................................. 67 14.13 GYRO_DATA_X1 .................................................................................................................................. 67 14.14 GYRO_DATA_X0 .................................................................................................................................. 67 14.15 GYRO_DATA_Y1 .................................................................................................................................. 68 14.16 GYRO_DATA_Y0 .................................................................................................................................. 68 14.17 GYRO_DATA_Z1 .................................................................................................................................. 68 14.18 GYRO_DATA_Z0 .................................................................................................................................. 68 14.19 TMST_FSYNCH .................................................................................................................................... 68 14.20 TMST_FSYNCL ..................................................................................................................................... 69 14.21 INT_STATUS ........................................................................................................................................ 69 14.22 FIFO_COUNTH..................................................................................................................................... 69 14.23 FIFO_COUNTL ..................................................................................................................................... 70 14.24 FIFO_DATA .......................................................................................................................................... 70 14.25 APEX_DATA0 ....................................................................................................................................... 70 Page 4 of 110 Document Number: DS-000347 Revision: 1.6 ICM-42688-P 15 14.26 APEX_DATA1 ....................................................................................................................................... 70 14.27 APEX_DATA2 ....................................................................................................................................... 71 14.28 APEX_DATA3 ....................................................................................................................................... 71 14.29 APEX_DATA4 ....................................................................................................................................... 72 14.30 APEX_DATA5 ....................................................................................................................................... 72 14.31 INT_STATUS2 ...................................................................................................................................... 73 14.32 INT_STATUS3 ...................................................................................................................................... 73 14.33 SIGNAL_PATH_RESET .......................................................................................................................... 73 14.34 INTF_CONFIG0 .................................................................................................................................... 74 14.35 INTF_CONFIG1 .................................................................................................................................... 75 14.36 PWR_MGMT0 ..................................................................................................................................... 76 14.37 GYRO_CONFIG0 .................................................................................................................................. 77 14.38 ACCEL_CONFIG0 ................................................................................................................................. 78 14.39 GYRO_CONFIG1 .................................................................................................................................. 79 14.40 GYRO_ACCEL_CONFIG0 ...................................................................................................................... 80 14.41 ACCEL_CONFIG1 ................................................................................................................................. 81 14.42 TMST_CONFIG .................................................................................................................................... 81 14.43 APEX_CONFIG0 ................................................................................................................................... 82 14.44 SMD_CONFIG ...................................................................................................................................... 82 14.45 FIFO_CONFIG1 .................................................................................................................................... 83 14.46 FIFO_CONFIG2 .................................................................................................................................... 83 14.47 FIFO_CONFIG3 .................................................................................................................................... 83 14.48 FSYNC_CONFIG ................................................................................................................................... 84 14.49 INT_CONFIG0 ...................................................................................................................................... 84 14.50 INT_CONFIG1 ...................................................................................................................................... 85 14.51 INT_SOURCE0 ..................................................................................................................................... 85 14.52 INT_SOURCE1 ..................................................................................................................................... 86 14.53 INT_SOURCE3 ..................................................................................................................................... 86 14.54 INT_SOURCE4 ..................................................................................................................................... 87 14.55 FIFO_LOST_PKT0 ................................................................................................................................. 87 14.56 FIFO_LOST_PKT1 ................................................................................................................................. 87 14.57 SELF_TEST_CONFIG............................................................................................................................. 88 14.58 WHO_AM_I ......................................................................................................................................... 88 14.59 REG_BANK_SEL ................................................................................................................................... 88 User Bank 1 Register Map – Descriptions .......................................................................................................... 89 15.1 SENSOR_CONFIG0 .............................................................................................................................. 89 15.2 GYRO_CONFIG_STATIC2 ..................................................................................................................... 89 15.3 GYRO_CONFIG_STATIC3 ..................................................................................................................... 89 15.4 GYRO_CONFIG_STATIC4 ..................................................................................................................... 90 15.5 GYRO_CONFIG_STATIC5 ..................................................................................................................... 90 Page 5 of 110 Document Number: DS-000347 Revision: 1.6 ICM-42688-P 16 17 15.6 GYRO_CONFIG_STATIC6 ..................................................................................................................... 90 15.7 GYRO_CONFIG_STATIC7 ..................................................................................................................... 90 15.8 GYRO_CONFIG_STATIC8 ..................................................................................................................... 91 15.9 GYRO_CONFIG_STATIC9 ..................................................................................................................... 91 15.10 GYRO_CONFIG_STATIC10 ................................................................................................................... 91 15.11 XG_ST_DATA ....................................................................................................................................... 92 15.12 YG_ST_DATA ....................................................................................................................................... 92 15.13 ZG_ST_DATA ....................................................................................................................................... 92 15.14 TMSTVAL0 ........................................................................................................................................... 92 15.15 TMSTVAL1 ........................................................................................................................................... 93 15.16 TMSTVAL2 ........................................................................................................................................... 93 15.17 INTF_CONFIG4 .................................................................................................................................... 93 15.18 INTF_CONFIG5 .................................................................................................................................... 94 15.19 INTF_CONFIG6 .................................................................................................................................... 94 User Bank 2 Register Map – Descriptions .......................................................................................................... 95 16.1 ACCEL_CONFIG_STATIC2 .................................................................................................................... 95 16.2 ACCEL_CONFIG_STATIC3 .................................................................................................................... 95 16.3 ACCEL_CONFIG_STATIC4 .................................................................................................................... 95 16.4 XA_ST_DATA ....................................................................................................................................... 95 16.5 YA_ST_DATA ....................................................................................................................................... 96 16.6 ZA_ST_DATA ....................................................................................................................................... 96 User Bank 4 Register Map – Descriptions .......................................................................................................... 97 17.1 APEX_CONFIG1 ................................................................................................................................... 97 17.2 APEX_CONFIG2 ................................................................................................................................... 98 17.3 APEX_CONFIG3 ................................................................................................................................... 99 17.4 APEX_CONFIG4 ................................................................................................................................. 100 17.5 APEX_CONFIG5 ................................................................................................................................. 100 17.6 APEX_CONFIG6 ................................................................................................................................. 101 17.7 APEX_CONFIG7 ................................................................................................................................. 101 17.8 APEX_CONFIG8 ................................................................................................................................. 101 17.9 APEX_CONFIG9 ................................................................................................................................. 102 17.10 ACCEL_WOM_X_THR ........................................................................................................................ 102 17.11 ACCEL_WOM_Y_THR ........................................................................................................................ 102 17.12 ACCEL_WOM_Z_THR ........................................................................................................................ 102 17.13 INT_SOURCE6 ................................................................................................................................... 103 17.14 INT_SOURCE7 ................................................................................................................................... 103 17.15 INT_SOURCE8 ................................................................................................................................... 104 17.16 INT_SOURCE9 ................................................................................................................................... 104 17.17 INT_SOURCE10 ................................................................................................................................. 105 17.18 OFFSET_USER0 .................................................................................................................................. 105 Page 6 of 110 Document Number: DS-000347 Revision: 1.6 ICM-42688-P 17.19 OFFSET_USER1 .................................................................................................................................. 105 17.20 OFFSET_USER2 .................................................................................................................................. 106 17.21 OFFSET_USER3 .................................................................................................................................. 106 17.22 OFFSET_USER4 .................................................................................................................................. 106 17.23 OFFSET_USER5 .................................................................................................................................. 106 17.24 OFFSET_USER6 .................................................................................................................................. 107 17.25 OFFSET_USER7 .................................................................................................................................. 107 17.26 OFFSET_USER8 .................................................................................................................................. 107 18 Reference ......................................................................................................................................................... 108 19 Document Information .................................................................................................................................... 109 19.1 Revision History ................................................................................................................................ 109 Page 7 of 110 Document Number: DS-000347 Revision: 1.6 ICM-42688-P TABLE OF FIGURES Figure 1. I2C Bus Timing Diagram ........................................................................................................................................ 15 Figure 2. 4-Wire SPI Bus Timing Diagram ............................................................................................................................ 16 Figure 3. 3-Wire SPI Bus Timing Diagram ............................................................................................................................ 17 Figure 4. RTC Timing Diagram ............................................................................................................................................. 18 Figure 5. Pin Out Diagram for ICM-42688-P 2.5x3.0x0.91 mm LGA.................................................................................... 20 Figure 6. ICM-42688-P Application Schematic (I3CSM / I2C Interface to Host) ..................................................................... 21 Figure 7. ICM-42688-P Application Schematic (SPI Interface to Host) ................................................................................ 21 Figure 8. ICM-42688-P System Block Diagram .................................................................................................................... 23 Figure 9. ICM-42688-P Signal Path ...................................................................................................................................... 26 Figure 10. FIFO Packet Structure ......................................................................................................................................... 37 Figure 11. Maximum FIFO Storage ...................................................................................................................................... 40 Figure 12. START and STOP Conditions ............................................................................................................................. 50 Figure 13. Acknowledge on the I2C Bus ............................................................................................................................... 50 Figure 14. Complete I2C Data Transfer ................................................................................................................................. 51 Figure 15. Typical SPI Master/Slave Configuration .............................................................................................................. 53 Figure 16. Orientation of Axes of Sensitivity and Polarity of Rotation .................................................................................. 54 TABLE OF TABLES Table 1. Gyroscope Specifications ....................................................................................................................................... 11 Table 2. Accelerometer Specifications .................................................................................................................................. 12 Table 3. D.C. Electrical Characteristics ................................................................................................................................ 13 Table 4. A.C. Electrical Characteristics ................................................................................................................................. 14 Table 5. I2C Timing Characteristics ....................................................................................................................................... 15 Table 6. 4-Wire SPI Timing Characteristics (24-MHz Operation) ......................................................................................... 16 Table 7. 3-Wire SPI Timing Characteristics (24-MHz Operation) ......................................................................................... 17 Table 8. RTC Timing Characteristics .................................................................................................................................... 18 Table 9. Absolute Maximum Ratings ...................................................................................................................