Data Sheet

ICM-20948
Document Number: DS-000189 Page 3 of 89
Revision: 1.3
4.16 FIFO ................................................................................................................................................................... 25
4.17 FSYNC ................................................................................................................................................................ 25
4.18 INTERRUPTS .......................................................................................................................................................... 25
4.19 DIGITAL-OUTPUT TEMPERATURE SENSOR ................................................................................................................... 26
4.20 BIAS AND LDOS .................................................................................................................................................... 26
4.21 CHARGE PUMP ...................................................................................................................................................... 26
4.22 POWER MODES..................................................................................................................................................... 26
5 PROGRAMMABLE INTERRUPTS .......................................................................................................................... 27
6 DIGITAL INTERFACE ............................................................................................................................................ 28
6.1 I
2
C AND SPI SERIAL INTERFACES ............................................................................................................................... 28
6.2 I
2
C INTERFACE ...................................................................................................................................................... 28
6.3 I
2
C COMMUNICATIONS PROTOCOL ........................................................................................................................... 28
6.4 I
2
C TERMS ........................................................................................................................................................... 30
6.5 SPI INTERFACE ...................................................................................................................................................... 31
7 REGISTER MAP FOR GYROSCOPE AND ACCELEROMETER ................................................................................... 32
7.1 USER BANK 0 REGISTER MAP .................................................................................................................................. 32
7.2 USER BANK 1 REGISTER MAP .................................................................................................................................. 33
7.3 USER BANK 2 REGISTER MAP .................................................................................................................................. 34
7.4 USER BANK 3 REGISTER MAP .................................................................................................................................. 34
8 USER BANK 0 REGISTER DESCRIPTIONS .............................................................................................................. 36
8.1 WHO_AM_I ....................................................................................................................................................... 36
8.2 USER_CTRL ........................................................................................................................................................ 36
8.3 LP_CONFIG ........................................................................................................................................................ 37
8.4 PWR_MGMT_1 ................................................................................................................................................. 37
8.5 PWR_MGMT_2 ................................................................................................................................................. 38
8.6 INT_PIN_CFG .................................................................................................................................................... 38
8.7 INT_ENABLE ...................................................................................................................................................... 39
8.8 INT_ENABLE_1 .................................................................................................................................................. 39
8.9 INT_ENABLE_2 .................................................................................................................................................. 39
8.10 INT_ENABLE_3 .................................................................................................................................................. 40
8.11 I2C_MST_STATUS ............................................................................................................................................. 40
8.12 INT_STATUS ...................................................................................................................................................... 40
8.13 INT_STATUS_1 .................................................................................................................................................. 41
8.14 INT_STATUS_2 .................................................................................................................................................. 41
8.15 INT_STATUS_3 .................................................................................................................................................. 41
8.16 DELAY_TIMEH ................................................................................................................................................... 41
8.17 DELAY_TIMEL .................................................................................................................................................... 42
8.18 ACCEL_XOUT_H ................................................................................................................................................ 42
8.19 ACCEL_XOUT_L ................................................................................................................................................. 42
8.20 ACCEL_YOUT_H ................................................................................................................................................ 42
8.21 ACCEL_YOUT_L ................................................................................................................................................. 43
8.22 ACCEL_ZOUT_H ................................................................................................................................................ 43
8.23 ACCEL_ZOUT_L ................................................................................................................................................. 43
8.24 GYRO_XOUT_H ................................................................................................................................................. 43
8.25 GYRO_XOUT_L .................................................................................................................................................. 44
8.26 GYRO_YOUT_H ................................................................................................................................................. 44
8.27 GYRO_YOUT_L .................................................................................................................................................. 44
8.28 GYRO_ZOUT_H ................................................................................................................................................. 44