Data Sheet
ICM-20948
Document Number: DS-000189 Page 77 of 89
Revision: 1.3
12 REGISTER MAP FOR MAGNETOMETER
The register map for the ICM-20948’s Magnetometer (AK09916) section is listed below.
NAME ADDRESS READ/WRITE DESCRIPTION BIT WIDTH EXPLANATION
WIA2
01H
READ
Device ID
8
ST1
10H
READ
Status 1
8
Data status
HXL
11H
READ Measurement data
8
X-axis data
HXH 12H 8
HYL
13H
8
Y-axis data
HYH
14H
8
HZL
15H
8
Z-axis data
HZH
16H
8
ST2
18H
READ
Status 2
8
Data status
CNTL2
31H
READ/ WRITE
Control 2
8
Control Settings
CNTL3
32H
READ/ WRITE
Control 3
8
Control Settings
TS1
33H
READ/ WRITE
Test
8
DO NOT ACCESS
TS2
34H
READ/ WRITE
Test
8
DO NOT ACCESS
Table 20. Register Table for Magnetometer
Addresses 00h to 18h, 30h to 32h are compliant with automatic increment function of serial interface respectively. In
other modes, read data is not correct. When the address is in 00h to 18h, the address is incremented 00h 01h
02h 03h 10h 11h ... 18h, and the address goes back to 00h after 18h. When the address is in
30h to 32h, the address goes back to 30h after 32h.
12.1 REGISTER MAP DESCRIPTION
ADDR REGISTER NAME D7 D6 D5 D4 D3 D2 D1 D0
READ-ONLY REGISTER
01H
WIA2
0
0
0
0
1
0
0
1
10H
ST1
0
0
0
0
0
0
DOR
DRDY
11H
HXL
HX7
HX6
HX5
HX4
HX3
HX2
HX1
HX0
12H
HXH
HX15
HX14
HX13
HX12
HX11
HX10
HX9
HX8
13H
HYL
HY7
HY6
HY5
HY4
HY3
HY2
HY1
HY0
14H
HYH
HY15
HY14
HY13
HY12
HY11
HY10
HY9
HY8
15H
HZL
HZ7
HZ6
HZ5
HZ4
HZ3
HZ2
HZ1
HZ0
16H
HZH
HZ15
HZ14
HZ13
HZ12
HZ11
HZ10
HZ9
HZ8
18H
ST2
0
RSV30
RSV29
RSV28
HOFL
0
0
0
WRITE/READ REGISTER
31H
CNTL2
0
0
0
MODE4
MODE3
MODE2
MODE1
MODE0
32H
CNTL3
0
0
0
0
0
0
0
SRST
33H
TS1
-
-
-
-
-
-
-
-
34H
TS2
-
-
-
-
-
-
-
-
Table 21. Register Map for Magnetometer
When VDD is turned ON, POR function works and all registers of AK09916 are initialized.
TS1 and TS2 are test registers for shipment test. Do not access these registers.