Register definitions#

Register bank 0.

Register bank 1.

Register bank 2.

Register bank 3.

Device ID register

User control register

DMP enable bit

FIFO enable bit

I2C master I/F enable bit

Disable I2C, enable SPI bit

DMP module reset bit

SRAM module reset bit

Low Power mode config register

I2C master cycle mode enable

Accelerometer cycle mode enable

Gyroscope cycle mode enable

Power Management 1 register

Device reset bit

Sleep mode enable bit

Low Power feature enable bit

Temperature sensor disable bit

Auto clock source selection setting

Power Management 2 register

Disable accelerometer

Disable gyroscope

Disable both accel and gyro

Interrupt Pin Configuration register

Active low setting bit

Open collector configuration bit

Latch enable bit

Interrupt Enable register

Wake-up On Motion enable bit

Interrupt Enable 1 register

Raw data ready interrupt enable bit

Interrupt Enable 2 register

FIFO overflow interrupt enable bit

Interrupt Enable 2 register

Interrupt Status register

Wake-up on motion interrupt occurred bit

PLL ready interrupt occurred bit

Interrupt Status 1 register

Raw data ready interrupt occurred bit

Interrupt Status 2 register

Accelerometer X-axis data high byte

Accelerometer X-axis data low byte

Accelerometer Y-axis data high byte

Accelerometer Y-axis data low byte

Accelerometer Z-axis data high byte

Accelerometer Z-axis data low byte

Gyroscope X-axis data high byte

Gyroscope X-axis data low byte

Gyroscope Y-axis data high byte

Gyroscope Y-axis data low byte

Gyroscope Z-axis data high byte

Gyroscope Z-axis data low byte

Temperature data high byte

Temperature data low byte

Temperature Configuration register

FIFO Enable 1 register

FIFO Enable 2 register

Enable writing acceleration data to FIFO bit

Enable writing gyroscope data to FIFO bit

FIFO Reset register

FIFO Mode register

FIFO data count high byte

FIFO data count low byte

FIFO Read/Write register

Data Ready Status register

Raw Data Ready bit

FIFO Configuration register

Interrupt status for each sensor is required

Interrupt status for only a single sensor is required

Acceleration sensor X-axis offset cancellation high byte

Acceleration sensor X-axis offset cancellation low byte

Acceleration sensor Y-axis offset cancellation high byte

Acceleration sensor Y-axis offset cancellation low byte

Acceleration sensor Z-axis offset cancellation high byte

Acceleration sensor Z-axis offset cancellation low byte

PLL Timebase Correction register

Gyroscope Sample Rate Divider register

Gyroscope Configuration 1 register

Gyro Digital Low-Pass Filter enable bit

Gyro Full Scale Select bit shift

Gyro DLPF Config bit shift

Gyro Full Scale Select bitmask

Gyro Bandwidth Select bitmask

Gyro Full Scale = 250 deg/sec

Gyro Full Scale = 500 deg/sec

Gyro Full Scale = 1000 deg/sec.

Gyro Full Scale = 2000 deg/sec.

Gyro Bandwidth = 12100 Hz.

Gyro Bandwidth = 360 Hz

Gyro Bandwidth = 200 Hz

Gyro Bandwidth = 150 Hz

Gyro Bandwidth = 120 Hz

Gyro Bandwidth = 51 Hz

Gyro Bandwidth = 24 Hz

Gyro Bandwidth = 12 Hz

Gyro Bandwidth = 6 Hz

Gyroscope Configuration 2 register

Gyroscope Self-Test Enable bits

Gyroscope sensor X-axis offset cancellation high byte

Gyroscope sensor X-axis offset cancellation low byte

Gyroscope sensor Y-axis offset cancellation high byte

Gyroscope sensor Y-axis offset cancellation low byte

Gyroscope sensor Z-axis offset cancellation high byte

Gyroscope sensor Z-axis offset cancellation low byte

Output Data Rate start time alignment

Acceleration Sensor Sample Rate Divider 1 register

Acceleration Sensor Sample Rate Divider 2 register

Accelerometer Hardware Intelligence Control register

Wake-up On Motion enable bit

WOM algorithm selection bit

Wake-up On Motion Threshold register

Accelerometer Configuration register

Accel Digital Low-Pass Filter enable bit

Accel Full Scale Select bit shift

Accel DLPF Config bit shift

Accel Full Scale Select bitmask

Accel Bandwidth Select bitmask

Accel Full Scale = 2 g

Accel Full Scale = 4 g

Accel Full Scale = 8 g

Accel Full Scale = 16 g.

Accel Bandwidth = 1210 Hz

Accel Bandwidth = 470 Hz

Accel Bandwidth = 246 Hz

Accel Bandwidth = 111 Hz

Accel Bandwidth = 50 Hz

Accel Bandwidth = 24 Hz

Accel Bandwidth = 12 Hz

Accel Bandwidth = 6 Hz

Accelerometer Configuration 2 register

Accelerometer Self-Test Enable bits

I2C Master Output Data Rate Configuration register

I2C Master Control register

Stop between reads enabling bit

I2C Master Delay Control register

I2C Slave0 Delay Enable bit

I2C Slave1 Delay Enable bit

I2C Slave2 Delay Enable bit

I2C Slave3 Delay Enable bit

I2C Slave0 Physical Address register

I2C Slave0 Register Address register

I2C Slave0 Control register

I2C Slave0 Data Out register

I2C Slave1 Physical Address register

I2C Slave1 Register Address register

I2C Slave1 Control register

I2C Slave1 Data Out register

I2C Slave2 Physical Address register

I2C Slave2 Register Address register

I2C Slave2 Control register

I2C Slave2 Data Out register

I2C Slave3 Physical Address register

I2C Slave3 Register Address register

I2C Slave3 Control register

I2C Slave3 Data Out register

I2C Slave4 Physical Address register

I2C Slave4 Register Address register

I2C Slave4 Control register

I2C Slave4 Data Out register

I2C Slave4 Data In register

I2C Slave Enable bit

I2C Slave Byte Swap enable bit

I2C Slave Do Not Write Register Value bit

I2C Slave Group bit

I2C Slave R/W bit

Bank Select register

ICM20648 Device ID value

ICM20948 Device ID value