ICM-40609-D
A TDK SmartMotion™ Solution Designed for Drone Market
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.
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-000330
Revision: 1.2
Rev. Date: 06/07/2022
GENERAL DESCRIPTION
The ICM-40609-D is a 6-axis MEMS MotionTracking
™
device that combines a 3-axis gyroscope and a 3-axis
accelerometer designed for the drone market. The
ICM-40609-D is form factor compatible with our
legacy drone devices – making the transition to the
latest offering incredibly simple.
The ICM-40609-D takes advantage of a state-of-the-
art architecture design that enhances the IMU’s
performance and accuracy over temperature,
making it the ideal drone solution to control the
stability of the platform during long flight times that
may experience high temperature shifts.
The ICM-40609-D has a max ODR of 32 KHz, making
it the best sampling rate available in a consumer
device. The ability to capture data at such a high
ODR allows for customers to easily find any
anomalies or errors that need to be addressed
during flight. The accel Full Scale Range has also
been increased to 32g, allowing for substantial linear
movement to be easily tracked.
Other industry-leading features include on-chip 16-
bit ADCs, programmable digital filters, an embedded
temperature sensor, and programmable interrupts.
The device features I
2
C and SPI serial interfaces, a
VDD operating range of 1.71V to 3.6V, and a
separate VDDIO operating range of 1.71V to 3.6V.
FEATURES
• Gyro Noise: 4.5mdps/√Hz
• Gyro Offset Stability TC: ±10mdps/C
• Gyro Sensitivity Error: ±0.5%
• Gyro Sensitivity/temp: ±0.045%/C
• Accel Noise: 100μg/√Hz
• Accel Offset Stability TC: ±0.15mg/C
• Accel Sensitivity Error: ±0.5%
• Accel Sensitivity/temp: ±0.007%/C
• Gyro + Accel Combo current: 0.77mA
• Extended Accel Full Scale Range: 32g
• Improved ODR Latency: 32KHz
Custom architecture for Improved Thermal
Gradient Behavior
• Best-in-class accuracy over temperature
Increased ODR/FSR for max data collection
• 32g Accel Full Scale Range
• 32 KHz ODR Sample Rate
Form Factor Compatible with Legacy Products
• Easily transition from ICM-20602 and MPU-6500
• Only minor pinout changes required
APPLICATIONS
• Drones, Flight Controller
PART NUMBER
PACKAGE SIZE
TARGET MARKETS
ODR & SAMPLE SYNCH
STATUS
MPU-6500 3x3x0.9mm 24-pin QFN Various ±2000dps/16g
G: 8KHz/ A: 4KHz
16-bit
NR/ND
ICM-20602 3x3x0.75mm 16-pin LGA Various ±2000dps/16g
G: 8KHz/ A: 4KHz
16-bit
NR/ND
ICM-42688-P 2.5x3 14mm-pin LGA Robotics/HMD/IoT/Drones ±2000dps/16g
32KHz
G: 19-bit / A: 18-bit
Active
ICM-40609-D 3x3x0.91mm 24-pin LGA
Enhanced Drone
Performance
±2000dps/32g
32KHz
16-bit
2H 2022
ICM-40609-D
Page 2 of 86
Document Number: DS-000330
Revision: 1.2
TABLE OF CONTENTS
General Description ............................................................................................................................................ 1
Features .............................................................................................................................................................. 1
Applications ........................................................................................................................................................ 1
1 Introduction ........................................................................................................................................................ 8
1.1 Purpose and Scope .................................................................................................................................. 8
1.2 Product Overview .................................................................................................................................... 8
1.3 Applications ............................................................................................................................................. 8
2 Features .............................................................................................................................................................. 9
2.1 Gyroscope Features ................................................................................................................................. 9
2.2 Accelerometer Features .......................................................................................................................... 9
2.3 Additional Features .................................................................................................................................. 9
3 Electrical Characteristics ................................................................................................................................... 10
3.1 Gyroscope Specifications ....................................................................................................................... 10
3.2 Accelerometer Specifications ................................................................................................................ 11
3.3 Electrical Specifications ......................................................................................................................... 12
3.4 I
2
C Timing Characterization ................................................................................................................... 14
3.5 SPI Timing Characterization – 4-Wire SPI Mode .................................................................................... 15
3.6 SPI Timing Characterization – 3-Wire SPI Mode .................................................................................... 16
3.7 Absolute Maximum Ratings ................................................................................................................... 17
4 Applications Information .................................................................................................................................. 18
4.1 Pin Out Diagram and Signal Description ................................................................................................ 18
4.2 Typical Operating Circuit........................................................................................................................ 19
4.3 Bill of Materials for External Components ............................................................................................. 20
4.4 System Block Diagram ........................................................................................................................... 21
4.5 Overview ................................................................................................................................................ 21
4.6 Three-Axis MEMS Gyroscope with 16-bit ADCs and Signal Conditioning .............................................. 21
4.7 Three-Axis MEMS Accelerometer with 16-bit ADCs and Signal Conditioning ....................................... 21
4.8 I
2
C and SPI Host Interface ...................................................................................................................... 21
4.9 Self-Test ................................................................................................................................................. 21
4.10 Clocking ............................................................................................................................................. 22
4.11 Sensor Data Registers ........................................................................................................................ 22
4.12 Interrupts ........................................................................................................................................... 22
4.13 Digital-Output Temperature Sensor .................................................................................................. 22
4.14 Bias and LDOs .................................................................................................................................... 22
4.15 Charge Pump ..................................................................................................................................... 22
4.16 Standard Power Modes ..................................................................................................................... 23