ESPHome ICM-42670-P / ICM-42607-P Component

ESPHome external component for the TDK InvenSense ICM-42670-P and ICM-42607-P 6-axis IMU sensors.

Features

Full 6-axis IMU support (3-axis accelerometer + 3-axis gyroscope)
Temperature sensor
Configurable accelerometer range (2G, 4G, 8G, 16G)
Configurable gyroscope range (250, 500, 1000, 2000 DPS)
Multiple output data rate options (1.5625 Hz to 1600 Hz)
Low power and low noise power modes
Software-based motion detection with configurable threshold
Device orientation detection (face_up, face_down, portrait, landscape, etc.)
Hardware Wake-on-Motion (WoM) with interrupt support
Pitch and roll angle calculation
Automation triggers for motion and orientation changes
Auto-detection of ICM-42607-P and ICM-42670-P variants

Supported Devices

Device	WHO_AM_I	Package
ICM-42607-P	0x60	14-pin LGA
ICM-42670-P	0x67	14-pin LGA

Both devices share the same register map and functionality. The component automatically detects which variant is connected.

Installation

Add this to your ESPHome configuration:

external_components:
  - source:
      type: git
      url: https://github.com/Djelibeybi/esphome-icm42670
    components: [icm42670]

Or for local development:

external_components:
  - source:
      type: local
      path: components
    components: [icm42670]

Configuration

Main Component

i2c:
  sda: GPIO8
  scl: GPIO9

icm42670:
  id: imu_sensor
  address: 0x68                    # 0x68 (AD0 low) or 0x69 (AD0 high)
  update_interval: 1s              # Use faster rates (100ms) for responsive motion detection
  accel_range: 2G                  # 2G, 4G, 8G, 16G (see Range Options below)
  gyro_range: 250DPS               # 250DPS, 500DPS, 1000DPS, 2000DPS (see Range Options below)
  accel_odr: 100HZ                 # 1.5625HZ to 1600HZ
  gyro_odr: 100HZ                  # 12.5HZ to 1600HZ
  accel_power_mode: LOW_NOISE      # OFF, LOW_POWER, LOW_NOISE (see Power Modes below)
  gyro_power_mode: LOW_NOISE       # OFF, STANDBY, LOW_NOISE (see Power Modes below)

Configuration Variables

id (Optional, ID): Manually specify the ID for this component.
address (Optional, int): I2C address. Default is 0x68. Use 0x69 if AD0 pin is high.
update_interval (Optional, Time): How often to read sensor data. Default is 60s.
accel_range (Optional, string): Accelerometer full-scale range. Default is 2G.
gyro_range (Optional, string): Gyroscope full-scale range. Default is 2000DPS.
accel_odr (Optional, string): Accelerometer output data rate. Default is 100HZ.
gyro_odr (Optional, string): Gyroscope output data rate. Default is 100HZ.
accel_power_mode (Optional, string): Accelerometer power mode. Default is LOW_NOISE.
gyro_power_mode (Optional, string): Gyroscope power mode. Default is LOW_NOISE.

Range Options

Accelerometer Range

Range	Best For	Notes
2G	Orientation, tilt detection	Highest resolution for subtle movements
4G	General motion tracking	Good balance of range and resolution
8G	Active motion, gestures	Captures faster movements
16G	Impacts, drops, vibration	Lowest resolution but captures violent motion

Lower ranges provide better precision for detecting small changes. For typical desk/stationary use (like the ESP32-S3-BOX-3), 2G is recommended.

Gyroscope Range

Range	Best For	Notes
250DPS	Slow rotations, stabilization	Highest resolution
500DPS	Normal device handling	Good general-purpose setting
1000DPS	Active rotation tracking	For faster movements
2000DPS	Fast spinning, sports	Lowest resolution but widest range

For typical use cases, 250-500 DPS provides sufficient range with good precision.

Power Modes

Accelerometer Power Modes

Mode	Power	Description
OFF	0	Accelerometer disabled
LOW_POWER	~9μA	Duty-cycled sampling, slightly increased noise
LOW_NOISE	~21μA	Continuous sampling, best accuracy

Gyroscope Power Modes

Mode	Power	Description
OFF	0	Gyroscope disabled
STANDBY	~200μA	Maintains calibration, fast wake-up, no measurements
LOW_NOISE	~1.1mA	Active measurement mode, best accuracy

For mains-powered devices, use LOW_NOISE for best accuracy. For battery-powered devices, consider LOW_POWER for the accelerometer.

Sensor Platform

sensor:
  - platform: icm42670
    icm42670_id: imu_sensor
    accel_x:
      name: "Accelerometer X"
    accel_y:
      name: "Accelerometer Y"
    accel_z:
      name: "Accelerometer Z"
    gyro_x:
      name: "Gyroscope X"
    gyro_y:
      name: "Gyroscope Y"
    gyro_z:
      name: "Gyroscope Z"
    temperature:
      name: "IMU Temperature"
    pitch:
      name: "Pitch"
    roll:
      name: "Roll"

Available Sensors

accel_x/y/z (Optional): Acceleration in m/s^2
gyro_x/y/z (Optional): Angular velocity in degrees/second
temperature (Optional): Die temperature in Celsius
pitch (Optional): Pitch angle in degrees (calculated from accelerometer)
roll (Optional): Roll angle in degrees (calculated from accelerometer)

Binary Sensor Platform

Software Motion Detection

binary_sensor:
  - platform: icm42670
    icm42670_id: imu_sensor
    motion:
      name: "Motion Detected"
      threshold: 0.5  # m/s^2 deviation from gravity (0.1 to 10.0)

Hardware Wake-on-Motion (WoM)

binary_sensor:
  - platform: icm42670
    icm42670_id: imu_sensor
    wom:
      name: "Wake on Motion"
      threshold: 25     # 4mg per LSB (1-255), 25 = 100mg
      pin: GPIO10       # Connect to INT1 or INT2 of the sensor
      interrupt: 1      # 1 for INT1, 2 for INT2

Text Sensor Platform

text_sensor:
  - platform: icm42670
    icm42670_id: imu_sensor
    orientation:
      name: "Device Orientation"

Orientation values: face_up, face_down, portrait, portrait_inverted, landscape_left, landscape_right, unknown

Automation Triggers

icm42670:
  id: imu_sensor
  on_motion:
    threshold: 0.5
    then:
      - logger.log: "Motion detected!"

  on_orientation_change:
    then:
      - logger.log:
          format: "Orientation: %s"
          args: ['orientation.c_str()']

Output Data Rate (ODR) Options

Accelerometer ODR

Setting	Rate
1600HZ	1600 Hz
800HZ	800 Hz
400HZ	400 Hz
200HZ	200 Hz
100HZ	100 Hz
50HZ	50 Hz
25HZ	25 Hz
12.5HZ	12.5 Hz
6.25HZ	6.25 Hz
3.125HZ	3.125 Hz
1.5625HZ	1.5625 Hz

Gyroscope ODR

Setting	Rate
1600HZ	1600 Hz
800HZ	800 Hz
400HZ	400 Hz
200HZ	200 Hz
100HZ	100 Hz
50HZ	50 Hz
25HZ	25 Hz
12.5HZ	12.5 Hz

Reducing Home Assistant Database Load

At high update rates, the sensor data can overwhelm Home Assistant's recorder. Use filters to reduce the data:

sensor:
  - platform: icm42670
    icm42670_id: imu_sensor
    # Option 1: Mark as internal (not sent to HA)
    accel_x:
      internal: true

    # Option 2: Throttle updates
    gyro_x:
      name: "Gyroscope X"
      filters:
        - throttle_average: 5s

    # Option 3: Only send on significant change
    temperature:
      name: "Temperature"
      filters:
        - delta: 0.5

    # Option 4: Combine throttle and delta
    pitch:
      name: "Pitch"
      filters:
        - delta: 1.0
        - throttle: 5s

Wiring

I2C Connection

ICM-42670-P Pin	ESP32 Pin
VDD	3.3V
GND	GND
SDA	GPIO8 (or your I2C SDA)
SCL	GPIO9 (or your I2C SCL)
AD0	GND (for 0x68) or VDD (for 0x69)

Wake-on-Motion Interrupt (Optional)

ICM-42670-P Pin	ESP32 Pin
INT1	Any GPIO
INT2	Any GPIO (alternative)

ESP32-S3-BOX-3 Configuration

The ESP32-S3-BOX-3 includes an onboard ICM-42607-P IMU sensor. The following configuration is specific to this device.

Pin Assignments

Signal	GPIO
I2C SDA	GPIO8
I2C SCL	GPIO18
I2C Address	0x68 (fixed)

Note: The AD0 pin is tied to GND on the PCB, so the I2C address is fixed at 0x68 and cannot be changed.

Hardware Limitations

The INT1 and INT2 interrupt pins of the ICM-42607-P are not connected to any GPIO on the ESP32-S3-BOX-3. This means:

Hardware Wake-on-Motion (WoM) is not available - the wom binary sensor requires an interrupt pin
Use the software-based motion binary sensor instead for motion detection

Example Configuration

i2c:
  sda: GPIO8
  scl: GPIO18

icm42670:
  id: imu_sensor
  address: 0x68
  update_interval: 1s
  accel_range: 2G
  gyro_range: 250DPS

sensor:
  - platform: icm42670
    icm42670_id: imu_sensor
    accel_x:
      name: "Accelerometer X"
    accel_y:
      name: "Accelerometer Y"
    accel_z:
      name: "Accelerometer Z"
    temperature:
      name: "IMU Temperature"
    pitch:
      name: "Pitch"
    roll:
      name: "Roll"

# Software-based motion detection (hardware WoM not available on BOX-3)
binary_sensor:
  - platform: icm42670
    icm42670_id: imu_sensor
    motion:
      name: "Motion Detected"
      threshold: 0.5

text_sensor:
  - platform: icm42670
    icm42670_id: imu_sensor
    orientation:
      name: "Device Orientation"

References

License

Universal Permissive License (UPL) 1.0 - See LICENSE file for details.

Name		Name	Last commit message	Last commit date
components/icm42670		components/icm42670
.gitignore		.gitignore
CLAUDE.md		CLAUDE.md
LICENSE		LICENSE
README.md		README.md
example.yaml		example.yaml

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