diff --git a/include/mr_api.h b/include/mr_api.h
index eb5ac80..ddcff14 100644
--- a/include/mr_api.h
+++ b/include/mr_api.h
@@ -64,6 +64,7 @@ int mr_dev_register(struct mr_dev *dev,
                     struct mr_dev_ops *ops,
                     struct mr_drv *drv);
 void mr_dev_isr(struct mr_dev *dev, int event, void *args);
+int mr_dev_get_full_name(struct mr_dev *dev, char *buf, size_t bufsz);
 /** @} */
 
 /**
diff --git a/include/mr_def.h b/include/mr_def.h
index c7f1aaf..8002fa8 100644
--- a/include/mr_def.h
+++ b/include/mr_def.h
@@ -194,6 +194,7 @@ enum mr_dev_type
     Mr_Dev_Type_Adc = Mr_Drv_Type_Adc,                              /**< ADC */
     Mr_Dev_Type_Dac = Mr_Drv_Type_Dac,                              /**< DAC */
     Mr_Dev_Type_Timer = Mr_Drv_Type_Timer,                          /**< Timer */
+    Mr_Dev_Type_Sensor,                                             /**< Sensor */
 };
 
 struct mr_dev;
diff --git a/module/icm20602/icm20602.c b/module/icm20602/icm20602.c
new file mode 100644
index 0000000..8494a11
--- /dev/null
+++ b/module/icm20602/icm20602.c
@@ -0,0 +1,300 @@
+/*
+ * @copyright (c) 2023, MR Development Team
+ *
+ * @license SPDX-License-Identifier: Apache-2.0
+ *
+ * @date 2023-11-17    MacRsh       First version
+ */
+
+#include "icm20602.h"
+
+#ifdef MR_USING_ICM20602
+
+#define ICM20602_SMPLRT_DIV             (0x19)
+#define ICM20602_CONFIG                 (0x1A)
+#define ICM20602_GYRO_CONFIG            (0x1B)
+#define ICM20602_ACCEL_CONFIG           (0x1C)
+#define ICM20602_ACCEL_CONFIG_2         (0x1D)
+#define ICM20602_ACCEL_XOUT_H           (0x3B)
+#define ICM20602_GYRO_XOUT_H            (0x43)
+#define ICM20602_PWR_MGMT_1             (0x6B)
+#define ICM20602_PWR_MGMT_2             (0x6C)
+#define ICM20602_WHO_AM_I               (0x75)
+
+static void icm20602_write_reg(struct mr_icm20602 *icm20602, uint8_t reg, uint8_t data)
+{
+    mr_dev_ioctl(icm20602->desc, MR_CTRL_SET_OFFSET, mr_make_local(int, reg));
+    mr_dev_write(icm20602->desc, &data, sizeof(data));
+}
+
+static uint8_t icm20602_read_reg(struct mr_icm20602 *icm20602, uint8_t reg)
+{
+    uint8_t data = 0;
+
+    mr_dev_ioctl(icm20602->desc, MR_CTRL_SET_OFFSET, mr_make_local(int, reg | 0x80));
+    mr_dev_read(icm20602->desc, &data, sizeof(data));
+    return data;
+}
+
+static ssize_t icm20602_read_regs(struct mr_icm20602 *icm20602, uint8_t reg, uint8_t *buf, size_t size)
+{
+    mr_dev_ioctl(icm20602->desc, MR_CTRL_SET_OFFSET, mr_make_local(int, reg | 0x80));
+    return mr_dev_read(icm20602->desc, buf, size);
+}
+
+static int icm20602_self_check(struct mr_icm20602 *icm20602)
+{
+    size_t count = 0;
+
+    for (count = 0; count < 200; count++)
+    {
+        if (icm20602_read_reg(icm20602, ICM20602_WHO_AM_I) == 0x12)
+        {
+            return MR_TRUE;
+        }
+    }
+    return MR_FALSE;
+}
+
+static int icm20602_config(struct mr_icm20602 *icm20602, struct mr_icm20602_config *config)
+{
+    switch (config->acc_range)
+    {
+        case MR_ICM20602_ACC_RANGE_2G:
+        {
+            icm20602_write_reg(icm20602, ICM20602_ACCEL_CONFIG, 0x00);
+            break;
+        }
+        case MR_ICM20602_ACC_RANGE_4G:
+        {
+            icm20602_write_reg(icm20602, ICM20602_ACCEL_CONFIG, 0x08);
+            break;
+        }
+        case MR_ICM20602_ACC_RANGE_8G:
+        {
+            icm20602_write_reg(icm20602, ICM20602_ACCEL_CONFIG, 0x10);
+            break;
+        }
+        case MR_ICM20602_ACC_RANGE_16G:
+        {
+            icm20602_write_reg(icm20602, ICM20602_ACCEL_CONFIG, 0x18);
+            break;
+        }
+
+        default:
+        {
+            return MR_ENOTSUP;
+        }
+    }
+
+    switch (config->gyro_range)
+    {
+        case MR_ICM20602_GYRO_RANGE_250DPS:
+        {
+            icm20602_write_reg(icm20602, ICM20602_GYRO_CONFIG, 0x00);
+            break;
+        }
+        case MR_ICM20602_GYRO_RANGE_500DPS:
+        {
+            icm20602_write_reg(icm20602, ICM20602_GYRO_CONFIG, 0x08);
+            break;
+        }
+        case MR_ICM20602_GYRO_RANGE_1000DPS:
+        {
+            icm20602_write_reg(icm20602, ICM20602_GYRO_CONFIG, 0x10);
+            break;
+        }
+        case MR_ICM20602_GYRO_RANGE_2000DPS:
+        {
+            icm20602_write_reg(icm20602, ICM20602_GYRO_CONFIG, 0x18);
+            break;
+        }
+
+        default:
+        {
+            return MR_ENOTSUP;
+        }
+    }
+    icm20602->config = *config;
+    return MR_EOK;
+}
+
+static int mr_icm20602_open(struct mr_dev *dev)
+{
+    struct mr_icm20602 *icm20602 = (struct mr_icm20602 *)dev;
+    char full_name[MR_CFG_NAME_MAX * 2 + 1] = {0};
+    struct mr_spi_config config = MR_SPI_CONFIG_DEFAULT;
+    size_t i = 0;
+
+    /* Open the icm20602 spi-device */
+    int ret = mr_dev_get_full_name(dev, full_name, sizeof(full_name));
+    if (ret != MR_EOK)
+    {
+        return ret;
+    }
+    icm20602->desc = mr_dev_open(full_name, MR_OFLAG_RDWR);
+    if (icm20602->desc < 0)
+    {
+        return icm20602->desc;
+    }
+    config.baud_rate = 10 * 1000 * 1000;
+    mr_dev_ioctl(icm20602->desc, MR_CTRL_SET_CONFIG, &config);
+
+    /* Self check */
+    if (icm20602_self_check(icm20602) == MR_FALSE)
+    {
+        mr_log("%s self check failed", dev->name);
+        return MR_ENOTFOUND;
+    }
+
+    /* Restart */
+    icm20602_write_reg(icm20602, ICM20602_PWR_MGMT_1, 0x80);
+    mr_delay_ms(10);
+    for (i = 0; i < 200; i++)
+    {
+        if (icm20602_read_reg(icm20602, ICM20602_PWR_MGMT_1) == 0x41)
+        {
+            break;
+        }
+    }
+    if (i == 200)
+    {
+        mr_log("%s restart failed\r\n", dev->name);
+        return MR_ENOTFOUND;
+    }
+
+    /* Init config */
+    icm20602_write_reg(icm20602, ICM20602_PWR_MGMT_1, 0x01);
+    icm20602_write_reg(icm20602, ICM20602_PWR_MGMT_2, 0x00);
+    icm20602_write_reg(icm20602, ICM20602_CONFIG, 0x01);
+    icm20602_write_reg(icm20602, ICM20602_SMPLRT_DIV, 0x07);
+
+    ret = icm20602_config(icm20602, &icm20602->config);
+    if (ret != MR_EOK)
+    {
+        mr_log("%s init config failed\r\n", dev->name);
+        return ret;
+    }
+    icm20602_write_reg(icm20602, ICM20602_ACCEL_CONFIG_2, 0x03);
+
+    return MR_EOK;
+}
+
+static int mr_icm20602_close(struct mr_dev *dev)
+{
+    struct mr_icm20602 *icm20602 = (struct mr_icm20602 *)dev;
+
+    /* Close the icm20602 spi-device */
+    mr_dev_close(icm20602->desc);
+    icm20602->desc = -1;
+
+    return MR_EOK;
+}
+
+static ssize_t mr_icm20602_read(struct mr_dev *dev, int off, void *buf, size_t size, int sync_or_async)
+{
+    struct mr_icm20602 *icm20602 = (struct mr_icm20602 *)dev;
+    struct mr_icm20602_data *rd_buf = (struct mr_icm20602_data *)buf;
+    uint8_t reg = (off == MR_ICM20602_ACC_OFFSET) ? ICM20602_ACCEL_XOUT_H : ICM20602_GYRO_XOUT_H;
+    ssize_t rd_size = 0;
+
+    if ((off != MR_ICM20602_ACC_OFFSET) && (off != MR_ICM20602_GYRO_OFFSET))
+    {
+        return MR_EINVAL;
+    }
+
+    mr_bits_clr(size, sizeof(*rd_buf) - 1);
+    for (rd_size = 0; rd_size < size; rd_size += sizeof(*rd_buf))
+    {
+        uint8_t axis_buf[6] = {0};
+        icm20602_read_regs(icm20602, reg, axis_buf, sizeof(axis_buf));
+        rd_buf->x = (int16_t)((axis_buf[0] << 8) | axis_buf[1]);
+        rd_buf->y = (int16_t)((axis_buf[2] << 8) | axis_buf[3]);
+        rd_buf->z = (int16_t)((axis_buf[4] << 8) | axis_buf[5]);
+    }
+    return rd_size;
+}
+
+static int mr_icm20602_ioctl(struct mr_dev *dev, int off, int cmd, void *args)
+{
+    struct mr_icm20602 *icm20602 = (struct mr_icm20602 *)dev;
+
+    switch (cmd)
+    {
+        case MR_CTRL_SET_CONFIG:
+        {
+            if (args != MR_NULL)
+            {
+                struct mr_icm20602_config *config = (struct mr_icm20602_config *)args;
+
+                return icm20602_config(icm20602, config);
+            }
+            return MR_EINVAL;
+        }
+
+        case MR_CTRL_GET_CONFIG:
+        {
+            if (args != MR_NULL)
+            {
+                struct mr_icm20602_config *config = (struct mr_icm20602_config *)args;
+
+                *config = icm20602->config;
+                return MR_EOK;
+            }
+            return MR_EINVAL;
+        }
+
+        default:
+        {
+            return MR_ENOTSUP;
+        }
+    }
+}
+
+/**
+ * @brief This function register a icm20602 module.
+ *
+ * @param icm20602 The icm20602 module.
+ * @param name The name of the icm20602 module.
+ * @param cs_pin The cs pin of the icm20602 module.
+ * @param bus_name The spi-bus name of the icm20602 module.
+ *
+ * @return MR_EOK on success, otherwise an error code.
+ */
+int mr_icm20602_register(struct mr_icm20602 *icm20602, const char *name, int cs_pin, const char *bus_name)
+{
+    static struct mr_dev_ops ops =
+        {
+            mr_icm20602_open,
+            mr_icm20602_close,
+            mr_icm20602_read,
+            MR_NULL,
+            mr_icm20602_ioctl,
+            MR_NULL
+        };
+    struct mr_icm20602_config default_config = MR_ICM20602_CONFIG_DEFAULT;
+    char cat_name[MR_CFG_NAME_MAX + MR_CFG_NAME_MAX + 1] = {0};
+    int ret = 0;
+
+    mr_assert(icm20602 != MR_NULL);
+    mr_assert(name != MR_NULL);
+    mr_assert(cs_pin >= 0);
+    mr_assert(bus_name != MR_NULL);
+
+    /* Register the spi-device */
+    sprintf(cat_name, "%s/%s", bus_name, name);
+    ret = mr_spi_dev_register(&icm20602->spi_dev, cat_name, cs_pin, MR_SPI_CS_ACTIVE_LOW);
+    if (ret != MR_EOK)
+    {
+        return ret;
+    }
+
+    /* Initialize the fields */
+    icm20602->config = default_config;
+    icm20602->desc = -1;
+
+    /* Register the icm20602 */
+    return mr_dev_register(&icm20602->dev, name, Mr_Dev_Type_Sensor, MR_SFLAG_RDONLY | MR_SFLAG_NONDRV, &ops, MR_NULL);
+}
+
+#endif /* MR_USING_ICM20602 */
\ No newline at end of file
diff --git a/module/icm20602/icm20602.h b/module/icm20602/icm20602.h
new file mode 100644
index 0000000..919dbc7
--- /dev/null
+++ b/module/icm20602/icm20602.h
@@ -0,0 +1,103 @@
+/*
+ * @copyright (c) 2023, MR Development Team
+ *
+ * @license SPDX-License-Identifier: Apache-2.0
+ *
+ * @date 2023-11-17    MacRsh       First version
+ */
+
+#ifndef _ICM20602_H_
+#define _ICM20602_H_
+
+#include "mr_api.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+#ifdef MR_USING_ICM20602
+
+#if !defined(MR_USING_SPI)
+#undef MR_USING_ICM20602
+#error "Please define MR_USING_SPI. Otherwise ICM20602 will not work."
+#else
+
+#include "include/device/spi.h"
+
+/**
+ * @brief ICM20602 acc Range.
+ */
+#define MR_ICM20602_ACC_RANGE_2G        (2)                         /**< 2G */
+#define MR_ICM20602_ACC_RANGE_4G        (4)                         /**< 4G */
+#define MR_ICM20602_ACC_RANGE_8G        (8)                         /**< 8G */
+#define MR_ICM20602_ACC_RANGE_16G       (16)                        /**< 16G */
+
+/**
+ * @brief ICM20602 gyro Range.
+ */
+#define MR_ICM20602_GYRO_RANGE_250DPS   (250)                       /**< 250DPS */
+#define MR_ICM20602_GYRO_RANGE_500DPS   (500)                       /**< 500DPS */
+#define MR_ICM20602_GYRO_RANGE_1000DPS  (1000)                      /**< 1000DPS */
+#define MR_ICM20602_GYRO_RANGE_2000DPS  (2000)                      /**< 2000DPS */
+
+/**
+ * @def ICM20602 default config.
+ */
+#define MR_ICM20602_CONFIG_DEFAULT      \
+{                                       \
+    MR_ICM20602_ACC_RANGE_8G,           \
+    MR_ICM20602_GYRO_RANGE_2000DPS,     \
+}
+
+/**
+ * @brief ICM20602 config structure.
+ */
+struct mr_icm20602_config
+{
+    uint16_t acc_range;                                             /**< Acc range */
+    uint16_t gyro_range;                                            /**< Gyro range */
+};
+
+/**
+ * @brief ICM20602 offset.
+ */
+#define MR_ICM20602_ACC_OFFSET          (0x00)                      /**< Acc offset */
+#define MR_ICM20602_GYRO_OFFSET         (0x01)                      /**< Gyro offset */
+
+/**
+ * @brief ICM20602 data type.
+ */
+typedef struct mr_icm20602_data
+{
+    int16_t x;                                                      /**< X axis */
+    int16_t y;                                                      /**< Y axis */
+    int16_t z;                                                      /**< Z axis */
+} mr_icm20602_data_t;                                               /**< ICM20602 read data type */
+
+/**
+ * @brief ICM20602 structure.
+ */
+struct mr_icm20602
+{
+    struct mr_dev dev;                                              /**< Device */
+
+    struct mr_spi_dev spi_dev;                                      /**< SPI device */
+    struct mr_icm20602_config config;                               /**< Config */
+    int desc;                                                       /**< Descriptor */
+};
+
+/**
+ * @addtogroup ICM20602.
+ * @{
+ */
+int mr_icm20602_register(struct mr_icm20602 *icm20602, const char *name, int cs_pin, const char *bus_name);
+/** @} */
+#endif /* MR_USING_SPI */
+
+#endif /* MR_USING_ICM20602 */
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* _ICM20602_H_ */