LSM6DSM datasheet(3/113 Pages) STMICROELECTRONICS

Part #	LSM6DSM

Description	always-on 3D accelerometer and 3D gyroscope

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Manufacturer	STMICROELECTRONICS [STMicroelectronics]

Direct Link	http://www.st.com

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3 / 113 page

DocID028165 Rev 2

3/113

LSM6DSM

Contents

113

5.5.6

FIFO reading procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

6

Digital interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.1

I2C/SPI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.2

Master I2C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.3

Auxiliary SPI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

6.4

I2C serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

6.4.1

I2C operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

6.5

SPI bus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

6.5.1

SPI read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

6.5.2

SPI write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

6.5.3

SPI read in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

7

Application hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.1

LSM6DSM electrical connections in Mode 1 . . . . . . . . . . . . . . . . . . . . . . 44

7.2

LSM6DSM electrical connections in Mode 2 . . . . . . . . . . . . . . . . . . . . . . 45

7.3

LSM6DSM electrical connections in Mode 3 . . . . . . . . . . . . . . . . . . . . . . 46

8

Auxiliary SPI configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

9

Register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

10

Register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

10.1

FUNC_CFG_ACCESS (01h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

10.2

SENSOR_SYNC_TIME_FRAME (04h) . . . . . . . . . . . . . . . . . . . . . . . . . . 53

10.3

SENSOR_SYNC_RES_RATIO (05h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

10.4

FIFO_CTRL1 (06h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

10.5

FIFO_CTRL2 (07h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

10.6

FIFO_CTRL3 (08h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

10.7

FIFO_CTRL4 (09h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

10.8

FIFO_CTRL5 (0Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

10.9

DRDY_PULSE_CFG (0Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

10.10 INT1_CTRL (0Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

10.11 INT2_CTRL (0Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

10.12 WHO_AM_I (0Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

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