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this is information on a product in full production. february 2016 docid026899 rev 8 1/100 LSM6DS3 inemo inertial module: always-on 3d accelerometer and 3d gyroscope datasheet - production data features ? power consumption: 0.9 ma in combo normal mode and 1.25 ma in combo high-performance mode up to 1.6 khz. ? ?always-on? experience with low power consumption for both accelerometer and gyroscope ? smart fifo up to 8 kbyte based on features set ? compliant with android k and l ? hard, soft ironing for external magnetic sensor corrections ? 2/4/8/16 g full scale ? 125/245/500/1000/2000 dps full scale ? analog supply voltage: 1.71 v to 3.6 v ? independent ios supply (1.62 v) ? compact footprint, 2.5 mm x 3 mm x 0.83 mm ? spi/i 2 c serial interface with main processor data synchronization feature ? embedded temperature sensor ? ecopack ? , rohs and ?green? compliant applications ? pedometer, step detector and step counter ? significant motion and tilt functions ? indoor navigation ? tap and double-tap detection ? iot and connected devices ? intelligent power saving for handheld devices ? vibration monitoring and compensation ? free-fall detection ? 6d orientation detection description the LSM6DS3 is a system-in-package featuring a 3d digital accelerometer and a 3d digital gyroscope performing at 1.25 ma (up to 1.6 khz odr) in high- performance mode and enabling always-on low-power features for an optimal motion experience for the consumer. the LSM6DS3 supports main os requirements, offering real, virtual and batch sensors with 8 kbyte for dynamic data batching. st?s family of mems sensor modules leverages the robust and mature manufacturing processes already used for the production of micromachined accelerometers and gyroscopes. the various sensing elements are manufactured using specialized micromachining processes, while the ic interfaces are developed using cmos technology that allows the design of a dedicated circuit which is trimmed to better match the characteristics of the sensing element. the LSM6DS3 has a full-scale acceleration range of 2/4/8/16 g and an angular rate range of 125/245/500/1000/2000 dps. high robustness to mechanical shock makes the LSM6DS3 the preferred choice of system designers for the creation and manufacturing of reliable products. the LSM6DS3 is available in a plastic land grid array (lga) package. lga-14l (2.5 x 3 x 0.83 mm) typ. table 1. device summary part number temperature range [c] package packing LSM6DS3 -40 to +85 lga-14l (2.5 x 3 x 0.83 mm) tray LSM6DS3tr -40 to +85 tape & reel www.st.com
contents LSM6DS3 2/100 docid026899 rev 8 contents 1 overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2 embedded low-power features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.1 tilt detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3 pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.1 pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4 module specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.1 mechanical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.2 electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.3 temperature sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.4 communication interface characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.4.1 spi - serial peripheral interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.4.2 i 2 c - inter-ic control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.5 absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.6 terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.6.1 sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.6.2 zero-g and zero-rate level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 5 functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 5.1 operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 5.2 gyroscope power modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 5.3 accelerometer power modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 5.4 fifo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 5.4.1 bypass mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 5.4.2 fifo mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 5.4.3 continuous mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 5.4.4 continuous-to-fifo mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 5.4.5 bypass-to-continuous mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 5.4.6 fifo reading procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 5.4.7 filter block diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
docid026899 rev 8 3/100 LSM6DS3 contents 100 6 digital interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 6.1 i 2 c serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 6.1.1 i 2 c operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 6.2 spi bus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 6.2.1 spi read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 6.2.2 spi write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 6.2.3 spi read in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 7 application hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 7.1 LSM6DS3 electrical connections in mode 1 . . . . . . . . . . . . . . . . . . . . . . . 40 7.2 LSM6DS3 electrical connections in mode 2 . . . . . . . . . . . . . . . . . . . . . . . 41 8 register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 9 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 9.1 func_cfg_access (01h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 9.2 sensor_sync_time_frame (04h) . . . . . . . . . . . . . . . . . . . . . . . . . . 46 9.3 fifo_ctrl1 (06h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 9.4 fifo_ctrl2 (07h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 9.5 fifo_ctrl3 (08h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 9.6 fifo_ctrl4 (09h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 9.7 fifo_ctrl5 (0ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 9.8 orient_cfg_g (0bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 9.9 int1_ctrl (0dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 9.10 int2_ctrl (0eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 9.11 who_am_i (0fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 9.12 ctrl1_xl (10h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 9.13 ctrl2_g (11h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 9.14 ctrl3_c (12h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 9.15 ctrl4_c (13h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 9.16 ctrl5_c (14h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 9.17 ctrl6_c (15h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 9.18 ctrl7_g (16h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 9.19 ctrl8_xl (17h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
contents LSM6DS3 4/100 docid026899 rev 8 9.20 ctrl9_xl (18h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 9.21 ctrl10_c (19h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 9.22 master_config (1ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 9.23 wake_up_src (1bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 9.24 tap_src (1ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 9.25 d6d_src (1dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 9.26 status_reg (1eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 9.27 out_temp_l (20h), out_temp(21h) . . . . . . . . . . . . . . . . . . . . . . . . . 64 9.28 outx_l_g (22h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 9.29 outx_h_g (23h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 9.30 outy_l_g (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 9.31 outy_h_g (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 9.32 outz_l_g (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 9.33 outz_h_g (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 9.34 outx_l_xl (28h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 9.35 outx_h_xl (29h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 9.36 outy_l_xl (2ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 9.37 outy_h_xl (2bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 9.38 outz_l_xl (2ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 9.39 outz_h_xl (2dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 9.40 sensorhub1_reg (2eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 9.41 sensorhub2_reg (2fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 9.42 sensorhub3_reg (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 9.43 sensorhub4_reg (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 9.44 sensorhub5_reg (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 9.45 sensorhub6_reg (33h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 9.46 sensorhub7_reg (34h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 9.47 sensorhub8_reg(35h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 9.48 sensorhub9_reg (36h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 9.49 sensorhub10_reg (37h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 9.50 sensorhub11_reg (38h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 9.51 sensorhub12_reg(39h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 9.52 fifo_status1 (3ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
docid026899 rev 8 5/100 LSM6DS3 contents 100 9.53 fifo_status2 (3bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 9.54 fifo_status3 (3ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 9.55 fifo_status4 (3dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 9.56 fifo_data_out_l (3eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 9.57 fifo_data_out_h (3fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 9.58 timestamp0_reg (40h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 9.59 timestamp1_reg (41h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 9.60 timestamp2_reg (42h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 9.61 step_timestamp_l (49h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 9.62 step_timestamp_h (4ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 9.63 step_counter_l (4bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 9.64 step_counter_h (4ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 9.65 sensorhub13_reg (4dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 9.66 sensorhub14_reg (4eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 9.67 sensorhub15_reg (4fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 9.68 sensorhub16_reg (50h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 9.69 sensorhub17_reg (51h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 9.70 sensorhub18_reg (52h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 9.71 func_src (53h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 9.72 tap_cfg (58h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 9.73 tap_ths_6d (59h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 9.74 int_dur2 (5ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 9.75 wake_up_ths (5bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 9.76 wake_up_dur (5ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 9.77 free_fall (5dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 9.78 md1_cfg (5eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 9.79 md2_cfg (5fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 9.80 out_mag_raw_x_l (66h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 9.81 out_mag_raw_x_h (67h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 9.82 out_mag_raw_y_l (68h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 9.83 out_mag_raw_y_h (69h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 9.84 out_mag_raw_z_l (6ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 9.85 out_mag_raw_z_h (6bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
contents LSM6DS3 6/100 docid026899 rev 8 10 embedded functions register mapping . . . . . . . . . . . . . . . . . . . . . . . . . 83 11 embedded functions registers description . . . . . . . . . . . . . . . . . . . . . 85 11.1 slv0_add (02h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 11.2 slv0_subadd (03h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 11.3 slave0_config (04h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 11.4 slv1_add (05h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 11.5 slv1_subadd (06h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 11.6 slave1_config (07h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 11.7 slv2_add (08h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 11.8 slv2_subadd (09h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 11.9 slave2_config (0ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 11.10 slv3_add (0bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 11.11 slv3_subadd (0ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 11.12 slave3_config (0dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 11.13 datawrite_src_mode_sub_slv0 (0eh) . . . . . . . . . . . . . . . . . . . . . 89 11.14 pedo_ths_reg (0fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 11.15 sm_ths (13h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 11.16 pedo_deb_reg (14h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 11.17 step_count_delta (15h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 11.18 mag_si_xx (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 11.19 mag_si_xy (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 11.20 mag_si_xz (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 11.21 mag_si_yx (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 11.22 mag_si_yy (28h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 11.23 mag_si_yz (29h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 11.24 mag_si_zx (2ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 11.25 mag_si_zy (2bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 11.26 mag_si_zz (2ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 11.27 mag_offx_l (2dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 11.28 mag_offx_h (2eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 11.29 mag_offy_l (2fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 11.30 mag_offy_h (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
docid026899 rev 8 7/100 LSM6DS3 contents 100 11.31 mag_offz_l (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 11.32 mag_offz_h (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 12 soldering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 13 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 13.1 lga-14 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 13.2 lga-14 packing information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 14 revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
list of tables LSM6DS3 8/100 docid026899 rev 8 list of tables table 1. device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 table 2. pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 table 3. mechanical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 table 4. electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 table 5. temperature sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 4 table 6. spi slave timing values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 table 7. i 2 c slave timing values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 table 8. absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 table 9. serial interface pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 table 10. i 2 c terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 table 11. sad+read/write patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 table 12. transfer when master is writing one byte to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 table 13. transfer when master is writing multiple bytes to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 table 14. transfer when master is receiving (reading) one byte of data from slave . . . . . . . . . . . . . 36 table 15. transfer when master is receiving (reading) multiple bytes of data from slave . . . . . . . . . 36 table 16. registers address map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 table 17. func_cfg_access register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 table 18. func_cfg_access register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 table 19. sensor_sync_time_frame register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 table 20. sensor_sync_time_frame register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 table 21. fifo_ctrl1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 table 22. fifo_ctrl1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 table 23. fifo_ctrl2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 table 24. fifo_ctrl2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 table 25. fifo_ctrl3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 table 26. fifo_ctrl3 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 table 27. gyro fifo decimation setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 table 28. accelerometer fifo decimation setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 table 29. fifo_ctrl4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 table 30. fifo_ctrl4 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 table 31. fourth fifo data set decimation setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 table 32. third fifo data set decimation setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 9 table 33. fifo_ctrl5 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 table 34. fifo_ctrl5 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 table 35. fifo odr selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 table 36. fifo mode selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 table 37. orient_cfg_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50 table 38. orient_cfg_g register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 table 39. settings for orientation of axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 table 40. int1_ctrl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 table 41. int1_ctrl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51 table 42. int2_ctrl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 table 43. int2_ctrl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52 table 44. who_am_i register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 table 45. ctrl1_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 table 46. ctrl1_xl register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53 table 47. accelerometer odr register setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3 table 48. bw and odr (high-performance mode). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
docid026899 rev 8 9/100 LSM6DS3 list of tables 100 table 49. ctrl2_g register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 table 50. ctrl2_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54 table 51. gyroscope odr configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 table 52. ctrl3_c register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 table 53. ctrl3_c register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 table 54. ctrl4_c register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 table 55. ctrl4_c register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 table 56. ctrl5_c register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 table 57. ctrl5_c register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 table 58. output registers rounding pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57 table 59. angular rate sensor self-test mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 table 60. linear acceleration sensor self-test mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 table 61. ctrl6_c register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 table 62. ctrl6_c register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 table 63. ctrl7_g register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 table 64. ctrl7_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58 table 65. gyroscope high-pass filter mode configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 table 66. ctrl8_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 table 67. ctrl8_xl register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59 table 68. accelerometer slope and high-pass filter selection and cutoff frequency . . . . . . . . . . . . . . 59 table 69. accelerometer lpf2 cutoff frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 table 70. ctrl9_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 table 71. ctrl9_xl register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60 table 72. ctrl10_c register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 table 73. ctrl10_c register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60 table 74. master_config register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 table 75. master_config register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 table 76. wake_up_src register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61 table 77. wake_up_src register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 table 78. tap_src register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 table 79. tap_src register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62 table 80. d6d_src register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 table 81. d6d_src register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63 table 82. status_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 table 83. status_reg register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 table 84. out_temp_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 table 85. out_temp_h register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 table 86. out_temp register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 table 87. outx_l_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 table 88. outx_l_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64 table 89. outx_h_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 table 90. outx_h_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 table 91. outy_l_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 table 92. outy_l_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64 table 93. outy_h_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 table 94. outy_h_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 table 95. outz_l_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 table 96. outz_l_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65 table 97. outz_h_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 table 98. outz_h_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 table 99. outx_l_xl register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 table 100. outx_l_xl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
list of tables LSM6DS3 10/100 docid026899 rev 8 table 101. outx_h_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 table 102. outx_h_xl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66 table 103. outy_l_xl register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 table 104. outy_l_xl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66 table 105. outy_h_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 table 106. outy_h_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66 table 107. outz_l_xl register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 table 108. outz_l_xl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66 table 109. outz_h_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 table 110. outz_h_xl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67 table 111. sensorhub1_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 table 112. sensorhub1_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 table 113. sensorhub2_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 table 114. sensorhub2_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 table 115. sensorhub3_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 table 116. sensorhub3_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 table 117. sensorhub4_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 118. sensorhub4_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 119. sensorhub5_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 120. sensorhub5_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 121. sensorhub6_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 122. sensorhub6_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 123. sensorhub7_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 124. sensorhub7_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 125. sensorhub8_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 table 126. sensorhub8_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 table 127. sensorhub9_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 table 128. sensorhub9_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 table 129. sensorhub10_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 table 130. sensorhub10_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 table 131. sensorhub11_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 table 132. sensorhub11_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 table 133. sensorhub12_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 table 134. sensorhub12_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 table 135. fifo_status1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 table 136. fifo_status1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 table 137. fifo_status2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 table 138. fifo_status2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 table 139. fifo_status3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 140. fifo_status3 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 141. fifo_status4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 142. fifo_status4 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 143. fifo_data_out_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71 table 144. fifo_data_out_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 145. fifo_data_out_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 table 146. fifo_data_out_h register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 table 147. timestamp0_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 table 148. timestamp0_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 table 149. timestamp1_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 table 150. timestamp1_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 table 151. timestamp2_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 table 152. timestamp2_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
docid026899 rev 8 11/100 LSM6DS3 list of tables 100 table 153. step_timestamp_l register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3 table 154. step_timestamp_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 table 155. step_timestamp_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 table 156. step_timestamp_h register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 table 157. step_counter_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 table 158. step_counter_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 table 159. step_counter_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3 table 160. step_counter_h register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 table 161. sensorhub13_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 162. sensorhub13_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 163. sensorhub14_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 164. sensorhub14_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 165. sensorhub15_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 166. sensorhub15_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 167. sensorhub16_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 168. sensorhub16_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 169. sensorhub17_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 table 170. sensorhub17_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 table 171. sensorhub18_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 table 172. sensorhub18_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 table 173. func_src register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 table 174. func_src register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75 table 175. tap_cfg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 table 176. tap_cfg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 table 177. tap_ths_6d register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 table 179. threshold for d4d/d6d function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77 table 178. tap_ths_6d register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 180. int_dur2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 181. int_dur2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 182. wake_up_ths register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 183. wake_up_ths register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 184. wake_up_dur register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 185. wake_up_dur register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 186. free_fall register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 table 187. free_fall register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79 table 188. threshold for free-fall function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 table 189. md1_cfg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 table 190. md1_cfg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79 table 191. md2_cfg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 table 192. md2_cfg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80 table 193. out_mag_raw_x_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 194. out_mag_raw_x_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 195. out_mag_raw_x_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 196. out_mag_raw_x_h register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 197. out_mag_raw_y_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 198. out_mag_raw_y_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 199. out_mag_raw_y_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 200. out_mag_raw_y_h register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 201. out_mag_raw_z_l register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 table 202. out_mag_raw_z_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 table 203. out_mag_raw_z_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 table 204. out_mag_raw_z_h register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
list of tables LSM6DS3 12/100 docid026899 rev 8 table 205. registers address map - embedded functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 table 206. slv0_add register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 table 207. slv0_add register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85 table 208. slv0_subadd register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 table 209. slv0_subadd register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 table 210. slave0_config register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85 table 211. slave0_config register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 table 212. slv1_add register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 table 213. slv1_add register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86 table 214. slv1_subadd register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 table 215. slv1_subadd register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 table 216. slave1_config register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87 table 217. slave1_config register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 table 218. slv2_add register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 table 219. slv2_add register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87 table 220. slv2_subadd register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 table 221. slv2_subadd register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 table 222. slave2_config register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88 table 223. slave2_config register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 table 224. slv3_add register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 table 225. slv3_add register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88 table 226. slv3_subadd register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 table 227. slv3_subadd register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 table 228. slave3_config register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89 table 229. slave3_config register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 table 230. datawrite_src_mode_sub_slv0 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 table 231. datawrite_src_mode_sub_slv0 register description. . . . . . . . . . . . . . . . . . . . . . . 89 table 232. pedo_ths_reg register default values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 233. pedo_ths_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 234. sm_ths register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 235. sm_ths register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 236. pedo_deb_reg register default values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 237. pedo_deb_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 238. step_count_delta register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 239. step_count_delta register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 240. mag_si_xx register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 241. mag_si_xx register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91 table 242. mag_si_xy register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 243. mag_si_xy register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91 table 244. mag_si_xz register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 245. mag_si_xz register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91 table 246. mag_si_yx register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 table 247. mag_si_yx register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92 table 248. mag_si_yy register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 table 249. mag_si_yy register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92 table 250. mag_si_yz register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 table 251. mag_si_yz register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92 table 252. mag_si_zx register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 table 253. mag_si_zx register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92 table 254. mag_si_zy register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 table 255. mag_si_zy register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93 table 256. mag_si_zz register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
docid026899 rev 8 13/100 LSM6DS3 list of tables 100 table 257. mag_si_zz register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93 table 258. mag_offx_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 table 259. mag_offx_l register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3 table 260. mag_offx_h register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 table 261. mag_offx_l register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3 table 262. mag_offy_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 table 263. mag_offy_l register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4 table 264. mag_offy_h register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 table 265. mag_offy_l register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4 table 266. mag_offz_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 table 267. mag_offz_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4 table 268. mag_offz_h register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 table 269. mag_offx_l register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4 table 270. reel dimensions for carrier tape of lga-14 package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 table 271. document revision history. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
list of figures LSM6DS3 14/100 docid026899 rev 8 list of figures figure 1. pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 figure 2. LSM6DS3 connection modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 8 figure 3. spi slave timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 figure 4. i 2 c slave timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 figure 5. accelerometer chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 figure 6. accelerometer composite filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 figure 7. gyroscope chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 figure 8. read and write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 figure 9. spi read protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 figure 10. multiple byte spi read protocol (2-byte example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 figure 11. spi write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 figure 12. multiple byte spi write protocol (2-byte example). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 figure 13. spi read protocol in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 figure 14. LSM6DS3 electrical connections in mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 figure 15. LSM6DS3 electrical connections in mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 figure 16. lga-14 2.5x3x0.86 mm 14l package outline and mechanical data. . . . . . . . . . . . . . . . . . 96 figure 17. carrier tape information for lga-14 package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 figure 18. lga-14 package orientation in carrier tape . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 figure 19. reel information for carrier tape of lga-14 package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
docid026899 rev 8 15/100 LSM6DS3 overview 100 1 overview the LSM6DS3 is a system-in-package featuring a high-performance 3-axis digital accelerometer and 3-axis digital gyroscope. the integrated power-efficient modes are able to reduce the power consumption down to 1.25 ma in high-performance mode, combining always-on low-power features with superior sensing precision for an optimal motion experience for the consumer thanks to ultra-low noise performance for both the gyroscope and accelerometer. the LSM6DS3 delivers best-in-class motion sensing that can detect orientation and gestures in order to empower application developers and consumers with features and capabilities that are more sophisticated than simply orienting their devices to portrait and landscape mode. the event-detection interrupts enable efficient and reliable motion tracking and contextual awareness, implementing hardware recognition of free-fall events, 6d orientation, tap and double-tap sensing, activity or inactivity, and wakeup events. the LSM6DS3 supports main os requirements, offering real, virtual and batch mode sensors. in addition, the LSM6DS3 can efficiently run the sensor-related features specified in android, saving power and enabling faster reaction time. in particular, the LSM6DS3 has been designed to implement hardware features such as significant motion, tilt, pedometer functions, timestamping and to support the data acquisition of an external magnetometer with ironing correction (hard, soft). the LSM6DS3 offers hardware flexibility to connect the pins with different mode connections to external sensors to expand functionalities such as adding a sensor hub, etc. up to 8 kbyte of fifo with dynamic allocation of significant data (i.e. external sensors, timestamp, etc.) allows overall power saving of the system. like the entire portfolio of mems sensor modules, the LSM6DS3 leverages on the robust and mature in-house manufacturing processes already used for the production of micromachined accelerometers and gyroscopes. the various sensing elements are manufactured using specialized micromachining processes, while the ic interfaces are developed using cmos technology that allows the design of a dedicated circuit which is trimmed to better match the characteristics of the sensing element. the LSM6DS3 is available in a small plastic land grid array (lga) package of 2.5 x 3.0 x 0.83 mm to address ultra-compact solutions.
embedded low-power features LSM6DS3 16/100 docid026899 rev 8 2 embedded low-power features the LSM6DS3 has been designed to be fully compliant with android, featuring the following on-chip functions: ? 8 kbyte data buffering ? 100% efficiency with flexible configurations and partitioning ? possibility to store timestamp ? event-detection interrupts (fully configurable): ? free-fall ? wakeup ? 6d orientation ? tap and double-tap sensing ? activity / inactivity recognition ? specific ip blocks with negligible power consumption and high-performance: ? pedometer functions: step detector and step counters ? tilt (android compliant, refer to section 2.1: tilt detection for additional info ? significant motion (android compliant) ? sensor hub ? up to 6 total sensors: 2 internal (accelerometer and gyroscope) and 4 external sensors ? data rate synchronization with external trigger for reduced sensor access and enhanced fusion 2.1 tilt detection the tilt function helps to detect activity change and has been implemented in hardware using only the accelerometer to achieve both the targets of ultra-low power consumption and robustness during the short duration of dynamic accelerations. it is based on a trigger of an event each time the device's tilt changes by an angle greater than 35 degrees from the start position. the tilt function can be used with different scenarios, for example: a) trigger when phone is in a front pants pocket and the user goes from sitting to standing or standing to sitting; b) doesn?t trigger when phone is in a front pants pocket and the user is walking, running or going upstairs.
docid026899 rev 8 17/100 LSM6DS3 pin description 100 3 pin description figure 1. pin connections 1. leave pin electrically unconnected and soldered to pcb. (top view) directions of the detectable angular rates x z x y (top view) direction of the detectable accelerations y x z sdo/sa0 sdx scx int1 7 5 14 bottom view 11 vdd int2 nc nc 12 4 8 + + + cs scl sda vddio gnd gnd 1 (1) (1)
pin description LSM6DS3 18/100 docid026899 rev 8 3.1 pin connections the LSM6DS3 (a) offers the flexibility to connect the pins in order to have two different mode connections and functionalities. in detail: ? mode 1 : i 2 c slave interface or spi (3- and 4-wire) serial interface is available; ? mode 2 : i 2 c slave interface or spi (3- and 4-wire) serial interface and i 2 c interface master for external sensor connections are available; in the following table each mode is described for the pin connection and function. figure 2. LSM6DS3 connection modes a. the LSM6DS3h is recommended for optimal ois/eis performance. +267 /60'6 , &63,z 0rgh +267 /60'6 , &63,z 0dvwhu, & 0rgh ([whuqdo vhqvruv
docid026899 rev 8 19/100 LSM6DS3 pin description 100 table 2. pin description pin# name mode 1 function mode 2 function 1 sdo/sa0 spi 4-wire interface serial data output (sdo) i 2 c least significant bit of the device address (sa0) spi 4-wire interface serial data output (sdo) i 2 c least significant bit of the device address (sa0) 2 sdx connect to vddio or gnd i 2 c serial data master (msda) 3 scx connect to vddio or gnd i 2 c serial clock master (mscl) 4 int1 programmable interrupt 1 5 vddio (1) 1. recommended 100 nf filter capacitor. power supply for i/o pins 6 gnd 0 v supply 7 gnd 0 v supply 8 vdd (2) 2. recommended 100 nf capacitor. power supply 9 int2 programmable interrupt 2 (int2)/ data enable (den) programmable interrupt 2 (int2)/ data enable (den)/ i 2 c master external synchronization signal (mdrdy) 10 nc (3) 3. leave pin electrically unconnected and soldered to pcb. leave unconnected 11 nc (3) leave unconnected 12 cs i 2 c/spi mode selection (1: spi idle mode / i 2 c communication enabled; 0: spi communication mode / i 2 c disabled) i 2 c/spi mode selection (1: spi idle mode / i 2 c communication enabled; 0: spi communication mode / i 2 c disabled) 13 scl i 2 c serial clock (scl) spi serial port clock (spc) i 2 c serial clock (scl) spi serial port clock (spc) 14 sda i 2 c serial data (sda) spi serial data input (sdi) 3-wire interface serial data output (sdo) i 2 c serial data (sda) spi serial data input (sdi) 3-wire interface serial data output (sdo)
module specifications LSM6DS3 20/100 docid026899 rev 8 4 module specifications 4.1 mechanical characteristics @ vdd = 1.8 v, t = 25 c unless otherwise noted. table 3. mechanical characteristics symbol parameter test conditions min. typ. (1) max. unit la_fs linear acceleration measurement range 2 g 4 8 16 g_fs angular rate measurement range 125 dps 245 500 1000 2000 la_so linear acceleration sensitivity fs = 2 0.061 m g /lsb fs = 4 0.122 fs = 8 0.244 fs = 16 0.488 g_so angular rate sensitivity fs = 125 4.375 mdps/lsb fs = 245 8.75 fs = 500 17.50 fs = 1000 35 fs = 2000 70 la_sodr linear acceleration sensitivity change vs. temperature (2) from -40 to +85 delta from t=25 1 % g_sodr angular rate sensitivity change vs. temperature (2) from -40 to +85 delta from t=25 1.5 % la_tyoff linear acceleration typical zero- g level offset accuracy (3) 40 m g g_tyoff angular rate typical zero-rate level (3) 10 dps la_offdr linear acceleration zero- g level change vs. temperature (2) 0.5 m g/ c g_offdr angular rate typical zero-rate level change vs. temperature (2) 0.05 dps/c
docid026899 rev 8 21/100 LSM6DS3 module specifications 100 rn rate noise density in high-performance mode (4) 7 mdps/ ? hz rnrms gyroscope rms noise in low-power mode (5) 140 mdps an acceleration noise density in high-performance mode (6) fs= 2 g 90 g / ? hz fs= 4 g 90 g / ? hz fs= 8 g 110 g / ? hz fs= 16 g 180 g / ? hz rms acceleration rms noise in normal/low-power mode (7) fs= 2 g 1.7 m g (rms) fs= 4 g 2.0 m g (rms) fs= 8 g 2.7 m g (rms) fs= 16 g 4.4 m g (rms) la_odr linear acceleration output data rate 12.5 26 52 104 208 416 833 1666 3332 6664 hz g_odr angular rate output data rate 12.5 26 52 104 208 416 833 1666 vst linear acceleration self-test output change (8)(9) fs = 2 g 90 1700 m g angular rate self-test output change (10)(11) fs = 2000 dps 150 700 dps top operating temperature range -40 +85 c 1. typical specifications are not guaranteed. 2. measurements are performed in a uniform temperature setup. 3. values after soldering . 4. rnd (rate noise density) mode is independent of the odr and fs setting. 5. gyro noise rms is independent of the odr and fs setting. 6. noise density in hp mode is the same for all odrs. table 3. mechanical characteristics (continued) symbol parameter test conditions min. typ. (1) max. unit
module specifications LSM6DS3 22/100 docid026899 rev 8 7. noise rms in normal/lp mode is the same for all the odr rms related to bw = odr /2 (for odr /9, typ value can be calculated by typ *0.6) 8. the sign of the linear acceleration self-test output change is defined by the stx_xl bits in ctrl5_c (14h) , table 60 for all axes. 9. the linear acceleration self-test output change is defined with the device in stationary condition as the absolute value of: output[lsb] (self-test enabled) - output[lsb] (self-test disabled). 1lsb = 0.061 m g at 2 g full scale. 10. the sign of the angular rate self-test output change is defined by the stx_g bits in ctrl5_c (14h) , table 59 for all axes. 11. the angular rate self-test output change is defined with the device in stationary condition as the absolute value of: output[lsb] (self-test enabled) - output[lsb] (self-test disabled). 1lsb = 70 mdps at 2000 dps full scale.
docid026899 rev 8 23/100 LSM6DS3 module specifications 100 4.2 electrical characteristics @ vdd = 1.8 v, t = 25 c unless otherwise noted. table 4. electrical characteristics for details related to the LSM6DS3 operating modes, refer to 5.2: gyroscope power modes and 5.3: accelerometer power modes . symbol parameter test conditions min. typ. (1) max. unit vdd supply voltage 1.71 1.8 3.6 v vdd_io power supply for i/o 1.62 vdd + 0.1 v iddhp gyroscope and accelerometer in high-performance mode up to odr = 1.6 khz 1.25 ma iddnm gyroscope and accelerometer in normal mode odr = 208 hz 0.9 ma iddlp gyroscope and accelerometer in low-power mode odr = 12.5 hz 0.42 ma la_iddhp accelerometer current consumption in high- performance mode up to odr = 1.6 khz 240 a la_iddnm accelerometer current consumption in normal mode odr = 104 hz 70 a la_iddlm accelerometer current consumption in low-power mode odr = 12.5 hz 24 a iddpd gyroscope and accelerometer in power down 6 a v ih digital high-level input voltage 0.8 * vdd_io v v il digital low-level input voltage 0.2 * vdd_io v v oh high-level output voltage i oh = 4 ma (2) vdd_io - 0.2 v v ol low-level output voltage i ol = 4 ma (2) 0.2 v top operating temperature range -40 +85 c 1. typical specifications are not guaranteed. 2. 4 ma is the maximum driving capability, i.e. the maximum dc current that can be sourced/sunk by the digital pad in order to guarantee the correct digital output voltage levels v oh and v ol .
module specifications LSM6DS3 24/100 docid026899 rev 8 4.3 temperature sensor characteristics @ vdd = 1.8 v, t = 25 c unless otherwise noted. table 5. temperature sensor characteristics symbol parameter test condition min. typ. (1) 1. typical specifications are not guaranteed. max. unit todr temperature refresh rate 52 hz toff temperature offset (2) 2. the output of the temperature sensor is 0 lsb (typ.) at 25 c. -15 +15 c tsen temperature sensitivity 16 lsb/c tst temperature stabilization time (3) 3. time from power on bit to valid data based on characterization data. 500 s t_adc_res temperature adc resolution 12 bit top operating temperature range -40 +85 c
docid026899 rev 8 25/100 LSM6DS3 module specifications 100 4.4 communication interface characteristics 4.4.1 spi - serial peripheral interface subject to general operating conditions for vdd and top. figure 3. spi slave timing diagram note: measurement points are done at 0.2vdd_io and 0.8vdd_io, for both input and output ports. table 6. spi slave timing values symbol parameter value (1) unit min max t c(spc) spi clock cycle 100 ns f c(spc) spi clock frequency 10 mhz t su(cs) cs setup time 5 ns t h(cs) cs hold time 20 t su(si) sdi input setup time 5 t h(si) sdi input hold time 15 t v(so) sdo valid output time 50 t h(so) sdo output hold time 5 t dis(so) sdo output disable time 50 1. values are guaranteed at 10 mhz clock frequency for spi with both 4 and 3 wires, based on characterization results, not tested in production
module specifications LSM6DS3 26/100 docid026899 rev 8 4.4.2 i 2 c - inter-ic control interface subject to general operating conditions for vdd and top. figure 4. i 2 c slave timing diagram note: measurement points are done at 0.2vdd_io and 0.8vdd_io, for both ports. table 7. i 2 c slave timing values symbol parameter i 2 c standard mode (1) i 2 c fast mode (1) unit min max min max f (scl) scl clock frequency 0 100 0 400 khz t w(scll) scl clock low time 4.7 1.3 s t w(sclh) scl clock high time 4.0 0.6 t su(sda) sda setup time 250 100 ns t h(sda) sda data hold time 0 3.45 0 0.9 s t h(st) start condition hold time 4 0.6 s t su(sr) repeated start condition setup time 4.7 0.6 t su(sp) stop condition setup time 4 0.6 t w(sp:sr) bus free time between stop and start condition 4.7 1.3 1. data based on standard i 2 c protocol requirement, not tested in production. 6' $ 6&/ w vx63 w z6&// w vx6'$ w vx65 w k67 w z6&/+ w k6'$ w z6365 67$57 5(3($ 7(' 67$ 57 6723 67$ 57
docid026899 rev 8 27/100 LSM6DS3 module specifications 100 4.5 absolute maximum ratings stresses above those listed as ?absolute maximum ratings? may cause permanent damage to the device. this is a stress rating only and functional operation of the device under these conditions is not implied. exposure to maximum rating conditions for extended periods may affect device reliability. note: supply voltage on any pin should never exceed 4.8 v. table 8. absolute maximum ratings symbol ratings maximum value unit vdd supply voltage -0.3 to 4.8 v t stg storage temperature range -40 to +125 c sg acceleration g for 0.2 ms 10,000 g esd electrostatic discharge protection (hbm) 2 kv vin input voltage on any control pin (including cs, scl/spc, sda/sdi/sdo, sdo/sa0) 0.3 to vdd_io +0.3 v this device is sensitive to mechanical shock, improper handling can cause permanent damage to the part. this device is sensitive to electrostatic discharge (esd), improper handling can cause permanent damage to the part.
module specifications LSM6DS3 28/100 docid026899 rev 8 4.6 terminology 4.6.1 sensitivity linear acceleration sensitivity can be determined, for example, by applying 1 g acceleration to the device. because the sensor can measure dc accelerations, this can be done easily by pointing the selected axis towards the ground, noting the output value, rotating the sensor 180 degrees (pointing towards the sky) and noting the output value again. by doing so, 1 g acceleration is applied to the sensor. subtracting the larger output value from the smaller one, and dividing the result by 2, leads to the actual sensitivity of the sensor. this value changes very little over temperature and over time. the sensitivity tolerance describes the range of sensitivities of a large number of sensors. an angular rate gyroscope is device that produces a positive-going digital output for counterclockwise rotation around the axis considered. sensitivity describes the gain of the sensor and can be determined by applying a defined angular velocity to it. this value changes very little over temperature and time. 4.6.2 zero- g and zero-rate level linear acceleration zero- g level offset (tyoff) describes the deviation of an actual output signal from the ideal output signal if no acceleration is present. a sensor in a steady state on a horizontal surface will measure 0 g on both the x-axis and y-axis, whereas the z-axis will measure 1 g . ideally, the output is in the middle of the dynamic range of the sensor (content of out registers 00h, data expressed as 2?s complement number). a deviation from the ideal value in this case is called zero- g offset. offset is to some extent a result of stress to mems sensor and therefore the offset can slightly change after mounting the sensor onto a printed circuit board or exposing it to extensive mechanical stress. offset changes little over temperature, see ?linear acceleration zero- g level change vs. temperature? in table 3 . the zero- g level tolerance (tyoff) describes the standard deviation of the range of zero- g levels of a group of sensors. zero-rate level describes the actual output signal if there is no angular rate present. the zero-rate level of precise mems sensors is, to some extent, a result of stress to the sensor and therefore the zero-rate level can slightly change after mounting the sensor onto a printed circuit board or after exposing it to extensive mechanical stress. this value changes very little over temperature and time.
docid026899 rev 8 29/100 LSM6DS3 functionality 100 5 functionality 5.1 operating modes the LSM6DS3 has three operating modes available: ? only accelerometer active and gyroscope in power-down ? only gyroscope active and accelerometer in power-down ? both accelerometer and gyroscope sensors active with independent odr the accelerometer is activated from power down by writing odr_xl[3:0] in ctrl1_xl (10h) while the gyroscope is activated from power-down by writing odr_g[3:0] in ctrl2_g (11h) . for combo mode the odrs are totally independent. 5.2 gyroscope power modes in the LSM6DS3, the gyroscope can be configured in four different operating modes: power- down, low-power, normal mode and high-performance mode. the operating mode selected depends on the value of the g_hm_mode bit in ctrl7_g (16h) . if g_hm_mode is set to ?0?, high-performance mode is valid for all odrs (from 12.5 hz up to 1.6 khz). to enable the low-power and normal mode, the g_hm_mode bit has to be set to ?1?. low- power mode is available for lower odr (12.5, 26, 52 hz) while normal mode is available for odrs equal to 104 and 208 hz. 5.3 accelerometer power modes in the LSM6DS3, the accelerometer can be configured in four different operating modes: power-down, low-power, normal mode and high-performance mode. the operating mode selected depends on the value of the xl_hm_mode bit in ctrl6_c (15h) . if xl_hm_mode is set to ?0?, high-performance mode is valid for all odrs (from 12.5 hz up to 6.66 khz). to enable the low-power and normal mode, the xl_hm_mode bit has to be set to ?1?. low- power mode is available for lower odrs (12.5, 26, 52 hz) while normal mode is available for odrs equal to 104 and 208 hz.
functionality LSM6DS3 30/100 docid026899 rev 8 5.4 fifo the presence of a fifo allows consistent power saving for the system since the host processor does not need continuously poll data from the sensor, but it can wake up only when needed and burst the significant data out from the fifo. LSM6DS3 embeds 8 kbytes data fifo to store the following data: ? gyroscope ? accelerometer ? external sensors ? step counter and timestamp ? temperature writing data in the fifo can be configured to be triggered by the: - accelerometer/gyroscope data-ready signal; in which case the odr must be lower than or equal to both the accelerometer and gyroscope odrs; - sensor hub data-ready signal; - step detection signal. in addition, each data can be stored at a decimated data rate compared to fifo odr and it is configurable by the user, setting the registers fifo_ctrl3 (08h) and fifo_ctrl4 (09h) . the available decimation factors are 2, 3, 4, 8, 16, 32. programmable fifo threshold can be set in fifo_ctrl1 (06h) and fifo_ctrl2 (07h) using the fth [11:0] bits. to monitor the fifo status, dedicated registers ( fifo_status1 (3ah) , fifo_status2 (3bh) , fifo_status3 (3ch) , fifo_status4 (3dh) ) can be read to detect fifo overrun events, fifo full status, fifo empty status, fifo threshold status and the number of unread samples stored in the fifo. to generate dedicated interrupts on the int1 and int2 pads of these status events, the configuration can be set in int1_ctrl (0dh) and int2_ctrl (0eh) . fifo buffer can be configured according to five different modes: ? bypass mode ? fifo mode ? continuous mode ? continuous-to-fifo mode ? bypass-to-continuous mode each mode is selected by the fifo_mode_[2:0] in fifo_ctrl5 (0ah) register. to guarantee the correct acquisition of data during the switching into and out of fifo mode, the first sample acquired must be discarded.
docid026899 rev 8 31/100 LSM6DS3 functionality 100 5.4.1 bypass mode in bypass mode ( fifo_ctrl5 (0ah) (fifo_mode_[2:0] = 000), the fifo is not operational and it remains empty. bypass mode is also used to reset the fifo when in fifo mode. 5.4.2 fifo mode in fifo mode ( fifo_ctrl5 (0ah) (fifo_mode_[2:0] = 001) data from the output channels are stored in the fifo until it is full. to reset fifo content, bypass mode should be selected by writing fifo_ctrl5 (0ah) (fifo_mode_[2:0]) to '000' after this reset command, it is possible to restart fifo mode by writing fifo_ctrl5 (0ah) (fifo_mode_[2:0]) to '001'. fifo buffer memorizes up to 4096 samples of 16 bits each but the depth of the fifo can be resized by setting the fth [11:0] bits in fifo_ctrl1 (06h) and fifo_ctrl2 (07h) . if the stop_on_fth bit in ctrl4_c (13h) is set to '1', fifo depth is limited up to fth [11:0] bits in fifo_ctrl1 (06h) and fifo_ctrl2 (07h) . 5.4.3 continuous mode continuous mode ( fifo_ctrl5 (0ah) (fifo_mode_[2:0] = 110) provides a continuous fifo update: as new data arrives, the older data is discarded. a fifo threshold flag fifo_status2 (3bh) (fth) is asserted when the number of unread samples in fifo is greater than or equal to fifo_ctrl1 (06h) and fifo_ctrl2 (07h) (fth [11:0]). it is possible to route fifo_status2 (3bh) (fth) to the int1 pin by writing in register int1_ctrl (0dh) (int1_fth) = ?1? or to the int2 pin by writing in register int2_ctrl (0eh) (int2_fth) = ?1?. a full-flag interrupt can be enabled, int1_ctrl (0dh) (int_ full_flag) = '1', in order to indicate fifo saturation and eventually read its content all at once. if an overrun occurs, at least one of the oldest samples in fifo has been overwritten and the over_run flag in fifo_status2 (3bh) is asserted. in order to empty the fifo before it is full, it is also possible to pull from fifo the number of unread samples available in fifo_status1 (3ah) and fifo_status2 (3bh) (diff_fifo[11:0]). 5.4.4 continuous-to-fifo mode in continuous-to-fifo mode ( fifo_ctrl5 (0ah) (fifo_mode_[2:0] = 011), fifo behavior changes according to the trigger event detected in one of the following interrupt registers func_src (53h) , tap_src (1ch) , wake_up_src (1bh) and d6d_src (1dh) . when the selected trigger bit is equal to '1', fifo operates in fifo mode. when the selected trigger bit is equal to '0', fifo operates in continuous mode.
functionality LSM6DS3 32/100 docid026899 rev 8 5.4.5 bypass-to-continuous mode in bypass-to-continuous mode ( fifo_ctrl5 (0ah) (fifo_mode_[2:0] = '100'), data measurement storage inside fifo operates in continuous mode when selected triggers in one of the following interrupt registers func_src (53h) , tap_src (1ch) , wake_up_src (1bh) and d6d_src (1dh) are equal to '1', otherwise fifo content is reset (bypass mode). 5.4.6 fifo reading procedure the data stored in fifo are accessible from dedicated registers ( fifo_data_out_l (3eh) and fifo_data_out_h (3fh) ) and each fifo sample is composed of 16 bits. all fifo status registers ( fifo_status1 (3ah) , fifo_status2 (3bh) , fifo_status3 (3ch) , fifo_status4 (3dh) ) can be read at the start of a reading operation, minimizing the intervention of the application processor. saving data in the fifo buffer is organized in four fifo data sets consisting of 6 bytes each: the 1 st fifo data set is reserved for gyroscope data; the 2 nd fifo data set is reserved for accelerometer data; the 3 rd fifo data set is reserved for the external sensor data stored in the registers from sensorhub1_reg (2eh) to sensorhub6_reg (33h) ; the 4 th fifo data set can be alternately associated to the external sensor data stored in the registers from sensorhub7_reg (34h) to sensorhub12_reg(39h) , to the step counter and timestamp info, or to the temperature sensor data. 5.4.7 filter block diagrams figure 5. accelerometer chain $'& %:b;/>@ 'ljlwdo /3)lowhu $qdorj $qwldoldvlqj /3)lowhu 2'5b;/>@ &rpsrvlwh )lowhu /3)
docid026899 rev 8 33/100 LSM6DS3 functionality 100 figure 6. accelerometer composite filter figure 7. gyroscope chain 6/23( ),/7(5 'ljlwdo /3)lowhu 'ljlwdo +3)lowhu 6/23(b)'6 25 )81&b(1 +3&)b;/>@ /3)b;/b(1 +3b6/23(b;/b(1 ;/ 2xwsxw 5hj ),)2 :dnhxs '' 6/23(b)'6 /2:b3$66b21b' )uhhidoo $qgurlg ixqfwlrqv 6'7ds 6/23(b)'6 25 )81&b(1 /3) /3)b;/b(1 +3b6/23(b;/b(1 /3)b;/b(1 ; +3b6/23(b;/b(1 $fwlylw\ ,qdfwlylw\ $'& 'ljlwdo +3)lowhu +3b*b(1 /3)lowhu $qdorj $qwldoldvlqj /3)lowhu 2'5b*>@
digital interfaces LSM6DS3 34/100 docid026899 rev 8 6 digital interfaces the registers embedded inside the LSM6DS3 may be accessed through both the i 2 c and spi serial interfaces. the latter may be sw configured to operate either in 3-wire or 4-wire interface mode. the serial interfaces are mapped onto the same pins. to select/exploit the i 2 c interface, the cs line must be tied high (i.e connected to vdd_io). 6.1 i 2 c serial interface the LSM6DS3 i 2 c is a bus slave. the i 2 c is employed to write the data to the registers, whose content can also be read back. the relevant i 2 c terminology is provided in the table below. there are two signals associated with the i 2 c bus: the serial clock line (scl) and the serial data line (sda). the latter is a bidirectional line used for sending and receiving the data to/from the interface. both the lines must be connected to vdd_io through external pull-up resistors. when the bus is free, both the lines are high. the i 2 c interface is implemeted with fast mode (400 khz) i 2 c standards as well as with the standard mode. in order to disable the i 2 c block, (i2c_disable) = 1 must be written in ctrl4_c (13h) . table 9. serial interface pin description pin name pin description cs spi enable i 2 c/spi mode selection (1: spi idle mode / i 2 c communication enabled; 0: spi communication mode / i 2 c disabled) scl/spc i 2 c serial clock (scl) spi serial port clock (spc) sda/sdi/sdo i 2 c serial data (sda) spi serial data input (sdi) 3-wire interface serial data output (sdo) sdo/sa0 spi serial data output (sdo) i 2 c less significant bit of the device address table 10. i 2 c terminology term description transmitter the device which sends data to the bus receiver the device which receives data from the bus master the device which initiates a transfer, generates clock signals and terminates a transfer slave the device addressed by the master
docid026899 rev 8 35/100 LSM6DS3 digital interfaces 100 6.1.1 i 2 c operation the transaction on the bus is started through a start (st) signal. a start condition is defined as a high to low transition on the data line while the scl line is held high. after this has been transmitted by the master, the bus is considered busy. the next byte of data transmitted after the start condition contains the address of the slave in the first 7 bits and the eighth bit tells whether the master is receiving data from the slave or transmitting data to the slave. when an address is sent, each device in the system compares the first seven bits after a start condition with its address. if they match, the device considers itself addressed by the master. the slave address (sad) associated to the LSM6DS3 is 110101xb. the sdo/sa0 pin can be used to modify the less significant bit of the device address. if the sdo/sa0 pin is connected to the supply voltage, lsb is ?1? (address 1101011b); else if the sdo/sa0 pin is connected to ground, the lsb value is ?0? (address 1101010b). this solution permits to connect and address two different inertial modules to the same i 2 c bus. data transfer with acknowledge is mandatory. the transmitter must release the sda line during the acknowledge pulse. the receiver must then pull the data line low so that it remains stable low during the high period of the acknowledge clock pulse. a receiver which has been addressed is obliged to generate an acknowledge after each byte of data received. the i 2 c embedded inside the LSM6DS3 behaves like a slave device and the following protocol must be adhered to. after the start condition (st) a slave address is sent, once a slave acknowledge (sak) has been returned, an 8-bit sub-address (sub) is transmitted. the increment of the address is configured by the ctrl3_c (12h) (if_inc). the slave address is completed with a read/write bit. if the bit is ?1? (read), a repeated start (sr) condition must be issued after the two sub-address bytes; if the bit is ?0? (write) the master will transmit to the slave with direction unchanged. table 11 explains how the sad+read/write bit pattern is composed, listing all the possible configurations. table 11. sad+read/write patterns command sad[6:1] sad[0] = sa0 r/w sad+r/w read 110101 0 1 11010101 (d5h) write 110101 0 0 11010100 (d4h) read 110101 1 1 11010111 (d7h) write 110101 1 0 11010110 (d6h) table 12. transfer when master is writing one byte to slave master st sad + w sub data sp slave sak sak sak table 13. transfer when master is writing multiple bytes to slave master st sad + w sub data data sp slave sak sak sak sak
digital interfaces LSM6DS3 36/100 docid026899 rev 8 data are transmitted in byte format (data). each data transfer contains 8 bits. the number of bytes transferred per transfer is unlimited. data is transferred with the most significant bit (msb) first. if a receiver can?t receive another complete byte of data until it has performed some other function, it can hold the clock line, scl low to force the transmitter into a wait state. data transfer only continues when the receiver is ready for another byte and releases the data line. if a slave receiver doesn?t acknowledge the slave address (i.e. it is not able to receive because it is performing some real-time function) the data line must be left high by the slave. the master can then abort the transfer. a low to high transition on the sda line while the scl line is high is defined as a stop condition. each data transfer must be terminated by the generation of a stop (sp) condition. in the presented communication format mak is master acknowledge and nmak is no master acknowledge. 6.2 spi bus interface the LSM6DS3 spi is a bus slave. the spi allows writing and reading the registers of the device. the serial interface communicates to the application using 4 wires: cs , spc , sdi and sdo . figure 8. read and write protocol cs is the serial port enable and it is controlled by the spi master. it goes low at the start of the transmission and goes back high at the end. spc is the serial port clock and it is controlled by the spi master. it is stopped high when cs is high (no transmission). sdi and sdo are, respectively, the serial port data input and output. those lines are driven at the falling edge of spc and should be captured at the rising edge of spc . table 14. transfer when master is receiving (reading) one byte of data from slave master st sad + w sub sr sad + r nmak sp slave sak sak sak data table 15. transfer when master is receiving (reading) multiple bytes of data from slave master st sad+w sub sr sad+r mak mak nmak sp slave sak sak sak data dat a data &6 63& 6', 6'2 5: $' $' $' $' $' $' ', ', ', ', ', ', ', ', '2 '2 '2 '2 '2 '2 '2 '2 $'
docid026899 rev 8 37/100 LSM6DS3 digital interfaces 100 both the read register and write register commands are completed in 16 clock pulses or in multiples of 8 in case of multiple read/write bytes. bit duration is the time between two falling edges of spc . the first bit (bit 0) starts at the first falling edge of spc after the falling edge of cs while the last bit (bit 15, bit 23, ...) starts at the last falling edge of spc just before the rising edge of cs . bit 0 : r w bit. when 0, the data di(7:0) is written into the device. when 1, the data do(7:0) from the device is read. in latter case, the chip will drive sdo at the start of bit 8. bit 1-7 : address ad(6:0). this is the address field of the indexed register. bit 8-15 : data di(7:0) (write mode). this is the data that is written into the device (msb first). bit 8-15 : data do(7:0) (read mode). this is the data that is read from the device (msb first). in multiple read/write commands further blocks of 8 clock periods will be added. when the ctrl3_c (12h) (if_inc) bit is ?0?, the address used to read/write data remains the same for every block. when the ctrl3_c (12h) (if_inc) bit is ?1?, the address used to read/write data is increased at every block. the function and the behavior of sdi and sdo remain unchanged. 6.2.1 spi read figure 9. spi read protocol the spi read command is performed with 16 clock pulses. a multiple byte read command is performed by adding blocks of 8 clock pulses to the previous one. bit 0 : read bit. the value is 1. bit 1-7 : address ad(6:0). this is the address field of the indexed register. bit 8-15 : data do(7:0) (read mode). this is the data that will be read from the device (msb first). bit 16-... : data do(...-8). further data in multiple byte reads. &6 63& 6', 6'2 5: '2 '2 '2 '2 '2 '2 '2 '2 $' $' $' $' $' $' $'
digital interfaces LSM6DS3 38/100 docid026899 rev 8 figure 10. multiple byte spi read protocol (2-byte example) 6.2.2 spi write figure 11. spi write protocol the spi write command is performed with 16 clock pulses. a multiple byte write command is performed by adding blocks of 8 clock pulses to the previous one. bit 0 : write bit. the value is 0. bit 1 -7 : address ad(6:0). this is the address field of the indexed register. bit 8-15 : data di(7:0) (write mode). this is the data that is written inside the device (msb first). bit 16-... : data di(...-8). further data in multiple byte writes. figure 12. multiple byte spi write protocol (2-byte example) &6 63& 6', 6'2 5: '2 '2 '2 '2 '2 '2 '2 '2 $' $' $' $' $' $' '2 '2 '2 '2 '2 '2 '2 '2 $' &6 63& 6', 5: ', ', ', ', ', ', ', ', $' $' $' $' $' $' $' &6 63& 6', 5: $' $' $' $' $' $' ', ', ', ', ', ', ', ', ',',',',',',', ', $'
docid026899 rev 8 39/100 LSM6DS3 digital interfaces 100 6.2.3 spi read in 3-wire mode a 3-wire mode is entered by setting the ctrl3_c (12h) (sim) bit equal to ?1? (spi serial interface mode selection). figure 13. spi read protocol in 3-wire mode the spi read command is performed with 16 clock pulses: bit 0 : read bit. the value is 1. bit 1-7 : address ad(6:0). this is the address field of the indexed register. bit 8-15 : data do(7:0) (read mode). this is the data that is read from the device (msb first). a multiple read command is also available in 3-wire mode. &6 63& 6',2 5: '2 '2 '2 '2 '2 '2 '2 '2 $' $' $' $' $' $' $'
application hints LSM6DS3 40/100 docid026899 rev 8 7 application hints 7.1 LSM6DS3 electrical connections in mode 1 figure 14. LSM6DS3 electrical connections in mode 1 1. leave pin electrically unconnected and soldered to pcb. the device core is supplied through the vdd line. power supply decoupling capacitors (c1, c2 = 100 nf ceramic) should be placed as near as possible to the supply pin of the device (common design practice). the functionality of the device and the measured acceleration/angular rate data is selectable and accessible through the spi/i 2 c interface. the functions, the threshold and the timing of the two interrupt pins for each sensor can be completely programmed by the user through the spi/i 2 c interface. ' ru9'',2 9ggb,2 *1' q) & 6'26$ 6'[ 6&[ ,17 *1' 9'',2 &6 6&/ 6'$ 723 9,(: 9'' ,17 1& 1& 9gg *1' q) & 6&/ 6'$ 9ggb,2 5 sx 5 sx 3xooxswrehdgghg 5 sx n2kp , &frqiljxudwlrq +267 /60'6 , &63,z 0rgh *1'
docid026899 rev 8 41/100 LSM6DS3 application hints 100 7.2 LSM6DS3 electrical connections in mode 2 figure 15. LSM6DS3 electrical connections in mode 2 1. leave pin electrically unconnected and soldered to pcb. the device core is supplied through the vdd line. power supply decoupling capacitors (c1, c2 = 100 nf ceramic) should be placed as near as possible to the supply pin of the device (common design practice). the functionality of the device and the measured acceleration/angular rate data is selectable and accessible through the spi/i 2 c interface. the functions, the threshold and the timing of the two interrupt pins for each sensor can be completely programmed by the user through the spi/i 2 c interface. 9ggb,2 *1' q) & 6'26$ 06'$ 06&/ ,17 *1' 9'',2 &6 6&/ 6'$ 723 9,(: 9'' 1& 1& 9gg *1' q) & 0'5'<,17 +267 /60'6 , &63,z 0dvwhu, & 0rgh 6&/ 6'$ 9ggb,2 5 sx 5 sx 3xooxswrehdgghg 5 sx n2kp , &frqiljxudwlrq ([whuqdo vhqvruv *1'
register mapping LSM6DS3 42/100 docid026899 rev 8 8 register mapping the table given below provides a list of the 8/16 bit registers embedded in the device and the corresponding addresses. table 16. registers address map name type register address default comment hex binary reserved - 00 00000000 - reserved func_cfg_access r/w 01 00000001 00000000 embedded functions configuration register reserved - 02 00000010 - reserved reserved - 03 00000011 - reserved sensor_sync_time_ frame r/w 04 00000100 00000000 sensor sync configuration register reserved - 05 00000101 - reserved fifo_ctrl1 r/w 06 00000110 00000000 fifo configuration registers fifo_ctrl2 r/w 07 00000111 00000000 fifo_ctrl3 r/w 08 00001000 00000000 fifo_ctrl4 r/w 09 00001001 00000000 fifo_ctrl5 r/w 0a 00001010 00000000 orient_cfg_g r/w 0b 00001011 00000000 reserved - 0c 00001100 - reserved int1_ctrl r/w 0d 00001101 00000000 int1 pin control int2_ctrl r/w 0e 00001110 00000000 int2 pin control who_am_i r 0f 00001111 01101001 who i am id ctrl1_xl r/w 10 00010000 00000000 accelerometer and gyroscope control registers ctrl2_g r/w 11 00010001 00000000 ctrl3_c r/w 12 00010010 00000100 ctrl4_c r/w 13 00010011 00000000 ctrl5_c r/w 14 00010100 00000000 ctrl6_c r/w 15 00010101 00000000 ctrl7_g r/w 16 00010110 00000000 ctrl8_xl r/w 17 0001 0111 00000000 ctrl9_xl r/w 18 00011000 00111000 ctrl10_c r/w 19 00011001 00111000
docid026899 rev 8 43/100 LSM6DS3 register mapping 100 master_config r/w 1a 00011010 00000000 i 2 c master configuration register wake_up_src r 1b 00011011 output interrupts registers tap_src r 1c 00011100 output d6d_src r 1d 00011101 output status_reg r 1e 00011110 output status data register reserved - 1f 0001 1111 - reserved out_temp_l r 20 00100000 output temperature output data register out_temp_h r 21 00100001 output outx_l_g r 22 00100010 output gyroscope output register outx_h_g r 23 00100011 output outy_l_g r 24 00100100 output outy_h_g r 25 00100101 output outz_l_g r 26 00100110 output outz_h_g r 27 00100111 output outx_l_xl r 28 00101000 output accelerometer output register outx_h_xl r 29 00101001 output outy_l_xl r 2a 00101010 output outy_h_xl r 2b 00101011 output outz_l_xl r 2c 00101100 output outz_h_xl r 2d 00101101 output table 16. registers address map (continued) name type register address default comment hex binary
register mapping LSM6DS3 44/100 docid026899 rev 8 sensorhub1_reg r 2e 00101110 output sensor hub output registers sensorhub2_reg r 2f 00101111 output sensorhub3_reg r 30 00110000 output sensorhub4_reg r 31 00110001 output sensorhub5_reg r 32 00110010 output sensorhub6_reg r 33 00110011 output sensorhub7_reg r 34 00110100 output sensorhub8_reg r 35 00110101 output sensorhub9_reg r 36 00110110 output sensorhub10_reg r 37 00110111 output sensorhub11_reg r 38 00111000 output sensorhub12_reg r 39 00111001 output fifo_status1 r 3a 00111010 output fifo status registers fifo_status2 r 3b 00111011 output fifo_status3 r 3c 00111100 output fifo_status4 r 3d 00111101 output fifo_data_out_l r 3e 00111110 output fifo data output registers fifo_data_out_h r 3f 001 11111 output timestamp0_reg r 40 01000000 output timestamp output registers timestamp1_reg r 41 01000001 output timestamp2_reg r/w 42 01000010 output reserved - 43-48 - reserved step_timestamp_l r 49 0100 1001 output step counter timestamp registers step_timestamp_h r 4a 0100 1010 output step_counter_l r 4b 01001011 output step counter output registers step_counter_h r 4c 01001100 output sensorhub13_reg r 4d 01001101 output sensor hub output registers sensorhub14_reg r 4e 01001110 output sensorhub15_reg r 4f 01001111 output sensorhub16_reg r 50 01010000 output sensorhub17_reg r 51 01010001 output sensorhub18_reg r 52 01010010 output func_src r 53 01010011 output interrupt register table 16. registers address map (continued) name type register address default comment hex binary
docid026899 rev 8 45/100 LSM6DS3 register mapping 100 registers marked as reserved must not be changed. writing to those registers may cause permanent damage to the device. the content of the registers that are loaded at boot should not be changed. they contain the factory calibration values. their content is automatically restored when the device is powered up. reserved - 54-57 - reserved tap_cfg r/w 58 01011000 00000000 interrupt registers tap_ths_6d r/w 59 01011001 00000000 int_dur2 r/w 5a 01011010 00000000 wake_up_ths r/w 5b 01011011 00000000 wake_up_dur r/w 5c 01011100 00000000 free_fall r/w 5d 01011101 00000000 md1_cfg r/w 5e 01011110 00000000 md2_cfg r/w 5f 0101 1111 00000000 reserved - 60-65 - reserved out_mag_raw_x_l r 66 0110 0110 output external magnetometer raw data output registers out_mag_raw_x_h r 67 0110 0111 output out_mag_raw_y_l r 68 0110 1000 output out_mag_raw_y_h r 69 0110 1001 output out_mag_raw_z_l r 6a 0110 1010 output out_mag_raw_x_h r 6b 0110 1011 output table 16. registers address map (continued) name type register address default comment hex binary
register description LSM6DS3 46/100 docid026899 rev 8 9 register description the device contains a set of registers which are used to control its behavior and to retrieve linear acceleration, angular rate and temperature data. the register addresses, made up of 7 bits, are used to identify them and to write the data through the serial interface. 9.1 func_cfg_access (01h) enable embedded functions register (r/w). table 18. func_cfg_access register description 9.2 sensor_sync_time_frame (04h) sensor synchronization time frame register (r/w). table 20. sensor_sync_time_frame register description 9.3 fifo_ctrl1 (06h) fifo control register (r/w). table 22. fifo_ctrl1 register description table 17. func_cfg_access register func_cfg_en 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) 0 (1) 0 (1) 0 (1) 0 (1) 0 (1) func_cfg_en enable access to the embedded functions configuration registers (1) from address 02h to 32h. default value: 0. (0: disable access to embedded functions configuration registers; 1: enable access to embedded functions configuration registers) 1. the embedded functions configuration registers details are available in 10: embedded functions register mapping and 11: embedded functions registers description . table 19. sensor_sync_time_frame register tph_7 tph_6 tph_5 tph_4 tph_3 tph_2 tph_1 tph_0 tph_ [7:0] sensor synchronization time frame with the step of 500 ms and full range of 5 s. unsigned 8-bit. default value: 0000 0000 table 21. fifo_ctrl1 register fth_7 fth_6 fth_5 fth_4 fth_3 fth_2 fth_1 fth_0 fth_[7:0] fifo threshold level setting (1) . default value: 0000 0000. watermark flag rises when the number of bytes written to fifo after the next write is greater than or equal to the threshold level. minimum resolution for the fifo is 1 lsb = 2 bytes (1 word) in fifo 1. for a complete watermark threshold configuration, consider fth_[11:8] in fifo_ctrl2 (07h) .
docid026899 rev 8 47/100 LSM6DS3 register description 100 9.4 fifo_ctrl2 (07h) fifo control register (r/w). table 24. fifo_ctrl2 register description 9.5 fifo_ctrl3 (08h) fifo control register (r/w). table 26. fifo_ctrl3 register description table 23. fifo_ctrl2 register timer_pedo _fifo_en timer_pedo _fifo_drdy 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) fth_11 fth10 fth_9 fth_8 timer_pedo _fifo_en enable pedometer step counter and timestamp as 4 th fifo data set. default: 0 (0: disable step counter and timestamp data as 4 th fifo data set; 1: enable step counter and timestamp data as 4 th fifo data set) timer_pedo _fifo_drdy fifo write mode (1) . default: 0 (0: enable write in fifo based on xl/gyro data-ready; 1: enable write in fifo at every step detected by step counter.) 1. this bit is effective if the data_valid_sel_fifo bit of the master_config (1ah) register is set to 0. fth_[11:8] fifo threshold level setting (2) . default value: 0000 watermark flag rises when the number of bytes written to fifo after the next write is greater than or equal to the threshold level. minimum resolution for the fifo is 1lsb = 2 bytes (1 word) in fifo 2. for a complete watermark threshold configuration, consider fth_[7:0] in fifo_ctrl1 (06h) table 25. fifo_ctrl3 register 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) dec_fifo _gyro2 dec_fifo _gyro1 dec_fifo _gyro0 dec_fifo _xl2 dec_fifo _xl1 dec_fifo _xl0 dec_fifo_gyro [2:0] gyro fifo (first data set) decimation setting. default: 000 for the configuration setting, refer to table 27 . dec_fifo_xl [2:0] accelerometer fifo (second data set) decimation setting. default: 000 for the configuration setting, refer to table 28 .
register description LSM6DS3 48/100 docid026899 rev 8 9.6 fifo_ctrl4 (09h) fifo control register (r/w). table 30. fifo_ctrl4 register description table 27. gyro fifo decimation setting dec_fifo_gyro [2:0] configuration 000 gyro sensor not in fifo 001 no decimation 010 decimation with factor 2 011 decimation with factor 3 100 decimation with factor 4 101 decimation with factor 8 110 decimation with factor 16 111 decimation with factor 32 table 28. accelerometer fifo decimation setting dec_fifo_xl [2:0] configuration 000 accelerometer sensor not in fifo 001 no decimation 010 decimation with factor 2 011 decimation with factor 3 100 decimation with factor 4 101 decimation with factor 8 110 decimation with factor 16 111 decimation with factor 32 table 29. fifo_ctrl4 register 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. only_high _data dec_ds4 _fifo2 dec_ds4 _fifo1 dec_ds4 _fifo0 dec_ds3 _fifo2 dec_ds3 _fifo1 dec_ds3 _fifo0 only_high_data 8-bit data storage in fifo. default: 0 (0: disable msbyte only memorization in fifo for xl and gyro; 1: enable msbyte only memorization in fifo for xl and gyro in fifo) dec_ds4_fifo[2:0] fourth fifo data set decimation setting. default: 000 for the configuration setting, refer to table 31 . dec_ds3_fifo[2:0] third fifo data set decimation setting. default: 000 for the configuration setting, refer to table 32 .
docid026899 rev 8 49/100 LSM6DS3 register description 100 9.7 fifo_ctrl5 (0ah) fifo control register (r/w). table 34. fifo_ctrl5 register description table 31. fourth fifo data set decimation setting dec_ds4_fifo[2:0] configuration 000 fourth fifo data set not in fifo 001 no decimation 010 decimation with factor 2 011 decimation with factor 3 100 decimation with factor 4 101 decimation with factor 8 110 decimation with factor 16 111 decimation with factor 32 table 32. third fifo data set decimation setting dec_ds3_fifo[2:0] configuration 000 third fifo data set not in fifo 001 no decimation 010 decimation with factor 2 011 decimation with factor 3 100 decimation with factor 4 101 decimation with factor 8 110 decimation with factor 16 111 decimation with factor 32 table 33. fifo_ctrl5 register 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. odr_ fifo_3 odr_ fifo_2 odr_ fifo_1 odr_ fifo_0 fifo_ mode_2 fifo_ mode_1 fifo_ mode_0 odr_fifo_[3:0] fifo odr selection, setting fifo_mode also. default: 0000 for the configuration setting, refer to table 35 fifo_mode_[2:0] fifo mode selection bits, setting odr_fifo also. default value: 000 for the configuration setting refer to table 36
register description LSM6DS3 50/100 docid026899 rev 8 9.8 orient_cfg_g (0bh) angular rate sensor sign and orientation register (r/w). table 37. orient_cfg_g register table 35. fifo odr selection odr_fifo_[3:0] configuration (1) 1. if the device is working at an odr slower than the one selected, fifo odr is limited to that odr value. moreover, these bits are effective if both the data_valid_sel fifo bit of master_config (1ah) and the timer_pedo_fifo_drdy bit of fifo_ctrl2 (07h) are set to 0. 0000 fifo disabled 0001 fifo odr is set to 12.5 hz 0010 fifo odr is set to 26 hz 0011 fifo odr is set to 52 hz 0100 fifo odr is set to 104 hz 0101 fifo odr is set to 208 hz 0110 fifo odr is set to 416 hz 0111 fifo odr is set to 833 hz 1000 fifo odr is set to 1.66 khz 1001 fifo odr is set to 3.33 khz 1010 fifo odr is set to 6.66 khz table 36. fifo mode selection fifo_mode_[2:0] configuration mode 000 bypass mode. fifo disabled. 001 fifo mode. stops collecting data when fifo is full. 010 reserved 011 continuous mode until trigger is deasserted, then fifo mode. 100 bypass mode until trigger is deasserted, then continuous mode. 101 reserved 110 continuous mode. if the fifo is full, the new sample overwrites the older one. 111 reserved 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) signx_g signy_g signz_g orient_2 orient_1 orient_0
docid026899 rev 8 51/100 LSM6DS3 register description 100 table 38. orient_cfg_g register description 9.9 int1_ctrl (0dh) int1 pad control register (r/w). each bit in this register enables a signal to be carried through int1. the pad?s output will supply the or combination of the selected signals. table 40. int1_ctrl register table 41. int1_ctrl register description signx_g pitch axis (x) angular rate sign. default value: 0 (0: positive sign; 1: negative sign) signy_g roll axis (y) angular rate sign. default value: 0 (0: positive sign; 1: negative sign) signz_g yaw axis (z) angular rate sign. default value: 0 (0: positive sign; 1: negative sign) orient [2:0] directional user-orientation selection. default value: 000 for the configuration setting, refer to table 39 . table 39. settings for orientation of axes orient [2:0] 000 001 010 011 100 101 pitch x x y y z z roll y z x z x y yaw z y z x y x int1_ step_ detector int1_sign _mot int1_full _flag int1_ fifo_ovr int1_ fth int1_ boot int1_ drdy_g int1_ drdy_xl int1_ step_ detector pedometer step recognition interrupt enable on int1 pad. default value: 0 (0: disabled; 1: enabled) int1_sign_mot significant motion interrupt enable on int1 pad. default value: 0 (0: disabled; 1: enabled) int1_full_flag fifo full flag interrupt enable on int1 pad. default value: 0 (0: disabled; 1: enabled) int1_fifo_ovr fifo overrun interrupt on int1 pad. default value: 0 (0: disabled; 1: enabled) int1_fth fifo threshold interrupt on int1 pad. default value: 0 (0: disabled; 1: enabled) int1_ boot boot status available on int1 pad. default value: 0 (0: disabled; 1: enabled) int1_drdy_g gyroscope data ready on int1 pad. default value: 0 (0: disabled; 1: enabled) int1_drdy_xl accelerometer data ready on int1 pad. default value: 0 (0: disabled; 1: enabled)
register description LSM6DS3 52/100 docid026899 rev 8 9.10 int2_ctrl (0eh) int2 pad control register (r/w). each bit in this register enables a signal to be carried through int2. the pad?s output will supply the or combination of the selected signals. table 42. int2_ctrl register table 43. int2_ctrl register description 9.11 who_am_i (0fh) who_am_i register (r). this register is a read-only register. its value is fixed at 69h. 9.12 ctrl1_xl (10h) linear acceleration sensor control register 1 (r/w). table 45. ctrl1_xl register int2_step _delta int2_step_ count_ov int2_ full_flag int2_ fifo_ovr int2_ fth int2_ drdy _temp int2_ drdy_g int2_ drdy_xl int2_step_delta pedometer step recognition interrupt on delta time (1) enable on int2 pad. default value: 0 (0: disabled; 1: enabled) 1. delta time value is defined in register step_count_delta (15h). int2_step_count _ov step counter overflow interrupt enable on int2 pad. default value: 0 (0: disabled; 1: enabled) int2_ full_flag fifo full flag interrupt enable on int2 pad. default value: 0 (0: disabled; 1: enabled) int2_fifo_ovr fifo overrun interrupt on int2 pad. default value: 0 (0: disabled; 1: enabled) int2_fth fifo threshold interrupt on int2 pad. default value: 0 (0: disabled; 1: enabled) int2_drdy_temp temperature data ready in int2 pad. default value: 0 (0: disabled; 1: enabled) int2_drdy_g gyroscope data ready on int2 pad. default value: 0 (0: disabled; 1: enabled) int2_drdy_xl accelerometer data ready on int2 pad. default value: 0 (0: disabled; 1: enabled) table 44. who_am_i register 01101001 odr_xl3 odr_xl2 odr_xl1 odr_xl0 fs_xl1 fs_xl0 bw_xl1 bw_xl0
docid026899 rev 8 53/100 LSM6DS3 register description 100 table 46. ctrl1_xl register description odr_xl [3:0] output data rate and power mode selection . default value: 0000 (see table 47 ). fs_xl [1:0] accelerometer full-scale selection. default value: 00. (00: 2 g ; 01: 16 g ; 10: 4 g ; 11: 8 g ) bw_xl [1:0] anti-aliasing filter bandwidth selection. default value: 00 (00: 400 hz; 01: 200 hz; 10: 100 hz; 11: 50 hz) table 47. accelerometer odr register setting odr_ xl3 odr_ xl2 odr_ xl1 odr_ xl0 odr selection [hz] when xl_hm_mode = 1 odr selection [hz] when xl_hm_mode = 0 0 0 0 0 power-down power-down 0 0 0 1 12.5 hz (low power) 12.5 hz (high performance) 0 0 1 0 26 hz (low power) 26 hz (high performance) 0 0 1 1 52 hz (low power) 52 hz (high performance) 0 1 0 0 104 hz (normal mode) 104 hz (high performance) 0 1 0 1 208 hz (normal mode) 208 hz (high performance) 0 1 1 0 416 hz (high performance) 416 hz (high performance) 0 1 1 1 833 hz (high performance) 833 hz (high performance) 1 0 0 0 1.66 khz (high performance) 1.66 khz (high performance) 1 0 0 1 3.33 khz (high performance) 3.33 khz (high performance) 1 0 1 0 6.66 khz (high performance) 6.66 khz (high performance) table 48. bw and odr (high-performance mode) odr (1) 1. filter not used when accelerometer is in normal and low-power modes. analog filter bw (xl_hm_mode = 0) xl_bw_scal_odr = 0 xl_bw_scal_odr = 1 6.66 - 3.33 khz filter not used bandwidth is determined by setting bw_xl[1:0] in ctrl1_xl (10h) 1.66 khz 400 hz 833 hz 400 hz 416 hz 200 hz 208 hz 100 hz 104 - 12.5 hz 50 hz
register description LSM6DS3 54/100 docid026899 rev 8 9.13 ctrl2_g (11h) angular rate sensor control register 2 (r/w). table 49. ctrl2_g register table 50. ctrl2_g register description odr_g3 odr_g2 odr_g1 odr_g0 fs_g1 fs_g0 fs_125 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. odr_g [3:0] gyroscope output data rate selection . default value: 0000 (refer to table 51 ) fs_g [1:0] gyroscope full-scale selection. default value: 00 (00: 245 dps; 01: 500 dps; 10: 1000 dps; 11: 2000 dps) fs_125 gyroscope full-scale at 125 dps. default value: 0 (0: disabled; 1: enabled) table 51. gyroscope odr configuration setting odr_ g3 odr_ g2 odr_ g1 odr_ g0 odr [hz] when g_hm_mode = 1 odr [hz] when g_hm_mode = 0 0 0 0 0 power down power down 0 0 0 1 12.5 hz (low power) 12.5 hz (high performance) 0 0 1 0 26 hz (low power) 26 hz (high performance) 0 0 1 1 52 hz (low power) 52 hz (high performance) 0 1 0 0 104 hz (normal mode) 104 hz (high performance) 0 1 0 1 208 hz (normal mode) 208 hz (high performance) 0 1 1 0 416 hz (high performance) 416 hz (high performance) 0 1 1 1 833 hz (high performance) 833 hz (high performance) 1 0 0 0 1.66 khz (high performance) 1.66 khz (high performance)
docid026899 rev 8 55/100 LSM6DS3 register description 100 9.14 ctrl3_c (12h) control register 3 (r/w). table 52. ctrl3_c register boot bdu h_lactive pp_od sim if_inc ble sw_reset table 53. ctrl3_c register description boot reboot memory content. default value: 0 (0: normal mode; 1: reboot memory content (1) ) 1. boot request is executed as soon as internal oscillator is turned on. it is possible to set bit while in power- down mode, in this case it will be served at the next normal mode or sleep mode. bdu block data update. default value: 0 (0: continuous update; 1: output registers not updated until msb and lsb have been read) h_lactive interrupt activation level. default value: 0 (0: interrupt output pads active high; 1: interrupt output pads active low) pp_od push-pull/open-drain selection on int1 and int2 pads. default value: 0 (0: push-pull mode; 1: open-drain mode) sim spi serial interface mode selection. default value: 0 (0: 4-wire interface; 1: 3-wire interface). if_inc register address automatically incremented during a multiple byte access with a serial interface (i 2 c or spi). default value: 1 (0: disabled; 1: enabled) ble big/little endian data selection. default value 0 (0: data lsb @ lower address; 1: data msb @ lower address) sw_reset software reset. default value: 0 (0: normal mode; 1: reset device) this bit is cleared by hardware after next flash boot.
register description LSM6DS3 56/100 docid026899 rev 8 9.15 ctrl4_c (13h) control register 4 (r/w). 9.16 ctrl5_c (14h) control register 5 (r/w). table 56. ctrl5_c register table 54. ctrl4_c register xl_bw_ scal_odr sleep_g int2_on_ int1 fifo_ temp_en drdy_ mask i2c_disable 0 (1) 1. this bit must be set to '0' for the correct operation of the device. stop_on _fth table 55. ctrl4_c register description xl_bw_ scal_odr accelerometer bandwidth selection. default value: 0 (0 (1) : bandwidth determined by odr selection, refer to table 48 ; 1 (2) : bandwidth determined by setting bw_xl[1:0] in ctrl1_xl (10h) register.) 1. filter used in high-performance mode only with odr less than 3.33 khz. 2. filter used in high-performance mode only. sleep_g gyroscope sleep mode enable. default value: 0 (0: disabled; 1: enabled) int2_on_int1 all interrupt signals available on int1 pad enable. default value: 0 (0: interrupt signals divided between int1 and int2 pads; 1: all interrupt signals in logic or on int1 pad) fifo_temp_en enable temperature data as 4 th fifo data set (3) . default: 0 (0: disable temperature data as 4 th fifo data set; 1: enable temperature data as 4 th fifo data set) 3. this bit is effective if the timer_pedo_fifo_en bit of fifo_ctrl2 (07h) register is set to 0. drdy_mask data-ready mask enable. if enabled, when switching from power-down to an active mode, the accelerometer and gyroscope data-ready signals are masked until the settling of the sensor filters is completed. default value: 0 (0: disabled; 1: enabled) i2c_disable disable i 2 c interface. default value: 0 (0: both i 2 c and spi enabled; 1: i 2 c disabled, spi only) stop_on_fth enable fifo threshold level use. default value: 0 (0: fifo depth is not limited; 1: fifo depth is limited to threshold level) rounding2 rounding1 rounding0 0 (1) 1. this bit must be set to ?0? for the correct operation of the device st1_g st0_g st1_xl st0_xl
docid026899 rev 8 57/100 LSM6DS3 register description 100 table 57. ctrl5_c register description rounding[2:0] circular burst-mode (rounding) read from output registers. default: 000 (000: no rounding; others: refer to table 58 ) st_g [1:0] angular rate sensor self-test enable. default value: 00 (00: self-test disabled; other: refer to table 59 ) st_xl [1:0] linear acceleration sensor self-test enable. default value: 00 (00: self-test disabled; other: refer to table 60 ) table 58. output registers rounding pattern rounding[2:0] rounding pattern 000 no rounding 001 accelerometer only 010 gyroscope only 011 gyroscope + accelerometer 100 registers from sensorhub1_reg (2eh) to sensorhub6_reg (33h) only 101 accelerometer + registers from sensorhub1_reg (2eh) to sensorhub6_reg (33h) 110 gyroscope + accelerometer + registers from sensorhub1_reg (2eh) to sensorhub6_reg (33h) and registers from sensorhub7_reg (34h) to sensorhub12_reg(39h) 111 gyroscope + accelerometer + registers from sensorhub1_reg (2eh) to sensorhub6_reg (33h) table 59. angular rate sensor self-test mode selection st1_g st0_g self-test mode 0 0 normal mode 0 1 positive sign self-test 1 0 not allowed 1 1 negative sign self-test table 60. linear acceleration sensor self-test mode selection st1_xl st0_xl self-test mode 0 0 normal mode 0 1 positive sign self-test 1 0 negative sign self-test 1 1 not allowed
register description LSM6DS3 58/100 docid026899 rev 8 9.17 ctrl6_c (15h) angular rate sensor control register 6 (r/w). 9.18 ctrl7_g (16h) angular rate sensor control register 7 (r/w). table 61. ctrl6_c register trig_en lvlen lvl2_en xl_hm_mode 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) 0 (1) 0 (1) table 62. ctrl6_c register description trig_en gyroscope data edge-sensitive trigger enable. default value: 0 (0: external trigger disabled; 1: external trigger enabled) lvlen gyroscope data level-sensitive trigger enable. default value: 0 (0: level-sensitive trigger disabled; 1: level sensitive trigger enabled) lvl2_en gyroscope level-sensitive latched enable. default value: 0 (0: level-sensitive latched disabled; 1: level sensitive latched enabled) xl_hm_mode high-performance operating mode disable for accelerometer (1) . default value: 0 (0: high-performance operating mode enabled; 1: high-performance operating mode disabled) 1. normal and low-power mode depends on the odr setting, for details refer to table 47 . table 63. ctrl7_g register g_hm_mode hp_g_ en hpcf_g1 hpcf_g0 hp_g_r st rounding_ status 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) table 64. ctrl7_g register description g_hm_mode high-performance operating mode disable for gyroscope (1) . default: 0 (0: high-performance operating mode enabled; 1: high-performance operating mode disabled) 1. normal and low-power mode depends on the odr setting, for details refer to table 51 . hp_g_en gyroscope digital high-pass filter enable. the filter is enabled only if the gyro is in hp mode. default value: 0 (0: hpf disabled; 1: hpf enabled) hp_g_rst gyro digital hp filter reset. default: 0 (0: gyro digital hp filter reset off; 1: gyro digital hp filter reset on) rounding_ status source register rounding function enable on status_reg (1eh) , func_src (53h) and wake_up_src (1bh) registers. default value: 0 (0: disabled; 1: enabled) hpcf_g[1:0] gyroscope high-pass filter cutoff frequency selection. default value: 00. refer to table 65 .
docid026899 rev 8 59/100 LSM6DS3 register description 100 9.19 ctrl8_xl (17h) linear acceleration sensor control register 8 (r/w). table 65. gyroscope high-pass filter mode configuration hpcf_g1 hpcf_g0 high-pass filter cutoff frequency 0 0 0.0081 hz 0 1 0.0324 hz 1 0 2.07 hz 1 1 16.32 hz table 66. ctrl8_xl register lpf2_xl_ en hpcf_ xl1 hpcf_ xl0 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) hp_slope_x l_en 0 (1) low_pass _on_6d table 67. ctrl8_xl register description lpf2_xl_en accelerometer low-pass filter lpf2 selection. refer to figure 6 . hpcf_xl[1:0] accelerometer slope filter and high-pass filter configuration and cutoff setting. refer to table 68 . it is also used to select the cutoff frequency of the lpf2 filter, as shown in table 69 . this low-pass filter can also be used in the 6d/4d functionality by setting the low_pass_on_6d bit of ctrl8_xl (17h) to 1. hp_slope_xl_en accelerometer slope filter / high-pass filter selection. refer to figure 6 . low_pass_on_6d low-pass filter on 6d function selection. refer to figure 6 . table 68. accelerometer slope and high-pass filter selection and cutoff frequency hpcf_xl[1:0] applied filter hp filter cutoff frequency [hz] 00 slope odr_xl/4 01 high-pass odr_xl/100 10 high-pass odr_xl/9 11 high-pass odr_xl/400 table 69. accelerometer lpf2 cutoff frequency hpcf_xl[1:0] lpf2 digital filter cutoff frequency [hz] 00 odr_xl/50 01 odr_xl/100 10 odr_xl/9 11 odr_xl/400
register description LSM6DS3 60/100 docid026899 rev 8 9.20 ctrl9_xl (18h) linear acceleration sensor control register 9 (r/w). 9.21 ctrl10_c (19h) control register 10 (r/w). table 70. ctrl9_xl register 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1 zen_xl yen_xl xen_xl soft_en 0 (1) 0 (1) table 71. ctrl9_xl register description zen_xl accelerometer z-axis output enable. default value: 1 (0: z-axis output disabled; 1: z-axis output enabled) yen_xl accelerometer y-axis output enable. default value: 1 (0: y-axis output disabled; 1: y-axis output enabled) xen_xl accelerometer x-axis output enable. default value: 1 (0: x-axis output disabled; 1: x-axis output enabled) soft_en enable soft-iron correction algorithm for magnetometer (1) . default value: 0 (0: soft-iron correction algorithm disabled; 1: soft-iron correction algorithm disabled) 1. this bit is effective if the iron_en bit of master_config (1ah) is set to 1. table 72. ctrl10_c register 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) zen_g yen_g xen_g func_en pedo_rst _step sign_ motion_en table 73. ctrl10_c register description zen_g gyroscope yaw axis (z) output enable. default value: 1 (0: z-axis output disabled; 1: z-axis output enabled) yen_g gyroscope roll axis (y) output enable. default value: 1 (0: y-axis output disabled; 1: y axis output enabled) xen_g gyroscope pitch axis (x) output enable. default value: 1 (0: x-axis output disabled; 1: x-axis output enabled) func_en enable embedded functionalities (pedometer, tilt, significant motion, sensor hub and ironing) and accelerometer hp and lpf2 filters (refer to figure 6 ). default value: 0 (0: disable functionalities of embedded functions and accelerometer filters; 1: enable functionalities of embedded functions and accelerometer filters) pedo_rst_ step reset pedometer step counter. default value: 0 (0: disabled; 1: enabled) sign_motion _en enable significant motion function. default value: 0 (0: disabled; 1: enabled)
docid026899 rev 8 61/100 LSM6DS3 register description 100 9.22 master_config (1ah) master configuration register (r/w). 9.23 wake_up_src (1bh) wake up interrupt source register (r). table 74. master_config register drdy_on _int1 data_valid _sel_fifo 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. start_ config pull_up _en pass_ through _mode iron_en master_ on table 75. master_config register description drdy_on_ int1 manage the master drdy signal on int1 pad. default: 0 (0: disable master drdy on int1; 1: enable master drdy on int1) data_valid_ sel_fifo selection of fifo data-valid signal. default value: 0 (0: data-valid signal used to write data in fifo is the xl/gyro data-ready or step detection (1) ; 1: data-valid signal used to write data in fifo is the sensor hub data-ready) 1. if the timer_pedo_fifo_drdy bit in fifo_ctrl2 (07h) is set to 0, the trigger for writing data in fifo is xl/gyro data-ready, otherwise it's the step detection. start_ config sensor hub trigger signal selection. default value: 0 (0: sensor hub signal is the xl/gyro data-ready; 1: sensor hub signal external from int2 pad.) pull_up_en auxiliary i 2 c pull-up. default value: 0 (0: internal pull-up on auxiliary i 2 c line disabled; 1: internal pull-up on auxiliary i 2 c line enabled) pass_through _mode i 2 c interface pass-through. default value: 0 (0: through disabled; 1: through enabled) iron_en enable hard-iron correction algorithm for magnetometer. default value: 0 (0:hard-iron correction algorithm disabled; 1: hard-iron correction algorithm enabled) master_on sensor hub i 2 c master enable. default: 0 (0: master i 2 c of sensor hub disabled; 1: master i 2 c of sensor hub enabled) table 76. wake_up_src register 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) ff_ia sleep_ state_ia wu_ia x_wu y_wu z_wu
register description LSM6DS3 62/100 docid026899 rev 8 9.24 tap_src (1ch) tap source register (r). table 77. wake_up_src register description ff_ia free-fall event detection status. default: 0 (0: free-fall event not detected; 1: free-fall event detected) sleep_ state_ia sleep event status. default value: 0 (0: sleep event not detected; 1: sleep event detected) wu_ia wakeup event detection status. default value: 0 (0: wakeup event not detected; 1: wakeup event detected.) x_wu wakeup event detection status on x-axis. default value: 0 (0: wakeup event on x-axis not detected; 1: wakeup event on x-axis detected) y_wu wakeup event detection status on y-axis. default value: 0 (0: wakeup event on y-axis not detected; 1: wakeup event on y-axis detected) z_wu wakeup event detection status on z-axis. default value: 0 (0: wakeup event on z-axis not detected; 1: wakeup event on z-axis detected) table 78. tap_src register 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. tap_ia single_ tap double_ tap tap_sign x_tap y_tap z_tap table 79. tap_src register description tap_ia tap event detection status. default: 0 (0: tap event not detected; 1: tap event detected) single_tap single-tap event status. default value: 0 (0: single tap event not detected; 1: single tap event detected) double_tap double-tap event detection status. default value: 0 (0: double-tap event not detected; 1: double-tap event detected.) tap_sign sign of acceleration detected by tap event. default: 0 (0: positive sign of acceleration detected by tap event; 1: negative sign of acceleration detected by tap event) x_tap tap event detection status on x-axis. default value: 0 (0: tap event on x-axis not detected; 1: tap event on x-axis detected) y_tap tap event detection status on y-axis. default value: 0 (0: tap event on y-axis not detected; 1: tap event on y-axis detected) z_tap tap event detection status on z-axis. default value: 0 (0: tap event on z-axis not detected; 1: tap event on z-axis detected)
docid026899 rev 8 63/100 LSM6DS3 register description 100 9.25 d6d_src (1dh) portrait, landscape, face-up and face-down source register (r). 9.26 status_reg (1eh) table 80. d6d_src register 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. d6d_ia zh zl yh yl xh xl table 81. d6d_src register description d6d_ ia interrupt active for change position portrait, landscape, face-up, face-down. default value: 0 (0: change position not detected; 1: change position detected) zh z-axis high event (over threshold). default value: 0 (0: event not detected; 1: event (over threshold) detected) zl z-axis low event (under threshold). default value: 0 (0: event not detected; 1: event (under threshold) detected) yh y-axis high event (over threshold). default value: 0 (0: event not detected; 1: event (over-threshold) detected) yl y-axis low event (under threshold). default value: 0 (0: event not detected; 1: event (under threshold) detected) x_h x-axis high event (over threshold). default value: 0 (0: event not detected; 1: event (over threshold) detected) x_l x-axis low event (under threshold). default value: 0 (0: event not detected; 1: event (under threshold) detected) table 82. status_reg register - - - - ev_boot tda gda xlda table 83. status_reg register description tda temperature new data available. default: 0 (0: no set of data is available at temperature sensor output; 1: a new set of data is available at temperature sensor output) gda gyroscope new data available. default value: 0 (0: no set of data available at gyroscope output; 1: a new set of data is available at gyroscope output) xlda accelerometer new data available. default value: 0 (0: no set of data available at accelerometer output; 1: a new set of data is available at accelerometer output)
register description LSM6DS3 64/100 docid026899 rev 8 9.27 out_temp_l (20h), out_temp(21h) temperature data output register (r). l and h registers together express a 16-bit word in two?s complement. 9.28 outx_l_g (22h) angular rate sensor pitch axis (x) angular rate output register (r). the value is expressed as a 16-bit word in two?s complement. 9.29 outx_h_g (23h) angular rate sensor pitch axis (x) angular rate output register (r). the value is expressed as a 16-bit word in two?s complement. 9.30 outy_l_g (24h) angular rate sensor roll axis (y) angular rate output register (r). the value is expressed as a 16-bit word in two?s complement. table 84. out_temp_l register temp7 temp6 temp5 temp4 temp3 temp2 temp1 temp0 table 85. out_temp_h register temp15 temp14 temp13 temp12 temp11 temp10 temp9 temp8 table 86. out_temp register description temp[15:0] temperature sensor output data the value is expressed as two?s complement sign extended on the msb. table 87. outx_l_g register d7 d6 d5 d4 d3 d2 d1 d0 table 88. outx_l_g register description d[7:0] pitch axis (x) angular rate value (lsbyte) table 89. outx_h_g register d15 d14 d13 d12 d11 d10 d9 d8 table 90. outx_h_g register description d[15:8] pitch axis (x) angular rate value (msbyte) table 91. outy_l_g register d7 d6 d5 d4 d3 d2 d1 d0 table 92. outy_l_g register description d[7:0] roll axis (y) angular rate value (lsbyte)
docid026899 rev 8 65/100 LSM6DS3 register description 100 9.31 outy_h_g (25h) angular rate sensor roll axis (y) angular rate output register (r). the value is expressed as a 16-bit word in two?s complement. 9.32 outz_l_g (26h) angular rate sensor yaw axis (z) angular rate output register (r). the value is expressed as a 16-bit word in two?s complement. 9.33 outz_h_g (27h) angular rate sensor yaw axis (z) angular rate output register (r). the value is expressed as a 16-bit word in two?s complement . 9.34 outx_l_xl (28h) linear acceleration sensor x-axis output register (r). the value is expressed as a 16-bit word in two?s complement. table 93. outy_h_g register d15 d14 d13 d12 d11 d10 d9 d8 table 94. outy_h_g register description d[15:8] roll axis (y) angular rate value (msbyte) table 95. outz_l_g register d7 d6 d5 d4 d3 d2 d1 d0 table 96. outz_l_g register description d[7:0] yaw axis (z) angular rate value (lsbyte) table 97. outz_h_g register d15 d14 d13 d12 d11 d10 d9 d8 table 98. outz_h_g register description d[15:8] yaw axis (z) angular rate value (msbyte) table 99. outx_l_xl register d7 d6 d5 d4 d3 d2 d1 d0 table 100. outx_l_xl register description d[7:0] x-axis linear acceleration value (lsbyte)
register description LSM6DS3 66/100 docid026899 rev 8 9.35 outx_h_xl (29h) linear acceleration sensor x-axis output register (r). the value is expressed as a 16-bit word in two?s complement. 9.36 outy_l_xl (2ah) linear acceleration sensor y-axis output register (r). the value is expressed as a 16-bit word in two?s complement. 9.37 outy_h_xl (2bh) linear acceleration sensor y-axis output register (r). the value is expressed as a 16-bit word in two?s complement. 9.38 outz_l_xl (2ch) linear acceleration sensor z-axis output register (r). the value is expressed as a 16-bit word in two?s complement. table 101. outx_h_xl register d15 d14 d13 d12 d11 d10 d9 d8 table 102. outx_h_xl register description d[15:8] x-axis linear acceleration value (msbyte) table 103. outy_l_xl register d7 d6 d5 d4 d3 d2 d1 d0 table 104. outy_l_xl register description d[7:0] y-axis linear acceleration value (lsbyte) table 105. outy_h_g register d15 d14 d13 d12 d11 d10 d9 d8 table 106. outy_h_g register description d[15:8] y-axis linear acceleration value (msbyte) table 107. outz_l_xl register d7 d6 d5 d4 d3 d2 d1 d0 table 108. outz_l_xl register description d[7:0] z-axis linear acceleration value (lsbyte)
docid026899 rev 8 67/100 LSM6DS3 register description 100 9.39 outz_h_xl (2dh) linear acceleration sensor z-axis output register (r). the value is expressed as a 16-bit word in two?s complement. 9.40 sensorhub1_reg (2eh) first byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.41 sensorhub2_reg (2fh) second byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operations configurations (for external sensors from x = 0 to x = 3). 9.42 sensorhub3_reg (30h) third byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operations configurations (for external sensors from x = 0 to x = 3). table 109. outz_h_xl register d15 d14 d13 d12 d11 d10 d9 d8 table 110. outz_h_xl register description d[15:8] z-axis linear acceleration value (msbyte) table 111. sensorhub1_reg register shub1_7 shub1_6 shub1_5 shub1_4 shub1_3 shub1_2 shub1_1 shub1_0 table 112. sensorhub1_reg register description shub1_[7:0] first byte associated to external sensors table 113. sensorhub2_reg register shub2_7 shub2_6 shub2_5 shub2_4 shub2_3 shub2_2 shub2_1 shub2_0 table 114. sensorhub2_reg register description shub2_[7:0] second byte associated to external sensors table 115. sensorhub3_reg register shub3_7 shub3_6 shub3_5 shub3_4 shub3_3 shub3_2 shub3_1 shub3_0 table 116. sensorhub3_reg register description shub3_[7:0] third byte associated to external sensors
register description LSM6DS3 68/100 docid026899 rev 8 9.43 sensorhub4_reg (31h) fourth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.44 sensorhub5_reg (32h) fifth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.45 sensorhub6_reg (33h) sixth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.46 sensorhub7_reg (34h) seventh byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). table 117. sensorhub4_reg register shub4_7 shub4_6 shub4_5 shub4_4 shub4_3 shub4_2 shub4_1 shub4_0 table 118. sensorhub4_reg register description shub4_[7:0] fourth byte associated to external sensors table 119. sensorhub5_reg register shub5_7 shub5_6 shub5_5 shub5_4 shub5_3 shub5_2 shub5_1 shub5_0 table 120. sensorhub5_reg register description shub5_[7:0] fifth byte associated to external sensors table 121. sensorhub6_reg register shub6_7 shub6_6 shub6_5 shub6_4 shub6_3 shub6_2 shub6_1 shub6_0 table 122. sensorhub6_reg register description shub6_[7:0] sixth byte associated to external sensors table 123. sensorhub7_reg register shub7_7 shub7_6 shub7_5 shub7_4 shub7_3 shub7_2 shub7_1 shub7_0 table 124. sensorhub7_reg register description shub7_[7:0] seventh byte associated to external sensors
docid026899 rev 8 69/100 LSM6DS3 register description 100 9.47 sensorhub8_reg(35h) eighth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.48 sensorhub9_reg (36h) ninth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.49 sensorhub10_reg (37h) tenth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.50 sensorhub11_reg (38h) eleventh byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). table 125. sensorhub8_reg register shub8_7 shub8_6 shub8_5 shub8_4 shub8_3 shub8_2 shub8_1 shub8_0 table 126. sensorhub8_reg register description shub8_[7:0] eighth byte associated to external sensors table 127. sensorhub9_reg register shub9_7 shub9_6 shub9_5 shub9_4 shub9_3 shub9_2 shub9_1 shub9_0 table 128. sensorhub9_reg register description shub9_[7:0] ninth byte associated to external sensors table 129. sensorhub10_reg register shub10_7 shub10_6 shub10_5 shub10_4 shub10_3 shub10_2 shub10_1 shub10_0 table 130. sensorhub10_reg register description shub10_[7:0] tenth byte associated to external sensors table 131. sensorhub11_reg register shub11_7 shub11_6 shub11_5 shub11_4 shub11_3 shub11_2 shub11_1 shub11_0 table 132. sensorhub11_reg register description shub11_[7:0] eleventh byte associated to external sensors
register description LSM6DS3 70/100 docid026899 rev 8 9.51 sensorhub12_reg(39h) twelfth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.52 fifo_status1 (3ah) fifo status control register (r). for a proper reading of the register, it is recommended to set the bdu bit in ctrl3_c (12h) to 1. table 135. fifo_status1 register table 136. fifo_status1 register description 9.53 fifo_status2 (3bh) fifo status control register (r). for a proper reading of the register, it is recommended to set the bdu bit in ctrl3_c (12h) to 1. table 137. fifo_status2 register table 138. fifo_status2 register description table 133. sensorhub12_reg register shub12_7 shub12_6 shub12_5 shub12_4 shub12_3 shub12_2 shub12_1 shub12_0 table 134. sensorhub12_reg register description shub12[7:0] twelfth byte associated to external sensors diff_ fifo_7 diff_ fifo_6 diff_ fifo_5 diff_ fifo_4 diff_ fifo_3 diff_ fifo_2 diff_ fifo_1 diff_ fifo_0 diff_fifo_[7:0] number of unread words (16-bit axes) stored in fifo (1) . 1. for a complete number of unread samples, consider diff_fifo [11:8] in fifo_status2 (3bh) fth fifo_ over_run fifo_ full fifo_ empty diff_ fifo_11 diff_ fifo_10 diff_ fifo_9 diff_ fifo_8 fth fifo watermark status. default value: 0 (0: fifo filling is lower than watermark level (1) ; 1: fifo filling is equal to or higher than the watermark level) 1. fifo watermark level is set in fth_[11:0] in fifo_ctrl1 (06h) and fifo_ctrl2 (07h) fifo_over_run fifo overrun status. default value: 0 (0: fifo is not completely filled; 1: fifo is completely filled) fifo_full fifo full status. default value: 0 (0: fifo is not full; 1: fifo will be full at the next odr) fifo_empty fifo empty bit. default value: 0 (0: fifo contains data; 1: fifo is empty) diff_fifo_[7:0] number of unread words (16-bit axes) stored in fifo (2) . 2. for a complete number of unread samples, consider diff_fifo [11:8] in fifo_status1 (3ah)
docid026899 rev 8 71/100 LSM6DS3 register description 100 9.54 fifo_status3 (3ch) fifo status control register (r). for a proper reading of the register, it is recommended to set the bdu bit in ctrl3_c (12h) to 1. table 139. fifo_status3 register table 140. fifo_status3 register description 9.55 fifo_status4 (3dh) fifo status control register (r). for a proper reading of the register, it is recommended to set the bdu bit in ctrl3_c (12h) to 1. table 141. fifo_status4 register table 142. fifo_status4 register description 9.56 fifo_data_out_l (3eh) fifo data output register (r). for a proper reading of the register, it is recommended to set the bdu bit in ctrl3_c (12h) to 1. fifo_ pattern _7 fifo_ pattern _6 fifo_ pattern _5 fifo_ pattern _4 fifo_ pattern _3 fifo_ pattern _2 fifo_ pattern _1 fifo_ pattern _0 fifo_ pattern_[7:0] word of recursive pattern read at the next reading. 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) 0 (1) 0 (1) 0 (1) 0 (1) fifo_ pattern_9 fifo_ pattern_8 fifo_ pattern_[9:8] word of recursive pattern read at the next reading. table 143. fifo_data_out_l register data_ out_ fifo_l_7 data_ out_ fifo_l_6 data_ out_ fifo_l_5 data_ out_ fifo_l_4 data_ out_ fifo_l_3 data_ out_ fifo_l_2 data_ out_ fifo_l_1 data_ out_ fifo_l_0 table 144. fifo_data_out_l register description data_out_fifo_l_[7:0] fifo data output (first byte)
register description LSM6DS3 72/100 docid026899 rev 8 9.57 fifo_data_out_h (3fh) fifo data output register (r). for a proper reading of the register, it is recommended to set the bdu bit in ctrl3_c (12h) to 1. 9.58 timestamp0_reg (40h) timestamp first byte data output register (r). the value is expressed as a 24-bit word and the bit resolution is defined by setting the value in wake_up_dur (5ch) . 9.59 timestamp1_reg (41h) timestamp second byte data output register (r). the value is expressed as a 24-bit word and the bit resolution is defined by setting value in wake_up_dur (5ch) . 9.60 timestamp2_reg (42h) timestamp third byte data output register (r/w). the value is expressed as a 24-bit word and the bit resolution is defined by setting the value in wake_up_dur (5ch) . to reset the timer, the aah value has to be stored in this register. table 145. fifo_data_out_h register data_ out_ fifo_h_7 data_ out_ fifo_h_6 data_ out_ fifo_h_5 data_ out_ fifo_h_4 data_ out_ fifo_h_3 data_ out_ fifo_h_2 data_ out_ fifo_h_1 data_ out_ fifo_h_0 table 146. fifo_data_out_h register description data_out_fifo_h_[7:0] fifo data output (second byte) table 147. timestamp0_reg register timesta mp0_7 timesta mp0_6 timesta mp0_5 timesta mp0_4 timesta mp0_3 timesta mp0_2 timesta mp0_1 timesta mp0_0 table 148. timestamp0_reg register description timestamp0_[7:0] timestamp first byte data output table 149. timestamp1_reg register timesta mp1_7 timesta mp1_6 timesta mp1_5 timesta mp1_4 timesta mp1_3 timesta mp1_2 timesta mp1_1 timesta mp1_0 table 150. timestamp1_reg register description timestamp1_[7:0] timestamp second byte data output table 151. timestamp2_reg register timesta mp2_7 timesta mp2_6 timesta mp2_5 timesta mp2_4 timesta mp2_3 timesta mp2_2 timesta mp2_1 timesta mp2_0 table 152. timestamp2_reg register description timestamp2_[7:0] timestamp third byte data output
docid026899 rev 8 73/100 LSM6DS3 register description 100 9.61 step_timestamp_l (49h) step counter timestamp information register (r). when a step is detected, the value of timestamp_reg1 register is copied in step_timestamp_l. 9.62 step_timestamp_h (4ah) step counter timestamp information register (r). when a step is detected, the value of timestamp_reg2 register is copied in step_timestamp_h. 9.63 step_counter_l (4bh) step counter output register (r). 9.64 step_counter_h (4ch) step counter output register (r). table 153. step_timestamp_l register step_ timesta mp_l_7 step_ timesta mp_l_6 step_ timesta mp_l_5 step_ timesta mp_l_4 step_ timesta mp_l_3 step_ timesta mp_l_2 step_ timesta mp_l_1 step_ timesta mp_l_0 table 154. step_timestamp_l register description step_timestamp_l[7:0] timestamp of last step detected. table 155. step_timestamp_h register step_ timesta mp_h_7 step_ timesta mp_h_6 step_ timesta mp_h_5 step_ timesta mp_h_4 step_ timesta mp_h_3 step_ timesta mp_h_2 step_ timesta mp_h_1 step_ timesta mp_h_0 table 156. step_timestamp_h register description step_timestamp_h[7:0] timestamp of last step detected. table 157. step_counter_l register step_co unter_l _7 step_co unter_l _6 step_co unter_l _5 step_co unter_l _4 step_co unter_l _3 step_co unter_l _2 step_co unter_l _1 step_co unter_l _0 table 158. step_counter_l register description step_counter_l_[7:0] step counter output (lsbyte) table 159. step_counter_h register step_co unter_h _7 step_co unter_h _6 step_co unter_h _5 step_co unter_h _4 step_co unter_h _3 step_co unter_h _2 step_co unter_h _1 step_co unter_h _0 table 160. step_counter_h register description step_counter_h_[7:0] step counter output (msbyte)
register description LSM6DS3 74/100 docid026899 rev 8 9.65 sensorhub13_reg (4dh) thirteenth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.66 sensorhub14_reg (4eh) fourteenth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.67 sensorhub15_reg (4fh) fifteenth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.68 sensorhub16_reg (50h) sixteenth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x= 0 to x = 3). table 161. sensorhub13_reg register shub13_7 shub13_6 shub13_5 shub13_4 shub13_3 shub13_2 shub13_1 shub13_0 table 162. sensorhub13_reg register description shub13_[7:0] thirteenth byte associated to external sensors table 163. sensorhub14_reg register shub14_7 shub14_6 shub14_5 shub14_4 shub14_3 shub14_2 shub14_1 shub14_0 table 164. sensorhub14_reg register description shub14_[7:0] fourteenth byte associated to external sensors table 165. sensorhub15_reg register shub15_7 shub15_6 shub15_5 shub15_4 shub15_3 shub15_2 shub15_1 shub15_0 table 166. sensorhub15_reg register description shub15_[7:0] fifteenth byte associated to external sensors table 167. sensorhub16_reg register shub16_7 shub16_6 shub16_5 shub16_4 shub16_3 shub16_2 shub16_1 shub16_0 table 168. sensorhub16_reg register description shub16_[7:0] sixteenth byte associated to external sensors
docid026899 rev 8 75/100 LSM6DS3 register description 100 9.69 sensorhub17_reg (51h) seventeenth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.70 sensorhub18_reg (52h) eighteenth byte associated to external sensors. the content of the register is consistent with the slavex_config number of read operation configurations (for external sensors from x = 0 to x = 3). 9.71 func_src (53h) significant motion, tilt, step detector, hard/soft-iron and sensor hub interrupt source register (r). table 169. sensorhub17_reg register shub17_7 shub17_6 shub17_5 shub17_4 shub17_3 shub17_2 shub17_1 shub17_0 table 170. sensorhub17_reg register description shub17_[7:0] seventeenth byte associated to external sensors table 171. sensorhub18_reg register shub18_7 shub18_6 shub18_5 shub18_4 shub18_3 shub18_2 shub18_1 shub18_0 table 172. sensorhub18_reg register description shub18_[7:0] eighteenth byte associated to external sensors table 173. func_src register step_cou nt_delta_ ia sign_ motion_ia tilt_ia step_ detected step_ overflow 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. si_end_ op sensor hub_ end_op table 174. func_src register description step_count _delta_ia pedometer step recognition on delta time status. default value: 0 (0: no step recognized during delta time; 1: at least one step recognized during delta time) sign_ motion_ia significant motion event detection status. default value: 0 (0: significant motion event not detected; 1: significant motion event detected) tilt_ia tilt event detection status. default value: 0 (0: tilt event not detected; 1: tilt event detected) step_ detected step detector event detection status. default value: 0 (0: step detector event not detected; 1: step detector event detected) step_ overflow step counter overflow status. default value: 0 (0: step counter value < 2 16 ; 1: step counter value reached 2 16 )
register description LSM6DS3 76/100 docid026899 rev 8 9.72 tap_cfg (58h) timestamp, pedometer, tilt, filtering, and tap recognition functions configuration register (r/w). 9.73 tap_ths_6d (59h) portrait/landscape position and tap function threshold register (r/w). si_end_op hard/soft-iron calculation status. default value: 0 (0: hard/soft-iron calculation not concluded; 1: hard/soft-iron calculation concluded) sensorhub _end_op sensor hub communication status. default value: 0 (0: sensor hub communication not concluded; 1: sensor hub communication concluded) table 174. func_src register description (continued) table 175. tap_cfg register timer_ en pedo_en tilt_en slope _fds tap_x_en tap_y_en tap_z_en lir table 176. tap_cfg register description timer_en timestamp count enable, output data are collected in timestamp0_reg (40h) , timestamp1_reg (41h) , timestamp2_reg (42h) register. default: 0 (0: timestamp count disabled; 1: timestamp count enabled) pedo_en pedometer algorithm enable. default value: 0 (0: pedometer algorithm disabled; 1: pedometer algorithm enabled) tilt_en tilt calculation enable. default value: 0 (0: tilt calculation disabled; 1: tilt calculation enabled.) slope_fds enable accelerometer hp and lpf2 filters (refer to figure 6 ). default value: 0 (0: disable; 1: enable) tap_x_en enable x direction in tap recognition. default value: 0 (0: x direction disabled; 1:x direction enabled) tap_y_en enable y direction in tap recognition. default value: 0 (0: y direction disabled; 1:y direction enabled) tap_z_en enable z direction in tap recognition. default value: 0 (0: z direction disabled; 1:z direction enabled) lir latched interrupt. default value: 0 (0: interrupt request not latched; 1: interrupt request latched) table 177. tap_ths_6d register d4d_en sixd_ths 1 sixd_ths 0 tap_ths 4 tap_ths 3 tap_ths 2 tap_ths 1 tap_ths 0
docid026899 rev 8 77/100 LSM6DS3 register description 100 9.74 int_dur2 (5ah) tap recognition function setting register (r/w). table 178. tap_ths_6d register description d4d_en 4d orientation detection enable. z-axis position detection is disabled. default value: 0 (0: enabled; 1: disabled) sixd_ths[1:0] threshold for d6d function. default value: 00 for details, refer to table 179 . tap_ths[4:0] threshold for tap recognition. default value: 00000 table 179. threshold for d4d/d6d function sixd_ths[1:0] threshold value 00 80 degrees 01 70 degrees 10 60 degrees 11 50 degrees table 180. int_dur2 register dur3 dur2 dur1 dur0 quiet1 quiet0 shock1 shock0 table 181. int_dur2 register description dur[3:0] duration of maximum time gap for double tap recognition. default: 0000 when double tap recognition is enabled, this register expresses the maximum time between two consecutive detected taps to determine a double tap event. the default value of these bits is 0000b which corresponds to 16*odr_xl time. if the dur[3:0] bits are set to a different value, 1lsb corresponds to 32*odr_xl time. quiet[1:0] expected quiet time after a tap detection. default value: 00 quiet time is the time after the first detected tap in which there must not be any overthreshold event. the default value of these bits is 00b which corresponds to 2*odr_xl time. if the quiet[1:0] bits are set to a different value, 1lsb corresponds to 4*odr_xl time. shock[1:0] maximum duration of overthreshold event. default value: 00 maximum duration is the maximum time of an overthreshold signal detection to be recognized as a tap event. the default value of these bits is 00b which corresponds to 4*odr_xl time. if the shock[1:0] bits are set to a different value, 1lsb corresponds to 8*odr_xl time.
register description LSM6DS3 78/100 docid026899 rev 8 9.75 wake_up_ths (5bh) single and double-tap function threshold register (r/w). 9.76 wake_up_dur (5ch) free-fall, wakeup, timestamp and sleep mode functions duration setting register (r/w). table 182. wake_up_ths register single_ double _tap inactivity wk_ths5 wk_ths4 wk_ths3 wk_ths2 wk_ths1 wk_ths0 table 183. wake_up_ths register description single_double_tap single/double-tap event enable. default: 0 (0: only single-tap event enabled; 1: both single and double-tap events enabled) inactivity inactivity event enable. default value: 0 (0: sleep disabled; 1: sleep enabled) wk_ths[5:0] threshold for wakeup. default value: 000000 table 184. wake_up_dur register ff_dur5 wake_ dur1 wake_ dur0 timer_ hr sleep_ dur3 sleep_ dur2 sleep_ dur1 sleep_ dur0 table 185. wake_up_dur register description ff_dur5 free fall duration event. default: 0 for the complete configuration of the free-fall duration, refer to ff_dur[4:0] in free_fall (5dh) configuration. wake_dur[1:0] wake up duration event. default: 00 1lsb = 1 odr_time timer_hr timestamp register resolution setting (1) . default value: 0 (0: 1lsb = 6.4 ms; 1: 1lsb = 25 s) 1. configuration of this bit affects timestamp0_reg (40h) , timestamp1_reg (41h) , timestamp2_reg (42h) , step_timestamp_l (49h) , step_timestamp_h (4ah) , and step_count_delta (15h) registers. sleep_dur[3:0] duration to go in sleep mode. default value: 0000 1 lsb = 512 odr
docid026899 rev 8 79/100 LSM6DS3 register description 100 9.77 free_fall (5dh) free-fall function duration setting register (r/w). 9.78 md1_cfg (5eh) functions routing on int1 register (r/w). table 186. free_fall register ff_dur4 ff_dur3 ff_dur2 ff_dur1 ff_dur0 ff_ths2 ff_ths1 ff_ths0 table 187. free_fall register description ff_dur[4:0] free-fall duration event. default: 0 for the complete configuration of the free fall duration, refer to ff_dur5 in wake_up_dur (5ch) configuration ff_ths[2:0] free fall threshold setting. default: 000 for details refer to table 188 . table 188. threshold for free-fall function ff_ths[2:0] threshold value 000 156 m g 001 219 m g 010 250 m g 011 312 m g 100 344 m g 101 406 m g 110 469 m g 111 500 m g table 189. md1_cfg register int1_ inact_ state int1_ single_ tap int1_wu int1_ff int1_ double_ tap int1_6d int1_tilt int1_ timer table 190. md1_cfg register description int1_inact_ state routing on int1 of inactivity mode. default: 0 (0: routing on int1 of inactivity disabled; 1: routing on int1 of inactivity enabled) int1_single_ tap single-tap recognition routing on int1. default: 0 (0: routing of single-tap event on int1 disabled; 1: routing of single-tap event on int1 enabled) int1_wu routing of wakeup event on int1. default value: 0 (0: routing of wakeup event on int1 disabled; 1: routing of wakeup event on int1 enabled)
register description LSM6DS3 80/100 docid026899 rev 8 9.79 md2_cfg (5fh) functions routing on int2 register (r/w). int1_ff routing of free-fall event on int1. default value: 0 (0: routing of free-fall event on int1 disabled; 1: routing of free-fall event on int1 enabled) int1_double _tap routing of tap event on int1. default value: 0 (0: routing of double-tap event on int1 disabled; 1: routing of double-tap event on int1 enabled) int1_6d routing of 6d event on int1. default value: 0 (0: routing of 6d event on int1 disabled; 1: routing of 6d event on int1 enabled) int1_tilt routing of tilt event on int1. default value: 0 (0: routing of tilt event on int1 disabled; 1: routing of tilt event on int1 enabled) int1_timer routing of end counter event of timer on int1. default value: 0 (0: routing of end counter event of timer on int1 disabled; 1: routing of end counter event of timer event on int1 enabled) table 190. md1_cfg register description table 191. md2_cfg register int2_ inact_ state int2_ single_ tap int2_wu int2_ff int2_ double_ tap int2_6d int2_tilt int2_ iron table 192. md2_cfg register description int2_inact_ state routing on int2 of inactivity mode. default: 0 (0: routing on int2 of inactivity disabled; 1: routing on int2 of inactivity enabled) int2_single_ tap single-tap recognition routing on int2. default: 0 (0: routing of single-tap event on int2 disabled; 1: routing of single-tap event on int2 enabled) int2_wu routing of wakeup event on int2. default value: 0 (0: routing of wakeup event on int2 disabled; 1: routing of wake-up event on int2 enabled) int2_ff routing of free-fall event on int2. default value: 0 (0: routing of free-fall event on int2 disabled; 1: routing of free-fall event on int2 enabled) int2_double _tap routing of tap event on int2. default value: 0 (0: routing of double-tap event on int2 disabled; 1: routing of double-tap event on int2 enabled) int2_6d routing of 6d event on int2. default value: 0 (0: routing of 6d event on int2 disabled; 1: routing of 6d event on int2 enabled) int2_tilt routing of tilt event on int2. default value: 0 (0: routing of tilt event on int2 disabled; 1: routing of tilt event on int2 enabled) int2_iron routing of soft-iron/hard-iron algorithm end event on int2. default value: 0 (0: routing of soft-iron/hard-iron algorithm end event on int2 disabled; 1: routing of soft-iron/hard-iron algorithm end event on int2 enabled)
docid026899 rev 8 81/100 LSM6DS3 register description 100 9.80 out_mag_raw_x_l (66h) external magnetometer raw data (r). 9.81 out_mag_raw_x_h (67h) external magnetometer raw data (r). 9.82 out_mag_raw_y_l (68h) external magnetometer raw data (r). 9.83 out_mag_raw_y_h (69h) external magnetometer raw data (r). table 193. out_mag_raw_x_l register d7 d6 d5 d4 d3 d2 d1 d0 table 194. out_mag_raw_x_l register description d[7:0] x-axis external magnetometer value (lsbyte) table 195. out_mag_raw_x_h register d15 d14 d13 d12 d11 d10 d9 d8 table 196. out_mag_raw_x_h register description d[15:8] x-axis external magnetometer value (msbyte) table 197. out_mag_raw_y_l register d7 d6 d5 d4 d3 d2 d1 d0 table 198. out_mag_raw_y_l register description d[7:0] y-axis external magnetometer value (lsbyte) table 199. out_mag_raw_y_h register d15 d14 d13 d12 d11 d10 d9 d8 table 200. out_mag_raw_y_h register description d[15:8] y-axis external magnetometer value (msbyte)
register description LSM6DS3 82/100 docid026899 rev 8 9.84 out_mag_raw_z_l (6ah) external magnetometer raw data (r). 9.85 out_mag_raw_z_h (6bh) external magnetometer raw data (r). table 201. out_mag_raw_z_l register d7 d6 d5 d4 d3 d2 d1 d0 table 202. out_mag_raw_z_l register description d[7:0] z-axis external magnetometer value (lsbyte) table 203. out_mag_raw_z_h register d15 d14 d13 d12 d11 d10 d9 d8 table 204. out_mag_raw_z_h register description d[15:8] z-axis external magnetometer value (msbyte)
docid026899 rev 8 83/100 LSM6DS3 embedded functions register mapping 100 10 embedded functions register mapping the table given below provides a list of the registers for the embedded functions available in the device and the corresponding addresses. embedded functions registers are accessible when func_cfg_en is set to ?1? in func_cfg_access (01h) . note: all modifications of the content of the embedded functions registers have to be performed with the device in power-down mode. table 205. registers address map - embedded functions name type register address default comment hex binary slv0_add r/w 02 00000010 00000000 slv0_subadd r/w 03 00000011 00000000 slave0_config r/w 04 00000100 00000000 slv1_add r/w 05 00000101 00000000 slv1_subadd r/w 06 00000110 00000000 slave1_config r/w 07 00000111 00000000 slv2_add r/w 08 00001000 00000000 slv2_subadd r/w 09 00001001 00000000 slave2_config r/w 0a 00001010 00000000 slv3_add r/w 0b 00001011 00000000 slv3_subadd r/w 0c 00001100 00000000 slave3_config r/w 0d 00001101 00000000 datawrite_src_ mode_sub_slv0 r/w 0e 00001110 00000000 pedo_ths_reg r/w 0f 00001111 00010000 reserved - 10-12 - reserved sm_ths r/w 13 00010011 00000110 pedo_deb_reg r/w 14 00010100 01101110 step_count_delta r/w 15 0001 0101 00000000 mag_si_xx r/w 24 00100100 00001000 mag_si_xy r/w 25 00100101 00000000 mag_si_xz r/w 26 00100110 00000000 mag_si_yx r/w 27 00100111 00000000 mag_si_yy r/w 28 00101000 00001000 mag_si_yz r/w 29 00101001 00000000 mag_si_zx r/w 2a 00101010 00000000 mag_si_zy r/w 2b 00101011 00000000
embedded functions register mapping LSM6DS3 84/100 docid026899 rev 8 registers marked as reserved must not be changed. writing to those registers may cause permanent damage to the device. the content of the registers that are loaded at boot should not be changed. they contain the factory calibration values. their content is automatically restored when the device is powered up. mag_si_zz r/w 2c 00101100 00001000 mag_offx_l r/w 2d 00101101 00000000 mag_offx_h r/w 2e 00101110 00000000 mag_offy_l r/w 2f 00101111 00000000 mag_offy_h r/w 30 00110000 00000000 mag_offz_l r/w 31 00110001 00000000 mag_offz_h r/w 32 00110010 00000000 table 205. registers address map - embedded functions (continued) name type register address default comment hex binary
docid026899 rev 8 85/100 LSM6DS3 embedded functions registers description 100 11 embedded functions registers description note: all modifications of the content of the embedded functions registers have to be performed with the device in power-down mode. 11.1 slv0_add (02h) i 2 c slave address of the first external sensor (sensor1) register (r/w). 11.2 slv0_subadd (03h) address of register on the first external sensor (sensor1) register (r/w). 11.3 slave0_config (04h) first external sensor (sensor1) configuration and sensor hub settings register (r/w). table 206. slv0_add register slave0_ add6 slave0_ add5 slave0_ add4 slave0_ add3 slave0_ add2 slave0_ add1 slave0_ add0 rw_0 table 207. slv0_add register description slave0_add[6:0] i 2 c slave address of sensor1 that can be read by sensor hub. default value: 0000000 rw_0 read/write operation on sensor1. default value: 0 (0: write operation; 1: read operation) table 208. slv0_subadd register slave0_ reg7 slave0_ reg6 slave0_ reg5 slave0_ reg4 slave0_ reg3 slave0_ reg2 slave0_ reg1 slave0_ reg0 table 209. slv0_subadd register description slave0_reg[7:0] address of register on sensor1 that has to be read/write according to the rw_0 bit value in slv0_add (02h) . default value: 00000000 table 210. slave0_config register slave0_ rate1 slave0_ rate0 aux_sens _on1 aux_sens _on0 src_mode slave0_ numop2 slave0_ numop1 slave0_ numop0
embedded functions registers description LSM6DS3 86/100 docid026899 rev 8 11.4 slv1_add (05h) i 2 c slave address of the second external sensor (sensor2) register (r/w). 11.5 slv1_subadd (06h) address of register on the second external sensor (sensor2) register (r/w). table 211. slave0_config register description slave0_rate[1:0] decimation of read operation on sensor1 starting from the sensor hub trigger. default value: 00 (00: no decimation 01: update every 2 samples 10: update every 4 samples 11: update every 8 samples) aux_sens_on[1:0] number of external sensors to be read by sensor hub. default value: 00 (00: one sensor 01: two sensors 10: three sensors 11: four sensors) src_mode source mode conditioned read (1) . default value: 0 (0: source mode read disabled; 1: source mode read enabled) slave0_numop[2:0] number of read operations on sensor1. 1. read conditioned by the content of the register at address specified in datawrite_src_mode_sub_slv0 (0eh) register. if the content is non-zero the operation continues with the reading of the address specified in the slv0_subadd (03h) register, else the operation is interrupted. table 212. slv1_add register slave1_ add6 slave1_ add5 slave1_ add4 slave1_ add3 slave1_ add2 slave1_ add1 slave1_ add0 r_1 table 213. slv1_add register description slave1_add[6:0] i 2 c slave address of sensor2 that can be read by sensor hub. default value: 0000000 r_1 read operation on sensor2 enable. default value: 0 (0: read operation disabled; 1: read operation enabled) table 214. slv1_subadd register slave1_ reg7 slave1_ reg6 slave1_ reg5 slave1_ reg4 slave1_ reg3 slave1_ reg2 slave1_ reg1 slave1_ reg0 table 215. slv1_subadd register description slave1_reg[7:0] address of register on sensor2 that has to be read according to the r_1 bit value in slv1_add (05h) . default value: 00000000
docid026899 rev 8 87/100 LSM6DS3 embedded functions registers description 100 11.6 slave1_config (07h) second external sensor (sensor2) configuration register (r/w). 11.7 slv2_add (08h) i 2 c slave address of the third external sensor (sensor3) register (r/w). 11.8 slv2_subadd (09h) address of register on the third external sensor (sensor3) register (r/w). table 216. slave1_config register slave1_ rate1 slave1_ rate0 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) 0 (1) slave1_ numop2 slave1_ numop1 slave1_ numop0 table 217. slave1_config register description slave1_rate[1:0] decimation of read operation on sensor2 starting from the sensor hub trigger. default value: 00 (00: no decimation 01: update every 2 samples 10: update every 4 samples 11: update every 8 samples) slave1_numop[2:0] number of read operations on sensor2. table 218. slv2_add register slave2_ add6 slave2_ add5 slave2_ add4 slave2_ add3 slave2_ add2 slave2_ add1 slave2_ add0 r_2 table 219. slv2_add register description slave2_add[6:0] i 2 c slave address of sensor3 that can be read by sensor hub. default value: 0000000 r_2 read operation on sensor3 enable. default value: 0 (0: read operation disabled; 1: read operation enabled) table 220. slv2_subadd register slave2_ reg7 slave2_ reg6 slave2_ reg5 slave2_ reg4 slave2_ reg3 slave2_ reg2 slave2_ reg1 slave2_ reg0 table 221. slv2_subadd register description slave2_reg[7:0] address of register on sensor3 that has to be read according to the r_2 bit value in slv2_add (08h) . default value: 00000000
embedded functions registers description LSM6DS3 88/100 docid026899 rev 8 11.9 slave2_config (0ah) third external sensor (sensor3) configuration register (r/w). 11.10 slv3_add (0bh) i 2 c slave address of the fourth external sensor (sensor4) register (r/w). 11.11 slv3_subadd (0ch) address of register on the fourth external sensor (sensor4) register (r/w). table 222. slave2_config register slave2_ rate1 slave2_ rate0 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) 0 (1) slave2_ numop2 slave2_ numop1 slave2_ numop0 table 223. slave2_config register description slave2_rate[1:0] decimation of read operation on sensor3 starting from the sensor hub trigger. default value: 00 (00: no decimation 01: update every 2 samples 10: update every 4 samples 11: update every 8 samples) slave2_numop[2:0] number of read operations on sensor3. table 224. slv3_add register slave3_ add6 slave3_ add5 slave3_ add4 slave3_ add3 slave3_ add2 slave3_ add1 slave3_ add0 r_3 table 225. slv3_add register description slave3_add[6:0] i 2 c slave address of sensor4 that can be read by the sensor hub. default value: 0000000 r_3 read operation on sensor4 enable. default value: 0 (0: read operation disabled; 1: read operation enabled) table 226. slv3_subadd register slave3_ reg7 slave3_ reg6 slave3_ reg5 slave3_ reg4 slave3_ reg3 slave3_ reg2 slave3_ reg1 slave3_ reg0 table 227. slv3_subadd register description slave3_reg[7:0] address of register on sensor4 that has to be read according to the r_3 bit value in slv3_add (0bh) . default value: 00000000
docid026899 rev 8 89/100 LSM6DS3 embedded functions registers description 100 11.12 slave3_config (0dh) fourth external sensor (sensor4) configuration register (r/w). 11.13 datawrite_src_mode_sub_slv0 (0eh) data to be written into the slave device register (r/w). table 228. slave3_config register slave3_ rate1 slave3_ rate0 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) 0 (1) slave3_ numop2 slave3_ numop1 slave3_ numop0 table 229. slave3_config register description slave3_rate[1:0] decimation of read operation on sensor4 starting from the sensor hub trigger. default value: 00 (00: no decimation 01: update every 2 samples 10: update every 4 samples 11: update every 8 samples) slave3_numop[2:0] number of read operations on sensor4. table 230. datawrite_src_mode_sub_slv0 register slave_ dataw7 slave_ dataw6 slave_ dataw5 slave_ dataw4 slave_ dataw3 slave_ dataw2 slave_ dataw1 slave_ dataw0 table 231. datawrite_src_mode_sub_slv0 register description slave_dataw[7:0] data to be written into the slave device according to the rw_0 bit in slv0_add (02h) register or address to be read in source mode. default value: 00000000
embedded functions registers description LSM6DS3 90/100 docid026899 rev 8 11.14 pedo_ths_reg (0fh) pedometer minimum threshold and internal full-scale configuration register (r/w). table 232. pedo_ths_reg register default values table 233. pedo_ths_reg register description 11.15 sm_ths (13h) significant motion configuration register (r/w). 11.16 pedo_deb_reg (14h) pedometer debounce configuration register (r/w). pedo_4g - - ths_ min4 ths_ min3 ths_ min2 ths_ min1 ths_ min0 pedo_ 4g this bit sets the internal full scale used in pedometer functions. using this bit, saturation is avoided (e.g. fast walk). 0: internal full scale = 2 g . 1: internal full scale 4 g (device full_scale @ctrl1_xl must be 4 g , otherwise internal full scale is 2 g ) ths_ min[4:0] configurable minimum threshold. 1lsb = 16 m g @pedo_4g=0, 1lsb = 32 m g @pedo_4g=1 table 234. sm_ths register sm_ths_ 7 sm_ths_ 6 sm_ths_ 5 sm_ths_ 4 sm_ths_ 3 sm_ths_ 2 sm_ths_ 1 sm_ths_ 0 table 235. sm_ths register description sm_ths[7:0] significant motion threshold. default value: 00000110 table 236. pedo_deb_reg register default values deb_ time4 deb_ time3 deb_ time2 deb_ time1 deb_ time0 deb_ step2 deb_ step1 deb_ step0 table 237. pedo_deb_reg register description deb_ time[4:0] debounce time. if the time between two consecutive steps is greater than deb_time*80ms, the debouncer is reactivated. default value: 01101 deb_ step[2:0] debounce threshold. minimum number of steps to increment the step counter (debounce). default value: 110
docid026899 rev 8 91/100 LSM6DS3 embedded functions registers description 100 11.17 step_count_delta (15h) time period register for step detection on delta time (r/w). 11.18 mag_si_xx (24h) soft-iron matrix correction register (r/w). 11.19 mag_si_xy (25h) soft-iron matrix correction register (r/w). 11.20 mag_si_xz (26h) soft-iron matrix correction register (r/w). table 238. step_count_delta register sc_ delta_7 sc_ delta_6 sc_ delta_5 sc_ delta_4 sc_ delta_3 sc_ delta_2 sc_ delta_1 sc_ delta_0 table 239. step_count_delta register description sc_delta[7:0] time period value (1) (1lsb = 1.6384 s) 1. this value is effective if the timer_en bit of the tap_cfg (58h) register is set to 1 and the timer_hr bit of the wake_up_dur (5ch) register is set to 0. table 240. mag_si_xx register mag_si_ xx_7 mag_si_ xx_6 mag_si_ xx_5 mag_si_ xx_4 mag_si_ xx_3 mag_si_ xx_2 mag_si_ xx_1 mag_si_ xx_0 table 241. mag_si_xx register description mag_si_xx_[7:0] soft-iron correction row1 col1 coefficient (1) . default value: 00001000 1. value is expressed in sign-module format. table 242. mag_si_xy register mag_si_ xy_7 mag_si_ xy_6 mag_si_ xy_5 mag_si_ xy_4 mag_si_ xy_3 mag_si_ xy_2 mag_si_ xy_1 mag_si_ xy_0 table 243. mag_si_xy register description mag_si_xy_[7:0] soft-iron correction row1 col2 coefficient (1) . default value: 00000000 1. value is expressed in sign-module format. table 244. mag_si_xz register mag_si_ xz_7 mag_si_ xz_6 mag_si_ xz_5 mag_si_ xz_4 mag_si_ xz_3 mag_si_ xz_2 mag_si_ xz_1 mag_si_ xz_0 table 245. mag_si_xz register description mag_si_xz_[7:0] soft-iron correction row1 col3 coefficient (1) . default value: 00000000 1. value is expressed in sign-module format.
embedded functions registers description LSM6DS3 92/100 docid026899 rev 8 11.21 mag_si_yx (27h) soft-iron matrix correction register (r/w). 11.22 mag_si_yy (28h) soft-iron matrix correction register (r/w). 11.23 mag_si_yz (29h) soft-iron matrix correction register (r/w). 11.24 mag_si_zx (2ah) soft-iron matrix correction register (r/w). table 246. mag_si_yx register mag_si_ yx_7 mag_si_ yx_6 mag_si_ yx_5 mag_si_ yx_4 mag_si_ yx_3 mag_si_ yx_2 mag_si_ yx_1 mag_si_ yx_0 table 247. mag_si_yx register description mag_si_yx_[7:0] soft-iron correction row2 col1 coefficient (1) . default value: 00000000 1. value is expressed in sign-module format. table 248. mag_si_yy register mag_si_ yy_7 mag_si_ yy_6 mag_si_ yy_5 mag_si_ yy_4 mag_si_ yy_3 mag_si_ yy_2 mag_si_ yy_1 mag_si_ yy_0 table 249. mag_si_yy register description mag_si_yy_[7:0] soft-iron correction row2 col2 coefficient (1) . default value: 00001000 1. value is expressed in sign-module format. table 250. mag_si_yz register mag_si_ yz_7 mag_si_ yz_6 mag_si_ yz_5 mag_si_ yz_4 mag_si_ yz_3 mag_si_ yz_2 mag_si_ yz_1 mag_si_ yz_0 table 251. mag_si_yz register description mag_si_yz_[7:0] soft-iron correction row2 col3 coefficient (1) . default value: 00000000 1. value is expressed in sign-module format. table 252. mag_si_zx register mag_si_ zx_7 mag_si_ zx_6 mag_si_ zx_5 mag_si_ zx_4 mag_si_ zx_3 mag_si_ zx_2 mag_si_ zx_1 mag_si_ zx_0 table 253. mag_si_zx register description mag_si_zx_[7:0] soft-iron correction row3 col1 coefficient (1) . default value: 00000000 1. value is expressed in sign-module format.
docid026899 rev 8 93/100 LSM6DS3 embedded functions registers description 100 11.25 mag_si_zy (2bh) soft-iron matrix correction register (r/w). 11.26 mag_si_zz (2ch) soft-iron matrix correction register (r/w). 11.27 mag_offx_l (2dh) offset for x-axis hard-iron compensation register (r/w). the value is expressed as a 16-bit word in two?s complement. 11.28 mag_offx_h (2eh) offset for x-axis hard-iron compensation register (r/w).the value is expressed as a 16-bit word in two?s complement. table 254. mag_si_zy register mag_si_ zy_7 mag_si_ zy_6 mag_si_ zy_5 mag_si_ zy_4 mag_si_ zy_3 mag_si_ zy_2 mag_si_ zy_1 mag_si_ zy_0 table 255. mag_si_zy register description mag_si_zy_[7:0] soft-iron correction row3 col2 coefficient (1) . default value: 00000000 1. value is expressed in sign-module format. table 256. mag_si_zz register mag_si_ zz_7 mag_si_ zz_6 mag_si_ zz_5 mag_si_ zz_4 mag_si_ zz_3 mag_si_ zz_2 mag_si_ zz_1 mag_si_ zz_0 table 257. mag_si_zz register description mag_si_zz_[7:0] soft-iron correction row3 col3 coefficient (1) . default value: 00001000 1. value is expressed in sign-module format. table 258. mag_offx_l register mag_off x_l_7 mag_off x_l_6 mag_off x_l_5 mag_off x_l_4 mag_off x_l_3 mag_off x_l_2 mag_off x_l_1 mag_off x_l_0 table 259. mag_offx_l register description mag_offx_l_[7:0] offset for x-axis hard-iron compensation. default value: 00000000 table 260. mag_offx_h register mag_off x_h_7 mag_off x_h_6 mag_off x_h_5 mag_off x_h_4 mag_off x_h_3 mag_off x_h_2 mag_off x_h_1 mag_off x_h_0 table 261. mag_offx_l register description mag_offx_h_[7:0] offset for x-axis hard-iron compensation. default value: 00000000
embedded functions registers description LSM6DS3 94/100 docid026899 rev 8 11.29 mag_offy_l (2fh) offset for y-axis hard-iron compensation register (r/w). the value is expressed as a 16-bit word in two?s complement. 11.30 mag_offy_h (30h) offset for y-axis hard-iron compensation register (r/w). the value is expressed as a 16-bit word in two?s complement. 11.31 mag_offz_l (31h) offset for z-axis hard-iron compensation register (r/w). the value is expressed as a 16-bit word in two?s complement. 11.32 mag_offz_h (32h) offset for z-axis hard-iron compensation register (r/w). the value is expressed as a 16-bit word in two?s complement. table 262. mag_offy_l register mag_off y_l_7 mag_off y_l_6 mag_off y_l_5 mag_off y_l_4 mag_off y_l_3 mag_off y_l_2 mag_off y_l_1 mag_off y_l_0 table 263. mag_offy_l register description mag_offy_l_[7:0] offset for y-axis hard-iron compensation. default value: 00000000 table 264. mag_offy_h register mag_off y_h_7 mag_off y_h_6 mag_off y_h_5 mag_off y_h_4 mag_off y_h_3 mag_off y_h_2 mag_off y_h_1 mag_off y_h_0 table 265. mag_offy_l register description mag_offy_h_[7:0] offset for y-axis hard-iron compensation. default value: 00000000 table 266. mag_offz_l register mag_off z_l_7 mag_off z_l_6 mag_off z_l_5 mag_off z_l_4 mag_off z_l_3 mag_off z_l_2 mag_off z_l_1 mag_off z_l_0 table 267. mag_offz_l register description mag_offz_l_[7:0] offset for z-axis hard-iron compensation. default value: 00000000 table 268. mag_offz_h register mag_off z_h_7 mag_off z_h_6 mag_off z_h_5 mag_off z_h_4 mag_off z_h_3 mag_off z_h_2 mag_off z_h_1 mag_off z_h_0 table 269. mag_offx_l register description mag_offz_h_[7:0] offset for z-axis hard-iron compensation. default value: 00000000
docid026899 rev 8 95/100 LSM6DS3 soldering information 100 12 soldering information the lga package is compliant with the ecopack ? , rohs and "green" standard. it is qualified for soldering heat resistance according to jedec j-std-020. leave "pin 1 indicator" unconnected during soldering. land pattern and soldering recommendations are available at www .st.com/mems .
package information LSM6DS3 96/100 docid026899 rev 8 13 package information in order to meet environmental requirements, st offers these devices in different grades of ecopack ? packages, depending on their level of environmental compliance. ecopack ? specifications, grade definitions and product status are available at: www.st.com. ecopack is an st trademark. 13.1 lga-14 package information figure 16. lga-14 2.5x3x0.86 mm 14l package outline and mechanical data 'lphqvlrqvduhlqploolphwhuxqohvvrwkhuzlvhvshflilhg *hqhudowrohudqfhlvppxqohvvrwkhuzlvhvshflilhg 287(5',0(16,216 ,7(0 ',0(16,21>pp@ 72/(5$1&(>pp@ ? @ / > k w j q h / ? @ : > k w g l : ; $ 0 @ + > w k j l h + b
docid026899 rev 8 97/100 LSM6DS3 package information 100 13.2 lga-14 packing information figure 17. carrier tape information for lga-14 package figure 18. lga-14 package orientation in carrier tape
package information LSM6DS3 98/100 docid026899 rev 8 figure 19. reel information for carrier tape of lga-14 package table 270. reel dimensions for carrier tape of lga-14 package reel dimensions (mm) a (max) 330 b (min) 1.5 c 13 0.25 d (min) 20.2 n (min) 60 g 12.4 +2/-0 t (max) 18.4 $ ' % )x o o u dg l x v 7dshvorw lqfruhiru wdshvwduw ppplqzlgwk *phdvxuhgdwkxe & 1 ppplq $ffhvvkrohdw vorworfdwlrq 7
docid026899 rev 8 99/100 LSM6DS3 revision history 100 14 revision history table 271. document revision history date revision changes 03-nov-2014 1 initial release 18-dec-2014 2 updated section 2: embedded low-power features and subsection updated section 5.4: fifo and subsections added section 5.4.7: filter block diagrams updated iddlp in table 4 and todr in table 5: temperature sensor characteristics updated table 16: registers address map revised registers in section 9: register description updated table 205: registers address map - embedded functions revised registers in section 11: embedded functions registers description textual update in figure 16: lga-14 2.5x3x0.86 mm 14l package outline and mechanical data 05-mar-2015 3 document status promoted from preliminary to production data updated bit 0 in section 9.79: md2_cfg (5fh) 23-apr-2015 4 updated vdd_io (max) in table 4: electrical characteristics added d4d_en bit to section 9.73: tap_ths_6d (59h) updated table 181: int-dur2 register description 06-may-2015 5 updated direction of rotation of y-axis in figure 1: pin connections updated table 68: accelerometer slope and high-pass filter selection and cutoff frequency 16-jul-2015 6 updated chamfer of pin 1 indicator in figure 1, figure 13, figure 14, figure 15 added footnote 2 to table 3: mechanical characteristics updated recommendation to set bdu bit to 1 ( ctrl3_c (12h) ) in section 9.52: fifo_status1 (3ah) through section 9.57: fifo_data_out_h (3fh) updated figure 16: lga-14 2.5x3x0.86 mm 14l package outline and mechanical data 09-oct-2015 7 updated figure 6: accelerometer composite filter and figure 16: lga-14 2.5x3x0.86 mm 14l package outline and mechanical data updated description of hpcf_xl bits in table 67: ctrl8_xl register description added table 69: accelerometer lpf2 cutoff frequency added pedo_ths_reg (0fh) and pedo_deb_reg (14h) added section 13.2: lga-14 packing information 03-feb-2016 8 updated figure 1: pin connections and table 2: pin description updated table 3: mechanical characteristics updated table 4: electrical characteristics updated table 8: absolute maximum ratings updated figure 6: accelerometer composite filter updated register description
LSM6DS3 100/100 docid026899 rev 8 important notice ? please read carefully stmicroelectronics nv and its subsidiaries (?st?) reserve the right to make changes, corrections, enhancements, modifications, and improvements to st products and/or to this document at any time without notice. purchasers should obtain the latest relevant in formation on st products before placing orders. st products are sold pursuant to st?s terms and conditions of sale in place at the time of o rder acknowledgement. purchasers are solely responsible for the choice, selection, and use of st products and st assumes no liability for application assistance or the design of purchasers? products. no license, express or implied, to any intellectual property right is granted by st herein. resale of st products with provisions different from the information set forth herein shall void any warranty granted by st for such product. st and the st logo are trademarks of st. all other product or service names are the property of their respective owners. information in this document supersedes and replaces information previously supplied in any prior versions of this document. ? 2016 stmicroelectronics ? all rights reserved

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