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KRX205E 74LCX 00SERI MSM6240 X0006T DL0365R B2201 0ETTS
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  this is preliminary information on a new product now in development or undergoing evaluation. details are subject to change without notice. february 2016 docid028165 rev 2 1/113 LSM6DSM inemo inertial module: always-on 3d accelerometer and 3d gyroscope datasheet - preliminary data features ? power consumption: 0.4 ma in combo normal mode and 0.65 ma in combo high-performance mode ? ?always-on? experience with low power consumption for both accelerometer and gyroscope ? smart fifo up to 4 kbyte based on features set ? compliant with android k, l, and m ? 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 ? dedicated gyroscope low-pass filters for ui and ois applications ? auxiliary dedicated spi for ois data output ? pedometer, step detector and step counter ? significant motion and tilt function ? standard interrupts: free-fall, wakeup, 6d/4d orientation, click and double-click ? embedded temperature sensor ? ecopack ? , rohs and ?green? compliant applications ? motion tracking and gesture detection ? collecting sensor data ? indoor navigation ? iot and connected devices ? intelligent power saving for handheld devices ? eis and ois for camera applications ? vibration monitoring and compensation description the LSM6DSM is a system-in-package featuring a 3d digital accelerometer and a 3d digital gyroscope performing at 0.65 ma in high-performance mode and enabling always-on low-power features for an optimal motion experience for the consumer. the LSM6DSM supports main os requirements, offering real, virtual and batch sensors with 4 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 LSM6DSM has a full-scale acceleration range of 2/4/8/16 g and an angular rate range of 125/245/500/1000/2000 dps. the LSM6DSM fully supports eis and ois applications as the module includes a dedicated configurable signal processing path for ois and auxiliary dedicated low- pass filtering. high robustness to mechanical shock makes the LSM6DSM the preferred choice of system designers for the creation and manufacturing of reliable products. the LSM6DSM 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 temp. range [c] package packing LSM6DSM -40 to +85 lga-14l (2.5x3x0.83mm) tray LSM6DSMtr -40 to +85 tape & reel www.st.com
contents LSM6DSM 2/113 docid028165 rev 2 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 block diagram of filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 5.4.1 block diagrams of the gyroscope filters . . . . . . . . . . . . . . . . . . . . . . . . . 30 5.4.2 block diagram of the accelerometer filters . . . . . . . . . . . . . . . . . . . . . . . 32 5.5 fifo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 5.5.1 bypass mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 5.5.2 fifo mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 5.5.3 continuous mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 5.5.4 continuous-to-fifo mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 5.5.5 bypass-to-continuous mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
docid028165 rev 2 3/113 LSM6DSM contents 113 5.5.6 fifo reading procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 6 digital interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 6.1 i 2 c/spi interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 6.2 master i 2 c . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 6.3 auxiliary spi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 6.4 i 2 c serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 6.4.1 i 2 c operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 6.5 spi bus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 6.5.1 spi read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 6.5.2 spi write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 6.5.3 spi read in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7 application hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 7.1 LSM6DSM electrical connections in mode 1 . . . . . . . . . . . . . . . . . . . . . . 44 7.2 LSM6DSM electrical connections in mode 2 . . . . . . . . . . . . . . . . . . . . . . 45 7.3 LSM6DSM electrical connections in mode 3 . . . . . . . . . . . . . . . . . . . . . . 46 8 auxiliary spi configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 9 register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 10 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 10.1 func_cfg_access (01h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 10.2 sensor_sync_time_frame (04h) . . . . . . . . . . . . . . . . . . . . . . . . . . 53 10.3 sensor_sync_res_ratio (05h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 10.4 fifo_ctrl1 (06h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 10.5 fifo_ctrl2 (07h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 10.6 fifo_ctrl3 (08h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 10.7 fifo_ctrl4 (09h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 10.8 fifo_ctrl5 (0ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 10.9 drdy_pulse_cfg (0bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 10.10 int1_ctrl (0dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 10.11 int2_ctrl (0eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 10.12 who_am_i (0fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
contents LSM6DSM 4/113 docid028165 rev 2 10.13 ctrl1_xl (10h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 10.14 ctrl2_g (11h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 10.15 ctrl3_c (12h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 10.16 ctrl4_c (13h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 10.17 ctrl5_c (14h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 10.18 ctrl6_c (15h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 10.19 ctrl7_g (16h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 10.20 ctrl8_xl (17h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 10.21 ctrl9_xl (18h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 10.22 ctrl10_c (19h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 10.23 master_config (1ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 10.24 wake_up_src (1bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 10.25 tap_src (1ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 10.26 d6d_src (1dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 10.27 status_reg/status_spiaux (1eh) . . . . . . . . . . . . . . . . . . . . . . . . . . 71 10.28 out_temp_l (20h), out_temp_h (21h) . . . . . . . . . . . . . . . . . . . . . . . 71 10.29 outx_l_g (22h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 10.30 outx_h_g (23h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 10.31 outy_l_g (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 10.32 outy_h_g (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 10.33 outz_l_g (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 10.34 outz_h_g (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 10.35 outx_l_xl (28h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 10.36 outx_h_xl (29h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 10.37 outy_l_xl (2ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 10.38 outy_h_xl (2bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 10.39 outz_l_xl (2ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 10.40 outz_h_xl (2dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 10.41 sensorhub1_reg (2eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 10.42 sensorhub2_reg (2fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 10.43 sensorhub3_reg (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 10.44 sensorhub4_reg (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 10.45 sensorhub5_reg (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
docid028165 rev 2 5/113 LSM6DSM contents 113 10.46 sensorhub6_reg (33h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 10.47 sensorhub7_reg (34h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 10.48 sensorhub8_reg(35h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 10.49 sensorhub9_reg (36h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 10.50 sensorhub10_reg (37h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 10.51 sensorhub11_reg (38h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 10.52 sensorhub12_reg (39h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 10.53 fifo_status1 (3ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 10.54 fifo_status2 (3bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 10.55 fifo_status3 (3ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 10.56 fifo_status4 (3dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 10.57 fifo_data_out_l (3eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 10.58 fifo_data_out_h (3fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 10.59 timestamp0_reg (40h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 10.60 timestamp1_reg (41h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 10.61 timestamp2_reg (42h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 10.62 step_timestamp_l (49h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 10.63 step_timestamp_h (4ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 10.64 step_counter_l (4bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 10.65 step_counter_h (4ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 10.66 sensorhub13_reg (4dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 10.67 sensorhub14_reg (4eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 10.68 sensorhub15_reg (4fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 10.69 sensorhub16_reg (50h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 10.70 sensorhub17_reg (51h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 10.71 sensorhub18_reg (52h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 10.72 func_src (53h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 10.73 tap_cfg (58h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 10.74 tap_ths_6d (59h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 10.75 int_dur2 (5ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 10.76 wake_up_ths (5bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 10.77 wake_up_dur (5ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 10.78 free_fall (5dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
contents LSM6DSM 6/113 docid028165 rev 2 10.79 md1_cfg (5eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 10.80 md2_cfg (5fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 10.81 master_cmd_code (60h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 10.82 sens_sync_spi_error_code (61h) . . . . . . . . . . . . . . . . . . . . . . . . 90 10.83 out_mag_raw_x_l (66h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 10.84 out_mag_raw_x_h (67h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 10.85 out_mag_raw_y_l (68h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 10.86 out_mag_raw_y_h (69h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 10.87 out_mag_raw_z_l (6ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 10.88 out_mag_raw_z_h (6bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 10.89 int_ois (6fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 10.90 ctrl_ois (70h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 10.91 ctrl2_ois (71h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 10.92 ctrl3_ois (72h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 10.93 x_ofs_usr (73h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 10.94 y_ofs_usr (74h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 10.95 z_ofs_usr (75h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 11 embedded functions register mapping . . . . . . . . . . . . . . . . . . . . . . . . . 96 12 embedded functions registers description . . . . . . . . . . . . . . . . . . . . . 98 12.1 slv0_add (02h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 12.2 slv0_subadd (03h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 12.3 slave0_config (04h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 12.4 slv1_add (05h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 12.5 slv1_subadd (06h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 12.6 slave1_config (07h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 12.7 slv2_add (08h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 12.8 slv2_subadd (09h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 12.9 slave2_config (0ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 12.10 slv3_add (0bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 12.11 slv3_subadd (0ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 12.12 slave3_config (0dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 12.13 datawrite_src_mode_sub_slv0 (0eh) . . . . . . . . . . . . . . . . . . . . 102
docid028165 rev 2 7/113 LSM6DSM contents 113 12.14 config_pedo_ths_min (0fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 12.15 sm_ths (13h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 12.16 pedo_deb_reg (14h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 12.17 step_count_delta (15h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 12.18 mag_si_xx (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 12.19 mag_si_xy (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 12.20 mag_si_xz (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 12.21 mag_si_yx (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 12.22 mag_si_yy (28h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 12.23 mag_si_yz (29h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 12.24 mag_si_zx (2ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 12.25 mag_si_zy (2bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 12.26 mag_si_zz (2ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 12.27 mag_offx_l (2dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 12.28 mag_offx_h (2eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 12.29 mag_offy_l (2fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 12.30 mag_offy_h (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 12.31 mag_offz_l (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 12.32 mag_offz_h (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 13 soldering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 14 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 14.1 lga-14l package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 14.2 lga-14 packing information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 15 revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
list of tables LSM6DSM 8/113 docid028165 rev 2 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 table 10. master i 2 c pin details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 table 11. auxiliary spi pin details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 table 12. i 2 c terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 table 13. sad+read/write patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 table 14. transfer when master is writing one byte to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 table 15. transfer when master is writing multiple bytes to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 table 16. transfer when master is receiving (reading) one byte of data from slave . . . . . . . . . . . . . 39 table 17. transfer when master is receiving (reading) multiple bytes of data from slave . . . . . . . . . 39 table 18. registers address map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 table 19. func_cfg_access register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 table 20. func_cfg_access register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 table 21. sensor_sync_time_frame register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 table 22. sensor_sync_time_frame register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 table 23. sensor_sync_res_ratio register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 table 24. sensor_sync_res_ratio register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 table 25. fifo_ctrl1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 table 26. fifo_ctrl1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 table 27. fifo_ctrl2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 table 28. fifo_ctrl2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 table 29. fifo_ctrl3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 table 30. fifo_ctrl3 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 table 31. gyro fifo decimation setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 table 32. accelerometer fifo decimation setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 table 33. fifo_ctrl4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 table 34. fifo_ctrl4 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 table 35. fourth fifo data set decimation setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 table 36. third fifo data set decimation setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 6 table 37. fifo_ctrl5 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 table 38. fifo_ctrl5 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 table 39. fifo odr selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 table 40. fifo mode selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 table 41. drdy_pulse_cfg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 table 42. drdy_pulse_cfg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 table 43. int1_ctrl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 table 44. int1_ctrl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58 table 45. int2_ctrl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 table 46. int2_ctrl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59 table 47. who_am_i register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 table 48. ctrl1_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
docid028165 rev 2 9/113 LSM6DSM list of tables 113 table 49. ctrl1_xl register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60 table 50. accelerometer odr register setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 0 table 51. ctrl2_g register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 table 52. ctrl2_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61 table 53. gyroscope odr configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 table 54. ctrl3_c register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 table 55. ctrl3_c register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 table 56. ctrl4_c register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 table 57. ctrl4_c register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 table 58. ctrl5_c register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 table 59. ctrl5_c register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 table 60. output registers rounding pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64 table 61. angular rate sensor self-test mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 table 62. linear acceleration sensor self-test mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 table 63. ctrl6_c register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 table 64. ctrl6_c register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 table 65. trigger mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 table 66. gyroscope lpf1 bandwidth selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 table 67. ctrl7_g register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 table 68. ctrl7_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66 table 69. ctrl8_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 table 70. ctrl8_xl register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66 table 71. accelerometer bandwidth selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 7 table 72. ctrl9_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 table 73. ctrl9_xl register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67 table 74. ctrl10_c register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 75. ctrl10_c register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68 table 76. master_config register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 77. master_config register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 78. wake_up_src register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69 table 79. wake_up_src register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 table 80. tap_src register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 table 81. tap_src register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70 table 82. d6d_src register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 table 83. d6d_src register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70 table 84. status_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 85. status_reg register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 86. status_spiaux register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 87. status_spiaux description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 88. out_temp_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 89. out_temp_h register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 90. out_temp register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 table 91. outx_l_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 table 92. outx_l_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72 table 93. outx_h_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 table 94. outx_h_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 table 95. outy_l_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 table 96. outy_l_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73 table 97. outy_h_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 table 98. outy_h_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 table 99. outz_l_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 table 100. outz_l_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
list of tables LSM6DSM 10/113 docid028165 rev 2 table 101. outz_h_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 102. outz_h_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74 table 103. outx_l_xl register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 104. outx_l_xl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74 table 105. outx_h_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 table 106. outx_h_xl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74 table 107. outy_l_xl register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 table 108. outy_l_xl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75 table 109. outy_h_g register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 table 110. outy_h_g register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75 table 111. outz_l_xl register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 table 112. outz_l_xl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75 table 113. outz_h_xl register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 table 114. outz_h_xl register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75 table 115. sensorhub1_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 table 116. sensorhub1_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 table 117. sensorhub2_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 table 118. sensorhub2_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 table 119. sensorhub3_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 table 120. sensorhub3_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 table 121. sensorhub4_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 122. sensorhub4_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 123. sensorhub5_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 124. sensorhub5_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 125. sensorhub6_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 126. sensorhub6_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 127. sensorhub7_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 128. sensorhub7_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 table 129. sensorhub8_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 130. sensorhub8_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 131. sensorhub9_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 132. sensorhub9_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 133. sensorhub10_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 134. sensorhub10_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 135. sensorhub11_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 136. sensorhub11_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 table 137. sensorhub12_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 table 138. sensorhub12_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 table 139. fifo_status1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 table 140. fifo_status1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 table 141. fifo_status2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 table 142. fifo_status2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 table 143. fifo_status3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 table 144. fifo_status3 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 table 145. fifo_status4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 table 146. fifo_status4 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 table 147. fifo_data_out_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80 table 148. fifo_data_out_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 table 149. fifo_data_out_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 150. fifo_data_out_h register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 151. timestamp0_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 152. timestamp0_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
docid028165 rev 2 11/113 LSM6DSM list of tables 113 table 153. timestamp1_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 154. timestamp1_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 155. timestamp2_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 156. timestamp2_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 table 157. step_timestamp_l register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2 table 158. step_timestamp_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 table 159. step_timestamp_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 table 160. step_timestamp_h register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 table 161. step_counter_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 table 162. step_counter_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 table 163. step_counter_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2 table 164. step_counter_h register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 table 165. sensorhub13_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 table 166. sensorhub13_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 table 167. sensorhub14_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 table 168. sensorhub14_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 table 169. sensorhub15_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 table 170. sensorhub15_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 table 171. sensorhub16_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 table 172. sensorhub16_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 table 173. sensorhub17_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 table 174. sensorhub17_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 table 175. sensorhub18_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 table 176. sensorhub18_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 table 177. func_src register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 table 178. func_src register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84 table 179. tap_cfg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 table 180. tap_cfg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 table 181. tap_ths_6d register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 table 183. threshold for d4d/d6d function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86 table 182. tap_ths_6d register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 table 184. int_dur2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 table 185. int_dur2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 table 186. wake_up_ths register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 table 187. wake_up_ths register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 table 188. wake_up_dur register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 table 189. wake_up_dur register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 table 190. free_fall register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 table 191. free_fall register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87 table 192. threshold for free-fall function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 table 193. md1_cfg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 table 194. md1_cfg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88 table 195. md2_cfg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 table 196. md2_cfg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89 table 197. master_cmd_code register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 table 198. master_cmd_code register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 table 199. sens_sync_spi_error_code register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 200. sens_sync_spi_error_code register description . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 201. out_mag_raw_x_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 202. out_mag_raw_x_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 203. out_mag_raw_x_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 204. out_mag_raw_x_h register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
list of tables LSM6DSM 12/113 docid028165 rev 2 table 205. out_mag_raw_y_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 206. out_mag_raw_y_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 table 207. out_mag_raw_y_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 208. out_mag_raw_y_h register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 209. out_mag_raw_z_l register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 210. out_mag_raw_z_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 211. out_mag_raw_z_h register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 212. out_mag_raw_z_h register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 213. int_ois register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 214. int_ois register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 table 215. ctrl_ois register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 table 216. ctrl_ois register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 table 217. den mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 table 218. ctrl2_ois register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 table 219. ctrl2_ois register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93 table 220. gyroscope ois chain lpf1 bandwidth selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 table 221. ctrl3_ois register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 table 222. ctrl3_ois register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94 table 223. accelerometer ois channel bandwidth selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 table 224. self-test nominal output variation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 table 225. x_ofs_usr register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 table 226. x_ofs_usr register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 table 227. y_ofs_usr register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 table 228. y_ofs_usr register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 table 229. z_ofs_usr register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 table 230. z_ofs_usr register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 table 231. registers address map - embedded functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 table 232. slv0_add register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 table 233. slv0_add register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98 table 234. slv0_subadd register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 table 235. slv0_subadd register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 table 236. slave0_config register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98 table 237. slave0_config register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 table 238. slv1_add register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 table 239. slv1_add register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99 table 240. slv1_subadd register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 table 241. slv1_subadd register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 table 242. slave1_config register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 table 243. slave1_config register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 table 244. slv2_add register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 table 245. slv2_add register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 table 246. slv2_subadd register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 table 247. slv2_subadd register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 table 248. slave2_config register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 table 249. slave2_config register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 table 250. slv3_add register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 table 251. slv3_add register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 table 252. slv3_subadd register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 table 253. slv3_subadd register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 table 254. slave3_config register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 table 255. slave3_config register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 table 256. datawrite_src_mode_sub_slv0 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
docid028165 rev 2 13/113 LSM6DSM list of tables 113 table 257. datawrite_src_mode_sub_slv0 register description. . . . . . . . . . . . . . . . . . . . . . 102 table 258. config_pedo_ths_min register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 table 259. datawrite_src_mode_sub_slv0 register description. . . . . . . . . . . . . . . . . . . . . . 102 table 260. sm_ths register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 table 261. sm_ths register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 table 262. pedo_deb_reg register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 table 263. pedo_deb_reg register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 table 264. step_count_delta register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 table 265. step_count_delta register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 table 266. mag_si_xx register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 table 267. mag_si_xx register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 04 table 268. mag_si_xy register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 table 269. mag_si_xy register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 04 table 270. mag_si_xz register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 table 271. mag_si_xz register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 04 table 272. mag_si_yx register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 table 273. mag_si_yx register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 04 table 274. mag_si_yy register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 table 275. mag_si_yy register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 05 table 276. mag_si_yz register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 table 277. mag_si_yz register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 05 table 278. mag_si_zx register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 table 279. mag_si_zx register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 05 table 280. mag_si_zy register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 table 281. mag_si_zy register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 05 table 282. mag_si_zz register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 table 283. mag_si_zz register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 table 284. mag_offx_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 table 285. mag_offx_l register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 table 286. mag_offx_h register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 table 287. mag_offx_l register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 table 288. mag_offy_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 table 289. mag_offy_l register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 table 290. mag_offy_h register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 table 291. mag_offy_l register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 table 292. mag_offz_l register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 table 293. mag_offz_l register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 table 294. mag_offz_h register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 table 295. mag_offx_l register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 table 296. reel dimensions for carrier tape of lga-14 package . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 table 297. document revision history. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
list of figures LSM6DSM 14/113 docid028165 rev 2 list of figures figure 1. pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 figure 2. LSM6DSM connection modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 figure 3. spi slave timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 figure 4. i 2 c slave timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 figure 5. block diagram of filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 figure 6. gyroscope digital chain - mode 1 (ui/eis) and mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 figure 7. gyroscope digital chain - mode 3 (ois/eis) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 figure 8. accelerometer chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 figure 9. accelerometer composite filter (for modes 1/2 and mode 3) . . . . . . . . . . . . . . . . . . . . . . . 32 figure 10. accelerometer composite filter (mode 3 only). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 figure 11. read and write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 figure 12. spi read protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 figure 13. multiple byte spi read protocol (2-byte example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 figure 14. spi write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 figure 15. multiple byte spi write protocol (2-byte example). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 figure 16. spi read protocol in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 figure 17. LSM6DSM electrical connections in mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 figure 18. LSM6DSM electrical connections in mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 figure 19. LSM6DSM electrical connections in mode 3 (auxiliary 3-wire spi) . . . . . . . . . . . . . . . . . . 46 figure 20. LSM6DSM electrical connections in mode 3 (auxiliary 4-wire spi) . . . . . . . . . . . . . . . . . . 47 figure 21. gyroscope chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 figure 22. lga-14l 2.5x3x0.86 mm package outline and mechanical data . . . . . . . . . . . . . . . . . . . 109 figure 23. carrier tape information for lga-14 package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 figure 24. lga-14 package orientation in carrier tape . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 figure 25. reel information for carrier tape of lga-14 package . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
docid028165 rev 2 15/113 LSM6DSM overview 113 1 overview the LSM6DSM 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 0.65 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 LSM6DSM 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, click and double-click sensing, activity or inactivity, and wakeup events. the LSM6DSM supports main os requirements, offering real, virtual and batch mode sensors. in addition, the LSM6DSM can efficiently run the sensor-related features specified in android, saving power and enabling faster reaction time. in particular, the LSM6DSM 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 LSM6DSM offers hardware flexibility to connect the pins with different mode connections to external sensors to expand functionalities such as adding a sensor hub, auxiliary spi, etc. up to 4 kbyte of fifo with dynamic allocation of significant data (i.e. external sensors, timestamp, etc.) allows overall power saving of the system. the LSM6DSM gyroscope fully supports ois/eis applications. the module can output ois data through a dedicated auxiliary spi and includes a dedicated configurable signal processing path for ois. ois data can be sent directly to the application processor for data processing. the gyroscope ui signal processing path is completely independent from that of the ois and is readable through fifo. like the entire portfolio of mems sensor modules, the LSM6DSM leverages 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 LSM6DSM 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 LSM6DSM 16/113 docid028165 rev 2 2 embedded low-power features the LSM6DSM has been designed to be fully compliant with android, featuring the following on-chip functions: ? 4 kbyte data buffering ? 100% efficiency with flexible configurations and partitioning ? possibility to store timestamp ? event-detection interrupts (fully configurable): ? free-fall ? wakeup ? 6d orientation ? click and double-click 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. for a more customized user experience, in the LSM6DSM the tilt function is configurable through: ? a programmable average window ? a programmable average threshold the tilt function can be used with different scenarios, for example: a) triggers 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.
docid028165 rev 2 17/113 LSM6DSM pin description 113 3 pin description figure 1. pin connections y z y x
pin description LSM6DSM 18/113 docid028165 rev 2 3.1 pin connections the LSM6DSM offers flexibility to connect the pins in order to have three 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; ? mode 3 : i 2 c slave interface or spi (3- and 4-wire) serial interface is available for the application processor interface while an auxiliary spi (3- and 4-wire) serial interface for external sensor connections (i.e. camera module) is available. figure 2. LSM6DSM connection modes in the following table each mode is described for the pin connection and function. +267 /60'60 +267 /60'60 +267 /60'60 &dphud prgxoh /60'60 /60'60 ([whuqdo vhqvruv ,  &63, z ,  &63, z ,  &63, z $x[63, z 0dvwhu,  & 0rgh 0rgh 0rgh
docid028165 rev 2 19/113 LSM6DSM pin description 113 table 2. pin description pin# name mode 1 function mode 2 function mode 3 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) 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) auxiliary spi 3/4-wire interface serial data input (sdi) and spi 3-wire serial data output (sdo) 3 scx connect to vddio or gnd i 2 c serial clock master (mscl) auxiliary spi 3-wire interface serial port clock (spc_aux) 4 int1 programmable interrupt 1 5 vddio (1) power supply for i/o pins 6 gnd 0 v supply 7 gnd 0 v supply 8 vdd (1) 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) programmable interrupt 2 (int2)/ data enable (den) 10 ocs_aux leave unconnected (2) leave unconnected (2) auxiliary spi 3/4-wire interface enable 11 sdo_aux connect to vdd_io or leave unconnected (2) connect to vdd_io or leave unconnected (2) auxiliary spi 3-wire interface: leave unconnected (2) auxiliary spi 4-wire interface: serial data output (sdo_aux) 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) 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) 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) i 2 c serial data (sda) spi serial data input (sdi) 3-wire interface serial data output (sdo) 1. recommended 100 nf filter capacitor. 2. leave pin electrically unconnected and soldered to pcb.
module specifications LSM6DSM 20/113 docid028165 rev 2 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 (2) fs = 2 0.061 m g /lsb fs = 4 0.122 fs = 8 0.244 fs = 16 0.488 g_so angular rate sensitivity (2) 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 (3) from -40 to +85 delta from t=25 1 % g_sodr angular rate sensitivity change vs. temperature (3) from -40 to +85 delta from t=25 1.5 % la_tyoff linear acceleration zero- g level offset accuracy (4) 40 m g g_tyoff angular rate zero-rate level (4) 3 dps la_offdr linear acceleration zero- g level change vs. temperature (3) 0.5 m g/ c g_offdr angular rate typical zero-rate level change vs. temperature (3) 0.05 dps/c rn rate noise density in high- performance mode (5) 3.8 mdps/ ? hz rnrms gyroscope rms noise in normal/low-power mode (6) 75 mdps
docid028165 rev 2 21/113 LSM6DSM module specifications 113 an acceleration noise density in high-performance mode (7) fs = 2 g 90 g / hz fs = 4 g 90 fs = 8 g 90 fs = 16 g 130 rms acceleration rms noise in normal/low-power mode (8) (9) fs = 2 g 1.8 m g (rms) fs = 4 g 2.0 fs = 8 g 2.4 fs = 16 g 3.0 la_odr linear acceleration output data rate 1.6 (10) 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 3332 6664 vst linear acceleration self-test output change (11)(12) fs = 2 g 90 1700 m g angular rate self-test output change (13)(14) fs = 245 dps 20 80 dps fs = 2000 dps 150 700 dps top operating temperature range -40 +85 c 1. typical specifications are not guaranteed. 2. sensitivity values after factory calibration test and trimming 3. measurements are performed in a uniform temperature setup and they are based on characterization data in a limited number of samples. not measured during final test for production. 4. values after factory calibration test and trimming. 5. gyroscope rate noise density in high-performance mode is independent of the odr and fs setting. 6. gyroscope rms noise in normal/low-power mode is independent of the odr and fs setting. 7. accelerometer noise density in high-performance mode is independent of the odr. table 3. mechanical characteristics (continued) symbol parameter test conditions min. typ. (1) max. unit
module specifications LSM6DSM 22/113 docid028165 rev 2 8. accelerometer rms noise in normal/low-power mode is independent of the odr. 9. noise rms related to bw = odr /2 (for odr /9, typ value can be calculated by typ *0.6). 10. this odr is available when accelerometer is in low-power mode. 11. the sign of the linear acceleration self-test output change is defined by the stx_xl bits in ctrl5_c (14h) , table 62 for all axes. 12. 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. 13. the sign of the angular rate self-test output change is defined by the stx_g bits in ctrl5_c (14h) , table 61 for all axes. 14. 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.
docid028165 rev 2 23/113 LSM6DSM module specifications 113 4.2 electrical characteristics @ vdd = 1.8 v, t = 25 c unless otherwise noted. table 4. electrical characteristics symbol parameter test conditions min. typ. (1) 1. t ypical specifications are not guaranteed. 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 current consumption in high-performance mode odr = 1.6 khz 0.65 ma iddnm gyroscope and accelerometer current consumption in normal mode odr = 208 hz 0.45 ma iddlp gyroscope and accelerometer current consumption in low-power mode odr = 52 hz 0.29 ma la_iddhp accelerometer current consumption in high-performance mode odr < 1.6 khz odr 1.6 khz 150 160 a la_iddnm accelerometer current consumption in normal mode odr = 208 hz 85 a la_iddlm accelerometer current consumption in low-power mode odr = 52 hz odr = 12.5 hz odr = 1.6 hz 25 9 4.5 a iddpd gyroscope and accelerometer current consumption during power-down 3 a ton turn-on time 35 ms v ih digital high-level input voltage 0.7 * vdd_io v v il digital low-level input voltage 0.3 * vdd_io v v oh high-level output voltage i oh = 4 ma (2) 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 . 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
module specifications LSM6DSM 24/113 docid028165 rev 2 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 (2) 2. when the accelerometer is in low-power mode and the gyroscope part is turned off, the todr value is equal to the accelerometer odr. temperature refresh rate 52 hz toff temperature offset (3) 3. the output of the temperature sensor is 0 lsb (typ.) at 25 c. -15 +15 c tsen temperature sensitivity 256 lsb/c tst temperature stabilization time (4) 4. time from power on bit to valid data based on characterization data. 500 s t_adc_res temperature adc resolution 16 bit top operating temperature range -40 +85 c
docid028165 rev 2 25/113 LSM6DSM module specifications 113 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 LSM6DSM 26/113 docid028165 rev 2 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 vx 63 w z 6&// w vx 6'$ w vx 65 w k 67 w z 6&/+ w k 6'$ w z 6365 67$57 5(3($ 7(' 67$ 57 6723 67$ 57
docid028165 rev 2 27/113 LSM6DSM module specifications 113 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 LSM6DSM 28/113 docid028165 rev 2 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 (see table 3 ). an angular rate gyroscope is a 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 (see table 3 ). 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 (see table 3 ).
docid028165 rev 2 29/113 LSM6DSM functionality 113 5 functionality 5.1 operating modes in the LSM6DSM, the accelerometer and the gyroscope can be turned on/off independently of each other and are allowed to have different odrs and power modes. the LSM6DSM 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 LSM6DSM, 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 6.66 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 odrs (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 LSM6DSM, 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 (1.6, 12.5, 26, 52 hz) while normal mode is available for odrs equal to 104 and 208 hz.
functionality LSM6DSM 30/113 docid028165 rev 2 5.4 block diagram of filters figure 5. block diagram of filters 5.4.1 block diagrams of the gyroscope filters in the LSM6DSM, the gyroscope filtering chain depends on the mode configuration: 1. mode1 (for user interface (ui) and electronic image stabilization (eis) functionality through primary interface) and mode2 figure 6. gyroscope digital chain - mode 1 (ui/eis) and mode 2 in this configuration, the gyroscope odr is selectable from 12.5 hz up to 6.66 khz. a low- pass filter (lpf1) is available if the auxiliary spi is disabled, for more details about the filter characteristics see table 66: gyroscope lpf1 bandwidth selection . data can be acquired from the output registers and fifo over the primary i 2 c/spi interface. 2. mode3 (for ois and eis functionality) *\ur8,2,6 iurqwhqg ;/ iurqwhqg 7hpshudwxuh vhqvru $'& $'& /rz3dvv 8, /rz3dvv 2,6 /rz3dvv 5hjv duud\ ),)2 ,  &63, lqwhuidfh ,qwhuuxsw pqj $x[loldu\ 63, 9rowdjhdqgfxuuhqw uhihuhqfhv 7ulpplqjflufxlw dqg7hvwlqwhuidfh &orfndqgskdvh jhqhudwru 3rzhu pdqdjhphqw )73 &6 6&/63& 6'$6',6'2 6'26$ 2&6b$x[ 63&b$x[ 6',b$x[ 6'2b$x[ ,17 ,17 0 ( 0 6 6 ( 1 6 2 5 $'& +3) +3b(1b* /3) /3) /3)b6(/b* 63,,  & ),)2 )7<3( >@     2'5b*
docid028165 rev 2 31/113 LSM6DSM functionality 113 figure 7. gyroscope digital chain - mode 3 (ois/eis) note: hp_en_ois is active to select hpf on the auxiliary spi chain only if hpf is not already used in the primary interface. in this configuration, there are two paths: - the chain for user interface (ui) where the odr is selectable from 12.5 hz up to 6.66 khz - the chain for ois/eis where the odr is at 6.66 khz and the lpf1 is available. for more details about the filter characteristics see table 220: gyroscope ois chain lpf1 bandwidth selection . $'& +3) +3b(1b* /3) 63,,  & ),)2   /3) )7<3(b >@ b2,6 2'5b* 63,b$x[ +3b(1b2,6  
functionality LSM6DSM 32/113 docid028165 rev 2 5.4.2 block diagram of the accelerometer filters in the LSM6DSM, the filtering chain for the accelerometer part is composed of the following: ? analog filter (anti-aliasing) ? digital filter (lpf1) ? composite filter details of the block diagram appear in the following figure. figure 8. accelerometer chain the configuration of the digital filter can be set using the lpf1_bw_sel bit in ctrl1_xl (10h) and the input_composite bit in ctrl8_xl (17h) . figure 9. accelerometer composite filter (for modes 1/2 and mode 3) note: in mode 3 available only if ois_xl_en = 0 $'& 'ljlwdo /3)lowhu $qdorj $qwldoldvlqj /3)lowhu /3)b%:b6(/ ,1387b&20326,7( &rpsrvlwh )lowhu /3) /3)b%:b6(/   2'5 2'5 )uhhidoo $qgurlg ixqfwlrqv ,1387b&20326,7(   2'5 2'5 /3)b;/b(1   /3) +3&)b;/>@ +3) +3&)b;/>@ 2'5 6/23( ),/7(5 +3&)b;/>@     /2:b3$66b21b'   6'7ds '' +3b6/23(b;/b(1   ;/rxwsxw uhj ),)2 6/23(b)'6   :dnhxs $fwlylw\ ,qdfwlylw\
docid028165 rev 2 33/113 LSM6DSM functionality 113 figure 10. accelerometer composite filter (mode 3 only) /3)b%:b6(/   2'5 2'5 )uhhidoo $qgurlg ixqfwlrqv 2'5 6/23( ),/7(5 6'7ds '' +3b6/23(b;/b(1   ;/rxwsxw uhj ),)2 :dnhxs $fwlylw\ ,qdfwlylw\
functionality LSM6DSM 34/113 docid028165 rev 2 5.5 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. the LSM6DSM embeds 4 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 fifo_ctrl3 (08h) and fifo_ctrl4 (09h) registers. the available decimation factors are 2, 3, 4, 8, 16, 32. the 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) . the 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] bits in the 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. 5.5.1 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.
docid028165 rev 2 35/113 LSM6DSM functionality 113 5.5.2 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) . 5.5.3 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]). 5.5.4 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. 5.5.5 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).
functionality LSM6DSM 36/113 docid028165 rev 2 5.5.6 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.
docid028165 rev 2 37/113 LSM6DSM digital interfaces 113 6 digital interfaces 6.1 i 2 c/spi interface the registers embedded inside the LSM6DSM 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). 6.2 master i 2 c if the LSM6DSM is configured in mode2, a master i 2 c line is available. the master serial interface is mapped in the following dedicated pins. 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. master i 2 c pin details pin name pin description mscl i 2 c serial clock master msda i 2 c serial data master mdrdy i 2 c master external synchronization signal
digital interfaces LSM6DSM 38/113 docid028165 rev 2 6.3 auxiliary spi if LSM6DSM is configured in mode3, the auxiliary spi is available. the auxiliary spi interface is mapped in the following dedicated pins. 6.4 i 2 c serial interface the LSM6DSM 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) . 6.4.1 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. table 11. auxiliary spi pin details pin name pin description ocs_aux auxiliary spi 3/4-wire enable sdx auxiliary spi 3/4-wire data input (sdi_aux) and spi 3-wire data output (sdo_aux) scx auxiliary spi 3/4-wire interface serial port clock sdo_aux spi serial data table 12. 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
docid028165 rev 2 39/113 LSM6DSM digital interfaces 113 the slave address (sad) associated to the LSM6DSM 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 LSM6DSM 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 13 explains how the sad+read/write bit pattern is composed, listing all the possible configurations. table 13. 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 14. transfer when master is writing one byte to slave master st sad + w sub data sp slave sak sak sak table 15. transfer when master is writing multiple bytes to slave master st sad + w sub data data sp slave sak sak sak sak table 16. 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 17. 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
digital interfaces LSM6DSM 40/113 docid028165 rev 2 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. 6.5 spi bus interface the LSM6DSM 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 11. 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 . 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). &6 63& 6', 6'2 5: $' $' $' $' $' $' ', ', ', ', ', ', ', ', '2 '2 '2 '2 '2 '2 '2 '2 $'
docid028165 rev 2 41/113 LSM6DSM digital interfaces 113 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. 6.5.1 spi read figure 12. 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. figure 13. multiple byte spi read protocol (2-byte example) &6 63& 6', 6'2 5: '2 '2 '2 '2 '2 '2 '2 '2 $' $' $' $' $' $' $' &6 63& 6', 6'2 5: '2 '2 '2 '2 '2 '2 '2 '2 $' $' $' $' $' $' '2 '2 '2 '2 '2 '2 '2 '2 $'
digital interfaces LSM6DSM 42/113 docid028165 rev 2 6.5.2 spi write figure 14. 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 15. multiple byte spi write protocol (2-byte example) &6 63& 6', 5: ', ', ', ', ', ', ', ', $' $' $' $' $' $' $' &6 63& 6', 5: $' $' $' $' $' $' ', ', ', ', ', ', ', ', ',',',',',',', ', $'
docid028165 rev 2 43/113 LSM6DSM digital interfaces 113 6.5.3 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 16. 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 $' $' $' $' $' $' $'
application hints LSM6DSM 44/113 docid028165 rev 2 7 application hints 7.1 LSM6DSM electrical connections in mode 1 figure 17. LSM6DSM electrical connections in mode 1 1. leave pin electrically unconnected and soldered to pcb. the device core is supplied through the vdd line. power supply decoupling capacitors (c1, c2 = 100 nf ceramic) should be placed as near as possible to the supply pin of the device (common design practice). the functionality of the device and the measured acceleration/angular rate data is selectable and accessible through the spi/i 2 c interface. the functions, the threshold and the timing of the two interrupt pins for each sensor can be completely programmed by the user through the spi/i 2 c interface. *1'ru9'',2 9ggb,2 *1' q) & 6'26$ 6'[ 6&[ ,17 *1' 9'',2 &6 6&/ 6'$     723 9,(: 9'' ,17 1& 1&    9gg *1' q) & *1'  6&/ 6'$ 9ggb,2 5 sx 5 sx 3xooxswrehdgghg 5 sx n2kp ,  &frqiljxudwlrq +267 /60'60 ,  &63, z 0rgh  
docid028165 rev 2 45/113 LSM6DSM application hints 113 7.2 LSM6DSM electrical connections in mode 2 figure 18. LSM6DSM 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 *1'  +267 /60'60 /60'60 /60'60 ([whuqdo vhqvruv ,  &63, z 0dvwhu,  & 0rgh 6&/ 6'$ 9ggb,2 5 sx 5 sx 3xooxswrehdgghg 5 sx n2kp ,  &frqiljxudwlrq  
application hints LSM6DSM 46/113 docid028165 rev 2 7.3 LSM6DSM electrical connections in mode 3 figure 19. LSM6DSM electrical connections in mode 3 (auxiliary 3-wire spi) 1. leave pin electrically unconnected and soldered to pcb. 9ggb,2 *1' q) & 6'2 ,17 *1' 9'',2 6',     723 9,(: 9'' ,17 1&    9gg *1' q) & 6',b$x[ 63&b$x[ 2&6b$x[  63& &6 *1' 127( 7rdyrlgohdndjhfxuuhqwlwlvuhfrpphqghgwrdggsxooxs uhvlvwruvrqwkh63,olqhvxqohvvwkh63,pdvwhufdqehohiw rqdovrzklohwkh2,6v\vwhplvrii +267 /60'60 &dphud prgxoh ,  &63, z $x[63, z 0rgh 6&/ 6'$ 9ggb,2 5 sx 5 sx 3xooxswrehdgghg 5 sx n2kp ,  &frqiljxudwlrq 
docid028165 rev 2 47/113 LSM6DSM application hints 113 figure 20. LSM6DSM electrical connections in mode 3 (auxiliary 4-wire spi) 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) & 6'2 ,17 *1' 9'',2 6',     723 9,(: 9'' ,17    9gg *1' q) & 6',b$x[ 63&b$x[ 2&6b$x[  63& &6 *1' 127( 7rdyrlgohdndjhfxuuhqwlwlvuhfrpphqghgwrdggsxooxs uhvlvwruvrqwkh63,olqhvxqohvvwkh63,pdvwhufdqehohiw rqdovrzklohwkh2,6v\vwhplvrii 6'2b$x[ +267 /60'60 &dphud prgxoh ,  &63, z $x[63, z 0rgh 6&/ 6'$ 9ggb,2 5 sx 5 sx 3xooxswrehdgghg 5 sx n2kp ,  &frqiljxudwlrq
auxiliary spi configurations LSM6DSM 48/113 docid028165 rev 2 8 auxiliary spi configurations when the LSM6DSM is configured in mode3, the auxiliary spi can be connected to a camera module for ois/eis support. the gyroscope filtering chain is illustrated in the following figure. figure 21. gyroscope chain note: hp_en_ois is active to select hpf on the auxiliary spi chain only if hpf is not already used in the primary interface. the auxiliary interface needs to be enabled in ctrl_ois (70h) . gyroscope output values are in registers 22h to 27h with selected full scale (fs[1:0]_g_ois bit in ctrl_ois (70h) ) and odr at 6.66 khz. lpf1 configuration depends on the setting of the ftype_[1;0] _ois bit in register ctrl2_ois (71h) . in this interface, the spi can write only to the dedicated registers ( ctrl_ois (70h) , ctrl2_ois (71h) ). $'& +3) +3b(1b* /3) 63,,  & ),)2   /3) )7<3(b  @ 2'5b* 63,b$x[ +3b(1b2,6   > b2 , 6
docid028165 rev 2 49/113 LSM6DSM register mapping 113 9 register mapping the table given below provides a list of the 8/16-bit registers embedded in the device and the corresponding addresses. table 18. 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 sensor_sync_res_ ratio r/w 05 00000101 00000000 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 drdy_pulse_cfg 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 01101010 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 11100000 ctrl10_c r/w 19 00011001 00000000
register mapping LSM6DSM 50/113 docid028165 rev 2 master_config r/w 1a 00011010 00000000 i 2 c master configuration register wake_up_src r 1b 00011011 output interrupt registers tap_src r 1c 00011100 output d6d_src r 1d 00011101 output status_reg (1) / status_spiaux (2) r 1e 00011110 output status data register for user interface and ois data reserved - 1f 0001 1111 - out_temp_l r 20 00100000 output temperature output data registers out_temp_h r 21 00100001 output outx_l_g r 22 00100010 output gyroscope output registers for user interface and ois data 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 registers 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 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 table 18. registers address map (continued) name type register address default comment hex binary
docid028165 rev 2 51/113 LSM6DSM register mapping 113 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 0011 1111 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 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 master_cmd_code r/w 60 01100000 00000000 sens_sync_spi_ error_code r/w 61 0110 0001 00000000 reserved - 62-65 - reserved table 18. registers address map (continued) name type register address default comment hex binary
register mapping LSM6DSM 52/113 docid028165 rev 2 out_mag_raw_x_l r 66 01100110 output external magnetometer raw data output registers out_mag_raw_x_h r 67 01100111 output out_mag_raw_y_l r 68 01101000 output out_mag_raw_y_h r 69 01101001 output out_mag_raw_z_l r 6a 01101010 output out_mag_raw_x_h r 6b 01101011 output reserved - 6c-6e - reserved int_ois r/w 6f 01101111 00000000 ctrl_ois r/w 70 01110000 00000000 control registers for ois connection ctrl2_ois r/w 71 01110001 00000000 ctrl3_ois r/w 72 01110010 00000000 x_ofs_usr r/w 73 01110011 00000000 accelerometer user offset correction y_ofs_usr r/w 74 01110100 00000000 z_ofs_usr r/w 75 01110101 00000000 reserved - 76-7f - reserved 1. this register status is read using the primary interface for user interface gyroscope data. 2. this register status is read using the auxiliary spi for ois gyroscope data. table 18. registers address map (continued) name type register address default comment hex binary
docid028165 rev 2 53/113 LSM6DSM register description 113 10 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. 10.1 func_cfg_access (01h) enable embedded functions register (r/w). table 20. func_cfg_access register description 10.2 sensor_sync_time_frame (04h) sensor synchronization time frame register (r/w). table 22. sensor_sync_time_frame register description 10.3 sensor_sync_res_ratio (05h) sensor synchronization resolution ratio (r/w) table 19. 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 11: embedded functions register mapping and 12: embedded functions registers description . table 21. sensor_sync_time_frame register 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) 0 (1) 0 (1) tph_3 tph_2 tph_1 tph_0 tph_ [3:0] sensor synchronization time frame with the step of 500 ms and full range of 5 s. unsigned 8-bit. default value: 0000 0000 (sensor sync disabled) table 23. sensor_sync_res_ratio register 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) rr_1 rr_0
register description LSM6DSM 54/113 docid028165 rev 2 table 24. sensor_sync_res_ratio register description 10.4 fifo_ctrl1 (06h) fifo control register (r/w). table 26. fifo_ctrl1 register description 10.5 fifo_ctrl2 (07h) fifo control register (r/w). table 28. fifo_ctrl2 register description rr_[1:0] resolution ratio of error code for sensor synchronization: 00: sensorsync, res_ratio = 2-11 01: sensorsync, res_ratio = 2-12 10: sensorsync, res_ratio = 2-13 11: sensorsync, res_ratio = 2-14 table 25. 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_[10:8] in fifo_ctrl2 (07h) . table 27. 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) fifo_ temp_en 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. fifo_temp_en enable the temperature data storage in fifo. default: 0. (0: temperature not included in fifo; 1: temperature included in fifo) fth_[10:8] 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)
docid028165 rev 2 55/113 LSM6DSM register description 113 10.6 fifo_ctrl3 (08h) fifo control register (r/w). table 30. fifo_ctrl3 register description table 29. 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 31 . dec_fifo_xl [2:0] accelerometer fifo (second data set) decimation setting. default: 000 for the configuration setting, refer to table 32 . table 31. 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 32. 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
register description LSM6DSM 56/113 docid028165 rev 2 10.7 fifo_ctrl4 (09h) fifo control register (r/w). table 34. fifo_ctrl4 register description table 33. fifo_ctrl4 register stop_ on_ fth only_high _data dec_ds4 _fifo2 dec_ds4 _fifo1 dec_ds4 _fifo0 dec_ds3 _fifo2 dec_ds3 _fifo1 dec_ds3 _fifo0 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) 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 35 . dec_ds3_fifo[2:0] third fifo data set decimation setting. default: 000 for the configuration setting, refer to table 36 . table 35. 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 36. 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
docid028165 rev 2 57/113 LSM6DSM register description 113 10.8 fifo_ctrl5 (0ah) fifo control register (r/w). table 38. fifo_ctrl5 register description table 37. 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 39 fifo_mode_[2:0] fifo mode selection bits, setting odr_fifo also. default value: 000 for the configuration setting refer to table 40 table 39. 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 40. 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
register description LSM6DSM 58/113 docid028165 rev 2 10.9 drdy_pulse_cfg (0bh) angular rate sensor sign and orientation register (r/w). table 41. drdy_pulse_cfg register table 42. drdy_pulse_cfg register description 10.10 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 43. int1_ctrl register table 44. int1_ctrl register description dataready _pulsed 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) dataready_ pulsed enable pulsed dataready mode. default: 0 (0: dataready latched mode. returns to 0 only after an interface reading; 1: dataready pulsed mode. the dataready are pulses 75 s long.) 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)
docid028165 rev 2 59/113 LSM6DSM register description 113 10.11 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 45. int2_ctrl register table 46. int2_ctrl register description 10.12 who_am_i (0fh) who_am_i register (r). this register is a read-only register. its value is fixed at 6ah. 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 47. who_am_i register 01101010
register description LSM6DSM 60/113 docid028165 rev 2 10.13 ctrl1_xl (10h) linear acceleration sensor control register 1 (r/w). table 48. ctrl1_xl register table 49. ctrl1_xl register description odr_xl3 odr_xl2 odr_xl1 odr_xl0 fs_xl1 fs_xl0 lpf1_bw_ sel 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. odr_xl [3:0] output data rate and power mode selection . default value: 0000 (see table 50 ). fs_xl [1:0] accelerometer full-scale selection. default value: 00. (00: 2 g ; 01: 16 g ; 10: 4 g ; 11: 8 g ) lpf1_bw_sel accelerometer digital lpf (lpf1) bandwidth selection. for bandwidth selection refer to ctrl8_xl (17h) . table 50. 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 1 0 1 1 1.6 hz (low power only) 12.5 hz (high performance) 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) 1 1 x x not allowed not allowed
docid028165 rev 2 61/113 LSM6DSM register description 113 10.14 ctrl2_g (11h) angular rate sensor control register 2 (r/w). table 51. ctrl2_g register table 52. 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 53 ) 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 53. 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) 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) 1 0 1 1 not available not available
register description LSM6DSM 62/113 docid028165 rev 2 10.15 ctrl3_c (12h) control register 3 (r/w). table 54. ctrl3_c register boot bdu h_lactive pp_od sim if_inc ble sw_reset table 55. ctrl3_c register description boot reboot memory content. default value: 0 (0: normal mode; 1: reboot memory content) 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.
docid028165 rev 2 63/113 LSM6DSM register description 113 10.16 ctrl4_c (13h) control register 4 (r/w). 10.17 ctrl5_c (14h) control register 5 (r/w). table 58. ctrl5_c register table 56. ctrl4_c register den_ xl_en sleep int2_on_ int1 den_drdy _int1 drdy_ mask i2c_disable lpf1_sel_g 0 (1) table 57. ctrl4_c register description den_xl_en extend den functionality to accelerometer sensor. default value: 0 (0: disabled; 1: enabled) sleep 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) den_drdy_int1 den drdy signal on int1 pad. default value: 0 (0: disabled; 1: enabled) drdy_mask configuration 1 data available enable bit. default value: 0 (0: da timer disabled; 1: da timer 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) lpf1_sel_g enable gyroscope digital lpf1 if auxiliary spi is disabled; the bandwidth can be selected through ftype [1:0] in ctrl6_c (15h) (0: disabled; 1: enabled) rounding2 rounding1 rounding0 den _lh st1_g st0_g st1_xl st0_xl table 59. ctrl5_c register description rounding[2:0] circular burst-mode (rounding) read from output registers through the primary interface. default value: 000 (000: no rounding; others: refer to table 60 ) den_lh den active level configuration. default value: 0 (0: active low; 1: active high) st_g [1:0] angular rate sensor self-test enable. default value: 00 (00: self-test disabled; other: refer to table 61 ) st_xl [1:0] linear acceleration sensor self-test enable. default value: 00 (00: self-test disabled; other: refer to table 62 )
register description LSM6DSM 64/113 docid028165 rev 2 table 60. 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 61. 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 62. 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
docid028165 rev 2 65/113 LSM6DSM register description 113 10.18 ctrl6_c (15h) angular rate sensor control register 6 (r/w). table 63. ctrl6_c register trig_en lvl1_en lvl2_en xl_hm_mode usr_ off_w 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. ftype_1 ftype_0 table 64. ctrl6_c register description trig_en den data edge-sensitive trigger enable. refer to table 65 . lvl1_en den data level-sensitive trigger enable. refer to table 65 . lvl2_en den level-sensitive latched enable. refer to table 65 . xl_hm_mode high-performance operating mode disable for accelerometer. default value: 0 (0: high-performance operating mode enabled; 1: high-performance operating mode disabled) usr_off_w weight of xl user offset bits of registers 73h, 74h, 75h 0 = 2 -10 g/lsb 1 = 2 -6 g/lsb ftype[1:0] gyroscope's low-pass filter (lpf1) bandwidth selection table 66 shows the selectable bandwidth values (available if auxiliary spi is disabled). table 65. trigger mode selection trig_en, lvl1_en, lvl2_en trigger mode 100 edge-sensitive trigger mode is selected 010 level-sensitive trigger mode is selected 011 level-sensitive latched mode is selected 110 level-sensitive fifo enable mode is selected table 66. gyroscope lpf1 bandwidth selection ftype[1:0] odr = 800 hz odr = 1.6 khz odr = 3.3 khz odr = 6.6 khz bw phase delay (1) 1. phase delay @ 20 hz bw phase delay (1) bw phase delay (1) bw phase delay (1) 00 245 hz 14 315 hz 10 343 hz 8 351 hz 7 01 195 hz 17 224 hz 12 234 hz 10 237 hz 9 10 155 hz 19 168 hz 15 172 hz 12 173 hz 11 11 293 hz 13 505 hz 8 925 hz 6 937 hz 5
register description LSM6DSM 66/113 docid028165 rev 2 10.19 ctrl7_g (16h) angular rate sensor control register 7 (r/w). 10.20 ctrl8_xl (17h) linear acceleration sensor control register 8 (r/w). table 67. ctrl7_g register g_hm_mode hp_en_g hpm1_g hpm0_g 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. rounding_ status 0 (1) 0 (1) table 68. 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) hp_en_g 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) hpm_g[1:0] gyroscope digital hp filter cutoff selection. default: 00 (00 = 16 mhz 01 = 65 mhz 10 = 260 mhz 11 = 1.04 hz) rounding_ status source register rounding function on wake_up_src (1bh) , tap_src (1ch) , d6d_src (1dh) , status_reg (1eh) , and func_src (53h) registers in the primary interface. default value: 0 (0: rounding disabled; 1: rounding enabled) table 69. ctrl8_xl register lpf2_xl_ en hpcf_ xl1 hpcf_ xl0 hp_ref _mode input_ compo site hp_slope_x l_en 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. low_pass _on_6d table 70. ctrl8_xl register description lpf2_xl_en accelerometer low-pass filter lpf2 selection. refer to figure 9 . hpcf_xl[1:0] accelerometer lpf2 and high-pass filter configuration and cutoff setting. refer to table 71 . hp_ref_mode enable hp filter reference mode. default value: 0 (0: disabled; 1: enabled) input_composite composite filter input selection. default: 0 (0: odr/2 low pass filtered sent to composite filter (default) 1: odr/4 low pass filtered sent to composite filter) hp_slope_xl_en accelerometer slope filter / high-pass filter selection. refer to figure 9 . low_pass_on_6d lpf2 on 6d function selection. refer to figure 9 .
docid028165 rev 2 67/113 LSM6DSM register description 113 10.21 ctrl9_xl (18h) linear acceleration sensor control register 9 (r/w). table 71. accelerometer bandwidth selection hp_slope_ xl_en lpf2_xl_en lpf1_bw_sel hpcf_xl[1:0] input_ composite bandwidth 0 (low-pass path) (1) 1. the bandwidth column is related to lpf1 if lpf2_xl_en = 0 or to lpf2 if lpf2_xl_en = 1. 0 0 - - odr/2 1 - - odr/4 1- 00 1 (low noise) 0 (low latency) odr/50 01 odr/100 10 odr/9 11 odr/400 1 (high-pass path) (2) 2. the bandwidth column is related to the slope filter if hpcf_xl[1:0] = 00 or to the hp filter if hpcf_xl[1:0] = 01/10/11. -- 00 0 odr/4 01 odr/100 10 odr/9 11 odr/400 table 72. ctrl9_xl register den_x den_y den_z den_xl_g 0 (1) soft_en 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) table 73. ctrl9_xl register description den_x den value stored in lsb of x-axis. default value: 1 (0: den not stored in x-axis lsb; 1: den stored in x-axis lsb) den_y den value stored in lsb of y-axis. default value: 1 (0: den not stored in y-axis lsb; 1: den stored in y-axis lsb) den_z den value stored in lsb of z-axis. default value: 1 (0: den not stored in z-axis lsb; 1: den stored in z-axis lsb) den_xl_g den stamping sensor selection. default value: 0 (0: den pin info stamped in the gyroscope axis selected by bits [7:5]; 1: den pin info stamped in the accelerometer axis selected by bits [7:5]) soft_en enable soft-iron correction algorithm for magnetometer (1) . default value: 0 (0: soft-iron correction algorithm disabled; 1: soft-iron correction algorithm enabled) 1. this bit is effective if the iron_en bit of master_config (1ah) and func_en bit of ctrl10_c (19h) are set to 1.
register description LSM6DSM 68/113 docid028165 rev 2 10.22 ctrl10_c (19h) control register 10 (r/w). 10.23 master_config (1ah) master configuration register (r/w). table 74. ctrl10_c register 0 (1) 1. this bit must be set to ?0? for the correct operation of the device. 0 (1) timer_ en pedo_ en tilt_ en func_en pedo_rst _step sign_ motion_en table 75. ctrl10_c register description timer_en enable timestamp count. the count is saved in timestamp0_reg (40h) , timestamp1_reg (41h) and timestamp2_reg (42h) . default: 0 (0: timestamp count disabled; 1: timestamp count enabled) pedo_en enable pedometer algorithm (1) . default value: 0 (0: pedometer algorithm disabled; 1: pedometer algorithm enabled) 1. this is effective if func_en bit set to '1'. tilt_en enable tilt calculation (1) . func_en enable embedded functionalities (pedometer, tilt, significant motion, sensor hub and ironing). 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 (1) . default value: 0 (0: disabled; 1: enabled) table 76. 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 77. 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)
docid028165 rev 2 69/113 LSM6DSM register description 113 10.24 wake_up_src (1bh) wake up interrupt source register (r). 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 (2) . default value: 0 (0:hard-iron correction algorithm disabled; 1: hard-iron correction algorithm enabled) master_on sensor hub i 2 c master enable (2) . default: 0 (0: master i 2 c of sensor hub disabled; 1: master i 2 c of sensor hub enabled) 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. 2. this is effective if the func_en bit is set to '1'. table 77. master_config register description (continued) table 78. wake_up_src register 0 0 ff_ia sleep_ state_ia wu_ia x_wu y_wu z_wu table 79. 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)
register description LSM6DSM 70/113 docid028165 rev 2 10.25 tap_src (1ch) tap source register (r). 10.26 d6d_src (1dh) portrait, landscape, face-up and face-down source register (r) table 80. tap_src register 0 tap_ia single_ tap double_ tap tap_sign x_tap y_tap z_tap table 81. 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) table 82. d6d_src register den_drdy d6d_ia zh zl yh yl xh xl table 83. d6d_src register description den_ drdy den data-ready signal. it is set high when data output is related to the data coming from a den active condition. (1) 1. the den data-ready signal can be latched or pulsed depending on the value of the dataready_pulsed bit of the drdy_pulse_cfg (0bh) register. 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) xh x-axis high event (over threshold). default value: 0 (0: event not detected; 1: event (over threshold) detected) xl x-axis low event (under threshold). default value: 0 (0: event not detected; 1: event (under threshold) detected)
docid028165 rev 2 71/113 LSM6DSM register description 113 10.27 status_reg/status_spiaux (1eh) the status_reg register is read by the primary interface spi/i 2 c (r). the status_spiaux register is read by the auxiliary spi. 10.28 out_temp_l (20h), out_temp_h (21h) temperature data output register (r). l and h registers together express a 16-bit word in two?s complement. table 84. status_reg register 0 0 0 0 0 tda gda xlda table 85. 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) table 86. status_spiaux register 00000 gyro_ setting gda 0 table 87. status_spiaux description gyro_ setting high when the gyroscope output is in the setting phase gda gyroscope data available (reset when one of the high parts of output data is read) table 88. out_temp_l register temp7 temp6 temp5 temp4 temp3 temp2 temp1 temp0 table 89. out_temp_h register temp15 temp14 temp13 temp12 temp11 temp10 temp9 temp8 table 90. out_temp register description temp[15:0] temperature sensor output data the value is expressed as two?s complement sign extended on the msb.
register description LSM6DSM 72/113 docid028165 rev 2 10.29 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. if this register is read by the primary interface, data are according to the full scale and odr settings ( ctrl2_g (11h) ) of gyro user interface. if this register is read by the auxiliary interface, data are according to the full scale and odr (6.66 khz) settings of the ois gyro. 10.30 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. if this register is read by the primary interface, data are according to the full scale and odr settings ( ctrl2_g (11h) ) of the gyro user interface. if this register is read by the auxiliary interface, data are according to the full scale and odr (6.66 khz) settings of the ois gyro. 10.31 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. if this register is read by the primary interface, data are according to the full scale and odr settings ( ctrl2_g (11h) ) of the gyro user interface. if this register is read by the auxiliary interface, data are according to the full scale and odr (6.66 khz) settings of the ois gyro. table 91. outx_l_g register d7 d6 d5 d4 d3 d2 d1 d0 table 92. outx_l_g register description d[7:0] pitch axis (x) angular rate value (lsbyte) d[15:0] expressed in two?s complement and its value depends on the interface used: spi1/i 2 c: gyro ui chain pitch axis output spi2: gyro ois chain pitch axis output table 93. outx_h_g register d15 d14 d13 d12 d11 d10 d9 d8 table 94. outx_h_g register description d[15:8] pitch axis (x) angular rate value (msbyte) d[15:0] expressed in two?s complement and its value depends on the interface used: spi1/i 2 c: gyro ui chain pitch axis output spi2: gyro ois chain pitch axis output
docid028165 rev 2 73/113 LSM6DSM register description 113 10.32 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. if this register is read by the primary interface, data are according to the full scale and odr settings ( ctrl2_g (11h) ) of the gyro user interface. if this register is read by the auxiliary interface, data are according to the full scale and odr (6.66 khz) settings of the ois gyro. 10.33 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. if this register is read by the primary interface, data are according to the full scale and odr settings ( ctrl2_g (11h) ) of the gyro user interface. if this register is read by the auxiliary interface, data are according to the full scale and odr (6.66 khz) settings of the ois gyro. table 95. outy_l_g register d7 d6 d5 d4 d3 d2 d1 d0 table 96. outy_l_g register description d[7:0] roll axis (y) angular rate value (lsbyte) d[15:0] expressed in two?s complement and its value depends on the interface used: spi1/i 2 c: gyro ui chain roll axis output spi2: gyro ois chain roll axis output table 97. outy_h_g register d15 d14 d13 d12 d11 d10 d9 d8 table 98. outy_h_g register description d[15:8] roll axis (y) angular rate value (msbyte) d[15:0] expressed in two?s complement and its value depends on the interface used: spi1/i 2 c: gyro ui chain roll axis output spi2: gyro ois chain roll axis output table 99. outz_l_g register d7 d6 d5 d4 d3 d2 d1 d0 table 100. outz_l_g register description d[7:0] yaw axis (z) angular rate value (lsbyte) d[15:0] expressed in two?s complement and its value depends on the interface used: spi1/i 2 c: gyro ui chain yaw axis output spi2: gyro ois chain yaw axis output
register description LSM6DSM 74/113 docid028165 rev 2 10.34 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. if this register is read by the primary interface, data are according to the full scale and odr settings ( ctrl2_g (11h) ) of the gyro user interface. if this register is read by the auxiliary interface, data are according to the full scale and odr (6.66 khz) settings of the ois gyro. 10.35 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. accelerometer data can be read also from aux spi @6.6 khz. 10.36 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. accelerometer data can be read also from aux spi @6.6 khz. table 101. outz_h_g register d15 d14 d13 d12 d11 d10 d9 d8 table 102. outz_h_g register description d[15:8] yaw axis (z) angular rate value (msbyte) d[15:0] expressed in two?s complement and its value depends on the interface used: spi1/i 2 c: gyro ui chain yaw axis output spi2: gyro ois chain yaw axis output table 103. outx_l_xl register d7 d6 d5 d4 d3 d2 d1 d0 table 104. outx_l_xl register description d[7:0] x-axis linear acceleration value (lsbyte) table 105. outx_h_xl register d15 d14 d13 d12 d11 d10 d9 d8 table 106. outx_h_xl register description d[15:8] x-axis linear acceleration value (msbyte)
docid028165 rev 2 75/113 LSM6DSM register description 113 10.37 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. accelerometer data can be read also from aux spi @6.6 khz. 10.38 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. accelerometer data can be read also from aux spi @6.6 khz. 10.39 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. accelerometer data can be read also from aux spi @6.6 khz. 10.40 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. accelerometer data can be read also from aux spi @6.6 khz. table 107. outy_l_xl register d7 d6 d5 d4 d3 d2 d1 d0 table 108. outy_l_xl register description d[7:0] y-axis linear acceleration value (lsbyte) table 109. outy_h_g register d15 d14 d13 d12 d11 d10 d9 d8 table 110. outy_h_g register description d[15:8] y-axis linear acceleration value (msbyte) table 111. outz_l_xl register d7 d6 d5 d4 d3 d2 d1 d0 table 112. outz_l_xl register description d[7:0] z-axis linear acceleration value (lsbyte) table 113. outz_h_xl register d15 d14 d13 d12 d11 d10 d9 d8 table 114. outz_h_xl register description d[15:8] z-axis linear acceleration value (msbyte)
register description LSM6DSM 76/113 docid028165 rev 2 10.41 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). 10.42 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). 10.43 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 115. sensorhub1_reg register shub1_7 shub1_6 shub1_5 shub1_4 shub1_3 shub1_2 shub1_1 shub1_0 table 116. sensorhub1_reg register description shub1_[7:0] first byte associated to external sensors table 117. sensorhub2_reg register shub2_7 shub2_6 shub2_5 shub2_4 shub2_3 shub2_2 shub2_1 shub2_0 table 118. sensorhub2_reg register description shub2_[7:0] second byte associated to external sensors table 119. sensorhub3_reg register shub3_7 shub3_6 shub3_5 shub3_4 shub3_3 shub3_2 shub3_1 shub3_0 table 120. sensorhub3_reg register description shub3_[7:0] third byte associated to external sensors
docid028165 rev 2 77/113 LSM6DSM register description 113 10.44 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). 10.45 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). 10.46 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). 10.47 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 121. sensorhub4_reg register shub4_7 shub4_6 shub4_5 shub4_4 shub4_3 shub4_2 shub4_1 shub4_0 table 122. sensorhub4_reg register description shub4_[7:0] fourth byte associated to external sensors table 123. sensorhub5_reg register shub5_7 shub5_6 shub5_5 shub5_4 shub5_3 shub5_2 shub5_1 shub5_0 table 124. sensorhub5_reg register description shub5_[7:0] fifth byte associated to external sensors table 125. sensorhub6_reg register shub6_7 shub6_6 shub6_5 shub6_4 shub6_3 shub6_2 shub6_1 shub6_0 table 126. sensorhub6_reg register description shub6_[7:0] sixth byte associated to external sensors table 127. sensorhub7_reg register shub7_7 shub7_6 shub7_5 shub7_4 shub7_3 shub7_2 shub7_1 shub7_0 table 128. sensorhub7_reg register description shub7_[7:0] seventh byte associated to external sensors
register description LSM6DSM 78/113 docid028165 rev 2 10.48 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). 10.49 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). 10.50 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). 10.51 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 129. sensorhub8_reg register shub8_7 shub8_6 shub8_5 shub8_4 shub8_3 shub8_2 shub8_1 shub8_0 table 130. sensorhub8_reg register description shub8_[7:0] eighth byte associated to external sensors table 131. sensorhub9_reg register shub9_7 shub9_6 shub9_5 shub9_4 shub9_3 shub9_2 shub9_1 shub9_0 table 132. sensorhub9_reg register description shub9_[7:0] ninth byte associated to external sensors table 133. sensorhub10_reg register shub10_7 shub10_6 shub10_5 shub10_4 shub10_3 shub10_2 shub10_1 shub10_0 table 134. sensorhub10_reg register description shub10_[7:0] tenth byte associated to external sensors table 135. sensorhub11_reg register shub11_7 shub11_6 shub11_5 shub11_4 shub11_3 shub11_2 shub11_1 shub11_0 table 136. sensorhub11_reg register description shub11_[7:0] eleventh byte associated to external sensors
docid028165 rev 2 79/113 LSM6DSM register description 113 10.52 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). 10.53 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 139. fifo_status1 register table 140. fifo_status1 register description 10.54 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 141. fifo_status2 register table 142. fifo_status2 register description table 137. sensorhub12_reg register shub12_7 shub12_6 shub12_5 shub12_4 shub12_3 shub12_2 shub12_1 shub12_0 table 138. 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 [10:8] in fifo_status2 (3bh) waterm over_run fifo_full_ smart fifo_ empty 0 diff_ fifo_10 diff_ fifo_9 diff_ fifo_8 waterm fifo watermark status. the watermark is set through bits fth_[7:0] in fifo_ctrl1 (06h) . 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_[10:0] in fifo_ctrl1 (06h) and fifo_ctrl2 (07h) over_run fifo overrun status. default value: 0 (0: fifo is not completely filled; 1: fifo is completely filled) fifo_full_ smart smart 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_[10:8] number of unread words (16-bit axes) stored in fifo (2) . 2. for a complete number of unread samples, consider diff_fifo [7:0] in fifo_status1 (3ah)
register description LSM6DSM 80/113 docid028165 rev 2 10.55 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 143. fifo_status3 register table 144. fifo_status3 register description 10.56 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 145. fifo_status4 register table 146. fifo_status4 register description 10.57 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. 000000 fifo_ pattern_9 fifo_ pattern_8 fifo_ pattern_[9:8] word of recursive pattern read at the next reading. table 147. 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 148. fifo_data_out_l register description data_out_fifo_l_[7:0] fifo data output (first byte)
docid028165 rev 2 81/113 LSM6DSM register description 113 10.58 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. 10.59 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) . 10.60 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) . 10.61 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 149. 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 150. fifo_data_out_h register description data_out_fifo_h_[7:0] fifo data output (second byte) table 151. 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 152. timestamp0_reg register description timestamp0_[7:0] timestamp first byte data output table 153. 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 154. timestamp1_reg register description timestamp1_[7:0] timestamp second byte data output table 155. 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 156. timestamp2_reg register description timestamp2_[7:0] timestamp third byte data output
register description LSM6DSM 82/113 docid028165 rev 2 10.62 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. 10.63 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. 10.64 step_counter_l (4bh) step counter output register (r). 10.65 step_counter_h (4ch) step counter output register (r). table 157. 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 158. step_timestamp_l register description step_timestamp_l[7:0] timestamp of last step detected. table 159. 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 160. step_timestamp_h register description step_timestamp_h[7:0] timestamp of last step detected. table 161. 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 162. step_counter_l register description step_counter_l_[7:0] step counter output (lsbyte) table 163. 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 164. step_counter_h register description step_counter_h_[7:0] step counter output (msbyte)
docid028165 rev 2 83/113 LSM6DSM register description 113 10.66 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). 10.67 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). 10.68 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). 10.69 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 165. sensorhub13_reg register shub13_7 shub13_6 shub13_5 shub13_4 shub13_3 shub13_2 shub13_1 shub13_0 table 166. sensorhub13_reg register description shub13_[7:0] thirteenth byte associated to external sensors table 167. sensorhub14_reg register shub14_7 shub14_6 shub14_5 shub14_4 shub14_3 shub14_2 shub14_1 shub14_0 table 168. sensorhub14_reg register description shub14_[7:0] fourteenth byte associated to external sensors table 169. sensorhub15_reg register shub15_7 shub15_6 shub15_5 shub15_4 shub15_3 shub15_2 shub15_1 shub15_0 table 170. sensorhub15_reg register description shub15_[7:0] fifteenth byte associated to external sensors table 171. sensorhub16_reg register shub16_7 shub16_6 shub16_5 shub16_4 shub16_3 shub16_2 shub16_1 shub16_0 table 172. sensorhub16_reg register description shub16_[7:0] sixteenth byte associated to external sensors
register description LSM6DSM 84/113 docid028165 rev 2 10.70 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). 10.71 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). 10.72 func_src (53h) significant motion, tilt, step detector, hard/soft-iron and sensor hub interrupt source register (r). table 173. sensorhub17_reg register shub17_7 shub17_6 shub17_5 shub17_4 shub17_3 shub17_2 shub17_1 shub17_0 table 174. sensorhub17_reg register description shub17_[7:0] seventeenth byte associated to external sensors table 175. sensorhub18_reg register shub18_7 shub18_6 shub18_5 shub18_4 shub18_3 shub18_2 shub18_1 shub18_0 table 176. sensorhub18_reg register description shub18_[7:0] eighteenth byte associated to external sensors table 177. func_src register step_ count _delta _ia sign_ motion_ia tilt_ia step_ detected step_ overflow hi_ fail si_end_ op sensor hub_ end_op table 178. 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 )
docid028165 rev 2 85/113 LSM6DSM register description 113 10.73 tap_cfg (58h) timestamp, pedometer, tilt, filtering, and tap recognition functions configuration register (r/w). 10.74 tap_ths_6d (59h) portrait/landscape position and tap function threshold register (r/w). hi_fail fail in hard/soft-ironing algorithm. 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 178. func_src register description (continued) table 179. tap_cfg register interrupts _enable 00 slope _fds tap_x_en tap_y_en tap_z_en lir table 180. tap_cfg register description interrupts _enable enable basic interrupts (6d/4d, free fall, wake-up, tap). default 0. (0: interrupt disabled; 1: interrupt enabled) slope_fds enable accelerometer hp and lpf2 filters (refer to figure 5 ). default value: 0 (0: disable; 1: enable) tap_x_en enable x direction in tap recognition (1) . default value: 0 (0: x direction disabled; 1:x direction enabled) 1. to enable the tap functionality for one axis or all the axes, the interrupts_enable bit needs to be set to '1'. tap_y_en enable y direction in tap recognition (1) . default value: 0 (0: y direction disabled; 1:y direction enabled) tap_z_en enable z direction in tap recognition (1) . 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 181. 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
register description LSM6DSM 86/113 docid028165 rev 2 10.75 int_dur2 (5ah) tap recognition function setting register (r/w). table 182. 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 4d/6d function. default value: 00 for details, refer to table 183 . tap_ths[4:0] threshold for tap recognition. default value: 00000 1 lsb corresponds to fs_xl/2 5 table 183. threshold for d4d/d6d function sixd_ths[1:0] threshold value 00 80 degrees 01 70 degrees 10 60 degrees 11 50 degrees table 184. int_dur2 register dur3 dur2 dur1 dur0 quiet1 quiet0 shock1 shock0 table 185. 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.
docid028165 rev 2 87/113 LSM6DSM register description 113 10.76 wake_up_ths (5bh) single and double-tap function threshold register (r/w). 10.77 wake_up_dur (5ch) free-fall, wakeup, timestamp and sleep mode functions duration setting register (r/w). 10.78 free_fall (5dh) free-fall function duration setting register (r/w). table 186. wake_up_ths register single_ double_tap 0 wk_ths5 wk_ths4 wk_ths3 wk_ths2 wk_ths1 wk_ths0 table 187. 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) wk_ths[5:0] threshold for wakeup. default value: 000000 1 lsb corresponds to fs_xl/2 6 table 188. wake_up_dur register ff_dur5 wake_ dur1 wake_ dur0 timer_ hr sleep_ dur3 sleep_ dur2 sleep_ dur1 sleep_ dur0 table 189. 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. 1 lsb = 1 odr_time 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 (this corresponds to 16 odr) 1 lsb = 512 odr table 190. free_fall register ff_dur4 ff_dur3 ff_dur2 ff_dur1 ff_dur0 ff_ths2 ff_ths1 ff_ths0 table 191. 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 192 .
register description LSM6DSM 88/113 docid028165 rev 2 10.79 md1_cfg (5eh) functions routing on int1 register (r/w). table 192. 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 193. md1_cfg register int1_ inact_ state int1_ single_ tap int1_wu int1_ff int1_ double_ tap int1_6d int1_tilt int1_ timer table 194. 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) 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)
docid028165 rev 2 89/113 LSM6DSM register description 113 10.80 md2_cfg (5fh) functions routing on int2 register (r/w). 10.81 master_cmd_code (60h) table 195. md2_cfg register int2_ inact_ state int2_ single_ tap int2_wu int2_ff int2_ double_ tap int2_6d int2_tilt int2_ iron table 196. 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) table 197. master_cmd_code register master_ cmd_ code7 master_ cmd_ code6 master_ cmd_ code5 master_ cmd_ code4 master_ cmd_ code3 master_ cmd_ code2 master_ cmd_ code1 master_ cmd_ code0 table 198. master_cmd_code register description master_cmd_ code[7:0] master command code used for stamping for sensor sync. default value: 0
register description LSM6DSM 90/113 docid028165 rev 2 10.82 sens_sync_spi_error_code (61h) 10.83 out_mag_raw_x_l (66h) external magnetometer raw data (r). 10.84 out_mag_raw_x_h (67h) external magnetometer raw data (r). 10.85 out_mag_raw_y_l (68h) external magnetometer raw data (r). table 199. sens_sync_spi_error_code register error_ code7 error_ code6 error_ code5 error_ code4 error_ code3 error_ code2 error_ code1 error_ code0 table 200. sens_sync_spi_error_code register description error_code[7:0] error code used for sensor synchronization. default value: 0 table 201. out_mag_raw_x_l register d7 d6 d5 d4 d3 d2 d1 d0 table 202. out_mag_raw_x_l register description d[7:0] x-axis external magnetometer value (lsbyte) table 203. out_mag_raw_x_h register d15 d14 d13 d12 d11 d10 d9 d8 table 204. out_mag_raw_x_h register description d[15:8] x-axis external magnetometer value (msbyte) table 205. out_mag_raw_y_l register d7 d6 d5 d4 d3 d2 d1 d0 table 206. out_mag_raw_y_l register description d[7:0] y-axis external magnetometer value (lsbyte)
docid028165 rev 2 91/113 LSM6DSM register description 113 10.86 out_mag_raw_y_h (69h) external magnetometer raw data (r). 10.87 out_mag_raw_z_l (6ah) external magnetometer raw data (r). 10.88 out_mag_raw_z_h (6bh) external magnetometer raw data (r). 10.89 int_ois (6fh) table 207. out_mag_raw_y_h register d15 d14 d13 d12 d11 d10 d9 d8 table 208. out_mag_raw_y_h register description d[15:8] y-axis external magnetometer value (msbyte) table 209. out_mag_raw_z_l register d7 d6 d5 d4 d3 d2 d1 d0 table 210. out_mag_raw_z_l register description d[7:0] z-axis external magnetometer value (lsbyte) table 211. out_mag_raw_z_h register d15 d14 d13 d12 d11 d10 d9 d8 table 212. out_mag_raw_z_h register description d[15:8] z-axis external magnetometer value (msbyte) table 213. int_ois register int2_drdy _ois lvl2_ ois - - ---- table 214. int_ois register description int2_drdy_ois enables the ois chain drdy on the int2 pad. this setting has priority over all other int2 settings. lvl2_ois enables level-sensitive latched mode on the ois chain.
register description LSM6DSM 92/113 docid028165 rev 2 10.90 ctrl_ois (70h) only spi2 can write to this register (r/w). den mode selection can be done using the lvl1_ois bit of register ctrl_ois (70h) and the lvl2_ois bit of register int_ois (6fh) . den mode on the ois path is active in the gyroscope only. table 215. ctrl_ois register ble_ ois lvl1_ ois sim_ ois ois_xl _en fs1_g_ ois fs0_g_ ois fs_125_ ois ois_en_ spi2 table 216. ctrl_ois register description ble_ois big/little endian data selection. default value: 0 (0: output lsbyte at lower register address; 1: output lsbyte at higher register address) lvl1_ois enables level-sensitive trigger mode on ois chain. default value: 0 sim_ois spi1 3- or 4-wire mode. default value: 0 (0: 4-wire spi1; 1: 3-wire spi1) ois_xl_en enable accelerometer ois chain. default value: 0 (0: disable; 1: enable) fs[1:0]_ g_ois gyroscope ois chain full-scale selection. (00: 245 dps; 01: 500 dps; 10: 1000 dps; 11: 2000 dps) fs_125 _ois selects gyroscope?s ui chain full scale 125 dps (0: fs selected through bits fs[1:0]_ois_g; 1 = 125 dps) ois_en_ spi2 enables ois chain data processing. when the ois chain is enabled, the ois outputs are available through the spi2 in registers 22h-27h and 1eh register, and lpf1 is dedicated to this chain. table 217. den mode selection lvl1_ois, lvl2_ois den mode 10 level-sensitive trigger mode is selected 11 level-sensitive latched mode is selected
docid028165 rev 2 93/113 LSM6DSM register description 113 10.91 ctrl2_ois (71h) only spi2 can write to this register (r/w). sampling data with frequency equal or higher to 3.3 khz is recommended. if data is down-sampled @ 1 khz, it is recommended to use a cutoff @ 173 hz. if data is down-sampled @ 2 khz, it is recommended to use a cutoff @ 237 hz. table 218. ctrl2_ois register 0 (1) 1. this bit must be set to '0' for the correct operation of the device. 0 (1) hpm1_ ois hpm0_ ois 0 (1) ftype_1_ ois ftype_0_ ois hp_en_ ois table 219. ctrl2_ois register description hpm[1:0]_ois gyroscope's ois chain digital high-pass filter cutoff selection. default value: 00 (00: 16 mhz; 01: 65 mhz; 10: 260 mhz; 11: 1.04 hz) ftype_[1:0]_ois gyroscope's digital lpf1 filter bandwidth selection table 220 shows cutoff and phase values obtained with all configurations hp_en_ois enables gyroscope's ois chain hpf. this filter is available on the ois chain only if hp_en_g in ctrl7_g (16h) is set to '0' (1) . 1. hp_en_ois is active to select hpf on the auxiliary spi chain only if hpf is not already used in the primary interface. table 220. gyroscope ois chain lpf1 bandwidth selection ftype_[1:0]_ois odr = 6.6 khz bw phase delay @ 20 hz 00 351 hz 7 01 237 hz 9 10 173 hz 11 11 937 hz 5
register description LSM6DSM 94/113 docid028165 rev 2 10.92 ctrl3_ois (72h) table 221. ctrl3_ois register den_lh _ois fs1_xl _ois fs0_xl_ ois filter_xl_c onf_ois_1 filter_xl_ conf_ois_ 0 st1_ois st0_ois st_ois_ clampdis table 222. ctrl3_ois register description den_lh_ois polarity of den signal on ois chain (0 = den pin is active low; 1 = den pin is active high) fs[1:0]_xl_ois accelerometer ois channel full-scale selection 00 = 2 g (default) 01 = 16 g 10 = 4 g 11 = 8 g these two bits act only when the accelerometer ui chain is in power-down, otherwise the accelerometer fs value is selected only from the ui side (but it is readable also from the ois side). filter_xl_conf_ois [1:0] accelerometer ois channel bandwidth selection (see table 223 ) st[1:0]_ois gyroscope ois chain self-test selection table 224 lists the output variation when the self-test is enabled and st_ois_clampdis = '0' 00 = normal mode (default) 01 = positive sign self-test 10 = normal mode 11 = negative sign self-test st_ois_clampdis ois chain clamp disable 0 = all ois chain outputs = 8000h during self-test 1 = ois chain self-test outputs as shown in table 224 table 223. accelerometer ois channel bandwidth selection filter_xl_ conf_ois [1:0] odr_ui = 0 odr ui 1600 hz odr ui 800 hz bw phase delay (1) 1. phase delay @ 20 hz bw phase delay (1) 00 140 hz 9.39 128 hz 11.5 01 68.2 hz 17.6 66.5 hz 19.7 10 636 hz 2.96 329 hz 5.08 11 295 hz 5.12 222 hz 7.23
docid028165 rev 2 95/113 LSM6DSM register description 113 10.93 x_ofs_usr (73h) accelerometer x-axis user offset correction (r/w) 10.94 y_ofs_usr (74h) accelerometer y-axis user offset correction (r/w) 10.95 z_ofs_usr (75h) accelerometer z-axis user offset correction (r/w) table 224. self-test nominal output variation full scale output variation [dps] 2000 400 1000 200 500 100 250 50 125 25 table 225. x_ofs_usr register x_ofs_ usr_7 x_ofs_ usr_6 x_ofs_ usr_5 x_ofs_ usr_4 x_ofs_ usr_3 x_ofs_ usr_2 x_ofs_ usr_1 x_ofs_ usr_0 table 226. x_ofs_usr register description x_ofs_usr_ [7:0] accelerometer x-axis user offset correction expressed in two?s complement, weight depends on the ctrl6_c(4) bit. the value must be in the range [-127 127]. table 227. y_ofs_usr register y_ofs_ usr_7 y_ofs_ usr_6 y_ofs_ usr_5 y_ofs_ usr_4 y_ofs_ usr_3 y_ofs_ usr_2 y_ofs_ usr_1 y_ofs_ usr_0 table 228. y_ofs_usr register description y_ofs_usr_ [7:0] accelerometer y-axis user offset correction expressed in two?s complement, weight depends on the ctrl6_c(4) bit. the value must be in the range [-127 127]. table 229. z_ofs_usr register z_ofs_ usr_7 z_ofs_ usr_6 z_ofs_ usr_5 z_ofs_ usr_4 z_ofs_ usr_3 z_ofs_ usr_2 z_ofs_ usr_1 z_ofs_ usr_0 table 230. z_ofs_usr register description z_ofs_usr_ [7:0] accelerometer z-axis user offset correction expressed in two?s complement, weight depends on the ctrl6_c(4) bit. the value must be in the range [-127 127].
embedded functions register mapping LSM6DSM 96/113 docid028165 rev 2 11 embedded functions register mapping the table given below provides a list of the registers for the embedded functions avaialble 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 231. 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 config_pedo_ths_min 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
docid028165 rev 2 97/113 LSM6DSM embedded functions register mapping 113 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 231. registers address map - embedded functions (continued) name type register address default comment hex binary
embedded functions registers description LSM6DSM 98/113 docid028165 rev 2 12 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. 12.1 slv0_add (02h) i 2 c slave address of the first external sensor (sensor1) register (r/w). 12.2 slv0_subadd (03h) address of register on the first external sensor (sensor1) register (r/w). 12.3 slave0_config (04h) first external sensor (sensor1) configuration and sensor hub settings register (r/w). table 232. slv0_add register slave0_ add6 slave0_ add5 slave0_ add4 slave0_ add3 slave0_ add2 slave0_ add1 slave0_ add0 rw_0 table 233. 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 234. slv0_subadd register slave0_ reg7 slave0_ reg6 slave0_ reg5 slave0_ reg4 slave0_ reg3 slave0_ reg2 slave0_ reg1 slave0_ reg0 table 235. 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 236. slave0_config register slave0_ rate1 slave0_ rate0 aux_sens _on1 aux_sens _on0 src_mode slave0_ numop2 slave0_ numop1 slave0_ numop0
docid028165 rev 2 99/113 LSM6DSM embedded functions registers description 113 12.4 slv1_add (05h) i 2 c slave address of the second external sensor (sensor2) register (r/w). 12.5 slv1_subadd (06h) address of register on the second external sensor (sensor2) register (r/w). table 237. 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 the 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 238. slv1_add register slave1_ add6 slave1_ add5 slave1_ add4 slave1_ add3 slave1_ add2 slave1_ add1 slave1_ add0 r_1 table 239. 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 240. slv1_subadd register slave1_ reg7 slave1_ reg6 slave1_ reg5 slave1_ reg4 slave1_ reg3 slave1_ reg2 slave1_ reg1 slave1_ reg0 table 241. 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
embedded functions registers description LSM6DSM 100/113 docid028165 rev 2 12.6 slave1_config (07h) second external sensor (sensor2) configuration register (r/w). 12.7 slv2_add (08h) i 2 c slave address of the third external sensor (sensor3) register (r/w). 12.8 slv2_subadd (09h) address of register on the third external sensor (sensor3) register (r/w). table 242. 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 243. 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 244. slv2_add register slave2_ add6 slave2_ add5 slave2_ add4 slave2_ add3 slave2_ add2 slave2_ add1 slave2_ add0 r_2 table 245. 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 246. slv2_subadd register slave2_ reg7 slave2_ reg6 slave2_ reg5 slave2_ reg4 slave2_ reg3 slave2_ reg2 slave2_ reg1 slave2_ reg0 table 247. 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
docid028165 rev 2 101/113 LSM6DSM embedded functions registers description 113 12.9 slave2_config (0ah) third external sensor (sensor3) configuration register (r/w). 12.10 slv3_add (0bh) i 2 c slave address of the fourth external sensor (sensor4) register (r/w). 12.11 slv3_subadd (0ch) address of register on the fourth external sensor (sensor4) register (r/w). table 248. 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 249. 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 250. slv3_add register slave3_ add6 slave3_ add5 slave3_ add4 slave3_ add3 slave3_ add2 slave3_ add1 slave3_ add0 r_3 table 251. 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 252. slv3_subadd register slave3_ reg7 slave3_ reg6 slave3_ reg5 slave3_ reg4 slave3_ reg3 slave3_ reg2 slave3_ reg1 slave3_ reg0 table 253. 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
embedded functions registers description LSM6DSM 102/113 docid028165 rev 2 12.12 slave3_config (0dh) fourth external sensor (sensor4) configuration register (r/w). 12.13 datawrite_src_mode_sub_slv0 (0eh) data to be written into the slave device register (r/w). 12.14 config_pedo_ths_min (0fh) table 254. 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 255. 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 256. datawrite_src_mode_sub_slv0 register slave_ dataw7 slave_ dataw6 slave_ dataw5 slave_ dataw4 slave_ dataw3 slave_ dataw2 slave_ dataw1 slave_ dataw0 table 257. 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 table 258. config_pedo_ths_min register pedo_fs 0 0 ths_min_4 ths_min_3 ths_min_2 ths_min_1 ths_min_0 table 259. datawrite_src_mode_sub_slv0 register description pedo_fs pedometer data elaboration at 4 g. (0: elaboration of 2 g data; 1: elaboration of 4 g data) ths_min_[4:0] minimum threshold to detect a peak. default is 10h.
docid028165 rev 2 103/113 LSM6DSM embedded functions registers description 113 12.15 sm_ths (13h) significant motion configuration register (r/w). 12.16 pedo_deb_reg (14h) 12.17 step_count_delta (15h) time period register for step detection on delta time (r/w). table 260. 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 261. sm_ths register description sm_ths[7:0] significant motion threshold. default value: 00000110 table 262. pedo_deb_reg register deb_ time4 deb_ time3 deb_ time2 deb_ time1 deb_ time0 deb_ step2 deb_ step1 deb_ step0 table 263. 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 step counter (debounce). default value: 110 table 264. 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 265. 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 ctrl10_c (19h) is set to 1 and the timer_hr bit of wake_up_dur (5ch) is set to 0.
embedded functions registers description LSM6DSM 104/113 docid028165 rev 2 12.18 mag_si_xx (24h) soft-iron matrix correction register (r/w). 12.19 mag_si_xy (25h) soft-iron matrix correction register (r/w). 12.20 mag_si_xz (26h) soft-iron matrix correction register (r/w). 12.21 mag_si_yx (27h) soft-iron matrix correction register (r/w). table 266. 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 267. 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 268. 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 269. 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 270. 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 271. 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. table 272. 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 273. 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.
docid028165 rev 2 105/113 LSM6DSM embedded functions registers description 113 12.22 mag_si_yy (28h) soft-iron matrix correction register (r/w). 12.23 mag_si_yz (29h) soft-iron matrix correction register (r/w). 12.24 mag_si_zx (2ah) soft-iron matrix correction register (r/w). 12.25 mag_si_zy (2bh) soft-iron matrix correction register (r/w). table 274. 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 275. 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 276. 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 277. 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 278. 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 279. 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. table 280. 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 281. 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.
embedded functions registers description LSM6DSM 106/113 docid028165 rev 2 12.26 mag_si_zz (2ch) soft-iron matrix correction register (r/w). 12.27 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. 12.28 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. 12.29 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. table 282. 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 283. 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 284. 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 285. mag_offx_l register description mag_offx_l_[7:0] offset for x-axis hard-iron compensation. default value: 00000000 table 286. 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 287. mag_offx_l register description mag_offx_h_[7:0] offset for x-axis hard-iron compensation. default value: 00000000 table 288. 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 289. mag_offy_l register description mag_offy_l_[7:0] offset for y-axis hard-iron compensation. default value: 00000000
docid028165 rev 2 107/113 LSM6DSM embedded functions registers description 113 12.30 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. 12.31 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. 12.32 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 290. 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 291. mag_offy_l register description mag_offy_h_[7:0] offset for y-axis hard-iron compensation. default value: 00000000 table 292. 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 293. mag_offz_l register description mag_offz_l_[7:0] offset for z-axis hard-iron compensation. default value: 00000000 table 294. 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 295. mag_offx_l register description mag_offz_h_[7:0] offset for z-axis hard-iron compensation. default value: 00000000
soldering information LSM6DSM 108/113 docid028165 rev 2 13 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. land pattern and soldering recommendations are available at www .st.com/mems .
docid028165 rev 2 109/113 LSM6DSM package information 113 14 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. 14.1 lga-14l package information figure 22. lga-14l 2.5x3x0.86 mm package outline and mechanical data : / + [   [ ? [ ?   3lqlqglfdwru 3lqlqglfdwru %277209,(: 7239,(:   '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 + '0b
package information LSM6DSM 110/113 docid028165 rev 2 14.2 lga-14 packing information figure 23. carrier tape information for lga-14 package figure 24. lga-14 package orientation in carrier tape
docid028165 rev 2 111/113 LSM6DSM package information 113 figure 25. reel information for carrier tape of lga-14 package table 296. 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
revision history LSM6DSM 112/113 docid028165 rev 2 15 revision history table 297. document revision history date revision changes 01-feb-2016 1 initial release 12-feb-2016 2 updated table 3: mechanical characteristics updated table 18: registers address map updated table 66: gyroscope lpf1 bandwidth selection updated register description
docid028165 rev 2 113/113 LSM6DSM 113 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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