Datasheet
Table Of Contents
- 1 Overview
- 2 Embedded low-power features
- 3 Pin description
- 4 Module specifications
- 5 Digital interfaces
- 6 Functionality
- 7 Application hints
- 8 Register mapping
- 9 Register description
- 9.1 FUNC_CFG_ACCESS (01h)
- 9.2 PIN_CTRL (02h)
- 9.3 FIFO_CTRL1 (07h)
- 9.4 FIFO_CTRL2 (08h)
- 9.5 FIFO_CTRL3 (09h)
- 9.6 FIFO_CTRL4 (0Ah)
- 9.7 COUNTER_BDR_REG1 (0Bh)
- 9.8 COUNTER_BDR_REG2 (0Ch)
- 9.9 INT1_CTRL (0Dh)
- 9.10 INT2_CTRL (0Eh)
- 9.11 WHO_AM_I (0Fh)
- 9.12 CTRL1_XL (10h)
- 9.13 CTRL2_G (11h)
- 9.14 CTRL3_C (12h)
- 9.15 CTRL4_C (13h)
- 9.16 CTRL5_C (14h)
- 9.17 CTRL6_C (15h)
- 9.18 CTRL7_G (16h)
- 9.19 CTRL8_XL (17h)
- 9.20 CTRL9_XL (18h)
- 9.21 CTRL10_C (19h)
- 9.22 ALL_INT_SRC (1Ah)
- 9.23 WAKE_UP_SRC (1Bh)
- 9.24 TAP_SRC (1Ch)
- 9.25 D6D_SRC (1Dh)
- 9.26 STATUS_REG (1Eh) / STATUS_SPIAux (1Eh)
- 9.27 OUT_TEMP_L (20h), OUT_TEMP_H (21h)
- 9.28 OUTX_L_G (22h) and OUTX_H_G (23h)
- 9.29 OUTY_L_G (24h) and OUTY_H_G (25h)
- 9.30 OUTZ_L_G (26h) and OUTZ_H_G (27h)
- 9.31 OUTX_L_A (28h) and OUTX_H_A (29h)
- 9.32 OUTY_L_A (2Ah) and OUTY_H_A (2Bh)
- 9.33 OUTZ_L_A (2Ch) and OUTZ_H_A (2Dh)
- 9.34 EMB_FUNC_STATUS_MAINPAGE (35h)
- 9.35 FSM_STATUS_A_MAINPAGE (36h)
- 9.36 FSM_STATUS_B_MAINPAGE (37h)
- 9.37 STATUS_MASTER_MAINPAGE (39h)
- 9.38 FIFO_STATUS1 (3Ah)
- 9.39 FIFO_STATUS2 (3Bh)
- 9.40 TIMESTAMP0 (40h), TIMESTAMP1 (41h), TIMESTAMP2 (42h), and TIMESTAMP3 (43h)
- 9.41 TAP_CFG0 (56h)
- 9.42 TAP_CFG1 (57h)
- 9.43 TAP_CFG2 (58h)
- 9.44 TAP_THS_6D (59h)
- 9.45 INT_DUR2 (5Ah)
- 9.46 WAKE_UP_THS (5Bh)
- 9.47 WAKE_UP_DUR (5Ch)
- 9.48 FREE_FALL (5Dh)
- 9.49 MD1_CFG (5Eh)
- 9.50 MD2_CFG (5Fh)
- 9.51 I3C_BUS_AVB (62h)
- 9.52 INTERNAL_FREQ_FINE (63h)
- 9.53 INT_OIS (6Fh)
- 9.54 CTRL1_OIS (70h)
- 9.55 CTRL2_OIS (71h)
- 9.56 CTRL3_OIS (72h)
- 9.57 X_OFS_USR (73h)
- 9.58 Y_OFS_USR (74h)
- 9.59 Z_OFS_USR (75h)
- 9.60 FIFO_DATA_OUT_TAG (78h)
- 9.61 FIFO_DATA_OUT_X_L (79h) and FIFO_DATA_OUT_X_H (7Ah)
- 9.62 FIFO_DATA_OUT_Y_L (7Bh) and FIFO_DATA_OUT_Y_H (7Ch)
- 9.63 FIFO_DATA_OUT_Z_L (7Dh) and FIFO_DATA_OUT_Z_H (7Eh)
- 10 Embedded functions register mapping
- 11 Embedded functions register description
- 11.1 PAGE_SEL (02h)
- 11.2 EMB_FUNC_EN_A (04h)
- 11.3 EMB_FUNC_EN_B (05h)
- 11.4 PAGE_ADDRESS (08h)
- 11.5 PAGE_VALUE (09h)
- 11.6 EMB_FUNC_INT1 (0Ah)
- 11.7 FSM_INT1_A (0Bh)
- 11.8 FSM_INT1_B (0Ch)
- 11.9 EMB_FUNC_INT2 (0Eh)
- 11.10 FSM_INT2_A (0Fh)
- 11.11 FSM_INT2_B (10h)
- 11.12 EMB_FUNC_STATUS (12h)
- 11.13 FSM_STATUS_A (13h)
- 11.14 FSM_STATUS_B (14h)
- 11.15 PAGE_RW (17h)
- 11.16 EMB_FUNC_FIFO_CFG (44h)
- 11.17 FSM_ENABLE_A (46h)
- 11.18 FSM_ENABLE_B (47h)
- 11.19 FSM_LONG_COUNTER_L (48h) and FSM_LONG_COUNTER_H (49h)
- 11.20 FSM_LONG_COUNTER_CLEAR (4Ah)
- 11.21 FSM_OUTS1 (4Ch)
- 11.22 FSM_OUTS2 (4Dh)
- 11.23 FSM_OUTS3 (4Eh)
- 11.24 FSM_OUTS4 (4Fh)
- 11.25 FSM_OUTS5 (50h)
- 11.26 FSM_OUTS6 (51h)
- 11.27 FSM_OUTS7 (52h)
- 11.28 FSM_OUTS8 (53h)
- 11.29 FSM_OUTS9 (54h)
- 11.30 FSM_OUTS10 (55h)
- 11.31 FSM_OUTS11 (56h)
- 11.32 FSM_OUTS12 (57h)
- 11.33 FSM_OUTS13 (58h)
- 11.34 FSM_OUTS14 (59h)
- 11.35 FSM_OUTS15 (5Ah)
- 11.36 FSM_OUTS16 (5Bh)
- 11.37 EMB_FUNC_ODR_CFG_B (5Fh)
- 11.38 STEP_COUNTER_L (62h) and STEP_COUNTER_H (63h)
- 11.39 EMB_FUNC_SRC (64h)
- 11.40 EMB_FUNC_INIT_A (66h)
- 11.41 EMB_FUNC_INIT_B (67h)
- 12 Embedded advanced features pages
- 13 Embedded advanced features register description
- 13.1 Page 0 - Embedded advanced features registers
- 13.1.1 MAG_SENSITIVITY_L (BAh) and MAG_SENSITIVITY_H (BBh)
- 13.1.2 MAG_OFFX_L (C0h) and MAG_OFFX_H (C1h)
- 13.1.3 MAG_OFFY_L (C2h) and MAG_OFFY_H (C3h)
- 13.1.4 MAG_OFFZ_L (C4h) and MAG_OFFZ_H (C5h)
- 13.1.5 MAG_SI_XX_L (C6h) and MAG_SI_XX_H (C7h)
- 13.1.6 MAG_SI_XY_L (C8h) and MAG_SI_XY_H (C9h)
- 13.1.7 MAG_SI_XZ_L (CAh) and MAG_SI_XZ_H (CBh)
- 13.1.8 MAG_SI_YY_L (CCh) and MAG_SI_YY_H (CDh)
- 13.1.9 MAG_SI_YZ_L (CEh) and MAG_SI_YZ_H (CFh)
- 13.1.10 MAG_SI_ZZ_L (D0h) and MAG_SI_ZZ_H (D1h)
- 13.1.11 MAG_CFG_A (D4h)
- 13.1.12 MAG_CFG_B (D5h)
- 13.2 Page 1 - Embedded advanced features registers
- 13.1 Page 0 - Embedded advanced features registers
- 14 Sensor hub register mapping
- 15 Sensor hub register description
- 15.1 SENSOR_HUB_1 (02h)
- 15.2 SENSOR_HUB_2 (03h)
- 15.3 SENSOR_HUB_3 (04h)
- 15.4 SENSOR_HUB_4 (05h)
- 15.5 SENSOR_HUB_5 (06h)
- 15.6 SENSOR_HUB_6 (07h)
- 15.7 SENSOR_HUB_7 (08h)
- 15.8 SENSOR_HUB_8 (09h)
- 15.9 SENSOR_HUB_9 (0Ah)
- 15.10 SENSOR_HUB_10 (0Bh)
- 15.11 SENSOR_HUB_11 (0Ch)
- 15.12 SENSOR_HUB_12 (0Dh)
- 15.13 SENSOR_HUB_13 (0Eh)
- 15.14 SENSOR_HUB_14 (0Fh)
- 15.15 SENSOR_HUB_15 (10h)
- 15.16 SENSOR_HUB_16 (11h)
- 15.17 SENSOR_HUB_17 (12h)
- 15.18 SENSOR_HUB_18 (13h)
- 15.19 MASTER_CONFIG (14h)
- 15.20 SLV0_ADD (15h)
- 15.21 SLV0_SUBADD (16h)
- 15.22 SLAVE0_CONFIG (17h)
- 15.23 SLV1_ADD (18h)
- 15.24 SLV1_SUBADD (19h)
- 15.25 SLAVE1_CONFIG (1Ah)
- 15.26 SLV2_ADD (1Bh)
- 15.27 SLV2_SUBADD (1Ch)
- 15.28 SLAVE2_CONFIG (1Dh)
- 15.29 SLV3_ADD (1Eh)
- 15.30 SLV3_SUBADD (1Fh)
- 15.31 SLAVE3_CONFIG (20h)
- 15.32 DATAWRITE_SLV0 (21h)
- 15.33 STATUS_MASTER (22h)
- 16 Soldering information
- 17 Package information
- Revision history
6.4 Block diagram of filters
Figure 15. Block diagram of filters
ADC1
ADC2
Low Pass
UI Gyro
Low Pass
OIS Gyro
Low Pass
OIS XL
Regs
array,
FIFO
interface
Interrupt
mng
Auxiliary
SPI
Voltage and current
references
Trimming circuit
and Test interface
Clock and phase
generator
Power
management
FTP
CS
SCL/SPC
SDA/SDI/SDO
SDO/SA0
CS
SPC_Aux
SDI_Aux
SDO_Aux
INT1
INT2
M
E
M
S
S
E
N
S
O
R
Low Pass
UI XL
Gyro UI/OIS
front-end
XL UI/OIS
front-end
Temperature
sensor
Regs
array
Interrupt
mng
I
2
C/
/SPI
MIPI I3C
SM
6.4.1 Block diagrams of the accelerometer filters
In the LSM6DSO, 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 16. Accelerometer UI chain
ADC
Digital
LP Filter
Analog
Anti-aliasing
LP Filter
ODR_XL[3:0]
Composite
Filter
LPF1
LSM6DSO
Block diagram of filters
DS12140 - Rev 2
page 28/172