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
• Mode 3 / Mode 4 (for OIS and EIS functionality)
Figure 20. Gyroscope digital chain - Mode 3 / Mode 4 (OIS/EIS)
ADC
Digital
HP Filter
HP_EN_G
0
1
HP_EN_OIS
Digital
LP Filter
FTYPE[1:0]_OIS
LPF1
1
0
SPI / I
2
C/
MIPI I3C
SM
FIFO
Digital
LP Filter
ODR_G[3:0]
LPF2
SPI_Aux
ODR Gyro
@6.6 kHz
(1) (2)
(3)
(3)
1. When Mode3/4 is enabled, the LPF1 filter is not available in the gyroscope UI chain.
2. It is recommended to avoid using the LPF1 filter in Mode1/2 when Mode3/4 is intended to be used.
3. HP_EN_OIS can be used to select the HPF on the OIS path only if the HPF is not used in the UI chain. If
both the HP_EN_G bit and HP_EN_OIS bit are set to 1, the HP filter is applied to the UI chain only.
The auxiliary interface needs to be enabled in CTRL1_OIS (70h).
In Mode 3/4 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. The LPF1 configuration
depends on the setting of the FTYPE_[1;0] _OIS bit in register CTRL2_OIS (71h); for more details about the
filter characteristics see Table 151. Gyroscope OIS chain digital LPF1 filter bandwidth selection. Gyroscope
output values are in registers 22h to 27h with the selected full scale (FS[1:0]_G_OIS bit in CTRL1_OIS
(70h)).
LSM6DSO
Block diagram of filters
DS12140 - Rev 2
page 31/172