LIS2DHTR

LIS2DH MEMS digital output motion sensor: ultra low-power high performance 3-axis “femto” accelerometer Features ■ Wide supply voltage, 1.71 V to 3.6 V ■ Independent IOs supply (1.8 V) and supply voltage compatible ■ Ultra low-power mode consumption down to 2 µA ■ ±2g/±4g/±8g/±16g dynamically selectable fullscale ■ I2C/SPI digital output interface ■ 2 independent programmable interrupt generators for free-fall and motion detection ■ 6D/4D orientation detection ■ “Sleep to wake” and “return to sleep” function ■ Freefall detection ■ Motion detection ■ Embedded temperature sensor ■ Embedded FIFO ■ ECOPACK® RoHS and “Green” compliant Description The LIS2DH is an ultra low-power high performance three-axis linear accelerometer belonging to the “femto” family, with digital I2C/SPI serial interface standard output. The LIS2DH has dynamically user selectable full scales of ±2g/±4g/±8g/±16g and it is capable of measuring accelerations with output data rates from 1 Hz to 5.3 kHz. Applications The self-test capability allows the user to check the functioning of the sensor in the final application. The device may be configured to generate interrupt signals by two independent inertial wake-up/free-fall events as well as by the position of the device itself. ■ Motion activated functions ■ Display orientation ■ Shake control ■ Pedometer ■ Gaming and virtual reality input devices ■ Impact recognition and logging Table 1. LGA-14 (2.0x2.0x1 mm) The LIS2DH is available in small thin plastic land grid array package (LGA) and is guaranteed to operate over an extended temperature range from -40 °C to +85 °C. Device summary Order codes Temperature range [° C] Package Packaging LIS2DH -40 to +85 LGA-14 Tray LIS2DHTR -40 to +85 LGA-14 Tape and reel November 2011 Doc ID 022516 Rev 1 1/49 www.st.com 49 Contents LIS2DH Contents 1 2 Block diagram and pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.2 Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Mechanical and electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . 8 2.1 Mechanical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.2 Temperature sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.4 Communication interface characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.4.1 SPI - serial peripheral interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.4.2 I2C - inter IC control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.5 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.6 Terminology and functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.6.1 Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.6.2 Zero-g level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 3 High resolution, normal mode, low power mode . . . . . . . . . . . . . . . . . . 14 2.6.4 Self-test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.6.5 6D / 4D orientation detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.6.6 “Sleep to wake” and “Return to sleep” . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.7 Sensing element . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.8 IC interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.9 Factory calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2.10 FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2.11 Temperature sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Application hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.1 4 2.6.3 Soldering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Digital main blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.1 FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.1.1 2/49 Bypass mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Doc ID 022516 Rev 1 LIS2DH 5 Contents 4.1.2 FIFO mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.1.3 Stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.1.4 Stream-to-FIFO mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.1.5 Retrieve data from FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Digital interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 5.1 I2C serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 5.1.1 5.2 I2C operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 SPI bus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 5.2.1 SPI read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 5.2.2 SPI write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 5.2.3 SPI read in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 6 Register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 7 Registers Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 7.1 STATUS_AUX (07h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 7.2 OUT_TEMP_L (0Ch), OUT_TEMP_H (0Dh) . . . . . . . . . . . . . . . . . . . . . . 30 7.3 INT_COUNTER (0Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 7.4 WHO_AM_I (0Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 7.5 TEMP_CFG_REG (1Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 7.6 CTRL_REG1 (20h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 7.7 CTRL_REG2 (21h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 7.8 CTRL_REG3 (22h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 7.9 CTRL_REG4 (23h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 7.10 CTRL_REG5 (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 7.11 CTRL_REG6 (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 7.12 REFERENCE/DATACAPTURE (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 7.13 STATUS_REG (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 7.14 OUT_X_L (28h), OUT_X_H (29h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 7.15 OUT_Y_L (2Ah), OUT_Y_H (2Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 7.16 OUT_Z_L (2Ch), OUT_Z_H (2Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 7.17 FIFO_CTRL_REG (2Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 7.18 FIFO_SRC_REG (2Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 7.19 INT1_CFG (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Doc ID 022516 Rev 1 3/49 Contents LIS2DH 7.20 INT1_SRC (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 7.21 INT1_THS (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 7.22 INT1_DURATION (33h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 7.23 INT2_CFG (34h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 7.24 INT2_SRC (35h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 7.25 INT2_THS (36h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 7.26 INT2_DURATION (37h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 7.27 CLICK_CFG (38h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 7.28 CLICK_SRC (39h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 7.29 CLICK_THS (3Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7.30 TIME_LIMIT (3Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7.31 TIME_LATENCY (3Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7.32 TIME WINDOW(3Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7.33 Act_THS(3Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 7.34 Act_DUR (3Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 8 Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 9 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 4/49 Doc ID 022516 Rev 1 LIS2DH List of tables List of tables Table 1. Table 2. Table 3. Table 4. Table 5. Table 6. Table 7. Table 8. Table 9. Table 10. Table 11. Table 12. Table 13. Table 14. Table 15. Table 16. Table 17. Table 18. Table 19. Table 20. Table 21. Table 22. Table 23. Table 24. Table 25. Table 26. Table 27. Table 28. Table 29. Table 30. Table 31. Table 32. Table 33. Table 34. Table 35. Table 36. Table 37. Table 38. Table 39. Table 40. Table 41. Table 42. Table 43. Table 44. Table 45. Table 46. Table 47. Table 48. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Mechanical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Temperature sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 SPI slave timing values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 I2C slave timing values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Operating mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Turn-on time for operating mode change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Operating modes current consumption. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Serial interface pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Serial interface pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 SAD+read/write patterns. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Transfer when master is writing one byte to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Transfer when master is writing multiple bytes to slave:. . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Transfer when master is receiving (reading) one byte of data from slave: . . . . . . . . . . . . . 22 Transfer when master is receiving (reading) multiple bytes of data from slave . . . . . . . . . 22 Register address map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 STATUS_REG_AUX register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 STATUS_REG_AUX description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 INT_COUNTER register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 WHO_AM_I register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 TEMP_CFG_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 TEMP_CFG_REG description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 CTRL_REG1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 CTRL_REG1 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Data rate configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 CTRL_REG2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 CTRL_REG2 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 High pass filter mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 CTRL_REG3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 CTRL_REG3 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 CTRL_REG4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 CTRL_REG4 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Self-test mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 CTRL_REG5 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 CTRL_REG5 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 CTRL_REG6 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 CTRL_REG6 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 REFERENCE register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 REFERENCE register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 STATUS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 STATUS register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 FIFO_CTRL_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 FIFO_CTRL_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 FIFO mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 FIFO_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Doc ID 022516 Rev 1 5/49 List of tables Table 49. Table 50. Table 51. Table 52. Table 53. Table 54. Table 55. Table 56. Table 57. Table 58. Table 59. Table 60. Table 61. Table 62. Table 63. Table 64. Table 65. Table 66. Table 67. Table 68. Table 69. Table 70. Table 71. Table 72. Table 73. Table 74. Table 75. Table 76. Table 77. Table 78. Table 79. Table 80. Table 81. Table 82. Table 83. Table 84. 6/49 LIS2DH INT1_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 INT1_CFG description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 INT1_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 INT1_SRC description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 INT1_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 INT1_THS description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 INT1_DURATION register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 INT1_DURATION description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 INT2_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 INT2_CFG description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 INT2_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 INT2_SRC description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 INT2_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 INT2_THS description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 INT2_DURATION register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 INT2_DURATION description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 CLICK_CFG register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 CLICK_CFG description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 CLICK_SRC register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 CLICK_SRC description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 CLICK_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 CLICK_SRC description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 TIME_LIMIT register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 TIME_LIMIT description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 TIME_LATENCY register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 TIME_LATENCY description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 TIME_WINDOW register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 TIME_WINDOW description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 TIME_WINDOW register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 TIME_WINDOW description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Act_DUR register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Act_DUR description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 LGA-14 2x2x0.9 mechanical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Doc ID 022516 Rev 1 LIS2DH List of figures List of figures Figure 1. Figure 2. Figure 3. Figure 4. Figure 5. Figure 6. Figure 7. Figure 8. Figure 9. Figure 10. Figure 11. Figure 12. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 SPI slave timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 I2C slave timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 LIS2DH electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Read and write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 SPI read protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Multiple bytes SPI read protocol (2-byte example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 SPI write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Multiple bytes SPI write protocol (2-byte example). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 SPI read protocol in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 LGA-14 2x2x0.9 mechanical drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Doc ID 022516 Rev 1 7/49 Block diagram and pin description LIS2DH 1 Block diagram and pin description 1.1 Block diagram Figure 1. Block diagram X+ CHARGE AMPLIFIER Y+ Z+ a CS A/D CONVERTER MUX I2C CONTROL LOGIC SCL/SPC SDA/SDO/SDI SPI Z- SDO/SA0 YX- TRIMMING CIRCUITS Temperature Sensor SELF TEST CONTROL LOGIC & INTERRUPT GEN. 32 Level FIFO CLOCK INT 1 INT 2 AM10218V1 Pin description Pin connection Res Z 12 GND 1 Res Figure 2. Res 1.2 Pin 1 indicator 14 11 1 SDO/SA0 GND 4 CS 8 Y (TOP VIEW) 5 INT1 X Vdd_IO 7 INT2 Vdd SC L/SPC SDA/SDI/SDO GND (BOTTOM VIEW) DIRECTION OF THE DETECTABLE ACCELERATIONS AM10218V1 8/49 Doc ID 022516 Rev 1 LIS2DH Block diagram and pin description Table 2. Pin description Pin# Name Function 1 SCL SPC I2C serial clock (SCL) SPI serial port clock (SPC) 2 SDA SDI SDO I2C serial data (SDA) SPI serial data input (SDI) 3-wire interface serial data output (SDO) 3 SDO SA0 SPI serial data output (SDO) I2C less significant bit of the device address (SA0) 4 CS 5 INT2 Intterupt pin 2 6 INT1 Intterupt pin 1 7 Vdd_IO 8 Vdd Power supply 9 GND 0 V supply 10 Res Connect to GND 11 Res Connect to GND 12-14 Res Connect to GND SPI enable I2C/SPI mode selection (1: SPI idle mode / I2C communication enabled; 0: SPI communication mode / I2C disabled) Power supply for I/O pins Doc ID 022516 Rev 1 9/49 Mechanical and electrical specifications LIS2DH 2 Mechanical and electrical specifications 2.1 Mechanical characteristics @ Vdd = 2.5 V, T = 25 °C unless otherwise noted(a) Table 3. Symbol FS So Mechanical characteristics Parameter Measurement range(2) Sensitivity Test conditions Min. Typ.(1) FS bit set to 00 ±2.0 FS bit set to 01 ±4.0 FS bit set to 10 ±8.0 FS bit set to 11 ±16.0 FS bit set to 00; Normal mode 4 FS bit set to 00; High Resolution mode 1 FS bit set to 00; Low power mode 16 FS bit set to 01; Normal mode 8 FS bit set to 01; High Resolution mode 2 FS bit set to 01; Low power mode 32 FS bit set to 10; Normal mode 16 FS bit set to 10; High Resolution mode 4 FS bit set to 10; Low power mode 64 FS bit set to 11; Normal mode 48 FS bit set to 11; High Resolution mode 12 FS bit set to 11; Low power mode 192 Max. Unit g mg/digit mg/digit mg/digit mg/digit TCSo Sensitivity change vs temperature FS bit set to 00 0.01 %/°C TyOff Typical zero-g level offset accuracy(3),(4) FS bit set to 00 ±40 mg a. The product is factory calibrated at 2.5 V. The operational power supply range is from 1.71V to 3.6 V. 10/49 Doc ID 022516 Rev 1 LIS2DH Table 3. Symbol TCOff Vst Top Mechanical and electrical specifications Mechanical characteristics (continued) Parameter Test conditions Zero-g level change vs temperature Min. Typ.(1) Max delta from 25 °C Max. Unit mg/°C ±0.5 FS bit set to 00 X axis; Normal mode 17 360 LSb FS bit set to 00 Self-test output change(5),(6),(7) Y axis; Normal mode 17 360 LSb FS bit set to 00 Z axis; Normal mode 17 360 LSb -40 +85 °C Operating temperature range 1. Typical specifications are not guaranteed. 2. Verified by wafer level test and measurement of initial offset and sensitivity. 3. Typical zero-g level offset value after MSL3 preconditioning. 4. Offset can be eliminated by enabling the built-in high pass filter. 5. The sign of “Self-test output change” is defined by CTRL_REG4 ST bit, for all axes. 6. “Self-test output change” is defined as the absolute value of: OUTPUT[LSb](Self test enabled) - OUTPUT[LSb](Self test disabled). 1LSb=4mg at 10bit representation, ±2 g Full-scale 7. After enabling ST, correct data is obtained after two samples (Low power mode / Normal mode) or after eight samples (high resolution mode). 2.2 Temperature sensor characteristics @ Vdd =2.5 V, T=25 °C unless otherwise noted(b) Table 4. Temperature sensor characteristics Symbol Parameter TSDr Temperature sensor output change vs temperature TODR Temperature refresh rate Top Operating temperature range Min. -40 Typ.(1) Max. Unit 1 digit/°C(2) ODR(3) Hz +85 °C 1. Typical specifications are not guaranteed. 2. 8-bit resolution. 3. Refer to Table 28: Data rate configuration. b. The product is factory calibrated at 2.5 V. Temperature sensor operation is guaranteed in the range 2 V - 3.6 V Doc ID 022516 Rev 1 11/49 Mechanical and electrical specifications 2.3 LIS2DH Electrical characteristics @ Vdd = 2.5 V, T = 25 °C unless otherwise noted(c) Table 5. Electrical characteristics Symbol Vdd Vdd_IO Parameter Test conditions Supply voltage (2) I/O pins supply voltage Min. Typ.(1) Max. Unit 1.71 2.5 3.6 V Vdd+0.1 V 1.71 Idd Current consumption in Normal mode 50 Hz ODR 11 µA Idd Current consumption in Normal mode 1 Hz ODR 2 µA IddLP Current consumption in low-power mode 50 Hz ODR 6 µA IddPdn Current consumption in powerdown mode 0.5 µA VIH Digital high level input voltage VIL Digital low level input voltage VOH High level output voltage VOL Low level output voltage Top Operating temperature range 0.8*Vdd_IO V 0.2*Vdd_IO 0.9*Vdd_IO -40 V 0.1*Vdd_IO V +85 °C 1. Typical specification are not guaranteed. 2. It is possible to remove Vdd maintaining Vdd_IO without blocking the communication busses, in this condition the measurement chain is powered off. c. 12/49 The product is factory calibrated at 2.5 V. The operational power supply range is from 1.71 V to 3.6 V. Doc ID 022516 Rev 1 V LIS2DH Mechanical and electrical specifications 2.4 Communication interface characteristics 2.4.1 SPI - serial peripheral interface Subject to general operating conditions for Vdd and Top. Table 6. SPI slave timing values Value (1) Symbol Parameter Unit Min tc(SPC) SPI clock cycle fc(SPC) SPI clock frequency tsu(CS) CS setup time 5 th(CS) CS hold time 20 tsu(SI) SDI input setup time 5 th(SI) SDI input hold time 15 tv(SO) SDO valid output time th(SO) SDO output hold time tdis(SO) Max 100 ns 10 MHz ns 50 5 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 Figure 3. CS SPI slave timing diagram(d) (3) (3) tc(SPC) tsu(CS) SPC (3) (3) tsu(SI) SDI (3) th(SI) LSB IN MSB IN tv(SO) SDO th(CS) (3) tdis(SO) th(SO) MSB OUT (3) LSB OUT (3) 3. When no communication is on-going, data on SDO is driven by internal pull-up resistors d. Measurement points are done at 0.2·Vdd_IO and 0.8·Vdd_IO, for both Input and output port. Doc ID 022516 Rev 1 13/49 Mechanical and electrical specifications 2.4.2 LIS2DH I2C - Inter IC control interface Subject to general operating conditions for Vdd and top. Table 7. I2C slave timing values I2C standard mode (1) Symbol I2C fast mode (1) Parameter f(SCL) Unit SCL clock frequency Min Max Min Max 0 100 0 400 tw(SCLL) SCL clock low time 4.7 1.3 tw(SCLH) SCL clock high time 4.0 0.6 tsu(SDA) SDA setup time 250 100 th(SDA) SDA data hold time kHz µs 0 ns 3.45 0.01 0.9 tr(SDA) tr(SCL) SDA and SCL rise time 1000 20 + 0.1Cb (2) 300 tf(SDA) tf(SCL) SDA and SCL fall time 300 20 + 0.1Cb (2) 300 th(ST) START condition hold time 4 0.6 tsu(SR) Repeated START condition setup time 4.7 0.6 tsu(SP) STOP condition setup time 4 0.6 4.7 1.3 µs ns µs tw(SP:SR) Bus free time between STOP and START condition 1. Data based on standard I2C protocol requirement, not tested in production. 2. Cb = total capacitance of one bus line, in pF. Figure 4. CS I2C Slave timing diagram (e) (3) (3) tc(SPC) tsu(CS) SPC (3) (3) tsu(SI) SDI (3) th(SI) LSB IN MSB IN tv(SO) SDO th(CS) (3) e. Measurement points are done at 0.2·Vdd_IO and 0.8·Vdd_IO, for both port. 14/49 Doc ID 022516 Rev 1 tdis(SO) th(SO) MSB OUT (3) LSB OUT (3) LIS2DH 2.5 Mechanical and electrical specifications 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. Table 8. Absolute maximum ratings Symbol Vdd Vdd_IO Vin Ratings Maximum value Unit Supply voltage -0.3 to 4.8 V I/O pins Supply voltage -0.3 to 4.8 V -0.3 to Vdd_IO +0.3 V Input voltage on any control pin (CS, SCL/SPC, SDA/SDI/SDO, SDO/SA0) 3000 g for 0.5 ms APOW Acceleration (any axis, powered, Vdd = 2.5 V) AUNP Acceleration (any axis, unpowered) TOP Operating temperature range -40 to +85 °C TSTG Storage temperature range -40 to +125 °C ESD Electrostatic discharge protection 2 (HBM) kV 10000 g for 0.1 ms 3000 g for 0.5 ms Note: 10000 g for 0.1 ms Supply voltage on any pin should never exceed 4.8 V This is a mechanical shock sensitive device, improper handling can cause permanent damage to the part This is an ESD sensitive device, improper handling can cause permanent damage to the part Doc ID 022516 Rev 1 15/49 Mechanical and electrical specifications 2.6 LIS2DH Terminology and functionality Terminology 2.6.1 Sensitivity Sensitivity describes the gain of the sensor and can be determined e.g. by applying 1 g acceleration to it. As the sensor can measure DC accelerations this can be done easily by pointing the axis of interest towards the center of the earth, noting the output value, rotating the sensor by 180 degrees (pointing to 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 also time. The sensitivity tolerance describes the range of Sensitivities of a large population of sensors. 2.6.2 Zero-g level 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 in X axis and 0 g in Y axis whereas the Z axis will measure 1 g. The output is ideally 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 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 “Zero-g level change vs. temperature”. The Zero-g level tolerance (TyOff) describes the standard deviation of the range of Zero-g levels of a population of sensors. Functionality 2.6.3 High resolution, Normal mode, Low power mode The LIS2DH provides three different operating modes respectively reported as High resolution mode, Normal mode and Low power mode. The table below reported summarizes how to select among the different operating modes. Table 9. Operating mode selection Operating mode 16/49 CTRL_REG1[3] CTRL_REG4[3] BW [Hz] Turn-on time [ms] So @ ±2g [mg/digit] (LPen bit) (HR bit) Low power mode (8 bit data output) 1 0 ODR/2 1 16 Normal mode(10 bit data output) 0 0 ODR/2 1.6 4 High resolution (12 bit data output) 0 1 ODR/9 7/ODR 1 Not allowed 1 1 -- -- -- Doc ID 022516 Rev 1 LIS2DH Mechanical and electrical specifications The turn-on time to change from all operating mode is reported into Table 10.: Turn-on time for operating mode change. Table 10. Turn-on time for operating mode change Turn-on Tim Operating mode change 12-bit mode to 8 bit mode 1/ODR 12-bit mode to 10 bit mode 1/ODR 10-bit mode to 8 bit mode 1/ODR 10-bit mode to 12 bit mode 7/ODR 8-bit mode to 10 bit mode 1/ODR 8-bit mode to 12 bit mode 7/ODR Table 11. Operating modes current consumption Operating mode [Hz] 2.6.4 [ms] High resolution Normal mode Low power mode (8 bit data output) (10 bit data output) (12 bit data output) [μA] [μA] [μA] 1 2 2 2 10 3 4 4 25 4 6 6 50 6 11 11 100 10 20 20 200 18 38 38 400 36 73 73 1344 -- 185 185 1620 100 -- -- 5376 185 -- -- Self-test Self-test allows the user to check the sensor functionality without moving it. When the selftest is enabled an actuation force is applied to the sensor, simulating a definite input acceleration. In this case the sensor outputs will exhibit a change in their DC levels which are related to the selected full scale through the device sensitivity. When self-test is activated, the device output level is given by the algebraic sum of the signals produced by the acceleration acting on the sensor and by the electrostatic test-force. If the output signals change within the amplitude specified inside Table 3, then the sensor is working properly and the parameters of the interface chip are within the defined specifications. Doc ID 022516 Rev 1 17/49 Mechanical and electrical specifications 2.6.5 LIS2DH 6D / 4D orientation detection The LIS2DH include 6D / 4D orientation detection. 6D / 4D orientation recognition In this configuration the interrupt is generated when the device is stable in a known direction. In 4D configuration Z axis position detection is disable. 2.6.6 “Sleep to wake” and “Return to sleep” The LIS2DH can be programmed to automatically switch to Low power mode upon recognition of a determined event. Once the event condition is over, the device returns back to the preset Normal or High resolution mode. To enable this function the desired threshold value must be stored inside Act_THS(3Eh) registers while the duration value written inside Act_DUR(3Fh) registers. When acceleration module becomes lower than the treshold value, the device automatically switches to Low power mode (10Hz ODR). During this condition, ODRx bits and LPen bit inside CTRL_REG1 (20h) and HR bit in CTRL_REG3 (22h) are not considered. As soon as the acceleration goes back over the threshold, the systems restores the operating mode and ODRs as for CTRL_REG1 (20h) and CTRL_REG3 (22h) settings. 2.7 Sensing element A proprietary process is used to create a surface micro-machined accelerometer. The technology allows carring out suspended silicon structures which are attached to the substrate in a few points called anchors and are free to move in the direction of the sensed acceleration. To be compatible with the traditional packaging techniques a cap is placed on top of the sensing element to avoid blocking the moving parts during the moulding phase of the plastic encapsulation. When an acceleration is applied to the sensor the proof mass displaces from its nominal position, causing an imbalance in the capacitive half-bridge. This imbalance is measured using charge integration in response to a voltage pulse applied to the capacitor. At steady state the nominal value of the capacitors are few pF and when an acceleration is applied the maximum variation of the capacitive load is in the fF range. 2.8 IC interface The complete measurement chain is composed by a low-noise capacitive amplifier which converts the capacitive unbalancing of the MEMS sensor into an analog voltage that is finally available to the user by an analog-to-digital converter. The acceleration data may be accessed through an I2C/SPI interface thus making the device particularly suitable for direct interfacing with a microcontroller. The LIS2DH features a data-ready signal (RDY) which indicates when a new set of measured acceleration data is available thus simplifying data synchronization in the digital system that uses the device. 18/49 Doc ID 022516 Rev 1 LIS2DH Mechanical and electrical specifications The LIS2DH may also be configured to generate an inertial Wake-Up and Free-Fall interrupt signal accordingly to a programmed acceleration event along the enabled axes. Both FreeFall and Wake-Up can be available simultaneously on two different pins. 2.9 Factory calibration The IC interface is factory calibrated for sensitivity (So) and Zero-g level (TyOff). The trimming values are stored inside the device in a non volatile memory. Any time the device is turned on, the trimming parameters are downloaded into the registers to be used during the active operation. This allows to use the device without further calibration. 2.10 FIFO The LIS2DH contains a 10 bit, 32-level FIFO. Buffered output allows 4 operation modes: FIFO, stream, trigger and FIFO ByPass. Where FIFO bypass mode is activated FIFO is not operating and remains empty. In FIFO mode, data from acceleration detection on x, y, and zaxes measurements are stored in FIFO. 2.11 Temperature sensor The LIS2DH is supplied with an internal temperature sensor. Temperature data can be enabled by setting the TEMP_EN bit of the TEMP_CFG_REG register to 1. To retrieve the temperature sensor data BDU bit on CTRL_REG4 (23h) must be set to ‘1’. Both OUT_TEMP_H and OUT_TEMP_L registers must be read. Temperature data is stored inside OUT_TEMP_H as 2’s complement data in 8 bit format left justified. Doc ID 022516 Rev 1 19/49 Application hints 3 LIS2DH Application hints Figure 5. LIS2DH electrical connection Vdd_IO Vdd GND Pin 1 indicator 14 12 SCL/SPC 11 1 GND SDA/SDI/SDO GND SDO/SA0 GND CS 4 8 10µF Vdd 100nF 7 5 Vdd_IO INT1 INT2 GND Digital signal from/to signal controller.Signal’s levels are defined by proper selection of Vdd_IO AM10220V1 The device core is supplied through Vdd line while the I/O pads are supplied through Vdd_IO line. Power supply decoupling capacitors (100 nF ceramic, 10 µF aluminum) should be placed as near as possible to the pin 8 of the device (common design practice). All the voltage and ground supplies must be present at the same time to have proper behavior of the IC (refer to Figure 5). It is possible to remove Vdd maintaining Vdd_IO without blocking the communication bus, in this condition the measurement chain is powered off. The functionality of the device and the measured acceleration data is selectable and accessible through the I2C or SPI interfaces.When using the I2C, CS must be tied high. The functions, the threshold and the timing of the two interrupt pins (INT1 and INT2) can be completely programmed by the user through the I2C/SPI interface. 3.1 Soldering information The LGA package is compliant with the ECOPACK®, RoHS and “Green” standard. It is qualified for soldering heat resistance according to JEDEC J-STD-020. Leave “Pin 1 Indicator” unconnected during soldering. Land pattern and soldering recommendations are available at www.st.com. 20/49 Doc ID 022516 Rev 1 LIS2DH Digital main blocks 4 Digital main blocks 4.1 FIFO The LIS2DH embeds a 32-slot data FIFO for each of the three output channels, X, Y and Z. This allows a consistent power saving for the system, since the host processor does not need to continuously poll data from the sensor, but it can wakeup only when needed and burst the significant data out from the FIFO. This buffer can work accordingly to four different modes: Bypass mode, FIFO mode, Stream mode and Stream-to-FIFO mode. Each mode is selected by the FIFO_MODE bits into the FIFO_CTRL_REG (2E). Programmable Watermark level, FIFO_empty or FIFO_Full events can be enabled to generate dedicated interrupts on INT1/2 pin (configuration through FIFO_CFG_REG). 4.1.1 Bypass mode In bypass mode, the FIFO is not operational and for this reason it remains empty. As described in the next figure, for each channel only the first address is used. The remaining FIFO slots are empty. 4.1.2 FIFO mode In FIFO mode, data from X, Y and Z channels are stored into the FIFO. A watermark interrupt can be enabled (FIFO_WTMK_EN bit into FIFO_CTRL_REG (2E) in order to be raised when the FIFO is filled to the level specified into the FIFO_WTMK_LEVEL bits of FIFO_CTRL_REG (2E). The FIFO continues filling until it is full (32 slots of data for X, Y and Z). When full, the FIFO stops collecting data from the input channels. 4.1.3 Stream mode In the stream mode, data from X, Y and Z measurement are stored into the FIFO. A watermark interrupt can be enabled and set as in the FIFO mode.The FIFO continues filling until it’s full (32 slots of data for X, Y and Z). When full, the FIFO discards the older data as the new arrive. 4.1.4 Stream-to-FIFO mode In Stream-to_FIFO mode, data from X, Y and Z measurement are stored into the FIFO. A watermark interrupt can be enabled (FIFO_WTMK_EN bit into FIFO_CTRL_REG) in order to be raised when the FIFO is filled to the level specified into the FIFO_WTMK_LEVEL bits of FIFO_CTRL_REG. The FIFO continues filling until it’s full (32 slots of 10 bit for for X, Y and Z). When full, the FIFO discards the older data as the new arrive. Once trigger event occurs, the FIFO starts operating in FIFO mode. 4.1.5 Retrieve data from FIFO FIFO data is read through OUT_X (Addr reg 29h), OUT_Y (Addr reg 2Bh) and OUT_Z (Addr reg 2Dh). When the FIFO is in stream, Trigger or FIFO mode, a read operation to the OUT_X, OUT_Y or OUT_Z regiters provides the data stored into the FIFO. Each time data is read from the FIFO, the oldest X, Y and Z data are placed into the OUT_X, OUT_Y and OUT_Z registers and both single read and read_burst operations can be used. Doc ID 022516 Rev 1 21/49 Digital main blocks LIS2DH The reading address is automatically updated by the device and it rolls back to 0x28 when register 0x2D is reached. In order to read all FIFO levels in a multiple byte reading,192 bytes (6 output registers by 32 levels) have to be read. 22/49 Doc ID 022516 Rev 1 LIS2DH 5 Digital interfaces Digital interfaces The registers embedded inside the LIS2DH may be accessed through both the I2C 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 pads. To select/exploit the I2C interface, CS line must be tied high (i.e. connected to Vdd_IO). Table 12. Serial interface pin description Pin name SPI enable I2C/SPI mode selection (1: SPI idle mode / I2C communication enabled; 0: SPI communication mode / I2C disabled) CS 5.1 Pin description SCL SPC I2C serial clock (SCL) SPI serial port clock (SPC) SDA SDI SDO I2C serial data (SDA) SPI serial data input (SDI) 3-wire interface serial data output (SDO) SA0 SDO I2C less significant bit of the device address (SA0) SPI serial data output (SDO) I2C serial interface The LIS2DH I2C is a bus slave. The I2C is employed to write data into registers whose content can also be read back. The relevant I2C terminology is given in the table below. Table 13. Serial interface pin description Term Transmitter Receiver Description The device which sends data to the bus 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 There are two signals associated with the I2C 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 resistor. When the bus is free both the lines are high. The I2C interface is compliant with fast mode (400 kHz) I2C standards as well as with the Normal mode. Doc ID 022516 Rev 1 23/49 Digital interfaces 5.1.1 LIS2DH I2C operation The transaction on the bus is started through a START (ST) signal. A START condition is defined as a HIGH to LOW transition on the data line while the SCL line is held HIGH. After this has been transmitted by the Master, the bus is considered busy. The next byte of data transmitted after the start condition contains the address of the slave in the first 7 bits and the eighth bit tells whether the Master is receiving data from the slave or transmitting data to the slave. When an address is sent, each device in the system compares the first seven bits after a start condition with its address. If they match, the device considers itself addressed by the Master. The Slave ADdress (SAD) associated to the LIS2DH is 001100xb. SDO/SA0 pad can be used to modify less significant bit of the device address. If SA0 pad is connected to voltage supply, LSb is ‘1’ (address 0011001b) else if SA0 pad is connected to ground, LSb value is ‘0’ (address 0011000b). This solution permits to connect and address two different accelerometers to the same I2C lines. 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 I2C embedded inside the LIS2DH 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, a 8-bit sub-address (SUB) is transmitted: the 7 LSb represent the actual register address while the MSB enables address auto increment. If the MSb of the SUB field is ‘1’, the SUB (register address) is automatically increased to allow multiple data read/write. The slave address is completed with a Read/Write bit. If the bit was ‘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 explains how the SAD+read/write bit pattern is composed, listing all the possible configurations. Table 14. Command SAD[6:1] SAD[0] = SA0 R/W Read 001100 0 1 00110001 (31h) Write 001100 0 0 00110000 (30h) Read 001100 1 1 00110011 (33h) Write 001100 1 0 00110010 (32h) Table 15. Master Slave 24/49 SAD+read/write patterns SAD+R/W Transfer when master is writing one byte to slave ST SAD + W SUB SAK Doc ID 022516 Rev 1 DATA SAK SP SAK LIS2DH Digital interfaces Table 16. Master Transfer when master is writing multiple bytes to slave: ST SAD + W Slave SAK Table 17. Master Master Slave ST DATA DATA SAK SAK SP SAK Transfer when master is receiving (reading) one byte of data from slave: ST SAD + W Slave Table 18. SUB SUB SAK SR SAD + R SAK NMAK SAK SP DATA Transfer when Master is receiving (reading) multiple bytes of data from slave SAD+W SUB SAK SR SAD+R SAK MAK SAK DATA MAK DATA NMAK SP DATA 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 order to read multiple bytes, it is necessary to assert the most significant bit of the subaddress field. In other words, SUB(7) must be equal to 1 while SUB(6-0) represents the address of first register to be read. In the presented communication format MAK is Master acknowledge and NMAK is No Master Acknowledge. 5.2 SPI bus interface The LIS2DH SPI is a bus slave. The SPI allows to write and read the registers of the device. The Serial Interface interacts with the outside world with 4 wires: CS, SPC, SDI and SDO. Doc ID 022516 Rev 1 25/49 Digital interfaces LIS2DH Figure 6. Read and write protocol CS SPC SDI DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 RW MS AD5 AD4 AD3 AD2 AD1 AD0 SDO DO7 DO6 DO5 DO4 DO3 DO2 DO1 DO0 AM10129V1 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 multiple of 8 in case of multiple bytes read/write. 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: RW 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: MS bit. When 0, the address will remain unchanged in multiple read/write commands. When 1, the address is auto incremented in multiple read/write commands. bit 2-7: address AD(5:0). This is the address field of the indexed register. bit 8-15: data DI(7:0) (write mode). This is the data that is written into the device (MSb first). bit 8-15: data DO(7:0) (read mode). This is the data that is read from the device (MSb first). In multiple read/write commands further blocks of 8 clock periods will be added. When MS bit is ‘0’ the address used to read/write data remains the same for every block. When MS 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. 26/49 Doc ID 022516 Rev 1 LIS2DH 5.2.1 Digital interfaces SPI read Figure 7. SPI read protocol CS SPC SDI RW MS AD5 AD4 AD3 AD2 AD1 AD0 SDO DO7 DO6 DO5 DO4 DO3 DO2 DO1 DO0 AM10130V1 The SPI Read command is performed with 16 clock pulses. Multiple byte read command is performed adding blocks of 8 clock pulses at the previous one. bit 0: READ bit. The value is 1. bit 1: MS bit. When 0 do not increment address, when 1 increment address in multiple reading. bit 2-7: address AD(5:0). 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 reading. Figure 8. Multiple bytes SPI read protocol (2 bytes example) CS SPC SDI RW M S A D5 A D4 AD 3 A D2 A D1 A D0 SD O DO 7 DO 6 DO 5 DO 4 DO 3 DO 2 DO 1 DO 0 DO 15 DO 14 DO 13 DO 12 DO 11 DO 10 D O9 D O8 AM10131V1 Doc ID 022516 Rev 1 27/49 Digital interfaces 5.2.2 LIS2DH SPI write Figure 9. SPI write protocol CS SPC SDI D I7 D I6 D I5 D I4 DI3 DI2 DI1 DI0 RW MS AD5 AD 4 AD 3 AD2 AD 1 AD0 AM10132V1 The SPI Write command is performed with 16 clock pulses. Multiple byte write command is performed adding blocks of 8 clock pulses at the previous one. bit 0: WRITE bit. The value is 0. bit 1: MS bit. When 0 do not increment address, when 1 increment address in multiple writing. bit 2 -7: address AD(5:0). 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 writing. Figure 10. Multiple bytes SPI write protocol (2 bytes example) CS SPC SDI DI7 D I6 DI5 D I4 DI3 DI2 DI1 DI0 DI15 D I1 4DI13 D I1 2DI11 DI10 DI9 DI8 RW MS AD5 AD4 AD3 AD2 AD1 AD 0 AM10133V1 5.2.3 SPI read in 3-wires mode 3-wires mode is entered by setting to ‘1’ bit SIM (SPI serial interface mode selection) in CTRL_REG4. 28/49 Doc ID 022516 Rev 1 LIS2DH Digital interfaces Figure 11. SPI read protocol in 3-wires mode CS SPC SDI/O D O7 D O6 D O5 DO4 DO3 DO2 DO1 DO0 RW MS AD5 AD 4 AD 3 AD2 AD1 AD 0 AM10134V1 The SPI read command is performed with 16 clock pulses: bit 0: READ bit. The value is 1. bit 1: MS bit. When 0 do not increment address, when 1 increment address in multiple reading. bit 2-7: address AD(5:0). 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). Multiple read command is also available in 3-wires mode. Doc ID 022516 Rev 1 29/49 Register mapping 6 LIS2DH Register mapping The table given below provides a listing of the 8 bit registers embedded in the device and the related addresses: Table 19. Register address map Register address Name Type Default Hex Reserved 00 - 06 Reserved STATUS_REG_AUX r 07 Reserved r 08-0B OUT_TEMP_L r 0C 000 1100 Output OUT_TEMP_H r 0D 000 1101 Output INT_COUNTER_REG r 0E 000 1110 WHO_AM_I r 0F 000 1111 00110011 Dummy register Reserved 000 0111 Reserved 10 - 1E Reserved TEMP_CFG_REG rw 1F 001 1111 CTRL_REG1 rw 20 010 0000 00000111 CTRL_REG2 rw 21 010 0001 00000000 CTRL_REG3 rw 22 010 0010 00000000 CTRL_REG4 rw 23 010 0011 00000000 CTRL_REG5 rw 24 010 0100 00000000 CTRL_REG6 rw 25 010 0101 00000000 REFERENCE rw 26 010 0110 00000000 STATUS_REG2 r 27 010 0111 00000000 OUT_X_L r 28 010 1000 Output OUT_X_H r 29 010 1001 Output OUT_Y_L r 2A 010 1010 Output OUT_Y_H r 2B 010 1011 Output OUT_Z_L r 2C 010 1100 Output OUT_Z_H r 2D 010 1101 Output FIFO_CTRL_REG rw 2E 010 1110 00000000 FIFO_SRC_REG r 2F 010 1111 rw 30 011 0000 00000000 r 31 011 0001 00000000 INT1_THS rw 32 011 0010 00000000 INT1_DURATION rw 33 011 0011 00000000 INT1_CFG INT1_SOURCE 30/49 Comment Binary Doc ID 022516 Rev 1 0010000 LIS2DH Register mapping Table 19. Register address map (continued) Register address Name Type Default Hex INT2_CFG rw 34 011 0100 00000000 r 35 011 0101 00000000 INT2_THS rw 36 011 0110 00000000 INT2_DURATION rw 37 011 0111 00000000 CLICK_CFG rw 38 011 1000 00000000 CLICK_SRC r 39 011 1001 00000000 CLICK_THS rw 3A 011 1010 00000000 TIME_LIMIT rw 3B 011 1011 00000000 TIME_LATENCY rw 3C 011 1100 00000000 TIME_WINDOW rw 3D 011 1101 00000000 Act_THS rw 3E 011 1110 00000000 Act_DUR rw 3F 011 1111 00000000 INT2_SOURCE Comment Binary Registers marked as Reserved or not listed in the table above must not be changed. The writing to those registers may cause permanent damages 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. Boot procedure is complete about 5 milliseconds just after powered up the device. Doc ID 022516 Rev 1 31/49 Registers Description LIS2DH 7 Registers Description 7.1 STATUS_AUX (07h) Table 20. -- Table 21. 7.2 STATUS_REG_AUX register TOR -- -- -- TDA -- -- STATUS_REG_AUX description TOR Temperature Data Overrun. Default value: 0 (0: no overrun has occurred; 1: a new temperature data has overwritten the previous one) TDA Temperature new Data Available. Default value: 0 (0: a new temperature data is not yet available; 1: a new temperature data is available) OUT_TEMP_L (0Ch), OUT_TEMP_H (0Dh) Temperature sensor data. Refer to Section 2.11: Temperature sensor for details on how to enable and read the temperature sensor output data. 7.3 INT_COUNTER (0Eh) Table 22. IC7 7.4 INT_COUNTER register IC6 IC5 IC4 IC3 IC2 IC1 IC0 WHO_AM_I (0Fh) Table 23. 0 WHO_AM_I register 0 1 1 0 0 1 1 0 0 Device identification register. 7.5 TEMP_CFG_REG (1Fh) Table 24. TEMP_CFG_REG register TEMP_EN1 TEMP_EN0 32/49 0 0 Doc ID 022516 Rev 1 0 0 LIS2DH Registers Description Table 25. TEMP_CFG_REG description TEMP_EN[1-0] 7.6 Temperature sensor (T) enable. Default value: 00 (00: T disabled; 11: T enabled) CTRL_REG1 (20h) Table 26. CTRL_REG1 register ODR3 Table 27. ODR2 ODR1 ODR0 LPen Zen Yen Xen CTRL_REG1 description ODR3-0 Data rate selection. Default value: 00 (0000:Power Down mode; Others: Refer to Table 28, "Data Rate Configuration") LPen Low power mode enable. Default value: 0 (0: Normal mode, 1: Low power mode) (Refer to section 2.6.3: High resolution, Normal mode, Low power mode) Zen Z axis enable. Default value: 1 (0: Z axis disabled; 1: Z axis enabled) Yen Y axis enable. Default value: 1 (0: Y axis disabled; 1: Y axis enabled) Xen X axis enable. Default value: 1 (0: X axis disabled; 1: X axis enabled) ODR is used to set Power Mode and ODR selection. In the following table are reported all frequency resulting in combination of ODR Table 28. Data rate configuration ODR3 ODR2 ODR1 ODR0 Power mode selection 0 0 0 0 Power down mode 0 0 0 1 HR / normal / Low power mode (1 Hz) 0 0 1 0 HR / normal / Low power mode (10 Hz) 0 0 1 1 HR / normal / Low power mode (25 Hz) 0 1 0 0 HR / normal / Low power mode (50 Hz) 0 1 0 1 HR / normal / Low power mode (100 Hz) 0 1 1 0 HR / normal / Low power mode (200 Hz) 0 1 1 1 HR/ normal / Low power mode (400 Hz) 1 0 0 0 Low power mode (1.620 kHz) 1 0 0 1 HR/ normal (1.344 kHz); Low power mode (5.376 kHz) Doc ID 022516 Rev 1 33/49 Registers Description 7.7 LIS2DH CTRL_REG2 (21h) Table 29. CTRL_REG2 register HPM1 HPM0 Table 30. FDS HPCLICK HPIS2 HPIS1 High Pass filter Mode Selection. Default value: 00 Refer to Table 31, "High pass filter mode configuration" HPCF2 HPCF1 High Pass filter Cut Off frequency selection FDS Filtered Data Selection. Default value: 0 (0: internal filter bypassed; 1: data from internal filter sent to output register and FIFO) HPCLICK High Pass filter enabled for CLICK function. (0: filter bypassed; 1: filter enabled) HPIS2 High Pass filter enabled for AOI function on Interrupt 2, (0: filter bypassed; 1: filter enabled) HPIS1 High Pass filter enabled for AOI function on Interrupt 1, (0: filter bypassed; 1: filter enabled) Table 31. High pass filter mode configuration HPM1 HPM0 High Pass filter Mode 0 0 Normal mode (reset reading REFERENCE/DATACAPTURE (26h) register) 0 1 Reference signal for filtering 1 0 Normal mode 1 1 Autoreset on interrupt event CTRL_REG3 (22h) Table 32. I1_CLICK Table 33. 34/49 HPCF1 CTRL_REG2 description HPM1 -HPM0 7.8 HPCF2 CTRL_REG3 register I1_AOI1 I1_AOI2 I1_DRDY1 I1_DRDY2 I1_WTM CTRL_REG3 description I1_CLICK CLICK interrupt on INT1 pin. Default value 0. (0: Disable; 1: Enable) I1_AOI1 AOI1 interrupt on INT1 pn. Default value 0. (0: Disable; 1: Enable) Doc ID 022516 Rev 1 I1_OVERRUN -- LIS2DH Registers Description Table 33. 7.9 CTRL_REG3 description (continued) I1_AOI2 AOI2 interrupt on INT1 pin. Default value 0. (0: Disable; 1: Enable) I1_DRDY1 DRDY1 interrupt on INT1 pin. Default value 0. (0: Disable; 1: Enable) I1_DRDY2 DRDY2 interrupt on INT1 pin. Default value 0. (0: Disable; 1: Enable) I1_WTM FIFO Watermark interrupt on INT1 pin. Default value 0. (0: Disable; 1: Enable) I1_OVERRUN FIFO Overrun interrupt on INT1 pin. Default value 0. (0: Disable; 1: Enable) CTRL_REG4 (23h) Table 34. BDU CTRL_REG4 register BLE(1) FS1 FS0 HR ST1 ST0 SIM 1. BLE function can be activated only in High Resolution mode Table 35. CTRL_REG4 description BDU Block data update. Default value: 0 (0: continuos update; 1: output registers not updated until MSB and LSB have been read) BLE Big/Little Endian data selection. Default value:0; (0: data LSb at lower address; 1: data MSb at lower address) The BLE function can be activated only in High Resolution mode FS1-FS0 Full Scale selection. Default value: 00 (00: +/- 2G; 01: +/- 4G; 10: +/- 8G; 11: +/- 16G) HR Operating mode selection (refer to section 2.6.3: High resolution, Normal mode, Low power mode) ST1-ST0 Self Test Enable. Default value: 00 (00: Self Test Disabled; Other: See Table ) SIM SPI Serial Interface Mode selection. Default value: 0 (0: 4-wire interface; 1: 3-wire interface). Table 36. Self test mode configuration ST1 ST0 Self test mode 0 0 Normal mode 0 1 Self test 0 1 0 Self test 1 1 1 -- Doc ID 022516 Rev 1 35/49 Registers Description 7.10 CTRL_REG5 (24h) Table 37. BOOT Table 38. 7.11 LIS2DH CTRL_REG5 register FIFO_EN -- LIR_INT1 D4D_INT1 LIR_INT2 D4D_INT2 CTRL_REG5 description BOOT Reboot memory content. Default value: 0 (0: Normal mode; 1: reboot memory content) FIFO_EN FIFO enable. Default value: 0 (0: FIFO disable; 1: FIFO Enable) LIR_INT1 Latch interrupt request on INT1_SRC register, with INT1_SRC register cleared by reading INT1_SRC itself. Default value: 0. (0: interrupt request not latched; 1: interrupt request latched) D4D_INT1 4D enable: 4D detection is enabled on INT1 pin when 6D bit on INT1_CFG is set to 1. LIR_INT2 Latch interrupt request on INT2_SRC register, with INT2_SRC register cleared by reading INT2_SRC itself. Default value: 0. (0: interrupt request not latched; 1: interrupt request latched) D4D_INT2 4D enable: 4D detection is enabled on INT2 pin when 6D bit on INT2_CFG is set to 1. CTRL_REG6 (25h) Table 39. CTRL_REG6 register I2_CLICKen I2_INT1 Table 40. 36/49 -- I2_INT2 BOOT_I2 P2_ACT -- H_LACTIVE CTRL_REG6 description I2_CLICKen Click interrupt on INT2 pin. Default value: 0 (0: disable; 1: enable) I2_INT1 Interrupt 1 function enabled on INT2 pin. Default value: 0 (0: function disable; 1: function enable) I2_INT2 Interrupt 2 function enabled on INT2 pin. Default value: 0 (0: function disable; 1: function enable) BOOT_I2 Boot on INT2 pin enable. Default value: 0 (0: disable; 1:enable) P2_ACT Activity interrupt enable on INT2 pin. Default value: 0. (0: disable; 1:enable) H_LACTIVE interrupt active. Default value: 0. (0: interrupt active high; 1: interrupt active low) Doc ID 022516 Rev 1 - LIS2DH 7.12 Registers Description REFERENCE/DATACAPTURE (26h) Table 41. Ref7 Table 42. REFERENCE register Ref6 Ref3 Ref2 Ref1 Ref0 Reference value for Interrupt generation. Default value: 0 STATUS_REG (27h) Table 43. ZYXOR Table 44. 7.14 Ref4 REFERENCE register description Ref 7-Ref0 7.13 Ref5 STATUS register ZOR YOR XOR ZYXDA ZDA YDA XDA STATUS register description ZYXOR X, Y and Z axis Data Overrun. Default value: 0 (0: no overrun has occurred; 1: a new set of data has overwritten the previous ones) ZOR Z axis Data Overrun. Default value: 0 (0: no overrun has occurred; 1: a new data for the Z-axis has overwritten the previous one) YOR Y axis Data Overrun. Default value: 0 (0: no overrun has occurred; 1: a new data for the Y-axis has overwritten the previous one) XOR X axis Data Overrun. Default value: 0 (0: no overrun has occurred; 1: a new data for the X-axis has overwritten the previous one) ZYXDA X, Y and Z axis new Data Available. Default value: 0 (0: a new set of data is not yet available; 1: a new set of data is available) ZDA Z axis new Data Available. Default value: 0 (0: a new data for the Z-axis is not yet available; 1: a new data for the Z-axis is available) YDA Y axis new Data Available. Default value: 0 (0: a new data for the Y-axis is not yet available; 1: a new data for the Y-axis is available) OUT_X_L (28h), OUT_X_H (29h) X-axis acceleration data. The value is expressed as two’s complement left justified. Please refer to Section 2.6.3: High resolution, Normal mode, Low power mode. Doc ID 022516 Rev 1 37/49 Registers Description 7.15 LIS2DH OUT_Y_L (2Ah), OUT_Y_H (2Bh) Y-axis acceleration data. The value is expressed as two’s complement left justified. Please refer to Section 2.6.3: High resolution, Normal mode, Low power mode. 7.16 OUT_Z_L (2Ch), OUT_Z_H (2Dh) Z-axis acceleration data. The value is expressed as two’s complement left justified. Please refer to Section 2.6.3: High resolution, Normal mode, Low power mode. 7.17 FIFO_CTRL_REG (2Eh) Table 45. FM1 FIFO_CTRL_REG register FM0 Table 46. TR FTH2 FTH1 FTH0 FIFO_CTRL_REG register description FIFO mode selection. Default value: 00 (see Table 47) TR Trigger selection. Default value: 0 0: Trigger event allows to trigger signal on INT1 1: Trigger event allows to trigger signal on INT2 FTH4:0 Default value: 0 FIFO mode configuration FM1 FM0 FIFO mode 0 0 Bypass mode 0 1 FIFO mode 1 0 Stream mode 1 1 Trigger mode FIFO_SRC_REG (2Fh) Table 48. WTM 38/49 FTH3 FM1-FM0 Table 47. 7.18 FTH4 FIFO_SRC register OVRN_FIFO EMPTY FSS4 Doc ID 022516 Rev 1 FSS3 FSS2 FSS1 FSS0 LIS2DH 7.19 Registers Description INT1_CFG (30h) Table 49. AOI INT1_CFG register 6D Table 50. ZHIE/ ZUPE ZLIE/ ZDOWNE YHIE/ YUPE YLIE/ YDOWNE XHIE/ XUPE XLIE/ XDOWNE INT1_CFG description AOI And/Or combination of Interrupt events. Default value: 0. Refer to Table 51, "Interrupt mode" 6D 6 direction detection function enabled. Default value: 0. Refer to Table 51, "Interrupt mode" ZHIE/ ZUPE Enable interrupt generation on Z high event or on Direction recognition. Default value: 0 (0: disable interrupt request;1: enable interrupt request) ZLIE/ ZDOWNE Enable interrupt generation on Z low event or on Direction recognition. Default value: 0 (0: disable interrupt request;1: enable interrupt request) YHIE/ YUPE Enable interrupt generation on Y high event or on Direction recognition. Default value: 0 (0: disable interrupt request; 1: enable interrupt request.) YLIE/ YDOWNE Enable interrupt generation on Y low event or on Direction recognition. Default value: 0 (0: disable interrupt request; 1: enable interrupt request.) XHIE/ XUPE Enable interrupt generation on X high event or on Direction recognition. Default value: 0 (0: disable interrupt request; 1: enable interrupt request.) XLIE/XDOWN Enable interrupt generation on X low event or on Direction recognition. Default value: E 0 (0: disable interrupt request; 1: enable interrupt request.) Content of this register is loaded at boot. Write operation at this address is possible only after system boot. Table 51. Interrupt mode AOI 6D Interrupt mode 0 0 OR combination of interrupt events 0 1 6 direction movement recognition 1 0 AND combination of interrupt events 1 1 6 direction position recognition Difference between AOI-6D = ‘01’ and AOI-6D = ‘11’. AOI-6D = ‘01’ is movement recognition. An interrupt is generate when orientation move from unknown zone to known zone. The interrupt signal stay for a duration ODR. AOI-6D = ‘11’ is direction recognition. An interrupt is generate when orientation is inside a known zone. The interrupt signal stay untill orientation is inside the zone. Doc ID 022516 Rev 1 39/49 Registers Description 7.20 LIS2DH INT1_SRC (31h) Table 52. INT1_SRC register 0 Table 53. IA ZH ZL YH YL XH XL INT1_SRC description IA Interrupt active. Default value: 0 (0: no interrupt has been generated; 1: one or more interrupts have been generated) ZH Z high. Default value: 0 (0: no interrupt, 1: Z High event has occurred) ZL Z low. Default value: 0 (0: no interrupt; 1: Z Low event has occurred) YH Y high. Default value: 0 (0: no interrupt, 1: Y High event has occurred) YL Y low. Default value: 0 (0: no interrupt, 1: Y Low event has occurred) XH X high. Default value: 0 (0: no interrupt, 1: X High event has occurred) XL X low. Default value: 0 (0: no interrupt, 1: X Low event has occurred) Interrupt 1 source register. Read only register. Reading at this address clears INT1_SRC IA bit (and the interrupt signal on INT 1 pin) and allows the refreshment of data in the INT1_SRC register if the latched option was chosen. 7.21 INT1_THS (32h) Table 54. INT1_THS register 0 Table 55. THS6 THS4 THS3 INT1_THS description THS6 - THS0 40/49 THS5 Interrupt 1 threshold. Default value: 000 0000 1LSb = 16mg @FS=2g 1LSb = 32 mg @FS=4g 1LSb = 62 mg @FS=8g 1LSb = 186 mg @FS=16g Doc ID 022516 Rev 1 THS2 THS1 THS0 LIS2DH 7.22 Registers Description INT1_DURATION (33h) Table 56. 0 Table 57. D6 - D0 INT1_DURATION register D6 D5 D4 D3 D2 D1 D0 INT1_DURATION description Duration value. Default value: 000 0000 1 LSb = 1/ODR D6 - D0 bits set the minimum duration of the Interrupt 2 event to be recognized. Duration steps and maximum values depend on the ODR chosen. Duration time is measured in N/ODR, where N is the content of the duration register. 7.23 INT2_CFG (34h) Table 58. AOI Table 59. AOI 6D INT2_CFG register 6D ZHIE ZLIE YHIE YLIE XHIE XLIE INT2_CFG description AND/OR combination of interrupt events. Default value: 0. (See table below) 6 direction detection function enabled. Default value: 0. Refer to Table 60, "Interrupt mode" ZHIE Enable interrupt generation on Z high event. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) ZLIE Enable interrupt generation on Z low event. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value lower than preset threshold) YHIE Enable interrupt generation on Y high event. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) YLIE Enable interrupt generation on Y low event. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value lower than preset threshold) Doc ID 022516 Rev 1 41/49 Registers Description Table 59. LIS2DH INT2_CFG description (continued) XHIE Enable interrupt generation on X high event. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) XLIE Enable interrupt generation on X low event. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value lower than preset threshold) Content of this register is loaded at boot. Write operation at this address is possible only after system boot. Table 60. Interrupt mode AOI 6D Interrupt mode 0 0 OR combination of interrupt events 0 1 6 direction movement recognition 1 0 AND combination of interrupt events 1 1 6 direction position recognition Difference between AOI-6D = ‘01’ and AOI-6D = ‘11’. AOI-6D = ‘01’ is movement recognition. An interrupt is generate when orientation move from unknown zone to known zone. The interrupt signal stay for a duration ODR. AOI-6D = ‘11’ is direction recognition. An interrupt is generate when orientation is inside a known zone. The interrupt signal stay untill orientation is inside the zone. 7.24 INT2_SRC (35h) Table 61. 0 Table 62. 42/49 INT2_SRC register IA ZH ZL YH YL XH XL INT2_SRC description IA Interrupt active. Default value: 0 (0: no interrupt has been generated; 1: one or more interrupts have been generated) ZH Z high. Default value: 0 (0: no interrupt, 1: Z high event has occurred) ZL Z low. Default value: 0 (0: no interrupt; 1: Z low event has occurred) YH Y high. Default value: 0 (0: no interrupt, 1: Y high event has occurred) Doc ID 022516 Rev 1 LIS2DH Registers Description Table 62. INT2_SRC description (continued) YL Y low. Default value: 0 (0: no interrupt, 1: Y low event has occurred) XH X high. Default value: 0 (0: no interrupt, 1: X high event has occurred) XL X Low. Default value: 0 (0: no interrupt, 1: X low event has occurred) Interrupt 2 source register. Read only register. Reading at this address clears INT2_SRC IA bit (and the interrupt signal on INT 2 pin) and allows the refreshment of data in the INT2_SRC register if the latched option was chosen. 7.25 INT2_THS (36h) Table 63. INT2_THS register 0 Table 64. THS6 THS5 THS4 THS3 THS2 THS1 THS0 D2 D1 D0 INT2_THS description Interrupt 2 threshold. Default value: 000 0000 THS6 - THS0 7.26 1LSb = 16mg @FS=2g; 1LSb = 32mg @FS=4g; 1LSb = 62mg @FS=8g; 1LSb = 186mg @ FS=16g INT2_DURATION (37h) Table 65. 0 Table 66. D6-D0 INT2_DURATION register D6 D5 D4 D3 INT2_DURATION description Duration value. Default value: 000 0000 1 LSb = 1/ODR(1) 1. Duration time is measured in N/ODR, where N is the content of the duration register. D6 - D0 bits set the minimum duration of the Interrupt 2 event to be recognized. Duration time steps and maximum values depend on the ODR chosen. Doc ID 022516 Rev 1 43/49 Registers Description 7.27 CLICK_CFG (38h) Table 67. -- Table 68. 7.28 LIS2DH CLICK_CFG register -- ZS YD YS XD XS CLICK_CFG description ZD Enable interrupt double tap-tap on Z axis. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) ZS Enable interrupt single tap-tap on Z axis. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) YD Enable interrupt double tap-tap on Y axis. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) YS Enable interrupt single tap-tap on Y axis. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) XD Enable interrupt double tap-tap on X axis. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) XS Enable interrupt single tap-tap on X axis. Default value: 0 (0: disable interrupt request; 1: enable interrupt request on measured accel. value higher than preset threshold) CLICK_SRC (39h) Table 69. CLICK_SRC register IA Table 70. 44/49 ZD DClick SClick Sign Z Y X CLICK_SRC description IA Interrupt active. Default value: 0 (0: no interrupt has been generated; 1: one or more interrupts have been generated) DClick Double Click-Click enable. Default value: 0 (0:double Click-Click detection disable, 1: double tap-tap detection enable) Stap Single Click-Click enable. Default value: 0 (0:Single Click-Click detection disable, 1: single Click-Click detection enable) Sign Click-Click Sign. 0: positive detection, 1: negative detection Z Z Click-Click detection. Default value: 0 (0: no interrupt, 1: Z High event has occurred) Doc ID 022516 Rev 1 LIS2DH Registers Description Table 70. 7.29 CLICK_SRC description (continued) Y Y Click-Click detection. Default value: 0 (0: no interrupt, 1: Y High event has occurred) X X Click-Click detection. Default value: 0 (0: no interrupt, 1: X High event has occurred) CLICK_THS (3Ah) Table 71. - Table 72. CLICK_THS register Ths6 - Table 74. Ths2 Ths1 Ths0 TLI1 TLI0 TLA1 TLA0 TW1 TW0 Click-Click threshold. Default value: 000 0000 TIME_LIMIT register TLI6 TLI5 TLI4 TLI3 TLI2 TIME_LIMIT description TLI7-TLI0 Click-Click Time Limit. Default value: 000 0000 TIME_LATENCY (3Ch) Table 75. TLA7 Table 76. TIME_LATENCY register TLA6 TLA5 TLA4 TLA3 TLA2 TIME_LATENCY description TLA7-TLA0 7.32 Ths3 TIME_LIMIT (3Bh) Table 73. 7.31 Ths4 CLICK_SRC description Ths6-Ths0 7.30 Ths5 Click-Click Time Latency. Default value: 000 0000 TIME WINDOW(3Dh) Table 77. TW7 TIME_WINDOW register TW6 TW5 TW4 TW3 Doc ID 022516 Rev 1 TW2 45/49 Registers Description Table 78. TW7-TW0 7.33 -- Table 80. Acth[6-0] Click-Click Time Window TIME_WINDOW register Acth6 Acth5 Acth4 Acth3 Acth2 Acth1 Acth0 TIME_WINDOW description Sleep to wake, return to Sleep activation threshold in Low power mode 1LSb = 16mg @FS=2g 1LSb = 32 mg @FS=4g 1LSb = 62 mg @FS=8g 1LSb = 186 mg @FS=16g Act_DUR (3Fh) Table 81. ActD7 Table 82. ActD[7-0] 46/49 TIME_WINDOW description Act_THS(3Eh) Table 79. 7.34 LIS2DH Act_DUR register ActD6 ActD5 ActD4 ActD3 Act_DUR description Sleep to Wake, Return to Sleep duration 1LSb = (8*1[LSb]+1)/ODR Doc ID 022516 Rev 1 ActD2 ActD1 ActD0 LIS2DH 8 Package information 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. Table 83. LGA-14 2x2x1 mechanical dimensions Ref. Min. Typ. A1 Max. 1 A2 0.785 A3 0.200 D1 1.850 2.000 2.150 E1 1.850 2.000 2.150 L1 0.900 L2 1.250 N1 0.350 T1 0.275 T2 0.200 P1 0.850 P2 0.850 d 0.150 M 0.100 K 0.050 Figure 12. LGA-14 2x2x1 mechanical drawing 8224765_A Doc ID 022516 Rev 1 47/49 Revision history 9 LIS2DH Revision history Table 84. 48/49 Document revision history Date Revision 25-Nov-2011 1 Changes Initial release. Doc ID 022516 Rev 1 LIS2DH Please Read Carefully: Information in this document is provided solely in connection with ST products. STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, modifications or improvements, to this document, and the products and services described herein at any time, without notice. All ST products are sold pursuant to ST’s terms and conditions of sale. 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