LSM6DS3
iNEMO inertial module:
always-on 3D accelerometer and 3D gyroscope
Datasheet - production data
Description
The LSM6DS3 is a system-in-package featuring a 3D
digital accelerometer and a 3D digital gyroscope
performing at 1.25 mA (up to 1.6 kHz ODR) in highperformance mode and enabling always-on low-power
features for an optimal motion experience for the
consumer.
LGA-14L
(2.5 x 3 x 0.83 mm) typ.
Features
Power consumption: 0.9 mA in combo normal mode
and 1.25 mA in combo high-performance mode up to
1.6 kHz.
“Always-on” experience with low power
consumption for both accelerometer and gyroscope
Smart FIFO up to 8 kbyte based on features set
Compliant with Android K and L
Hard, soft ironing for external magnetic sensor
corrections
±2/±4/±8/±16 g full scale
±125/±250/±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/I2C serial interface with main processor data
synchronization feature
Embedded temperature sensor
ECOPACK®, RoHS and “Green” compliant
The LSM6DS3 supports main OS requirements,
offering real, virtual and batch sensors with 8 kbyte for
dynamic data batching.
ST’s family of MEMS sensor modules leverages the
robust and mature manufacturing processes already
used for the production of micromachined
accelerometers and gyroscopes.
The various sensing elements are manufactured using
specialized micromachining processes, while the IC
interfaces are developed using CMOS technology that
allows the design of a dedicated circuit which is
trimmed to better match the characteristics of the
sensing element.
The LSM6DS3 has a full-scale acceleration range of
±2/±4/±8/±16 g and an angular rate range of
±125/±250/±500/±1000/±2000 dps.
High robustness to mechanical shock makes the
LSM6DS3 the preferred choice of system designers for
the creation and manufacturing of reliable products.
The LSM6DS3 is available in a plastic land grid array
(LGA) package.
Applications
Table 1. Device summary
Pedometer, step detector and step counter
Significant motion and tilt functions
Indoor navigation
Tap and double-tap detection
IoT and connected devices
Intelligent power saving for handheld devices
Vibration monitoring and compensation
Free-fall detection
6D orientation detection
August 2017
This is information on a product in full production.
Part number
Temperature
range [°C]
LSM6DS3
-40 to +85
LSM6DS3TR
-40 to +85
DocID026899 Rev 10
Package
LGA-14L
(2.5 x 3 x 0.83 mm)
Packing
Tray
Tape &
Reel
1/102
www.st.com
Contents
LSM6DS3
Contents
1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2
Embedded low-power features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.1
3
Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.1
4
5
2/102
Tilt detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
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
I2C - 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
Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.1
Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.2
Gyroscope power modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.3
Accelerometer power modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.4
FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.4.1
Bypass mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
5.4.2
FIFO mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
5.4.3
Continuous mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
5.4.4
Continuous-to-FIFO mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
5.4.5
Bypass-to-Continuous mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
5.4.6
FIFO reading procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
5.4.7
Filter block diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
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Contents
Digital interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.1
I2C serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.1.1
6.2
7
I2C operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
SPI bus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.2.1
SPI read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
6.2.2
SPI write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
6.2.3
SPI read in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Application hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.1
LSM6DS3 electrical connections in Mode 1 . . . . . . . . . . . . . . . . . . . . . . . 41
7.2
LSM6DS3 electrical connections in Mode 2 . . . . . . . . . . . . . . . . . . . . . . . 42
8
Register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9
Register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.1
FUNC_CFG_ACCESS (01h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.2
SENSOR_SYNC_TIME_FRAME (04h) . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.3
FIFO_CTRL1 (06h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.4
FIFO_CTRL2 (07h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
9.5
FIFO_CTRL3 (08h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
9.6
FIFO_CTRL4 (09h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.7
FIFO_CTRL5 (0Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
9.8
ORIENT_CFG_G (0Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
9.9
INT1_CTRL (0Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
9.10
INT2_CTRL (0Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
9.11
WHO_AM_I (0Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
9.12
CTRL1_XL (10h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
9.13
CTRL2_G (11h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.14
CTRL3_C (12h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.15
CTRL4_C (13h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.16
CTRL5_C (14h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.17
CTRL6_C (15h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
9.18
CTRL7_G (16h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
9.19
CTRL8_XL (17h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
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9.20
CTRL9_XL (18h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.21
CTRL10_C (19h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.22
MASTER_CONFIG (1Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.23
WAKE_UP_SRC (1Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.24
TAP_SRC (1Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.25
D6D_SRC (1Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
9.26
STATUS_REG (1Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
9.27
OUT_TEMP_L (20h), OUT_TEMP(21h) . . . . . . . . . . . . . . . . . . . . . . . . . 65
9.28
OUTX_L_G (22h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
9.29
OUTX_H_G (23h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
9.30
OUTY_L_G (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
9.31
OUTY_H_G (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
9.32
OUTZ_L_G (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
9.33
OUTZ_H_G (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
9.34
OUTX_L_XL (28h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
9.35
OUTX_H_XL (29h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
9.36
OUTY_L_XL (2Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
9.37
OUTY_H_XL (2Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
9.38
OUTZ_L_XL (2Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
9.39
OUTZ_H_XL (2Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
9.40
SENSORHUB1_REG (2Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
9.41
SENSORHUB2_REG (2Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
9.42
SENSORHUB3_REG (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
9.43
SENSORHUB4_REG (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.44
SENSORHUB5_REG (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.45
SENSORHUB6_REG (33h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.46
SENSORHUB7_REG (34h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.47
SENSORHUB8_REG(35h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.48
SENSORHUB9_REG (36h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.49
SENSORHUB10_REG (37h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.50
SENSORHUB11_REG (38h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.51
SENSORHUB12_REG(39h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
9.52
FIFO_STATUS1 (3Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
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9.53
FIFO_STATUS2 (3Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
9.54
FIFO_STATUS3 (3Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
9.55
FIFO_STATUS4 (3Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
9.56
FIFO_DATA_OUT_L (3Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
9.57
FIFO_DATA_OUT_H (3Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
9.58
TIMESTAMP0_REG (40h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
9.59
TIMESTAMP1_REG (41h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
9.60
TIMESTAMP2_REG (42h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
9.61
STEP_TIMESTAMP_L (49h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
9.62
STEP_TIMESTAMP_H (4Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
9.63
STEP_COUNTER_L (4Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
9.64
STEP_COUNTER_H (4Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
9.65
SENSORHUB13_REG (4Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
9.66
SENSORHUB14_REG (4Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
9.67
SENSORHUB15_REG (4Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
9.68
SENSORHUB16_REG (50h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
9.69
SENSORHUB17_REG (51h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
9.70
SENSORHUB18_REG (52h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
9.71
FUNC_SRC (53h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
9.72
TAP_CFG (58h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
9.73
TAP_THS_6D (59h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
9.74
INT_DUR2 (5Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
9.75
WAKE_UP_THS (5Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
9.76
WAKE_UP_DUR (5Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
9.77
FREE_FALL (5Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
9.78
MD1_CFG (5Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
9.79
MD2_CFG (5Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
9.80
OUT_MAG_RAW_X_L (66h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
9.81
OUT_MAG_RAW_X_H (67h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
9.82
OUT_MAG_RAW_Y_L (68h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
9.83
OUT_MAG_RAW_Y_H (69h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
9.84
OUT_MAG_RAW_Z_L (6Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
9.85
OUT_MAG_RAW_Z_H (6Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
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10
Embedded functions register mapping . . . . . . . . . . . . . . . . . . . . . . . . . 84
11
Embedded functions registers description . . . . . . . . . . . . . . . . . . . . . 86
11.1
SLV0_ADD (02h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
11.2
SLV0_SUBADD (03h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
11.3
SLAVE0_CONFIG (04h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
11.4
SLV1_ADD (05h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
11.5
SLV1_SUBADD (06h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
11.6
SLAVE1_CONFIG (07h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
11.7
SLV2_ADD (08h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
11.8
SLV2_SUBADD (09h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
11.9
SLAVE2_CONFIG (0Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
11.10 SLV3_ADD (0Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
11.11 SLV3_SUBADD (0Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
11.12 SLAVE3_CONFIG (0Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
11.13 DATAWRITE_SRC_MODE_SUB_SLV0 (0Eh) . . . . . . . . . . . . . . . . . . . . . 90
11.14 PEDO_THS_REG (0Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
11.15 SM_THS (13h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
11.16 PEDO_DEB_REG (14h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
11.17 STEP_COUNT_DELTA (15h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
11.18 MAG_SI_XX (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
11.19 MAG_SI_XY (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
11.20 MAG_SI_XZ (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
11.21 MAG_SI_YX (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
11.22 MAG_SI_YY (28h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
11.23 MAG_SI_YZ (29h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
11.24 MAG_SI_ZX (2Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
11.25 MAG_SI_ZY (2Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
11.26 MAG_SI_ZZ (2Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
11.27 MAG_OFFX_L (2Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
11.28 MAG_OFFX_H (2Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
11.29 MAG_OFFY_L (2Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
11.30 MAG_OFFY_H (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
6/102
DocID026899 Rev 10
LSM6DS3
Contents
11.31 MAG_OFFZ_L (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
11.32 MAG_OFFZ_H (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
12
Soldering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
13
Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
14
13.1
LGA-14 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
13.2
LGA-14 packing information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
DocID026899 Rev 10
7/102
102
List of tables
LSM6DS3
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.
8/102
Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Mechanical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Temperature sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
SPI slave timing values (in mode 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
I2C slave timing values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Serial interface pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
I2C terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
SAD+Read/Write patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Transfer when master is writing one byte to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Transfer when master is writing multiple bytes to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Transfer when master is receiving (reading) one byte of data from slave . . . . . . . . . . . . . 36
Transfer when master is receiving (reading) multiple bytes of data from slave . . . . . . . . . 36
Registers address map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
FUNC_CFG_ACCESS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
FUNC_CFG_ACCESS register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
SENSOR_SYNC_TIME_FRAME register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
SENSOR_SYNC_TIME_FRAME register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
FIFO_CTRL1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
FIFO_CTRL1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
FIFO_CTRL2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
FIFO_CTRL2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
FIFO_CTRL3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
FIFO_CTRL3 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Gyro FIFO decimation setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Accelerometer FIFO decimation setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
FIFO_CTRL4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
FIFO_CTRL4 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Fourth FIFO data set decimation setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Third FIFO data set decimation setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
FIFO_CTRL5 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
FIFO_CTRL5 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
FIFO ODR selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
FIFO mode selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
ORIENT_CFG_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
ORIENT_CFG_G register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Settings for orientation of axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
INT1_CTRL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
INT1_CTRL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
INT2_CTRL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
INT2_CTRL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
WHO_AM_I register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
CTRL1_XL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
CTRL1_XL register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Accelerometer ODR register setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
BW and ODR (high-performance mode). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
DocID026899 Rev 10
LSM6DS3
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.
Table 85.
Table 86.
Table 87.
Table 88.
Table 89.
Table 90.
Table 91.
Table 92.
Table 93.
Table 94.
Table 95.
Table 96.
Table 97.
Table 98.
Table 99.
Table 100.
CTRL2_G register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
CTRL2_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Gyroscope ODR configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
CTRL3_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
CTRL3_C register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
CTRL4_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
CTRL4_C register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
CTRL5_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
CTRL5_C register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Output registers rounding pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Angular rate sensor self-test mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Linear acceleration sensor self-test mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
CTRL6_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
CTRL6_C register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
CTRL7_G register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
CTRL7_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Gyroscope high-pass filter mode configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
CTRL8_XL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
CTRL8_XL register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Accelerometer slope and high-pass filter selection and cutoff frequency . . . . . . . . . . . . . . 60
Accelerometer LPF2 cutoff frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
CTRL9_XL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
CTRL9_XL register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
CTRL10_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
CTRL10_C register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
MASTER_CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
MASTER_CONFIG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
WAKE_UP_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
WAKE_UP_SRC register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
TAP_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
TAP_SRC register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
D6D_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
D6D_SRC register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
STATUS_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
STATUS_REG register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
OUT_TEMP_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
OUT_TEMP_H register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
OUT_TEMP register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
OUTX_L_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
OUTX_L_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
OUTX_H_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
OUTX_H_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
OUTY_L_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
OUTY_L_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
OUTY_H_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
OUTY_H_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
OUTZ_L_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
OUTZ_L_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
OUTZ_H_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
OUTZ_H_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
OUTX_L_XL register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
OUTX_L_XL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
DocID026899 Rev 10
9/102
102
List of tables
Table 101.
Table 102.
Table 103.
Table 104.
Table 105.
Table 106.
Table 107.
Table 108.
Table 109.
Table 110.
Table 111.
Table 112.
Table 113.
Table 114.
Table 115.
Table 116.
Table 117.
Table 118.
Table 119.
Table 120.
Table 121.
Table 122.
Table 123.
Table 124.
Table 125.
Table 126.
Table 127.
Table 128.
Table 129.
Table 130.
Table 131.
Table 132.
Table 133.
Table 134.
Table 135.
Table 136.
Table 137.
Table 138.
Table 139.
Table 140.
Table 141.
Table 142.
Table 143.
Table 144.
Table 145.
Table 146.
Table 147.
Table 148.
Table 149.
Table 150.
Table 151.
Table 152.
10/102
LSM6DS3
OUTX_H_XL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
OUTX_H_XL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
OUTY_L_XL register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
OUTY_L_XL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
OUTY_H_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
OUTY_H_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
OUTZ_L_XL register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
OUTZ_L_XL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
OUTZ_H_XL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
OUTZ_H_XL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SENSORHUB1_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SENSORHUB1_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SENSORHUB2_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SENSORHUB2_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SENSORHUB3_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SENSORHUB3_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SENSORHUB4_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SENSORHUB4_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SENSORHUB5_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SENSORHUB5_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SENSORHUB6_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SENSORHUB6_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SENSORHUB7_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SENSORHUB7_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SENSORHUB8_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
SENSORHUB8_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
SENSORHUB9_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
SENSORHUB9_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
SENSORHUB10_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
SENSORHUB10_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
SENSORHUB11_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
SENSORHUB11_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
SENSORHUB12_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
SENSORHUB12_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
FIFO_STATUS1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
FIFO_STATUS1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
FIFO_STATUS2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
FIFO_STATUS2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
FIFO_STATUS3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
FIFO_STATUS3 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
FIFO_STATUS4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
FIFO_STATUS4 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
FIFO_DATA_OUT_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
FIFO_DATA_OUT_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
FIFO_DATA_OUT_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
FIFO_DATA_OUT_H register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
TIMESTAMP0_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
TIMESTAMP0_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
TIMESTAMP1_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
TIMESTAMP1_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
TIMESTAMP2_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
TIMESTAMP2_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
DocID026899 Rev 10
LSM6DS3
List of tables
Table 153.
Table 154.
Table 155.
Table 156.
Table 157.
Table 158.
Table 159.
Table 160.
Table 161.
Table 162.
Table 163.
Table 164.
Table 165.
Table 166.
Table 167.
Table 168.
Table 169.
Table 170.
Table 171.
Table 172.
Table 173.
Table 174.
Table 175.
Table 176.
Table 177.
Table 179.
Table 178.
Table 180.
Table 181.
Table 182.
Table 183.
Table 184.
Table 185.
Table 186.
Table 187.
Table 188.
Table 189.
Table 190.
Table 191.
Table 192.
Table 193.
Table 194.
Table 195.
Table 196.
Table 197.
Table 198.
Table 199.
Table 200.
Table 201.
Table 202.
Table 203.
Table 204.
STEP_TIMESTAMP_L register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
STEP_TIMESTAMP_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
STEP_TIMESTAMP_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
STEP_TIMESTAMP_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
STEP_COUNTER_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
STEP_COUNTER_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
STEP_COUNTER_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
STEP_COUNTER_H register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
SENSORHUB13_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
SENSORHUB13_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
SENSORHUB14_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
SENSORHUB14_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
SENSORHUB15_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
SENSORHUB15_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
SENSORHUB16_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
SENSORHUB16_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
SENSORHUB17_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
SENSORHUB17_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
SENSORHUB18_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
SENSORHUB18_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
FUNC_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
FUNC_SRC register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
TAP_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
TAP_CFG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
TAP_THS_6D register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Threshold for D4D/D6D function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
TAP_THS_6D register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
INT_DUR2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
INT_DUR2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
WAKE_UP_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
WAKE_UP_THS register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
WAKE_UP_DUR register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
WAKE_UP_DUR register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
FREE_FALL register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
FREE_FALL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Threshold for free-fall function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
MD1_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
MD1_CFG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
MD2_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
MD2_CFG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
OUT_MAG_RAW_X_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
OUT_MAG_RAW_X_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
OUT_MAG_RAW_X_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
OUT_MAG_RAW_X_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
OUT_MAG_RAW_Y_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
OUT_MAG_RAW_Y_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
OUT_MAG_RAW_Y_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
OUT_MAG_RAW_Y_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
OUT_MAG_RAW_Z_L register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
OUT_MAG_RAW_Z_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
OUT_MAG_RAW_Z_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
OUT_MAG_RAW_Z_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
DocID026899 Rev 10
11/102
102
List of tables
Table 205.
Table 206.
Table 207.
Table 208.
Table 209.
Table 210.
Table 211.
Table 212.
Table 213.
Table 214.
Table 215.
Table 216.
Table 217.
Table 218.
Table 219.
Table 220.
Table 221.
Table 222.
Table 223.
Table 224.
Table 225.
Table 226.
Table 227.
Table 228.
Table 229.
Table 230.
Table 231.
Table 232.
Table 233.
Table 234.
Table 235.
Table 236.
Table 237.
Table 238.
Table 239.
Table 240.
Table 241.
Table 242.
Table 243.
Table 244.
Table 245.
Table 246.
Table 247.
Table 248.
Table 249.
Table 250.
Table 251.
Table 252.
Table 253.
Table 254.
Table 255.
Table 256.
12/102
LSM6DS3
Registers address map - embedded functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
SLV0_ADD register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
SLV0_ADD register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
SLV0_SUBADD register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
SLV0_SUBADD register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
SLAVE0_CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
SLAVE0_CONFIG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
SLV1_ADD register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
SLV1_ADD register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
SLV1_SUBADD register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
SLV1_SUBADD register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
SLAVE1_CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
SLAVE1_CONFIG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
SLV2_ADD register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
SLV2_ADD register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
SLV2_SUBADD register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
SLV2_SUBADD register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
SLAVE2_CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
SLAVE2_CONFIG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
SLV3_ADD register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
SLV3_ADD register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
SLV3_SUBADD register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
SLV3_SUBADD register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
SLAVE3_CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
SLAVE3_CONFIG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
DATAWRITE_SRC_MODE_SUB_SLV0 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
DATAWRITE_SRC_MODE_SUB_SLV0 register description. . . . . . . . . . . . . . . . . . . . . . . 90
PEDO_THS_REG register default values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
PEDO_THS_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
SM_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
SM_THS register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
PEDO_DEB_REG register default values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
PEDO_DEB_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
STEP_COUNT_DELTA register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
STEP_COUNT_DELTA register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
MAG_SI_XX register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
MAG_SI_XX register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
MAG_SI_XY register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
MAG_SI_XY register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
MAG_SI_XZ register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
MAG_SI_XZ register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
MAG_SI_YX register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
MAG_SI_YX register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
MAG_SI_YY register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
MAG_SI_YY register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
MAG_SI_YZ register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
MAG_SI_YZ register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
MAG_SI_ZX register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
MAG_SI_ZX register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
MAG_SI_ZY register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
MAG_SI_ZY register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
MAG_SI_ZZ register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
DocID026899 Rev 10
LSM6DS3
List of tables
Table 257.
Table 258.
Table 259.
Table 260.
Table 261.
Table 262.
Table 263.
Table 264.
Table 265.
Table 266.
Table 267.
Table 268.
Table 269.
Table 270.
Table 271.
MAG_SI_ZZ register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
MAG_OFFX_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
MAG_OFFX_L register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
MAG_OFFX_H register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
MAG_OFFX_L register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
MAG_OFFY_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
MAG_OFFY_L register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
MAG_OFFY_H register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
MAG_OFFY_L register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
MAG_OFFZ_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
MAG_OFFZ_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
MAG_OFFZ_H register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
MAG_OFFX_L register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Reel dimensions for carrier tape of LGA-14 package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Document revision history. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
DocID026899 Rev 10
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102
List of figures
LSM6DS3
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.
Figure 13.
Figure 14.
Figure 15.
Figure 16.
Figure 17.
Figure 18.
Figure 19.
14/102
Pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
LSM6DS3 connection modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
SPI slave timing diagram (in mode 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
I2C slave timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Accelerometer chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Accelerometer composite filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Gyroscope chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Read and write protocol (in mode 3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
SPI read protocol (in mode 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Multiple byte SPI read protocol (2-byte example) (in mode 3) . . . . . . . . . . . . . . . . . . . . . . 38
SPI write protocol (in mode 3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Multiple byte SPI write protocol (2-byte example) (in mode 3) . . . . . . . . . . . . . . . . . . . . . . 39
SPI read protocol in 3-wire mode (in mode 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
LSM6DS3 electrical connections in Mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
LSM6DS3 electrical connections in Mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
LGA-14 2.5x3x0.86 mm 14L package outline and mechanical data. . . . . . . . . . . . . . . . . . 97
Carrier tape information for LGA-14 package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
LGA-14 package orientation in carrier tape . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Reel information for carrier tape of LGA-14 package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
DocID026899 Rev 10
LSM6DS3
1
Overview
Overview
The LSM6DS3 is a system-in-package featuring a high-performance 3-axis digital
accelerometer and 3-axis digital gyroscope.
The integrated power-efficient modes are able to reduce the power consumption down to
1.25 mA in high-performance mode, combining always-on low-power features with superior
sensing precision for an optimal motion experience for the consumer thanks to ultra-low
noise performance for both the gyroscope and accelerometer.
The LSM6DS3 delivers best-in-class motion sensing that can detect orientation and
gestures in order to empower application developers and consumers with features and
capabilities that are more sophisticated than simply orienting their devices to portrait and
landscape mode.
The event-detection interrupts enable efficient and reliable motion tracking and contextual
awareness, implementing hardware recognition of free-fall events, 6D orientation, tap and
double-tap sensing, activity or inactivity, and wakeup events.
The LSM6DS3 supports main OS requirements, offering real, virtual and batch mode
sensors. In addition, the LSM6DS3 can efficiently run the sensor-related features specified
in Android, saving power and enabling faster reaction time. In particular, the LSM6DS3 has
been designed to implement hardware features such as significant motion, tilt, pedometer
functions, timestamping and to support the data acquisition of an external magnetometer
with ironing correction (hard, soft).
The LSM6DS3 offers hardware flexibility to connect the pins with different mode
connections to external sensors to expand functionalities such as adding a sensor hub, etc.
Up to 8 kbyte of FIFO with dynamic allocation of significant data (i.e. external sensors,
timestamp, etc.) allows overall power saving of the system.
Like the entire portfolio of MEMS sensor modules, the LSM6DS3 leverages on the robust
and mature in-house manufacturing processes already used for the production of
micromachined accelerometers and gyroscopes. The various sensing elements are
manufactured using specialized micromachining processes, while the IC interfaces are
developed using CMOS technology that allows the design of a dedicated circuit which is
trimmed to better match the characteristics of the sensing element.
The LSM6DS3 is available in a small plastic land grid array (LGA) package of
2.5 x 3.0 x 0.83 mm to address ultra-compact solutions.
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Embedded low-power features
2
LSM6DS3
Embedded low-power features
The LSM6DS3 has been designed to be fully compliant with Android, featuring the following
on-chip functions:
8 kbyte data buffering
–
100% efficiency with flexible configurations and partitioning
–
possibility to store timestamp
Event-detection interrupts (fully configurable):
–
free-fall
–
wakeup
–
6D orientation
–
tap and double-tap sensing
–
activity / inactivity recognition
Specific IP blocks with negligible power consumption and high-performance:
–
pedometer functions: step detector and step counters
–
tilt (Android compliant, refer to Section 2.1: Tilt detection for additional info
–
significant motion (Android compliant)
Sensor hub
–
up to 6 total sensors: 2 internal (accelerometer and gyroscope) and 4 external
sensors
Data rate synchronization with external trigger for reduced sensor access and enhanced
fusion
2.1
Tilt detection
The tilt function helps to detect activity change and has been implemented in hardware
using only the accelerometer to achieve both the targets of ultra-low power consumption
and robustness during the short duration of dynamic accelerations.
It is based on a trigger of an event each time the device's tilt changes by an angle greater
than 35 degrees from the start position.
The tilt function can be used with different scenarios, for example:
a) Trigger when phone is in a front pants pocket and the user goes from sitting to
standing or standing to sitting;
b) Doesn’t trigger when phone is in a front pants pocket and the user is walking,
running or going upstairs.
16/102
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LSM6DS3
3
Pin description
Pin description
Figure 1. Pin connections
Z
X
+Ω
+Ω
Y
NC
(1)
NC
INT2
VDD
Z
X
+Ω
X
(TOP VIEW)
DIRECTIONS OF THE
DETECTABLE
ANGULAR RATES
11
12
14
BOTTOM
VIEW
8
1
4
7
SDO/SA0
SDx
SCx
INT1
5
VDDIO
(1)
SCL
SDA
DIRECTION OF THE
DETECTABLE
ACCELERATIONS
CS
(TOP VIEW)
GND
GND
Y
1. Leave pin electrically unconnected and soldered to PCB.
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Pin description
3.1
LSM6DS3
Pin connections
The LSM6DS3(a) offers the flexibility to connect the pins in order to have two different mode
connections and functionalities. In detail:
Mode 1: I2C slave interface or SPI (3- and 4-wire) serial interface is available;
Mode 2: I2C slave interface or SPI (3- and 4-wire) serial interface and I2C interface
master for external sensor connections are available;
In the following table each mode is described for the pin connection and function.
Figure 2. LSM6DS3 connection modes
0RGH
0RGH
+267
+267
,&63, Z
,&63, Z
/60'6
/60'6
0DVWHU,&
([WHUQDO VHQVRUV
a. The LSM6DS3H is recommended for optimal OIS/EIS performance.
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LSM6DS3
Pin description
Table 2. Pin description
Pin#
Name
Mode 1 function
Mode 2 function
SPI 4-wire interface serial data
output (SDO)
I2C least significant bit of the
device address (SA0)
SPI 4-wire interface serial data output
(SDO)
I2C least significant bit of the device
address (SA0)
1
SDO/SA0
2
SDx
Connect to VDDIO or GND
I2C serial data master (MSDA)
3
SCx
Connect to VDDIO or GND
I2C serial clock master (MSCL)
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
(2)
9
INT2
10
NC(3)
11
(3)
Power supply
Programmable interrupt 2 (INT2)/ Data
enable (DEN)/
I2C master external synchronization
signal (MDRDY)
Programmable interrupt 2
(INT2)/ Data enable (DEN)
Leave unconnected
Leave unconnected
NC
I2C/SPI
I2C/SPI mode selection
(1: SPI idle mode / I2C communication
enabled;
0: SPI communication mode / I2C
disabled)
12
CS
mode selection
(1: SPI idle mode / I2C
communication enabled; 0: SPI
communication mode / I2C
disabled)
13
SCL
I2C serial clock (SCL)
SPI serial port clock (SPC)
I2C serial clock (SCL)
SPI serial port clock (SPC)
SDA
I2C serial data (SDA)
SPI serial data input (SDI)
3-wire interface serial data output
(SDO)
I2C serial data (SDA)
SPI serial data input (SDI)
3-wire interface serial data output
(SDO)
14
1. Recommended 100 nF filter capacitor.
2. Recommended 100 nF capacitor.
3. Leave pin electrically unconnected and soldered to PCB.
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Module specifications
LSM6DS3
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
±2
LA_FS
±4
Linear acceleration measurement
range
±8
g
±16
±125
±250
G_FS
Angular rate
measurement range
±500
dps
±1000
±2000
LA_So
G_So
Linear acceleration sensitivity
Angular rate sensitivity
FS = ±2
0.061
FS = ±4
0.122
FS = ±8
0.244
FS = ±16
0.488
FS = ±125
4.375
FS = ±250
8.75
FS = ±500
17.50
FS = ±1000
35
FS = ±2000
70
mg/LSB
mdps/LSB
LA_SoDr
Linear acceleration sensitivity
change vs. temperature(2)
from -40° to +85°
delta from T=25°
±1
%
G_SoDr
Angular rate sensitivity change
vs. temperature(2)
from -40° to +85°
delta from T=25°
±1.5
%
LA_TyOff
Linear acceleration typical zero-g
level offset accuracy(3)
±40
mg
G_TyOff
Angular rate typical zero-rate
level(3)
±10
dps
LA_OffDr
Linear acceleration zero-g level
change vs. temperature(2)
±0.5
mg/ °C
G_OffDr
Angular rate typical zero-rate
level change vs. temperature(2)
±0.05
dps/°C
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LSM6DS3
Module specifications
Table 3. Mechanical characteristics (continued)
Symbol
Rn
RnRMS
An
RMS
LA_ODR
G_ODR
Vst
Top
Parameter
Test conditions
Min.
Rate noise density
in high-performance mode(4)
Acceleration RMS noise
in normal/low-power mode(7)
Max.
Unit
7
mdps/Hz
140
mdps
FS= ±2 g
90
μg/Hz
FS= ±4 g
90
μg/Hz
FS= ±8 g
110
μg/Hz
FS= ±16 g
180
μg/Hz
FS= ±2 g
1.7
mg(RMS)
FS= ±4 g
2.0
mg(RMS)
FS= ±8 g
2.7
mg(RMS)
FS= ±16 g
4.4
mg(RMS)
12.5
26
52
104
208
416
833
1666
3332
6664
Hz
Gyroscope RMS noise
in low-power mode(5)
Acceleration noise density
in high-performance mode(6)
Typ.(1)
Linear acceleration output data
rate
12.5
26
52
104
208
416
833
1666
Angular rate output data rate
Linear acceleration
self-test output change(8)(9)
FS = 2 g
90
1700
mg
Angular rate
self-test output change(10)(11)
FS = 2000 dps
150
700
dps
-40
+85
°C
Operating temperature range
1. Typical specifications are not guaranteed.
2. Measurements are performed in a uniform temperature setup.
3. Values after soldering.
4. RND (rate noise density) mode is independent of the ODR and FS setting.
5. Gyro noise RMS is independent of the ODR and FS setting.
6. Noise density in HP mode is the same for all ODRs.
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Module specifications
LSM6DS3
7. Noise RMS in Normal/LP mode is the same for all the ODR RMS related to BW = ODR /2 (for ODR /9, typ value can be
calculated by Typ *0.6)
8. The sign of the linear acceleration self-test output change is defined by the STx_XL bits in CTRL5_C (14h), Table 60 for all
axes.
9. The linear acceleration self-test output change is defined with the device in stationary condition as the absolute value of:
OUTPUT[LSb] (self-test enabled) - OUTPUT[LSb] (self-test disabled). 1LSb = 0.061 mg at ±2 g full scale.
10. The sign of the angular rate self-test output change is defined by the STx_G bits in CTRL5_C (14h), Table 59 for all axes.
11. The angular rate self-test output change is defined with the device in stationary condition as the absolute value of:
OUTPUT[LSb] (self-test enabled) - OUTPUT[LSb] (self-test disabled). 1LSb = 70 mdps at ±2000 dps full scale.
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4.2
Module specifications
Electrical characteristics
@ Vdd = 1.8 V, T = 25 °C unless otherwise noted.
Table 4. Electrical characteristics
Symbol
Vdd
Vdd_IO
Min.
Typ.(1)
Max.
Unit
Supply voltage
1.71
1.8
3.6
V
Power supply for I/O
1.62
Vdd +
0.1
V
Parameter
Test conditions
IddHP
Gyroscope and accelerometer
up to ODR = 1.6 kHz
in high-performance mode
1.25
mA
IddNM
Gyroscope and accelerometer
ODR = 208 Hz
in normal mode
0.9
mA
IddLP
Gyroscope and accelerometer
ODR = 12.5 Hz
in low-power mode
0.42
mA
up to ODR = 1.6 kHz
240
μA
ODR = 104 Hz
70
μA
ODR = 12.5 Hz
24
μA
6
μA
Accelerometer current
LA_IddHP consumption in highperformance mode
LA_IddNM
Accelerometer current
consumption in normal mode
Accelerometer current
LA_IddLM consumption in low-power
mode
IddPD
Gyroscope and accelerometer
in power down
VIH
Digital high-level input voltage
VIL
Digital low-level input voltage
VOH
High-level output voltage
IOH = 4 mA (2)
VOL
Low-level output voltage
IOL = 4 mA (2)
Top
Operating temperature range
0.8 *
VDD_IO
V
0.2 *
VDD_IO
V
VDD_IO 0.2
-40
V
0.2
V
+85
°C
1. Typical specifications are not guaranteed.
2. 4 mA is the maximum driving capability, i.e. the maximum DC current that can be sourced/sunk by the digital
pad in order to guarantee the correct digital output voltage levels VOH and VOL.
For details related to the LSM6DS3 operating modes, refer to 5.2: Gyroscope power modes
and 5.3: Accelerometer power modes.
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Module specifications
4.3
LSM6DS3
Temperature sensor characteristics
@ Vdd = 1.8 V, T = 25 °C unless otherwise noted.
Table 5. Temperature sensor characteristics
Symbol
TODR
Toff
Parameter
Test condition
Min.
Temperature refresh rate
Temperature offset
(2)
TSen
Temperature sensitivity
TST
Temperature stabilization
time(3)
Operating temperature range
1. Typical specifications are not guaranteed.
2. The output of the temperature sensor is 0 LSB (typ.) at 25 °C.
3. Time from power ON bit to valid data based on characterization data.
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Max.
52
-15
+15
°C
LSB/°C
500
12
-40
Unit
Hz
16
T_ADC_res Temperature ADC resolution
Top
Typ.(1)
μs
bit
+85
°C
LSM6DS3
Module specifications
4.4
Communication interface characteristics
4.4.1
SPI - serial peripheral interface
Subject to general operating conditions for Vdd and Top.
Table 6. SPI slave timing values (in mode 3)
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)
SDO output disable time
Max
100
ns
10
MHz
ns
50
5
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. SPI slave timing diagram (in mode 3)
Note:
Measurement points are done at 0.2·Vdd_IO and 0.8·Vdd_IO, for both input and output
ports.
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Module specifications
LSM6DS3
I2C - inter-IC control interface
4.4.2
Subject to general operating conditions for Vdd and Top.
Table 7. I2C slave timing values
Symbol
f(SCL)
I2C Standard mode(1)
Parameter
SCL clock frequency
I2C Fast mode (1)
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
0
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
tw(SP:SR)
Bus free time between STOP
and START condition
3.45
ns
0
0.9
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Measurement points are done at 0.2·Vdd_IO and 0.8·Vdd_IO, for both ports.
DocID026899 Rev 10
μs
μs
Figure 4. I2C slave timing diagram
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kHz
μs
1. Data based on standard I2C protocol requirement, not tested in production.
WVX 6'$
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LSM6DS3
4.5
Module 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
Maximum value
Unit
Vdd
Supply voltage
-0.3 to 4.8
V
TSTG
Storage temperature range
-40 to +125
°C
10,000
g
2
kV
-0.3 to Vdd_IO +0.3
V
Sg
ESD
Vin
Note:
Ratings
Acceleration g for 0.2 ms
Electrostatic discharge protection (HBM)
Input voltage on any control pin
(including CS, SCL/SPC, SDA/SDI/SDO, SDO/SA0)
Supply voltage on any pin should never exceed 4.8 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.
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Module specifications
4.6
Terminology
4.6.1
Sensitivity
LSM6DS3
Linear acceleration sensitivity can be determined, for example, by applying 1 g acceleration
to the device. Because the sensor can measure DC accelerations, this can be done easily
by pointing the selected axis towards the ground, noting the output value, rotating the
sensor 180 degrees (pointing towards the sky) and noting the output value again. By doing
so, ±1 g acceleration is applied to the sensor. Subtracting the larger output value from the
smaller one, and dividing the result by 2, leads to the actual sensitivity of the sensor. This
value changes very little over temperature and over time. The sensitivity tolerance describes
the range of sensitivities of a large number of sensors.
An angular rate gyroscope is device that produces a positive-going digital output for
counterclockwise rotation around the axis considered. Sensitivity describes the gain of the
sensor and can be determined by applying a defined angular velocity to it. This value
changes very little over temperature and time.
4.6.2
Zero-g and zero-rate level
Linear acceleration zero-g level offset (TyOff) describes the deviation of an actual output
signal from the ideal output signal if no acceleration is present. A sensor in a steady state on
a horizontal surface will measure 0 g on both the X-axis and Y-axis, whereas the Z-axis will
measure 1 g. Ideally, the output is in the middle of the dynamic range of the sensor (content
of OUT registers 00h, data expressed as 2’s complement number). A deviation from the
ideal value in this case is called zero-g offset.
Offset is to some extent a result of stress to MEMS sensor and therefore the offset can
slightly change after mounting the sensor onto a printed circuit board or exposing it to
extensive mechanical stress. Offset changes little over temperature, see “Linear
acceleration zero-g level change vs. temperature” in Table 3. The zero-g level tolerance
(TyOff) describes the standard deviation of the range of zero-g levels of a group of sensors.
Zero-rate level describes the actual output signal if there is no angular rate present. The
zero-rate level of precise MEMS sensors is, to some extent, a result of stress to the sensor
and therefore the zero-rate level can slightly change after mounting the sensor onto a
printed circuit board or after exposing it to extensive mechanical stress. This value changes
very little over temperature and time.
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LSM6DS3
Functionality
5
Functionality
5.1
Operating modes
The LSM6DS3 has three operating modes available:
only accelerometer active and gyroscope in power-down
only gyroscope active and accelerometer in power-down
both accelerometer and gyroscope sensors active with independent ODR
The accelerometer is activated from power down by writing ODR_XL[3:0] in CTRL1_XL
(10h) while the gyroscope is activated from power-down by writing ODR_G[3:0] in
CTRL2_G (11h). For combo mode the ODRs are totally independent.
5.2
Gyroscope power modes
In the LSM6DS3, the gyroscope can be configured in four different operating modes: powerdown, low-power, normal mode and high-performance mode. The operating mode selected
depends on the value of the G_HM_MODE bit in CTRL7_G (16h). If G_HM_MODE is set to
‘0’, high-performance mode is valid for all ODRs (from 12.5 Hz up to 1.6 kHz).
To enable the low-power and normal mode, the G_HM_MODE bit has to be set to ‘1’. Lowpower mode is available for lower ODR (12.5, 26, 52 Hz) while normal mode is available for
ODRs equal to 104 and 208 Hz.
5.3
Accelerometer power modes
In the LSM6DS3, the accelerometer can be configured in four different operating modes:
power-down, low-power, normal mode and high-performance mode. The operating mode
selected depends on the value of the XL_HM_MODE bit in CTRL6_C (15h). If
XL_HM_MODE is set to ‘0’, high-performance mode is valid for all ODRs (from 12.5 Hz up
to 6.66 kHz).
To enable the low-power and normal mode, the XL_HM_MODE bit has to be set to ‘1’. Lowpower mode is available for lower ODRs (12.5, 26, 52 Hz) while normal mode is available
for ODRs equal to 104 and 208 Hz.
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Functionality
5.4
LSM6DS3
FIFO
The presence of a FIFO allows consistent power saving for the system since the host
processor does not need continuously poll data from the sensor, but it can wake up only
when needed and burst the significant data out from the FIFO.
LSM6DS3 embeds 8 kbytes data FIFO to store the following data:
gyroscope
accelerometer
external sensors
step counter and timestamp
temperature
Writing data in the FIFO can be configured to be triggered by the:
- accelerometer/gyroscope data-ready signal; in which case the ODR must be lower than or
equal to both the accelerometer and gyroscope ODRs;
- sensor hub data-ready signal;
- step detection signal.
In addition, each data can be stored at a decimated data rate compared to FIFO ODR and it
is configurable by the user, setting the registers FIFO_CTRL3 (08h) and FIFO_CTRL4
(09h). The available decimation factors are 2, 3, 4, 8, 16, 32.
Programmable FIFO threshold can be set in FIFO_CTRL1 (06h) and FIFO_CTRL2 (07h)
using the FTH [11:0] bits.
To monitor the FIFO status, dedicated registers (FIFO_STATUS1 (3Ah), FIFO_STATUS2
(3Bh), FIFO_STATUS3 (3Ch), FIFO_STATUS4 (3Dh)) can be read to detect FIFO overrun
events, FIFO full status, FIFO empty status, FIFO threshold status and the number of
unread samples stored in the FIFO. To generate dedicated interrupts on the INT1 and INT2
pads of these status events, the configuration can be set in INT1_CTRL (0Dh) and
INT2_CTRL (0Eh).
FIFO buffer can be configured according to five different modes:
– Bypass mode
– FIFO mode
– Continuous mode
– Continuous-to-FIFO mode
– Bypass-to-continuous mode
Each mode is selected by the FIFO_MODE_[2:0] in FIFO_CTRL5 (0Ah) register. To
guarantee the correct acquisition of data during the switching into and out of FIFO mode,
the first sample acquired must be discarded.
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5.4.1
Functionality
Bypass mode
In Bypass mode (FIFO_CTRL5 (0Ah) (FIFO_MODE_[2:0] = 000), the FIFO is not
operational and it remains empty.
Bypass mode is also used to reset the FIFO when in FIFO mode.
5.4.2
FIFO mode
In FIFO mode (FIFO_CTRL5 (0Ah) (FIFO_MODE_[2:0] = 001) data from the output
channels are stored in the FIFO until it is full.
To reset FIFO content, Bypass mode should be selected by writing FIFO_CTRL5 (0Ah)
(FIFO_MODE_[2:0]) to '000' After this reset command, it is possible to restart FIFO mode by
writing FIFO_CTRL5 (0Ah) (FIFO_MODE_[2:0]) to '001'.
FIFO buffer memorizes up to 4096 samples of 16 bits each but the depth of the FIFO can be
resized by setting the FTH [11:0] bits in FIFO_CTRL1 (06h) and FIFO_CTRL2 (07h). If the
STOP_ON_FTH bit in CTRL4_C (13h) is set to '1', FIFO depth is limited up to FTH [11:0]
bits in FIFO_CTRL1 (06h) and FIFO_CTRL2 (07h).
5.4.3
Continuous mode
Continuous mode (FIFO_CTRL5 (0Ah) (FIFO_MODE_[2:0] = 110) provides a continuous
FIFO update: as new data arrives, the older data is discarded.
A FIFO threshold flag FIFO_STATUS2 (3Bh)(FTH) is asserted when the number of unread
samples in FIFO is greater than or equal to FIFO_CTRL1 (06h) and FIFO_CTRL2
(07h)(FTH [11:0]).
It is possible to route FIFO_STATUS2 (3Bh) (FTH) to the INT1 pin by writing in register
INT1_CTRL (0Dh) (INT1_FTH) = ‘1’ or to the INT2 pin by writing in register INT2_CTRL
(0Eh) (INT2_FTH) = ‘1’.
A full-flag interrupt can be enabled, INT1_CTRL (0Dh) (INT_ FULL_FLAG) = '1', in order to
indicate FIFO saturation and eventually read its content all at once.
If an overrun occurs, at least one of the oldest samples in FIFO has been overwritten and
the OVER_RUN flag in FIFO_STATUS2 (3Bh) is asserted.
In order to empty the FIFO before it is full, it is also possible to pull from FIFO the number of
unread samples available in FIFO_STATUS1 (3Ah) and FIFO_STATUS2 (3Bh)
(DIFF_FIFO[11:0]).
5.4.4
Continuous-to-FIFO mode
In Continuous-to-FIFO mode (FIFO_CTRL5 (0Ah) (FIFO_MODE_[2:0] = 011), FIFO
behavior changes according to the trigger event detected in one of the following interrupt
registers FUNC_SRC (53h), TAP_SRC (1Ch), WAKE_UP_SRC (1Bh) and D6D_SRC
(1Dh).
When the selected trigger bit is equal to '1', FIFO operates in FIFO mode.
When the selected trigger bit is equal to '0', FIFO operates in Continuous mode.
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Functionality
5.4.5
LSM6DS3
Bypass-to-Continuous mode
In Bypass-to-Continuous mode (FIFO_CTRL5 (0Ah) (FIFO_MODE_[2:0] = '100'), data
measurement storage inside FIFO operates in Continuous mode when selected triggers in
one of the following interrupt registers FUNC_SRC (53h), TAP_SRC (1Ch),
WAKE_UP_SRC (1Bh) and D6D_SRC (1Dh) are equal to '1', otherwise FIFO content is
reset (Bypass mode).
5.4.6
FIFO reading procedure
The data stored in FIFO are accessible from dedicated registers (FIFO_DATA_OUT_L
(3Eh) and FIFO_DATA_OUT_H (3Fh)) and each FIFO sample is composed of 16 bits.
All FIFO status registers (FIFO_STATUS1 (3Ah), FIFO_STATUS2 (3Bh), FIFO_STATUS3
(3Ch), FIFO_STATUS4 (3Dh)) can be read at the start of a reading operation, minimizing
the intervention of the application processor.
Saving data in the FIFO buffer is organized in four FIFO data sets consisting of 6 bytes
each:
The 1st FIFO data set is reserved for gyroscope data;
The 2nd FIFO data set is reserved for accelerometer data;
The 3rd FIFO data set is reserved for the external sensor data stored in the registers from
SENSORHUB1_REG (2Eh) to SENSORHUB6_REG (33h);
The 4th FIFO data set can be alternately associated to the external sensor data stored in the
registers from SENSORHUB7_REG (34h) to SENSORHUB12_REG(39h), to the step
counter and timestamp info, or to the temperature sensor data.
5.4.7
Filter block diagrams
Figure 5. Accelerometer chain
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Functionality
Figure 6. Accelerometer composite filter
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Digital interfaces
6
LSM6DS3
Digital interfaces
The registers embedded inside the LSM6DS3 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 device is compatible with SPI modes 0 and 3.
The serial interfaces are mapped onto the same pins. To select/exploit the I2C interface, the
CS line must be tied high (i.e connected to Vdd_IO).
Table 9. Serial interface pin description
Pin name
CS
SCL/SPC
SDA/SDI/SDO
SDO/SA0
6.1
Pin description
SPI enable
I2C/SPI mode selection (1: SPI idle mode / I2C communication enabled;
0: SPI communication mode / I2C disabled)
I2C Serial Clock (SCL)
SPI Serial Port Clock (SPC)
I2C Serial Data (SDA)
SPI Serial Data Input (SDI)
3-wire Interface Serial Data Output (SDO)
SPI Serial Data Output (SDO)
I2C less significant bit of the device address
I2C serial interface
The LSM6DS3 I2C is a bus slave. The I2C is employed to write the data to the registers,
whose content can also be read back.
The relevant I2C terminology is provided in the table below.
Table 10. I2C terminology
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
resistors. When the bus is free, both the lines are high.
The I2C interface is implemeted with fast mode (400 kHz) I2C standards as well as with the
standard mode.
In order to disable the I2C block, (I2C_disable) = 1 must be written in CTRL4_C (13h).
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6.1.1
Digital interfaces
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 LSM6DS3 is 110101xb. The SDO/SA0 pin can
be used to modify the less significant bit of the device address. If the SDO/SA0 pin is
connected to the supply voltage, LSb is ‘1’ (address 1101011b); else if the SDO/SA0 pin is
connected to ground, the LSb value is ‘0’ (address 1101010b). This solution permits to
connect and address two different inertial modules to the same I2C 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 I2C embedded inside the LSM6DS3 behaves like a slave device and the following
protocol must be adhered to. After the start condition (ST) a slave address is sent, once a
slave acknowledge (SAK) has been returned, an 8-bit sub-address (SUB) is transmitted.
The increment of the address is configured by the CTRL3_C (12h) (IF_INC).
The slave address is completed with a Read/Write bit. If the bit is ‘1’ (Read), a repeated
START (SR) condition must be issued after the two sub-address bytes; if the bit is ‘0’ (Write)
the master will transmit to the slave with direction unchanged. Table 11 explains how the
SAD+Read/Write bit pattern is composed, listing all the possible configurations.
Table 11. SAD+Read/Write patterns
Command
SAD[6:1]
SAD[0] = SA0
R/W
SAD+R/W
Read
110101
0
1
11010101 (D5h)
Write
110101
0
0
11010100 (D4h)
Read
110101
1
1
11010111 (D7h)
Write
110101
1
0
11010110 (D6h)
Table 12. Transfer when master is writing one byte to slave
Master
ST
SAD + W
Slave
SUB
SAK
DATA
SAK
SP
SAK
Table 13. Transfer when master is writing multiple bytes to slave
Master
Slave
ST
SAD + W
SUB
SAK
DATA
SAK
DocID026899 Rev 10
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SAK
SP
SAK
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Digital interfaces
LSM6DS3
Table 14. Transfer when master is receiving (reading) one byte of data from slave
Master
ST
SAD + W
Slave
SUB
SAK
SR
SAD + R
SAK
NMAK
SAK
SP
DATA
Table 15. Transfer when master is receiving (reading) multiple bytes of data from slave
Master
Slave
ST
SAD+W
SUB
SAK
SR SAD+R
SAK
MAK
SAK
DATA
MAK
DAT
A
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 the presented communication format MAK is Master acknowledge and NMAK is No
Master Acknowledge.
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6.2
Digital interfaces
SPI bus interface
The LSM6DS3 SPI is a bus slave. The SPI allows writing and reading the registers of the
device.
The serial interface communicates to the application using 4 wires: CS, SPC, SDI and SDO.
Figure 8. Read and write protocol (in mode 3)
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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: 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 1-7: address AD(6:0). This is the address field of the indexed register.
bit 8-15: data DI(7:0) (write mode). This is the data that is written into the device (MSb first).
bit 8-15: data DO(7:0) (read mode). This is the data that is read from the device (MSb first).
In multiple read/write commands further blocks of 8 clock periods will be added. When the
CTRL3_C (12h) (IF_INC) bit is ‘0’, the address used to read/write data remains the same for
every block. When the CTRL3_C (12h) (IF_INC) bit is ‘1’, the address used to read/write
data is increased at every block.
The function and the behavior of SDI and SDO remain unchanged.
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Digital interfaces
6.2.1
LSM6DS3
SPI read
Figure 9. SPI read protocol (in mode 3)
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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 10. Multiple byte SPI read protocol (2-byte example) (in mode 3)
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6.2.2
Digital interfaces
SPI write
Figure 11. SPI write protocol (in mode 3)
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The SPI Write command is performed with 16 clock pulses. A multiple byte write command
is performed by adding blocks of 8 clock pulses to the previous one.
bit 0: WRITE bit. The value is 0.
bit 1 -7: address AD(6:0). This is the address field of the indexed register.
bit 8-15: data DI(7:0) (write mode). This is the data that is written inside the device (MSb
first).
bit 16-... : data DI(...-8). Further data in multiple byte writes.
Figure 12. Multiple byte SPI write protocol (2-byte example) (in mode 3)
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Digital interfaces
6.2.3
LSM6DS3
SPI read in 3-wire mode
A 3-wire mode is entered by setting the CTRL3_C (12h) (SIM) bit equal to ‘1’ (SPI serial
interface mode selection).
Figure 13. SPI read protocol in 3-wire mode (in mode 3)
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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.
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Application hints
7
Application hints
7.1
LSM6DS3 electrical connections in Mode 1
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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/I2C 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/I2C interface.
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Application hints
7.2
LSM6DS3
LSM6DS3 electrical connections in Mode 2
Figure 15. LSM6DS3 electrical connections in Mode 2
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Package information
13.2
LSM6DS3
LGA-14 packing information
Figure 17. Carrier tape information for LGA-14 package
Figure 18. LGA-14 package orientation in carrier tape
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Package information
Figure 19. Reel information for carrier tape of LGA-14 package
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Table 270. Reel dimensions for carrier tape of LGA-14 package
Reel dimensions (mm)
A (max)
330
B (min)
1.5
C
13 ±0.25
D (min)
20.2
N (min)
60
G
12.4 +2/-0
T (max)
18.4
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Revision history
14
LSM6DS3
Revision history
Table 271. Document revision history
Date
Revision
03-Nov-2014
1
Initial release
18-Dec-2014
2
Updated Section 2: Embedded low-power features and subsection
Updated Section 5.4: FIFO and subsections
Added Section 5.4.7: Filter block diagrams
Updated IddLP in Table 4 and TODR in Table 5: Temperature sensor characteristics
Updated Table 16: Registers address map
Revised registers in Section 9: Register description
Updated Table 205: Registers address map - embedded functions
Revised registers in Section 11: Embedded functions registers description
Textual update in Figure 16: LGA-14 2.5x3x0.86 mm 14L package outline and
mechanical data
05-Mar-2015
3
Document status promoted from preliminary to production data
Updated bit 0 in Section 9.79: MD2_CFG (5Fh)
23-Apr-2015
4
Updated Vdd_IO (max) in Table 4: Electrical characteristics
Added D4D_EN bit to Section 9.73: TAP_THS_6D (59h)
Updated Table 181: INT-DUR2 register description
06-May-2015
5
Updated direction of rotation of Y-axis in Figure 1: Pin connections
Updated Table 68: Accelerometer slope and high-pass filter selection and cutoff
frequency
6
Updated chamfer of pin 1 indicator in Figure 1, Figure 13, Figure 14, Figure 15
Added footnote 2 to Table 3: Mechanical characteristics
Updated recommendation to set BDU bit to 1 (CTRL3_C (12h)) in Section 9.52:
FIFO_STATUS1 (3Ah) through Section 9.57: FIFO_DATA_OUT_H (3Fh)
Updated Figure 16: LGA-14 2.5x3x0.86 mm 14L package outline and mechanical data
7
Updated Figure 6: Accelerometer composite filter and Figure 16: LGA-14 2.5x3x0.86
mm 14L package outline and mechanical data
Updated description of HPCF_XL bits in Table 67: CTRL8_XL register description
Added Table 69: Accelerometer LPF2 cutoff frequency
Added PEDO_THS_REG (0Fh) and PEDO_DEB_REG (14h)
Added Section 13.2: LGA-14 packing information
8
Updated Figure 1: Pin connections and Table 2: Pin description
Updated Table 3: Mechanical characteristics
Updated Table 4: Electrical characteristics
Updated Table 8: Absolute maximum ratings
Updated Figure 6: Accelerometer composite filter
Updated Register description
16-Jul-2015
09-Oct-2015
03-Feb-2016
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Changes
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Revision history
Table 271. Document revision history (continued)
Date
Revision
Changes
20-Jul-2017
9
Corrected Vin in Table 8: Absolute maximum ratings
Specified SPI mode 3 in Section 4.4.1: SPI - serial peripheral interface and throughout
Section 6: Digital interfaces
Updated Table 82: STATUS_REG register
18-Aug-2017
10
Updated gyroscope full-scale
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