LSM6DB0TR datasheet(25/66 Pages) STMICROELECTRONICS

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LSM6DB0

Accelerometer and gyroscope functionality

7.1

Multiple reads (burst)

When only the accelerometer is activated and the gyroscope is in power down, starting from

OUT_X_XL (28h - 29h) multiple reads can be performed. Once OUT_Z_XL (2Ch - 2Dh) is

read, the system automatically restarts from OUT_X_XL (28h - 29h) (see Figure 7).

Figure 7. Multiple reads: accelerometer only

When both accelerometer and gyroscope sensors are activated at the same ODR, starting

from OUT_X_G (18h - 19h) multiple reads can be performed. Once OUT_Z_XL (2Ch - 2Dh)

is read, the system automatically restarts from OUT_X_G (18h - 19h) (see Figure 8).

Figure 8. Multiple reads: accelerometer and gyroscope

7.2

FIFO

The LSM6DB0 embeds a 32 slots of 16-bit data FIFO for each of the gyroscope’s three

output channels, yaw, pitch and roll, and 16-bit data FIFO for each of the accelerometer’s

three output channels, X, Y and Z. This allows consistent power saving for the system, since

the host processor does not need to continuously poll data from the sensor, but it can wake

up only when needed and burst the significant data out from the FIFO. This buffer can work

accordingly to five different modes: Bypass mode, FIFO-mode, Continuous mode,

Continuous-to-FIFO mode and Bypass-to-Continuous. Each mode is selected by the

FMODE [2:0] bits in the FIFO_CTRL (2Eh) register. Programmable FIFO threshold status,

FIFO overrun events and the number of unread samples stored are available in the

FIFO_SRC (2Fh) register and can be set to generate dedicated interrupts on the INT1 pin

using the INT1_CTRL (0Ch) register.

x,y,z

OUT_Z_XL

Read #1

(2C-2D)

(2A-2B)

OUT_Y_XL

(28-29)

OUT_X_XL

x,y,z

Read #n

OUT_Z_XL

(2C-2D)

(2A-2B)

OUT_Y_XL

(28-29)

OUT_X_XL

(15-16)

OUT_TEMP

x,y,z

OUT_Z_XL

Read #1

(2C-2D)

(2A-2B)

OUT_Y_XL

(28-29)

OUT_X_XL

x,y,z

Read #n

OUT_Z_G

(1C-1D)

(1A-1B)

OUT_Y_G

(18-19)

OUT_X_G

OUT_Z_XL

(2C-2D)

(2A-2B)

OUT_Y_XL

(28-29)

OUT_X_XL

OUT_Z_G

(1C-1D)

(1A-1B)

OUT_Y_G

(18-19)

OUT_X_G

(15-16)

OUT_TEMP

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