AN4650 datasheet(32/102 Pages) STMICROELECTRONICS

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Reading output data

AN4650

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3.6

Rounding functions

The rounding function can be used to auto address the LSM6DS3 registers for a circular

burst-mode read. Basically, with a multiple read operation the address of the register that is

being read goes automatically from the first register to the last register of the pattern and

then goes back to the first one.

3.6.1

Rounding of FIFO output registers

The rounding function is automatically enabled when performing a multiple read operation of

the FIFO output registers FIFO_DATA_OUT_L (3Eh) and FIFO_DATA_OUT_H (3Fh).

3.6.2

Rounding of source registers

It’s possible to apply the rounding function also to the source registers of the LSM6DS3

device, in order to verify with one multiple read whether new data was generated or a new

interrupt event was detected.

The rounding function on the source registers can be enabled by setting to 1 the

ROUNDING_STATUS bit of the CTRL7_G register: when this function is enabled, with a

multiple read operation the address of the register that is being read goes automatically

from STATUS_REG (1Eh) to FUNC_SRC (53h) and goes back to WAKE_UP_SRC (1Bh).

3.6.3

Rounding of sensor output registers

The rounding function can also be enabled for the following groups of output registers:



Gyroscope output registers, from OUTX_L_G (22h) to OUTZ_H_G (27h);



Accelerometer output registers, from OUTX_L_XL (28h) to OUTZ_H_XL (2Dh);



First group of sensor hub output registers, from SENSORHUB1_REG (2Eh) to

SENSORHUB6_REG (33h);



Second group of sensor hub output registers, from SENSORHUB7_REG (34h) to

SENSORHUB12_REG (39h).

The output registers rounding pattern can be configured using the bits ROUNDING[2:0] of

the CTRL5_C register, as indicated in Table 20.

Table 20. Output registers rounding pattern

ROUNDING[2:0]

Rounding pattern

000

No rounding

001

Accelerometer only

010

Gyroscope only

011

Gyroscope + Accelerometer

100

1st group of Sensor Hub only

101

Accelerometer + 1st group of Sensor Hub

110

Gyroscope + Accelerometer +

1st group of Sensor Hub + 2nd group of Sensor Hub

111

Gyroscope + Accelerometer + 1st group of Sensor Hub

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