M-G362 Datasheet, PDF (31/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

6.1.1 SPI Read Timing (Normal Mode)
The response data to a read command, i.e. the data from the internal register, is always returned in
16-bit words. The SPI interface supports sending the next command during the same bus cycle as
receiving a response to the read command (full-duplex).
t_READRATE
t_STALL
/CS
SCLK
SDI
SDO
D D D DD D D D D D D DD D D D
1 1 1 11 1 9 8 7 6 5 43 2 1 0
5 4 3 21 0
Command
Command
Response
Figure 6.1 SPI Read Timing (Normal Mode)
Response
Table 6.3 Command Format (Read)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0
A[6:0]
XX
A 6:0 ･･･ Register address (even address)
XX ･･･ Don't Care
Table 6.4 Response Format (Read)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D[15:8]
D[7:0]
D 15:8 ･･･ Register read data (upper byte)
D 7:0 ･･･ Register read data (lower byte)
M-G362PDC1 Data Sheet
Seiko Epson Corporation
27
Rev.20131217