LSM6DS3US Datasheet, PDF (30/104 Pages) STMicroelectronics – iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope

Functionality
LSM6DS3US
5.4
Interface flexibility with auxiliary SPI
In Mode3 configuration of the LSM6DS3US, interface flexibility is supported as follows:
 Primary interface: I²C or SPI (3/4-wire)
 Auxiliary interface: SPI (3-wire)
This configuration can support OIS applications, see details in the following figure.
Figure 5. Mode 3 interface configuration (OIS applications)
The primary interface is always available and the gyroscope output values are in registers
22h to 27h as per user-selected FS and ODR.
The auxiliary interface needs to be enabled in CTRL_SPIAux (70h) register and gyroscope
output values are in registers 22h to 27h with FS = 250 dps and ODR = 3.3 kHz. In this
interface SPI can write only to the dedicated register (CTRL_SPIAux (70h)). When the
auxiliary SPI is connected to the camera module, the recommendations are as follows:
 Single axis enable bits in CTRL9_XL (18h) and CTRL10_C (19h) have to be ‘1’ (default
value)
 Sign and orient bits in ORIENT_CFG_G (0Bh) have to be set to ‘0’ (default value)
 Sleep bit in CTRL4_C (13h) has to be set to ‘0’ (default value)
 Avoid using the self-test if the camera module is reading data
When the camera module is not connected, the device has the same behavior as the
LSM6DS3 (all bits supported).
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