LSM6DSM Datasheet, PDF (36/113 Pages) STMicroelectronics – always-on 3D accelerometer and 3D gyroscope

Functionality
LSM6DSM
5.5.6
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 1^st FIFO data set is reserved for gyroscope data;
The 2^nd FIFO data set is reserved for accelerometer data;
The 3^rd FIFO data set is reserved for the external sensor data stored in the registers from
SENSORHUB1_REG (2Eh) to SENSORHUB6_REG (33h);
The 4^th 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.
36/113
DocID028165 Rev 2