U SER MANUAL

WSEN-ISDS I NERTIAL
M EASUREMENT U NIT

2536030320001,
25360303200011

V ERSION 1.3

J ULY 18, 2024

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User manual WSEN-ISDS Inertial Measurement Unit

Revision history

Manual Product
Notes Date
version version

1.0 1.0 • Initial release of the manual December 2022

• Chapter 15.2: Footprint dimension is

updated
1.1 1.0 May 2023
• Chapter 10 : ’Application specific sensor
features’ is updated

1.2 1.0 • Chapter 14.50: Corrected alignment error January 2024

• Chapter 12.2, Chapter 12.3: Corrected the

1.3 1.0 concatenation equation July 2024

• Chapter 15.1: Corrected the sensor axes

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Abbreviations

Abbreviation Description
ASIC Application specific integrated circuit
BDU Block update data
BLE Big/Little Endian
DRDY Data ready
DC Direct current
ESD Electrostatic discharge
FIFO First-in first-out
HBM Human body model
2
I C Inter integrated circuit
IMU Inertial measurement unit
LSB Least significant bit
LGA Land grid array
MEMS Micro-Electro Mechanical system
MSB Most significant bit
MSL Moisture sensitivity level
ODR Output data rate
PCB Printed circuit board
SPI Serial peripheral interface

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Contents
Overview of helpful application notes 7

1 Product description 8
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Sensor features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.5 Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2 Sensor and electrical specifications 11

2.1 Acceleration sensor specifications . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Gyroscope sensor specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3 Sensitivity parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.4 Temperature sensor specifications . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.5 Electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.6 Absolute maximum rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.7 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3 Pinning description 16

4 Application circuit 17

5 Inter-Integrated Circuit (I2 C) 18

5.1 General characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.2 SDA and SCL logic levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.3 Communication phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.3.1 Idle state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.3.2 START(S) and STOP(P) condition . . . . . . . . . . . . . . . . . . . . . 19
5.3.3 Data validity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.4 Byte format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.5 Acknowledge (ACK) and No-Acknowledge (NACK) . . . . . . . . . . . 20
5.3.6 Slave address of the sensor . . . . . . . . . . . . . . . . . . . . . . . . 21
5.3.7 Read/Write operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.4 I2 C timing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

6 Serial Peripheral Interface (SPI) 24

6.1 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.2 Communication modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.3 Sensor SPI Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.3.1 SPI write operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.3.2 SPI read operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.3.3 SPI timing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

7 Sensor specific parameters 29

7.1 Acceleration Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.2 Gyroscope Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.3 0 g Level offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

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7.4 Zero rate Level offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

7.5 Noise density . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

8 Quick start guide 31

8.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8.2 Boot status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8.2.1 Soft reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
8.3 Flow chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
8.3.1 Communication check . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
8.3.2 Sensor in operation with high performance mode . . . . . . . . . . . . 33

9 Operating modes 35
9.1 Gyroscope power modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
9.2 Acceleration power modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

10 Application specific sensor features 37

10.1 Single tap/Double tap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
10.2 Activity/Inactivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
10.3 Stationary/Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
10.4 6D Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
10.5 Wake-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
10.6 Free-Fall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
10.7 Tilt detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
10.8 FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

11 Self test 39

12 Sensor output data 42

12.1 Output values from the register . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
12.2 Acceleration sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
12.3 Gyroscope sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
12.4 Temperature sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

13 Register mapping 47

14 Register description 49
14.1 FIFO_CTRL1 (0x06) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
14.2 FIFO_CTRL2 (0x07) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
14.3 FIFO_CTRL3 (0x08) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
14.4 FIFO_CTRL4 (0x09) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
14.5 FIFO_CTRL5 (0x0A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
14.6 DRDY_PULSE_CFG (0x0B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
14.7 INT0_CTRL (0x0D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
14.8 INT1_CTRL (0x0E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
14.9 Device_ID (0x0F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
14.10 CTRL1_XL (0x10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
14.11 CTRL2_G (0x11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
14.12 CTRL3_C (0x12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
14.13 CTRL4_C (0x13) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

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14.14 CTRL5_C (0x14) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

14.15 CTRL6_C (0x15) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
14.16 CTRL7_G (0x16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
14.17 CTRL8_XL (0x17) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
14.18 CTRL9_XL (0x18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
14.19 CTRL10_C (0x19) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
14.20 MASTER_CONFIG (0x1A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
14.21 WAKE_UP_SRC (0x1B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
14.22 TAP_SRC (0x1C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
14.23 D6D_SRC (0x1D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
14.24 STATUS_REG (0x1E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
14.25 T_OUT_L (0x20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
14.26 T_OUT_H (0x21) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
14.27 G_X_OUT_L (0x22) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
14.28 G_X_OUT_H (0x23) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
14.29 G_Y_OUT_L (0x24) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
14.30 G_Y_OUT_H (0x25) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
14.31 G_Z_OUT_L (0x26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
14.32 G_Z_OUT_H (0x27) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
14.33 XL_X_OUT_L (0x28) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
14.34 XL_X_OUT_H (0x29) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
14.35 XL_Y_OUT_L (0x2A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
14.36 XL_Y_OUT_H (0x2B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
14.37 XL_Z_OUT_L (0x2C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
14.38 XL_Z_OUT_H (0x2D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
14.39 FIFO_STATUS1 (0x3A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
14.40 FIFO_STATUS2 (0x3B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
14.41 FIFO_STATUS3 (0x3C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
14.42 FIFO_STATUS4 (0x3D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
14.43 FIFO_DATA_OUT_L (0x3E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
14.44 FIFO_DATA_OUT_H (0x3F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
14.45 FUNC_SRC1 (0x53) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
14.46 TAP_CFG (0x58) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
14.47 TAP_THS_6D (0x59) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
14.48 INT_DUR2 (0x5A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
14.49 WAKE_UP_THS (0x5B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
14.50 WAKE_UP_DUR (0x5C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
14.51 FREE_FALL (0x5D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
14.52 MD1_CFG (0x5E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
14.53 MD2_CFG (0x5F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
14.54 X_OFS_USR (0x73) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
14.55 Y_OFS_USR (0x74) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
14.56 Z_OFS_USR (0x75) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

15 Physical specifications 92
15.1 Module drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
15.2 Footprint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

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16 Manufacturing information 94
16.1 Moisture sensitivity level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
16.2 Soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
16.2.1 Reflow soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
16.2.2 Cleaning and washing . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
16.2.3 Potting and coating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
16.2.4 Storage conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
16.2.5 Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

17 Important notes 98

18 Legal notice 98

19 License terms for Würth Elektronik eiSos GmbH & Co. KG sensor product soft-
ware and source code 99

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Overview of helpful application notes

Application note ANM001 - MEMS Sensor PCB design and soldering guideline

http://www.we-online.com/ANM001
This technical document provides necessary information and general guidelines for soldering
and PCB design for the Würth Elektronik eiSos MEMS sensor products with an LGA surface-
mount package.

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1 Product description
1.1 Introduction
The IMU sensor is a 16-bit digital ultra-low power and high performance sensor with 3-axis
linear accelerometer and 3-axis gyroscope with digital I2 C and SPI serial interface. It measures
user selectable acceleration range of ±2g, ±4g, ±8g, ±16g and an angular rate range of ±125
dps, ±250 dps, ±500 dps, ±1000 dps, ±2000 dps with an output data rate up to 6.66kHz. It
consists of an in-built FIFO buffer to store the output data. The dimension of the sensor is
2.5 ×3.0 ×0.86 mm. It is available in land grid array package (LGA).

1.2 Applications
• Localization and navigation

• Industrial tools and factory equipment

• Antenna and platform stabilization

• Industrial IoT and connected devices

• Robotics, drones and automation

1.3 Sensor features

Parameters Description
Acceleration selectable full scale ±2g, ±4g, ±8g, ±16g
Gyroscope selectable full scale ±250 dps, ±500 dps, ±1000 dps, ±2000 dps
Sensitivity accuracy ±3 %
Acceleration offset ±40mg
Gyroscope offset ±2 dps
Output data rate Up to 6.66 kHz
up to 1400 Hz for acceleration
Bandwidth
up to 937 Hz for gyroscope
Operating modes High performance, normal, low power
Current consumption 0.69 mA @ high performance mode
FIFO 4-kbyte
Communication interface I2 C & SPI, two independent interrupt pins
Free-fall, wake-up, tap, activity, motion, tilt and 6D
Motion detection functionality
orientation

Table 1: Sensor Features

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1.4 Block diagram

Clock
Generator

MEMS Element Timming

Circuits
INT_0

Acceleration Acceleration SAO

ADC 1 Filter Controller
front-end Embedded Digital SDA
Logic &
Functions Interface SCL
Gyroscope Interrupt
Gyroscope ADC 2 Filter CS
front-end

INT_1

Temperature Sensor Tap

FIFO Buffer Free Fall Orientation
Detection

Reference Self test Stationary/ Activity/

Wake up
Motion Inactivity

Figure 1: Block diagram

The sensor is a MEMS based capacitive sensor for acceleration and gyroscope measurement
with an integrated ASIC. The acceleration MEMS element is capable of measuring both dy-
namic acceleration due to motion or vibration and also static acceleration due to gravity. The
sensor measures the acceleration or vibration through MEMS capacitive sensing principle. The
MEMS element consists of a fixed structure and movable structure. The movable structure is
free to move in the direction of acceleration applied i.e. X, Y and Z direction. The force in-
duced on the MEMS element produces change in the capacitance value that is proportional to
the force exerted on it. Similarly, the gyroscope element is capable of measuring the angular
velocity in degree per second (dps). The induced analog signal is converted to digital form
using an analog to digital converter followed by filters and controller logic blocks. The sensor
is integrated with a temperature sensor and self test functionality for both acceleration and gy-
roscope. The final sensor data from the output register can be accessed through an I2 C or SPI
digital communication interface using a host processor.

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1.5 Ordering information

WE order code Temperature Range Description

Tape & reel packaging
2536030320001 -40°C to +85°C
(1000 pcs/reel)
Tape & reel packaging (5000
25360303200011 -40°C to +85°C
pcs/reel)

Table 2: Ordering information

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2 Sensor and electrical specifications

T = 25 °C, supply voltage VDD = 3.3V, unless otherwise stated. Minimum and maximum values
are based on characterization at 3σ, unless otherwise stated.

2.1 Acceleration sensor specifications

Test
Parameters Symbol Min. Typ. Max. Unit
conditions
Measurement User ±2, ±4, ±8,
aRANGE g
range selectable ±16
Axis X, Y, Z 3
User
Output data rate ODR 1.6 6664 Hz
selectable
Resolution RESa 16 bits
Sensitivity T = 25°C,
SENa_ACC -3 +3 %
accuracy 1 aRANGE = ±2g
Sensitivity
delta from T =
change over SENa_TC -0.024 ±0.01 +0.024 % / °C
+25°
temperature
T = 25°C,
aRANGE = ±2g, √
Noise density 2 nD High 75 170 µg / Hz
performance
mode
0g offset 3 aOFF T = 25 °C -85 ±40 +85 mg
0g Offset change
aTCO ±0.1 mg /°C
over temperature
aRANGE = ±2g;
Nonlinearity NL Best-fit ±2 %FS
straight line
Resonant
fres_X X 3 kHz
frequency
fres_Y Y 3 kHz
fres_Z Z 2.2 kHz
Self test output
90 1700 mg
change

Table 3: Acceleration sensor specifications

g: unit of acceleration, 1g = 9.81 m/s2

1
Values are after factory calibration and trimming (parts are not soldered on PCB)
2
The output values are independent of the selected output data rate

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3
Not measured during final test after production. These are characterization values with lim-
ited number of samples

2.2 Gyroscope sensor specifications

Test
Parameters Symbol Min. Typ. Max. Unit
conditions
±125, ±250,
Measurement User
gRANGE ±500, ±1000, dps
range selectable
±2000
Axis X, Y, Z 3
User
Output data rate ODR 12.5 6664 Hz
selectable
Resolution RESg 16 bits
T = 25°C,
Sensitivity
SENg_ACC gRANGE = ±125 -3 +3 %
accuracy 1
dps
Sensitivity
delta from T =
change over SENg_TC -0.048 ±0.007 +0.048 % / °C
+25°
temperature
T = 25°C,
High √
Noise density 2 nD 3.8 11 mdps / Hz
performance
mode
Zero rate offset 3 gOFF T = 25 °C ±2 dps
Zero rate Offset
change over gTCO ±0.015 dps /°C
temperature
gRANGE =
±2000dps;
Nonlinearity NL ±0.07 %FS
Best-fit
straight line
Resonant
fres X,Y & Z axis 20 kHz
frequency
Self test output gRANGE = ±250
20 80 dps
change dps
gRANGE =
150 700 dps
±2000 dps

Table 4: Gyroscope sensor specifications

1
Values are after factory calibration and trimming (parts are not soldered on PCB)
2
The output values are independent of the selected output data rate

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3
Not measured during final test after production. These are characterization values with lim-
ited number of samples

2.3 Sensitivity parameter

Parameters Symbol Test conditions Min. Typ. Max. Unit

Acceleration SENa aRANGE = ±2g 0.061 mg /digit
sensitivity 1 aRANGE = ±4g 0.122 mg /digit
aRANGE = ±8g 0.244 mg /digit
aRANGE = ±16g 0.488 mg /digit
Gyroscope SENg gRANGE = ±125dps 4.375 mdps /digit
sensitivity 1 gRANGE = ±250dps 8.75 mdps /digit
gRANGE = ±500dps 17.5 mdps /digit
gRANGE = ±1000dps 35 mdps /digit
gRANGE = ±2000dps 70 mdps /digit

Table 5: Acceleration and gyroscope sensitivity parameter

1
Values are after factory calibration and trimming (parts are not soldered on PCB)

2.4 Temperature sensor specifications

Parameters Symbol Test conditions Min. Typ. Max. Unit

Measurement range TRANGE -40 +85 °C
Sensitivity SENT 0.00390625 °C/digit
Resolution REST 16 bits
1 TOFF -15 +15 °C
Offset
Temperature
TST 500 µs
stabilization time 2

Table 6: Temperature sensor specification

1
Output of temperature sensor is 0 LSB typical at 25 °C
2
Time from power ON bit to the valid data based on characterization data °C

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2.5 Electrical specifications

Parameters Symbol Test conditions Min. Typ. Max. Unit

Operating supply
VDD 1.71 1.8 3.6 V
voltage
Operating supply
VDD_IO 1.62 3.6 V
voltage for I/O pins
Current consumption
in high performance IDD_HP ODR 6.66 kHz 694 µA
mode
Current consumption
IDD_NM ODR 104 Hz 376 µA
in normal mode
Current consumption
IDD_LP ODR 12.5Hz 280 µA
in low power mode
Current consumption
IDD_PD 10 µA
in power down mode
Digital input voltage -
VIH 0.7 * VDD_IO V
high-level
Digital input voltage -
VIL 0.3 * VDD_IO V
low-level
Digital output voltage
VOH IOH = 4 mA 1 VDD_IO - 0.2 V
- high-level
Digital output voltage
VOL IOL = 4 mA 1 0.2 V
- low-level

Table 7: Electrical specification

1
4 mA is the maximum driving capability i.e. the maximum DC current that can be sourced/-
sunk by digital pin in order to guarantee correct digital output voltage levels VOH and VOL .

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2.6 Absolute maximum rating

Parameter Symbol Test conditions Min. Max. Unit

Input voltage VDD pin VDD -0.3 4.8 V
Input voltage VDD_IO pin VDD_IO -0.3 4.8 V
Input voltage control pins 1 VIN -0.3 VDD_IO + 0.3 V
Acceleration aMAX for 0.2 ms 10000 g

Table 8: Absolute maximum rating

1
SDA, SCL, CS & SAO are control pins. Input voltage on any pin should never exceed 4.8 V.

Supply voltage on any pin should never exceed 4.8 V

2.7 General information

Parameters Values
Operating temperature -40°C to +85°C
Storage temperature -40°C; < 90 % RH
Communication interface I2 C & SPI
Moisture sensitivity level (MSL) 3
Electrostatic discharge protection (HBM) 2 kV

Table 9: General information

The device is susceptible to damage by electrostatic discharge (ESD). Always

use proper ESD precautions when handling. Improper handling of the device
can cause performance degradation or permanent damage to the part

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3 Pinning description

SDA

SCL

CS
1 11
SAO RSVD
14 12

RSVD RSVD

RSVD INT_1

5 7
INT_0 VDD
4 8

VDD_IO

GND

GND
Figure 2: Pinout (top view)

No Function Description Input/Output

2
I C device address selection, SPI
1 SAO Input/Output
serial data output (MISO)
2 RSVD Connect to VDD_IO Input
3 RSVD Connect to VDD_IO Input
4 INT_0 Interrupt pin 0 Output
5 VDD_IO Positive supply voltage for I/O pins Supply
6 GND Negative supply voltage Supply
7 GND Negative supply voltage Supply
8 VDD Positive supply voltage Supply
9 INT_1 Interrupt pin 1 Output
Leave electrically unconnected and
10 RSVD Input
solder to the PCB
Connect to VDD_IO or Leave
11 RSVD electrically unconnected and solder Input
to the PCB
12 CS I2 C enable/disable, SPI chip select Input
2
13 SCL I C enable/SPI serial clock Input
I2 C serial data, SPI serial data input
14 SDA Input/Output
(MOSI)

Table 10: Pin description

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4 Application circuit

I²C Bus configuration

SDA SCL
VDD_IO

Rp Rp

SDA SCL CS

14 13 12

SAO RSVD
1 11

RSVD RSVD
2 10

RSVD INT_1
3 9 4 Wire SPI configuration

SCL CLK
INT_0 VDD VDD
4 8
CS
10 µF 100 nF SS

5 6 7 SDA MOSI

VDD_IO GND GND SAO MISO

Rp – Pull up resistor 100 nF

Figure 3: Electrical connection (top view)

A positive supply voltage is applied to the sensor through VDD pin and I/O supply voltage
for digital interface through VDD_IO. The decoupling capacitor of 100 nF and 10µF in parallel
is highly recommended and should be placed as close as possible to the VDD pin, but also
maintain a keep out area of 2mm distance from the sensor. Communication is still possible,
even if the supply voltage to theVDD pin is removed but maintaining the VDD_IO. In this case,
measurement chain of the sensor is not active.

The CS pin shall be connected to SS (slave select) pin on the controller side to enable SPI
communication interface. The CS pin shall be connected to VDD_IO in order to enable the
I2 C communication interface. It is possible to have two I2 C slave addresses of the sensor by
connecting SAO pin either to VDD_IO or to GND. In the above connection the SAO pin is con-
nected to VDD_IO. Rp are the recommended pull up resistors for I2 C communication interface
which should be connected parallel between I/O supply voltage VDD_IO and SCL and SDA
pins.

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5 Inter-Integrated Circuit (I2C)

The acceleration sensor supports standard I2 C (Inter-IC) bus protocol. Further information of
the I2 C interface can be found at https://www.nxp.com/docs/en/user-guide/UM10204.pdf . I2 C is
a serial 8-bit protocol with two-wire interface which supports communication between different
ICs. For example, between the microcontroller and other peripheral devices.

5.1 General characteristics

A serial data line (SDA) and a serial clock line (SCL) are required for the communication be-
tween the devices connected via I2 C bus. Both SDA and SCL lines are bidirectional. The
output stages of devices connected to the bus must have an open-drain or open-collector.
Hence, the SDA and SCL lines are connected to a positive supply voltage via pull-up resistors.
In I2 C protocol, the communication is realized through master-slave principle. The master de-
vice generates the clock pulse, a start command and a stop command for the data transfer.
Each connected device on the bus is addressable via a unique address. Master and slave can
act as a transmitter or a receiver depending upon whether the data needs to be transmitted or
received.

The sensor implements the I2 C role "slave"

+VDD

Rp Rp Pull up resistors
SCL
(serial clock)

Microcontroller
(Master) SDA
(serial data)

Sensor Sensor
(Slave-1) (Slave-2)

Figure 4: Master-slave concept

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5.2 SDA and SCL logic levels

The positive supply voltage to which SDA and SCL lines are pulled up (through pull-up resis-
tors), in turn determines the high level input for the slave devices. The sensor has separate
supply voltage VDD_IO for the SDA and SCL lines. The logic high ’1’ and logic low ’0’ levels for
the SDA and SCL lines then depend on the VDD_IO. Input reference levels for the acceleration
sensor are set as 0.7 * VDD_IO (for logic high) and 0.3 * VDD_IO (for logic low). See in figure 5.

Voltage
VDD_IO
high
0.7 x VDD_IO

0.3 x VDD_IO
low
GND
Time

Figure 5: SDA and SCL logic levels

5.3 Communication phase

5.3.1 Idle state
During the idle state, the bus is free and both SDA and SCL lines are in logic high ’1’ state.

5.3.2 START(S) and STOP(P) condition

Data transfer on the bus starts with a START command, which is generated by the master. A
start condition is defined as a high-to-low transition on the SDA line while the SCL line is held
high. The bus is considered busy after the start condition.
Data transfer on the bus is terminated with a STOP command, which is also generated by the
master. A low-to-high transition on the SDA line, while the SCL line being high is defined as a
STOP condition. After the stop condition, the bus is again considered free and is in idle state.
Figure 6 shows the I2 C bus START and STOP conditions.
Master can also send a REPEATED START (SR) command instead of STOP command. RE-
PEATED START condition is same as the START condition.

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5.3.3 Data validity

After the start condition, one data bit is transmitted with each clock pulse. The transmitted data
is only valid when the SDA line data is stable (high or low) during the high period of the clock
pulse. High or low state of the data line can only change when the clock pulse is in low state.

START Valid Valid change STOP

Condition data of data Condition
SDA

SCL

Figure 6: Data validity, START and STOP condition

5.3.4 Byte format

Data transmission on the SDA line is always done in bytes, with each byte being 8-bits long.
Data is transmitted with the most significant bit (MSB) followed by other bits.
If the slave cannot receive or transmit another complete byte of data, it can force the master
into a wait state by holding SCL LOW. Data transfer continues when the slave is ready which is
indicated by releasing the SCL pin.

5.3.5 Acknowledge (ACK) and No-Acknowledge (NACK)

Each byte transmitted on the data line must follow an Acknowledge bit. The receiver (master or
slave) generates an Acknowledge signal to indicate that the data byte was received success-
fully and ready to receive next data byte.
After one byte is transmitted, the master generates an additional Acknowledge clock pulse to
continue the data transfer. The transmitter releases the SDA line during this clock pulse so that
the receiver can pull the SDA line to low state in such a way that the SDA line remains stable
low during the entire high period of the clock pulse. It is considered as an Acknowledge signal.
If the receiver does not want to receive any further byte, it will not pull down the SDA line and it
remains in stable high state during the entire clock pulse. It is considered as a No-Acknowledge
signal and the master can generate either a stop condition to terminate the data transfer or a
repeated start condition to initiate a new data transfer.

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5.3.6 Slave address of the sensor

The slave address is transmitted after sending the start condition. Each device on the I2 C bus
has a unique address. Master selects the slave by sending corresponding slave address after
the start condition. A slave address is a 7 bits long followed by a Read/Write bit.

MSB LSB

R/W

0 = Write
1 1 0 1 0 1 1/0 1 = Read

7-bit slave address

Figure 7: Slave address format

The 7-bit slave address of the acceleration sensor is 110101xb. LSB of the 7-bit slave address
can be modified with the SAO pin. If SAO is connected to positive supply voltage i.e. LSB is
’1’, making 7-bit slave address 1101011b (0x6B). If SAO is connected to ground i.e. LSB is ’0’,
making 7-bit address 1101010b (0x6A).
The R/W bit determines the data direction. A ’0’ indicates a write operation (transmission from
master to slave) and a ’1’ indicates a read operation (data request from slave).

START STOP
Condition Condition

1...7 8 9 1...8 9 1...8 9

7-bit Read/ Register

ACK ACK Data NACK
Address Write Address

Figure 8: Complete data transfer

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7-bit slave address of the IMU sensor is 110101xb. LSB of the 7-bit slave
address depends on the SAO pin connection

Slave address[6:1] Slave address[0] 7-bit slave address R/W Slave address + R/W
110101 0 11010100 (0xD4)
SAO = 0 1101010 (0x6A)
110101 1 11010101 (0xD5)
110101 0 11010110 (0xD6)
SAO = 1 1101011 (0x6B)
110101 1 11010111 (0xD7)

Table 11: Slave address and Read/Write commands

5.3.7 Read/Write operation

a) I2C Write: Master writing data to slave

Slave address + Register

S ACK ACK Data ACK P
Write address

b) I2C Read: Master reading multiple data bytes from slave

Slave address + Register Slave address +

S ACK ACK SR ACK Data A Data NACK P
Write address Read

Transmission from master to slave

Transmission from slave to master

S START condition

P STOP condition

ACK Acknowledge

NACK No acknowledge

SR Repeated start condition

Figure 9: Write and read operations of the sensor

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Once the slave-address and data direction bit is transmitted, the slave acknowledges the mas-
ter. The next byte is transmitted by the master, which must be a register-address of the sensor.
It indicates the address of the register where data needs to be written to or read from.
After receiving the register address, the slave sends an Acknowledgment (ACK). If the master
is still writing to the slave (R/W bit = 0), it will transmit the data to slave in the same direction.
If the master wants to read from the addressed register (R/W bit =1), a repeated start (SR)
condition must be transmitted to the slave. Master acknowledges the slave after receiving
each data byte. If the master no longer wants to receive further data from the slave, it would
send No-Acknowledge (NACK). Afterwards, master can send a STOP condition to terminate
the data transfer. Figure 9 shows the writing and reading procedures between the master and
the slave device (sensor).

5.4 I2 C timing parameters

Standard mode Fast mode

Parameter Symbol Unit
Min Max Min Max
SCL clock frequency fSCL 0 100 0 400 kHz
LOW period for SCL clock tLOW_SCL 4.7 1.3 µs
HIGH period for SCL clock tHIGH_SCL 4.0 0.6 µs
Hold time for START
tHD_S 4 0.6 µs
condition
Setup time for (repeated)
fSCL 4.7 0.6 400 µs
START condition
SDA setup time tSU_SDA 250 100 ns
SDA data hold time tHD_SDA 0 3.45 0 0.9 µs
Setup time for STOP
tSU_P 4 0.6 µs
condition
Bus free time between
tBUF 4.7 1.3 µs
STOP and START condition

Table 12: I2 C timing parameters

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6 Serial Peripheral Interface (SPI)

Serial Peripheral Interface (SPI) is a synchronous serial communication bus system for the
communication between host microcontroller and other peripheral ICs such as ADCs, EEP-
ROMs, sensors, etc. SPI is a full-duplex master-slave based interface allowing the communi-
cation to happen in both directions simultaneously. The data from the master or the slave is
synchronized either on the rising or falling edge of clock pulse. SPI can be either 4-wire or
3-wire interface. 4-wire interface consists of two signal lines and two data lines. All of these
bus lines are unidirectional.

1. Clock (SCL)

2. Chip select (CS)

3. Master out, slave in (MOSI)

4. Master in, slave out (MISO)

MOSI SDA

MISO SAO
µC Sensor
(SPI Master) CLK CLK (SPI Slave)

CS CS

Figure 10: SPI Interface

Master generates the clock signal and is connected to all slave devices. Data transmission
between the master and salves is synchronized to the clock signal generated by the master.
One master can be connected to one or more slave devices. Each slave device is addressed
and controlled by the master via individual chip select (CS) signals. CS is controlled by the
master and is normally an active low signal.
MOSI and MISO are data lines. MOSI transmits data from the master to the slave. MISO
transmits data from the slave to the master.

The IMU sensor supports 4-wire SPI communication protocol

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6.1 Data transfer

Communication begins when the master selects a slave device by pulling the CS line to LOW.
The clock and data lines (MOSI/MISO) are available for the selected slave device. Data stored
in the specific shift registers are exchanged synchronously between master and the slave
through MISO and MOSI lines. The data transmission is over when the chip select line is pulled
up to the HIGH state. 4-wire SPI uses both data lines for the synchronous data exchange in
both the direction.

6.2 Communication modes

In SPI, the master can select the clock polarity (CPOL) and clock phase (CPHA). The CPOL
bit sets the polarity of the clock signal during the idle state. The CPHA bit selects the clock
phase. Depending on the CPHA bit, the rising or falling clock edge is used to sample and shift
the data. Depending on the CPOL and CPHA bit selection in the SPI control registers, four SPI
modes are available as per table 13. In order to ensure proper communication, master and the
slave must be set to same communication modes.

CPOL CPHA Description

0 0 Clock polarity LOW in idle state; Data sampled on the rising clock edge
0 1 Clock polarity LOW in idle state; Data sampled on the falling clock edge
1 1 Clock polarity HIGH in idle state; Data sampled on the falling clock edge
1 0 Clock polarity HIGH in idle state; Data sampled on the rising clock edge

Table 13: SPI communication modes

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6.3 Sensor SPI Communication

4-Wire SPI of this sensor uses following lines: SDA (data input, MOSI),SAO (data output,
MISO), SCL (serial clock) and CS (chip select). For more information, please refer to pin
description in the section 3.
CS is pulled LOW by the master at the start of communication. The SCL polarity is HIGH in the
idle state (CPOL = 1). The data lines (SDA & SAO) are sampled at the falling clock edge and
latched at the rising clock edge (CPHA = 1). Data is transmitted with MSB first and the LSB
last.
SPI read and write operations are completed in 2 or more bytes (multiple of 16 or more clock
pulses). Each block consists of a register address byte and a data byte. The first byte is the
register address. In the SPI communication, the register address is specified in the 7-bits and
the MSB of the register address is used as an SPI read/write bit (Figure 11). When R/W is ’0’,
the data is written on to the sensor. When ’1’, the data is read from the sensor.

MSB LSB

R/W 7- bit register address

0 = Write
A[6] A[5] A[4] A[3] A[2] A[1] A[0]
1=Read

Figure 11: SPI register address

The next bytes of data, depending on the R/W bit, is either written to or read from the indexed
register. Figure 12 shows the complete SPI data transfer protocol.

CS

SCK

SDA
R/W A[6] A[5] A[4] A[3] A[2] A[1] A[0] DI[7] DI[6] DI[5] DI[4] DI[3] DI[2] DI[1] DI[0]
SAO

DO[7] DO[6] DO[5] DO[4] DO[3] DO[2] DO[1] DO[0]

Figure 12: 4-wire SPI data transfer (CPOL = 1, CPHA = 1)

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6.3.1 SPI write operation

The write operation starts with the CS = LOW and sending the 7-bit register address with R/W
bit = ’0’ (write command). Next byte is the data byte that is the data to be written to the indexed
register. Several write command pairs can be sent without raising the CS back to HIGH. The
operation is ended with CS = HIGH. The SPI write protocol is shown in the figure 13.

Start R/W Register address Data to be written Stop

CS = DI DI DI DI DI DI DI DI CS =
0 A[6] A[5] A[4] A[3] A[2] A[1] A[0]
LOW [7] [6] [5] [4] [3] [2] [1] [0] HIGH

Figure 13: SPI write protocol

6.3.2 SPI read operation

The read operation starts with the CS = LOW and sending the 7-bit register address with R/W
bit = ’1’ (read command). Data is sent out from the sensor through the SAO line. The SPI read
protocol is shown in the figure 14.

Start Register address Data from indexed register Stop

R/W
CS = DI DI DI DI DI DI DI DI CS =
1 A[6] A[5] A[4] A[3] A[2] A[1] A[0]
LOW [7] [6] [5] [4] [3] [2] [1] [0] HIGH

Figure 14: SPI read protocol

During multiple read/write operation, the register address is automatically in-

cremented after each block. This feature is enabled by default with the bit
IF_ADD_INC set to ’1’ in the CTRL_2 register.

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6.3.3 SPI timing parameters

Table 14 shows general SPI timing parameters. They are subject to VDD and the operating
temperature.

Parameter Symbol Min Max Unit

SCL clock frequency fSCL 10 (1) MHz
SPI clock cycle tSCL 100 ns
CS setup time tSU_CS 6 ns
CS hold time th_CS 6 ns
SDA input setup time tSU_SDA 5 ns
SDA input hold time th_SDA 15 ns
SAO valid output time tv_SAO 50 ns
SAO output hold time th_SAO 9 ns
SAO output disable time tdis_SAO 50 ns

Table 14: SPI timing parameters

1. Recommended maximum SPI clock frequency for ODR ≤ 50 Hz is 8 MHz

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7 Sensor specific parameters

7.1 Acceleration Sensitivity
Sensitivity is defined as the ratio of change in input to the change in the output signal. The unit
of sensitivity is typically expressed in mg/digit for acceleration sensor. Acceleration sensitivity
can be measured by pointing the sensor horizontally downwards, an acceleration of 1g is
measured due to earth’s gravity (9.807 m/s2 ). Similarly by pointing sensor horizontally upwards
(rotation of 180 degree), again an acceleration of 1g is measured due to earth’s gravity (9.807
m/s2 ). By subtracting the larger measured output value from the smaller measured output value
and dividing by two gives the actual sensitivity of the acceleration sensor.

larger value - smaller value

Sensitivity = (1)
2

7.2 Gyroscope Sensitivity

An angular rate gyroscope produces a positive digital output for counterclockwise rotation
around the axis and negative digital output for clockwise rotation around the axis considered.
The unit of sensitivity is typically expressed in mdps/digit (milli degree per second/digit) for gy-
roscope sensor. The sensitivity of the gyroscope sensor is defined by the gain of the sensor
which can be determined by applying a known angular velocity.

The sensitivity value will drift over time and temperature

7.3 0 g Level offset

0 g level is the output level when there is no acceleration or motion acting on the sensor i.e.
zero input. A sensor placed on a perfect horizontal plane will give 0 g output on X-axis and
Y-axis but 1 g on Z-axis. The deviation of an actual output value from the ideal value gives
the 0 g level offset. 0 g offset value is influenced by external parameters like temperature and
stress. External stress on the sensor will affect the sensor performance significantly. The 0 g
level offset will also drift over temperature.

External stress: Vias under the sensor on a PCB, PCB warpage, external me-
chanical stress to the sensor

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7.4 Zero rate Level offset

Zero rate level is the actual output signal when there is no angular rate acting on the sensor.
i.e. zero input. Similarly as acceleration sensor, the gyroscope sensor zero rate output is
influenced by external parameter like temperature and also stress after mounting onto a printed
circuit board.

7.5 Noise density

√ √
Noise density of the sensor is expressed as µg / Hz for acceleration sensor and mdps/ Hz
for gyroscope sensor. Noise density of the sensor is dependent on the output data rate. The
values are expressed in the chapter 9. The noise of the sensor is determined by the equivalent
noise bandwidth of the output filter and coefficient of the filter order. In general, the noise
density of the sensor is determined by the following equation:

rms noise of acceleration sensor √

Noise density_Acc = √ [µg/ Hz] (2)
Bandwidth * filter coefficient
rms noise of gyroscope sensor √
Noise density_Gyr = √ [mdps/ Hz] (3)
Bandwidth * filter coefficient

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8 Quick start guide

This chapter describes the start up sequence of the acceleration sensor.

8.1 Power supply

The sensor has two individual supply voltage pins.

• VDD is main supply voltage

• VDD_IO is the I/O pin supply voltage for the digital I2 C or SPI communication interface

It should be noted that VDD level should never be lower than VDD_IO i.e. proper power up
should be VDD > VDD_IO. It is possible to remove VDD by keeping VDD_IO pin without com-
munication interruption but the measurement chain of the sensor is turned off i.e. VDD = 0 with
VDD_IO "high" is allowed. In this case, the measurement chain is turned off but the communi-
cation to the sensor is possible without interruption.

Power up sequence should be VDD > VDD_IO

8.2 Boot status

By proper powering up of the sensor with correct voltage level to the respective pins, the sensor
enters into a 20 ms boot sequence to load the trimming parameters. After completion of the
boot up sequence the sensor automatically enters to power down mode.

It is also possible to initiate the boot sequence manually by the user. It is performed by setting
the BOOT bit of the CTRL3_C register to ’1’, then the boot sequence is initiated and trimming
parameters are reloaded. In this case, the device operation mode does not change after boot
procedure. No toggle of the power is required and the content of the device control registers is
not modified.

The registers are not accessible during the 20 ms boot sequence

The boot status signal is identified by setting the INT0_BOOT bit of the INT0_CTRL register
to ’1’. When the sensor is in boot sequence, INT_0 interrupt pin is driven high. Similarly when
the boot sequence is completed, INT_0 interrupt pin is driven low.

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8.2.1 Soft reset

If required, the soft reset of the sensor is possible. It resets the default value of the control
registers. The soft reset procedure will take 5 µs.

The below steps should be considered for setting the BOOT bit manually:
1. Write SOFT_RESET bit to ’1’
2. Wait for 5 µs
3. Write BOOT bit to ’1’
4. Wait for 20 ms

Parameter Time
Boot sequence 20 ms
Soft reset duration 5 µs

Table 15: Time consumption

8.3 Flow chart

8.3.1 Communication check
After proper powering of the sensor, the first step is to check the communication of the sensor
with an I2 C or SPI communication interface. It can be verified by reading the value of Device_ID
register(0x0F). If the value from the Device_ID register(0x0F) is 0x6A, then the communication
to the sensor is successful.

Power up

Read Device ID register(0x0F)

Yes No
Device ID = 0x6A ?

Communication successful Communication failed

Figure 15: Communication check

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8.3.2 Sensor in operation with high performance mode

The following flow chart is an initialization example to operate the sensor in high performance
mode with output data rate of 208 Hz.

Sensor in power down

mode

CTRL1_XL(0x10), CTRL2_G(0x11),
Enable high performance mode
CTRL6_C(0x15, CTRL7_G(0x16)
Select output data rate: 208 Hz
Enable low power mode for
lowest power consumption

Enable block data update

Enable automatic address increment CTRL3_C(0x12)
Steps can
be Acceleration Bandwidth:
CTRL1_XL(0x10) & CTRL8_XL(0x17)
performed Select bandwidth: ODR/2 Hz
Select full scale: ± 16g, ± 2000 dps Acceleration Full Scale: CTRL1_XL(0x10)
once Gyro Bandwidth: CTRL6_C(0x15)
Gyro Full Scale: CTRL2_G(0x11)

Read XLDA and GDA bit in Status register (0x1E)

status register

If No
XLDA and GDA bit No data in the output register
=1?

Yes
Request data from output register
Request data from output register
Steps can 0x22 and receive data from 0x22, to
G_X_OUT_L (0x22)
0x2D
be
performed
in loops Read acceleration and Save data from output registers from
gyroscope output data (XL and 0x22 to 0x2D
G)

XL_X_16 = XL_X_H & XL_X_L

XL_Y_16 = XL_Y_H & XL_Y_L
XL_Z_16 = XL_Z_H & XL_Z_L Concatenation of 8 bit ouput values
G_X_16 = G_X_H & G_X_L to get 16 bit output values
G_Y_16 = G_Y_H & G_Y_L
G_Z_16 = G_Z_H & G_Z_L

Acceleration X axis = XL_X_16 * 0.488

Acceleration Y axis = XL_Y_16 * 0.488 Multiplying the sensitivity value for
Acceleration Z axis = XL_Z_16 * 0.488 the selected full scale range ±16 g &
Gyroscope X axis = G_X_16 * 70 ±2000 dps
Gyroscope Y axis = G_Y_16 * 70
Gyroscope Z axis = G_Z_16 * 70

Acceleration value in mg
Gyroscope value in mdps

No
No new data available in the
New data needed?
output registers

Yes

Figure 16: Sensor in operation with high performance mode

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In order to set the sensor in one of the operation modes, the sensor needs to be initialized.
The initialization of the sensor can be performed by defining output data rate, full scale setting
and filtering path. After initializing the sensor, it is recommended to check if the data sam-
ples are available in the output registers. It can be verified by reading GDA and XLDA bit in
STATUS_REG register(0x1E). If the GDA and XLDA bit is enabled, the output data from ac-
celeration and gyroscope sensor of three axes from 0x22 to 0x2D registers are available. The
acceleration and angular velocity values of the sensors are obtained by multiplying output data
with respective sensitivity parameter value based on the selected full scale range. Sensitivity
parameter values for different full scale ranges are mentioned in the table 5.

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9 Operating modes
The sensor can be operated in three different operation modes which provides different combi-
nation of noise and current consumption values. These operating modes are selected by using
the ODR_XL[3:0] bits in the CTRL1_XL register(0x10) and ODR_G[3:0] bits in the CTRL2_G
register(0x11).

• High performance mode

• Normal mode

• Low power mode

The acceleration and the gyroscope sensor can be turned on/off independently of each other
and are capable to operate with different ODRs and power modes. The three operating modes
are available

• Acceleration sensor active and gyroscope power down

• Gyroscope sensor active and acceleration power down

• Both acceleration and gyroscope sensor active with independent ODRs

9.1 Gyroscope power modes

By default after power up, the sensor is in power down mode. The gyroscope sensor can be
configured in four different operating modes:

• Power down

• Low power

• Normal mode

• High performance mode

The operating modes can be selected using the G_HM_MODE bit in CTRL7_G (0x16). If
G_HM_MODE is set to ’0’, high performance mode is valid for all ODRs (from 12.5 Hz up to
6.66 kHz). To enable the low power and normal mode, the G_HM_MODE bit has to be set
to ’1’. Low power mode is available for lower ODRs (12.5, 26, 52 Hz) while normal mode is
available for ODRs equal to 104 and 208 Hz.

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9.2 Acceleration power modes

By default after power up, the sensor is in power down mode. The acceleration sensor can be
configured in four different operating modes:

• Power down

• Low power

• Normal mode

• High performance mode

The operating mode can be selected using the XL_HM_MODE bit in CTRL6_C (0x15). If
XL_HM_MODE is set to ’0’, high performance mode is valid for all ODRs (from 12.5 Hz up to
6.66 kHz).To enable the low power and normal mode, the XL_HM_MODE bit has to be set to
’1’. Low power mode is available for lower ODRs (1.6, 12.5, 26, 52 Hz) while normal mode is
available for ODRs equal to 104 and 208 Hz.

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10 Application specific sensor features

10.1 Single tap/Double tap
The single tap event interrupt is generated when the applied tap acceleration to any axis is
greater than defined threshold and returns below within specific interval time. Similarly in
double tap event an interrupt is generated, if two consecutive tap acceleration applied to any
axis is greater than the threshold with duration time after first tap acceleration.

10.2 Activity/Inactivity
The activity/inactivity function monitors the sensor, which defines whether the sensor is active
or not. This function allows developing application with low power consumption. If the sensor is
not active, the output data rate automatically goes to output data rate of 12.5 Hz with low power
operating mode. As soon as the sensor detects an activity, the output data rate is switched back
to the selected output data rate.

10.3 Stationary/Motion
Stationary/motion function is similar to the activity/inactivity function but the output data rate
and operating mode will not change after the motion is detected.

10.4 6D Orientation
Six dimension (6D) orientation of the sensor is detected when one axis exceeds a selected
threshold and the acceleration values from other two axes are lower than the defined threshold
value.

10.5 Wake-Up
If a number of data samples exceed the defined threshold on both positive and negative accel-
eration a wake-up interrupt signal is generated. It can either be achieved by setting high-pass
filter or user defined offset function.

10.6 Free-Fall
Free fall detection interrupt is generated when the device is in free-fall i.e. the acceleration
measured in all axes goes to zero. In a real case, a free-fall zone is defined around the zero-g
level where all the acceleration values from the three axes are small enough to generate the
interrupt.

10.7 Tilt detection

The tilt detection function helps to identify the change in the activity/angle of the sensor. This
feature is implemented in the hardware only using the acceleration sensor. The tilt detection is
based on the trigger of an event each time when the sensor is tilted. It can be easily configured
using the programmable average window and average threshold parameters.

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10.8 FIFO
The integrated FIFO buffer allows consistent power saving operation for the system since the
host processor does not need continuously data logging from the sensor. But it can wake up
only when needed and burst the significant data out from the FIFO. The sensor embeds 4
kbytes data FIFO to store the following data:

• Gyroscope sensor output data

• Acceleration sensor output data

• Temperature output data

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11 Self test
The sensor includes a self test feature which tests the both acceleration and gyroscope sensor
functionality without any external force. When the self test feature is enabled, an actuation
force is applied to the sensor which causes the non-stationary part to move. This change in
the movement provides the change in the DC level of the sensor.

The self test function is enabled by writing ’01’ to ST_G[1:0] and ST_XL[1:0] in CTRL5_C
(0x14) register which causes movement in positive direction of the axis for both acceleration
and gyroscope sensor. Similarly by writing ’10’ to ST_G[1:0] and ST_XL[1:0] in CTRL5_C
(0x14) register causes the movement in negative direction of the axis for both acceleration and
gyroscope sensor. When the sensor self test functionality is enabled, the output level is given
by the algebraic sum of the data produced by the electrostatic test force and gravity.

The device should be fixed without any movement during self test procedure

The following procedure is recommended for the self test verification. Refer to the block
diagram in the figure 17 for acceleration sensor self test procedure and figure 18 for gyroscope
sensor self test procedure.

• Average five data samples before enabling the self test without moving the sensor

• Average five data samples after enabling the self test without moving the sensor

• The difference in the absolute value of each axis provides the self test induced DC accel-
eration value.

• Verify the value, whether it is in the range of 70 mg to 1500 mg for acceleration and 150
dps to 700 dps for gyroscope sensor

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Power up, Initialize the sensor

Set -> BDU: '1’, FS: ± 16g
Set -> High performance mode
Set -> ODR 52 Hz

Check XLDA bit in Status register

Wait for 100 ms
Read Acceleration out value XL from
Read output register -
output register
clears DRDY bit
Discard the read values

Check XLDA
Read output register – 0x28, 0x29 -> Save in X_AXIS_WOST
Read output register – 0x2A, 0x2B -> Save in Y_AXIS_WOST WOST – Without self test
Read output register – 0x2C, 0x2D -> Save in Z_AXIS_WOST
Repeat -> 5 times and Average the output data

Enable self-test – Write ‚01' to ST_XL bit in Wait for 100 ms

CTRL5_C (0x14)

Check XLDA bit in Status register Wait for 100 ms

Read Acceleration out value XL from Read output register -
output register clears XLDA bit
Discard the read values

Check XL_DA
Read output register – 0x28, 0x29 -> Save in X_AXIS_ST ST – self test
Read output register – 0x2A, 0x2B -> Save in Y_AXIS_ST
Read output register – 0x2C, 0x2D -> Save in Z_AXIS_ST
Repeat -> 5 times and Average the output data

X = (X_AXIS_ST) – (X_AXIS_WOST)
Y = (Y_AXIS_ST) – (Y_AXIS_WOST)
Z = (Z_AXIS_ST) – (Z_AXIS_WOST)

if
Yes 70 mg ≤ X ≤ 1500 mg No
70 mg ≤ Y ≤ 1500 mg
70 mg ≤ Z ≤ 1500 mg

Device passed Device failed

Write ‚00' to ST_XL[1:0] bit in Disable self test

CTRL5_C(0x14) register

Write ‚0000' to ODR_XL Disable sensor

[3:0] bits in CTRL1_XL(0x10) operating mode
register

Figure 17: Self test procedure for acceleration sensor

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Power up, Initialize the sensor

Set -> BDU: '1’, FS: ± 2000 dps
Set -> High performance mode
Set -> ODR 52 Hz

Check GDA bit in Status register Wait for 100 ms

Read gyroscope out value from output register Read output register -
Discard the read values clears DRDY bit

Check GDA
Read output register – 0x22, 0x23 -> Save in X_AXIS_WOST
Read output register – 0x24, 0x25 -> Save in Y_AXIS_WOST WOST – Without self test
Read output register – 0x26, 0x27 -> Save in Z_AXIS_WOST
Repeat -> 5 times and Average the output data

Enable self-test – Write ‚01' to ST_G bit in

CTRL5_C (0x14) Wait for 100 ms

Check GDA bit in Status register Wait for 100 ms

Read Gyroscope out value from output register Read output register -
Discard the read values clears XLDA bit

Check GDA
Read output register – 0x22, 0x23 -> Save in X_AXIS_ST ST – self test
Read output register – 0x24, 0x25 -> Save in Y_AXIS_ST
Read output register – 0x26, 0x27 -> Save in Z_AXIS_ST
Repeat -> 5 times and Average the output data

X = (X_AXIS_ST) – (X_AXIS_WOST)
Y = (Y_AXIS_ST) – (Y_AXIS_WOST)
Z = (Z_AXIS_ST) – (Z_AXIS_WOST)

if
Yes 150 dps ≤ X ≤ 700 dps No
150 dps ≤ Y ≤ 700 dps
150 dps ≤ Z ≤ 700 dps

Device passed Device failed

Write ‚00' to ST_G[1:0] bit in Disable self test

CTRL5_C(0x14) register

Write ‚0000' to ODR_G [3:0] Disable sensor

bits in CTRL2_G(0x10) operating mode
register

Figure 18: Self test procedure for gyroscope sensor

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12 Sensor output data

12.1 Output values from the register
The acceleration output data is obtained by reading output registers from (0x28) to (0x2D) and
similarly for gyroscope output data from the registers (0x22) to (0x27). The 8-bit output data
from the registers of least significant bit and most significant bit are concatenated to get 16-bit
data for each axis i.e. X, Y and Z axis. The values from the output register are represented
as 16-bit values, left aligned and provided in two’s complement. The value is multiplied with
respective sensitivity parameter to convert the data related to the value in mg for acceleration
and mdps (milli degree per second) for gyroscope .

12.2 Acceleration sensor

Below is an example of how to convert the output data into acceleration value in mg. With an
assumption of sensor operating in high performance mode with full scale selection of ±16g.

Step 1:

Read the output registers.

1. XL_X_OUT_L (0x28)

2. XL_X_OUT_H (0x29)

3. XL_Y_OUT_L (0x2A)

4. XL_Y_OUT_H (0x2B)

5. XL_Z_OUT_L (0x2C)

6. XL_Z_OUT_H (0x2D)

Step 2:

Concatenation of two 8-bit output values from the registers to get a signed 16-bit output value
for each axis.

1. X_16 = (XL_X_OUT_H  8) | XL_X_OUT_L

2. Y_16 = (XL_Y_OUT_H  8) | XL_Y_OUT_L

3. Z_16 = (XL_Z_OUT_H  8) | XL_Z_OUT_L

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Step 3:

Multiply with respective sensitivity will provide the acceleration value in mg.
(Sensitivity = 0.488 mg /digit for FS: ±16g, please refer to table 5)

1. X axis = X_16 * (0.488) = value in mg

2. Y axis = Y_16 * (0.488) = value in mg

3. Z axis = Z_16 * (0.488) = value in mg

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12.3 Gyroscope sensor

Below is an example of how to convert the output data into gyroscope value in mdps (milli de-
gree per second). With an assumption of sensor operating in high performance mode with full
scale selection of ±2000 dps.

Step 1:

Read the output registers.

1. G_X_OUT_L (0x22)

2. G_X_OUT_H (0x23)

3. G_Y_OUT_L (0x24)

4. G_Y_OUT_H (0x25)

5. G_Z_OUT_L (0x26)

6. G_Z_OUT_H (0x27)

Step 2:

Concatenation of two 8-bit output values from the registers to get a signed 16-bit output value
for each axis.

1. P_16 = (XL_X_OUT_H  8) | XL_X_OUT_L

2. R_16 = (XL_Y_OUT_H  8) | XL_Y_OUT_L

3. Y_16 = (XL_Z_OUT_H  8) | XL_Z_OUT_L

Step 3:

Multiply with respective sensitivity will provide the gyroscope value in mdps.
(Sensitivity = 70 mdps /digit for FS: ±2000 dps, please refer to table 5)

1. Pitch = P_16 * 70 = value in mdps

2. Roll = R_16 * 70 = value in mdps

3. Yaw = Y_16 * 70 = value in mdps

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12.4 Temperature sensor

The IMU sensor includes embedded temperature sensor for ambient temperature measure-
ment. The temperature data is represented as a 16 bit in two’s complement form and left
aligned in the output registers T_OUT_L (0x20) and T_OUT_H (0x21) with a sensitivity of 256
LSB/°C. The output zero level corresponds to 25 °C.
If both the acceleration and the gyroscope sensors are in power down mode, the temperature
sensor is off. The maximum output data rate of the temperature sensor is 52 Hz and its value
depends on how the acceleration and gyroscope sensors are configured. If the gyroscope is in
power down mode:

• The temperature data rate is equal to 12.5 Hz if the acceleration sensor ODR is equal to
12.5 Hz low power mode

• The temperature data rate is equal to 26 Hz if the acceleration sensor configuration is 26

Hz low power mode

• The temperature data rate is equal to 52 Hz for all other acceleration sensor configura-
tions.

If both the acceleration and the gyroscope sensors are in power down mode,
the temperature sensor is off

If the gyroscope is not in power down mode, the temperature data rate is equal to 52 Hz, re-
gardless of the acceleration and gyroscope sensor configuration. table 16 and table 17 provides
a few basic examples of the data that is read from the temperature data registers at different
ambient temperature values. The values listed in this table are given under the hypothesis of
perfect device calibration (i.e. no offset, no gain error).

T_OUT_H T_OUT_L
Temperature values (if BLE (big/little endian) bit = 0)
(0x21) (0x20)
0 °C 0xE7 0x00
25 °C 0x00 0x00
50 °C 0x19 0x00

Table 16: Temperature output data BLE bit = 0

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T_OUT_H T_OUT_L
Temperature values (if BLE (big/little endian) bit = 1)
(0x21) (0x20)
0 °C 0x00 0xE7
25 °C 0x00 0x00
50 °C 0x00 0x19

Table 17: Temperature output data BLE = 1

We recommend our WSEN-TIDS temperature sensor part no: 2521020222501

for high accurate and precise temperature measurement applications

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13 Register mapping
Register
Addr Name Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type Comments
(Hex)
0x00-05 Reserved1 - - Reserved
0x06 FIFO_CTRL1 FTH_[7:0] R/W FIFO configuration register
0x07 FIFO_CTRL2 FIFO_TIMER_EN 0(2) FIFO_TEMP_EN FTH_[10:8] R/W
0x08 FIFO_CTRL3 0(2) DEC_FIFO_GYRO[2:0] DEC_FIFO_XL[2:0] R/W
0x09 FIFO_CTRL4 ON_FTH HIGH_DATA DEC_DS4_FIFO[2:0] DEC_DS3_FIFO[2:0] R/W
0x0A FIFO_CTRL5 0(2) ODR_FIFO_[3:0] FIFO_MODE_0[2:0] R/W
0x0B DRDY_PULSE_CFG DRDY_PULSED 0(2) R/W
0x0C Reserved1 - - Reserved
0x0D INT0_CTRL 0(2) INT0_FIFO_FLAG INT0_FIFO_OVR INT0_FTH INT0_BOOT INT0_DRDY_G INT0_DRDY_XL R/W INT0 pin control
0x0E INT1_CTRL 0(2) INT1_FIFO_FLAG INT1_FIFO_OVR INT1_FTH INT0_DRDY_TEMP INT1_DRDY_G INT1_DRDY_XL R/W INT1 pin control
0x0F DEVICE_ID 0 1 1 0 1 0 1 0 R Device address
0x10 CTRL1_XL ODR_XL[3:0] FS_XL[1:0] LPF1_BW_SEL BW0_XL R/W Acceleration and gyroscope register
0x11 CTRL2_G ODR_G[3:0] FS_G[1:0] FS_125 0(2) R/W
0x12 CTRL3_C BOOT BDU H_LACTIVE PP_OD SIM IF_INC BLE SW_RESET R/W
0x13 CTRL4_C DEN_XL_EN SLEEP INT1_ON_INT0 DEN_DRDY_INT0 DRDY_MASK I2C_DISABLE LPF1_SEL_G 0(2) R/W
0x14 CTRL5_C ROUNDING[2:0] DEN_LH ST_G[1:0] ST_XL[1:0] R/W
0x15 CTRL6_C TRIG_EN LVL1_EN LVL2_EN XL_HM_MODE USR_OFF_W 0(2) FTYPE[1:0] R/W
0x16 CTRL7_G G_HM_MODE HP_EN_G HPM_G[1:0] 0(2) ROUNDING_STATUS 0(2) 0(2) R/W
0x17 CTRL8_XL LPF2_XL_EN HPCF_XL_1[1:0] HP_REF_MODE IN_COM HP_SL_XL_EN 0(2) LOW_PASS_ON_6D R/W
0x18 CTRL9_XL DEN_X DEN_Y DEN_Z DEN_XL_G 0(2) 0 0(2) 0(2) R/W
0x19 CTRL10_C 0(2) 0(2) 0 0(2) TILT_EN FUNC_EN 0(2) 0(2) R/W
0x1A MASTER_CONFIG DRDY_ON_INT1 DATA_VALID_SEL_FIFO 0(2) START_CONFIG PULL_UP_EN PASS_THROUGH_MODE 0 MASTER_ON R/W I2 C master configuration register
0x1B WAKE_UP_SRC 0 0 FF_IA SLEEP_STATE_IA WW_IA X_WU Y_WU Z_WU R Interrupt register
0x1C TAP_SRC 0 TAP_IA SINGLE_TAP DOUBLE_TAP TAP_SIGN X_TAP Y_TAP Z_TAP R
0x1D D6D_SRC DEN_DRDY D6D_IA ZH ZL YH YL ZH ZL R
0x1E STATUS_REG 0 0 0 0 0 TDA GDA XLDA R Status data register for GP and OIS data
0x1F Reserved1 - - Reserved
0x20 T_OUT_L TEMP[7:0] R Temperature data registers
0x21 T_OUT_H TEMP[15:8] R
0x22 G_X_OUT_L G_X[7:0] R Gyroscope data registers
0x23 G_X_OUT_H G_X[15:8] R
0x24 G_Y_OUT_L G_Y[7:0] R
0x25 G_Y_OUT_H G_Y[15:8] R
0x26 G_Z_OUT_L G_Z[7:0] R
0x27 G_Z_OUT_H G_Z[15:8] R
0x28 XL_X_OUT_L XL_X[7:0] R Acceleration data registers
0x29 XL_X_OUT_H XL_X[15:8] R
0x2A XL_Y_OUT_L XL_Y[7:0] R
0x2B XL_Y_OUT_H XL_Y[15:8] R
0x2C XL_Z_OUT_L XL_Z[7:0] R
0x2D XL_Z_OUT_H XL_Z[15:8] R
Register
Addr Name Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type Comments
(Hex)
0x2E-39 Reserved1 - - Reserved
0x3A FIFO_STATUS1 DIFF_FIFO[7:0] R FIFO status registers
0x3B FIFO_STATUS2 WATERM OVER_RUN FIFO_FULL_SMART FIFO_EMPTY 0 DIFF_FIFO[10:8] R
0x3C FIFO_STATUS3 FIFO_PATTERN[7:0] R
0x3D FIFO_STATUS4 0 FIFO_PATTERN[9:8] R
0x3E FIFO_DATA_OUT_L DATA_OUT_FIFO_L[7:0] R FIFO data registers
0x3F FIFO_DATA_OUT_H DATA_OUT_FIFO_H[7:0] R
0x40-52 Reserved1 - - Reserved
0x53 FUNC_SRC1 0 0 TILT_IA 0 0 0 0 0 R Interrupt registers
0x54-57 Reserved1 - - Reserved
0x58 TAP_CFG INTERUPPTS_ENABLE INACT_EN[1:0] SLOPE_FDS TAP_X_EN TAP_Y_EN TAP_Z_EN LIR R/W Interrupt registers
0x59 TAP_THS_6D D4D_EN SIXD_THS[1:0] TAP_THS[4:0] R/W
0x5A INT_DUR2 DUR[3:0] QUITE[1:0] SHOCK[1:0] R/W
0x5B WAKE_UP_THS SINGLE_DOUBLE_TAP 0 WK_THS[5:0] R/W
0x5C WAKE_UP_DUR FF_DUR5 WAKE_DUR[1:0] 0 SLEEP_DUR[3:0] R/W
0x5D FREE_FALL FF_DUR[4:0] FF_THS[2:0] R/W
0x5E MD1_CFG INT0_INACT_STATE INT0_SINGLE_TAP INT0_WU INT0_FF INT0_DOUBLE_TAP INT0_6D INT0_TILT 0 R/W
0x5F MD2_CFG INT1_INACT_STATE INT1_SINGLE_TAP INT1_WU INT1_FF INT1_DOUBLE_TAP INT1_6D INT1_TILT 0 R/W
0x60-72 Reserved1 - - Reserved
0x73 X_OFS_USR X_OFS_USR[7:0] R/W Acceleration user offset correction
0x74 Y_OFS_USR Y_OFS_USR[7:0] R/W
0x75 Z_OFS_USR Z_OFS_USR[7:0] R/W
0x76-7F Reserved1 - - Reserved
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1
The registers contents that are loaded at boot procedure should not be changed. They con-
tain the factory calibration values and their content is automatically restored when the device
is powered up.

2
This bit must be set to ’0’ for the correct operation of the device.

Writing to Reserved registers is not allowed, it will cause permanent damage

to the sensor

14 Register description
14.1 FIFO_CTRL1 (0x06)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

FTH[7:0] R/W

Table 18: FIFO_CTRL1 register

bits Description
FIFO threshold level setting. Default value: 0000 00001 Watermark flag
rises when the number of bytes written to FIFO after the next write is greater
FTH[7:0]
than or equal to the threshold level. Minimum resolution for the FIFO is 1
LSB = 2 bytes (1 word) in FIFO

Table 19: FIFO_CTRL1 register description

1. Consider FTH_[10:8] in FIFO_CTRL2 (0x07) for a complete watermark threshold configura-

tion.

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14.2 FIFO_CTRL2 (0x07)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

FIFO_TIMER_EN 0 0 0 FIFO_TEMP_EN FTH[10:8] R/W

Table 20: FIFO_CTRL2 register

bits Description
Enables timestamp data to be stored as the 4th FIFO data set. (0:
FIFO_TIMER_EN
timestamp not included in FIFO; 1: timestamp included in FIFO)
Enables the temperature data storage in FIFO. Default: 0 (0:
FIFO_TEMP_EN temperature not included in FIFO; 1: temperature included in
FIFO)
FIFO threshold level setting. Default value: 00001 Watermark flag
rises when the number of bytes written to FIFO after the next
FTH[10:8]
write is greater than or equal to the threshold level. Minimum
resolution for the FIFO is 1LSB = 2 bytes (1 word) in FIFO

Table 21: FIFO_CTRL2 register description

1. Consider FTH_[7:0] in FIFO_CTRL1 (06h) for a complete watermark threshold configuration.

14.3 FIFO_CTRL3 (0x08)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

0 0 DEC_FIFO_GYRO [2:0] DEC_FIFO_XL [2:0] R/W

Table 22: FIFO_CTRL3 register

bits Description
DEC_FIFO_GYRO Gyro FIFO (first data set) decimation setting.
[2:0] Default: 000 For the configuration setting, refer to Table 24.
Acceleration sensor FIFO (second data set) decimation setting.
DEC_FIFO_XL [2:0]
Default: 000 For the configuration setting, refer to Table 25.

Table 23: FIFO_CTRL3 register description

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DEC_FIFO_GYRO [2:0] Configuration

000 Gyroscope sensor not in FIFO
001 No decimation
010 Decimation with factor 2
011 Decimation with factor 3
100 Decimation with factor 4
101 Decimation with factor 8
110 Decimation with factor 16
111 Decimation with factor 32

Table 24: Gyro FIFO decimation setting

DEC_FIFO_XL [2:0] Configuration

000 Acceleration sensor not in FIFO
001 No decimation
010 Decimation with factor 2
011 Decimation with factor 3
100 Decimation with factor 4
101 Decimation with factor 8
110 Decimation with factor 16
111 Decimation with factor 32

Table 25: Acceleration FIFO decimation setting

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14.4 FIFO_CTRL4 (0x09)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

ON_FTH HIGH_DATA DEC_DS4_FIFO[2:0] DEC_DS3_FIFO[2:0] R/W

Table 26: FIFO_CTRL4 register

bits Description
Enable FIFO threshold level use. Default value: 0 (0: FIFO depth
ON_FTH
is not limited; 1: FIFO depth is limited to threshold level).
8-bit data storage in FIFO. Default: 0 (0: disable MSByte only
HIGH_DATA memorization in FIFO for XL and Gyro; 1: enable MSByte only
memorization in FIFO for XL and Gyro in FIFO)
Fourth FIFO data set decimation setting. Default: 000. For the
DEC_DS4_FIFO[2:0]
configuration setting, refer to Table 28.
Third FIFO data set decimation setting. Default: 000. For the
DEC_DS3_FIFO[2:0]
configuration setting, refer to Table 29.

Table 27: FIFO_CTRL4 register description

DEC_DS4_FIFO[2:0] Configuration
000 Fourth FIFO data set not in FIFO
001 No decimation
010 Decimation with factor 2
011 Decimation with factor 3
100 Decimation with factor 4
101 Decimation with factor 8
110 Decimation with factor 16
111 Decimation with factor 32

Table 28: Fourth FIFO data set decimation setting

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DEC_DS3_FIFO[2:0] Configuration
000 Third FIFO data set not in FIFO
001 No decimation
010 Decimation with factor 2
011 Decimation with factor 3
100 Decimation with factor 4
101 Decimation with factor 8
110 Decimation with factor 16
111 Decimation with factor 32

Table 29: Third FIFO data set not in FIFO

14.5 FIFO_CTRL5 (0x0A)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

0 ODR_FIFO[3:0] FIFO_MODE[2:0] R/W

Table 30: FIFO_CTRL5 register

bits Description
FIFO ODR selection, setting FIFO_MODE also.
ODR_FIFO[3:0]
Default: 0000 For the configuration setting, refer to Table 32.
FIFO mode selection bits, setting ODR_FIFO also.
FIFO_MODE_[2:0]
Default value: 000 For the configuration setting, refer to Table 33.

Table 31: FIFO_CTRL5 register description

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ODR_FIFO[3:0] Configuration
0000 FIFO disabled
0001 FIFO ODR is set to 12.5 Hz
0010 FIFO ODR is set to 26 Hz
0011 FIFO ODR is set to 52 Hz
0100 FIFO ODR is set to 104 Hz
0101 FIFO ODR is set to 208 Hz
0110 FIFO ODR is set to 416 Hz
0111 FIFO ODR is set to 833 Hz
1000 FIFO ODR is set to 1.66 kHz
1001 FIFO ODR is set to 3.33 kHz
1010 FIFO ODR is set to 6.66 kHz

Table 32: FIFO ODR selection

If the device is working at an ODR slower than the one selected, FIFO ODR is limited to
that ODR value. Moreover, these bits are effective if the DATA_VALID_SEL FIFO bit of MAS-
TER_CONFIG (0x1A) is set to 0.

FIFO_MODE_[2:0] Configuration
000 Bypass mode. FIFO disabled.
001 FIFO mode. Stops collecting data when FIFO is full.
010 Reserved
Continuous mode until trigger is deasserted, then FIFO
011
mode.
Bypass mode until trigger is deasserted, then Continuous
100
mode.
101 Reserved
Continuous mode. If the FIFO is full, the new sample
110
overwrites the older one.
111 Reserved

Table 33: FIFO mode selection

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14.6 DRDY_PULSE_CFG (0x0B)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

DRDY_PULSED 0 0 0 0 0 0 0 R/W

Table 34: DRDY_PULSE_CFG

bits Description
Enable pulsed data-ready mode. Default value: 0 (0: data-ready
DRDY_PULSED latched mode. Returns to 0 only after output data has been read; 1:
data-ready pulsed mode. The data-ready pulses are 75 µs long.)

Table 35: DRDY_PULSE_CFG register description

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14.7 INT0_CTRL (0x0D)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3

0 0 INT0_FULL_FLAG INT0_FIFO_OVR INT0_FTH

Table 36: INT0_CTRL register

Bit 2 Bit 1 Bit 0 Type

INT0_BOOT INT0_DRDY_G INT0_DRDY_XL R/W

Table 37: INT0_CTRL register

bits Description
FIFO full flag interrupt enable on INT0 pad. Default value: 0 (0:
INT0_FULL_FLAG
disabled; 1: enabled)
FIFO overrun interrupt on INT0 pad. Default value: 0 (0: disabled;
INT0_FIFO_OVR
1: enabled)
FIFO threshold interrupt on INT0 pad. Default value: 0 (0:
INT0_FTH
disabled; 1: enabled)
Boot status available on INT0 pad. Default value: 0 (0: disabled;
INT0_BOOT
1: enabled)
Gyroscope data-ready on INT0 pad. Default value: 0 (0:
INT0_DRDY_G
disabled; 1: enabled)
Acceleration sensor data-ready on INT0 pad. Default value: 0 (0:
INT0_DRDY_XL
disabled; 1: enabled)

Table 38: INT0_CTRL register description

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14.8 INT1_CTRL (0x0E)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3

0 0 INT2_FULL_FLAG INT1_FIFO_OVR INT1_FTH

Table 39: INT1_CTRL register

Bit 2 Bit 1 Bit 0 Type

INT1_DRDY_TEMP INT1_DRDY_G INT1_DRDY_XL R/W

Table 40: INT1_CTRL register

bits Description
FIFO full flag interrupt enable on INT1 pad. Default value: 0 (0:
INT1_FULL_FLAG
disabled; 1: enabled)
FIFO overrun interrupt on INT1 pad. Default value: 0 (0: disabled;
INT1_FIFO_OVR
1: enabled)
FIFO threshold interrupt on INT1 pad. Default value: 0 (0:
INT1_FTH
disabled; 1: enabled)
Temperature data-ready on INT1 pad. Default value: 0 (0:
INT1_DRDY_TEMP
disabled; 1: enabled)
Gyroscope data-ready on INT1 pad. Default value: 0 (0:
INT1_DRDY_G
disabled; 1: enabled)
Acceleration sensor data-ready on INT1 pad. Default value: 0 (0:
INT1_DRDY_XL
disabled; 1: enabled)

Table 41: INT1_CTRL register description

14.9 Device_ID (0x0F)

The value of this register gives the device ID, a value which is fixed: 0x6A(b01101010).

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

0 1 1 0 1 0 1 0 R

Table 42: Device_ID register

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14.10 CTRL1_XL (0x10)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

ODR_XL[3:0] FS_XL[1:0] LPF1_BW_SEL BW0_XL R/W

Table 43: CTRL1_XL register

bits Description
ODR_XL[3:0] Output data rate and power mode selection. Default value: 0000
Acceleration full-scale selection. Default value: 00 (00: ±2 g; 01: ±16
FS_XL[1:0]
g; 10: ±4 g; 11: ±8 g)
Acceleration digital LPF (LPF1) bandwidth selection. For bandwidth
LPF1_BW_SEL
selection refer to CTRL8_XL (0x17).
Acceleration analog chain bandwidth selection (only for acceleration
BW0_XL
ODR ≥ 1.67kHz). (0: BW @ 1.5 kHz; 1: BW @ 400 Hz)

Table 44: CTRL1_XL register description

ODR_XL[3:0] ODR selection @ XL_HM_MODE = 1 ODR selection @ XL_HM_MODE = 0

0000 Power down Power down
1011 1.6 Hz (low power only) 12.5 Hz (high performance)
0001 12.5 Hz (low power) 12.5 Hz (high performance)
0010 26 Hz (low power) 26 Hz (high performance)
0011 52 Hz (low power) 52 Hz (high performance)
0100 104 Hz (normal mode) 104 Hz (high performance)
0101 208 Hz (normal mode) 208 Hz (high performance)
0110 416 Hz (high performance) 416 Hz (high performance)
0111 833 Hz (high performance) 833 Hz (high performance)
1000 1.66 kHz (high performance) 1.66 kHz (high performance)
1001 3.33 kHz (high performance) 3.33 kHz (high performance)
1010 6.66 kHz (high performance) 6.66 kHz (high performance)

Table 45: Acceleration sensor output data rate configuration

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14.11 CTRL2_G (0x11)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

ODR_G[3:0] FS_G[1:0] FS_125 0 R/W

Table 46: CTRL2_G register

bits Description
ODR_G[3:0] Output data rate and power mode selection. Default value: 0000
Gyroscope full-scale selection. Default value: 00 (00: ±250 dps; 01:
FS_G[1:0]
±500 dps; 10: ±1000 dps; 11: ±2000 dps)
FS_125 Gyroscope full-scale at ±125 dps. Default 0 (0: disabled; 1: enabled)

Table 47: CTRL2_G register description

ODR_G[3:0] ODR selection @ G_HM_MODE = 1 ODR selection @ G_HM_MODE = 0

0000 Power down Power down
0001 12.5 Hz (low power) 12.5 Hz (high performance)
0010 26 Hz (low power) 26 Hz (high performance)
0011 52 Hz (low power) 52 Hz (high performance)
0100 104 Hz (normal mode) 104 Hz (high performance)
0101 208 Hz (normal mode) 208 Hz (high performance)
0110 416 Hz (high performance) 416 Hz (high performance)
0111 833 Hz (high performance) 833 Hz (high performance)
1000 1.66 kHz (high performance) 1.66 kHz (high performance)
1001 3.33 kHz (high performance) 3.33 kHz (high performance)
1010 6.66 kHz (high performance) 6.66 kHz (high performance)

Table 48: Gyroscope sensor output data rate configuration

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14.12 CTRL3_C (0x12)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

BOOT BDU H_LACTIVE PP_OD SIM IF_INC BLE SW_RESET R/W

Table 49: CTRL3_C register

bits Description
Reboots memory content. Default value: 0 (0: normal mode; 1: reboot
BOOT
memory content)
Block Data Update. Default value: 0 (0: continuous update; 1: output
BDU
registers not updated until MSB and LSB have been read)
Interrupt activation level. Default value: 0 (0: interrupt output pads
H_LACTIVE
active high; 1: interrupt output pads active low)
Push-pull/open-drain selection on INT0 and INT1 pads.
PP_OD
Default value: 0 (0: push-pull mode; 1: open-drain mode)
SPI Serial Interface Mode selection. Default value: 0 (0: 4-wire
SIM
interface; 1: 3-wire interface)
Register address automatically incremented during a multiple byte
IF_INC access with a serial interface (I2 C or SPI). Default value: 1 (0:
disabled; 1: enabled)
Big/Little Endian Data selection. Default value 0 (0: data LSB @ lower
BLE
address; 1: data MSB @ lower address)
Software reset. Default value: 0 (0: normal mode; 1: reset device)
SW_RESET
This bit is automatically cleared.

Table 50: CTRL3_C register description

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14.13 CTRL4_C (0x13)

Bit 7 Bit 6 Bit 5 Bit 4

DEN_XL_EN SLEEP INT1_on_INT0 DEN_DRDY_INT0

Table 51: CTRL4_C register

Bit 3 Bit 2 Bit 1 Bit 0 Type

2
DRDY_MASK I C_disable LPF1_SEL_G 0 R/W

Table 52: CTRL4_C register

bits Description
Extend DEN functionality to acceleration sensor.
DEN_XL_EN
Default value: 0 (0: disabled; 1: enabled)
Gyroscope sleep mode enable.
SLEEP
Default value: 0 (0: disabled; 1: enabled)
All interrupt signals available on INT0 pad enable. Default value: 0
INT1_on_INT0 (0: interrupt signals divided between INT0 and INT1 pads; 1: all
interrupt signals in logic or on INT0 pad)
DEN DRDY signal on INT0 pad.
DEN_DRDY_INT0
Default value: 0 (0: disabled; 1: enabled)
Configuration 1 data available enable bit. Default value: 0 (0: DA
DRDY_MASK
timer disabled; 1: DA timer enabled)
Disable I2 C interface. Default value: 0 (0: both I2 C and SPI enabled;
I2 C_disable
1: I2 C disabled, SPI only)
Enable gyroscope digital LPF1. the bandwidth can be selected
LPF1_SEL_G
through FTYPE [1:0] in CTRL6_C (0x15) (0: disabled; 1: enabled)

Table 53: CTRL4_C register description

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14.14 CTRL5_C (0x14)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

ROUNDING[2:0] DEN_LH ST_G[1:0] ST_XL[1:0] R/W

Table 54: CTRL5_C register

bits Description
Circular burst-mode (rounding) read from output registers through
ROUNDING[2:0] the primary interface. Default value: 000 (000: no rounding; others:
refer to Table 56)
DEN active level configuration. Default value: 0 (0: active low; 1:
DEN_LH
active high)
Angular rate sensor self-test enable. Default value: 00 (00: self-test
ST_G [1:0]
disabled; others: refer to Table 57)
Linear acceleration sensor self-test enable. Default value: 00 (00:
ST_XL [1:0]
self-test disabled; others: refer to Table 58)

Table 55: CTRL5_C register description

ROUNDING[2:0] Rounding pattern

000 No rounding
001 Acceleration only
010 Gyroscope only
011 Gyroscope + acceleration

Table 56: Output registers rounding pattern

ST1_G ST0_G Self-test mode

0 0 Normal mode
0 1 Positive sign self-test
1 0 Not allowed
1 1 Negative sign self-test

Table 57: Angular rate sensor self-test mode selection

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ST1_XL ST0_XL Self-test mode

0 0 Normal mode
0 1 Positive sign self-test
1 0 Negative sign self-test
1 1 Not allowed

Table 58: Linear acceleration sensor self-test mode selection

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14.15 CTRL6_C (0x15)

Bit 7 Bit 6 Bit 5

TRIG_EN LVL1_EN LVL2_EN

Table 59: CTRL6_C register

Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

XL_HM_MODE USR_OFF_W 0 FTYPE[1:0] R/W

Table 60: CTRL6_C register

bits Description
TRIG_EN DEN data edge-sensitive trigger enable. Refer to Table 62.
LVL1_EN DEN data level-sensitive trigger enable. Refer to Table 62.
LVL2_EN DEN level-sensitive latched enable. Refer to Table 62.
High performance operating mode disable for acceleration.
XL_HM_MODE Default value: 0 (0: high performance operating mode enabled; 1:
high performance operating mode disabled)
Weight of XL user offset bits of registers X_OFS_USR (0x73),
USR_OFF_W Y_OFS_USR (0x74), Z_OFS_USR (0x75) (0: 2-10 g/LSB; 1: 2-6
g/LSB)
Gyroscope low pass filter (LPF1) bandwidth selection.Table 63 and
FTYPE[1:0]
Table 64 show the selectable bandwidth values.

Table 61: CTRL6_C register description

TRIG_EN, LVL1_EN, LVL2_EN Trigger mode

100 Edge-sensitive trigger mode is selected
010 Level-sensitive trigger mode is selected
011 Level-sensitive latched mode is selected
110 Level-sensitive FIFO enable mode is selected

Table 62: Trigger mode selection

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FTYPE[1:0] Phase delay1 (ODR=800 Hz) Phase delay1 (ODR=1.6 kHz)

00 14° (BW = 245 Hz) 10° (BW = 315 Hz)
01 17° (BW = 195 Hz) 12° (BW = 224 Hz)
10 19° (BW = 155 Hz) 15° (BW = 168 Hz)
11 13° (BW = 293 Hz) 8° (BW = 505 Hz)

Table 63: Gyroscope LPF1 bandwidth selection for ODR=800 Hz and ODR=1.6 kHz

FTYPE[1:0] Phase delay1 (ODR=3.3 kHz) Phase delay1 (ODR=6.6 kHz)

00 8° (BW = 343 Hz) 7° (BW = 351 Hz)
01 10° (BW = 234 Hz) 9° (BW = 237 Hz)
10 12° (BW = 172 Hz) 11° (BW = 173 Hz)
11 6° (BW = 925 Hz) 5° (BW = 937 Hz)

Table 64: Gyroscope LPF1 bandwidth selection for ODR=3.3 kHz and ODR=6.6 kHz

1. Phase delay @ 20 Hz

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14.16 CTRL7_G (0x16)

Bit 7 Bit 6 Bit 5 Bit 4

G_HM_MODE HP_EN_G HPM_G[1:0]

Table 65: CTRL7_G register

Bit 3 Bit 2 Bit 1 Bit 0 Type

0 ROUNDING_STATUS 0 0 R/W

Table 66: CTRL7_G register

bits Description
High performance operating mode disable for gyroscope.
G_HM_MODE Default: 0 (0: high performance operating mode enabled; 1:
high performance operating mode disabled)
Gyroscope digital high-pass filter enable. The filter is enabled
HP_EN_G only if the gyro is in HP mode. Default value: 0 (0: HPF
disabled; 1: HPF enabled)
Gyroscope digital HP filter cutoff selection. Default: 00 (00: 16
HPM_G[1:0]
mHz; 01: 65 mHz; 10: 260 mHz; 11; 1.04 Hz)
Source register rounding function on WAKE_UP_SRC (0x1B),
TAP_SRC (0x1C), D6D_SRC (0x1D), STATUS_REG (0x1E),
ROUNDING_STATUS
and FUNC_SRC1 (0x53) registers in the primary interface.
Default value: 0 (0: rounding disabled; 1: rounding enabled)

Table 67: CTRL7_G register description

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14.17 CTRL8_XL (0x17)

Bit 7 Bit 6 Bit 5 Bit 4

LPF2_XL_EN HPCF_XL[1:0] HP_REF_MODE

Table 68: CTRL8_XL register

Bit 3 Bit 2 Bit 1 Bit 0 Type

IN_COM HP_SLOPE_XL_EN 0 LOW_PASS_ON_6D R/W

Table 69: CTRL8_XL register

bits Description
LPF2_XL_EN Acceleration low-pass filter LPF2 selection.
Acceleration LPF2 and high-pass filter configuration and
HPCF_XL[1:0]
cutoff setting. Refer to Table 71.
Enable HP filter reference mode. Default value: 01 (0:
HP_REF_MODE
disabled; 1: enabled))
Composite filter input selection. Default: 0 (0: ODR/2 low
IN_COM pass filtered sent to composite filter (default) 1: ODR/4 low
pass filtered sent to composite filter)
HP_SL_XL_EN Acceleration slope filter / high-pass filter selection.
LOW_PASS_ON_6D LPF2 on 6D function selection.

Table 70: CTRL8_XL register description

1. When enabled, the first output data has to be discarded.

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HP_SL_XL_EN LPF2_XL_EN LPF1_BW_SEL IN_COM HPCF_XL[1:0] Bandwidth

01 (low-pass
0 0 - - ODR/2
path)
1 - - ODR/4
1 (low
noise) 0
1 - 00 ODR/50
(low
latency)
01 ODR/100
10 ODR/9
11 ODR/400
12 (high-pass
- - 0 00 ODR/4
path)
01 ODR/100
10 ODR/9
11 ODR/400

Table 71: Acceleration bandwidth selection

1. The bandwidth column is related to LPF1 if LPF2_XL_EN = 0 or LPF2 if LPF2_XL_EN = 1.

2. The bandwidth column is related to the slope filter if HPCF_XL[1:0] = 00 or to the HP filter if
HPCF_XL[1:0] = 01/10/11.

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14.18 CTRL9_XL (0x18)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

DEN_X DEN_Y DEN_Z DEN_XL_G 0 0 0 0 R/W

Table 72: CTRL9_XL register

bits Description
DEN value stored in LSB of X-axis. Default value: 1 (0: DEN
DEN_X
not stored in X-axis LSB; 1: DEN stored in X-axis LSB)
DEN value stored in LSB of Y-axis. Default value: 1 (0: DEN
DEN_Y
not stored in Y-axis LSB; 1: DEN stored in Y-axis LSB)
DEN value stored in LSB of Z-axis. Default value: 1 (0: DEN
DEN_Z
not stored in Z-axis LSB; 1: DEN stored in Z-axis LSB)
DEN stamping sensor selection. Default value: 0 (0: DEN pin
info stamped in the gyroscope axis selected by bits [7:5]; 1:
DEN_XL_G
DEN pin info stamped in the acceleration axis selected by bits
[7:5])

Table 73: CTRL9_XL register description

14.19 CTRL10_C (0x19)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

0 0 0 0 TILT_EN FUNC_EN 0 0 R/W

Table 74: CTRL10_C register

bits Description
TILT_EN Enable tilt calculation.1
Enable embedded functionalities (tilt). Default value: 0 (0:
disable functionalities of embedded functions and acceleration
FUNC_EN
filters; 1: enable functionalities of embedded functions and
acceleration filters)

Table 75: CTRL10_C register description

1. This is effective if the FUNC_EN bit is set to ’1’.

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14.20 MASTER_CONFIG (0x1A)

Bit 7 Bit 6 Bit 5 Bit 4

DRDY_ON_INT1 DATA_VALID_SEL_FIFO 0 START_CONFIG

Table 76: MASTER_CONFIG register

Bit 3 Bit 2 Bit 1 Bit 0 Type

0 0 0 0 R/W

Table 77: MASTER_CONFIG register

bits Description
Manage the master DRDY signal on INT0 pad. Default: 0
DRDY_ON_INT1 (0: disable master DRDY on INT0; 1: enable master DRDY
on INT0)
Selection of FIFO data-valid signal. Default value: 0 (0:
data-valid signal used to write data in FIFO is the XL/Gyro
DATA_VALID_SEL_FIFO
data-ready; 1: data-valid signal used to write data in FIFO
is the sensor hub data-ready)

Table 78: MASTER_CONFIG register description

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14.21 WAKE_UP_SRC (0x1B)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

0 0 FF_IA SLEEP_STATE_IA WU_IA X_WU Y_WU Z_WU R

Table 79: WAKE_UP_SRC register

bits Description
Free-fall event detection status. Default: 0 (0: free-fall event not
FF_IA
detected; 1: free-fall event detected)
Sleep event status. Default value: 0 (0: sleep event not detected;
SLEEP_STATE_IA
1: sleep event detected)
Wakeup event detection status. Default value: 0 (0: wakeup event
WU_IA
not detected; 1: wakeup event detected.)
Wakeup event detection status on X-axis. Default value: 0 (0:
X_WU wakeup event on X-axis not detected; 1: wakeup event on X-axis
detected)
Wakeup event detection status on Y-axis. Default value: 0 (0:
Y_WU wakeup event on Y-axis not detected; 1: wakeup event on Y-axis
detected)
Wakeup event detection status on Z-axis. Default value: 0 (0:
Z_WU wakeup event on Z-axis not detected; 1: wakeup event on Z-axis
detected)

Table 80: WAKE_UP_SRC register description

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14.22 TAP_SRC (0x1C)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

0 TAP_IA SINGLE_TAP DOUBLE_TAP TAP_SIGN X_TAP Y_TAP Z_TAP R

Table 81: TAP_SRC register

bits Description
Tap event detection status. Default: 0 (0: tap event not detected;
TAP_IA
1: tap event detected)
Single-tap event status. Default value: 0 (0: single tap event not
SINGLE_TAP
detected; 1: single tap event detected)
Double-tap event detection status. Default value: 0 (0: double-tap
DOUBLE_TAP
event not detected; 1: double-tap event detected.)
Sign of acceleration detected by tap event. Default: 0 (0: positive
TAP_SIGN sign of acceleration detected by tap event; 1: negative sign of
acceleration detected by tap event)
Tap event detection status on X-axis. Default value: 0 (0: tap
X_TAP
event on X-axis not detected; 1: tap event on X-axis detected)
Tap event detection status on Y-axis. Default value: 0 (0: tap
Y_TAP
event on Y-axis not detected; 1: tap event on Y-axis detected)
Tap event detection status on Z-axis. Default value: 0 (0: tap
Z_TAP
event on Z-axis not detected; 1: tap event on Z-axis detected)

Table 82: TAP_SRC register description

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14.23 D6D_SRC (0x1D)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

DEN_DRDY D6D_IA ZH ZL YH YL XH XL R

Table 83: D6D_SRC register

bits Description
DEN data-ready signal. It is set high when data output is related
DEN_DRDY
to the data coming from a DEN active condition.1
Interrupt active for change position portrait, landscape, face-up,
D6D_IA face-down. Default value: 0 (0: change position not detected; 1:
change position detected)
Z-axis high event (over threshold). Default value: 0 (0: event not
ZH
detected; 1: event (over threshold) detected)
Z-axis low event (under threshold). Default value: 0 (0: event not
ZL
detected; 1: event (under threshold) detected)
Y-axis high event (over threshold). Default value: 0 (0: event not
YH
detected; 1: event (over-threshold) detected)
Y-axis low event (under threshold). Default value: 0 (0: event not
YL
detected; 1: event (under threshold) detected)
X-axis high event (over threshold). Default value: 0 (0: event not
XH
detected; 1: event (over threshold) detected)
X-axis low event (under threshold). Default value: 0 (0: event not
XL
detected; 1: event (under threshold) detected)

Table 84: D6D_SRC register description

1. The DEN data-ready signal can be latched or pulsed depending on the value of the dataready_pulsed
bit of the DRDY_PULSE_CFG (0x0B) register.

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14.24 STATUS_REG (0x1E)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

0 0 0 0 0 TDA GDA XLDA R

Table 85: STATUS_REG register

bits Description
Temperature new data available. Default: 0 (0: no set of data is
TDA available at temperature sensor output; 1: a new set of data is
available at temperature sensor output)
Gyroscope new data available. Default value: 0 (0: no set of data
GDA available at gyroscope output; 1: a new set of data is available at
gyroscope output)
Acceleration new data available. Default value: 0 (0: no set of
XLDA data available at acceleration output; 1: a new set of data is
available at acceleration output)

Table 86: STATUS_REG register description

14.25 T_OUT_L (0x20)

Temperature data output register. L and H registers together express a 16-bit word in two’s
complement.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

Temp[7:0] R

Table 87: T_OUT_L register

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14.26 T_OUT_H (0x21)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

Temp[15:8] R

Table 88: T_OUT_H register

bits Description
Temperature sensor output data. The value is expressed as two’s
Temp[15:0]
complement sign extended on the MSB.

Table 89: T_OUT_H register description

14.27 G_X_OUT_L (0x22)

Angular rate sensor pitch axis (X) angular rate output register. The value is expressed as a
16-bit word in two’s complement. If this register is read by the primary interface, data are ac-
cording to the full scale and ODR settings (CTRL2_G (0x11))

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

G_X[7:0] R

Table 90: G_X_OUT_L register

bits Description
Pitch axis (X) angular rate value (LSbyte) G_X[15:0] expressed in
G_X[7:0] two’s complement and its value depends on the interface used:
SPI/I2 C: Gyro GP chain pitch axis output

Table 91: G_X_OUT_L register description

14.28 G_X_OUT_H (0x23)

Angular rate sensor pitch axis (X) angular rate output register. The value is expressed as a
16-bit word in two’s complement. If this register is read by the primary interface, data are ac-
cording to the full scale and ODR settings (CTRL2_G(0x11))

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Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

G_X[15:8] R

Table 92: G_X_OUT_H register

bits Description
Pitch axis (X) angular rate value (MSbyte) G_X[15:0] expressed
G_X[15:8] in two’s complement and its value depends on the interface used:
SPI/I2 C: Gyro GP chain pitch axis output

Table 93: G_X_OUT_H register description

14.29 G_Y_OUT_L (0x24)

Angular rate sensor roll axis (Y) angular rate output register. The value is expressed as a 16-bit
word in two’s complement. If this register is read by the primary interface, data are according
to the full scale and ODR settings (CTRL2_G (0x11))

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

G_Y[7:0] R

Table 94: G_Y_OUT_L register

bits Description
Roll axis (Y) angular rate value (LSbyte) G_Y[15:0] expressed in
G_Y[7:0] two’s complement and its value depends on the interface used:
SPI/I2 C: Gyro GP chain roll axis output

Table 95: G_Y_OUT_L register description

14.30 G_Y_OUT_H (0x25)

Angular rate sensor roll axis (Y) angular rate output register. The value is expressed as a 16-bit
word in two’s complement. If this register is read by the primary interface, data are according
to the full scale and ODR settings (CTRL2_G (0x11))

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

G_Y[15:8] R

Table 96: G_Y_OUT_H register

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bits Description
Roll axis (Y) angular rate value (MSbyte) G_Y[15:0] expressed in
G_Y[15:8] two’s complement and its value depends on the interface used:
SPI/I2 C: Gyro GP chain roll axis output

Table 97: G_Y_OUT_H register description

14.31 G_Z_OUT_L (0x26)

Angular rate sensor yaw axis (Z) angular rate output register. The value is expressed as a
16-bit word in two’s complement. If this register is read by the primary interface, data are ac-
cording to the full scale and ODR settings (CTRL2_G (0x11))

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

G_Z[7:0] R

Table 98: G_Z_OUT_L register

bits Description
Yaw axis (Z) angular rate value (LSbyte) G_Z[15:0] expressed in
G_Z[7:0] two’s complement and its value depends on the interface used:
SPI/I2 C: Gyro GP chain yaw axis output.

Table 99: G_Z_OUT_L register description

14.32 G_Z_OUT_H (0x27)

Angular rate sensor yaw axis (Z) angular rate output register. The value is expressed as a
16-bit word in two’s complement. If this register is read by the primary interface, data are ac-
cording to the full scale and ODR settings (CTRL2_G (0x11))

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

G_Z[15:8] R

Table 100: G_Z_OUT_H register

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bits Description
Yaw axis (Z) angular rate value (MSbyte) G_Z[15:0] expressed in
G_Z[15:8] two’s complement and its value depends on the interface used:
SPI/I2 C: Gyro GP chain yaw axis output.

Table 101: G_Z_OUT_H register description

14.33 XL_X_OUT_L (0x28)

Linear acceleration sensor X-axis output register. The value is expressed as a 16-bit word in
two’s complement.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

XL_X[7:0] R

Table 102: XL_X_OUT_L register

bits Description
XL_X[7:0] X-axis linear acceleration value (LSbyte).

Table 103: XL_X_OUT_L register description

14.34 XL_X_OUT_H (0x29)

Linear acceleration sensor X-axis output register. The value is expressed as a 16-bit word in
two’s complement.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

XL_X[15:8] R

Table 104: XL_X_OUT_H register

bits Description
XL_X[15:8] X-axis linear acceleration value (MSbyte).

Table 105: XL_X_OUT_H register description

14.35 XL_Y_OUT_L (0x2A)

Linear acceleration sensor Y-axis output register. The value is expressed as a 16-bit word in
two’s complement.

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Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

XL_Y[7:0] R

Table 106: XL_Y_OUT_L register

bits Description
XL_Y[7:0] Y-axis linear acceleration value (LSbyte).

Table 107: XL_Y_OUT_L register description

14.36 XL_Y_OUT_H (0x2B)

Linear acceleration sensor Y-axis output register. The value is expressed as a 16-bit word in
two’s complement.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

XL_Y[15:8] R

Table 108: XL_Y_OUT_H register

bits Description
XL_Y[15:8] Y-axis linear acceleration value (MSbyte).

Table 109: XL_Y_OUT_H register description

14.37 XL_Z_OUT_L (0x2C)

Linear acceleration sensor Z-axis output register. The value is expressed as a 16-bit word in
two’s complement.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

XL_Z[7:0] R

Table 110: XL_Z_OUT_L register

bits Description
XL_Z[7:0] Z-axis linear acceleration value (LSbyte).

Table 111: XL_Z_OUT_L register description

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14.38 XL_Z_OUT_H (0x2D)

Linear acceleration sensor Z-axis output register. The value is expressed as a 16-bit word in
two’s complement.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

XL_Z[15:8] R

Table 112: XL_Z_OUT_H register

bits Description
XL_Z[15:8] Z-axis linear acceleration value (MSbyte).

Table 113: XL_Z_OUT_H register description

14.39 FIFO_STATUS1 (0x3A)

FIFO status control register. For a proper read of the register, it is recommended to set the
BDU bit in CTRL3_C (0x12) to 1.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

DIFF_FIFO[7:0] R

Table 114: FIFO_STATUS1 register

bits Description
DIFF_FIFO[7:0] Number of unread words (16-bit axes) stored in FIFO.

Table 115: FIFO_STATUS1 register description

14.40 FIFO_STATUS2 (0x3B)

FIFO status control register. For a proper read of the register, it is recommended to set the
BDU bit in CTRL3_C (0x12) to 1.

Bit 7 Bit 6 Bit 5

WaterM OVER_RUN FIFO_FULL_SMART

Table 116: FIFO_STATUS2 register

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Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

FIFO_EMPTY 0 DIFF_FIFO[10:8] R

Table 117: FIFO_STATUS2 register

bits Description
FIFO watermark status. The watermark is set through bits
FTH_[7:0] in FIFO_CTRL1 (0x06). Default value: 0 (0: FIFO
WaterM
filling is lower than watermark level1 ; 1: FIFO filling is equal to
or higher than the watermark level).
FIFO overrun status. Default value: 0 (0: FIFO is not
OVER_RUN
completely filled; 1: FIFO is completely filled)
Smart FIFO full status. Default value: 0 (0: FIFO is not full; 1:
FIFO_FULL_SMART
FIFO will be full at the next ODR)
FIFO empty bit. Default value: 0 (0: FIFO contains data; 1:
FIFO_EMPTY
FIFO is empty)
DIFF_FIFO_[10:8] Number of unread words (16-bit axes) stored in FIFO.2

Table 118: FIFO_STATUS2 register description

1. FIFO watermark level is set in FTH_[10:0] in FIFO_CTRL1 (0x06) and FIFO_CTRL2 (0x07)
2. For a complete number of unread samples, consider DIFF_FIFO [7:0] in FIFO_STATUS1
(0x3A)

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14.41 FIFO_STATUS3 (0x3C)

FIFO status control register. For a proper read of the register, it is recommended to set the
BDU bit in CTRL3_C (0x12) to 1.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

FIFO_PATTERN[7:0] R

Table 119: FIFO_STATUS3 register

bits Description
FIFO_PATTERN[7:0] Word of recursive pattern read at the next read.

Table 120: FIFO_STATUS3 register description

14.42 FIFO_STATUS4 (0x3D)

FIFO status control register. For a proper read of the register, it is recommended to set the
BDU bit in CTRL3_C (0x12) to 1.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

0 0 0 0 0 0 FIFO_PATTERN[9:8] R

Table 121: FIFO_STATUS4 register

bits Description
FIFO_PATTERN[9:8] Word of recursive pattern read at the next read.

Table 122: FIFO_STATUS4 register description

14.43 FIFO_DATA_OUT_L (0x3E)

FIFO data output register. For a proper read of the register, it is recommended to set the BDU
bit in CTRL3_C (0x12) to 1.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

DATA_OUT_FIFO_L_[7:0] R

Table 123: FIFO_DATA_OUT_L register

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bits Description
DATA_OUT_FIFO_L_[7:0] FIFO data output (first byte)

Table 124: FIFO_DATA_OUT_L register description

14.44 FIFO_DATA_OUT_H (0x3F)

FIFO data output register. For a proper read of the register, it is recommended to set the BDU
bit in CTRL3_C (0x12) to 1.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

DATA_OUT_FIFO_H_[7:0] R

Table 125: FIFO_DATA_OUT_H register

bits Description
DATA_OUT_FIFO_H_[7:0] FIFO data output (second byte)

Table 126: FIFO_DATA_OUT_H register description

14.45 FUNC_SRC1 (0x53)

Tilt interrupt source register.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

0 0 TILT_IA 0 0 0 0 0 R

Table 127: FUNC_SRC1 register

bits Description
Tilt event detection status. Default value: 0 (0: tilt event not
TILT_IA
detected; 1: tilt event detected)

Table 128: FUNC_SRC1 register description

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14.46 TAP_CFG (0x58)

Enables interrupt and inactivity functions, configuration of filtering, and tap recognition functions
(r/w).

Bit 7 Bit 6 Bit 5 Bit 4

INTERRUPTS_ENABLE INACT_EN[1:0] SLOPE_FDS

Table 129: TAP_CFG register

Bit 3 Bit 2 Bit 1 Bit 0 Type

TAP_X_EN TAP_Y_EN TAP_Z_EN LIR R/W

Table 130: TAP_CFG register

bits Description
Enable basic interrupts (6D/4D, free-fall, wake-up, tap,
INTERRUPTS_ENABLE inactivity). Default value: 0 (0: interrupt disabled; 1:
interrupt enabled)
Enable inactivity function. Default value: 00 (00: disabled
01: sets acceleration ODR to 12.5 Hz (low power mode),
gyro does not change; 10: sets acceleration ODR to 12.5
INACT_EN[1:0]
Hz (low power mode), gyro to sleep mode; 11: sets
acceleration ODR to 12.5 Hz (low power mode), gyro to
power down mode)
HPF or SLOPE filter selection on wake-up and
SLOPE_FDS activity/inactivity functions. Default value: 0 0: SLOPE filter
applied; 1: HPF applied)
Enable X direction in tap recognition. Default value: 0 (0: X
TAP_X_EN
direction disabled; 1: X direction enabled)
Enable Y direction in tap recognition. Default value: 0 (0: Y
TAP_Y_EN
direction disabled; 1: Y direction enabled)
Enable Z direction in tap recognition. Default value: 0 (0: Z
TAP_Z_EN
direction disabled; 1: Z direction enabled)
Latched Interrupt. Default value: 0 (0: interrupt request not
LIR
latched; 1: interrupt request latched)

Table 131: TAP_CFG register description

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14.47 TAP_THS_6D (0x59)

Portrait/landscape position and tap function threshold register (r/w).

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

D4D_EN SIXD_THS[1:0] TAP_THS[4:0] R/W

Table 132: TAP_THS_6D register

bits Description
4D orientation detection enable. Z-axis position detection is
D4D_EN
disabled. Default value: 0 (0: enabled; 1: disabled)
Threshold for 4D/6D function. Default value: 00. Threshold
SIXD_THS[1:0]
for D4D/D6D function.
Threshold for tap recognition. Default value: 00000 1 LSb
TAP_THS[4:0]
corresponds to FS_XL/25

Table 133: TAP_THS_6D register description

SIXD_THS[1:0] Threshold value

00 80 degrees
01 70 degrees
10 60 degrees
11 50 degrees

Table 134: Threshold for D4D/D6D function

14.48 INT_DUR2 (0x5A)

Tap recognition function setting register (r/w).

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

DUR[3:0] QUIET[1:0] SHOCK[1:0] R/W

Table 135: INT_DUR2 register

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bits Description
Duration of maximum time gap for double tap recognition.
Default: 0000 When double tap recognition is enabled, this
register expresses the maximum time between two
DUR[3:0] consecutive detected taps to determine a double tap event.
The default value of these bits is 0000b which corresponds to
16*ODR_XL time. If the DUR[3:0] bits are set to a different
value, 1LSB corresponds to 32*ODR_XL time.
Expected quiet time after a tap detection. Default value: 00
Quiet time is the time after the first detected tap in which
there must not be any over threshold event. The default value
QUIET[1:0]
of these bits is 00b which corresponds to 2*ODR_XL time. If
the QUIET[1:0] bits are set to a different value, 1LSB
corresponds to 4*ODR_XL time.
Maximum duration of over threshold event. Default value: 00
Maximum duration is the maximum time of an over threshold
signal detection to be recognized as a tap event. The default
SHOCK[1:0]
value of these bits is 00b which corresponds to 4*ODR_XL
time. If the SHOCK[1:0] bits are set to a different value, 1LSB
corresponds to 8*ODR_XL time.

Table 136: INT_DUR2 register description

14.49 WAKE_UP_THS (0x5B)

Single and double-tap function threshold register (r/w).

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

SINGLE_DOUBLE_TAP 0 WK_THS[5:0] R/W

Table 137: WAKE_UP_THS register

bits Description
Single/double-tap event enable. Default: 0 (0: only
SINGLE_DOUBLE_TAP single-tap event enabled; 1: both single and double-tap
events enabled)
Threshold for wakeup. Default value: 000000 1 LSb
WK_THS[5:0]
corresponds to FS_XL/26

Table 138: WAKE_UP_THS register description

14.50 WAKE_UP_DUR (0x5C)

Free-fall, wakeup, timestamp and sleep mode functions duration setting register (r/w).

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Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

FF_DUR5 WAKE_DUR[1:0] 0 SLEEP_DUR[3:0] R/W

Table 139: WAKE_UP_DUR register

bits Description
Free fall duration event. Default: 0 For the complete
FF_DUR5 configuration of the free-fall duration, refer to FF_DUR[4:0] in
FREE_FALL (0x5D) configuration. 1 LSB = 1 ODR_time
WAKE_DUR[1:0] Wake up duration event. Default: 00 1LSB = 1 ODR_time
Duration to go in sleep mode. Default value: 0000 (this
SLEEP_DUR[3:0]
corresponds to 16 ODR) 1 LSB = 512 ODR

Table 140: WAKE_UP_DUR register description

14.51 FREE_FALL (0x5D)

Free-fall function duration setting register (r/w).

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

FF_DUR[4:0] FF_THS[2:0] R/W

Table 141: FREE_FALL register

bits Description
Free fall duration event.
Default: 0 For the complete configuration of the free-fall
FF_DUR[4:0]
duration, refer to FF_DUR5 in WAKE_UP_DUR (0x5C)
configuration.
Free fall threshold setting.
FF_THS[2:0]
Default: 000 For details refer to Table 143

Table 142: FREE_FALL register description

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FF_THS[2:0] Threshold value

000 156 mg
001 219 mg
010 250 mg
011 312 mg
100 344 mg
101 406 mg
110 469 mg
111 500 mg

Table 143: Threshold for free-fall function

14.52 MD1_CFG (0x5E)

Functions routing on INT0 register (r/w).

Bit 7 Bit 6 Bit 5 Bit 4

INT0_INACT_STATE INT0_SINGLE_TAP INT0_WU INT0_FF

Table 144: MD1_CFG register

Bit 3 Bit 2 Bit 1 Bit 0 Type

INT0_DOUBLE_TAP INT0_6D INT0_TILT 0 R/W

Table 145: MD1_CFG register

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bits Description
Routing on INT0 of inactivity mode. Default: 0 (0: routing on
INT0_INACT_STATE INT0 of inactivity disabled; 1: routing on INT0 of inactivity
enabled)
Single-tap recognition routing on INT0. Default: 0 (0: routing
INT0_SINGLE_TAP of single-tap event on INT0 disabled; 1: routing of single-tap
event on INT0 enabled)
Routing of wakeup event on INT0. Default value: 0 (0:
INT0_WU routing of wakeup event on INT0 disabled; 1: routing of
wakeup event on INT0 enabled)
Routing of free-fall event on INT0. Default value: 0 (0: routing
INT0_FF of free-fall event on INT0 disabled; 1: routing of free-fall event
on INT0 enabled)
Routing of tap event on INT0. Default value: 0 (0: routing of
INT0_DOUBLE_TAP double-tap event on INT0 disabled; 1: routing of double-tap
event on INT0 enabled)
Routing of 6D event on INT0. Default value: 0 (0: routing of
INT0_6D 6D event on INT0 disabled; 1: routing of 6D event on INT0
enabled)
Routing of tilt event on INT0. Default value: 0 (0: routing of
INT0_TILT tilt event on INT0 disabled; 1: routing of tilt event on INT0
enabled)

Table 146: MD1_CFG register description

14.53 MD2_CFG (0x5F)

Functions routing on INT1 register (r/w).

Bit 7 Bit 6 Bit 5 Bit 4

INT1_INACT_STATE INT1_SINGLE_TAP INT1_WU INT1_FF

Table 147: MD2_CFG register

Bit 3 Bit 2 Bit 1 Bit 0 Type

INT1_DOUBLE_TAP INT1_6D INT1_TILT 0 R/W

Table 148: MD2_CFG register

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bits Description
Routing on INT1 of inactivity mode. Default: 0 (0: routing on
INT1_INACT_STATE INT1 of inactivity disabled; 1: routing on INT1 of inactivity
enabled)
Single-tap recognition routing on INT1. Default: 0 (0: routing
INT1_SINGLE_TAP of single-tap event on INT1 disabled; 1: routing of single-tap
event on INT1 enabled)
Routing of wakeup event on INT1. Default value: 0 (0:
INT1_WU routing of wakeup event on INT1 disabled; 1: routing of
wakeup event on INT1 enabled)
Routing of free-fall event on INT1. Default value: 0 (0: routing
INT1_FF of free-fall event on INT1 disabled; 1: routing of free-fall event
on INT1 enabled)
Routing of tap event on INT1. Default value: 0 (0: routing of
INT1_DOUBLE_TAP double-tap event on INT1 disabled; 1: routing of double-tap
event on INT1 enabled)
Routing of 6D event on INT1. Default value: 0 (0: routing of
INT1_6D 6D event on INT1 disabled; 1: routing of 6D event on INT1
enabled)
Routing of tilt event on INT1. Default value: 0 (0: routing of
INT1_TILT tilt event on INT1 disabled; 1: routing of tilt event on INT1
enabled)

Table 149: MD2_CFG register description

14.54 X_OFS_USR (0x73)

Acceleration X-axis user offset correction (r/w). The offset value set in the X_OFS_USR offset
register is internally added to the acceleration value measured on the X-axis.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

X_OFS_USR[7:0] R/W

Table 150: X_OFS_USR register

bits Description
Acceleration X-axis user offset correction expressed in
X_OFS_USR[7:0] two’s complement, weight depends on the CTRL6_C(4) bit.
The value must be in the range [-127 127].

Table 151: X_OFS_USR register description

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14.55 Y_OFS_USR (0x74)

Acceleration Y-axis user offset correction (r/w). The offset value set in the Y_OFS_USR offset
register is internally added to the acceleration value measured on the Y-axis.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

Y_OFS_USR[7:0] R/W

Table 152: Y_OFS_USR register

bits Description
Acceleration Y-axis user offset correction expressed in
Y_OFS_USR[7:0] two’s complement, weight depends on the CTRL6_C(4) bit.
The value must be in the range [-127 127].

Table 153: Y_OFS_USR register description

14.56 Z_OFS_USR (0x75)

Acceleration Z-axis user offset correction (r/w). The offset value set in the Z_OFS_USR offset
register is internally added to the acceleration value measured on the Z-axis.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Type

Z_OFS_USR[7:0] R/W

Table 154: Z_OFS_USR register

bits Description
Acceleration Z-axis user offset correction expressed in
Z_OFS_USR[7:0] two’s complement, weight depends on the CTRL6_C(4) bit.
The value must be in the range [-127 127].

Table 155: Z_OFS_USR register description

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15 Physical specifications
15.1 Module drawing
0,25 ±0,05

4 8

5 7

14 12 1,5
0,5

1 11

0,475 ±0,05

0,86 max.
3,0 ±0,1
0,05

Pin 1
2,5 ±0,1

Figure 19: Sensor dimensions [mm]

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15.2 Footprint

0,35 ±0,05
0,5

1 11

14 12
1,5

5 7

4 8

0,575 ±0,05

Figure 20: Recommended land pattern [mm] (top view)

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16 Manufacturing information
16.1 Moisture sensitivity level
The sensor product is categorized as JEDEC Moisture Sensitivity Level 3 (MSL3), which re-
quires special handling.

More information regarding the MSL requirements can be found in the IPC/JEDEC J-STD-020
standard on www.jedec.org. More information about the handling, picking, shipping and the
usage of moisture/re-flow and/or process sensitive products can be found in the IPC/JEDEC
J-STD-033 standard on www.jedec.org.

16.2 Soldering
16.2.1 Reflow soldering
Attention must be paid on the thickness of the solder resist between the host PCB top side
and the modules bottom side. Only lead-free assembly is recommended according to JEDEC
J-STD020.

Profile feature Value

Preheat temperature Min TS Min 150 °C
Preheat temperature Max TS Max 200 °C
Preheat time from TS Min to TS Max tS 60 - 120 seconds
Ramp-up rate (TL to TP ) 3 °C / second max.
Liquidous temperature TL 217 °C
Time tL maintained above TL tL 60 - 150 seconds
Peak package body temperature TP see table below
Time within 5 °C of actual peak temperature tP 20 - 30 seconds
Ramp-down Rate (TP to TL ) 6 °C / second max.
Time 20 °C to TP 8 minutes max.

Table 156: Classification reflow soldering profile, Note: refer to IPC/JEDEC J-STD-020E

* In order to reduce residual stress on the sensor component, the recommended ramp-
down temperature slope should be lower than 3°C /s.

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Volume mm3 Volume mm3 Volume mm3

Package thickness
<350 350-2000 >2000
< 1.6 mm 260 °C 260 °C 260 °C
1.6 mm - 2.5 mm 260 °C 250 °C 245 °C
> 2.5 mm 250 °C 245 °C 245 °C

Table 157: Package classification reflow temperature, PB-free assembly, Note: refer to IPC/-
JEDEC J-STD-020E

It is recommended to solder the sensor on the last re-flow cycle of the PCB. For solder paste
use a LFM-48W or Indium based SAC 305 alloy (Sn 96.5 / Ag 3.0 / Cu 0.5 / Indium 8.9HF /
Type 3 / 89%) type 3 or higher.

The reflow profile must be adjusted based on the thermal mass of the entire populated PCB,
heat transfer efficiency of the reflow oven and the specific type of solder paste used. Based on
the specific process and PCB layout the optimal soldering profile must be adjusted and verified.
Other soldering methods (e.g. vapor phase) have not been verified and have to be validated
by the customer at their own risk. Rework is not recommended.

Tp
TC –5°C
Max. Ramp Up Rate tp
Max. Ramp Down Rate
TL
tL
Ts max Preheat Area
Temperature

Ts min

tS

25
Time 25°C to Peak

Time

Figure 21: Reflow soldering profile

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After reflow soldering, visually inspect the board to confirm proper alignment

16.2.2 Cleaning and washing

Do not clean the product. Any residue cannot be easily removed by washing. Use a "no clean"
soldering paste and do not clean the board after soldering.

• Washing agents used during the production to clean the customer application might dam-
age or change the characteristics of the component. Washing agents may have a nega-
tive effect on the long-term functionality of the product.

• Using a brush during the cleaning process may damage the component. Therefore, we
do not recommend using a brush during the PCB cleaning process

16.2.3 Potting and coating

• Potting material might shrink or expand during and after hardening. This might apply
mechanical stress on the components, which can influence the characteristics of the
transfer function. In addition, potting material can close existing openings in the housing.
This can lead to a malfunction of the component. Thus, potting is not recommended.

• Conformal coating may affect the product performance. We do not recommend coating
the components.

16.2.4 Storage conditions

• A storage of Würth Elektronik eiSos products for longer than 12 months is not recom-
mended. Within other effects, the terminals may suffer degradation, resulting in bad
solderability. Therefore, all products shall be used within the period of 12 months based
on the day of shipment.

• Do not expose the components to direct sunlight.

• The storage conditions in the original packaging are defined according to

DIN EN 61760 - 2.

• For a moisture sensitive component, the storage condition in the original packaging is
defined according to IPC/JEDEC-J-STD-033. It is also recommended to return the com-
ponent to the original moisture proof bag and reseal the moisture proof bag again.

16.2.5 Handling
• Violation of the technical product specifications such as exceeding the nominal rated
supply voltage, will void the warranty.

• Violation of the technical product specifications such as but not limited to exceeding the
absolute maximum ratings will void the conformance to regulatory requirements.

• ESD prevention methods need to be followed for manual handling and processing by
machinery.

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• The edge castellation is designed and made for prototyping, i.e. hand soldering purposes
only.

• The applicable country regulations and specific environmental regulations must be ob-
served.

• Do not disassemble the product. Evidence of tampering will void the warranty.

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17 Important notes
The following conditions apply to all goods within the wireless connectivity and sensors product range of Würth Elektronik eiSos GmbH & Co. KG:

General customer responsibility

Some goods within the product range of Würth Elektronik eiSos GmbH & Co. KG contain statements regarding general suitability for certain
application areas. These statements about suitability are based on our knowledge and experience of typical requirements concerning the
areas, serve as general guidance and cannot be estimated as binding statements about the suitability for a customer application. The respon-
sibility for the applicability and use in a particular customer design is always solely within the authority of the customer. Due to this fact, it is
up to the customer to evaluate, where appropriate to investigate and to decide whether the device with the specific product characteristics de-
scribed in the product specification is valid and suitable for the respective customer application or not. Accordingly, the customer is cautioned
to verify that the documentation is current before placing orders.

Customer responsibility related to specific, in particular safety-relevant applications

It has to be clearly pointed out that the possibility of a malfunction of electronic components or failure before the end of the usual lifetime
cannot be completely eliminated in the current state of the art, even if the products are operated within the range of the specifications. The
same statement is valid for all software source code and firmware parts contained in or used with or for products in the wireless connectivity
and sensor product range of Würth Elektronik eiSos GmbH & Co. KG. In certain customer applications requiring a high level of safety and
especially in customer applications in which the malfunction or failure of an electronic component could endanger human life or health, it must
be ensured by most advanced technological aid of suitable design of the customer application that no injury or damage is caused to third
parties in the event of malfunction or failure of an electronic component.

Best care and attention

Any product-specific data sheets, manuals, application notes, PCN’s, warnings and cautions must be strictly observed in the most recent
versions and matching to the products revisions. This documents can be downloaded from the product specific sections on the wireless
connectivity and sensors homepage.

Customer support for product specifications

Some products within the product range may contain substances, which are subject to restrictions in certain jurisdictions in order to serve
specific technical requirements. Necessary information is available on request. In this case, the field sales engineer or the internal sales
person in charge should be contacted who will be happy to support in this matter.

Product improvements
Due to constant product improvement, product specifications may change from time to time. As a standard reporting procedure of the Product
Change Notification (PCN) according to the JEDEC-Standard, we inform about major changes. In case of further queries regarding the PCN,
the field sales engineer, the internal sales person or the technical support team in charge should be contacted. The basic responsibility of the
customer as per section 17 and 17 remains unaffected.
All software like ¨wireless connectivity SDK¨, ¨Sensor SDK¨ or other source codes as well as all PC software tools are not subject to the
Product Change Notification information process.

Product life cycle

Due to technical progress and economical evaluation we also reserve the right to discontinue production and delivery of products. As a
standard reporting procedure of the Product Termination Notification (PTN) according to the JEDEC-Standard we will inform at an early stage
about inevitable product discontinuance. According to this, we cannot ensure that all products within our product range will always be avail-
able. Therefore, it needs to be verified with the field sales engineer or the internal sales person in charge about the current product availability
expectancy before or when the product for application design-in disposal is considered. The approach named above does not apply in the
case of individual agreements deviating from the foregoing for customer-specific products.

Property rights
All the rights for contractual products produced by Würth Elektronik eiSos GmbH & Co. KG on the basis of ideas, development contracts as
well as models or templates that are subject to copyright, patent or commercial protection supplied to the customer will remain with Würth
Elektronik eiSos GmbH & Co. KG. Würth Elektronik eiSos GmbH & Co. KG does not warrant or represent that any license, either expressed
or implied, is granted under any patent right, copyright, mask work right, or other intellectual property right relating to any combination, appli-
cation, or process in which Würth Elektronik eiSos GmbH & Co. KG components or services are used.

General terms and conditions

Unless otherwise agreed in individual contracts, all orders are subject to the current version of the "General Terms and Conditions of Würth
Elektronik eiSos Group", last version available at www.we-online.com.

18 Legal notice
Exclusion of liability
Würth Elektronik eiSos GmbH & Co. KG considers the information in this document to be correct at the time of publication. However, Würth
Elektronik eiSos GmbH & Co. KG reserves the right to modify the information such as technical specifications or functions of its products
or discontinue the production of these products or the support of one of these products without any written announcement or notification to
customers. The customer must make sure that the information used corresponds to the latest published information. Würth Elektronik eiSos
GmbH & Co. KG does not assume any liability for the use of its products. Würth Elektronik eiSos GmbH & Co. KG does not grant licenses for
its patent rights or for any other of its intellectual property rights or third-party rights.
Notwithstanding anything above, Würth Elektronik eiSos GmbH & Co. KG makes no representations and/or warranties of any kind for the

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provided information related to their accuracy, correctness, completeness, usage of the products and/or usability for customer applications.
Information published by Würth Elektronik eiSos GmbH & Co. KG regarding third-party products or services does not constitute a license to
use such products or services or a warranty or endorsement thereof.

Suitability in customer applications

The customer bears the responsibility for compliance of systems or units, in which Würth Elektronik eiSos GmbH & Co. KG products are
integrated, with applicable legal regulations. Customer acknowledges and agrees that it is solely responsible for compliance with all legal,
regulatory and safety-related requirements concerning its products, and any use of Würth Elektronik eiSos GmbH & Co. KG components in its
applications, notwithstanding any applications-related in-formation or support that may be provided by Würth Elektronik eiSos GmbH & Co. KG.
Customer represents and agrees that it has all the necessary expertise to create and implement safeguards which anticipate dangerous con-
sequences of failures, monitor failures and their consequences lessen the likelihood of failures that might cause harm and take appropriate
remedial actions. The customer will fully indemnify Würth Elektronik eiSos GmbH & Co. KG and its representatives against any damages
arising out of the use of any Würth Elektronik eiSos GmbH & Co. KG components in safety-critical applications.

Trademarks
AMBER wireless is a registered trademark of Würth Elektronik eiSos GmbH & Co. KG. All other trademarks, registered trademarks, and
product names are the exclusive property of the respective owners.

Usage restriction
Würth Elektronik eiSos GmbH & Co. KG products have been designed and developed for usage in general electronic equipment only. This
product is not authorized for use in equipment where a higher safety standard and reliability standard is especially required or where a failure
of the product is reasonably expected to cause severe personal injury or death, unless the parties have executed an agreement specifically
governing such use. Moreover, Würth Elektronik eiSos GmbH & Co. KG products are neither designed nor intended for use in areas such as
military, aerospace, aviation, nuclear control, submarine, transportation (automotive control, train control, ship control), transportation signal,
disaster prevention, medical, public information network etc. Würth Elektronik eiSos GmbH & Co. KG must be informed about the intent of
such usage before the design-in stage. In addition, sufficient reliability evaluation checks for safety must be performed on every electronic
component, which is used in electrical circuits that require high safety and reliability function or performance. By using Würth Elektronik eiSos
GmbH & Co. KG products, the customer agrees to these terms and conditions.

19 License terms for Würth Elektronik eiSos

GmbH & Co. KG sensor product software and source
code
These license terms will take effect upon the purchase and usage of the Würth Elektronik eiSos GmbH & Co. KG sensor products. You
hereby agree that these license terms are applicable to the product and the incorporated software, firmware and source codes (collectively,
"Software") made available by Würth Elektronik eiSos in any form, including but not limited to binary, executable or source code form.
The software included in any Würth Elektronik eiSos sensor product is purchased to you on the condition that you accept the terms and
conditions of these license terms. You agree to comply with all provisions under these license terms.

Limited license
Würth Elektronik eiSos hereby grants you a limited, non-exclusive, non-transferable and royalty-free license to use the software and under the
conditions that will be set forth in these license terms. You are free to use the provided software only in connection with one of the products
from Würth Elektronik eiSos to the extent described in these license terms.
You are entitled to change or alter the source code for the sole purpose of creating an application embedding the Würth Elektronik eiSos
sensor product. The transfer of the source code to third parties is allowed to the sole extent that the source code is used by such third parties
in connection with our product or another hardware provided by Würth Elektronik eiSos under strict adherence of these license terms. Würth
Elektronik eiSos will not assume any liability for the usage of the incorporated software and the source code.
You are not entitled to transfer the source code in any form to third parties without prior written consent of Würth Elektronik eiSos.
You are not allowed to reproduce, translate, reverse engineer, decompile, disassemble or create derivative works of the incorporated software
and the source code in whole or in part.
No more extensive rights to use and exploit the products are granted to you.

Usage and obligations

The responsibility for the applicability and use of the Würth Elektronik eiSos sensor product with the incorporated software in a particular
customer design is always solely within the authority of the customer. Due to this fact, it is up to you to evaluate and investigate, where appro-
priate, and to decide whether the device with the specific product characteristics described in the product specification is valid and suitable for
your respective application or not.
You are responsible for using the Würth Elektronik eiSos sensor product with the incorporated software in compliance with all applicable
product liability and product safety laws. You acknowledge to minimize the risk of loss and harm to individuals and bear the risk for failure
leading to personal injury or death due to your usage of the product.
Würth Elektronik eiSos’ products are not authorized for use in safety-critical applications, or where a failure of the product is reasonably ex-
pected to cause severe personal injury or death. Moreover, Würth Elektronik eiSos’ products are neither designed nor intended for use in areas
such as military, aerospace, aviation, nuclear control, submarine, transportation (automotive control, train control, ship control), transportation
signal, disaster prevention, medical, public information network etc. You shall inform Würth Elektronik eiSos about the intent of such usage be-
fore design-in stage. In certain customer applications requiring a very high level of safety and in which the malfunction or failure of an electronic
component could endanger human life or health, you must ensure to have all necessary expertise in the safety and regulatory ramifications of
your applications. You acknowledge and agree that you are solely responsible for all legal, regulatory and safety-related requirements concern-
ing your products and any use of Würth Elektronik eiSos’ products in such safety-critical applications, notwithstanding any applications-related

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User manual WSEN-ISDS Inertial Measurement Unit

information or support that may be provided by Würth Elektronik eiSos. YOU SHALL INDEMNIFY WÜRTH ELEKTRONIK EISOS AGAINST
ANY DAMAGES ARISING OUT OF THE USE OF WÜRTH ELEKTRONIK EISOS’ PRODUCTS IN SUCH SAFETY-CRITICAL APPLICATIONS.

Ownership
The incorporated software created by Würth Elektronik eiSos is and will remain the exclusive property of Würth Elektronik eiSos.

Disclaimer of warranty
THE SOFTWARE AND IT’S SOURCE CODE IS PROVIDED "AS IS". YOU ACKNOWLEDGE THAT WÜRTH ELEKTRONIK EISOS MAKES
NO REPRESENTATIONS AND WARRANTIES OF ANY KIND RELATED TO, BUT NOT LIMITED TO THE NON-INFRINGEMENT OF THIRD
PARTIES’ INTELLECTUAL PROPERTY RIGHTS OR THE MERCHANTABILITY OR FITNESS FOR YOUR INTENDED PURPOSE OR US-
AGE. WÜRTH ELEKTRONIK EISOS DOES NOT WARRANT OR REPRESENT THAT ANY LICENSE, EITHER EXPRESS OR IMPLIED, IS
GRANTED UNDER ANY PATENT RIGHT, COPYRIGHT, MASK WORK RIGHT, OR OTHER INTELLECTUAL PROPERTY RIGHT RELATING
TO ANY COMBINATION, MACHINE, OR PROCESS IN WHICH THE WÜRTH ELEKTRONIK EISOS’ PRODUCT WITH THE INCORPO-
RATED SOFTWARE IS USED. INFORMATION PUBLISHED BY WÜRTH ELEKTRONIK EISOS REGARDING THIRD-PARTY PRODUCTS
OR SERVICES DOES NOT CONSTITUTE A LICENSE FROM WÜRTH ELEKTRONIK EISOS TO USE SUCH PRODUCTS OR SERVICES
OR A WARRANTY OR ENDORSEMENT THEREOF.

Limitation of liability
Any liability not expressly provided by Würth Elektronik eiSos shall be disclaimed.
You agree to hold us harmless from any third-party claims related to your usage of the Würth Elektronik eiSos’ products with the incorporated
software and source code. Würth Elektronik eiSos disclaims any liability for any alteration, development created by you or your customers as
well as for any combination with other products.

Applicable law and jurisdiction

Applicable law to these license terms shall be the laws of the Federal Republic of Germany. Any dispute, claim or controversy arising out of or
relating to these license terms shall be resolved and finally settled by the court competent for the location of Würth Elektronik eiSos registered
office.

Severability clause
If a provision of these license terms is or becomes invalid, unenforceable or null and void, this shall not affect the remaining provisions of the
terms. The parties shall replace any such provisions with new valid provisions that most closely approximate the purpose of the terms.

Miscellaneous
Würth Elektronik eiSos reserves the right at any time to change this terms at its own discretion. It is your responsibility to check at Würth
Elektronik eiSos homepage for any updates. Your continued usage of the products will be deemed as the acceptance of the change.
We recommend you to be updated about the status of new software, which is available on our website or in our data sheet, and to implement
new software in your device where appropriate.
By ordering a product, you accept these license terms in all terms.

Order code 2536030320001, 25360303200011 100

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WIRELESS CONNECTIVITY & SENSORS
User manual WSEN-ISDS Inertial Measurement Unit

List of Figures
1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 Pinout (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3 Electrical connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4 Master-slave concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5 SDA and SCL logic levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6 Data validity, START and STOP condition . . . . . . . . . . . . . . . . . . . . . . 20
7 Slave address format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
8 Complete data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
9 Write and read operations of the sensor . . . . . . . . . . . . . . . . . . . . . . . 22
10 SPI Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
11 SPI register address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
12 4-wire SPI data transfer (CPOL = 1, CPHA = 1) . . . . . . . . . . . . . . . . . . . 26
13 SPI write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
14 SPI read protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
15 Communication check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
16 Sensor in operation with high performance mode . . . . . . . . . . . . . . . . . . 33
17 Self test procedure for acceleration sensor . . . . . . . . . . . . . . . . . . . . . . 40
18 Self test procedure for gyroscope sensor . . . . . . . . . . . . . . . . . . . . . . . 41
19 Sensor dimensions [mm] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
20 Recommended land pattern [mm] (top view) . . . . . . . . . . . . . . . . . . . . . 93
21 Reflow soldering profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

List of Tables
1 Sensor Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Acceleration sensor specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4 Gyroscope sensor specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
5 Acceleration and gyroscope sensitivity parameter . . . . . . . . . . . . . . . . . . 13
6 Temperature sensor specification . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
7 Electrical specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
8 Absolute maximum rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
9 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
10 Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
11 Slave address and Read/Write commands . . . . . . . . . . . . . . . . . . . . . . 22
12 I2 C timing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
13 SPI communication modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
14 SPI timing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
15 Time consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
16 Temperature output data BLE bit = 0 . . . . . . . . . . . . . . . . . . . . . . . . . 45
17 Temperature output data BLE = 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
18 FIFO_CTRL1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
19 FIFO_CTRL1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
20 FIFO_CTRL2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
21 FIFO_CTRL2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Order code 2536030320001, 25360303200011 101

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WIRELESS CONNECTIVITY & SENSORS
User manual WSEN-ISDS Inertial Measurement Unit

22 FIFO_CTRL3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
23 FIFO_CTRL3 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
24 Gyro FIFO decimation setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
25 Acceleration FIFO decimation setting . . . . . . . . . . . . . . . . . . . . . . . . . 51
26 FIFO_CTRL4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
27 FIFO_CTRL4 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
28 Fourth FIFO data set decimation setting . . . . . . . . . . . . . . . . . . . . . . . 52
29 Third FIFO data set not in FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
30 FIFO_CTRL5 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
31 FIFO_CTRL5 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
32 FIFO ODR selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
33 FIFO mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
34 DRDY_PULSE_CFG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
35 DRDY_PULSE_CFG register description . . . . . . . . . . . . . . . . . . . . . . 55
36 INT0_CTRL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
37 INT0_CTRL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
38 INT0_CTRL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
39 INT1_CTRL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
40 INT1_CTRL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
41 INT1_CTRL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
42 Device_ID register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
43 CTRL1_XL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
44 CTRL1_XL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
45 Acceleration sensor output data rate configuration . . . . . . . . . . . . . . . . . 58
46 CTRL2_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
47 CTRL2_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
48 Gyroscope sensor output data rate configuration . . . . . . . . . . . . . . . . . . 59
49 CTRL3_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
50 CTRL3_C register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
51 CTRL4_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
52 CTRL4_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
53 CTRL4_C register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
54 CTRL5_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
55 CTRL5_C register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
56 Output registers rounding pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
57 Angular rate sensor self-test mode selection . . . . . . . . . . . . . . . . . . . . . 62
58 Linear acceleration sensor self-test mode selection . . . . . . . . . . . . . . . . . 63
59 CTRL6_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
60 CTRL6_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
61 CTRL6_C register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
62 Trigger mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
63 Gyroscope LPF1 bandwidth selection for ODR=800 Hz and ODR=1.6 kHz . . . . 65
64 Gyroscope LPF1 bandwidth selection for ODR=3.3 kHz and ODR=6.6 kHz . . . 65
65 CTRL7_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
66 CTRL7_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
67 CTRL7_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
68 CTRL8_XL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
69 CTRL8_XL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Order code 2536030320001, 25360303200011 102

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User manual WSEN-ISDS Inertial Measurement Unit

70 CTRL8_XL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

71 Acceleration bandwidth selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
72 CTRL9_XL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
73 CTRL9_XL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
74 CTRL10_C register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
75 CTRL10_C register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
76 MASTER_CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
77 MASTER_CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
78 MASTER_CONFIG register description . . . . . . . . . . . . . . . . . . . . . . . 70
79 WAKE_UP_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
80 WAKE_UP_SRC register description . . . . . . . . . . . . . . . . . . . . . . . . . 71
81 TAP_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
82 TAP_SRC register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
83 D6D_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
84 D6D_SRC register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
85 STATUS_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
86 STATUS_REG register description . . . . . . . . . . . . . . . . . . . . . . . . . . 74
87 T_OUT_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
88 T_OUT_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
89 T_OUT_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
90 G_X_OUT_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
91 G_X_OUT_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
92 G_X_OUT_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
93 G_X_OUT_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
94 G_Y_OUT_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
95 G_Y_OUT_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
96 G_Y_OUT_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
97 G_Y_OUT_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
98 G_Z_OUT_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
99 G_Z_OUT_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
100 G_Z_OUT_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
101 G_Z_OUT_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
102 XL_X_OUT_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
103 XL_X_OUT_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . 78
104 XL_X_OUT_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
105 XL_X_OUT_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . 78
106 XL_Y_OUT_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
107 XL_Y_OUT_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . 79
108 XL_Y_OUT_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
109 XL_Y_OUT_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . 79
110 XL_Z_OUT_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
111 XL_Z_OUT_L register description . . . . . . . . . . . . . . . . . . . . . . . . . . 79
112 XL_Z_OUT_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
113 XL_Z_OUT_H register description . . . . . . . . . . . . . . . . . . . . . . . . . . 80
114 FIFO_STATUS1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
115 FIFO_STATUS1 register description . . . . . . . . . . . . . . . . . . . . . . . . . 80
116 FIFO_STATUS2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
117 FIFO_STATUS2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Order code 2536030320001, 25360303200011 103

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User manual WSEN-ISDS Inertial Measurement Unit

118 FIFO_STATUS2 register description . . . . . . . . . . . . . . . . . . . . . . . . . 81

119 FIFO_STATUS3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
120 FIFO_STATUS3 register description . . . . . . . . . . . . . . . . . . . . . . . . . 82
121 FIFO_STATUS4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
122 FIFO_STATUS4 register description . . . . . . . . . . . . . . . . . . . . . . . . . 82
123 FIFO_DATA_OUT_L register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
124 FIFO_DATA_OUT_L register description . . . . . . . . . . . . . . . . . . . . . . . 83
125 FIFO_DATA_OUT_H register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
126 FIFO_DATA_OUT_H register description . . . . . . . . . . . . . . . . . . . . . . . 83
127 FUNC_SRC1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
128 FUNC_SRC1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
129 TAP_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
130 TAP_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
131 TAP_CFG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
132 TAP_THS_6D register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
133 TAP_THS_6D register description . . . . . . . . . . . . . . . . . . . . . . . . . . 85
134 Threshold for D4D/D6D function . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
135 INT_DUR2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
136 INT_DUR2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
137 WAKE_UP_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
138 WAKE_UP_THS register description . . . . . . . . . . . . . . . . . . . . . . . . . 86
139 WAKE_UP_DUR register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
140 WAKE_UP_DUR register description . . . . . . . . . . . . . . . . . . . . . . . . . 87
141 FREE_FALL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
142 FREE_FALL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
143 Threshold for free-fall function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
144 MD1_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
145 MD1_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
146 MD1_CFG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
147 MD2_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
148 MD2_CFG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
149 MD2_CFG register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
150 X_OFS_USR register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
151 X_OFS_USR register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
152 Y_OFS_USR register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
153 Y_OFS_USR register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
154 Z_OFS_USR register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
155 Z_OFS_USR register description . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
156 Classification reflow soldering profile, Note: refer to IPC/JEDEC J-STD-020E . . 94
157 Package classification reflow temperature, PB-free assembly, Note: refer to IPC/-
JEDEC J-STD-020E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Order code 2536030320001, 25360303200011 104

Version 1.3, July 2024 www.we-online.com/wcs
Contact
Würth Elektronik eiSos GmbH & Co. KG
Division Wireless Connectivity & Sensors

Max-Eyth-Straße 1
74638 Waldenburg
Germany

Tel.: +49 651 99355-0

Fax.: +49 651 99355-69
www.we-online.com/wireless-connectivity