ST LSM333D User Manual

9 degrees of freedom sensing solution

LGA-28

(3.5x6x1 mm)

Features

■ 3 acceleration channels, 3 angular rate

channels, 3 magnetic field channels

■ ±2/±4/±8/±16 g dynamically selectable linear

acceleration full-scale

■ ±2/±4/±8/±12 gauss dynamically selectable

magnetic full-scale

■ ±250/±500/±2000 dps dynamically selectable

angular rate full-scale

■ 16-bit data output

■ SPI / I

■ Analog supply voltage 2.4 V to 3.6 V

■ Power-down mode / Low-power mode

■ Programmable interrupt generators

■ Embedded temperature sensor

■ Embedded FIFO

■ ECOPACK

Applications

■ Indoor navigation

■ Smart user interface

■ Advanced gesture recognition

■ Gaming and virtual reality input device

■ Display/map orientation and browsing

■ eCompass

■ Position and motion detection functions

■ Click/double click recognition

■ Intelligent power saving for handheld devices

Description

The LSM333D is an inertial module capable of providing 9 DOF (degrees of freedom) inertial sensing by combining a 3D accelerometer, a 3D

C serial interfaces

RoHS and “Green” compliant

LSM333D

iNEMO Intertial Module:

Datasheet — preliminary data

gyroscope and a 3D magnetometer in a systemin-package.

The LSM333D has linear acceleration full-scales of ±2g/±4g/±8g/±16g, a magnetic field full-scale of ±2/±4/±8/±12 gauss and an angular rate of 250/±500/±2000 dps. All full-scales available are fully selectable by the user.

The LSM333D includes an I supporting standard and Fast mode 100 kHz and 400 kHz, and SPI serial standard interface.

The system can be configured to generate interrupt signals, on dedicated pins, motion and magnetic field detection. Thresholds and the timing of interrupt generators are programmable by the end user.

Magnetic, accelerometer and gyroscope sensing can be enabled or set in Power-down mode separately for smart power management.

The LSM333D is available in a plastic land grid array package (LGA) and it is guaranteed to operate over an extended temperature range from

-40 °C to +85 °C.

Table 1. Device summary

Part number

LSM333D -40 to +85 LGA-28 Tray

LSM333DTR -40 to +85 LGA-28

Temperature

range [°C]

C serial bus interface

Package Packing

Tape and

reel

March 2012 Doc ID 022907 Rev 1 1/75

This is preliminar y information on a new product now in development or undergoing evaluation. Details are subject to change without notice.

www.st.com

Contents LSM333D

Contents

1 Block diagram and pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.2 Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2 Module specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.1 Sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.2 Temperature sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.3 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.4 Communication interface characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.4.1 SPI - serial peripheral interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.4.2 Sensor I2C - inter IC control interface . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.5 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.1 Set/Reset pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.2 Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.2.1 Linear acceleration sensor sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.2.2 Angular rate sensor sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.2.3 Magnetic sensor sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.3 Zero-g level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.4 Zero-rate level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.5 Zero-gauss level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4 Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.1 Accelerometer / Gyroscope self-test . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.2 Linear acceleration digital main blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.2.1 FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.2.2 Bypass mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.2.3 FIFO mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.2.4 Stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.2.5 Stream-to-FIFO mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.2.6 Retrieve data from FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.3 Gyroscope digital main blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

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LSM333D Contents

4.3.1 FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.3.2 Bypass mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.3.3 FIFO mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.3.4 Stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

4.3.5 Bypass-to-stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.3.6 Stream-to-FIFO mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.3.7 Retrieve data from FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

4.4 Level-sensitive / edge-sensitive data enable . . . . . . . . . . . . . . . . . . . . . . 28

4.4.1 Level-sensitive trigger stamping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

4.4.2 Edge-sensitive trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4.5 Temperature sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4.6 Factory calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

5 Application hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

5.1 External capacitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

5.2 Pull-up resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

5.3 Digital interface power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

5.4 Soldering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

5.5 High current wiring effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

6 Digital interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.1 I2C serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.1.1 I2C Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

6.2 SPI bus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

6.2.1 SPI read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

6.2.2 SPI write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.2.3 SPI read in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

7 Output register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

8 Register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

8.1 Accelerometer and Magnetometer register description . . . . . . . . . . . . . . 42

8.2 STATUS_REG_M (07h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

8.3 OUT_X_L_M (08h), OUT_X_H_M (09h) . . . . . . . . . . . . . . . . . . . . . . . . . 43

8.4 OUT_Y_L_M (0Ah), OUT_X_H_M (0Bh) . . . . . . . . . . . . . . . . . . . . . . . . . 43

8.5 OUT_X_L_M (0Ch), OUT_X_H_M (0Dh) . . . . . . . . . . . . . . . . . . . . . . . . . 43

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Contents LSM333D

8.6 WHO_AM_I (0Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

8.7 INT_CTRL_REG_M (12h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

8.8 INT_SRC_REG_M (13h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

8.9 INT_THS_L_M (14h), INT_THS_H_M (15h) . . . . . . . . . . . . . . . . . . . . . . 44

8.10 OFFSET_X_L_M (16h), OFFSET_X_H_M (17h) . . . . . . . . . . . . . . . . . . . 44

8.11 OFFSET_Y_L_M (18h), OFFSET_Y_H_M (19h) . . . . . . . . . . . . . . . . . . . 45

8.12 OFFSET_Z_L_M (1Ah), OFFSET_Z_H_M (1Bh) . . . . . . . . . . . . . . . . . . 45

8.13 REFERENCE_X (1Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

8.14 REFERENCE_Y (1Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

8.15 REFERENCE_Z (1Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

8.16 CNTRL0_A (1Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

8.17 CNTRL1_A (20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . h) 46

8.18 CNTRL2_A (21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . h) 47

8.19 CNTRL3_A (22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . h) 47

8.20 CNTRL4_A (23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . h) 48

8.21 CNTRL5_A (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.22 CNTRL6_A (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.23 CNTRL7_A (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.24 STATUS_REG_A (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.25 OUT_X_L_A (28h), OUT_X_H_A (29h) . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.26 OUT_Y_L_A (2Ah), OUT_X_H_A (2Bh) . . . . . . . . . . . . . . . . . . . . . . . . . 52

8.27 OUT_X_L_A (2Ch), OUT_X_H_A (2Dh) . . . . . . . . . . . . . . . . . . . . . . . . . 52

8.28 FIFO_CNTRL_REG_A (2Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

8.29 FIFO_SRC_REG_A (2Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

8.30 INT_GEN_1_REG_A (2Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.31 INT_GEN_1_SRC_A (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

8.32 INT_GEN_1_THS_A (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.33 INT_GEN_1_DURATION_A (33h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.34 INT_GEN_2_REG_A (34h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.35 INT_GEN_2_SRC_A (35h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

8.36 INT_GEN_2_THS_A (36h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

8.37 INT_GEN_2_DURATION_A (37h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

8.38 CLICK_CFG_A (38h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

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LSM333D Contents

8.39 CLICK_SRC_A (39h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

8.40 CLICK_THS_A (3Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.41 TIME_LIMIT_A (3Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.42 TIME_LATENCY_A (3Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.43 TIME_WINDOW_A (3Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.44 Act_THS_A (3Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

8.45 Act_DUR_A (3Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

9 Gyroscope register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

9.1 WHO_AM_I_G (0Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

9.2 CNTRL1_G (20h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

9.3 CNTRL2_G (21h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

9.4 CNTRL3_G (22h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

9.5 CNTRL4_G (23h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

9.6 CNTRL5_G (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

9.7 REFERENCE_G (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

9.8 OUT_TEMP_G (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

9.9 STATUS_REG_G (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

9.10 OUT_X_L_G (28h), OUT_X_H_G (29h) . . . . . . . . . . . . . . . . . . . . . . . . . 66

9.11 OUT_Y_L_G (2Ah), OUT_Y_H_G (2Bh) . . . . . . . . . . . . . . . . . . . . . . . . . 66

9.12 OUT_Z_L_G (2Ch), OUT_Z_H_G (2Dh) . . . . . . . . . . . . . . . . . . . . . . . . . 66

9.13 FIFO_CTRL_REG_G (2Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

9.14 FIFO_SRC_REG_G (2Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

9.15 INT1_CFG_G (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

9.16 INT1_SRC_G (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

9.17 INT1_THS_XH_G (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

9.18 INT1_THS_XL_G (33h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

9.19 INT1_THS_YH_G (34h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

9.20 INT1_THS_YL_G (35h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

9.21 INT1_THS_ZH_G (36h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

9.22 INT1_THS_ZL _G(37h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

9.23 INT1_DURATION_G (38h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

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Contents LSM333D

10 Package Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

11 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

6/75 Doc ID 022907 Rev 1

LSM333D List of tables

List of tables

Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Table 2. Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Table 3. Sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Table 4. Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Table 5. Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Table 6. SPI slave timing values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Table 7. I2C slave timing values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Table 8. Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Table 9. Serial interface pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Table 10. I2C terminology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Table 11. eCompass SAD+read/write patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 12. Angular rate SAD+read/write patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 13. Transfer when master is writing one byte to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Table 14. Transfer when master is writing multiple bytes to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Table 15. Transfer when master is receiving (reading) one byte of data from slave . . . . . . . . . . . . . 34

Table 16. Transfer when master is receiving (reading) multiple bytes of data from slave . . . . . . . . . 34

Table 17. Accelerometer and Magnetometer sensing register address map . . . . . . . . . . . . . . . . . . . 39

Table 18. Gyroscope sensing register address map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Table 19. STATUS_REG_M register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Table 20. STATUS_REG_M description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Table 21. WHO_AM_I register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Table 22. INT_CTRL_REG_M register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Table 23. INT_CTRL_REG_M description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Table 24. INT_SRC_REG_M register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Table 25. INT_SRC_REG_M description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Table 26. CNTRL0_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Table 27. CNTRL0_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Table 28. CNTRL1_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Table 29. CNTRL0_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Table 30. Acceleration data rate configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Table 31. CNTRL2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 32. CNTRL2_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 33. Acceleration anti-alias filter bandwidth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 34. Acceleration full-scale selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 35. CNTRL3_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 36. CNTRL3_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Table 37. CNTRL4_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Table 38. CNTRL4_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Table 39. CNTRL5_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 40. CNTRL5_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 41. Magnetic data rate configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 42. CNTRL6_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 43. CNTRL6_A_ description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table 44. Magnetic full-scale selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table 45. CNTRL7_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table 46. CNTRL7_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table 47. High-pass filter mode selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table 48. Magnetic sensor mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Table 49. STATUS_REG_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Doc ID 022907 Rev 1 7/75

List of tables LSM333D

Table 50. STATUS_REG_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Table 51. FIFO_CTRL_REG_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Table 52. FIFO_CTRL_REG_A register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Table 53. FIFO mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Table 54. FIFO_SRC_REG_A register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Table 55. FIFO_SRC_REG_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Table 56. INT_GEN_1_REG_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Table 57. INT_GEN_1_REG_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Table 58. Interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Table 59. INT_GEN_1_SRC_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Table 60. INT_GEN_1_SRC_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Table 61. INT1_THS register_A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Table 62. INT1_THS description_A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Table 63. INT1_DURATION_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Table 64. INT1_DURATION_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Table 65. INT_GEN_2_REG_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Table 66. INT_GEN_2_REG_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Table 67. Interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Table 68. INT_GEN_2_SRC_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Table 69. INT_GEN_2_SRC_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Table 70. INT_GEN_2_THS_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Table 71. INT_GEN_2_THS_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Table 72. INT_GEN_2_DURATION_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Table 73. INT_GEN_2_DURATION_A description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Table 74. CLICK_CFG_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Table 75. CLICK_CFG_A description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Table 76. CLICK_SRC_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Table 77. CLICK_SRC_A description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Table 78. CLICK_THS_A register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Table 79. CLICK_SRC_A description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Table 80. TIME_LIMIT_A register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Table 81. TIME_LIMIT_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Table 82. TIME_LATENCY_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Table 83. TIME_LATENCY_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Table 84. TIME_WINDOW_ register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Table 85. TIME_WINDOW_A description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Table 86. Act_THS_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Table 87. Act_THS_A description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Table 88. Act_DUR_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Table 89. Act_DUR_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Table 90. WHO_AM_I register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Table 91. CNTRL1_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Table 92. CNTRL1_G description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Table 93. DR and BW configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Table 94. Power mode selection configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Table 95. CNTRL2_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Table 96. CNTRL2_G description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Table 97. High-pass filter mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Table 98. High-pass filter cutoff frequency configuration [Hz] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Table 99. CNTRL3_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Table 100. CNTRL3_G description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Table 101. CNTRL4_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

8/75 Doc ID 022907 Rev 1

LSM333D List of tables

Table 102. CNTRL4_G description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Table 103. CNTRL5_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Table 104. CNTRL5_G description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Table 105. REFERENCE_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Table 106. REFERENCE_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Table 107. OUT_TEMP_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Table 108. OUT_TEMP_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Table 109. STATUS_REG_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Table 110. STATUS_REG_G description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Table 111. FIFO_CTRL_REG_G register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Table 112. FIFO_CTRL_REG_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Table 113. FIFO mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Table 114. FIFO_SRC_REG_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Table 115. FIFO_SRC_REG_G register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Table 116. INT1_CFG_G register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Table 117. INT1_CFG_G description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Table 118. INT1_SRC_G register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Table 119. INT1_SRC_G description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Table 120. INT1_THS_XH_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Table 121. INT1_THS_XH_G description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Table 122. INT1_THS_XL_G register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Table 123. INT1_THS_XL_G description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Table 124. INT1_THS_YH_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Table 125. INT1_THS_YH_G description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Table 126. INT1_THS_YL_G register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Table 127. INT1_THS_YL_G description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Table 128. INT1_THS_ZH_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Table 129. INT1_THS_ZH_G description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Table 130. INT1_THS_ZL_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Table 131. INT1_THS_ZL_G description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Table 132. INT1_DURATION_G register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Table 133. INT1_DURATION_G description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Table 134. TFLGA 6x3.5x1 28L mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Table 135. TFLGA 6x3.5x1 28L drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Table 136. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Doc ID 022907 Rev 1 9/75

List of figures LSM333D

List of figures

Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Figure 2. Pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Figure 3. SPI slave timing diagram (2). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Figure 4. I2C slave timing diagram (3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Figure 5. Gyroscope block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Figure 6. Bypass mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Figure 7. FIFO mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Figure 8. Stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Figure 9. Bypass-to-stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Figure 10. Trigger stream mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Figure 11. Level-sensitive trigger stamping (LVLen = 1; EXTRen = 0) . . . . . . . . . . . . . . . . . . . . . . . . 28

Figure 12. Edge-sensitive trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Figure 13. LSM333D electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Figure 14. Read and write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Figure 15. SPI read protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Figure 16. Multiple byte SPI read protocol (2-byte example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Figure 17. SPI write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Figure 18. Multiple byte SPI write protocol (2-byte example). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Figure 19. SPI read protocol in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Figure 20. INT1_Sel and Out_Sel configuration block diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Figure 21. Wait disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Figure 22. Wait enabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

10/75 Doc ID 022907 Rev 1

LSM333D Block diagram and pin description

Y+

Z+

Y-

Z-

X+

X-

MUX

I (a)

CHARGE

AMPLIFIER

Sensing Block Sensing Interface

A/D Control

Logic

converter

MUX

I (M)

CHARGE AMPLIFIER

Y+

Z+

Y-

Z-

X+

X-

INTERRUPT GEN.

CLOCK

TRIMMING

CIRCUITS

REFERENCE

OFFSET

CIRCUITS

BUILT-IN

CIRCUITS

SET/RESET

TEMPERATURE

FIFO

SENSOR

I (

Ω)

Drive+

Drive-

Feedback+

Feedback-

DEMODULATOR

VOLTAGE

AUTO MATIC

GAIN

CONTROL

LOW-PASS

FILTER

GAIN

AMPLIFIER

ANALOG CONDITIONING

CHARGE

AMPLIFIER

Y+

Z+

Y-

Z-

X+

X-

MUX

CONTROL LOGIC

GENERATOR

PHASE

A/D Control

Logicconverter

CS_G

SDA/SDI_A/G

SDO_A

I2C/SPI

INT1_A

INT2_A

INT1_G

DRDY_G/

CS_A

SDO_G

SCL_A/G

INT2_G

AM12605V1

1 Block diagram and pin description

1.1 Block diagram

Figure 1. Block diagram

Doc ID 022907 Rev 1 11/75

Block diagram and pin description LSM333D

DIRECTION OF DETECTABLE MAGNETIC FIELDS

DIRECTION OF DETECTABLE ACCELERATIONS

DIRECTION OF DETECTABLE ANGULAR RATE

+Ω

FILTVDD

FILTIN Y

(BOTTOM VIEW)

INT1_A/M

CS_G

Vdd_IO

SDO_G

INT2_A/M

RES

GND

LSM333D

RES

SDA

SCL

SDO_A/M

CS_A/M

Vdd_IO

RES

INT1_G

DRDY_G/INT2_G

GND

SETP

VDD

DEN_G

SETC

VDD

GND

VDD

RES

VDD

AM12606V1

1.2 Pin description

Figure 2. Pin connection

Table 2. Pin description

Pin# Name Function

1 Res Reserved to be connected to GND

2 Res Reserved to be connected to GND

3 Res Reserved to be connected to GND

4GND0 V supply

5 C1 Capacitor connection (C1)

6GND0 V supply

7GND0 V supply

8 Vdd Power supply

9 Vdd Power supply

10 Vdd Power supply

12/75 Doc ID 022907 Rev 1

11 Vdd Power supply

12 Vdd Power supply

13 SETC S/R capacitor connection (C2)

14 SETP S/R capacitor connection (C2)

15 Res Leave unconnected

16 DEN_G Gyroscope data enable

LSM333D Block diagram and pin description

Table 2. Pin description (continued)

Pin# Name Function

17 INT1_G Gyroscope interrupt signal 1

DRDY_G/

INT2_G

Gyroscope data ready/interrupt signal 2

19 INT2_A/M Accelerometer/Magnetometer interrupt2 signal

20 INT1_A/M Accelerometer/Magnetometer interrupt1 signal

21 Vdd_IO Power supply for I/O pins

Gyroscope: SPI enable

22 CS_G

C/SPI mode selection (1: SPI idle mode / I2C communication

enabled; 0: SPI communication mode / I2C disabled)

Accelerometer/Magnetometer: SPI enable

23 CS_A/M

SCL SPC

C/SPI mode selection (1: SPI idle mode / I2C communication

enabled; 0: SPI communication mode / I

C serial clock (SCL)

C disabled)

SPI serial port clock (SPC)

25 Vdd_IO Power supply for I/O pins

26 SDO_G

27 SDO_A

28 SDA

Gyroscope: SPI serial data output (SDO) /

C least significant bit of the device address (SA0)

Accelerometer/Magnetometer:SPI serial data output (SDO) /

C least significant bit of the device address (SA0)

C serial data (SDA) / SPI serial data input (SDI)

3-wire interface serial data output (SDO)

Doc ID 022907 Rev 1 13/75

Module specifications LSM333D

2 Module specifications

2.1 Sensor characteristics

@ Vdd = 3.0 V, T = 25 °C unless otherwise noted

Table 3. Sensor characteristics

Symbol Parameter Test conditions Min. Typ.

LA_FS

M_FS

G_FS

LA_So Linear acceleration sensitivity

M_GN Magnetic sensitivity

G_So Angular rate sensitivity

LA_TCSo

M_TCSo

G_SoDr

Linear acceleration measurement range

Magnetic measurement range

Angular rate measurement range

Linear acceleration sensitivity change vs. temperature

Magnetic sensitivity change vs. temperature

Angular rate sensitivity change vs. temperature

(2)

Linear acceleration FS=±2g 0.06

Linear acceleration FS=±4g 0.12

Linear acceleration FS=±8g 0.24

Linear acceleration FS=±16g 0.73

Magnetic FS=±2 gauss 0.08

Magnetic FS=±4 gauss 0.16

Magnetic FS=±8 gauss 0.32

Magnetic FS=±12 gauss 0.48

Angular rate FS=±250 dps 8.75

Angular rate FS=±500 dps 17.50

Angular rate FS=±2000 dps 70

From -40 °C to +85 °C ±2 %

(a)

(1)

Max. Unit

±2

±4

±8

±16

±2

±4

±8

±12

±250

±2000

±0.01 %/°C

±0.05 %/°C

gauss

dps±500

mg/LSB

mgauss/

LSB

mdps/

digit

a. The product is factory calibrated at 3.0 V. The operational power supply range is from 2.4 V to 3.6 V.

14/75 Doc ID 022907 Rev 1

LSM333D Module specifications

Table 3. Sensor characteristics

Symbol Parameter Test conditions Min. Typ.

Linear acceleration

LA_TyOff

Typ i c a l zer o - g level offset accuracy

(3) (4)

FS = 250 dps ±10

G_TyOff

Angular rate Typical zero-rate level

FS = 2000 dps ±25

LA_TCOff

G_TCOff

Linear acceleration zerolevel change vs. temperature

Zero-rate level change vs. temperature

Linear acceleration noise density

Mn Magnetic noise density

Max. delta from 25 °C ±0.5 mg/°C

Linear acceleration FS=2g;

ODR = 100Hz

Magnetic FS=2gauss; ODR = 100Hz

Rn Rate noise density FS = ±250 dps, BW = 50 Hz 0.03

M_EF Maximum exposed field

No permitting effect on zero reading

Sensitivity starts to degrade.

M_DF Magnetic disturbing field

Automatic S/R pulse restores the sensitivity

(5)

Top Operating temperature range -40 +85 °C

1. Typical specifications are not guaranteed.

2. Verified by wafer level test and measurement of initial offset and sensitivity.

3. Typical zero-g level offset value after MSL3 preconditioning.

4. Offset can be eliminated by enabling the built-in high-pass filter.

5. Set / reset pulse is automatically applied at each conversion cycle.

(1)

Max. Unit

±60 mg

dpsFS = 500 dps ±15

±0.05 dps/°C

150

210

ug/

sqrt(Hz)

ugauss/ sqrt(Hz)

dps/

sqrt(Hz)

10000 gauss

20 gauss

2.2 Temperature sensor characteristics

@ Vdd =3.0 V, T=25 °C unless otherwise noted.

Table 4. Electrical characteristics

Symbol Parameter Test condition Min. Typ.

Temperature sensor

TSDr

TODR Temperature refresh rate 1 Hz

To p

1. The product is factory calibrated at 3.0 V.

output change vs. temperature

Operating temperature range

(1)

(2)

Max. Unit

-1 °C/digit

-40 +85 °C

Doc ID 022907 Rev 1 15/75

Module specifications LSM333D

2. Typical specifications are not guaranteed.

2.3 Electrical characteristics

@ Vdd = 3.0 V, T = 25 °C unless otherwise noted

Table 5. Electrical characteristics

(b)

Symbol Parameter

Tes t

conditions

Min. Typ.

(1)

Max. Unit

Vdd Supply voltage 2.4 3.6 V

Vdd_IO Module power supply for I/O 1.71 1.8 Vdd+0.1

Idd_A/M

Idd_A/M_SL

G_Idd

G_IddLowP

G_IddPdn

eCompass in Normal mode

eCompass current consumption in Power-down mode

Gyroscope current consumption in Normal mode

Gyroscope supply current in Sleep mode

Gyroscope current consumption in Power-down mode

VIH Digital high level input voltage

VIL Digital low level input voltage

VOH High level output voltage

(2)

current consumption

(3)

(4)

(5)

350 µA

1µA

6.1 mA

2mA

5µA

0.8*Vdd_I O

0.2*Vdd_I O

0.9*Vdd_I O

VOL Low level output voltage

Top Operating temperature range -40 +85

1. Typical specifications are not guaranteed.

2. eCompass

3. Magnetic sensor setting ODR =6.25 Hz, accelerometer sensor ODR = 50 Hz.

4. Linear accelerometer and magnetic sensor in Power-down mode.

5. Sleep mode introduces a faster turn-on time compared to Power-down mode.

: accelerometer - magnetic sensor.

b. Gyroscope is factory calibrated at 3.0 V.

16/75 Doc ID 022907 Rev 1

0.1*Vdd_I O

°C

LSM333D Module specifications

SPC

SDI

SDO

su(CS)

v(SO)

h(SO)

h(SI)

su(SI)

h(CS)

dis(SO)

c(SPC)

MSB IN

MSB OUT

LSB OUT

LSB IN

(3)

2.4 Communication interface characteristics

2.4.1 SPI - serial peripheral interface

Subject to general operating conditions for Vdd and Top.

Table 6. SPI slave timing values

(1)

Val ue

Symbol Parameter

Unit

Min. Max.

tc(SPC) SPI clock cycle 100 ns

fc(SPC) SPI clock frequency 10 MHz

tsu(CS) CS setup time 5

th(CS) CS hold time 20

tsu(SI) SDI input setup time 5

th(SI) SDI input hold time 15

tv(SO) SDO valid output time 50

th(SO) SDO output hold time 5

tdis(SO) SDO output disable time 50

(2)

Figure 3. SPI slave timing diagram

1. Values are guaranteed at 10 MHz clock frequency for SPI with both 4 and 3 wires, based on characterization results, not tested in production.

2. Measurement points are done at 0.2·Vdd_IO and 0.8·Vdd_IO, for both Input and output ports.

Doc ID 022907 Rev 1 17/75

Module specifications LSM333D

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2.4.2 Sensor I2C - inter IC control interface

Subject to general operating conditions for Vdd and Top.

Table 7. I2C slave timing values

Symbol Parameter

I2C standard mode

(1)

I2C fast mode

Min. Max. Min. Max.

(1)

Unit

(SCL)

w(SCLL)

w(SCLH)

su(SDA)

h(SDA)

r(SDA) tr(SCL)

f(SDA) tf(SCL)

h(ST)

su(SR)

su(SP)

w(SP:SR)

Figure 4. I

SCL clock frequency 0 100 0 400 kHz

SCL clock low time 4.7 1.3

SCL clock high time 4.0 0.6

SDA setup time 250 100 ns

SDA data hold time 0 3.45 0 0.9 µs

SDA and SCL rise time 1000 20 + 0.1C

SDA and SCL fall time 300 20 + 0.1C

(2)

300

START condition hold time 4 0.6

Repeated START condition setup time

4.7 0.6

STOP condition setup time 4 0.6

Bus free time between STOP and START condition

C slave timing diagram

(3)

4.7 1.3

µs

1. Data based on standard I

2. Cb = total capacitance of one bus line, in pF.

3. Measurement points are done at 0.2·Vdd_IO and 0.8·Vdd_IO, for both ports.

C protocol requirement, not tested in production.

18/75 Doc ID 022907 Rev 1

LSM333D Module specifications

This is a mechanical shock sensitive device, improper handling can cause permanent damage to the part

This is an ESD sensitive device, improper handling can cause permanent damage to the part

2.5 Absolute maximum ratings

Stresses above those listed as “absolute maximum ratings” may cause permanent damage to the device. This is a stress rating only and functional operation of the device under these conditions is not implied. Exposure to maximum rating conditions for extended periods may affect device reliability.

Table 8. Absolute maximum ratings

Symbol Ratings Maximum value Unit

Vdd Supply voltage -0.3 to 4.8 V

Vdd_IO I/O pins supply voltage -0.3 to 4.8 V

Vin

Input voltage on any control pin (SCL, SDA, SDO_A/M, SDO_G, CS_G, CS_A/M, DEN_G)

-0.3 to Vdd_IO +0.3 V

POW

UNP

STG

ESD Electrostatic discharge protection 2 (HBM) kV

Acceleration (any axis, powered, Vdd = 2.5 V)

Acceleration (any axis, unpowered)

Operating temperature range -40 to +85 °C

Storage temperature range -40 to +125 °C

Note: Supply voltage on any pin should never exceed 4.8 V.

3,000 for 0.5 ms g

10,000 for 0.1 ms g

3,000 for 0.5 ms g

10,000 for 0.1 ms g

Doc ID 022907 Rev 1 19/75

Terminology LSM333D

3 Terminology

3.1 Set/Reset pulse

The set/reset pulse is an automatic operation performed before each magnetic acquisition cycle to de-gauss the sensor and to ensure alignment of the magnetic dipoles and therefore the linearity of the sensor itself.

3.2 Sensitivity

3.2.1 Linear acceleration sensor sensitivity

Linear acceleration sensitivity describes the gain of the sensor and can be determined e.g. by applying 1 g acceleration to it. As the sensor can measure DC accelerations, this can be done easily by pointing the axis of interest towards the center of the earth, noting the output value, rotating the sensor by 180 degrees (pointing to the sky) and noting the output value again. By doing so, ±1 g acceleration is applied to the sensor. Subtracting the larger output value from the smaller one, and dividing the result by 2, leads to the actual sensitivity of the sensor. This value changes very little over temperature and also time. The sensitivity tolerance describes the range of sensitivities of a large population of sensors.

3.2.2 Angular rate sensor sensitivity

An angular rate gyroscope is a device that produces a positive-going digital output for counter-clockwise rotation around the sensitive axis considered. Sensitivity describes the gain of the sensor and can be determined by applying a defined angular velocity to it. This value changes very little over temperature and time.

3.2.3 Magnetic sensor sensitivity

Sensitivity describes the gain of the sensor and can be determined e.g. by applying a magnetic field of 1 gauss to it.

3.3 Zero-g level

Zero-g level offset (TyOff) describes the deviation of an actual output signal from the ideal output signal if no acceleration is present. A sensor in a steady-state on a horizontal surface measures 0 g in the X-axis and 0 g in the Y-axis, whereas the Z-axis measures 1 g. The output is ideally in the middle of the dynamic range of the sensor (content of OUT registers 00h, data expressed as 2’s complement number). A deviation from the ideal value in this case is called zero-g offset. Offset is to some extent a result of stress to the MEMS sensor and therefore can slightly change after mounting the sensor onto a printed circuit board or exposing it to extensive mechanical stress. Offset changes little over temperature, see “Zero-g level change vs. temperature”. The zero-g level tolerance (TyOff) describes the standard deviation of the range of zero-g levels of a population of sensors.

20/75 Doc ID 022907 Rev 1

LSM333D Terminology

3.4 Zero-rate level

Zero-rate level describes the actual output signal if there is no angular rate present. Zerorate level of precise MEMS sensors is, to some extent, a result of stress to the sensor and therefore zero-rate level can slightly change after mounting the sensor onto a printed circuit board or after exposing it to extensive mechanical stress. This value changes very little over temperature and time.

3.5 Zero-gauss level

Zero-gauss level offset describes the deviation of an actual output signal from the ideal output if no magnetic field is present. Thanks to the set/reset pulse and to the magnetic sensor readout chain, the offset is dynamically cancelled. The zero-gauss level does not show any dependencies from temperature and power supply.

Doc ID 022907 Rev 1 21/75

Functionality LSM333D

4 Functionality

The LSM333D is a system-in-package featuring a 3D digital accelerometer, a 3D digital Magnetometer, and a 3D digital gyroscope.

The device includes specific sensing elements and two IC interfaces capable of measuring both the acceleration/Magnetometer and angular rate applied to the module and to provide a signal to external applications through an SPI/I

The various sensing elements are manufactured using specialized micromachining processes, while the IC interfaces are developed using a CMOS technology that allows the design of a dedicated circuit which is trimmed to better match the sensing element characteristics.

The LSM333D may also be configured to generate an inertial wake-up and free-fall interrupt signal according to a programmed acceleration event along the enabled axes.

4.1 Accelerometer / Gyroscope self-test

Self-test allows the linear acceleration sensor functionality to be tested without moving it. The self-test function is off when the self-test bit (ST) is programmed to ‘0’. When the selftest bit is programmed to ‘1’ an actuation force is applied to the sensor, simulating a definite input acceleration. In this case the sensor outputs exhibit a change in their DC levels which are related to the selected full-scale through the device sensitivity. When self-test is activated, the device output level is given by the algebraic sum of the signals produced by the acceleration acting on the sensor and by the electrostatic test-force. If the output signals change within the amplitude specified inside Section 2.1: Sensor characteristics, then the sensor is working properly and the parameters of the interface chip are within the defined specifications.

C serial interface.

4.2 Linear acceleration digital main blocks

4.2.1 FIFO

The LSM333D embeds 32 slots of data FIFO for each of the three output channels: X, Y and Z. This allows a consistent power saving for the system, since the host processor does not need to continuously poll data from the sensor, but it can wake up only when needed and burst the significant data out from the FIFO. This buffer can work accordingly in four different modes: Bypass mode, FIFO mode, Stream mode and Stream-to-FIFO mode. Each mode is selected by the FIFO_MODE bits in FIFO_SRC_REG_A (2Fh). Programmable watermark level, FIFO_Empty or FIFO_Full events can be enabled to generate dedicated interrupts on the INT1_A/INT2_A pin (configured through FIFO_SRC_REG_A (2Fh)).

4.2.2 Bypass mode

In Bypass mode, the FIFO is not operational and for this reason it remains empty. For each channel only the first address is used. The remaining FIFO slots are empty.

22/75 Doc ID 022907 Rev 1

LSM333D Functionality

4.2.3 FIFO mode

In FIFO mode, data from the X, Y and Z channels are stored in the FIFO. A watermark interrupt can be enabled (FIFO_WTMK_EN bit in FIFO_CNTRL_REG_A (2Eh)) in order to be raised when the FIFO is filled to the level specified in the FIFO_WTMK_LEVEL bits of

FIFO_CNTRL_REG_A (2Eh). The FIFO continues filling until it is full (32 slots of data for X,

Y and Z). When full, the FIFO stops collecting data from the input channels.

4.2.4 Stream mode

In Stream mode, data from the X, Y and Z measurement are stored in the FIFO. A watermark interrupt can be enabled and set as in FIFO mode. The FIFO continues filling until it is full (32 slots of data for X, Y and Z). When full, the FIFO discards the older data as the new data arrives.

4.2.5 Stream-to-FIFO mode

In Stream-to-FIFO mode, data from the X, Y and Z measurement is stored in the FIFO. A watermark interrupt can be enabled (FIFO_WTMK_EN bit in FIFO_CNTRL_REG_A (2Eh)) in order to be raised when the FIFO is filled to the level specified in the FIFO_WTMK_LEVEL bits of FIFO_CNTRL_REG_A (2Eh). The FIFO continues filling until it is full (32 slots of 8-bit data for X, Y and Z). When full, the FIFO discards the older data as the data new arrives. Once a trigger event occurs, the FIFO starts operating in FIFO mode.

4.2.6 Retrieve data from FIFO

FIFO data is read through OUT_X_L_A (28h), OUT_X_H_A (29h), OUT_Y_L_A (2Ah),

OUT_X_H_A (2Bh) and OUT_X_L_A (2Ch), OUT_X_H_A (2Dh). When the FIFO is in

Stream, Trigger or FIFO mode, a read operation to the OUT_X_L_A (28h), OUT_X_H_A

(29h), OUT_Y_L_A (2Ah), OUT_X_H_A (2Bh) or OUT_X_L_A (2Ch), OUT_X_H_A (2Dh)

registers provides the data stored in the FIFO. Each time data is read from the FIFO, the oldest X, Y and Z data are placed in the OUT_X_L_A (28h), OUT_X_H_A (29h),

OUT_Y_L_A (2Ah), OUT_X_H_A (2Bh) and OUT_X_L_A (2Ch), OUT_X_H_A (2Dh)

registers and both single read and read_burst operations can be used.

Doc ID 022907 Rev 1 23/75

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