FXAS21002CQR1 データシートの表示（PDF） - Freescale Semiconductor

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FXAS21002CQR1

3-Axis Digital Angular Rate Gyroscope

Freescale Semiconductor 

Register Descriptions

6.1 0x00: STATUS

The STATUS register content depends on the FIFO mode setting. It is a copy of either

0x07: DR_STATUS or 0x08: F_STATUS. This allows for easy reading of the

relevant status register before reading the current sample output data, or the first

sample stored in the FIFO.

6.2 0x01–0x06: OUT_X_MSB, OUT_X_LSB, OUT_Y_MSB,

OUT_Y_LSB, OUT_Z_MSB, OUT_Z_LSB

The X-axis, Y-axis, and Z-axis output rate data are represented in 16-bit, 2's

complement format. The output data registers are arranged in a contiguous big endian

format, with the MSB of each axis’s data located at the lower register address. The

output data registers are either updated at the selected output data rate (with

F_SETUP[F_MODE] equal to 0b00 ), or alternately, point to the head of the FIFO

buffer (with F_SETUP[F_MODE] greater than 0b00 ). When reading a data sample

with F_MODE equal to 0b00, the host must always start by reading the MSB of each

axis first to ensure that the corresponding LSB register is also updated with the current

sample data. When F_MODE is greater than 0b00, the OUT_X_MSB register must be

read out first in order for the other five output data registers (OUT_X_LSB through

OUT_Z_LSB) to be updated with sample data stored at the head of the FIFO. The

FIFO head pointer is only incremented to point to the next stored sample when the

host reads the OUT_Z_MSB register.

NOTE

To avoid the loss of data, the user must burst-read all six

bytes of sample data (three axes) in a single I2C or SPI

transaction.

Table 14. 0x01: OUT_X_MSB

Bit

7

6

5

4

3

2

1

0

Read

XD[15:8]

Write

Reset1

0

0

0

0

0

0

0

0

1. As shown on POR. On hard/soft reset, the default value cannot be determined.

3-Axis Digital Angular Rate Gyroscope, Rev. 2.1, 5/2015

31

Freescale Semiconductor, Inc.

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