L3GD20 查看數據表（PDF） - STMicroelectronics

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L3GD20

MEMS motion sensor: three-axis digital output gyroscope

STMicroelectronics 

Digital interfaces

L3GD20

Table 13. Transfer when master is writing multiple bytes to slave

Master ST SAD + W

SUB

DATA

DATA

SP

Slave

SAK

SAK

SAK

SAK

Table 14. Transfer when master is receiving (reading) one byte of data from slave

Master ST SAD + W

SUB

SR SAD + R

NMAK SP

Slave

SAK

SAK

SAK DATA

Table 15. Transfer when master is receiving (reading) multiple bytes of data from slave

Master ST SAD+W

SUB

SR SAD+R

MAK

MAK

NMAK SP

Slave

SAK

SAK

SAK DATA

DATA

DATA

Data is transmitted in byte format (DATA). Each data transfer contains 8 bits. The number of

bytes sent per transfer is unlimited. Data is transferred with the most significant bit (MSb)

first. If a receiver cannot receive another complete byte of data until it has performed some

other function, it can hold the clock line, SCL, LOW to force the transmitter into a wait state.

Data transfer only continues when the receiver is ready for another byte and releases the

data line. If a slave receiver does not acknowledge the slave address (i.e. it is not able to

receive because it is performing some real-time function) the data line must be left HIGH by

the slave. The Master can then abort the transfer. A LOW to HIGH transition on the SDA line

while the SCL line is HIGH is defined as a STOP condition. Each data transfer must be

terminated by the generation of a STOP (SP) condition.

In order to read multiple bytes, it is necessary to assert the most significant bit of the sub-

address field. In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the

address of the first register to be read.

In the communication format presented, MAK is Master Acknowledge and NMAK is No

Master Acknowledge.

5.2

SPI bus interface

The SPI is a bus slave. The SPI allows writing and reading the registers of the device.

The serial interface interacts with the outside world through 4 wires: CS, SPC, SDI and

SDO.

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Doc ID 022116 Rev 1

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