Can the embedded state machines in the LSM6DS032 be programmed over I2C?

[samir6577]

Hello, I am looking to use the LSM6DS032 accelerometer + gyroscope in a project, I intend to interface it with an MCU via I2C. I am wondering if it is possible to program the embedded finite state machines in the accelerometer using only I2C and writing to registers, and if there are any guides or application notes on how this can be done?

[Chris21]

There is documentation: https://www.st.com/en/mems-and-sensors/lsm6dso32.html#documentation

Datasheet says, "The registers embedded inside the LSM6DSO32 may be accessed through both the I²C and SPI serial interfaces."

And there is AN5505...

https://www.st.com/resource/en/application_note/an5505-lsm6dso32-finite-state-machine-stmicroelectronics.pdf 

[Smithson]

https://www.st.com/resource/en/design_tip/dt0064-noise-analysis-and-identification-in-mems-sensors-allan-time-hadamard-overlapping-modified-total-variance-stmicroelectronics.pdf

Page 3 there appears to be a math errror in the MATLAB code,

Ts = 1/FS not Ts = 1/Ts, the units do not match.  

PS The thermal noise in the acceleration signals are important for Structural Health Monitoring.