Noise in accelerometer reading when gyro enabled on LSM6DSR - connected to STM32H745

[ItooSee]

Hi All,

I'm interfacing LSM6DSR IMU with STM32H745 over I2C (1mbps). The accelerometer data looks good and consistent with pretty low noise.

However, as soon as I configure the Gyro as well to turn on - the accelerometer has really wild noise.

Attached three pictures with:

1. Accelerometer plot - left part with gyro enabled and right with gyro disabled
2. Configuration registers values which I confirmed with ST Unico tool
3. Plot of accelerometer and gyro on the STEVAL-MKI194V1 with Unico tool and shows no noise

Any pointers on what could be wrong ? I can only use I2C since the hardware is already designed.

Thanks for any help