How to data from the LSM6DS3 at maximum speed?

[JHong.10]

Hi there.

We tried to get data from the LSM6DS3 at maximum speed but data rate of the sensor was always around 400Hz.

Datasheet say 'LSM6DS3 supports up to 6.66kHz'. Then, can I read the raw data at 6.66kHz through SPI communication?

If it is possible, which resistor or setting must be configured?

Our code is down below.

Firstly, initializing LSM6DS3

void lsm6ds3_init(void)
 {
 	
         // CTRL1_XL Write
	TxData[0] = 0x10; // address
	TxData[1] = 0x00; // power down
	HAL_SPI_Transmit(&hspi1,&TxData[0],1,0xff);
        HAL_SPI_Transmit(&hspi1,&TxData[1],1,0xff);
	uint8_t cmd=0x10 ;
	uint8_t ret=SPI_Read(cmd,1,10);
 
	TxData[0] = 0x15; // address
	TxData[1] = 0x00; // highperformance mode
	HAL_SPI_Transmit(&hspi1,&TxData[0],1,0xff);
        HAL_SPI_Transmit(&hspi1,&TxData[1],1,0xff);
	cmd=0x15 ;
	ret=SPI_Read(cmd,1,10);
	 
	//CTRL1_XL 
	TxData[0] = 0x10; //address
	TxData[1] = 0xA0; // value 1010 00 00
        cmd=0x10 ;
	ret=SPI_Read(cmd,1,10);
	HAL_SPI_Transmit(&hspi1,&TxData[0],1,0xff);
        HAL_SPI_Transmit(&hspi1,&TxData[1],1,0xff);
 
	
	// CTRL2_G_XL Write	
	TxData[0] = 0x11; //address
	TxData[1] = 0x80; //value
        cmd=0x11 ;
	ret=SPI_Read(cmd,1,10);
	HAL_SPI_Transmit(&hspi1,&TxData[0],1,0xff);
	HAL_SPI_Transmit(&hspi1,&TxData[1],1,0xff);
         }

Secondly, Getting raw data from the sensor

while(1){
     LSM6DS3_state=LSM6DS3_Read_Status();
     if(LSM6DS3_state&0x01){
	  SensorData[2]=LSM6DS3_ReadXLData(0);
          SensorData[3]=LSM6DS3_ReadXLData(1);
	  SensorData[4]=LSM6DS3_ReadXLData(2);
	  SensorData[5]=LSM6DS3_ReadXLData(3);
	  SensorData[6]=LSM6DS3_ReadXLData(4);
	  SensorData[7]=LSM6DS3_ReadXLData(5);
	  SnsorData[8]=LSM6DS3_ReadGData(0);
	  SensorData[9]=LSM6DS3_ReadGData(1);
	  SensorData[10]=LSM6DS3_ReadGData(2);
	  SensorData[11]=LSM6DS3_ReadGData(3);
	  SensorData[12]=LSM6DS3_ReadGData(4);
	  SensorData[13]=LSM6DS3_ReadGData(5);
          }
}