LSM6DS33 Datasheet, PDF (50/77 Pages) STMicroelectronics – iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope

Register description
LSM6DS33
9.14
CTRL4_C (13h)
Control register 4 (r/w).
Table 51. CTRL4_C register
XL_BW_
SCAL_ODR
SLEEP_G
INT2_on_
INT1
FIFO_
TEMP_EN
DRDY_
MASK
I2C_disable
0
STOP_ON
_FTH
Table 52. CTRL4_C register description
XL_BW_
SCAL_ODR
Accelerometer bandwidth selection. Default value: 0
(0⁽¹⁾: bandwidth determined by ODR selection, refer to Table 45;
1⁽²⁾: bandwidth determined by setting BW_XL[1:0] in CTRL1_XL (10h) register.)
SLEEP_G
Gyroscope sleep mode enable. Default value: 0
(0: disabled; 1: enabled)
INT2_on_INT1 All interrupt signals available on INT1 pad enable. Default value: 0
(0: interrupt signals divided between INT1 and INT2 pads;
1: all interrupt signals in logic or on INT1 pad)
FIFO_TEMP_EN Enable temperature data as 4^th FIFO data set⁽³⁾. Default: 0
(0: disable temperature data as 4^th FIFO data set;
1: enable temperature data as 4^th FIFO data set)
DRDY_MASK Configuration 1⁽⁴⁾ data available enable bit. Default value: 0
(0: DA timer disabled; 1: DA timer enabled)
I2C_disable
Disable I²C interface. Default value: 0
(0: both I²C and SPI enabled; 1: I²C disabled, SPI only)
STOP_ON_FTH Enable FIFO threshold level use. Default value: 0.
(0: FIFO depth is not limited; 1: FIFO depth is limited to threshold level)
1. Filter used in high-performance mode only with ODR less than 3.33 kHz.
2. Filter used in high-performance mode only.
3. This bit is effective if the TIMER_PEDO_FIFO_EN bit of FIFO_CTRL2 register is set to 0.
4. In configuration 1, switching to combo mode, data are collected in FIFO only when both accelerometer and
gyroscope are set. Switching to accelerometer only, data are collected in FIFO after filter setting.
9.15
CTRL5_C (14h)
Control register 5 (r/w).
Table 53. CTRL5_C register
ROUNDING2 ROUNDING1 ROUNDING0 0⁽¹⁾ ST1_G ST0_G
1. This bit must be set to ‘0’ for the correct operation of the device
ST1_XL ST0_XL
Table 54. CTRL5_C register description
ROUNDING[2:0] Circular burst-mode (rounding) read from output registers. Default: 000
(000: no rounding; Others: refer to Table 55)
ST_G [1:0]
Angular rate sensor self-test enable. Default value: 00
(00: Self-test disabled; Other: refer to Table 56)
ST_XL [1:0]
Linear acceleration sensor self-test enable. Default value: 00
(00: Self-test disabled; Other: refer to Table 57)
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