LSM6DS33 Datasheet, PDF (51/77 Pages) STMicroelectronics – iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope

LSM6DS33
Register description
Table 55. Output registers rounding pattern
ROUNDING[2:0]
Rounding pattern
000
No rounding
001
Accelerometer only
010
Gyroscope only
011
Gyroscope + accelerometer
Table 56. Angular rate sensor self-test mode selection
ST1_G
ST0_G
Self-test mode
0
0
Normal mode
0
1
Positive sign self-test
1
0
Not allowed
1
1
Negative sign self-test
Table 57. Linear acceleration sensor self-test mode selection
ST1_XL
ST0_XL
Self-test mode
0
0
Normal mode
0
1
Positive sign self-test
1
0
Negative sign self-test
1
1
Not allowed
9.16
CTRL6_C (15h)
Angular rate sensor control register 6 (r/w).
Table 58. CTRL6_C register
TRIG_EN LVLen LVL2_EN XL_HM_MODE 0⁽¹⁾
0⁽¹⁾
0⁽¹⁾
0⁽¹⁾
1. This bit must be set to ‘0’ for the correct operation of the device.
TRIG_EN
Table 59. CTRL6_C register description
Gyroscope data edge-sensitive trigger enable. Default value: 0
(0: external trigger disabled; 1: external trigger enabled)
LVLen
Gyroscope data level-sensitive trigger enable. Default value: 0
(0: level-sensitive trigger disabled; 1: level sensitive trigger enabled)
LVL2_EN
XL_HM_MODE
Gyroscope level-sensitive latched enable. Default value: 0
(0: level-sensitive latched disabled; 1: level sensitive latched enabled)
High-performance operating mode disable for accelerometer⁽¹⁾. Default value: 0
(0: high-performance operating mode enabled;
1: high-performance operating mode disabled)
1. Normal and low-power mode depends on the ODR setting, for details refer to Table 44.
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