LSM6DS3H Datasheet, PDF (59/104 Pages) STMicroelectronics – always-on 3D accelerometer and 3D gyroscope

LSM6DS3H
Register description
Table 57. CTRL5_C register description
ROUNDING[2:0] Circular burst-mode (rounding) read from output registers. Default: 000
(000: no rounding; Others: refer to Table 58)
ST_G [1:0]
Angular rate sensor self-test enable. Default value: 00
(00: Self-test disabled; Other: refer to Table 59)
ST_XL [1:0]
Linear acceleration sensor self-test enable. Default value: 00
(00: Self-test disabled; Other: refer to Table 60)
Table 58. Output registers rounding pattern
ROUNDING[2:0]
Rounding pattern
000
No rounding
001
Accelerometer only
010
Gyroscope only
011
Gyroscope + accelerometer
100
Registers from SENSORHUB1_REG (2Eh) to SENSORHUB6_REG (33h) only
101
Accelerometer + registers from SENSORHUB1_REG (2Eh) to
SENSORHUB6_REG (33h)
Gyroscope + accelerometer + registers from SENSORHUB1_REG (2Eh) to
110
SENSORHUB6_REG (33h) and registers from SENSORHUB7_REG (34h) to
SENSORHUB12_REG(39h)
111
Gyroscope + accelerometer + registers from SENSORHUB1_REG (2Eh) to
SENSORHUB6_REG (33h)
Table 59. 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 60. 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
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