LSM6DSL Datasheet, PDF (63/113 Pages) STMicroelectronics – iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope

LSM6DSL
Register description
Table 61. 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 62. 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 63. 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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