LSM6DSL Datasheet, PDF (66/113 Pages) STMicroelectronics – iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope

Register description
LSM6DSL
HP_SLOPE_
XL_EN
Table 72. Accelerometer bandwidth selection
LPF2_XL_EN LPF1_BW_SEL HPCF_XL[1:0]
INPUT_
COMPOSITE
Bandwidth
0
-
-
ODR/2
0
1
-
-
ODR/4
0
00
ODR/50
(low-pass path)⁽¹⁾
01
1 (low noise) ^ODR/100
1
-
10
0 (low latency) _ODR/9
11
ODR/400
00
ODR/4
1
(high-pass path)⁽²⁾
-
01
ODR/100
-
0
10
ODR/9
11
ODR/400
1. The bandwidth column is related to LPF1 if LPF2_XL_EN = 0 or to LPF2 if LPF2_XL_EN = 1.
2. The bandwidth column is related to the slope filter if HPCF_XL[1:0] = 00 or to the HP filter if
HPCF_XL[1:0] = 01/10/11.
9.21
CTRL9_XL (18h)
Linear acceleration sensor control register 9 (r/w).
Table 73. CTRL9_XL register
DEN_X DEN_Y DEN_Z DEN_XL_G 0⁽¹⁾
SOFT_EN
0⁽¹⁾
0⁽¹⁾
1. This bit must be set to ‘0’ for the correct operation of the device.
DEN_X
Table 74. CTRL9_XL register description
DEN value stored in LSB of X-axis. Default value: 1
(0: DEN not stored in X-axis LSB; 1: DEN stored in X-axis LSB)
DEN_Y
DEN value stored in LSB of Y-axis. Default value: 1
(0: DEN not stored in Y-axis LSB; 1: DEN stored in Y-axis LSB)
DEN_Z
DEN value stored in LSB of Z-axis. Default value: 1
(0: DEN not stored in Z-axis LSB; 1: DEN stored in Z-axis LSB)
DEN_XL_G
SOFT_EN
DEN stamping sensor selection. Default value: 0
(0: DEN pin info stamped in the gyroscope axis selected by bits [7:5];
1: DEN pin info stamped in the accelerometer axis selected by bits [7:5])
Enable soft-iron correction algorithm for magnetometer⁽¹⁾. Default value: 0
(0: soft-iron correction algorithm disabled;
1: soft-iron correction algorithm enabled)
1. This bit is effective if the IRON_EN bit of MASTER_CONFIG (1Ah) and the FUNC_EN bit of CTRL10_C
(19h) are set to 1.
66/113
DocID028475 Rev 5