LSM6DSLTR datasheet(65/113 Pages) STMICROELECTRONICS

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LSM6DSL

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9.19

CTRL7_G (16h)

Angular rate sensor control register 7 (r/w).

9.20

CTRL8_XL (17h)

Linear acceleration sensor control register 8 (r/w).

Table 68. CTRL7_G register

G_HM_MODE

HP_EN_G

HPM1_G

HPM0_G

0(1)

1. This bit must be set to ‘0’ for the correct operation of the device.

ROUNDING_

STATUS

0(1)

Table 69. CTRL7_G register description

G_HM_MODE

High-performance operating mode disable for gyroscope(1). Default: 0

(0: high-performance operating mode enabled;

1: high-performance operating mode disabled)

HP_EN_G

Gyroscope digital high-pass filter enable. The filter is enabled only if the gyro is in HP

mode. Default value: 0

(0: HPF disabled; 1: HPF enabled)

HPM_G[1:0]

Gyroscope digital HP filter cutoff selection. Default: 00

(00 = 16 mHz

01 = 65 mHz

10 = 260 mHz

11 = 1.04 Hz)

ROUNDING_

STATUS

Source register rounding function on WAKE_UP_SRC (1Bh), TAP_SRC (1Ch),

D6D_SRC (1Dh), STATUS_REG (1Eh), and FUNC_SRC (53h).

Default value: 0

(0: Rounding disabled; 1: Rounding enabled)

Table 70. CTRL8_XL register

LPF2_XL_

HPCF_

XL1

HPCF_

XL0

HP_REF

_MODE

INPUT_

COMPO

SITE

HP_SLOPE_X

L_EN

0(1)

1. This bit must be set to ‘0’ for the correct operation of the device.

LOW_PASS

_ON_6D

Table 71. CTRL8_XL register description

LPF2_XL_EN

Accelerometer low-pass filter LPF2 selection. Refer to Figure 8.

HPCF_XL[1:0]

Accelerometer LPF2 and high-pass filter configuration and cutoff

setting. Refer to Table 72.

HP_REF_MODE

Enable HP filter reference mode. Default value: 0

(0: disabled; 1: enabled)

INPUT_COMPOSITE

Composite filter input selection. Default: 0

(0: ODR/2 low pass filtered sent to composite filter (default)

1: ODR/4 low pass filtered sent to composite filter)

HP_SLOPE_XL_EN

Accelerometer slope filter / high-pass filter selection. Refer to Figure 8.

LOW_PASS_ON_6D

LPF2 on 6D function selection. Refer to Figure 8.

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