LSM6DS3H datasheet(59/104 Pages) STMICROELECTRONICS

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LSM6DS3H

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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)

110

Gyroscope + accelerometer + registers from SENSORHUB1_REG (2Eh) to

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

Normal mode

Positive sign self-test

Not allowed

Negative sign self-test

Table 60. Linear acceleration sensor self-test mode selection

ST1_XL

ST0_XL

Self-test mode

Normal mode

Positive sign self-test

Negative sign self-test

Not allowed

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