LSM6DSO datasheet(30/172 Pages) STMICROELECTRONICS

30 / 172 page

Note:

Mode 4 is enabled when Mode4_EN = 1 and OIS_EN_SPI2 = 1 in CTRL1_OIS (70h).

The configuration of the accelerometer UI chain is not affected by enabling Mode 4.

Accelerometer output values are in registers OUTX_L_A (28h) and OUTX_H_A (29h) through not found and ODR

at 6.66 kHz.

Accelerometer full-scale management between the UI chain and OIS chain depends on the setting of the

XL_FS_MODE bit in register CTRL8_XL (17h).

6.4.2

Block diagrams of the gyroscope filters

In the LSM6DSO, the gyroscope filtering chain depends on the mode configuration:

•

Mode 1 (for User Interface (UI) and Electronic Image Stabilization (EIS) functionality through primary

interface) and Mode 2

Figure 19. Gyroscope digital chain - Mode 1 (UI/EIS) and Mode 2

ADC

HPF

HP_EN_G

LPF1

LPF2

LPF1_SEL_G

SPI/

I2C/

FIFO

FTYPE [2:0]

ODR_G[3:0]

MIPI I3CSM

In this configuration, the gyroscope ODR is selectable from 12.5 Hz up to 6.66 kHz. A low-pass filter (LPF1) is

available if the auxiliary SPI is disabled, for more details about the filter characteristics see Table 60. Gyroscope

LPF1 bandwidth selection.

The digital LPF2 filter cannot be configured by the user and its cutoff frequency depends on the selected

gyroscope ODR, as indicated in the following table.

Table 18. Gyroscope LPF2 bandwidth selection

Gyroscope ODR [Hz]

LPF2 cutoff [Hz]

12.5

4.2

8.3

16.6

104

33.0

208

66.8

417

135.9

833

295.5

1667

1108.1

3333

1320.7

6667

1441.8

Note:

Data can be acquired from the output registers and FIFO over the primary I²C/I³C/SPI interface.

LSM6DSO

Block diagram of filters

DS12140 - Rev 2

page 30/172

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