Datasheet

Register description LSM6DS3
56/99 DocID026899 Rev 7
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
0 0 Normal mode
0 1 Positive sign self-test
1 0 Not allowed
1 1 Negative sign self-test
Table 60. 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