Datasheet

6 Functionality
6.1 Operating modes
In the LSM6DSO, the accelerometer and the gyroscope can be turned on/off independently of each other and are
allowed to have different ODRs and power modes.
The LSM6DSO has three operating modes available:
• only accelerometer active and gyroscope in power-down
• only gyroscope active and accelerometer in power-down
• both accelerometer and gyroscope sensors active with independent ODR
The accelerometer is activated from power-down by writing ODR_XL[3:0] in CTRL1_XL (10h) while the gyroscope
is activated from power-down by writing ODR_G[3:0] in CTRL2_G (11h). For combo mode the ODRs are totally
independent.
6.2 Accelerometer power modes
In the LSM6DSO, the accelerometer can be configured in five different operating modes: power-down, ultra-low-
power, low-power, normal mode and high-performance mode. The operating mode selected depends on the value
of the XL_HM_MODE bit in CTRL6_C (15h). If XL_HM_MODE is set to '0', high-performance mode is valid for all
ODRs (from 12.5 Hz up to 6.66 kHz).
To enable the low-power and normal mode, the XL_HM_MODE bit has to be set to '1'. Low-power mode is
available for lower ODRs (1.6, 12.5, 26, 52 Hz) while normal mode is available for ODRs equal to 104 and
208 Hz.
6.2.1 Accelerometer ultra-low-power mode
The LSM6DSO can be configured in ultra-low-power (ULP) mode by setting the XL_ULP_EN bit to 1 in CTRL5_C
(14h) register. This mode can be used in accelerometer-only mode (gyroscope sensor must be configured in
power-down mode) and for ODR_XL values between 1.6 Hz and 208 Hz.
When ULP mode is intended to be used, the bit XL_HM_MODE must be set to 0.
When ULP mode is switched ON/OFF, the accelerometer must be configured in power-down condition.
ULP mode cannot be used in Mode 3 or Mode 4 connection modes.
The embedded functions based on accelerometer data (free-fall, 6D/4D, tap, double tap, wake-up, activity/
inactivity, stationary/motion, step counter, step detection, significant motion, tilt) and the FIFO batching
functionality are still supported when ULP mode is enabled.
6.3 Gyroscope power modes
In the LSM6DSO, the gyroscope can be configured in four different operating modes: power-down, low-power,
normal mode and high-performance mode. The operating mode selected depends on the value of the
G_HM_MODE bit in CTRL7_G (16h). If G_HM_MODE is set to '0', high-performance mode is valid for all ODRs
(from 12.5 Hz up to 6.66 kHz).
To enable the low-power and normal mode, the G_HM_MODE bit has to be set to '1'. Low-power mode is
available for lower ODRs (12.5, 26, 52 Hz) while normal mode is available for ODRs equal to 104 and 208 Hz.
LSM6DSO
Functionality
DS12140 - Rev 2
page 27/172