Datasheet

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/
I
2
C/
FIFO
FTYPE [2:0]
0
1
0
1
ODR_G[3:0]
MIPI I3C
SM
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
26 8.3
52 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