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LSM6DSRTR Datasheet(PDF) 56 Page - STMicroelectronics

Part # LSM6DSRTR
Description  iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope
PDF  168 Pages
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Manufacturer  STMICROELECTRONICS [STMicroelectronics]
Direct Link  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

LSM6DSRTR Datasheet(HTML) 56 Page - STMicroelectronics

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9.20
CTRL6_C (15h)
Control register 6 (r/w)
Table 62. CTRL6_C register
TRIG_EN
LVL1_EN
LVL2_EN
XL_HM_
MODE
USR_
OFF_W
FTYPE_2
FTYPE_1
FTYPE_0
Table 63. CTRL6_C register description
TRIG_EN
Enables DEN data edge-sensitive trigger mode. Refer to Table 64.
LVL1_EN
Enables DEN data level-sensitive trigger mode. Refer to Table 64.
LVL2_EN
Enables DEN level-sensitive latched mode. Refer to Table 64.
XL_HM_MODE
Disables high-performance operating mode for accelerometer. Default value: 0
(0: high-performance operating mode enabled;
1: high-performance operating mode disabled)
USR_OFF_W
Weight of XL user offset bits of registers X_OFS_USR (73h), Y_OFS_USR (74h), Z_OFS_USR (75h)
(0 = 2-10 g/LSB;
1 = 2-6 g/LSB)
FTYPE[2:0]
Gyroscope low-pass filter (LPF1) bandwidth selection. Table 65 shows the selectable bandwidth values.
Table 64. Trigger mode selection
TRIG_EN, LVL1_EN, LVL2_EN
Trigger mode
100
Edge-sensitive trigger mode is selected
010
Level-sensitive trigger mode is selected
011
Level-sensitive latched mode is selected
110
Level-sensitive FIFO enable mode is selected
Table 65. Gyroscope LPF1 bandwidth selection
FTYPE
[2:0]
12.5 Hz
26 Hz
52 Hz
104 Hz
208 Hz
416 Hz
833 Hz
1.67 kHz
3.33 kHz
6.67 kHz
000
4.3
8.3
16.7
33
67
133
222
274
292
297
001
4.3
8.3
16.7
33
67
128
186
212
220
223
010
4.3
8.3
16.7
33
67
112
140
150
153
154
011
4.3
8.3
16.7
33
67
134
260
390
451
470
100
4.3
8.3
16.7
34
62
86
96
90
NA
101
4.3
8.3
16.9
31
43
48
49
50
NA
110
4.3
8.3
13.4
19
23
24.6
25
25
NA
111
4.3
8.3
9.8
11.6
12.2
12.4
12.6
12.6
NA
LSM6DSR
CTRL6_C (15h)
DS11976 - Rev 2
page 56/168



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