LSM6DSR datasheet(29/168 Pages) STMICROELECTRONICS

29 / 168 page

Figure 18. Accelerometer chain with Mode 4 enabled

Digital

LP Filter

LPF_OIS

FILTER_XL_CONF_OIS[2:0]

ADC

SPI_Aux

ODR XL

@6.6 kHz

UI chain

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 OUTZ_L_A (2Ch)

and OUTZ_H_A (2Dh) and ODR at 6.66 kHz.

6.4.2

Block diagrams of the gyroscope filters

In the LSM6DSR, 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

FSM

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 65. 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.

LSM6DSR

Block diagram of filters

DS11976 - Rev 2

page 29/168

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