LSM6DSR datasheet(52/168 Pages) STMICROELECTRONICS

52 / 168 page

9.16

CTRL2_G (11h)

Gyroscope control register 2 (r/w)

Table 51. CTRL2_G register

ODR_G3

ODR_G2

ODR_G1

ODR_G0

FS1_G

FS0_G

FS_125

FS_4000

Table 52. CTRL2_G register description

ODR_G[3:0]

Gyroscope output data rate selection. Default value: 0000

(Refer to Table 53)

FS[1:0]_G

Gyroscope chain full-scale selection

(00: ±250 dps;

01: ±500 dps;

10: ±1000 dps;

11: ±2000 dps)

FS_125

Selects gyro chain full-scale ±125 dps

(0: FS selected through bits FS[1:0]_G;

1: FS set to ±125 dps)

FS_4000(1)

Selects gyro chain full-scale ±4000 dps

(0: FS selected through bits FS[1:0]_G or FS_125;

1: FS set to ±4000 dps)

1. This bit has to be set to 0 when the OIS chain is ON (OIS_EN_SPI2 bit =1 in CTRL1_OIS (70h))

Table 53. Gyroscope ODR configuration setting

ODR_G3 ODR_G2 ODR_G1 ODR_G0

ODR selection [Hz] when

G_HM_MODE = 1 in CTRL7_G (16h)

ODR selection [Hz] when

G_HM_MODE = 0 in CTRL7_G (16h)

Power-down

12.5 Hz (low power)

12.5 Hz (high performance)

26 Hz (low power)

26 Hz (high performance)

52 Hz (low power)

52 Hz (high performance)

104 Hz (normal mode)

104 Hz (high performance)

208 Hz (normal mode)

208 Hz (high performance)

416 Hz (high performance)

833 Hz (high performance)

1.66 kHz (high performance)

3.33 kHz (high performance)

6.66 kHz (high performance)

Not available

LSM6DSR

CTRL2_G (11h)

DS11976 - Rev 2

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