Accelerometer/Gyroscope Bits

Used as input to AGread and AGwrite functions.

General Control Bits

BOOT

Reboot memory content. Default value: 0 (0: normal mode; 1: reboot memory content)

1. Boot request is executed as soon as internal oscillator is turned-on. It is possible to set bit while in powerdown
   mode, in this case it will be served at the next normal mode or sleep mode.
   
   

BDU

Block data update. Default value: 0 (0: continuous update; 1: output registers not updated until MSB and LSB read)

H_LACTIVE

Interrupt activation level. Default value: 0
(0: interrupt output pins active high; 1: interrupt output pins active low)

PP_OD

Push-pull/open-drain selection on the INT1_A/G pin and INT2_A/G pin.
Default value: 0
(0: push-pull mode; 1: open-drain mode)

SIM

SPI serial interface mode selection. Default value: 0
(0: 4-wire interface; 1: 3-wire interface).

IF_ADD_INC

Register address automatically incremented during a multiple byte access with a
serial interface (I2C or SPI). Default value: 1
(0: disabled; 1: enabled)

BLE

Big/Little Endian data selection. Default value 0
(0: data LSB @ lower address; 1: data MSB @ lower address)

SW_RESET

Software reset. Default value: 0
(0: normal mode; 1: reset device)
This bit is cleared by hardware after next flash boot.

DRDY_mask_bit

Data available enable bit. Default value: 0
(0: DA timer disabled; 1: DA timer enabled)

I2C_DISABLE

Disable I2C interface. Default value: 0
(0: both I2C and SPI enabled; 1: I2C disabled, SPI only)

ST_G

Angular rate sensor self-test enable. Default value: 0
(0: Self-test disabled; 1: Self-test enabled)

ST_XL

Linear acceleration sensor self-test enable. Default value: 0
(0: Self-test disabled; 1: Self-test enabled)

Gyro Configuration Bits

SLEEPG

Gyroscope sleep mode enable. Default value: 0
(0: disabled; 1: enabled)

ODR_G

Gyroscope output data rate selection. Default value: 000

Table 46

Value	ODR [Hz]	Cutoff [Hz]
0	Power-down	n.a.
1	14.9	5
2	59.5	19
3	119	38
4	238	76
5	476	100
6	952	100
7	n.a.	n.a.

Table 47.

ODR_G [2:0]	BW_G [1:0]	ODR [Hz]	Cutoff [Hz]
0	0	Power-down	n.a.
0	1	Power-down	n.a.
0	2	Power-down	n.a.
0	3	Power-down	n.a
1	0	14.9	n.a.
1	1	14.9	n.a.
1	2	14.9	n.a.
1	3	14.9	n.a.
2	0	59.5	16
2	1	59.5	16
2	2	59.5	16
2	3	59.5	16
3	0	119	14
3	1	119	31
3	2	119	31
3	3	119	31
4	0	238	14
4	1	238	29
4	2	238	63
4	3	238	78
5	0	476	21
5	1	476	28
5	2	476	57
5	3	476	100
6	0	952	33
6	1	952	40
6	2	952	58
6	3	952	100
7	0	n.a.	n.a.
7	1	n.a.	n.a.
7	2	n.a.	n.a.
7	3	n.a.	n.a.

ODR_G [2:0] are used to set ODR selection when both the accelerometer and gyroscope
are activated. BW_G [1:0] are used to set gyroscope bandwidth selection.

FS_G

Gyroscope full-scale selection. Default value: 00
(00: 245 dps; 01: 500 dps; 10: Not Available; 11: 2000 dps)

BW_G

Gyroscope bandwidth selection. Default value: 00
ODR_G [2:0] are used to set ODR selection when both the accelerometer and gyroscope
are activated. BW_G [1:0] are used to set gyroscope bandwidth selection.

G_INT_SEL

INT selection configuration. Default value: 00 (Refer to Figure 28)

G_OUT_SEL

Out selection configuration. Default value: 00 (Refer to Figure 28)

G_LP_mode

Low-power mode enable. Default value: 0
(0: Low-power disabled; 1: Low-power enabled)

G_HP_EN

High-pass filter enable. Default value: 0
(0: HPF disabled; 1: HPF enabled, refer to Figure 28)

HPCF_G

Gyroscope high-pass filter cutoff frequency selection. Default value: 0000

Table 52

HPCF_G [3:0]	ODR= 14.9 Hz	ODR= 59.5 Hz	ODR= 119 Hz	ODR= 238 Hz	ODR= 476 Hz	ODR= 952 Hz
0	1	4	8	15	30	57
1	0.5	2	4	8	15	30
2	0.2	1	2	4	8	15
3	0.1	0.5	1	2	4	8
4	0.05	0.2	0.5	1	2	4
5	0.02	0.1	0.2	0.5	1	2
6	0.01	0.05	0.1	0.2	0.5	1
7	0.005	0.02	0.05	0.1	0.2	0.5
8	0.002	0.01	0.02	0.05	0.1	0.2
9	0.001	0.005	0.01	0.02	0.05	0.1

SignX_G

Pitch axis (X) angular rate sign. Default value: 0
(0: positive sign; 1: negative sign)

SignY_G

Roll axis (Y) angular rate sign. Default value: 0
(0: positive sign; 1: negative sign)

SignZ_G

Yaw axis (Z) angular rate sign. Default value: 0
(0: positive sign; 1: negative sign)

Orient_G

Directional user orientation selection. Default value: 000

REF_G

Reference value for gyroscope’s digital high-pass filter (r/w).
Default value: 0000 0000

Accelerometer Bits

Dec_XL

Decimation of acceleration data on OUT REG and FIFO. Default value: 00
(00: no decimation;
01: update every 2 samples;
10: update every 4 samples;
11: update every 8 samples)

Zen_XL

Accelerometer’s Z-axis output enable. Default value: 1
(0: Z-axis output disabled; 1: Z-axis output enabled)

Yen_XL

Accelerometer’s Y-axis output enable. Default value: 1
(0: Y-axis output disabled; 1: Y-axis output enabled)

Xen_XL

Accelerometer’s X-axis output enable. Default value: 1
(0: X-axis output disabled; 1: X-axis output enabled)

ODR_XL

Output data rate and power mode selection. default value: 000

Table 68

ODR_XL	ODR selection [Hz]
0	Power-down
1	10 Hz
2	50 Hz
3	119 Hz
4	238 Hz
5	476 Hz
6	952 Hz
7	n.a.

FS_XL

Accelerometer full-scale selection. Default value: 00
(00: ±2g; 01: ±16 g; 10: ±4 g; 11: ±8 g)

BW_SCAL_ODR_XL

Bandwidth selection. Default value: 0
(0: bandwidth determined by ODR selection:

• BW = 408 Hz when ODR = 952 Hz, 50 Hz, 10 Hz;
  
• BW = 211 Hz when ODR = 476 Hz;
  
• BW = 105 Hz when ODR = 238 Hz;
  

• BW = 50 Hz when ODR = 119 Hz;
  1: bandwidth selected according to BW_XL [2:1] selection)

  BW_XL

  Anti-aliasing filter bandwidth selection. Default value: 00
  (00: 408 Hz; 01: 211 Hz; 10: 105 Hz; 11: 50 Hz)

HR_XL

High resolution mode for accelerometer enable. Default value: 0
(0: disabled; 1: enabled).

Table 71

HR	CTRL_REG7 (DCF [1:0])	LP cutoff freq. [Hz]
1	0	ODR/50
1 } 1	ODR/100
1	2	ODR/9
1	3	ODR/400

DCF_XL

Accelerometer digital filter (high pass and low pass) cutoff frequency selection: the bandwidth
of the high-pass filter depends on the selected ODR. See Table 71

FDS_XL

Filtered data selection. Default value: 0
(0: internal filter bypassed; 1: data from internal filter sent to output register and FIFO)

HPIS1_XL

High-pass filter enabled for acceleration sensor interrupt function on Interrupt. Default
value: 0 (0: filter bypassed; 1: filter enabled)

Temperature Bits

FIFO_TEMP_EN

Temperature data storage in FIFO enable. Default value: 0
(0: temperature data not stored in FIFO; 1: temperature data stored in FIFO)

FIFO Control Bits

FIFO_EN

FIFO memory enable. Default value: 0
(0: disabled; 1: enabled)

STOP_ON_FTH

Enable FIFO threshold level use. Default value: 0
(0: FIFO depth is not limited; 1: FIFO depth is limited to threshold level)

FIFO_TEMP_EN

Temperature data storage in FIFO enable. Default value: 0
(0: temperature data not stored in FIFO; 1: temperature data stored in FIFO)

FMODE

FIFO mode selection bits. Default value: 000

Table 84

FMODE	Mode
0	Bypass mode. FIFO turned off
1	FIFO mode. Stops collecting data when FIFO is full.
2	Reserved
3	Continuous mode until trigger is deasserted, then FIFO mode
4	Bypass mode until trigger is deasserted, then Continuous mode.
6	Continuous mode. If the FIFOis full, the new sample overwrites the older sample.
5	No specification
7	No specification

FTH

FIFO threshold level setting. Default value: 0 0000

FIFO Status

FTHstatus

FIFO threshold status.
(0: FIFO filling is lower than threshold level; 1: FIFO filling is equal or higher than
threshold level

OVRN 0

FIFO overrun status.
(0: FIFO is not completely filled; 1: FIFO is completely filled and at least one samples
has been overwritten)

FSS 0

Number of unread samples stored into FIFO.
(000000: FIFO empty; 100000: FIFO full, 32 unread samples)
Table 87. FIFO_SRC example: OVR/FSS details

FTH	OVRN	FSS5	FSS4	FSS3	FSS2	FSS1	FSS0	Description
0	0	0	0	0	0	0	0	FIFO empty
x	0	0	0	0	0	0	1	1
x		0	1	0	0	0	0	0
1	1	1	0	0	0	0	0	At least one sample has been overwritten

Interrupt Control Bits

SLEEP_ON_INACT_EN

Gyroscope operating mode during inactivity. Default value: 0
(0: gyroscope in power-down; 1: gyroscope in sleep mode)

ACT_THS

Inactivity threshold. Default value: 000 0000

ACT_DUR

Inactivity duration. Default value: 0000 0000

AOI_XL

AND/OR combination of accelerometer’s interrupt events. Default value: 0
(0: OR combination; 1: AND combination)

D6

6-direction detection function for interrupt. Default value: 0
(0: disabled; 1: enabled)

ZHIE_XL

Enable interrupt generation on accelerometer’s Z-axis high event. Default value: 0
(0: disable interrupt request; 1: interrupt request on measured acceleration value
higher than preset threshold)

ZLIE_XL

Enable interrupt generation on accelerometer’s Z-axis low event. Default value: 0
(0: disable interrupt request; 1: interrupt request on measured acceleration value
lower than preset threshold)

YHIE_XL

Enable interrupt generation on accelerometer’s Y-axis high event. Default value: 0
(0: disable interrupt request; 1: interrupt request on measured acceleration value
higher than preset threshold)

YLIE_XL

Enable interrupt generation on accelerometer’s Y-axis low event. Default value: 0
(0: disable interrupt request; 1: interrupt request on measured acceleration value
lower than preset threshold)

XHIE_XL

Enable interrupt generation on accelerometer’s X-axis high event. Default value: 0
(0: disable interrupt request; 1: interrupt request on measured acceleration value
higher than preset threshold)

XLIE_XL

Enable interrupt generation on accelerometer’s X-axis low event. Default value: 0
(0: disable interrupt request; 1: interrupt request on measured acceleration value
lower than preset threshold)

THS_XL_X

X-axis interrupt threshold. Default value: 0000 0000

THS_XL_Y

Y-axis interrupt threshold. Default value: 0000 0000

THS_XL_Z

Z-axis interrupt threshold. Default value: 0000 0000

WAIT_XL

Wait function enabled on duration counter. Default value: 0
(0: wait function off; 1: wait for DUR_XL [6:0] samples before exiting interrupt)

DUR_XL6

Enter/exit interrupt duration value. Default value: 000 0000

INT1_IG_G

Gyroscope interrupt enable on INT 1_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT1_IG_XL

Accelerometer interrupt generator on INT 1_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT1_FSS5

FSS5 interrupt enable on INT 1_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT1_OVR

Overrun interrupt on INT 1_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT1_FTH

FIFO threshold interrupt on INT 1_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT1_Boot

Boot status available on INT 1_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT1_DRDY_G

Gyroscope data ready on INT 1_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT1_DRDY_XL

Accelerometer data ready on INT 1_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT2_INACT

Inactivity interrupt output signal. Default value: 0
(0: no interrupt has been generated; 1: one or more interrupt events have been
generated)

INT2_FSS5

FSS5 interrupt enable on INT2_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT2_OVR

Overrun interrupt on INT2_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT2_FTH

FIFO threshold interrupt on INT2_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT2_DRDY_TEMP

Temperature data ready on INT2_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT2_DRDY_G

Gyroscope data ready on INT2_A/G pin. Default value: 0
(0: disabled; 1: enabled)

INT2_DRDY_XL

Accelerometer data ready on INT2_A/G pin. Default value: 0
(0: disabled; 1: enabled)
//Status registers
Xxxxxxxxxxxxxxxxxxxxx

IG_XL 0, IG_XL2 0

Accelerometer interrupt output signal. Default value: 0
(0: no interrupt has been generated; 1: one or more interrupt events have been generated)

IG_G 0, IG_G2 0

Gyroscope interrupt output signal. Default value: 0
(0: no interrupt has been generated; 1: one or more interrupt events have been generated

INACT 0, INACT2 0

Inactivity interrupt output signal. Default value: 0
(0: no interrupt has been generated; 1: one or more interrupt events have been generated)

BOOT_STATUS 0, BOOT_STATUS2 0

Boot running flag signal. Default value: 0
(0: no boot running; 1: boot running)

TDA 0, TDA2 0

Temperature sensor new data available. Default value: 0
(0: new data is not yet available; 1: new data is available)

GDA 0, GDA2 0

Gyroscope new data available. Default value: 0
(0: a new set of data is not yet available; 1: a new set of data is available)

XLDA 0, XLDA2 0

Accelerometer new data available. Default value: 0
(0: a new set of data is not yet available; 1: a new set of data is available)

IA_G

Gyro Interrupt active. Default value: 0
(0: no interrupt has been generated; 1: one or more interrupts have been generated)

ZH_G

Gyro Yaw (Z) high. Default value: 0
(0: no interrupt, 1: Z high event has occurred)

ZL_G

Gyro Yaw (Z) low. Default value: 0
(0: no interrupt; 1: Z low event has occurred)

YH_G

Gyro Roll (Y) high. Default value: 0
(0: no interrupt, 1: Y high event has occurred)

YL_G

Gyro Roll (Y) low. Default value: 0
(0: no interrupt, 1: Y low event has occurred)

XH_G

Gyro Pitch (X) high. Default value: 0
(0: no interrupt, 1: X high event has occurred)

XL_G

Gyro Pitch (X) low. Default value: 0
(0: no interrupt, 1: X low event has occurred)

IA_XL

Accelerometer Interrupt active. Default value: 0.
(0: no interrupt has been generated; 1: one or more interrupts have been generated)

ZH_XL

Accelerometer's Z high event. Default value: 0
(0: no interrupt, 1: Z high event has occurred)

ZL_XL

Accelerometer's Z low event. Default value: 0
(0: no interrupt; 1: Z low event has occurred)

YH_XL

Accelerometer's Y high event. Default value: 0
(0: no interrupt, 1: Y high event has occurred)

YL_XL

Accelerometer's Y low event. Default value: 0
(0: no interrupt, 1: Y low event has occurred)

XH_XL

Accelerometer's X high event. Default value: 0
(0: no interrupt, 1: X high event has occurred)

XL_XL

Accelerometer's X low. event. Default value: 0
(0: no interrupt, 1: X low event has occurred)

Latest version of the LSM9DS1.js module is attached.

If you need a way to cool your coffee or tea and need to stretch here is a different kind of project.
https://www.youtube.com/watch?v=5_50RuMc­c28

---

1 Attachment

• LSM9DS1.js