LSM6DSR datasheet(67/168 Pages) STMICROELECTRONICS

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9.32

OUTY_L_G (24h) and OUTY_H_G (25h)

Angular rate sensor roll axis (Y) angular rate output register (r). The value is expressed as a 16-bit word in two’s

complement.

If this register is read by the primary interface, data are according to the full scale and ODR settings (CTRL2_G

(11h)) of the gyro user interface.

If this register is read by the auxiliary interface, data are according to the full scale and ODR (6.66 kHz) settings of

the OIS gyro.

Table 91. OUTY_L_G register

Table 92. OUTY_H_G register

D15

D14

D13

D12

D11

D10

Table 93. OUTY_H_G register description

D[15:0]

Roll axis (Y) angular rate value

D[15:0] expressed in two’s complement and its value depends on the interface used:

SPI1/I²C/MIPI I3CSM: Gyro UI chain roll axis output

SPI2: Gyro OIS chain roll axis output

9.33

OUTZ_L_G (26h) and OUTZ_H_G (27h)

Angular rate sensor yaw axis (Z) angular rate output register (r). The value is expressed as a 16-bit word in two’s

complement.

If this register is read by the primary interface, data are according to the full scale and ODR settings (CTRL2_G

(11h)) of the gyro user interface.

If this register is read by the auxiliary interface, data are according to the full scale and ODR (6.66 kHz) settings of

the OIS gyro.

Table 94. OUTZ_L_G register

Table 95. OUTZ_H_G register

D15

D14

D13

D12

D11

D10

Table 96. OUTZ_H_G register description

D[15:0]

Yaw axis (Z) angular rate value

D[15:0] expressed in two’s complement and its value depends on the interface used:

SPI1/I²C/MIPI I3CSM: Gyro UI chain yaw axis output

SPI2: Gyro OIS chain yaw axis output

LSM6DSR

OUTY_L_G (24h) and OUTY_H_G (25h)

DS11976 - Rev 2

page 67/168

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