LSM6DSMTR datasheet(73/113 Pages) STMICROELECTRONICS

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LSM6DSM

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10.32

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.

10.33

OUTZ_L_G (26h)

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 95. OUTY_L_G register

Table 96. OUTY_L_G register description

D[7:0]

Roll axis (Y) angular rate value (LSbyte)

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

SPI1/I2C: Gyro UI chain roll axis output

SPI2: Gyro OIS chain roll axis output

Table 97. OUTY_H_G register

D15

D14

D13

D12

D11

D10

Table 98. OUTY_H_G register description

D[15:8]

Roll axis (Y) angular rate value (MSbyte)

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

SPI1/I2C: Gyro UI chain roll axis output

SPI2: Gyro OIS chain roll axis output

Table 99. OUTZ_L_G register

Table 100. OUTZ_L_G register description

D[7:0]

Yaw axis (Z) angular rate value (LSbyte)

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

SPI1/I2C: Gyro UI chain yaw axis output

SPI2: Gyro OIS chain yaw axis output

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