LSM6DS3US Datasheet, PDF(67/104 Page) STMicroelectronics – iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope

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LSM6DS3US Datasheet, PDF (67/104 Pages) STMicroelectronics – iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope

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LSM6DS3US

9.28

OUTX_L_G (22h)

Angular rate sensor pitch axis (X) angular rate output register (r). The value is expressed as

a 16-bit word in twoâs complement.

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

settings (CTRL2_G (11h)) of gyro user interface.

If this register is read by the auxiliary interface, data are according to the full scale (250 dps)

and ODR (3.33 kHz) settings of the OIS gyro.

D[7:0]

Table 89. OUTX_L_G register

Table 90. OUTX_L_G register description

Pitch axis (X) angular rate value (LSbyte)

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

SPI1/I2C: Gyro UI chain pitch axis output

SPI2: Gyro OIS chain pitch axis output

9.29

OUTX_H_G (23h)

Angular rate sensor pitch axis (X) angular rate output register (r). The value is expressed as

a 16-bit word in twoâs complement.

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

settings (CTRL2_G (11h)) of gyro user interface.

If this register is read by the auxiliary interface, data are according to the full scale (250 dps)

and ODR (3.33 kHz) settings of the OIS gyro.

D15

D[15:8]

Table 91. OUTX_H_G register

D14

D13

D12

D11

D10

Table 92. OUTX_H_G register description

Pitch axis (X) angular rate value (MSbyte)

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

SPI1/I2C: Gyro UI chain pitch axis output

SPI2: Gyro OIS chain pitch axis output

9.30

OUTY_L_G (24h)

Angular rate sensor roll axis (Y) angular rate output register (r). The value is expressed as a

16-bit word in twoâs complement.

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

settings (CTRL2_G (11h)) of gyro user interface.

If this register is read by the auxiliary interface, data are according to the full scale (250 dps)

and ODR (3.33 kHz) settings of the OIS gyro.

DocID028476 Rev 4

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