LSM6DS3US Datasheet, PDF (69/104 Pages) STMicroelectronics – iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope

LSM6DS3US
Register description
9.33
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 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 99. OUTZ_H_G register
D14
D13
D12
D11
D10
D9
D8
Table 100. OUTZ_H_G register description
Yaw axis (Z) 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 yaw axis output
SPI2: Gyro OIS chain yaw axis output
9.34
OUTX_L_XL (28h)
Linear acceleration sensor X-axis output register (r). The value is expressed as a 16-bit
word in two’s complement.
Table 101. OUTX_L_XL register
D7
D6
D5
D4
D3
D2
D1
D0
D[7:0]
Table 102. OUTX_L_XL register description
X-axis linear acceleration value (LSbyte)
9.35
OUTX_H_XL (29h)
Linear acceleration sensor X-axis output register (r). The value is expressed as a 16-bit
word in two’s complement.
Table 103. OUTX_H_XL register
D15
D14
D13
D12
D11
D10
D9
D8
D[15:8]
Table 104. OUTX_H_XL register description
X-axis linear acceleration value (MSbyte)
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