LSM6DSL Datasheet, PDF (72/113 Pages) STMicroelectronics – iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope

Register description
LSM6DSL
9.31
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 two’s complement.
Data are according to the full scale and ODR settings (CTRL2_G (11h)) of the gyro user
interface.
Table 94. OUTY_L_G register
D7
D6
D5
D4
D3
D2
D1
D0
D[7:0]
Table 95. OUTY_L_G register description
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
9.32
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.
Data are according to the full scale and ODR settings (CTRL2_G (11h)) of the gyro user
interface.
D15
D[15:8]
Table 96. OUTY_H_G register
D14
D13
D12
D11
D10
D9
D8
Table 97. OUTY_H_G register description
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
9.33
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.
Data are according to the full scale and ODR settings (CTRL2_G (11h)) of the gyro user
interface.
D7
D[7:0]
Table 98. OUTZ_L_G register
D6
D5
D4
D3
D2
D1
D0
Table 99. OUTZ_L_G register description
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
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