LSM6DSL Datasheet, PDF (73/113 Pages) STMicroelectronics – iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope

LSM6DSL
Register description
9.34
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.
Data are according to the full scale and ODR settings (CTRL2_G (11h)) of the gyro user
interface.
Table 100. OUTZ_H_G register
D15
D14
D13
D12
D11
D10
D9
D8
D[15:8]
Table 101. 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
9.35
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 102. OUTX_L_XL register
D7
D6
D5
D4
D3
D2
D1
D0
D[7:0]
Table 103. OUTX_L_XL register description
X-axis linear acceleration value (LSbyte)
9.36
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 104. OUTX_H_XL register
D15
D14
D13
D12
D11
D10
D9
D8
D[15:8]
Table 105. OUTX_H_XL register description
X-axis linear acceleration value (MSbyte)
9.37
OUTY_L_XL (2Ah)
Linear acceleration sensor Y-axis output register (r). The value is expressed as a 16-bit
word in two’s complement.
Table 106. OUTY_L_XL register
D7
D6
D5
D4
D3
D2
D1
D0
D[7:0]
Table 107. OUTY_L_XL register description
Y-axis linear acceleration value (LSbyte)
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