LSM6DSM Datasheet, PDF (73/113 Pages) STMicroelectronics – always-on 3D accelerometer and 3D gyroscope

LSM6DSM
Register description
D7
D[7:0]
Table 95. OUTY_L_G register
D6
D5
D4
D3
D2
D1
D0
Table 96. 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
SPI2: Gyro OIS chain roll axis output
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.
D15
D[15:8]
Table 97. OUTY_H_G register
D14
D13
D12
D11
D10
D9
D8
Table 98. 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
SPI2: Gyro OIS chain roll axis output
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.
D7
D[7:0]
Table 99. OUTZ_L_G register
D6
D5
D4
D3
D2
D1
D0
Table 100. 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
SPI2: Gyro OIS chain yaw axis output
DocID028165 Rev 2
73/113
113