LSM6DSM Datasheet, PDF (74/113 Pages) STMicroelectronics – always-on 3D accelerometer and 3D gyroscope

Register description
LSM6DSM
10.34
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.
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 101. OUTZ_H_G register
D14
D13
D12
D11
D10
D9
D8
Table 102. 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
10.35
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.
Accelerometer data can be read also from AUX SPI @6.6 kHz.
Table 103. OUTX_L_XL register
D7
D6
D5
D4
D3
D2
D1
D0
D[7:0]
Table 104. OUTX_L_XL register description
X-axis linear acceleration value (LSbyte)
10.36
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.
Accelerometer data can be read also from AUX SPI @6.6 kHz.
Table 105. OUTX_H_XL register
D15
D14
D13
D12
D11
D10
D9
D8
D[15:8]
Table 106. OUTX_H_XL register description
X-axis linear acceleration value (MSbyte)
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