LSM6DSM datasheet(72/113 Pages) STMICROELECTRONICS

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LSM6DSM

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10.29

OUTX_L_G (22h)

Angular rate sensor pitch axis (X) 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 and ODR

(6.66 kHz) settings of the OIS gyro.

10.30

OUTX_H_G (23h)

Angular rate sensor pitch axis (X) 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.

10.31

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.

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.

Table 91. OUTX_L_G register

Table 92. OUTX_L_G register description

D[7:0]

Pitch axis (X) 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 pitch axis output

SPI2: Gyro OIS chain pitch axis output

Table 93. OUTX_H_G register

D15

D14

D13

D12

D11

D10

Table 94. OUTX_H_G register description

D[15:8]

Pitch axis (X) 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 pitch axis output

SPI2: Gyro OIS chain pitch axis output

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