LSM6DSM datasheet(74/113 Pages) STMICROELECTRONICS

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LSM6DSM

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DocID028165 Rev 2

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.

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.

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 101. OUTZ_H_G register

D15

D14

D13

D12

D11

D10

Table 102. OUTZ_H_G register description

D[15:8]

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

Table 103. OUTX_L_XL register

Table 104. OUTX_L_XL register description

D[7:0]

X-axis linear acceleration value (LSbyte)

Table 105. OUTX_H_XL register

D15

D14

D13

D12

D11

D10

Table 106. OUTX_H_XL register description

D[15:8]

X-axis linear acceleration value (MSbyte)

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