LSM6DSL datasheet(72/113 Pages) STMICROELECTRONICS

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LSM6DSL

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DocID028475 Rev 5

9.31

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.

Data are according to the full scale and ODR settings (CTRL2_G (11h)) of the gyro user

interface.

9.32

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.

Data are according to the full scale and ODR settings (CTRL2_G (11h)) of the gyro user

interface.

9.33

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.

Data are according to the full scale and ODR settings (CTRL2_G (11h)) of the gyro user

interface.

Table 94. OUTY_L_G register

Table 95. OUTY_L_G register description

D[7:0]

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

Table 96. OUTY_H_G register

D15

D14

D13

D12

D11

D10

Table 97. OUTY_H_G register description

D[15:8]

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

Table 98. OUTZ_L_G register

Table 99. OUTZ_L_G register description

D[7:0]

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

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