LSM6DS3H datasheet(68/104 Pages) STMICROELECTRONICS

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LSM6DS3H

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DocID028370 Rev 4

9.31

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 gyro user interface.

If this register is read by the auxiliary interface, data are according to the full scale (250 dps)

and ODR (3.33 kHz) settings of the OIS gyro.

9.32

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 gyro user interface.

If this register is read by the auxiliary interface, data are according to the full scale (250 dps)

and ODR (3.33 kHz) settings of the OIS gyro.

Table 93. OUTY_L_G register

Table 94. 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

SPI2: Gyro OIS chain roll axis output

Table 95. OUTY_H_G register

D15

D14

D13

D12

D11

D10

Table 96. 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

SPI2: Gyro OIS chain roll axis output

Table 97. OUTZ_L_G register

Table 98. 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

SPI2: Gyro OIS chain yaw axis output

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