ISM330DLC datasheet(77/116 Pages) STMICROELECTRONICS

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ISM330DLC

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10.32

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.

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 general-purpose 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.

10.33

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.

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 general-purpose 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 97. OUTY_L_G register

Table 98. 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 GP chain roll axis output

SPI2: Gyro OIS chain roll axis output

Table 99. OUTY_H_G register

D15

D14

D13

D12

D11

D10

Table 100. 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 GP chain roll axis output

SPI2: Gyro OIS chain roll axis output

Table 101. OUTZ_L_G register

Table 102. 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 GP chain yaw axis output

SPI2: Gyro OIS chain yaw axis output

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