Datasheet

9.29 OUTY_L_G (24h) and 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 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 88. OUTY_L_G register
D7 D6 D5 D4 D3 D2 D1 D0
Table 89. OUTY_H_G register
D15 D14 D13 D12 D11 D10 D9 D8
Table 90. OUTY_H_G register description
D[15:0]
Roll axis (Y) angular rate value
D[15:0] expressed in two’s complement and its value depends on the interface used:
SPI1/I²C/MIPI I3C
SM
: Gyro UI chain roll axis output
SPI2: Gyro OIS chain roll axis output
9.30 OUTZ_L_G (26h) and 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.
Table 91. OUTZ_L_G register
D7 D6 D5 D4 D3 D2 D1 D0
Table 92. OUTZ_H_G register
D15 D14 D13 D12 D11 D10 D9 D8
Table 93. OUTZ_H_G register description
D[15:0]
Yaw axis (Z) angular rate value
D[15:0] expressed in two’s complement and its value depends on the interface used:
SPI1/I²C/MIPI I3C
SM
: Gyro UI chain yaw axis output
SPI2: Gyro OIS chain yaw axis output
LSM6DSO
OUTY_L_G (24h) and OUTY_H_G (25h)
DS12140 - Rev 2
page 66/172