interfacing SCC2230 3-axis Accelerometer+ 1 axis GYRO with STM32

I'm interfacing SCC2230-E02 with STM32. SCC2230-E02 is a 3 axis Accelerometer and also reading z axis angular rate from gyroscope.

I'm trying to calculate 0-360 degree YAW angle. I cannot use Magnetometer because they are pretty inaccurate.

Kindly help me to combine Accelerometer and gyroscope values in order to calculate yaw angle.

Sensor Datasheet is attached.