# Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU
## Overview
Add high-quality motion, direction, and orientation sensing to your Arduino project with this all-in-one 9 Degree of Freedom (9-DoF) sensor with sensors from ST. This little breakout contains two chips that sit side-by-side to provide 9 degrees of full-motion data.
The board includes an **ST LSM6DS3TR-C (a.k.a LSM6DS3)**, a great entry-level 6-DoF IMU accelerometer + gyro. The 3-axis accelerometer can tell you which direction is down towards the Earth (by measuring gravity) or how fast the board is accelerating in 3D space. The 3-axis gyroscope can measure spin and twist.
This chip is _very similar_ to the now-discontinued LSM6DS33, a great entry-level IMU. As part of the illustrious LSM6DS family, it's well-established and well-supported, and this chip even has better performance! Note it is not firmware-compatible with the 'DS33, so you will need to recompile code (e.g our Arduino and Python libraries support the whole family but you _do_ have to indicate which exact chip you're using)
It also includes a ** LIS3MDL** 3-axis magnetometer that can sense where the strongest magnetic force is coming from, generally used to detect magnetic north. The three triple-axis sensors add up to 9 degrees of freedom, by combining this data you can orient the board. Check out our guide on how to do that!
To make getting started fast and easy, we placed the sensors on a compact breakout board with voltage regulation and level-shifted inputs. That way you can use them with 3V or 5V power/logic devices without worry. To make usage simple, we expose only the I2C interface and some interrupt pins from each chip. The breakout comes fully assembled and tested, with some extra header so you can use it on a breadboard. Four mounting holes make for a secure connection.
Additionally, since it speaks I2C, you can easily connect it up with two wires (plus power and ground!). We've even included [SparkFun Qwiic](https://www.sparkfun.com/qwiic) compatible** [STEMMA QT](https://learn.adafruit.com/introducing-adafruit-stemma-qt)** connectors for the I2C bus so **you don't even need to solder!** [Just wire up to your favorite micro like the STM32F405 Feather](https://www.adafruit.com/product/4382) with a plug-and-play cable to get 9 DoF data ASAP. You can change the I2C addresses on the back using the solder jumpers, to have two of these sensor boards on one bus. [**QT Cable is not included** , but we have a variety in the shop](https://www.adafruit.com/?q=stemma+qt+cable&sort=BestMatch).
We also wrote libraries to help you get these sensors integrated with your Arduino/C++. [This library covers the accel/gyro](https://github.com/adafruit/Adafruit_LSM6DS) and [this library is for the magnetometer](https://github.com/adafruit/Adafruit_LIS3MDL). For advanced Arduino usage, [ST has their own fully-featured library that includes extras such as FIFO management and tap detection](https://github.com/stm32duino/LSM6DS3) for the LSM6DS3TR-C and also for the [LIS3MDL magnetometer](https://github.com/stm32duino/LIS3MDL).
# Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU
## LSM6DS3TR-C + LIS3MDL Pinouts
The default I2C address for the LSM6DS3 accelerometer is **0x6A**.
The default I2C address for the LIS3MDL magnetometer is **0x1C**.
## Power Pins
- **VIN** - this is the power pin. Since the sensor chip uses 3 VDC, we have included a voltage regulator on board that will take 3-5VDC and safely convert it down. To power the board, give it the same power as the logic level of your microcontroller - e.g. for a 5V microcontroller like Arduino, use 5V
- **3Vo** - this is the 3.3V output from the voltage regulator, you can grab up to 100mA from this if you like
- **GND** - common ground for power and logic
## I2C Logic Pins
- **SCL ** - I2C clock pin, connect to your microcontroller I2C clock line. This pin is level shifted so you can use 3-5V logic, and there's a **10K pullup** on this pin.
- **SDA ** -I2C data pin, connect to your microcontroller I2C data line. This pin is level shifted so you can use 3-5V logic, and there's a **10K pullup** on this pin.
- **[STEMMA QT](https://learn.adafruit.com/introducing-adafruit-stemma-qt) - **These connectors allow you to connectors to dev boards with **STEMMA QT** connectors or to other things with [various associated accessories](https://www.adafruit.com/?q=JST%20SH%204).
## Address Jumpers
On the back of the board are **two** **address jumpers** , labeled **ADM** and **AGAD**** , ** to the right of the ** I2C Addr ** label on the board silk.** ADM **controls the magnetometer's I2C address and** AGAD** controls the accelerometer's I2C address. These jumpers allow you to chain up to 2 of these boards on the same pair of I2C clock and data pins. To do so, you solder the jumper "closed" by connecting the two pads.
The default I2C address for the accelerometer is **0x6A**. The other address options can be calculated by “adding” the **AGAD ** to the base of **0x6A**.
**AGAD** sets the lowest bit with a value of **1**. ** ** The final address is **0x6A + AGAD** which would be **0x6B**.
If **AGAD** is soldered closed, the address is **0x6A + 1 = 0x6B**
The table below shows all possible addresses for the accelerometer, and whether the pin should be high (closed) or low (open).
The default I2C address for the magnetometer is **0x1C**. The other address options can be calculated by “adding” the **ADM ** to the base of **0x1C**.
**ADM** sets the lowest bit with a value of **2**. ** ** The final address is **0x1C + ADM** which would be **0x1E**.
If **ADM** is soldered closed, the address is **0x1C + 2 = 0x1E**
The table below shows all possible addresses for the magnetometer, and whether the pin should be high (closed) or low (open).
## I2C Address Pins
- **ADM** - LIS3MDL Magnetometer I2C address pin. Pulling this pin high will change the I2C address from **0x1C** to **0x1E.**
- **AGAD** - LSM6DS3TR-C Accel/Gyro I2C address pin. Pulling this pin high will change the I2C address from **0x6A** to **0x6B.**
## Other Pins
- **INT1 ** -This is the primary interrupt pin. You can setup the LSM6DS3TR-C to pull this low when certain conditions are met such as new measurement data being available. Consult the [datasheet](https://cdn-shop.adafruit.com/product-files/4503/4503_LSM6DS3TR-C_datasheet.pdf) for usage.
- **INT2 ** -This is the primary interrupt pin. You can setup the LSM6DS3TR-C to pull this low when certain conditions are met such as new measurement data being available. Consult the [datasheet](https://cdn-shop.adafruit.com/product-files/4503/4503_LSM6DS3TR-C_datasheet.pdf) for usage.
- **INTM ** - This is the primary interrupt pin for the Magnetometer. You can setup the LIS3MDL to pull this low when certain conditions are met such as a value exceeding a threshold. Consult the [datasheet](https://www.st.com/resource/en/datasheet/lis3mdl.pdf) for usage.
- **DRDY -** The data ready pin. When measurement data is available the sensor will pull this pin low.
## Power LED
- **Power LED - ** In the upper left corner, above the STEMMA connector, on the front of the board, is the power LED, labeled ** on**. It is the green LED.
# Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU
## Python & CircuitPython
It's easy to use the **LIS3MDL +** **LSM6DS3TR-C** sensor combos with Python or CircuitPython, and the [Adafruit\_CircuitPython\_LSM6DS](https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS) and [Adafruit\_CircuitPython\_LIS3MDL](https://github.com/adafruit/Adafruit_CircuitPython_LIS3MDL) libraries. These libraries allow you to easily write Python code that read measurements from the accelerometer, gyro, and magnetometer.
You can use this sensor with any CircuitPython microcontroller board or with a computer that has GPIO and Python [thanks to Adafruit\_Blinka, our CircuitPython-for-Python compatibility library](https://learn.adafruit.com/circuitpython-on-raspberrypi-linux).
## CircuitPython Microcontroller Wiring
First, wire up a LSM6DS3TR-C + LIS3MDL to your board exactly as shown below. Here's an example of wiring a Feather M4 to the sensor with I2C using one of the handy [**STEMMA QT**](https://learn.adafruit.com/introducing-adafruit-stemma-qt) connectors:
- **Board 3V** to **sensor VIN (red wire)**
- **Board GND** to **sensor**** GND (black wire)**
- **Board SCL** to **sensor**** SCL (yellow wire)**
- **Board SDA** to **sensor**** SDA (blue wire)**
You can also use standard **0.100" pitch** headers to wire it up on a breadboard:
- **Board 3V** to **sensor**** VIN (red wire)**
- **Board GND** to **sensor**** GND (black wire)**
- **Board SCL** to **sensor**** SCL (yellow wire)**
- **Board SDA** to **sensor**** SDA (blue wire)**
## Python Computer Wiring
Since there's _dozens_ of Linux computers/boards you can use, below shows wiring for Raspberry Pi. For other platforms, [please visit the guide for CircuitPython on Linux to see whether your platform is supported](https://learn.adafruit.com/circuitpython-on-raspberrypi-linux).
Here's the Raspberry Pi wired to the sensor using I2C and a [**STEMMA QT**](https://learn.adafruit.com/introducing-adafruit-stemma-qt) connector:
- **Pi 3V** to **sensor**** VIN (red wire)**
- **Pi GND** to **sensor**** GND (black wire)**
- **Pi SCL** to **sensor**** SCL (yellow wire)**
- **Pi SDA** to **sensor**** SDA (blue wire)**
Finally here is an example of how to wire up a Raspberry Pi to the sensor using a solderless breadboard:
- **Pi 3V** to **sensor**** VIN (red wire)**
- **Pi GND** to **sensor**** GND (black wire)**
- **Pi SCL** to **sensor**** SCL (yellow wire)**
- **Pi SDA** to **sensor**** SDA (blue wire)**
## Python Installation of LIS3MDL and LSM6DS Libraries
You'll need to install the **Adafruit\_Blinka** library that provides the CircuitPython support in Python. This may also require enabling I2C on your platform and verifying you are running Python 3. [Since each platform is a little different, and Linux changes often, please visit the CircuitPython on Linux guide to get your computer ready](https://learn.adafruit.com/circuitpython-on-raspberrypi-linux)!
Once that's done, from your command line run the following commands:
- `pip3 install adafruit-circuitpython-lsm6ds`
- `pip3 install adafruit-circuitpython-lis3mdl`
If your default Python is version 3, you may need to run `pip` instead. Make sure you aren't trying to use CircuitPython on Python 2.x, it isn't supported!
## CircuitPython Usage
To use with CircuitPython, you need to first install the LSM6DS and LIS3MDL libraries, and their dependencies, into the **lib** folder on your **CIRCUITPY** drive. Then you need to update **code.py** with the example script.
Thankfully, we can do this in one go. In the example below, click the **Download Project Bundle** button below to download the necessary libraries and the **code.py** file in a zip file. Extract the contents of the zip file, and copy the **entire **** lib ** ** folder ** and the ** code.py ** file to your ** CIRCUITPY** drive.
Your **CIRCUITPY/lib** folder should contain the following folders and file:
- **adafruit\_bus\_device/**
- **adafruit\_lsm6ds/**
- **adafruit\_register/**
- **adafruit\_lis3mdl.mpy**
## Python Usage
Once you have the library `pip3` installed on your computer, copy or download the following example to your computer, and run the following, replacing **code.py** with whatever you named the file:
`python3 code.py`
## Example Code
Comment out the LSM6DSOX import at the beginning of the code.
```python
from adafruit_lsm6ds.lsm6dsox import LSM6DSOX as LSM6DS
```
Then, uncomment the LSM6DS3TRC import to import the correct library for the LSM6DS3TR-C accelerometer.
```python
# from adafruit_lsm6ds.lsm6ds3trc import LSM6DS3TRC as LSM6DS
```
Warning:
https://github.com/adafruit/Adafruit_CircuitPython_LIS3MDL/blob/main/examples/lis3mdl_lsm6ds3trc_test.py
**If running CircuitPython:** Once everything is saved to the **CIRCUITPY** drive, [connect to the serial console](https://learn.adafruit.com/welcome-to-circuitpython/kattni-connecting-to-the-serial-console) to see the data printed out!
**If running Python: ** The console output will appear wherever you are running Python.
Twist and turn your LSM6DS3TR-C + LIS3MDL and see the values from the accelerometer, gyroscope and magnetometer print out to the REPL!
First you import the necessary modules and libraries. Then you instantiate the sensor on I2C.
Then you're ready to read data from the sensor's accelerometer, gyroscope and magnetometer.
The following values will print out to the REPL from the sensor:
- **Acceleration -** The acceleration forces in the X, Y, and Z axes in m/s2
- **Gyro** - The rotation measurement on the X, Y, and Z axes in degrees/sec
- **Magnetic** - The magnetic forces on the X, Y, and Z axes in micro-Teslas (uT)
That's all there is to using the LSM6DS3TR-C + LIS3MDL with CircuitPython!
# Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU
## LSM6DS3TR-C Python Docs
# Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU
## LIS3MDL Python Docs
# Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU
## Arduino
Using the LSM6DS3TR-C + LIS3MDL with Arduino involves wiring up the sensor to your Arduino-compatible microcontroller, installing the [Adafruit\_LSM6DS](https://github.com/adafruit/Adafruit_LSM6DS) library, installing the [Adafruit\_LIS3MDL](https://github.com/adafruit/Adafruit_LIS3MDL) library and running the provided example code.
## Wiring
Wire as shown for a **5V** board like an Uno. If you are using a ** 3V** board, like an Adafruit Feather, wire the board's 3V pin to the LSM6DS3TR-C + LIS3MDL VIN.
Here is an Adafruit Metro wired up to the LSM6DS3TR-C + LIS3MDL using the STEMMA QT connector:
- **Board 5V** to **sensor **** VIN (red wire)**
- **Board GND** to **sensor** **GND (black wire)**
- **Board SCL** to **sensor** **SCL (yellow wire)**
- **Board SDA** to **sensor** **SDA (blue wire)**
Here is an Adafruit Metro wired up using a solderless breadboard:
- **Board 5V** to **sensor**** ****VIN (red wire)**
- **Board GND** to **sensor** **GND (black wire)**
- **Board SCL** to **sensor** **SCL (yellow wire)**
- **Board SDA** to **sensor** **SDA (blue wire)**
## Library Installation
You can install the **Adafruit LIS3MDL l** ibrary and the **Adafruit LSM6DS l** ibrary for Arduino using the Library Manager in the Arduino IDE.
Click the **Manage Libraries ...** menu item, search for **Adafruit LIS3MDL** , and select the **Adafruit LIS3MDL** library:
Follow the same process for the **Adafruit LSM6DS** library.
If asked about dependencies, click "Install all".
If the "Dependencies" window does not come up, then you already have the dependencies installed.
Warning:
## Example Code
The example is written to work with the LIS3MDL + LSM6DSOX. To use with the LSM6DSTR-C + LIS3MDL, uncomment the following lines.
```cpp
//#include <Adafruit_LSM6DS3TRC.h>
//Adafruit_LSM6DS3TRC lsm6ds;
```
https://github.com/adafruit/Adafruit_Learning_System_Guides/blob/main/ST_Combo_Boards/lis3mdl_lsm6ds_test/lis3mdl_lsm6ds_test.ino
Upload the sketch to your board and open up the Serial Monitor ( **Tools -\> Serial Monitor** ) at 115200 baud. You should see the values from the embedded temperature sensor, accelerometer, gyroscope and magnetometer being printed out. You'll see the values change depending on the movement of the sensor.
# Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU
## LSM6DS Arduino Docs
# Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU
## LIS3MDL Arduino Docs
# Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU
## Downloads
## Files
- [LIS3MDL datasheet](https://www.st.com/resource/en/datasheet/lis3mdl.pdf)
- [LSM6DS3TR-C Datasheet](https://cdn-shop.adafruit.com/product-files/4503/4503_LSM6DS3TR-C_datasheet.pdf)
- [EagleCAD PCB files on GitHub](https://github.com/adafruit/Adafruit-LSM6DS3TR-C-LIS3MDL-PCB)
- [3D models on GitHub](https://github.com/adafruit/Adafruit_CAD_Parts/tree/main/5543%20LSM6DS3-LIS3MDL)
- [Fritzing object in the Adafruit Fritzing Library](https://github.com/adafruit/Fritzing-Library/blob/master/parts/Adafruit%20LSM6DS3TR-C%20%2B%20LIS3MDL%20STEMMA.fzpz)
## Schematic and Fab Print
## Primary Products
### Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU
[Adafruit LSM6DS3TR-C + LIS3MDL - Precision 9 DoF IMU](https://www.adafruit.com/product/5543)
Add high-quality motion, direction, and orientation sensing to your Arduino project with this all-in-one 9 Degree of Freedom (9-DoF) sensor with sensors from ST. This little breakout contains two chips that sit side-by-side to provide 9 degrees of full-motion data.
The board...
Out of Stock
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[Related Guides to the Product](https://learn.adafruit.com/products/5543/guides)
## Featured Products
### STEMMA QT / Qwiic JST SH 4-Pin Cable - 50mm Long
[STEMMA QT / Qwiic JST SH 4-Pin Cable - 50mm Long](https://www.adafruit.com/product/4399)
This 4-wire cable is 50mm / 1.9" long and fitted with JST SH female 4-pin connectors on both ends. Compared with the chunkier JST PH these are 1mm pitch instead of 2mm, but still have a nice latching feel, while being easy to insert and remove.
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This cable will make it super easy to use our plug-and-play STEMMA QT boards with boards like Circuit Playground. On one end you get a Qwiic / STEMMA QT connector (technically known as a JST SH 4-pin plug) into 4 individual wires with grippy alligator clips. We're carrying these to...
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[STEMMA QT / Qwiic JST SH 4-Pin Cable - 200mm Long](https://www.adafruit.com/product/4401)
This 4-wire cable is a little over 200mm / 7.8" long and fitted with JST-SH female 4-pin connectors on both ends. Compared with the chunkier JST-PH these are 1mm pitch instead of 2mm, but still have a nice latching feel, while being easy to insert and remove.
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[STEMMA QT / Qwiic JST SH 4-pin Cable - 100mm Long](https://www.adafruit.com/product/4210)
This 4-wire cable is a little over 100mm / 4" long and fitted with JST-SH female 4-pin connectors on both ends. Compared with the chunkier JST-PH these are 1mm pitch instead of 2mm, but still have a nice latching feel, while being easy to insert and remove.
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[Related Guides to the Product](https://learn.adafruit.com/products/4210/guides)
## Related Guides
- [How to Fuse Motion Sensor Data into AHRS Orientation (Euler/Quaternions)](https://learn.adafruit.com/how-to-fuse-motion-sensor-data-into-ahrs-orientation-euler-quaternions.md)
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