# Adafruit LSM6DS33 6-DoF IMU Breakout ## Overview ![](https://cdn-learn.adafruit.com/assets/assets/000/087/104/medium800/sensors_overview_iso_crop.jpg?1579303033) Add motion and orientation sensing to your Arduino or CircuitPython project with this affordable 6 Degree of Freedom (6-DoF) sensor combo from ST. The board includes an  **LSM6DS33** , a 6-DoF IMU accelerometer + gyroscope. 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 that can measure spin and twist. This chip isn't the newest motion sensor, but it is well-established and comes at a great price. ![](https://cdn-learn.adafruit.com/assets/assets/000/087/106/medium800/sensors_back.jpg?1579303148) To make getting started fast and easy, we placed the sensor on a compact breakout board with voltage regulation and level-shifted inputs. That way you can use it with 3V or 5V power/logic devices without worry. Both I2C and SPI interfaces are available, so you'll be able to use it with any hardware setup. 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. This breakout does not include a magnetometer, often required for accurate orientation. [We recommend the  **LIS3MDL**  3-axis magnetometer to match up with this IMU](https://www.adafruit.com/product/4479). [We even have a version that contains both!](https://www.adafruit.com/product/4485) ![](https://cdn-learn.adafruit.com/assets/assets/000/087/105/medium800/sensors_stemma.jpg?1579303055) Additionally, since it speaks I2C, you can easily connect it up with two wires (plus power and ground!).  We've even included two [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 6 DoF data ASAP. You can change the I2C address on the back using the solder jumper, to allow you to have two of these sensor boards on one bus. We also wrote libraries to help you get these sensors integrated with your project. [This library contains an Arduino driver for the accel/gyro](https://github.com/adafruit/Adafruit_LSM6DS). 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 LSM6DS3. If you prefer Python, or just want to get going extra quick with minimal hassle, you can use[this CircuitPython library](https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS) and its included examples # Adafruit LSM6DS33 6-DoF IMU Breakout ## Pinouts ![](https://cdn-learn.adafruit.com/assets/assets/000/087/107/medium800/sensors_pinouts_front.jpg?1579303378) ![](https://cdn-learn.adafruit.com/assets/assets/000/087/108/medium800/sensors_pinouts_back.jpg?1579303384) ## 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 - **3V**  - 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) - **DO/AD0 Jumper**  - **I2C Address pin**. Pulling this pin high or bridging the solder jumper on the back will change the I2C address from  **0x6A**  to  **0x6B** ## SPI Logic pins: - **SCL** - This is _also_ the **S** PI **C** loc **k** pin / **SCK** , it's an input to the chip - **SDA**  - this is _also _the **S** erial **D** ata **I** n / **M** icrocontroller **O** ut **S** ensor **I** n / **MOSI** pin, for data sent from your processor to the LSM6DS33 - **DO** - this is the **D** ata **O** ut / **M** icrocontroller **I** n **S** ensor **O** ut / **MISO** pin, for data sent from the LSM6DS33 to your processor.  - **CS** - this is the **C** hip **S** elect pin, drop it low to start an SPI transaction. It's an input to the chip If you want to connect multiple LSM6DS33's to one microcontroller, have them share the **SCL,** **SDA** , and **DO** pins. Then assign each one a unique **CS** pin. ## Other Pins - **INT1** -This is the primary interrupt pin. You can setup the LSM6DS33 to pull this low when certain conditions are met such as new measurement data being available. Consult the [datasheet](https://www.st.com/resource/en/datasheet/lsm6ds33.pdf) for usage - **I2/INT2** -This is the secondary interrupt pin. You can setup the LSM6DS33 to pull this low when certain conditions are met such as new measurement data being available. Consult the [datasheet](https://www.st.com/resource/en/datasheet/lsm6ds33.pdf) for usage # Adafruit LSM6DS33 6-DoF IMU Breakout ## Arduino # I2C Wiring Use this wiring if you want to connect via I2C interface By default, the I2C address is **0x6A**.  If you add a jumper from **DO** to **3.3V** the address will change to **0x6B** -  Connect **board VIN (red wire)** to  **Arduino** **5V**  if you are running a **5V** board Arduino (Uno, etc.). If your board is **3V,** connect to that instead. - Connect **board** **GND (black wire) **to  **Arduino** **GND** - Connect **board** **SCL (yellow wire) **to  **Arduino** **SCL** - Connect **board** **SDA (blue wire) **to  **Arduino** **SDA** ![sensors_arduino_wiring_stemma.png](https://cdn-learn.adafruit.com/assets/assets/000/087/115/medium640/sensors_arduino_wiring_stemma.png?1579304837) ![sensors_arduino_wiring_breadboard.png](https://cdn-learn.adafruit.com/assets/assets/000/087/116/medium640/sensors_arduino_wiring_breadboard.png?1579304869) The final results should resemble the illustration above, showing an Adafruit Metro development board. # SPI Wiring Since this is a SPI-capable sensor, we can use hardware or 'software' SPI. To make wiring identical on all microcontrollers, we'll begin with 'software' SPI. The following pins should be used: - Connect **Vin** to the power supply, 3V or 5V is fine. Use the same voltage that the microcontroller logic is based off of - Connect **GND** to common power/data ground - Connect the **SCK** pin to **Digital #13** but any pin can be used later - Connect the **DO** pin to **Digital #12** but any pin can be used later - Connect the **SDA**  pin to **Digital #11** but any pin can be used later - Connect the **CS** pin **Digital #10** but any pin can be used later ![sensors_arduino_wiring_breadboard_spi.png](https://cdn-learn.adafruit.com/assets/assets/000/087/117/medium640/sensors_arduino_wiring_breadboard_spi.png?1579304994) Later on, once we get it working, we can adjust the library to use hardware SPI if you desire, or change the pins to others. # Library Installation You can install the **Adafruit LSM6DS Library** for Arduino using the Library Manager in the Arduino IDE. ![](https://cdn-learn.adafruit.com/assets/assets/000/087/122/medium800/sensors_library_manager_menu.png?1579305086) Click the  **Manage Libraries ...** menu item, search for **Adafruit LSM6DS** , and select the  **Adafruit LSM6DS**  library: ![](https://cdn-learn.adafruit.com/assets/assets/000/087/123/medium800/sensors_arduino_LSM6DS_libmgr.png?1579305337) Then follow the same process for the  **Adafruit BusIO**  library. ![](https://cdn-learn.adafruit.com/assets/assets/000/087/126/medium800/sensors_ARDUINO-_BusIO_Lib_Manager.png?1579305889) Finally follow the same process for the  **Adafruit Unified Sensor** library: ![](https://cdn-learn.adafruit.com/assets/assets/000/087/128/medium800/sensors_Unified_Sensor_LibMGR.png?1579305936) # Load Example Open up  **File -\> Examples -\> Adafruit LSM6DS** **-\> adafruit\_lsm6ds33\_test** and upload to your Arduino wired up to the sensor. Depending on whether you are using I2C or SPI, change the pin names and comment or uncomment the following lines. ```cpp if (!lsm6ds33.begin_I2C()) { // if (!lsm6ds33.begin_SPI(LSM_CS)) { // if (!lsm6ds33.begin_SPI(LSM_CS, LSM_SCK, LSM_MISO, LSM_MOSI)) { ``` Once you upload the code and open the Serial Monitor ( **Tools-\>Serial Monitor** ) at **115200** baud, you will see the current configuration printed, followed by the accelerometer, gyro, and temperature measurements. You should see something similar to this: ![](https://cdn-learn.adafruit.com/assets/assets/000/087/109/medium800/sensors_arduino_example_screenshot.png?1579303422) Give the sensor a wiggle or a spin and watch how the measurements change! ## Example Code https://github.com/adafruit/Adafruit_LSM6DS/blob/master/examples/adafruit_lsm6ds33_test/adafruit_lsm6ds33_test.ino # Adafruit LSM6DS33 6-DoF IMU Breakout ## Arduino Docs # Adafruit LSM6DS33 6-DoF IMU Breakout ## Python & CircuitPython It's easy to use the LSM6DS33 sensor with Python and CircuitPython, and the [Adafruit CircuitPython LSM6DS](https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS) module.  This module allows you to easily write Python code that reads measurements from the accelerometer and gyro. 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 LSM6DS33 to your board for an I2C connection, exactly  as shown below.  Here's an example of wiring a Feather M4 to the sensor with I2C: - **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)** ![sensors_python_feather_wiring_stemma.png](https://cdn-learn.adafruit.com/assets/assets/000/087/131/medium640/sensors_python_feather_wiring_stemma.png?1579306940) ![sensors_python_feather_wiring_breadboard.png](https://cdn-learn.adafruit.com/assets/assets/000/087/132/medium640/sensors_python_feather_wiring_breadboard.png?1579306965) # Python Computer Wiring Since there are _dozens_ of Linux computers/boards you can use, we will show 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 with I2C: - **Pi 3V**  to **sensor VCC (red wire)** - **Pi GND**  to **sensor GND (black wire)** - **Pi SCL**  to **sensor SCL (yellow wire)** - **Pi SDA**  to **sensor SDA (blue wire)** ![sensors_python_rpi_wiring_stemma.png](https://cdn-learn.adafruit.com/assets/assets/000/087/133/medium640/sensors_python_rpi_wiring_stemma.png?1579307028) ![sensors_python_rpi_wiring_breadboard.png](https://cdn-learn.adafruit.com/assets/assets/000/087/134/medium640/sensors_python_rpi_wiring_breadboard.png?1579307062) ## CircuitPython Installation of LSM6DS Library You'll need to install the [Adafruit CircuitPython LSM6DS](https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS) library on your CircuitPython board. **This library works with the LSM6DSOX, LSM6DS33, or ISM330DHCX** First make sure you are running the [latest version of Adafruit CircuitPython](https://learn.adafruit.com/welcome-to-circuitpython/installing-circuitpython) for your board. Next you'll need to install the necessary libraries to use the hardware--carefully follow the steps to find and install these libraries from [Adafruit's CircuitPython library bundle](https://circuitpython.org/libraries).  Our CircuitPython starter guide has [a great page on how to install the library bundle](https://learn.adafruit.com/welcome-to-circuitpython/circuitpython-libraries). For non-express boards like the Trinket M0 or Gemma M0, you'll need to manually install the necessary libraries from the bundle: - **adafruit\_lsm6ds.mpy** - **adafruit\_bus\_device** - **adafruit\_register** Before continuing, make sure your board's **lib** folder has the **adafruit\_lsm6ds****.mpy, **** adafruit\_bus\_device **, and ** adafruit\_register **files and folders**  **copied over. Next [connect to the board's serial REPL ](https://learn.adafruit.com/welcome-to-circuitpython/the-repl)so you are at the CircuitPython `>>>` prompt. ## Python Installation of LSM6DS Library 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 command: - `sudo pip3 install adafruit-circuitpython-lsm6ds` If your default Python is version 3 you may need to run 'pip' instead. Just make sure you aren't trying to use CircuitPython on Python 2.x, it isn't supported! ## CircuitPython & Python Usage To demonstrate the usage of the sensor we'll initialize it and read the acceleration and rotation measurements from the board's Python REPL. Run the following code to import the necessary modules and initialize the I2C connection with the sensor: ```python import time import board from adafruit_lsm6ds.lsm6ds33 import LSM6DS33 i2c = board.I2C() sensor = LSM6DS33(i2c) ``` ![](https://cdn-learn.adafruit.com/assets/assets/000/102/052/medium800/sensors_lsm6ds.png?1620392120) Now you're ready to read values from the sensor using these properties: - **acceleration -** The acceleration forces in the X, Y, and Z axes in m/s 2 - **gyro** - The rotation measurement on the X, Y, and Z axes in degrees/sec For example, to print out the acceleration and gyro measurements use this code: ```python print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (sensor.acceleration)) print("Gyro X:%.2f, Y: %.2f, Z: %.2f degrees/s" % (sensor.gyro)) ``` ![](https://cdn-learn.adafruit.com/assets/assets/000/087/111/medium800/sensors_python_cp_example_properties.png?1579303549) That's all it takes! Now you can use the sensor with a project where you need to know how something is moving and the direction it's pointing ## Example Code https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS/blob/main/examples/lsm6ds_lsm6ds33_simpletest.py # Adafruit LSM6DS33 6-DoF IMU Breakout ## Python Docs # Adafruit LSM6DS33 6-DoF IMU Breakout ## Downloads ## Files - [LSM6DS33 Datasheet](https://www.st.com/resource/en/datasheet/lsm6ds33.pdf) - [EagleCAD files on GitHub](https://github.com/adafruit/Adafruit-LSM6DS33-PCB) - [Fritzing object in Adafruit Fritzing Library](https://github.com/adafruit/Fritzing-Library/blob/master/parts/Adafruit%20LSM6DS33%206-DoF%20Accel%20%2B%20Gyro%20IMU.fzpz) ## Schematic ![](https://cdn-learn.adafruit.com/assets/assets/000/087/112/medium800/sensors_downloads_schematic.png?1579303637) ## Fab Print ![](https://cdn-learn.adafruit.com/assets/assets/000/087/113/medium800/sensors_downloads_fab_print.png?1579303645) ## Primary Products ### Adafruit LSM6DS33 6-DoF Accel + Gyro IMU [Adafruit LSM6DS33 6-DoF Accel + Gyro IMU](https://www.adafruit.com/product/4480) Add motion and orientation sensing to your Arduino project with this affordable 6 Degree of Freedom (6-DoF) sensor with sensors from ST. The board includes an **LSM6DS33** , a 6-DoF IMU accelerometer + gyro. The 3-axis accelerometer, can tell you which direction is down... No Longer Stocked [Buy Now](https://www.adafruit.com/product/4480) [Related Guides to the Product](https://learn.adafruit.com/products/4480/guides) ## Featured Products ### Adafruit Triple-axis Magnetometer - LIS3MDL [Adafruit Triple-axis Magnetometer - LIS3MDL](https://www.adafruit.com/product/4479) Sense the magnetic fields that surround us with this handy triple-axis magnetometer (compass) module. Magnetometers can sense where the strongest magnetic force is coming from, generally used to detect magnetic north, but can also be used for measuring magnetic fields. This sensor tends to be... Out of Stock [Buy Now](https://www.adafruit.com/product/4479) [Related Guides to the Product](https://learn.adafruit.com/products/4479/guides) ### Adafruit LSM6DS33 + LIS3MDL - 9 DoF IMU with Accel / Gyro / Mag [Adafruit LSM6DS33 + LIS3MDL - 9 DoF IMU with Accel / Gyro / Mag](https://www.adafruit.com/product/4485) _This item is discontinued - **you can grab** [Adafruit LSM6DS3 + LIS3MDL - Precision 9 DoF IMU](https://adafruit.com/products/5543) **instead! ** _ Add motion, direction and orientation sensing to your Arduino project with this all-in-one 9 Degree... No Longer Stocked [Buy Now](https://www.adafruit.com/product/4485) [Related Guides to the Product](https://learn.adafruit.com/products/4485/guides) ### Adafruit CLUE - nRF52840 Express with Bluetooth® LE [Adafruit CLUE - nRF52840 Express with Bluetooth® LE](https://www.adafruit.com/product/4500) Do you feel like you just don't have a CLUE? Well, we can help with that - get a CLUE here at Adafruit by picking up this sensor-packed development board. We wanted to build some projects that have a small screen and a lot of sensors. To make it compatible with existing projects, we made... In Stock [Buy Now](https://www.adafruit.com/product/4500) [Related Guides to the Product](https://learn.adafruit.com/products/4500/guides) ### Adafruit Feather nRF52840 Sense [Adafruit Feather nRF52840 Sense](https://www.adafruit.com/product/4516) The **Adafruit Feather Bluefruit Sense** takes our popular [Feather nRF52840 Express](https://www.adafruit.com/product/4062) and adds a smorgasbord of sensors to make a great wireless sensor platform. This Feather microcontroller comes with Bluetooth® Low Energy and... 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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... Out of Stock [Buy Now](https://www.adafruit.com/product/4398) [Related Guides to the Product](https://learn.adafruit.com/products/4398/guides) ### STEMMA QT / Qwiic JST SH 4-pin Cable with Premium Female Sockets [STEMMA QT / Qwiic JST SH 4-pin Cable with Premium Female Sockets](https://www.adafruit.com/product/4397) This 4-wire cable is a little over 150mm / 6" long and fitted with JST-SH female 4-pin connectors on one end and premium female headers on the other. 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... 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