# LSM6DSOX, ISM330DHC, & LSM6DSO32 6 DoF IMUs
## Overview
Behold, the ST LSM6DSOX: The latest in a long line of quality Accelerometer+Gyroscope 6-DOF IMUs from ST. Along with the LSM6DSOX, this guide will cover the _industrial_ version, the ISM330DHCX and their wider range sibling the LSM6DSO32. All are pin-compatible and are nearly code-compatible - we'll be using the same library code and wiring diagrams to connect to both
In the ISM330DHCX the sensing elements of the accelerometer and of the gyroscope are implemented on the same silicon die, thus guaranteeing superior stability and robustness. It also has an extended temperature range of -40 to +105 °C compared to the LSM6DSOX's -40 to +85 °C. Finally, the ISM330's gyroscope can measure up to ±4000 dps, the LSM6DSOX tops out at ±2000 dps. If those extras aren't essential for your needs, the LSM6DSOX will do quite nicely.
Should you wish for a wider range of acceleration measurement, the LSM6DSO32 will have you covered. Compared to the +/-2 to +/- 16g , the LSM6DSO32 can measure higher acceleration amounts and is configurable from +/- 4-32g! This will allow for capturing more extreme motion events.
All three sensors are great IMU sensors with 6 degrees of freedom - 3 degrees each of linear acceleration and angular velocity at varying rates within a respectable range.
For the **LSM6DSOX and ISM330DHCX** , the accelerometers have a respectable range of: **±2/±4/±8/±16 g** at 1.6 Hz to 6.7KHz update rate. The **LSM6DSO32's** accelerometers can measure **±4/±8/±16±32** at the cost of a bit of additional noise in the signal.
For the gyroscopes: **±125/±250/±500/±1000/±2000 dps** (plus **±4000 dps** for the ISM330) at 12.5 Hz to 6.7 KHz. There's also some nice extras, such as built in tap detection, activity detection, pedometer/step counter and in the LSM6DSOX and ISM330DHCX a programmable finite state machine / machine learning core that can perform some basic gesture recognition.
For interfacing, you can use either SPI or I2C - there's two configurable interrupt pins. For advanced usage, you can attach additional devices to an external I2C/SPI port - used for optical image stabilization.
To make getting started fast and easy, we placed the sensors on compact breakout boards with voltage regulation and level-shifted inputs. That way you can use them with 3V or 5V power/logic devices without worry.
We also wrote libraries to help you get these sensors integrated with your Arduino/C++ or CircuitPython/Python boards such as Raspberry Pi or other single board computers.
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 with a plug-and-play cable to get 6 DoF data ASAP.
# LSM6DSOX, ISM330DHC, & LSM6DSO32 6 DoF IMUs
## Pinouts
The top of each breakout is very similar! They include The names of all the pins which you can reference in the lists below
## 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's 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's I2C data line. This pin is level shifted so you can use 3-5V logic, and there's a 1 **0K 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)
# SPI Logic pins:
All pins going into the breakout have level shifting circuitry to make them 3-5V logic level safe. Use whatever logic level is on **Vin!**
- **SCK** - This is _also_ the **S** PI **C** loc **k** pin, it's an input to the chip
- **DO (Bottom)** - this is the serial **D** ata **O** ut / **M** icrocontroller **I** n **S** ensor **O** ut pin, for data sent from the LSM6DSOX, ISM330DHCX, or LSM6DSO32 to your processor.
- **SDA** - this is _also _the Serial Data In / **M** icrocontroller **O** ut **S** ensor **I** n pin, for data sent from your processor to the LSM6DSOX, ISM330DHCX, or LSM6DSO32
- **CS (Bottom)** - this is the **C** hip **S** elect pin, drop it low to start an SPI transaction. Its an input to the chip
If you want to connect multiple LSM6DSOX, ISM330DHCX, or LSM6DSO32's to one microcontroller, have them share the **SDI** , **DO** and **SCK** pins. Then assign each one a unique **CS** pin.
## Other Pins
- **INT1** -This is the primary interrupt pin. You can setup the LSM6DSOX, ISM330DHCX, or LSM6DSO32 to pull this low when certain conditions are met such as new measurement data being available. Consult the [datasheet](https://learn.adafruit.com/lsm6dsox-and-ism330dhc-6-dof-imus-with-extra-sauce/downloads) for usage
- **INT2** -This is the primary interrupt pin. You can setup the LSM6DSOX, ISM330DHCX, or LSM6DSO32 to pull this low when certain conditions are met such as new measurement data being available. Consult the [datasheet](https://learn.adafruit.com/lsm6dsox-and-ism330dhc-6-dof-imus-with-extra-sauce/downloads) for usage
- **D0 (Bottom)** - I2C Address pin. Pulling this pin high or bridging the solder jumper on the back will change the I2C address from **0x6A** to **0x6B**
- **SCX, SDX, Aux CS, DO (Top)** - Pins for advanced users to connect the LSM6DSOX, ISM330DHCX, or LSM6DSO32 to another sensor. Consult the [datasheet](https://learn.adafruit.com/lsm6dsox-and-ism330dhc-6-dof-imus-with-extra-sauce/downloads) for usage
The backs of the breakouts show additional information about the specifications of the sensor, as well as the I2C address and additional pin information
# LSM6DSOX, ISM330DHC, & LSM6DSO32 6 DoF IMUs
## Arduino
Info:
# I2C Wiring
Use this wiring if you want to connect via I2C interface
By default, theI2C 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**
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 **SCL** 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
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. **This will work for the LSM6DSOX, ISM330DHCX,** **LSM6DSO32** , and even the **LSM6DS33** :
Click the **Manage Libraries ...** menu item, search for **Adafruit LSM6DS** , and select the **Adafruit LSM6DS** library:
Then follow the same process for the **Adafruit BusIO** library.
Finally follow the same process for the **Adafruit Unified Sensor** library:
# Load Example - LSM6DSOX, ISM330DHCX, or LSM6DSO32
**The library includes different examples for each of the sensors it supports, so you will need to select the correct one.**
If you are using an **LSM6DSOX** , open up **File -\> Examples -\> Adafruit LSM6DS** **-\> adafruit\_lsm6dsox\_test** and upload to your Arduino wired up to the sensor.
If you are using an **ISM330DHCX** , open up **File -\> Examples -\> Adafruit LSM6DS** **-\> adafruit\_ism330dhcx\_test** and upload to your Arduino wired up to the sensor.
If you are using an **LSM6DSO32** , open up **File -\> Examples -\> Adafruit LSM6DS** **-\> adafruit\_lsm6dso32\_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.
Info:
```cpp
if (!lsm6dsox.begin_I2C()) {
//if (!lsm6dsox.begin_SPI(LPS_CS)) {
//if (!lsm6dsox.begin_SPI(LPS_CS, LPS_SCK, LPS_MISO, LPS_MOSI)) {
```
Once you upload the code, you will see the accelerometer, gyro, and temperature measurements being printed when you open the Serial Monitor ( **Tools-\>Serial Monitor** ) at **115200** baud, similar to this:
Give the sensor a wiggle or a spin and watch how the measurements change!
# Example Code - LSM6DSOX
https://github.com/adafruit/Adafruit_LSM6DS/blob/master/examples/adafruit_lsm6dsox_test/adafruit_lsm6dsox_test.ino
# Example Code - ISM330DHCX
https://github.com/adafruit/Adafruit_LSM6DS/blob/master/examples/adafruit_ism330dhcx_test/adafruit_ism330dhcx_test.ino
# Example Code - LSM6DSO32
https://github.com/adafruit/Adafruit_LSM6DS/blob/master/examples/adafruit_lsm6dso32_test/adafruit_lsm6dso32_test.ino
# LSM6DSOX, ISM330DHC, & LSM6DSO32 6 DoF IMUs
## Arduino Docs
# LSM6DSOX, ISM330DHC, & LSM6DSO32 6 DoF IMUs
## Python & CircuitPython
It's easy to use the LSM6DSOX or ISM330DHCX sensors 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, and will work with either sensor.
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 LSM6DSOX or ISM330DHCX 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)**
# Python Computer Wiring
Since there's _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)**
## 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, LSM6DSO32, 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 or root filesystem 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:
- `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
import busio
import adafruit_lsm6ds
i2c = busio.I2C(board.SCL, board.SDA)
sox = adafruit_lsm6ds.LSM6DSOX(i2c)
```
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))
```
That's all there is to it! Go forth and imbue your robot friends with the gift of being able to maybe not fall down all the time. Maybe.
## Example Code
https://github.com/adafruit/Adafruit_CircuitPython_LSM6DS/blob/main/examples/lsm6ds_lsm6dsox_simpletest.py
# LSM6DSOX, ISM330DHC, & LSM6DSO32 6 DoF IMUs
## Python Docs
# LSM6DSOX, ISM330DHC, & LSM6DSO32 6 DoF IMUs
## Downloads
## Files
- [LSM6DSOX Datasheet](https://www.st.com/resource/en/datasheet/lsm6dsox.pdf)
- [ISM330DHCX Datasheet](https://www.st.com/resource/en/datasheet/ism330dhcx.pdf)
- [LSM6DSO32 Datasheet](https://www.st.com/resource/en/datasheet/lsm6dso32.pdf)
- [EagleCAD files on GitHub](https://github.com/adafruit/Adafruit-LSM6DSOX-PCB)
- [Fritzing object in Adafruit Fritzing Library](https://github.com/adafruit/Fritzing-Library/raw/master/parts/Adafruit%20LSM6DSOX.fzpz)
# Schematic
The schematic is identical for the LSM6DSOX, ISM330DHCX, and LSM6DSO32
# Fab Print
The fabrication print is identical for the LSM6DSOX and ISM330DHCX
## Primary Products
### Adafruit LSM6DSOX 6 DoF Accelerometer and Gyroscope
[Adafruit LSM6DSOX 6 DoF Accelerometer and Gyroscope](https://www.adafruit.com/product/4438)
Behold, the ST LSM6DSOX: The latest in a long line of quality Accelerometer+Gyroscope 6-DOF IMUs from ST.
This IMU sensor has 6 degrees of freedom - 3 degrees each of linear acceleration and angular velocity at varying rates within a respectable range. For the accelerometer:...
In Stock
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[Related Guides to the Product](https://learn.adafruit.com/products/4438/guides)
## Featured Products
### Adafruit ISM330DHCX - 6 DoF IMU - Accelerometer and Gyroscope
[Adafruit ISM330DHCX - 6 DoF IMU - Accelerometer and Gyroscope](https://www.adafruit.com/product/4502)
Behold, the ST ISM330DHCX: an _industrial quality_ Accelerometer+Gyroscope 6-DOF IMUs (inertial measurement unit) from ST.
This IMU sensor has 6 degrees of freedom - 3 degrees each of linear acceleration and angular velocity at varying rates within a respectable range. For the...
In Stock
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[Related Guides to the Product](https://learn.adafruit.com/products/4502/guides)
### Adafruit LSM6DSO32 6-DoF Accelerometer and Gyroscope
[Adafruit LSM6DSO32 6-DoF Accelerometer and Gyroscope](https://www.adafruit.com/product/4692)
Behold, the ST LSM6DSO32: The latest in a long line of quality Accelerometer+Gyroscope 6-DOF IMUs from ST. **This IMU is like a big sister to the LSM6DSOX; it has the same pinout and firmware - but the accelerometer component can go up to 32g instead of the normal 16g...**
In Stock
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### STEMMA QT / Qwiic JST SH 4-pin to Premium Male Headers Cable
[STEMMA QT / Qwiic JST SH 4-pin to Premium Male Headers Cable](https://www.adafruit.com/product/4209)
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 Dupont male 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...
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### STEMMA QT / Qwiic JST SH 4-Pin Cable - 200mm Long
[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.
In Stock
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[Related Guides to the Product](https://learn.adafruit.com/products/4401/guides)
### STEMMA QT / Qwiic JST SH 4-pin Cable - 100mm Long
[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.
In Stock
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[Related Guides to the Product](https://learn.adafruit.com/products/4210/guides)
### 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.
In Stock
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### 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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### JST SH 4-pin Cable with Alligator Clips - STEMMA QT / Qwiic
[JST SH 4-pin Cable with Alligator Clips - STEMMA QT / Qwiic](https://www.adafruit.com/product/4398)
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## Related Guides
- [Adafruit SensorLab - Gyroscope Calibration](https://learn.adafruit.com/adafruit-sensorlab-gyroscope-calibration.md)
- [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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