Adafruit LSM6DS3TR-C + LIS3MDL 9DoF IMU

The Adafruit 9-DoF LSM6DS3TR-C + LIS3MDL module delivers full motion data across nine degrees of freedom. It combines the ST LSM6DS3TR-C 6-DoF accelerometer + gyroscope with the LIS3MDL 3-axis magnetometer, enabling precise measurement of motion, orientation, and magnetic fields in a compact breakout board.

The LSM6DS3TR-C provides 3-axis acceleration data for gravity and movement tracking as well as 3-axis gyroscope data for measuring rotation and twist. The LIS3MDL magnetometer detects magnetic north and other magnetic fields. Together, these three sensors provide 9-DoF data that can be used for orientation and navigation.

Adafruit designed the breakout with onboard voltage regulation and logic-level shifting, making it compatible with both 3.3V and 5V systems. Communication is simple via I2C, with SPI available for the LSM6DS3TR-C. STEMMA QT/Qwiic connectors allow for solderless connections. The board comes fully assembled and tested, with included header pins and four mounting holes.

Adafruit provides ready-to-use Arduino and Python libraries for both sensors, while ST’s libraries offer advanced features such as FIFO management and tap detection.

Technical Details:

• LSM6DS3TR-C:
• Acceleration range: ±2/±4/±8/±16 g
• Gyroscope range: ±125/±250/±500/±1000/±2000 dps
• I2C or SPI interface, up to 1.6 kHz output data rate
• Supports tap/double-tap detection, free-fall detection, pedometer/shake detection
• I2C address: 0x6A or 0x6B

• LIS3MDL:
• Magnetic range: ±4/±8/±12/±16 Gauss
• Continuous and single-conversion modes
• 16-bit data output
• Interrupt generator
• I2C address: 0x1C or 0x1E

Included:

• Adafruit 9-DoF LSM6DS3TR-C + LIS3MDL breakout
• Header strip

Links:

• Product page
• LSM6DS3TR-C Datasheet (PDF)
• LIS3MDL Datasheet (PDF)