{"product_id":"2736-lsm6ds33-3d-accelerometer-and-gyro-carrier-with-voltage-regulator","title":"LSM6DS33 3D Accelerometer and Gyro Carrier with Voltage Regulator","description":"\u003cp\u003eThe LSM6DS33 combines a digital 3-axis accelerometer and 3-axis gyroscope into a single package. The sensor provides six independent acceleration and rotation rate readings whose sensitivities can be set in the ranges of ±2 g to ±16 g and ±125°\/s to ±2000°\/s, available through I²C and SPI interfaces. This LSM6DS33 carrier board includes a 3.3 V voltage regulator and integrated level shifters that allow operation from 2.5 to 5.5 V, and the 0.1″ pin spacing makes it easy to use with standard solderless breadboards and 0.1″ perfboards.\u003c\/p\u003e\n\n\u003cbr\u003e\u003ctable class=\"picture_with_caption right\"\u003e\u003ctr\u003e\n\n\u003ctd\u003e \u003ca href=\"https:\/\/a.pololu-files.com\/picture\/0J7021.1200.jpg?660533b670eba3820561fcb6f7693dc3\" class=\"noscript-fallback\"\u003e\u003cimg alt=\"\" class=\"zoomable\" data-gallery-pictures=\"[{\" id accelerometer and gyro carrier with voltage regulator bottom view dimensions. data-picture-id=\"0J7021\" data-picture-longest_side=\"864\" src=\"https:\/\/a.pololu-files.com\/picture\/0J7021.250.jpg?660533b670eba3820561fcb6f7693dc3\"\u003e\u003c\/a\u003e\n\u003c\/td\u003e\n\n\u003cp\u003e\u003c\/p\u003e\n\n\n\u003c\/tr\u003e\u003c\/table\u003e\n\n\u003ch2\u003e Overview\u003c\/h2\u003e\n\n \u003cp\u003eThis board is a compact (0.4″ × 0.9″) breakout board for ST's LSM6DS33 inertial module, which features a 3-axis digital linear accelerometer and 3-axis digital rate gyroscope; we therefore recommend careful reading of the \u003ca href=\"\/en\/file\/0J1087\/LSM6DS33.pdf\"\u003eLSM6DS33 datasheet\u003c\/a\u003e (1MB pdf) before using this product. The LSM6DS33 is a great IC, but its small package makes it difficult for the typical student or hobbyist to use. It also operates at voltages below 3.6 V, which can make interfacing difficult for microcontrollers operating at 5 V. This carrier board addresses these issues by incorporating additional electronics, including a 3.3 V voltage regulator and level-shifting circuits, while keeping the overall size as compact as possible. The board ships fully populated with its SMD components, including the LSM6DS33, as shown in the product picture.\u003c\/p\u003e\n\n \u003cp\u003eThe LSM6DS33 inertial measurement unit (IMU) has many configurable options, including dynamically selectable sensitivities for the accelerometer and gyro, a choice of output data rates, and two independently-programmable external inertial interrupt pins. The accelerometer and gyro can be individually turned on and off to save power. The sensor can be configured and its readings can be accessed through a digital interface, which can be configured to operate in either I²C (TWI) or SPI mode.\u003c\/p\u003e\n\n\u003cp\u003e The six independent acceleration and angular rate readings (sometimes called 6DOF) provide data that a microcontroller or computer can use to calculate the orientation of the LSM6DS33 on two axes (roll and pitch; a magnetometer is generally required to compute yaw accurately). With an appropriate algorithm, the gyro can be used to very accurately track rotation on a short timescale, while the accelerometer can help compensate for gyro drift over time by providing an absolute frame of reference.\u003c\/p\u003e\n\n \u003cp\u003eThe carrier board includes a low-dropout linear voltage regulator that provides the 3.3 V required by the LSM6DS33, which allows the sensor to be powered from a 2.5-5.5 V supply. The regulator output is available on the VDD pin and can supply almost 150 mA to external devices. The breakout board also includes a circuit that shifts the I²C clock and data lines to the same logic voltage level as the supplied VIN, making it simple to interface the board with 5 V systems, and the board's 0.1″ pin spacing makes it easy to use with standard \u003ca href=\"https:\/\/www.pololu.com\/category\/28\/solderless-breadboards\"\u003esolderless breadboards\u003c\/a\u003e and 0.1″ perfboards.\u003c\/p\u003e\n\n \u003cp\u003eThis LSM6DS33 carrier is pin-compatible with many of our previous ST I²C\/SPI sensor carriers, including our \u003ca href=\"https:\/\/www.pololu.com\/product\/2127\"\u003eLSM303D compass and accelerometer carrier\u003c\/a\u003e and \u003ca href=\"https:\/\/www.pololu.com\/product\/2129\"\u003eL3GD20H gyro carrier\u003c\/a\u003e , and the orientation of the sensor axes is the same. However, since the ICs contain different sensors with different I²C addresses and configuration registers, code written to interface with another chip will need to be modified to work with an LSM6DS33.\u003c\/p\u003e\n\n \u003cp\u003eFor sensor fusion applications, our \u003ca href=\"https:\/\/www.pololu.com\/product\/2738\"\u003eMinIMU-9 v5\u003c\/a\u003e and \u003ca href=\"https:\/\/www.pololu.com\/product\/2739\"\u003eAltIMU-10 v5\u003c\/a\u003e inertial measurement units combine this LIS3MDL with an \u003ca href=\"https:\/\/www.pololu.com\/product\/2736\"\u003eLSM6DS33\u003c\/a\u003e 3-axis accelerometer and 3-axis gyro on a single board, providing nine independent readings that can be used to calculate an absolute orientation. The AltIMU-10 v5 also includes an \u003ca href=\"https:\/\/www.pololu.com\/product\/2867\"\u003eLPS25H\u003c\/a\u003e pressure sensor that can be used to calculate altitude.\u003c\/p\u003e\n\n \u003cp class=\"note\"\u003eWe also offer a pin-compatible carrier board for the newer \u003ca href=\"https:\/\/www.pololu.com\/product\/2798\"\u003eLSM6DSO\u003c\/a\u003e , which offers various improvements like lower noise and a higher maximum output data rate for the gyro. The LSM6DSO additionally supports MIPI I3C communication and operation in specialized modes with a secondary interface, allowing it to act as a master (sensor hub) on a second I²C bus or provide an auxiliary SPI slave interface that is useful for image stabilization applications.\u003c\/p\u003e\n\n\u003ch3 class=\"clear\"\u003e Specifications\u003c\/h3\u003e\n\n\u003cul\u003e\n\n\u003cli\u003e Dimensions: 0.4″ × 0.9″ × 0.1″ (10 × 23 × 3 mm)\u003c\/li\u003e\n\n\u003cli\u003e Weight without header pins: 0.6 g (0.02 oz)\u003c\/li\u003e\n\n\u003cli\u003e Operating voltage: 2.5 V to 5.5 V\u003c\/li\u003e\n\n\u003cli\u003e Supply current: 2 mA\u003c\/li\u003e\n\n\u003cli\u003e Output format (I²C\/SPI):\n\u003cul\u003e\n\n\u003cli\u003e Accelerometer: one 16-bit reading per axis\u003c\/li\u003e\n\n\u003cli\u003e Gyro: one 16-bit reading per axis\u003c\/li\u003e\n\n\n\u003c\/ul\u003e\n\n\n\u003c\/li\u003e\n\n\u003cli\u003e Sensitivity range (configurable):\n\u003cul\u003e\n\n\u003cli\u003e Accelerometer: ±2, ±4, ±8, or ±16 g\u003c\/li\u003e\n\n\u003cli\u003e Gyro: ±125, ±245, ±500, ±1000, or ±2000°\/s\u003c\/li\u003e\n\n\n\u003c\/ul\u003e\n\n\n\u003c\/li\u003e\n\n\n\u003c\/ul\u003e\n\n\u003ch3\u003e Included components\u003c\/h3\u003e\n\n \u003cp\u003eA 1×9 strip of \u003ca href=\"https:\/\/www.pololu.com\/product\/965\"\u003e0.1″ header pins\u003c\/a\u003e and a 1×9 strip of \u003ca href=\"https:\/\/www.pololu.com\/product\/967\"\u003e0.1″ right-angle header pins\u003c\/a\u003e are included, as shown in the picture below. You can solder the header strip of your choice to the board for use with \u003ca href=\"https:\/\/www.pololu.com\/category\/70\/crimp-connector-housings\"\u003ecustom cables\u003c\/a\u003e or \u003ca href=\"https:\/\/www.pololu.com\/category\/28\/solderless-breadboards\"\u003esolderless breadboards\u003c\/a\u003e , or you can solder wires directly to the board itself for more compact installations.\u003c\/p\u003e\n\n\u003ctable class=\"picture_with_caption center\"\u003e\u003ctr\u003e\n\n\u003ctd\u003e \u003ca href=\"https:\/\/a.pololu-files.com\/picture\/0J7023.1200.jpg?3e637b07e0637668ba18bd47372c8954\" class=\"noscript-fallback\"\u003e\u003cimg alt=\"\" class=\"zoomable\" data-gallery-pictures=\"[{\" id accelerometer and gyro carrier with voltage regulator included optional headers. data-picture-id=\"0J7023\" data-picture-longest_side=\"1200\" src=\"https:\/\/a.pololu-files.com\/picture\/0J7023.300.jpg?3e637b07e0637668ba18bd47372c8954\"\u003e\u003c\/a\u003e\n\u003c\/td\u003e\n\n\u003cp\u003e\u003c\/p\u003e\n\n\n\u003c\/tr\u003e\u003c\/table\u003e\n\n\u003cp\u003e The board has one mounting hole that works with #2 and M2 \u003ca href=\"https:\/\/www.pololu.com\/category\/101\/nuts-and-screws\"\u003escrews\u003c\/a\u003e (not included).\u003c\/p\u003e\n\n\u003ch2 class=\"clear\"\u003e Using the LSM6DS33\u003c\/h2\u003e\n\n\u003ch3\u003e Connections\u003c\/h3\u003e\n\n \u003cp\u003eRegardless of the interface being used to communicate with the LSM6DS33, its VIN pin should be connected to a 2.5 V to 5.5 V source, and GND should be connected to 0 volts. (Alternatively, if you are using the board with a 3.3 V system, you can leave VIN disconnected and bypass the built-in regulator by connecting 3.3 V directly to VDD.)\u003c\/p\u003e\n\n\u003cp\u003e A minimum of two logic connections is necessary to use the LSM6DS33 in I²C mode (this is the default mode): SCL and SDA. These pins are connected to built-in level-shifters that make them safe to use at voltages over 3.3 V; they should be connected to an I²C bus operating at the same logic level as VIN. The remaining pins are\u003cins\u003e note\u003c\/ins\u003e connected to level-shifters on the board and are\u003cins\u003e note\u003c\/ins\u003e 5V-tolerant, but our \u003ca href=\"https:\/\/www.pololu.com\/product\/2595\"\u003e4-channel bidirectional logic level shifter\u003c\/a\u003e can be used externally with those pins to achieve the same effect.\u003c\/p\u003e\n\n \u003cp\u003eTo use the LSM6DS33 in SPI mode, four logic connections are typically used: SPC, SDI, SDO, and CS. These should be connected to an SPI bus operating at the same logic level as VIN. The SPI interface operates in 4-wire mode by default, with SDI and SDO on separate pins, but it can be configured to use 3-wire mode so that SDO shares a pin with SDI. \u003c\/p\u003e\n\n\u003ctable class=\"side_by_side_pics\"\u003e\n\n\u003ctr\u003e\n\n\u003ctd\u003e\u003ctable class=\"picture_with_caption center\"\u003e\n\n\u003ctr\u003e\u003ctd style=\"max-width: 275px\"\u003e \u003ca href=\"https:\/\/a.pololu-files.com\/picture\/0J7022.1200.jpg?0011ffbcb20ee9849a9a268f987a3f74\" class=\"noscript-fallback\"\u003e\u003cimg alt=\"\" class=\"zoomable\" data-gallery-pictures=\"[{\" id accelerometer and gyro carrier with voltage regulator labeled top view. data-picture-id=\"0J7022\" data-picture-longest_side=\"1200\" src=\"https:\/\/a.pololu-files.com\/picture\/0J7022.275.jpg?0011ffbcb20ee9849a9a268f987a3f74\"\u003e\u003c\/a\u003e\n\u003c\/td\u003e\u003c\/tr\u003e\n\n\u003ctr\u003e\u003cth style=\"max-width: 275px\"\u003e\u003cp\u003e LSM6DS33 3D Accelerometer and Gyro Carrier with Voltage Regulator, labeled top view. \u003c\/p\u003e\u003c\/th\u003e\u003c\/tr\u003e\n\n\n\u003c\/table\u003e\u003c\/td\u003e\n\n\u003ctd\u003e\u003ctable class=\"picture_with_caption center\"\u003e\n\n\u003ctr\u003e\u003ctd style=\"max-width: 275px\"\u003e \u003ca href=\"https:\/\/a.pololu-files.com\/picture\/0J7024.1200.jpg?7bd63e98bbb04fe2f5aed1f37c0692c9\" class=\"noscript-fallback\"\u003e\u003cimg alt=\"\" class=\"zoomable\" data-gallery-pictures=\"[{\" id accelerometer and gyro carrier with voltage regulator in a breadboard. data-picture-id=\"0J7024\" data-picture-longest_side=\"1200\" src=\"https:\/\/a.pololu-files.com\/picture\/0J7024.275.jpg?7bd63e98bbb04fe2f5aed1f37c0692c9\"\u003e\u003c\/a\u003e\n\u003c\/td\u003e\u003c\/tr\u003e\n\n\u003ctr\u003e\u003cth style=\"max-width: 275px\"\u003e\u003cp\u003e LSM6DS33 3D Accelerometer and Gyro Carrier with Voltage Regulator in a breadboard.\u003c\/p\u003e\u003c\/th\u003e\u003c\/tr\u003e\n\n\n\u003c\/table\u003e\u003c\/td\u003e\n\n\n\u003c\/tr\u003e\n\n\n\u003c\/table\u003e\n\n\u003ch3 class=\"clear\"\u003e Pinout\u003c\/h3\u003e\n\n\u003ctable class=\"specifications center\"\u003e\n\n\u003ctr\u003e\n\n\u003cth\u003e PIN\u003c\/th\u003e\n\n\u003cth\u003e Description\u003c\/th\u003e\n\n\n\u003c\/tr\u003e\n\n\u003ctr class=\"odd\"\u003e\n\n\u003ctd\u003e VDD\u003c\/td\u003e\n\n\u003ctd style=\"text-align:left;\"\u003e Regulated 3.3 V \u003cstrong\u003eoutput\u003c\/strong\u003e . Almost 150 mA is available to power external components. (If you want to bypass the internal regulator, you can instead use this pin as a 3.3 V input with VIN disconnected.)\u003c\/td\u003e\n\n\n\u003c\/tr\u003e\n\n\u003ctr\u003e\n\n\t\t \u003ctd\u003eVIN\u003c\/td\u003e\n\n\u003ctd style=\"text-align:left;\"\u003e This is the main 2.5 V to 5.5 V power supply connection. The SCL\/SPC and SDA\/SDI level shifters pull the I²C and SPI bus high bits up to this level.\u003c\/td\u003e\n\n\n\u003c\/tr\u003e\n\n\u003ctr class=\"odd\"\u003e\n\n\u003ctd\u003e GND\u003c\/td\u003e\n\n\u003ctd style=\"text-align:left;\"\u003e The ground (0 V) connection for your power supply. Your I²C or SPI control source must also share a common ground with this board.\u003c\/td\u003e\n\n\n\u003c\/tr\u003e\n\n\u003ctr\u003e\n\n\u003ctd\u003e SDA\/SDI\/SDO\u003c\/td\u003e\n\n\u003ctd style=\"text-align:left;\"\u003e Level-shifted I²C data line and SPI data in line (also doubles as SDO in 3-wire mode): HIGH is VIN, LOW is 0 V\u003c\/td\u003e\n\n\n\u003c\/tr\u003e\n\n\u003ctr class=\"odd\"\u003e\n\n\u003ctd\u003e SCL\/SPC\u003c\/td\u003e\n\n\u003ctd style=\"text-align:left;\"\u003e Level-shifted I²C\/SPI clock line: HIGH is VIN, LOW is 0 V\u003c\/td\u003e\n\n\n\u003c\/tr\u003e\n\n\u003ctr\u003e\n\n\u003ctd\u003e SDO\/SA0\u003c\/td\u003e\n\n\u003ctd style=\"text-align:left;\"\u003e SPI data out line in 4-wire mode: HIGH is VDD, LOW is 0 V. \u003cem\u003eThis output is not level-shifted.\u003c\/em\u003e Also used as an input to determine I²C slave address (see below).\u003c\/td\u003e\n\n\n\u003c\/tr\u003e\n\n\u003ctr class=\"odd\"\u003e\n\n\u003ctd\u003e CS\u003c\/td\u003e\n\n\u003ctd style=\"text-align:left;\"\u003e SPI enable (chip select). Pulled up to VDD to enable I²C communication by default; drive low to begin SPI communication.\u003c\/td\u003e\n\n\n\u003c\/tr\u003e\n\n\u003ctr\u003e\n\n\u003ctd\u003e INT2\u003c\/td\u003e\n\n\u003ctd style=\"text-align:left;\"\u003e Programmable interrupt, 3.3-V-logic-level output. \u003cem\u003eThis output is not level-shifted.\u003c\/em\u003e\n\n\u003c\/td\u003e\n\n\n\u003c\/tr\u003e\n\n\u003ctr class=\"odd\"\u003e\n\n\u003ctd\u003e INT1\u003c\/td\u003e\n\n\u003ctd style=\"text-align:left;\"\u003e Programmable interrupt, 3.3-V-logic-level output. \u003cem\u003eThis output is not level-shifted.\u003c\/em\u003e\n\n\u003c\/td\u003e\n\n\n\u003c\/tr\u003e\n\n\n\u003c\/table\u003e\n\n \u003ch3\u003eSchematic diagram\u003c\/h3\u003e\n\n\u003ctable class=\"picture_with_caption center wide\"\u003e\u003ctr\u003e\n\n\u003ctd\u003e \u003ca href=\"https:\/\/a.pololu-files.com\/picture\/0J7019.1200.png?1a75d663b2835c003f6276fb293d7034\" class=\"noscript-fallback\"\u003e\u003cimg alt=\"\" class=\"wide zoomable\" data-gallery-pictures=\"[{\" id diagram of the lsm6ds33 accelerometer and gyro carrier with voltage regulator. data-picture-id=\"0J7019\" data-picture-longest_side=\"1060\" src=\"https:\/\/a.pololu-files.com\/picture\/0J7019.600.jpg?1a75d663b2835c003f6276fb293d7034\"\u003e\u003c\/a\u003e\n\u003c\/td\u003e\n\n\u003cp\u003e\u003c\/p\u003e\n\n\n\u003c\/tr\u003e\u003c\/table\u003e\n\n\u003cp\u003e The above schematic shows the additional components the carrier board incorporates to make the LSM6DS33 easier to use, including the voltage regulator that allows the board to be powered from a single 2.5-5.5 V supply and the level-shifter circuit that allows for I²C and SPI communication at the same logic voltage level as VIN. This schematic is also available as a \u003ca href=\"\/en\/file\/0J1091\/lsm6ds33-3d-accelerometer-and-gyro-carrier-with-voltage-regulator-schematic.pdf\"\u003edownloadable PDF\u003c\/a\u003e (89k pdf).\u003c\/p\u003e\n\n\u003ch3\u003e I²C communication\u003c\/h3\u003e\n\n \u003cp\u003eWith the CS pin in its default state (pulled up to VDD), the LSM6DS33 can be configured and its readings can be queried through the I²C bus. Level shifters on the I²C clock (SCL) and data lines (SDA) enable I²C communication with microcontrollers operating at the same voltage as VIN (2.5-5.5V). A detailed explanation of the protocol can be found in the \u003ca href=\"\/en\/file\/0J1087\/LSM6DS33.pdf\"\u003eLSM6DS33 datasheet\u003c\/a\u003e (1MB pdf), and more detailed information about I²C in general can be found in \u003ca href=\"\/en\/file\/0J435\/UM10204.pdf\"\u003eNXP's I²C-bus specification\u003c\/a\u003e (1MB pdf).\u003c\/p\u003e\n\n \u003cp\u003eIn I²C mode, the sensor's 7-bit slave address has its least significant bit (LSb) determined by the voltage on the SA0 pin. The carrier board pulls SA0 to VDD through a 10 kΩ resistor, making the LSb 1 and setting the slave address to 1101011b by default. If the selected slave address happens to conflict with some other device on your I²C bus, or if you want to use two LSM6DS33 sensors on the same bus, you can drive SA0 low to set the LSb to 0 (which sets the slave address to 1101010b ).\u003c\/p\u003e\n\n\u003cp\u003e The I²C interface on the LSM6DS33 is compliant with the I²C fast mode (400 kHz) standard. In our tests of the board, we were able to communicate with the chip at clock frequencies up to 400 kHz; higher frequencies might work but were not tested.\u003c\/p\u003e\n\n\u003ch3\u003e SPI communications\u003c\/h3\u003e\n\n \u003cp\u003eTo communicate with the LSM6DS33 in SPI mode, the CS pin (which the board pulls to VDD through a 10 kΩ resistor) must be driven low before the start of an SPI command and allowed to return high after the end of the command. Level shifters on the SPI clock (SPC) and data in (SDI) lines enable SPI communication with microcontrollers operating at the same voltage as VIN (2.5 V to 5.5 V).\u003c\/p\u003e\n\n\u003cp\u003e In the default 4-wire mode, the sensor transmits data to the SPI master on a dedicated data out (SDO) line that is\u003cins\u003e note\u003c\/ins\u003e level-shifted. If the SPI interface is configured to use 3-wire mode instead, the SDI line doubles as SDO and is driven by the LSM6DS33 when it transmits data to the master. A detailed explanation of the SPI interface on the LSM6DS33 can be found in its \u003ca href=\"\/en\/file\/0J1087\/LSM6DS33.pdf\"\u003edatasheet\u003c\/a\u003e (1MB pdf).\u003c\/p\u003e\n\n\u003ch3\u003e Sample Code\u003c\/h3\u003e\n\n \u003cp\u003eWe have written a basic \u003ca href=\"https:\/\/github.com\/pololu\/lsm6-arduino\"\u003eArduino library for the LSM6\u003c\/a\u003e that makes it easy to interface this sensor with an \u003ca href=\"https:\/\/www.pololu.com\/product\/2191\"\u003eArduino\u003c\/a\u003e or Arduino-compatible board like an \u003ca href=\"https:\/\/www.pololu.com\/category\/149\/a-star-programmable-controllers\"\u003eA-Star\u003c\/a\u003e . The library makes it simple to configure the LSM6DS33 and read the raw accelerometer and gyro data through I²C.\u003c\/p\u003e\n\n\u003ch3\u003e Protocol hints\u003c\/h3\u003e\n\n\u003cp\u003e The datasheet provides all the information you need to use this sensor, but picking out the important details can take some time. Here are some pointers for communicating with and configuring the LSM6DS33 that we hope will get you up and running a little bit faster:\u003c\/p\u003e\n\n\u003cul\u003e\n\n\u003cli\u003e The accelerometer and gyro are in power-down mode by default. You have to turn them on by writing the appropriate values ​​to the CTRL1_XL and CTRL2_G registers.\u003c\/li\u003e\n\n\t \u003cli\u003eThe register address automatically increments during a multiple byte access, allowing you to read or write multiple registers in a single I²C or SPI command. Unlike with some other ST sensors, the auto-increment is enabled by default; you can turn it off with the IF_INC field in the CTRL3_C register.\u003c\/li\u003e\n\n\u003cli\u003e In addition to the datasheet, ST provides an \u003ca href=\"\/en\/file\/0J1088\/LSM6DS33-AN4682.pdf\"\u003eapplication note\u003c\/a\u003e (1MB pdf) containing additional information and hints about using the LSM6DS33.\u003c\/li\u003e\n\n\n\u003c\/ul\u003e","brand":"Pololu","offers":[{"title":"2-4 Weeks","offer_id":47696600203609,"sku":"POL-2736","price":21.89,"currency_code":"EUR","in_stock":true},{"title":"1 day","offer_id":47885965361497,"sku":"POL-2736\/A","price":21.89,"currency_code":"EUR","in_stock":false}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0781\/1009\/7753\/files\/0J7020.1200.jpg?v=1705454281","url":"https:\/\/robot-italy.com\/en\/products\/2736-lsm6ds33-3d-accelerometer-and-gyro-carrier-with-voltage-regulator","provider":"Robot Italy","version":"1.0","type":"link"}