Sense.I.6D
digital 6-DOF IMU with dual accelerometers
The Sense.I.6D tile embeds the STMicroelectronics LSM6DSV320X digital IMU with dual-range accelerometers and sophisticated on-board activity tracking. Serial communications via I2C (up to 1-MHz fast-mode plus), I3C, or SPI (up to 10-MHz) provide access to simultaneous 16-bit measurements of triaxial low-g accelerations (±2g-16g), triaxial high-g accelerations (±32-320g), and triaxial angular rate measurements (±250-4000 dps) with output data rates ranging from 7.5 Hz to 7.68 kHz. The output path includes a 4.5-kB smart FIFO with dynamic data compression. Onboard filtering, sensor fusion, and a 960-Hz finite state machine provide accurate motion computation and activity tracking, including attitude quaternions, gravity vector and gyro bias tracking, pedometry, step detection, step counting, and programmable motion-event interrupts (free fall, wake, tilt, tap, etc.).
Product Info
- Status
- Beta
- In Stock
- 0
- Pricing
Qty Each 1+ $16.00 10+ $14.40 50+ $13.60
Technical Summary
Resources & Links
- Datasheet
- Download PDF
- JSON Tile Definition
- v0.5 (Feb 14, 2026)
- Drivers
- GitHub
- Discussion
- Discord
Application Notes
Sensor Axes
The Z axis of the IMU protrudes through the center of the tile, while the XY plane is approximately 1.0mm from the bottom surface of the tile, with the X axis pointing toward the left side (pads 1-5), as shown.
Pad Assignments
| Pad | Type | Function | Note | |
|---|---|---|---|---|
| 1 | ⏻ | GND | ||
| 2 | D | I2C.AD0 | A weak internal pull-up sets I2C address to 0x6B. Connect to GND to set I2C address to 0x6A. | |
| ↳ | SPI | MISO | ||
| 3 | D | I2C.EN | A weak internal pull-up enables I2C. Connect to GND to switch to SPI mode. | |
| ↳ | SPI | CS | ||
| ↳ | SPI3 | CS | ||
| 4 | I2C | CLK | ||
| ↳ | I3C | CLK | ||
| ↳ | SPI | CLK | ||
| ↳ | SPI3 | CLK | ||
| 5 | I2C | DAT | ||
| ↳ | I3C | DAT | ||
| ↳ | SPI | MOSI | ||
| ↳ | SPI3 | DAT | ||
| 6 | — | |||
| 7 | — | |||
| 8 | — | |||
| 9 | D | INT1 | programmable interrupt output | |
| 10 | ⏻ | V+ | see supply details |
I2C
I2C- Mode
- slave
- Max Clock
- 1MHz
- Addresses
- 0x6B(default), 0x6A
- Format
- 7-bit address, 8-bit data
| Function | Required | Pad(s) |
|---|---|---|
| I2C.CLK | Yes | 4 |
| I2C.DAT | Yes | 5 |
| I2C.AD0 | No | 2 |
| I2C.EN | No | 3 |
I3C
I3C- Mode
- slave
- Max Clock
- 12.5MHz (SDR)
- Address
- —
- Format
- —
| Function | Required | Pad(s) |
|---|---|---|
| I2C.CLK | Yes | 4 |
| I2C.DAT | Yes | 5 |
| I2C.EN | No | 3 |
SPI
SPI- Mode
- slave
- Max Clock
- 10MHz
- Address
- —
- Format
- —
| Function | Required | Pad(s) |
|---|---|---|
| SPI.MISO | Yes | 2 |
| SPI.CS | Yes | 3 |
| SPI.CLK | Yes | 4 |
| SPI.MOSI | Yes | 5 |
3-wire SPI
SPI3- Mode
- slave
- Max Clock
- 10MHz
- Address
- —
- Format
- —
| Function | Required | Pad(s) |
|---|---|---|
| SPI3.CS | Yes | 3 |
| SPI3.CLK | Yes | 4 |
| SPI3.DAT | Yes | 5 |
Development Product — This is an electronic development module intended for evaluation, prototyping, and integration into other designs by qualified engineers and developers. It is not a finished consumer product and has not been independently certified for FCC, CE, UL, or other regulatory compliance. The integrator of this module into a finished product is responsible for obtaining all necessary certifications. Not intended for use in life-support systems, safety-critical applications, or any application where failure could result in personal injury or property damage. See our Terms of Sale for full details.