Adafruit 9-DoF LSM6DS3TR-C + LIS3MDL module provides full motion data in nine degrees of freedom. It combines the ST LSM6DS3TR-C 6-DoF accelerometer and gyroscope with the LIS3MDL 3-axis magnetometer, enabling precise measurement of motion, orientation and magnetic field in a single compact solution.

The LSM6DS3TR-C offers 3-axis accelerometer measurements for tracking gravity and movement, and a 3-axis gyroscope for measuring rotation and torque. The LIS3MDL magnetometer measures magnetic north and other magnetic fields. Together these three sensors produce 9-DoF data for calculating orientation and heading.

Adafruit has placed the chips on a small breakout board with voltage regulation and logic-level shifting. The module works with both 3.3V and 5V systems and provides an easy I2C connection; SPI is also supported for the LSM6DS3TR-C. STEMMA QT/Qwiic connectors allow plug-and-play hookup without soldering. The module ships assembled and tested, and includes pin headers as well as four mounting holes.

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

Technical specifications:

• LSM6DS3TR-C:
• Accelerometer measurement range: ±2/±4/±8/±16 g
• Gyroscope measurement range: ±125/±250/±500/±1000/±2000 dps
• I2C or SPI interface, up to 1.6 kHz sampling rate
• Support for tap/double-tap detection, free-fall detection and step/pedometer
• I2C address: 0x6A or 0x6B

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

Package includes:

• Adafruit 9-DoF LSM6DS3TR-C + LIS3MDL
• Pin header

Links:

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