Features

The Kode Dot integrates a 3-axis gyroscope, 3-axis accelerometer and 3-axis magnetometer. Thus, you can know the relative position to itself and its absolute position relative to the Earth. The gyroscope and accelerometer are in the same integrated and have the following characteristics:

Feature	Description
Accelerometer + gyroscope “always-on”	Total consumption of 0,55 mA in high-performance mode for continuous operation.
Ranges	Accelerometer ±2/4/8/16 g • Gyroscope ±125/250/500/1000/2000 dps.
Smart FIFO	Data buffer of up to 9 KB with compression and dynamic batching.
Embedded AI motor	16 FSMs programmable + MLC (up to 8 flows / 256 nodes).
Event recognition	Pedometer, step counter, significant motion, inclination, free-fall, wake-up, 6D/4D orientation, click and double click.
Temperature sensor	Internal thermometer to monitor the chip temperature.

The magnetometer has the following characteristics:

Feature	Detail
Dynamic range	±50 gauss (three axes)
Output resolution	16 bits
Typical consumption	200 µA @ 20 Hz (high-resolution mode) / 50 µA (low-power)

Connection diagram

6-axis IMU

The IMU is connected to the ESP32-S3 through the I2C bus using these connections:

IMU	ESP32-S3
SDA	GPIO48
SCL	GPIO47
INT1	EXP13
INT2	EXP12

The IMU has the address 0x6A on the I2C bus.

The interrupt pins are connected to the IO expander.

3-axis magnetometer

The magnetometer is connected in the same way to the I2C bus using these connections:

Magnetometer	ESP32-S3
SDA	GPIO48
SCL	GPIO47
INT1	EXP0

The magnetometer has the address 0x1E on the I2C bus.

The interrupt pin is connected to the IO expander.

Recommended libraries

Arduino

ESP-IDF

Example code

6-axis IMU

This code shows the measurement range of the sensors and the sampling frequency. It also shows the temperature, acceleration and angular velocity.

imu_test.ino

/**
 * Initializes and reads an LSM6DSOX IMU over I2C on ESP32-S3, printing accel, gyro, and temperature.
 * Prints configured ranges and data rates, then outputs readings every 1 second over Serial.
 * Uses custom I2C pins (GPIO48/47) and the Adafruit_LSM6DSOX library.
*/
/* ───────── KODE | docs.kode.diy ───────── */

#include <Adafruit_LSM6DSOX.h>  /* Library for the LSM6DSOX sensor */
#include <Wire.h>               /* I2C communication library */

/* Configurable I2C pins */
#define I2C_SDA 48            /* SDA pin */
#define I2C_SCL 47            /* SCL pin */

/* IMU sensor instance and I2C bus object */
Adafruit_LSM6DSOX imu;

void setup(void) {
  /* Initialize serial port for debugging */
  Serial.begin(115200);
  while (!Serial);

  /* Initialize the I2C bus with the specified pins */
  Wire.begin(I2C_SDA, I2C_SCL);

  Serial.println("LSM6DSOX test");

  /* Attempt to initialize the sensor at the default I2C address (0x6A).
     Note: some boards use 0x6B depending on SA0. */
  if (!imu.begin_I2C()) {
    Serial.println("Failed to find LSM6DSOX chip");
    while (1) {
      delay(10);  /* Infinite loop if initialization fails */
    }
  }
  Serial.println("LSM6DSOX Found!");

  /* Display configured accelerometer range */
  Serial.print("Accelerometer range set to: ");
  switch (imu.getAccelRange()) {
    case LSM6DS_ACCEL_RANGE_2_G:
      Serial.println("+-2G"); break;
    case LSM6DS_ACCEL_RANGE_4_G:
      Serial.println("+-4G"); break;
    case LSM6DS_ACCEL_RANGE_8_G:
      Serial.println("+-8G"); break;
    case LSM6DS_ACCEL_RANGE_16_G:
      Serial.println("+-16G"); break;
  }

  /* Display configured gyroscope range */
  Serial.print("Gyro range set to: ");
  switch (imu.getGyroRange()) {
    case LSM6DS_GYRO_RANGE_125_DPS:
      Serial.println("125 degrees/s"); break;
    case LSM6DS_GYRO_RANGE_250_DPS:
      Serial.println("250 degrees/s"); break;
    case LSM6DS_GYRO_RANGE_500_DPS:
      Serial.println("500 degrees/s"); break;
    case LSM6DS_GYRO_RANGE_1000_DPS:
      Serial.println("1000 degrees/s"); break;
    case LSM6DS_GYRO_RANGE_2000_DPS:
      Serial.println("2000 degrees/s"); break;
    case ISM330DHCX_GYRO_RANGE_4000_DPS:
      /* Unsupported range for the DSOX */
      break;
  }

  /* Display accelerometer data rate */
  Serial.print("Accelerometer data rate set to: ");
  switch (imu.getAccelDataRate()) {
    case LSM6DS_RATE_SHUTDOWN:    Serial.println("0 Hz"); break;
    case LSM6DS_RATE_12_5_HZ:     Serial.println("12.5 Hz"); break;
    case LSM6DS_RATE_26_HZ:       Serial.println("26 Hz"); break;
    case LSM6DS_RATE_52_HZ:       Serial.println("52 Hz"); break;
    case LSM6DS_RATE_104_HZ:      Serial.println("104 Hz"); break;
    case LSM6DS_RATE_208_HZ:      Serial.println("208 Hz"); break;
    case LSM6DS_RATE_416_HZ:      Serial.println("416 Hz"); break;
    case LSM6DS_RATE_833_HZ:      Serial.println("833 Hz"); break;
    case LSM6DS_RATE_1_66K_HZ:    Serial.println("1.66 KHz"); break;
    case LSM6DS_RATE_3_33K_HZ:    Serial.println("3.33 KHz"); break;
    case LSM6DS_RATE_6_66K_HZ:    Serial.println("6.66 KHz"); break;
  }

  /* Display gyroscope data rate */
  Serial.print("Gyro data rate set to: ");
  switch (imu.getGyroDataRate()) {
    case LSM6DS_RATE_SHUTDOWN:    Serial.println("0 Hz"); break;
    case LSM6DS_RATE_12_5_HZ:     Serial.println("12.5 Hz"); break;
    case LSM6DS_RATE_26_HZ:       Serial.println("26 Hz"); break;
    case LSM6DS_RATE_52_HZ:       Serial.println("52 Hz"); break;
    case LSM6DS_RATE_104_HZ:      Serial.println("104 Hz"); break;
    case LSM6DS_RATE_208_HZ:      Serial.println("208 Hz"); break;
    case LSM6DS_RATE_416_HZ:      Serial.println("416 Hz"); break;
    case LSM6DS_RATE_833_HZ:      Serial.println("833 Hz"); break;
    case LSM6DS_RATE_1_66K_HZ:    Serial.println("1.66 KHz"); break;
    case LSM6DS_RATE_3_33K_HZ:    Serial.println("3.33 KHz"); break;
    case LSM6DS_RATE_6_66K_HZ:    Serial.println("6.66 KHz"); break;
  }
}

void loop() {
  /* Variables to hold sensor events */
  sensors_event_t accel;
  sensors_event_t gyro;
  sensors_event_t temp;

  /* Get accelerometer, gyroscope, and temperature events */
  imu.getEvent(&accel, &gyro, &temp);

  /* Print temperature in degrees Celsius */
  Serial.print("\t\tTemperature: ");
  Serial.print(temp.temperature);
  Serial.println(" deg C");

  /* Print acceleration in m/s^2 for each axis */
  Serial.print("\t\tAccel X: ");
  Serial.print(accel.acceleration.x);
  Serial.print(" \tY: ");
  Serial.print(accel.acceleration.y);
  Serial.print(" \tZ: ");
  Serial.print(accel.acceleration.z);
  Serial.println(" m/s^2");

  /* Print gyroscope rotation in rad/s for each axis */
  Serial.print("\t\tGyro X: ");
  Serial.print(gyro.gyro.x);
  Serial.print(" \tY: ");
  Serial.print(gyro.gyro.y);
  Serial.print(" \tZ: ");
  Serial.print(gyro.gyro.z);
  Serial.println(" radians/s");

  Serial.println();
  delay(1000);  /* Small delay between readings */
}

3-axis magnetometer

This code shows the magnetic vector in micro-Teslas (uT).

mag_test.ino

/**
 * Initializes and reads the LIS2MDL magnetometer over I2C on an ESP32-S3.
 * Prints sensor details on startup, then outputs the magnetic vector (uT) every second.
 * Uses custom I2C pins (GPIO48/47) and the Adafruit_LIS2MDL library.
*/
/* ───────── KODE | docs.kode.diy ───────── */

#include <Wire.h>
#include <Adafruit_LIS2MDL.h>

/* Configurable I2C pins */
#define I2C_SDA 48            /* SDA pin */
#define I2C_SCL 47            /* SCL pin */

/* Magnetometer instance with unique ID */
Adafruit_LIS2MDL mag = Adafruit_LIS2MDL(12345);

void setup(void) {
  /* Initialize serial port for debug output */
  Serial.begin(115200);
  while (!Serial) {
    /* wait for serial */
  }

  /* Initialize I2C bus with selected SDA, SCL pins */
  Wire.begin(I2C_SDA, I2C_SCL);

  Serial.println("Magnetometer Test");
  Serial.println();

  /* Attempt to initialize the LIS2MDL sensor at I2C address 0x1E */
  if (!mag.begin()) {
    /* Sensor not detected: print error and halt */
    Serial.println("Ooops, no LIS2MDL detected ... Check your wiring!");
    while (1) {
      delay(10);  /* Infinite loop on failure */
    }
  }

  /* Display some basic information on this sensor */
  mag.printSensorDetails();
}

void loop(void) {
  /* Get a new sensor event */
  sensors_event_t event;
  mag.getEvent(&event);

  /* Display the results (magnetic vector values are in micro-Tesla (uT)) */
  Serial.print("X: ");
  Serial.print(event.magnetic.x);
  Serial.print("  ");
  Serial.print("Y: ");
  Serial.print(event.magnetic.y);
  Serial.print("  ");
  Serial.print("Z: ");
  Serial.print(event.magnetic.z);
  Serial.print("  ");
  Serial.println("uT");

  /* Delay before next reading */
  delay(1000);
}

Download examples

You can test the example codes using the Arduino IDE or the ESP-IDF IDE or download the codes in our drive: IMU and magnetometer examples

Introduction

Kode Dot

kodeOS

External Modules

IMU

Features

Connection diagram

6-axis IMU

3-axis magnetometer

Recommended libraries

Arduino

ESP-IDF

Example code

6-axis IMU

3-axis magnetometer

Download examples

​Features

​Connection diagram

​6-axis IMU

​3-axis magnetometer

​Recommended libraries

​Arduino

​ESP-IDF

​Example code

​6-axis IMU

​3-axis magnetometer

​Download examples

Features

Connection diagram

6-axis IMU

3-axis magnetometer

Recommended libraries

Arduino

ESP-IDF

Example code

6-axis IMU

3-axis magnetometer

Download examples