> ## Documentation Index > Fetch the complete documentation index at: https://docs.kode.diy/llms.txt > Use this file to discover all available pages before exploring further. # IMU > Learn what an IMU is for and how to use it in your Kode Dot # 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](/en/kode-dot/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](/en/kode-dot/io-expander). ## Recommended libraries ### Arduino * [Adafruit LSM6DS](https://github.com/adafruit/Adafruit_LSM6DS) * [Adafruit LIS2MDL](https://github.com/adafruit/Adafruit_LIS2MDL) ### ESP-IDF * [kode\_lsm6dsox](https://components.espressif.com/components/kodediy/kode_lsm6dsox) * [kode\_lis2mdl](TBD) ## 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. ```cpp imu_test.ino lines icon="microchip" theme={null} /** * 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 /* Library for the LSM6DSOX sensor */ #include /* 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). ```cpp mag_test.ino lines icon="microchip" theme={null} /** * 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 #include /* 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](https://drive.google.com/drive/folders/1eAutUqjqenHA7lNoFHxKpBUXdwUa-6ZS)