LSM6DS3 accelerometer + gyro with ESP32

Supply 3.3 V Bus I2C I2C address 0x6A / 0x6B Measures acceleration, rotation

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
VIN	Power	3V3
GND	Ground	GND
SCL	I2C clock (SCL)	D22
SDA	I2C data (SDA)	D21
SDO	Not wired to the ESP32	—	Address select: LOW = 0x6A, HIGH = 0x6B
CS	Not wired to the ESP32	—	HIGH selects I2C
INT1	Interrupt	D35
INT2	Interrupt	VP

Suggested wiring for the 30-pin ESP32 DevKit, avoiding flash, input-only and strapping pins. BoardPilot checks it for you as you wire.

Check it is the real chip

Read register 0x0F: a genuine part answers 0x69. BoardPilot does this automatically in “Debug a problem”.

Starter code (Arduino)

#include <Wire.h>

void setup() {
  Serial.begin(115200);
  Wire.begin(21, 22);  // SDA = GPIO 21, SCL = GPIO 22
  Wire.beginTransmission(0x6A);
  bool found = Wire.endTransmission() == 0;
  Serial.println(found ? "LSM6DS3 accelerometer + gyro found at 0x6A" : "Not found: check power, GND and SDA/SCL");
}

void loop() {}

Sources

ST LSM6DS3 datasheet, Register 0x0F WHO_AM_I (reads 0x69)
ST LSM6DS3 datasheet, I2C: SDO/SA0 LOW 0x6A, HIGH 0x6B

Try it in 3D in BoardPilot

BoardPilot Part data (JSON)

Part data: CC BY 4.0, free to reuse with credit to BoardPilot.