LSM6DSOX accelerometer + gyro with ESP32

Supply 3.3-5 V Bus I2C I2C address 0x6A / 0x6B Measures acceleration, rotation, temperature

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
VIN	Power	3V3
3VO	Not wired to the ESP32	—	Output of the on-board 3.3 V regulator. Leave unconnected
GND	Ground	GND
SCL	I2C clock (SCL)	D22
SDA	I2C data (SDA)	D21
DO	Not wired to the ESP32	—	Address select (SDO): LOW = 0x6A, HIGH = 0x6B
CS	Not wired to the ESP32	—	SPI chip select. Leave unconnected or HIGH for I2C
I1	Interrupt	D35	Interrupt 1, optional
I2	Interrupt	VP	Interrupt 2, optional

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 0x6c. 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 ? "LSM6DSOX accelerometer + gyro found at 0x6A" : "Not found: check power, GND and SDA/SCL");
}

void loop() {}

Sources

ST LSM6DSOX datasheet, Register 0x0F WHO_AM_I (reads 0x6C)
ST LSM6DSOX datasheet, I2C address 0x6A (SDO LOW) / 0x6B (SDO HIGH)

Try it in 3D in BoardPilot

BoardPilot Part data (JSON)

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