LSM9DS1 9-axis IMU breakout with ESP32

Supply 3.3-5 V Bus I2C I2C address 0x6B / 0x6A / 0x1E / 0x1C Measures acceleration, rotation, magnetic field, temperature

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
VIN	Power	3V3	Adafruit-style pin order. SparkFun boards use other names and order
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
CSAG	Not wired to the ESP32	—	Accel/gyro SPI select. Leave unconnected for I2C
CSM	Not wired to the ESP32	—	Magnetometer SPI select. Leave unconnected for I2C
SDOAG	Not wired to the ESP32	—	Accel/gyro address: HIGH = 0x6B, LOW = 0x6A
SDOM	Not wired to the ESP32	—	Magnetometer address: HIGH = 0x1E, LOW = 0x1C
INT1	Interrupt	D35	Accel/gyro interrupt, optional
INT2	Interrupt	VP	Accel/gyro interrupt, optional
INTM	Interrupt	VN	Magnetometer interrupt, optional
DRDY	Interrupt	D34	Magnetometer data ready, optional

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

Starter code (Arduino)

#include <Wire.h>

void setup() {
  Serial.begin(115200);
  Wire.begin(21, 22);  // SDA = GPIO 21, SCL = GPIO 22
  Wire.beginTransmission(0x6B);
  bool found = Wire.endTransmission() == 0;
  Serial.println(found ? "LSM9DS1 9-axis IMU breakout found at 0x6B" : "Not found: check power, GND and SDA/SCL");
}

void loop() {}

Sources

ST LSM9DS1 datasheet, WHO_AM_I 0x0F: accel/gyro reads 0x68, magnetometer reads 0x3D (two I2C devices)
ST LSM9DS1 datasheet, I2C addresses: accel/gyro 0x6A/0x6B, magnetometer 0x1C/0x1E

Try it in 3D in BoardPilot

BoardPilot Part data (JSON)

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

LSM9DS1 9-axis IMU breakout with ESP32

Pins and ESP32 wiring

Starter code (Arduino)

Sources

Try it in 3D in BoardPilot

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