Inter-IC Control Interface (I2C)
The SDIO and SCL pins also support I2C communications. The pins have internal 100 kilo-ohm
pull-up resistors, but external resistors may optionally be used for longer runs or higher speeds.
The accelerometer, gyroscope, and temperature sensor have a 7-bit I2C slave address, in
hexadecimal, of 0x6A, and the magnetometer has a7-bit I2C slave address, in hexadecimal, of
0x1C.
The INT_A/G and INT_M are optional interrupt outputs.
The I2C bus can read and write data with a clock rate up to 400 kHz. For timing and command
information, see sections 2.4.2 and 5.1 of the LSM9DS1 datasheet.
Register Functionality
All of the sensor outputs are 16-bit values, and all registers are eight bits wide, so each output
includes a high and low register. The following registers are especially useful for basic usage of
the 9-axis IMU module:
Copyright © Parallax Inc.
LSM9DS1 9-axis IMU (#28065)
v1.0 2/17/2017 Page 7 of 11
