{
  "family": "Sense",
  "name": "I.6D",
  "rev": "a",
  "tile_id": 3,
  "json_version": "0.10",
  "updated_at": "2026-02-19T14:05:10.106Z",
  "headline": "digital 6-DOF IMU with dual accelerometers",
  "description": "The Sense.I.6D tile embeds the STMicroelectronics LSM6DSV320X digital IMU with dual-range accelerometers and sophisticated on-board activity tracking.  Serial communications via I2C (up to 1-MHz fast-mode plus), I3C, or SPI (up to 10-MHz) provide access to simultaneous 16-bit measurements of triaxial low-g accelerations (±2g-16g), triaxial high-g accelerations (±32-320g), and triaxial angular rate measurements (±250-4000 dps) with output data rates ranging from 7.5 Hz to 7.68 kHz.  The output path includes a 4.5-kB smart FIFO with dynamic data compression.  Onboard filtering, sensor fusion, and a 960-Hz finite state machine provide accurate motion computation and activity tracking, including attitude quaternions, gravity vector and gyro bias tracking, pedometry, step detection, step counting, and programmable motion-event interrupts (free fall, wake, tilt, tap, etc.).",
  "application_notes": [
    {
      "details": "The Z axis of the IMU protrudes through the center of the tile, while the XY plane is approximately 1.0mm from the bottom surface of the tile, with the X axis pointing toward the left side (pads 1-5), as shown.",
      "heading": "Sensor Axes",
      "image_url": "https://mosaic-component-datasheets.s3.eu-north-1.amazonaws.com/3/app-note-0.png"
    }
  ],
  "package": {
    "pads": 10,
    "type": "T44",
    "size_x": 4000,
    "size_y": 4000,
    "size_z": 0
  },
  "power": [
    {
      "max": 3.6,
      "min": 1.71,
      "type": "system",
      "notes": "VDDIO is internally coneected to VDD",
      "gnd_pad": [
        "1"
      ],
      "function": "",
      "direction": "input",
      "is_required": true,
      "max_current": "0.8mA",
      "positive_pad": [
        "10"
      ]
    }
  ],
  "components": [
    {
      "url": "https://www.st.com/en/mems-and-sensors/lsm6dsv320x.html",
      "part": "LSM6DSV320X",
      "datasheet": "https://mosaic-component-datasheets.s3.eu-north-1.amazonaws.com/3/ST_Microelectroncs-LSM6DSV320X.pdf",
      "manufacturer": "ST Microelectroncs"
    }
  ],
  "pads": [
    {
      "pad": "1",
      "geometry": {
        "size_x": 1000,
        "size_y": 400,
        "center_x": -1500,
        "center_y": 1600
      },
      "functions": [
        {
          "type": "power",
          "function": "GND"
        }
      ]
    },
    {
      "pad": "2",
      "geometry": {
        "size_x": 800,
        "size_y": 400,
        "center_x": -1600,
        "center_y": 800
      },
      "functions": [
        {
          "note": "A weak internal pull-up sets I2C address to 0x6B.  Connect to GND to set I2C address to 0x6A.",
          "type": "digital",
          "function": "I2C.AD0",
          "direction": "input",
          "is_default": true
        },
        {
          "type": "interface",
          "function": "SPI.MISO",
          "direction": "output"
        }
      ]
    },
    {
      "pad": "3",
      "geometry": {
        "size_x": 800,
        "size_y": 400,
        "center_x": -1600,
        "center_y": 0
      },
      "functions": [
        {
          "note": "A weak internal pull-up enables I2C.  Connect to GND to switch to SPI mode.",
          "type": "digital",
          "function": "I2C.EN",
          "direction": "input",
          "is_default": true
        },
        {
          "type": "interface",
          "function": "SPI.CS",
          "direction": "bidirectional"
        },
        {
          "note": "",
          "type": "interface",
          "function": "SPI3.CS",
          "direction": "input"
        }
      ]
    },
    {
      "pad": "4",
      "geometry": {
        "size_x": 800,
        "size_y": 400,
        "center_x": -1600,
        "center_y": -800
      },
      "functions": [
        {
          "note": "",
          "type": "interface",
          "function": "I2C.CLK",
          "direction": "bidirectional",
          "is_default": true
        },
        {
          "type": "interface",
          "function": "SPI.CLK",
          "direction": "bidirectional"
        },
        {
          "note": "",
          "type": "interface",
          "function": "I3C.CLK",
          "direction": "bidirectional"
        },
        {
          "note": "",
          "type": "interface",
          "function": "SPI3.CLK",
          "direction": "input"
        }
      ]
    },
    {
      "pad": "5",
      "geometry": {
        "size_x": 800,
        "size_y": 400,
        "center_x": -1600,
        "center_y": -1600
      },
      "functions": [
        {
          "note": "",
          "type": "interface",
          "function": "I2C.DAT",
          "direction": "bidirectional",
          "is_default": true
        },
        {
          "type": "interface",
          "function": "SPI.MOSI",
          "direction": "input"
        },
        {
          "type": "interface",
          "function": "SPI3.DAT",
          "direction": "bidirectional"
        },
        {
          "note": "",
          "type": "interface",
          "function": "I3C.DAT",
          "direction": "bidirectional"
        }
      ]
    },
    {
      "pad": "9",
      "geometry": {
        "size_x": 800,
        "size_y": 400,
        "center_x": 1600,
        "center_y": 800
      },
      "functions": [
        {
          "note": "programmable interrupt output",
          "type": "digital",
          "function": "INT1",
          "direction": "output"
        }
      ]
    },
    {
      "pad": "10",
      "geometry": {
        "size_x": 800,
        "size_y": 400,
        "center_x": 1600,
        "center_y": 1600
      },
      "functions": [
        {
          "note": "see supply details",
          "type": "power",
          "function": "V+",
          "direction": "input"
        }
      ]
    },
    {
      "pad": "6",
      "geometry": {
        "size_x": 800,
        "size_y": 400,
        "center_x": 1600,
        "center_y": -1600
      },
      "functions": []
    },
    {
      "pad": "7",
      "geometry": {
        "size_x": 800,
        "size_y": 400,
        "center_x": 1600,
        "center_y": -800
      },
      "functions": []
    },
    {
      "pad": "8",
      "geometry": {
        "size_x": 800,
        "size_y": 400,
        "center_x": 1600,
        "center_y": 0
      },
      "functions": []
    }
  ],
  "interfaces": [
    {
      "name": "I2C",
      "type": "I2C",
      "parameters": {
        "modes": [
          "slave"
        ],
        "addresses": [
          {
            "address": "0x6A"
          },
          {
            "address": "0x6B",
            "is_default": true
          }
        ],
        "data_bits": [
          8
        ],
        "address_bits": [
          7
        ],
        "max_clock_speed": "1MHz"
      },
      "pad_assignments": [
        {
          "pad": "2",
          "function": "I2C.AD0"
        },
        {
          "pad": "3",
          "function": "I2C.EN"
        },
        {
          "pad": "4",
          "function": "I2C.CLK",
          "is_required": true
        },
        {
          "pad": "5",
          "function": "I2C.DAT",
          "is_required": true
        }
      ]
    },
    {
      "name": "SPI",
      "type": "SPI",
      "parameters": {
        "modes": [
          "slave"
        ],
        "max_clock_speed": "10MHz"
      },
      "pad_assignments": [
        {
          "pad": "2",
          "function": "SPI.MISO",
          "is_required": true
        },
        {
          "pad": "3",
          "function": "SPI.CS",
          "is_required": true
        },
        {
          "pad": "4",
          "function": "SPI.CLK",
          "is_required": true
        },
        {
          "pad": "5",
          "function": "SPI.MOSI",
          "is_required": true
        }
      ]
    },
    {
      "name": "3-wire SPI",
      "type": "SPI3",
      "parameters": {
        "modes": [
          "slave"
        ],
        "max_clock_speed": "10MHz"
      },
      "pad_assignments": [
        {
          "pad": "3",
          "function": "SPI3.CS",
          "is_required": true
        },
        {
          "pad": "4",
          "function": "SPI3.CLK",
          "is_required": true
        },
        {
          "pad": "5",
          "function": "SPI3.DAT",
          "is_required": true
        }
      ]
    },
    {
      "name": "I3C",
      "type": "I3C",
      "parameters": {
        "modes": [
          "slave"
        ],
        "max_clock_speed": "12.5MHz (SDR)"
      },
      "pad_assignments": [
        {
          "pad": "3",
          "function": "I2C.EN"
        },
        {
          "pad": "4",
          "function": "I2C.CLK",
          "is_required": true
        },
        {
          "pad": "5",
          "function": "I2C.DAT",
          "is_required": true
        }
      ]
    }
  ]
}