6DOF Digital IMU

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Digital IMU Combo Board - 6 Degrees of Freedom using ITG3200 gyro and ADXL345 accelerometer.

This is a simple breakout for the ADXL345 accelerometer and the ITG-3200 gyro, giving full 6 degrees of freedom. The sensors communicate over I2C and one INT output pin from each sensor is broken out, see the schematics below.

6DOF-01.jpg 6DOF-02.jpg 6DOF-03.jpg

Sen 6DOF-Digital-v10.png

The schematics is also available as PDF.[1] Eagle files are available from the Sparkfun product page.[2]


This is a 3.3V device and therefore it needs a level converter to connect it to a 5V Arduino. Remember to use the TX lines to get bi-directional conversion.


Uses I2C bus:

  • ITG-3200 address: 0xD0
  • ADXL345 address: 0xA6

There is an example application on GitHub, see https://github.com/a1ronzo/6DOF-Digital .

For Arduino we can use the Wire library (TBC). What's that about 7 bit addresses?


  1. File:Sen 6DOF-Digital-v10.pdf
  2. http://www.sparkfun.com/products/10121