uLisp Sensor Library

LSM303AGR Accelerometer Magnetometer

The LSM303AGR from STMicroelectronics ^[1] is a 3D accelerometer and 3D magnetometer with SPI and I2C interfaces. It can operate from between 1.71 V and 3.6 V.

The I2C addresses are 25 (#x19) for the accelerometer and 30 (#x1E) for the magnetometer.

This sensor is provided in the BBC Micro:bit Version 1.5 and Version 2. On the Version 2 the sensor is on I2C port 1, so the second parameter to the with-i2c calls should be 1.

Checking the sensor ID

; Should return 64
(defun lsm303-whoami ()
  (with-i2c (str 0 #x1e)
    (write-byte #x4f str)
    (restart-i2c str 1)
    (read-byte str)))

Initialising the sensor

The following routine initialises the sensor:

; Continuous mode, 10Hz
(defun lsm303-init ()
  (with-i2c (str 0 #x1e)
    (write-byte #x60 str)
    (write-byte #x00 str)))

Reading the sensor

This returns the sensor data as a list of three numbers between 0 and 65535:

(defun read16 (str)
  (logior (read-byte str) (ash (read-byte str) 8)))

; Read magnetometer x, y, and z
(defun lsm303-xyz ()
  (with-i2c (str 0 #x1e)
    (write-byte #x68 str)
    (restart-i2c str 6)
    (list (read16 str) (read16 str) (read16 str))))

Checking data ready

; Is new data ready?
(defun lsm303-data-p ()
  (with-i2c (str 0 #x1e)
    (write-byte #x67 str)
    (restart-i2c str 1)
    (eq (logand (read-byte str) #x08) 8)))

1. ^ LSM303AGR Datasheet on ST.com.