LSM303DTR - STMicroelectronics

This is information on a product in full production.

November 2013 DocID023312 Rev 2 1/52

LSM303D

Ultra-compact high-performance eCompass module:

3D accelerometer and 3D magnetometer

Datasheet - production data

Features

3 magnetic field channels and 3 acceleration

channels

±2/±4/±8/±12 gauss magnetic full scale

±2/±4/±6/±8/±16 g linear acceleration full scale

16-bit data output

SPI / I2C serial interfaces

Analog supply voltage 2.16 V to 3.6 V

Power-down mode / low-power mode

Programmable interrupt generators for free-

fall, motion detection and magnetic field

detection

Embedded temperature sensor

Embedded FIFO

ECOPACK®, RoHS and “Green” compliant

Applications

Tilt-compensated compasses

Map rotation

Position detection

Motion-activated functions

Free-fall detection

Click/double-click recognition

Pedometers

Intelligent power saving for handheld devices

Display orientation

Gaming and virtual reality input devices

Impact recognition and logging

Vibration monitoring and compensation

Description

The LSM303D is a system-in-package featuring a

3D digital linear acceleration sensor and a 3D

digital magnetic sensor.

The LSM303D has linear acceleration full scales

of ±2g / ±4g / ±6g / ±8g / ±16g and a magnetic

field full scale of ±2 / ±4 / ±8 / ±12 gauss.

The LSM303D includes an I2C serial bus

interface that supports standard and fast mode

(100 kHz and 400 kHz) and SPI serial standard

interface.

The system can be configured to generate an

interrupt signal for free-fall, motion detection and

magnetic field detection. Thresholds and timing of

interrupt generators are programmable by the end

user.

Magnetic and accelerometer blocks can be

enabled or put into power-down mode separately.

The LSM303D is available in a plastic land grid

array package (LGA) and is guaranteed to

operate over an extended temperature range

from -40 °C to +85 °C.

LGA-16

(3x3x1 mm)

Table 1. Device summary

Part number Temperature

range [°C] Package Packaging

LSM303D -40 to +85 LGA-16 Tray

LSM303DTR -40 to +85 LGA-16 Tape and

reel

www.st.com

Contents LSM303D
2/52 DocID023312 Rev 2
Contents
Block diagram and pin description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  8
2 Pin description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  8
Module specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1 Sensor characteristics   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  10
2 Temperature sensor characteristics  . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  11
3 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  12
4 Communication interface characteristics  . . . . . . . . . . . . . . . . . . . . . . . . .  13
4.1 SPI - serial peripheral interface  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.2 Sensor I2C - inter-IC control interface  . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5 Absolute maximum ratings  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  15
Terminology  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1 Set/reset pulse  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  16
2 Sensitivity  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  16
2.1 Linear acceleration sensor sensitivity   . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 Magnetic sensor sensitivity  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3 Zero-g level   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  16
4 Zero-gauss level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  16
Functionality   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1 Self-test   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  17
2 Temperature sensor  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  17
3 FIFO  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  17
4 Factory calibration   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  18
Application hints  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1 External capacitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  19
2 Pull-up resistors  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  19
3 Digital Interface power supply   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  20
4 Soldering information  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  20

DocID023312 Rev 2 3/52
LSM303D Contents
52
5 High-current wiring effects  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  20
Digital interfaces  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1 I2C serial interface  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  21
1.1 I2C operation  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2 SPI bus interface   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  23
2.1 SPI read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.2 SPI write   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.3 SPI read in 3-wire mode   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Output register mapping   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Register description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1 TEMP_OUT_L (05h), TEMP_OUT_H (06h)  . . . . . . . . . . . . . . . . . . . . . . .  30
2 STATUS_M (07h)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  30
3 OUT_X_L_M (08h), OUT_X_H_M (09h)   . . . . . . . . . . . . . . . . . . . . . . . . .  31
4 OUT_Y_L_M (0Ah), OUT_Y_H_M (0Bh)  . . . . . . . . . . . . . . . . . . . . . . . . .  31
5 OUT_Z_L_M (0Ch), OUT_Z_H_M (0Dh)  . . . . . . . . . . . . . . . . . . . . . . . . .  31
6 WHO_AM_I (0Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  31
7 INT_CTRL_M (12h)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  31
8 INT_SRC_M (13h)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  32
9 INT_THS_L_M (14h), INT_THS_H_M (15h)   . . . . . . . . . . . . . . . . . . . . . .  32
10 OFFSET_X_L_M (16h), OFFSET_X_H_M (17h) . . . . . . . . . . . . . . . . . . .  33
11 OFFSET_Y_L_M (18h), OFFSET_Y_H_M (19h) . . . . . . . . . . . . . . . . . . .  33
12 OFFSET_Z_L_M (1Ah), OFFSET_Z_H_M (1Bh)   . . . . . . . . . . . . . . . . . .  33
13 REFERENCE_X (1Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  33
14 REFERENCE_Y (1Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  33
15 REFERENCE_Z (1Eh)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  34
16 CTRL0 (1Fh)   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  34
17 CTRL1 (20h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  34
18 CTRL2 (21h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  35
19 CTRL3 (22h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  36
20 CTRL4 (23h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  37
21 CTRL5 (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  37

Contents LSM303D
4/52 DocID023312 Rev 2
22 CTRL6 (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  38
23 CTRL7 (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  38
24 STATUS_A (27h)   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  39
25 OUT_X_L_A (28h), OUT_X_H_A (29h)  . . . . . . . . . . . . . . . . . . . . . . . . . .  40
26 OUT_Y_L_A (2Ah), OUT_Y_H_A (2Bh)   . . . . . . . . . . . . . . . . . . . . . . . . .  40
27 OUT_Z_L_A (2Ch), OUT_Z_H_A (2Dh)   . . . . . . . . . . . . . . . . . . . . . . . . .  40
28 FIFO_CTRL (2Eh)   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  40
29 FIFO_SRC (2Fh)   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  41
30 IG_CFG1 (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  41
31 IG_SRC1 (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  42
32 IG_THS1 (32h)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  43
33 IG_DUR1 (33h)   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  43
34 IG_CFG2 (34h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  44
35 IG_SRC2 (35h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  45
36 IG_THS2 (36h)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  45
37 IG_DUR2 (37h)   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  45
38 CLICK_CFG (38h)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  46
39 CLICK_SRC (39h)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  47
40 CLICK_THS (3Ah)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  47
41 TIME_LIMIT (3Bh)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  47
42 TIME_LATENCY (3Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  48
43 TIME WINDOW (3Dh)   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  48
44 ACT_THS (3Eh)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  48
45 ACT_DUR (3Fh)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  48
Package information  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Revision history   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

DocID023312 Rev 2 5/52
LSM303D List of tables
52
List of tables
Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Table 2. Pin description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 3. Sensor characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 4. Temperature sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 5. Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 6. SPI slave timing values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Table 7. I2C slave timing values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Table 8. Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Table 9. Serial interface pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Table 10. I2C terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
Table 11. SAD+read/write patterns. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Table 12. Transfer when master is writing one byte to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Table 13. Transfer when master is writing multiple bytes to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Table 14. Transfer when master is receiving (reading) one byte of data from slave  . . . . . . . . . . . . . 23
Table 15. Transfer when master is receiving (reading) multiple bytes of data from slave  . . . . . . . . . 23
Table 16. Register address map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Table 17. STATUS_M register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Table 18. STATUS_M register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Table 19. WHO_AM_I register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Table 20. INT_CTRL_M register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Table 21. INT_CTRL_M register description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Table 22. INT_SRC_M register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Table 23. INT_SRC_M register description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Table 24. INT_THS_L_M register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Table 25. INT_THS_H_M register  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Table 26. OFFSET_X_L_M register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Table 27. OFFSET_X_H_M register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Table 28. OFFSET_Y_L_M register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Table 29. OFFSET_Y_H_M register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Table 30. OFFSET_Z_L_M register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Table 31. OFFSET_Z_H_M register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Table 32. CTRL0 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Table 33. CTRL0 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Table 34. CTRL1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Table 35. CTRL1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Table 36. Acceleration data rate configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Table 37. CTRL2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Table 38. CTRL2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Table 39. Acceleration anti-alias filter bandwidth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Table 40. Acceleration full-scale selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Table 41. CTRL3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Table 42. CTRL3 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Table 43. CTRL4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Table 44. CTRL4 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Table 45. CTRL5 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Table 46. CTRL5 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Table 47. Magnetic data rate configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Table 48. CTRL6 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

List of tables LSM303D
6/52 DocID023312 Rev 2
Table 49. CTRL6 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Table 50. Magnetic full-scale selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Table 51. CTRL7 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Table 52. CTRL7 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Table 53. High-pass filter mode selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Table 54. Magnetic sensor mode selection  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Table 55. STATUS_A register  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Table 56. STATUS_A register description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Table 57. FIFO_CTRL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Table 58. FIFO_CTRL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Table 59. FIFO mode configuration  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Table 60. FIFO_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Table 61. FIFO_SRC register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
Table 62. IG_CFG1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Table 63. IG_CFG1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Table 64. Interrupt mode  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Table 65. IG_SRC1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Table 66. IG_SRC1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 67. IG_THS1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 68. IG_THS1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 69. IG1_DUR1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 70. IG1_DUR1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
Table 71. IG_CFG2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 72. IG_CFG2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 73. Interrupt mode  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 74. IG_SRC2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 75. IG_SRC2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 76. IG2_THS2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 77. IG2_THS2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 78. IG_DUR2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 79. IG_DUR2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 80. CLICK_CFG register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 81. CLICK_CFG register description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 82. CLICK_SRC register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 83. CLICK_SRC register description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 84. CLICK_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 85. CLICK_THS register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Table 86. TIME_LIMIT register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 87. TIME_LIMIT register description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Table 88. TIME_LATENCY register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 89. TIME_LATENCY register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 90. TIME_WINDOW register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 91. TIME_WINDOW register description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 92. ACT_THS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 93. ACT_THS register description  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Table 94. ACT_DUR register  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 95. ACT_DUR register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Table 96. LGA 3x3x1.0 16L mechanical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 97. Document revision history. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

DocID023312 Rev 2 7/52
LSM303D List of figures
52
List of figures
Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 2. Pin connections  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 3. SPI slave timing diagram  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 4. I2C slave timing diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Figure 5. LSM303D electrical connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Figure 6. Read and write protocol  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 7. SPI read protocol  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 8. Multiple byte SPI read protocol (2-byte example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 9. SPI write protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Figure 10. Multiple byte SPI write protocol (2-byte example). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Figure 11. SPI read protocol in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Figure 12. LGA 3x3x1.0 16L mechanical drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Block diagram and pin description LSM303D

8/52 DocID023312 Rev 2

1 Block diagram and pin description

1.1 Block diagram

Figure 1. Block diagram

1.2 Pin description

Figure 2. Pin connections

Y+

Z+

Y-

Z-

X+

X-

MUX

SCL/SPC

I (a)

CHARGE

AMPLIFIER

Sensing Block Sensing Interface

A/D Control

Logic

converter

SPI / I2C

SDA/SDI/SDO

SDO/SA0

MUX

I (M)

CHARGE

AMPLIFIER

Y+

Z+

Y-

Z-

X+

X-

INTERRUPT GEN. CLOCK

TRIMMING

CIRCUITS

REFERENCE

OFFSET

CIRCUITS

BUILT-IN

CIRCUITS

SET/RESET TEMPERATURE

FIFO SENSOR

INT1

INT2

AM12676V1

DIRECTION OF

DETECTABLE

MAGNETIC FIELDS

DIRECTION OF

DETECTABLE

ACCELERATIONS

TOP VIEW

(BOTTOM VIEW)

Pin 1 indicator

TOP VIEW

AM12677V1

DocID023312 Rev 2 9/52

LSM303D Block diagram and pin description

Table 2. Pin description

Pin# Name Function

1 Vdd_IO Power supply for I/O pins

2 SETC S/R capacitor connection (C2)

3 SETP S/R capacitor connection (C2)

4SCL

SPC

I2C serial clock (SCL)

SPI serial port clock (SPC)

5 GND 0 V supply

SDA

SDI

SDO

I2C serial data (SDA)

SPI serial data input (SDI)

3-wire interface serial data output (SDO)

7SDO

SA0

SPI serial data output (SDO)

I2C less significant bit of the device address (SA0)

8CS

SPI enable

I2C/SPI mode selection (1: SPI idle mode / I2C communication

enabled; 0: SPI communication mode / I2C disabled)

9 INT 2 Interrupt 2

10 Reserved Connect to GND

11 INT 1 Interrupt 1

12 GND 0 V supply

13 GND 0 V supply

14 Vdd Power supply

15 C1 Capacitor connection (C1)

16 GND 0 V supply

Module specifications LSM303D

10/52 DocID023312 Rev 2

2 Module specifications

2.1 Sensor characteristics

@ Vdd = 2.5 V, T = 25 °C unless otherwise noted (a).

a. The product is factory calibrated at 2.5 V. The operational power supply range is from 2.16 V to 3.6 V.

Table 3. Sensor characteristics

Symbol Parameter Test conditions Min. Typ.(1) Max. Unit

LA_FS Linear acceleration

measurement range(2)

±2

±4

±6

±8

±16

M_FS Magnetic measurement range

±2

gauss

±4

±8

±12

LA_So Linear acceleration sensitivity

Linear acceleration FS = ±2 g0.061

mg/LSB

Linear acceleration FS = ±4 g0.122

Linear acceleration FS = ±6 g0.183

Linear acceleration FS = ±8 g0.244

Linear acceleration FS = ±16 g0.732

M_So Magnetic sensitivity

Magnetic FS = ±2 gauss 0.080

mgauss/

LSB

Magnetic FS = ±4 gauss 0.160

Magnetic FS = ±8 gauss 0.320

Magnetic FS = ±12 gauss 0.479

LA_TCSo Linear acceleration sensitivity

change vs. temperature ±0.01 %/°C

M_TCSo Magnetic sensitivity change vs.

temperature ±0.05 %/°C

LA_TyOff Linear acceleration typical zero-

g level offset accuracy(3),(4) ±60 mg

LA_TCOff Linear acceleration zero-g level

change vs. temperature Max delta from 25 °C ±0.5 mg/°C

LA_An Linear acceleration noise density Linear acceleration FS = 2g;

ODR = 100 Hz 150

M_R Magnetic noise density

Magnetic FS = 2 gauss;

LR setting

CTRL5 (M_RES [1,0]) = 00b

5mgauss/

RMS

ug Hz

DocID023312 Rev 2 11/52

LSM303D Module specifications

2.2 Temperature sensor characteristics

@ Vdd = 2.5 V, T = 25 °C unless otherwise noted(b).

M_CAS Magnetic cross-axis sensitivity Cross field = 0.5 gauss

Applied = ±3 gauss ±1 %FS/

gauss

M_EF Maximum exposed field No permanent effect on sensor

performance 10000 gauss

M_DF Magnetic disturbance field

Sensitivity starts to degrade.

Automatic S/R pulse restores

the sensitivity(5)

20 gauss

LA_ST Linear acceleration self-test

positive difference(6)

±2 g range, X-, Y-axis

AST = 1 see Table 37 70 1700

±2 g range, Z-axis

AST = 1 see Table 37 70 1700

Top Operating temperature range -40 +85 °C

1. Typical specifications are not guaranteed.

2. Verified by wafer level test and measurement of initial offset and sensitivity.

3. Typical zero-g level offset value after MSL3 preconditioning.

4. Offset can be eliminated by enabling the built-in high-pass filter.

5. Set/reset pulse is automatically applied at each conversion cycle.

“Self-test output change” is defined as: OUTPUT[mg](CTRL2 AST bit =1)

- OUTPUT[mg](

CTRL2 AST bit =0

Table 3. Sensor characteristics (continued)

Symbol Parameter Test conditions Min. Typ.(1) Max. Unit

b. The product is factory calibrated at 2.5 V.

Table 4. Temperature sensor characteristics

Symbol Parameter Test conditions Min. Typ.(1) Max. Unit

TSDr Temperature sensor output

change vs. temperature

8 LSB/°C

TODR Temperature refresh rate M_ODR

[2:0](2) Hz

Top Operating temperature range -40 +85 °C

1. Typical specifications are not guaranteed.

2. Refer to Table 47: Magnetic data rate configuration.

Module specifications LSM303D

12/52 DocID023312 Rev 2

2.3 Electrical characteristics

@ Vdd = 2.5 V, T = 25 °C unless otherwise noted.

Table 5. Electrical characteristics

Symbol Parameter Test

conditions Min. Typ.(1) Max. Unit

Vdd Supply voltage 2.16 3.6 V

Vdd_IO Module power supply for I/O 1.71 1.8 Vdd+0.1

Idd eCompass(2) current consumption

in normal mode(3)

LR setting

CTRL5 (M_RES

[1,0]) = 00b, see

Table 45

300 μA

IddSL Current consumption in

power-down mode(4) 1μA

Top Operating temperature range -40 +85 °C

1. Typical specifications are not guaranteed.

2. eCompass: accelerometer and magnetic sensor.

3. Magnetic sensor setting ODR = 6.25 Hz, accelerometer sensor ODR = 50 Hz and magnetic high-resolution setting.

4. Linear accelerometer and magnetic sensor in power-down mode.

DocID023312 Rev 2 13/52

LSM303D Module specifications

2.4 Communication interface characteristics

2.4.1 SPI - serial peripheral interface

Subject to general operating conditions for Vdd and Top.

Figure 3. SPI slave timing diagram

Note: Measurement points are done at 0.2·Vdd_IO and 0.8·Vdd_IO for both input and output

ports.

Table 6. SPI slave timing values

Symbol Parameter

Value (1)

Unit

Min. Max.

tc(SPC) SPI clock cycle 100 ns

fc(SPC) SPI clock frequency 10 MHz

tsu(CS) CS setup time 5

th(CS) CS hold time 20

tsu(SI) SDI input setup time 5

th(SI) SDI input hold time 15

tv(SO) SDO valid output time 50

th(SO) SDO output hold time 5

tdis(SO) SDO output disable time 50

1. Values are guaranteed at 10 MHz clock frequency for SPI with both 4 and 3 wires, based on characterization results, not

tested in production.

SPC

SDI

SDO

su(CS)

v(SO)

h(SO)

h(SI)

su(SI)

h(CS)

dis(SO)

c(SPC)

MSB IN

MSB OUT LSB OUT

LSB IN

(3)

Module specifications LSM303D

14/52 DocID023312 Rev 2

2.4.2 Sensor I2C - inter-IC control interface

Subject to general operating conditions for Vdd and Top.

Figure 4. I2C slave timing diagram

Note: Measurement points are done at 0.2·Vdd_IO and 0.8·Vdd_IO for both ports.

Table 7. I2C slave timing values

Symbol Parameter

I2C standard mode (1) I2C fast mode (1)

Unit

Min. Max. Min. Max.

f(SCL) SCL clock frequency 0 100 0 400 kHz

tw(SCLL) SCL clock low time 4.7 1.3

μs

tw(SCLH) SCL clock high time 4.0 0.6

tsu(SDA) SDA setup time 250 100 ns

th(SDA) SDA data hold time 0 3.45 0 0.9 μs

tr(SDA) tr(SCL) SDA and SCL rise time 1000 20 + 0.1Cb(2) 300

tf(SDA) tf(SCL) SDA and SCL fall time 300 20 + 0.1Cb(2) 300

th(ST) START condition hold time 4 0.6

μs

tsu(SR)

Repeated START condition

setup time 4.7 0.6

tsu(SP) STOP condition setup time 4 0.6

tw(SP:SR)

Bus free time between STOP

and START condition 4.7 1.3

1. Data based on standard I2C protocol requirement, not tested in production.

2. Cb = total capacitance of one bus line, in pF.

SD A

SCL

f(SD A )

su (SP)

w(SCLL)

su (SD A )

r(SD A )

su (SR)

h(ST)

w(SCLH )

h(SD A )

r(SC L)

f(SC L)

w(SP:SR)

START

REPEATED

STA RT

STO P

STA RT

DocID023312 Rev 2 15/52

LSM303D Module specifications

2.5 Absolute maximum ratings

Stresses above those listed as “absolute maximum ratings” may cause permanent damage

to the device. This is a stress rating only and functional operation of the device under these

conditions is not implied. Exposure to maximum rating conditions for extended periods may

affect device reliability.

Note: Supply voltage on any pin should never exceed 4.8 V.

Table 8. Absolute maximum ratings

Symbol Ratings Maximum value Unit

Vdd Supply voltage -0.3 to 4.8 V

Vdd_IO I/O pins supply voltage -0.3 to 4.8 V

Vin Input voltage on any control pin (SCL/SPC,

SDA/SDI/SDO, SDO/SA0, CS) -0.3 to Vdd_IO +0.3 V

APOW Acceleration (any axis, powered, Vdd = 2.5 V)

3,000 for 0.5 ms g

10,000 for 0.1 ms g

AUNP Acceleration (any axis, unpowered)

3,000 for 0.5 ms g

10,000 for 0.1 ms g

TOP Operating temperature range -40 to +85 °C

TSTG Storage temperature range -40 to +125 °C

ESD Electrostatic discharge protection 2 (HBM) kV

This device is sensitive to mechanical shock, improper handling can cause

permanent damage to the part.

This device is sensitive to electrostatic discharge (ESD), improper handling can

cause permanent damage to the part.

Terminology LSM303D

16/52 DocID023312 Rev 2

3 Terminology

3.1 Set/reset pulse

The set/reset pulse is an automatic operation performed before each magnetic acquisition

cycle to recover the initial magnetization state of the sensor and therefore the linearity of the

sensor itself.

3.2 Sensitivity

3.2.1 Linear acceleration sensor sensitivity

Sensitivity describes the gain of the sensor and can be determined, for example, by

applying 1 g acceleration to it. As the sensor can measure DC accelerations this can be

done easily by pointing the axis of interest towards the center of the Earth, noting the output

value, rotating the sensor by 180 degrees (pointing to the sky) and noting the output value

again. By doing so, ±1 g acceleration is applied to the sensor. Subtracting the larger output

value from the smaller one, and dividing the result by 2, leads to the actual sensitivity of the

sensor. This value changes very little over temperature and time. The sensitivity tolerance

describes the range of sensitivities of a large population of sensors.

3.2.2 Magnetic sensor sensitivity

Sensitivity describes the gain of the sensor and can be determined, for example, by

applying a magnetic field of 1 gauss to it.

3.3 Zero-g level

Zero-g level offset (TyOff) describes the deviation of an actual output signal from the ideal

output signal if no acceleration is present. A sensor in a steady-state on a horizontal surface

measures 0 g on the X-axis and 0 g on the Y-axis, whereas the Z-axis measures 1 g. The

output is ideally in the middle of the dynamic range of the sensor (content of OUT registers

00h, data expressed as two’s complement). A deviation from the ideal value in this case is

called Zero-g offset. Offset is, to some extent, a result of stress to MEMS sensor and

therefore the offset can slightly change after mounting the sensor onto a printed circuit

board or exposing it to extensive mechanical stress. Offset changes little over temperature,

see “Zero-g level change vs. temperature”. The Zero-g level tolerance (TyOff) describes the

standard deviation of the range of Zero-g levels of a population of sensors.

3.4 Zero-gauss level

Zero-gauss level offset describes the deviation of an actual output signal from the ideal

output if no magnetic field is present. Thanks to the set/reset pulse and to the magnetic

sensor read-out chain, the offset is dynamically cancelled. The Zero-gauss level does not

show any dependencies on temperature and power supply.

DocID023312 Rev 2 17/52

LSM303D Functionality

4 Functionality

4.1 Self-test

The self-test allows checking the linear acceleration sensor functionality without moving the

sensor. The self-test function is off when the self-test bit (AST) is programmed to ‘0‘. When

the self-test bit is programmed to ‘1’, an actuation force is applied to the sensor, simulating a

definite input acceleration. In this case the sensor outputs exhibit a change in their DC

levels which are related to the selected full scale through the device sensitivity. When the

self-test is activated, the device output level is given by the algebraic sum of the signals

produced by the acceleration acting on the sensor and by the electrostatic test-force. If the

output signals change within the amplitude specified inside Section 2.1, then the sensor is

working properly and the parameters of the interface chip are within the defined

specifications.

4.2 Temperature sensor

The LSM303D features an internal temperature sensor. Temperature data can be enabled

by setting the TEMP_EN bit on the CTRL5 (24h) register to 1.

Both the TEMP_OUT_H and TEMP_OUT_L registers must be read.

Temperature data is stored inside TEMP_OUT_L (05h), TEMP_OUT_H (06h) as two’s

complement data in 12-bit format, right-justified.

The output data rate of the temperature sensor is set by M_ODR [2:0] in CTRL5 (24h) and is

equal to the magnetic sensor output data rate.

4.3 FIFO

The LSM303D embeds an acceleration data FIFO for each of the three output channels, X,

Y and Z. This allows consistent power saving for the system, as the host processor does not

need to continuously poll data from the sensor, but it can wake up only when needed and

burst the significant data out from the FIFO. This buffer can work according to four different

modes: Bypass mode, FIFO mode, Stream mode and Stream-to-FIFO mode. Each mode is

selected by the FIFO_MODE bits. Programmable threshold level, FIFO_empty or FIFO_Full

events can be enabled to generate dedicated interrupts on the INT 1 or INT 2 pin.

Bypass mode

In Bypass mode, the FIFO is not operational and for this reason it remains empty. As

described in Figure 5, for each channel only the first address is used. The remaining FIFO

slots are empty.

FIFO mode

In FIFO mode, data from X, Y and Z channels are stored in the FIFO. A FIFO threshold

interrupt can be enabled in order to be raised when the FIFO is filled to the level specified by

the internal register. The FIFO continues filling until it is full. When full, the FIFO stops

collecting data from the input channels.

Functionality LSM303D

18/52 DocID023312 Rev 2

Stream mode

In Stream mode, data from X, Y and Z measurements are stored in the FIFO. A FIFO

threshold interrupt can be enabled and set as in FIFO mode.The FIFO continues filling until

it’s full. When full, the FIFO discards the older data as the new arrive.

Stream-to-FIFO mode

In Stream-to-FIFO mode, data from X, Y and Z measurements are stored in the FIFO. A

FIFO threshold interrupt can be enabled in order to be raised when the FIFO is filled to the

level specified by the internal register. The FIFO continues filling until it’s full. When full, the

FIFO discards the older data as the new arrive. Once a trigger event occurs, the FIFO starts

operating in FIFO mode.

Bypass-to-Stream mode

In Bypass-to-Stream mode, the FIFO starts operating in Bypass mode and once a trigger

event occurs (related to IG_CFG1 (30h) register events), the FIFO starts operating in

Stream mode.

Retrieving data from FIFO

FIFO data is read from the OUT_X_A, OUT_Y_A and OUT_Z_A registers. When the FIFO

is in Stream, Stream-to-FIFO, Bypass-to-Stream or FIFO mode, a read operation to the

OUT_X_A, OUT_Y_A or OUT_Z_A registers provides the data stored in the FIFO. Each

time data is read from the FIFO, the oldest X, Y and Z data are placed in the OUT_X_A,

OUT_Y_A and OUT_Z_A registers and both single read and read_burst operations can be

used.

4.4 Factory calibration

The IC interface is factory calibrated. The trim values are stored inside the device in

nonvolatile memory. Anytime the device is turned on, the trimming parameters are

downloaded into the registers to be used during normal operation. This allows the user to

use the device without further calibration.

DocID023312 Rev 2 19/52

LSM303D Application hints

5 Application hints

Figure 5. LSM303D electrical connections

5.1 External capacitors

The C1 and C2 external capacitors should be low SR value ceramic type construction (typ.

recommended value 200 m). Reservoir capacitor C1 is nominally 4.7 μF in capacitance,

with the set/reset capacitor C2 nominally 0.22 μF in capacitance.

The device core is supplied through the Vdd line. Power supply decoupling capacitors

(C4 = 100 nF ceramic, C3 = 10 μF Al) should be placed as near as possible to the supply pin

of the device (common design practice). All the voltage and ground supplies must be

present at the same time to have proper behavior of the IC (refer to Figure 5).

The functionality of the device and the measured acceleration/magnetic field data is

selectable and accessible through the I2C/SPI interfaces.

The functions, the threshold and the timing of the two interrupt pins (INT 1 and INT 2) can be

completely programmed by the user through the I2C/SPI interfaces.

5.2 Pull-up resistors

If an I2C interface is used, pull-up resistors (recommended value 10 k) must be placed on

the two I2C bus lines.

= 10µF

Vdd

= 100nF

GND

Vdd_IO

SDO/SA0

SDA/SDI/SDO

INT 1

SCL/SPC

Digital signal from/to signal controller. Signal levels are defined by proper selection of Vdd_IO

TOP VIEW

1416

INT 2

= 4.7µF

=0.22µF

AM12678V1

Application hints LSM303D

20/52 DocID023312 Rev 2

5.3 Digital Interface power supply

This digital interface, dedicated to the linear acceleration and to the magnetic field signal, is

capable of operating with a standard power supply (Vdd) or using a dedicated power supply

(Vdd_IO).

5.4 Soldering information

The LGA package is compliant with ECOPACK®, RoHS and “Green” standards.

It is qualified for soldering heat resistance according to JEDEC J-STD-020.

Leave “Pin 1 Indicator” unconnected during soldering.

Land pattern and soldering recommendations are available at www.st.com/mems.

5.5 High-current wiring effects

High current in wiring and printed circuit traces can be the cause of errors in magnetic field

measurements for compassing.

Conductor-generated magnetic fields add to the Earth’s magnetic field creating errors in

compass heading computations.

Keep currents higher than 10 mA a few millimeters further away from the sensor IC.

DocID023312 Rev 2 21/52

LSM303D Digital interfaces

6 Digital interfaces

The registers embedded in the LSM303D may be accessed through both the I2C and SPI

serial interfaces. The latter may be SW-configured to operate either in 3-wire or 4-wire

interface mode.

The serial interfaces are mapped onto the same pins. To select/exploit the I2C interface, the

CS line must be tied high (i.e connected to Vdd_IO).

6.1 I2C serial interface

The LSM303D I2C is a bus slave. The I2C is employed to write data into registers whose

content can also be read back.

The relevant I2C terminology is given in the table below.

There are two signals associated with the I2C bus: the serial clock line (SCL) and the serial

data line (SDA). The latter is a bi-directional line used for sending and receiving the data

to/from the interface. Both lines must be connected to Vdd_IO through external pull-up

resistors. When the bus is free, both lines are high.

The I2C interface is compliant with fast mode (400 kHz) I2C standards as well as with

normal mode.

Table 9. Serial interface pin description

Pin name Pin description

CS I2C/SPI mode selection (1: SPI idle mode / I2C communication enabled; 0: SPI

communication mode / I2C disabled)

SCL/SPC I2C serial clock (SCL)

SPI serial port clock (SPC)

SDA/SDI/SDO

I2C serial data (SDA)

SPI serial data input (SDI)

3-wire interface serial data output (SDO)

SDO/SA0 SPI serial data output (SDO)

I2C less significant bit of the device address (SA0)

Table 10. I2C terminology

Term Description

Transmitter The device which sends data to the bus

Receiver The device which receives data from the bus

Master The device which initiates a transfer, generates clock signals and terminates a

transfer

Slave The device addressed by the master

Digital interfaces LSM303D

22/52 DocID023312 Rev 2

6.1.1 I2C operation

The transaction on the bus is started through a START (ST) signal. A START condition is

defined as a high-to-low transition on the data line while the SCL line is held high. After this

has been transmitted by the master, the bus is considered busy. The next byte of data

transmitted after the START condition contains the address of the slave in the first 7 bits and

the eighth bit tells whether the master is receiving data from the slave or transmitting data to

the slave. When an address is sent, each device in the system compares the first seven bits

after a START condition with its address. If they match, the device considers itself

addressed by the master.

The slave address (SAD) associated to the LSM303D is 00111xxb, whereas the xx bits are

modified by the SDO/SA0 pin in order to modify the device address. If the SDO/SA0 pin is

connected to the voltage supply, the address is 0011101b, otherwise, if the SDO/SA0 pin is

connected to ground, the address is 0011110b. This solution permits the connection and

addressing of two different accelerometers to the same I2C lines.

Data transfer with acknowledge is mandatory. The transmitter must release the SDA line

during the acknowledge pulse. The receiver must then pull the data line low so that it

remains stable low during the high period of the acknowledge clock pulse. A receiver which

has been addressed is obliged to generate an acknowledge after each byte of data

received.

The I2C embedded in the LSM303D behaves as a slave device and the following protocol

must be adhered to. After the START condition (ST) a slave address is sent, once a slave

acknowledge (SAK) has been returned, an 8-bit sub-address is transmitted: the 7 LSb

represent the actual register address while the MSb enables address auto-increment. If the

MSb of the SUB field is 1, the SUB (register address) is automatically incremented to allow

multiple data read/write.

The slave address is completed with a read/write bit. If the bit is ‘1’ (read), a repeated

START (SR) condition must be issued after the two sub-address bytes; if the bit is ‘0’ (write)

the master transmits to the slave with direction unchanged. Table 11 explains how the

SAD+read/write bit pattern is composed, listing all the possible configurations.

Table 11. SAD+read/write patterns

Command SDO/SA0 pin SAD[6:2] SAD[1:0] R/W SAD+R/W

Read 0 00111 10 1 3D

Write 0 00111 10 0 3C

Read 1 00111 01 1 3B

Write 1 00111 01 0 3A

Table 12. Transfer when master is writing one byte to slave

Master ST SAD + W SUB DATA SP

Slave SAK SAK SAK

DocID023312 Rev 2 23/52

LSM303D Digital interfaces

Data is transmitted in byte format (DATA). Each data transfer contains 8 bits. The number of

bytes sent per transfer is unlimited. Data is transferred with the most significant bit (MSb)

first. If a receiver cannot receive another complete byte of data until it has performed some

other function, it can hold the clock line, SCL, low to force the transmitter into a wait state.

Data transfer only continues when the receiver is ready for another byte and releases the

data line. If a slave receiver does not acknowledge the slave address (i.e. it is not able to

receive because it is performing some real-time function) the data line must be left high by

the slave. The master can then abort the transfer. A low-to-high transition on the SDA line

while the SCL line is high is defined as a STOP condition. Each data transfer must be

terminated by the generation of a STOP (SP) condition.

In order to read multiple bytes, it is necessary to assert the most significant bit of the sub-

address field. In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the

address of the first register to be read.

In the communication format presented, MAK is master acknowledge and NMAK is no

master acknowledge.

6.2 SPI bus interface

The SPI is a bus slave. The SPI allows writing and reading the registers of the device.

The serial interface interacts with the outside world through 4 wires: CS, SPC, SDI and

SDO.

Table 13. Transfer when master is writing multiple bytes to slave

Master ST SAD + W SUB DATA DATA SP

Slave SAK SAK SAK SAK

Table 14. Transfer when master is receiving (reading) one byte of data from slave

Master ST SAD + W SUB SR SAD + R NMAK SP

Slave SAK SAK SAK DATA

Table 15. Transfer when master is receiving (reading) multiple bytes of data from slave

Master ST SAD+W SUB SR SAD+R MAK MAK NMAK SP

Slave SAK SAK SAK DATA DATA DATA

Digital interfaces LSM303D

24/52 DocID023312 Rev 2

Figure 6. Read and write protocol

CS is the serial port enable and is controlled by the SPI master. It goes low at the start of the

transmission and goes back high at the end. SPC is the serial port clock and it is controlled

by the SPI master. It is stopped high when CS is high (no transmission). SDI and SDO are

respectively the serial port data input and output. These lines are driven at the falling edge

of SPC and should be captured at the rising edge of SPC.

Both the read register and write register commands are completed in 16 clock pulses or in

multiples of 8 in the case of multiple read/write bytes. Bit duration is the time between two

falling edges of SPC. The first bit (bit 0) starts at the first falling edge of SPC after the falling

edge of CS while the last bit (bit 15, bit 23, ...) starts at the last falling edge of SPC just

before the rising edge of CS.

bit 0: RW bit. When 0, the data DI(7:0) is written to the device. When 1, the data DO(7:0)

from the device is read. In the latter case the chip drives SDO at the start of bit 8.

bit 1: MS bit. When 0, the address remains unchanged in multiple read/write commands.

When 1, the address is auto-incremented in multiple read/write commands.

bit 2-7: address AD(5:0). This is the address field of the indexed register.

bit 8-15: data DI(7:0) (write mode). This is the data that is written to the device (MSb first).

bit 8-15: data DO(7:0) (read mode). This is the data that is read from the device (MSb first).

In multiple read/write commands, further blocks of 8 clock periods are added. When the MS

bit is 0, the address used to read/write data remains the same for every block. When the MS

bit is 1, the address used to read/write data is incremented at every block.

The function and the behavior of SDI and SDO remain unchanged.

SPC

SDI

SDO

AD5 AD4 AD3 AD2 AD1 AD0

DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0

DO7DO6DO5DO4DO3DO2DO1DO0

AM10129V1

DocID023312 Rev 2 25/52

LSM303D Digital interfaces

6.2.1 SPI read

Figure 7. SPI read protocol

The SPI read command is performed with 16 clock pulses. The multiple byte read command

is performed by adding blocks of 8 clock pulses to the previous one.

bit 0: READ bit. The value is 1.

bit 1: MS bit. When 0, does not increment the address; when 1, increments the address in

multiple reads.

bit 2-7: address AD(5:0). This is the address field of the indexed register.

bit 8-15: data DO(7:0) (read mode). This is the data that is read from the device (MSb first).

bit 16-... : data DO(...-8). Further data in multiple byte reads.

Figure 8. Multiple byte SPI read protocol (2-byte example)

SPC

SDI

SDO

DO7 DO6 DO5 DO4 DO3 DO2 DO1 DO0

AD5 AD4 AD3 AD2 AD1 AD0

AM10130V1

SP C

SDI

SD O

DO7DO6DO5DO4DO3DO2 DO1DO0

AD5 AD4 AD 3 AD2 AD1 AD0

DO 15 DO 14 DO 13 DO 12 DO 11 DO 10 D O9 D O8

AM10131V1

Digital interfaces LSM303D

26/52 DocID023312 Rev 2

6.2.2 SPI write

Figure 9. SPI write protocol

The SPI write command is performed with 16 clock pulses. The multiple byte write

command is performed by adding blocks of 8 clock pulses to the previous one.

bit 0: WRITE bit. The value is 0.

bit 1: MS bit. When 0, do not increment address; when 1, increment address in multiple

writing.

bit 2 -7: address AD(5:0). This is the address field of the indexed register.

bit 8-15: data DI(7:0) (write mode). This is the data that is written to the device (MSb first).

bit 16-... : data DI(...-8). Further data in multiple byte writes.

Figure 10. Multiple byte SPI write protocol (2-byte example)

6.2.3 SPI read in 3-wire mode

3-wire mode is entered by setting the bit SIM (SPI serial interface mode selection) to ‘1’ in

CTRL2 (21h).

SPC

SDI

RW DI7DI6DI5DI4DI3DI2DI1DI0

AD5 AD4 AD 3 AD2 AD1 AD0MS

AM10132V1

SPC

SDI

AD5 AD4 AD3 AD2 AD1 AD 0

DI7 D I6 DI5 D I4 DI3 DI2 DI 1 DI 0 DI 15 D I1 4 DI13 D I1 2 DI11 DI 10 DI9 DI 8

AM10133V1

DocID023312 Rev 2 27/52

LSM303D Digital interfaces

Figure 11. SPI read protocol in 3-wire mode

The SPI read command is performed with 16 clock pulses:

bit 0: READ bit. The value is 1.

bit 1: MS bit. When 0, does not increment the address; when 1, increments the address in

multiple reads.

bit 2-7: address AD(5:0). This is the address field of the indexed register.

bit 8-15: data DO(7:0) (read mode). This is the data that is read from the device (MSb first).

A multiple read command is also available in 3-wire mode.

SPC

SDI/O

RW DO7DO6DO5DO4DO3DO2DO1DO0

AD5 AD4 AD 3 AD2 AD1 AD0MS

AM10134V1

Output register mapping LSM303D

28/52 DocID023312 Rev 2

7 Output register mapping

The table below provides a listing of the 8-bit registers embedded in the device and the

corresponding addresses.

Table 16. Register address map

Name Type

Default Comment

Hex Binary

Reserved -- 00-04 -- -- Reserved

TEMP_OUT_L r 05 000 0101 Output

TEMP_OUT_H r 06 000 0110 Output

STATUS_M r 07 000 0111 Output

OUT_X_L_M r 08 000 1000 Output

OUT_X_H_M r 09 000 1001 Output

OUT_Y_L_M r 0A 000 1010 Output

OUT_Y_H_M r 0B 000 1011 Output

OUT_Z_L_M r 0C 000 1100 Output

OUT_Z_H_M r 0D 000 1101 Output

Reserved -- 0E 000 1110 -- Reserved

WHO_AM_I r 0F 000 1111 01001001

Reserved -- 10-11 -- -- Reserved

INT_CTRL_M rw 12 001 0010 11101000

INT_SRC_M r 13 001 0011 Output

INT_THS_L_M rw 14 001 0100 00000000

INT_THS_H_M rw 15 001 0101 00000000

OFFSET_X_L_M rw 16 001 0110 00000000

OFFSET_X_H_M rw 17 001 0111 00000000

OFFSET_Y_L_M rw 18 001 01000 00000000

OFFSET_Y_H_M rw 19 001 01001 00000000

OFFSET_Z_L_M rw 1A 001 01010 00000000

OFFSET_Z_H_M rw 1B 001 01011 00000000

REFERENCE_X rw 1C 001 01100 00000000

REFERENCE_Y rw 1D 001 01101 00000000

REFERENCE_Z rw 1E 001 01110 00000000

CTRL0 rw 1F 001 1111 00000000

CTRL1 rw 20 010 0000 00000111

CTRL2 rw 21 010 0001 00000000

DocID023312 Rev 2 29/52

LSM303D Output register mapping

Registers marked as Reserved must not be changed. Writing to these registers may cause

permanent damage to the device.The content of the registers that are loaded at boot should

not be changed. They contain the factory calibration values. Their content is automatically

restored when the device is powered up.

CTRL3 rw 22 010 0010 00000000

CTRL4 rw 23 010 0011 00000000

CTRL5 rw 24 010 0100 00011000

CTRL6 rw 25 010 0101 00100000

CTRL7 rw 26 010 0110 00000001

STATUS_A r 27 010 0111 Output

OUT_X_L_A r 28 010 1000 Output

OUT_X_H_A r 29 010 1001 Output

OUT_Y_L_A r 2A 010 1010 Output

OUT_Y_H_A r 2B 010 1011 Output

OUT_Z_L_A r 2C 010 1100 Output

OUT_Z_H_A r 2D 010 1101 Output

FIFO_CTRL rw 2E 010 1110 00000000

FIFO_SRC r 2F 010 1111 Output

IG_CFG1 rw 30 011 0000 00000000

IG_SRC1 r 31 011 0001 Output

IG_THS1 rw 32 011 0010 00000000

IG_DUR1 rw 33 011 0011 00000000

IG_CFG2 rw 34 011 0100 00000000

IG_SRC2 r 35 011 0101 Output

IG_THS2 rw 36 011 0110 00000000

IG_DUR2 rw 37 011 0111 00000000

CLICK_CFG rw 38 011 1000 00000000

CLICK_SRC r 39 011 1001 Output

CLICK_THS rw 3A 011 1010 00000000

TIME_LIMIT rw 3B 011 1011 00000000

TIME _LATENCY rw 3C 011 1100 00000000

TIME_WINDOW rw 3D 011 1101 00000000

ACT_THS rw 3E 011 1110 00000000

ACT_DUR rw 3F 011 1111 00000000

Table 16. Register address map (continued)

Name Type

Default Comment

Hex Binary

30/52 DocID023312 Rev 2

8 Register description

The device contains a set of registers which are used to control its behavior and to retrieve

acceleration and magnetic data. The register address, consisting of 7 bits, is used to identify

them and to write the data through the serial interface.

8.1 TEMP_OUT_L (05h), TEMP_OUT_H (06h)

Temperature sensor data. Temperature data is stored as two’s complement data in 12-bit

format, right-justified.

Refer to Section 4.2 for details on how to enable and read the temperature sensor output

data.

8.2 STATUS_M (07h)

Table 17. STATUS_M register

ZYXMOR/ Tempor ZMOR YMOR XMOR ZYXMDA / Tempda ZMDA YMDA XMDA

Table 18. STATUS_M register description

ZYXMOR/

Tempor

Magnetic X, Y and Z-axis and temperature data overrun. Default value: 0

(0: no overrun has occurred; 1: a new set of data has overwritten the previous data)

Temperature data overrun if T_ONLY bit in CTRL7 (26h) is set to ‘1’. Default value: 0.

ZMOR Z-axis data overrun. Default value: 0

(0: no overrun has occurred; 1: new data for the Z-axis has overwritten the previous

data)

YMOR Y-axis data overrun. Default value: 0

(0: no overrun has occurred; 1: new data for the Y-axis has overwritten the previous

data)

XMOR X-axis data overrun. Default value: 0

(0: no overrun has occurred; 1: new data for the X-axis has overwritten the previous

data)

ZYXMDA/

Tempda

X, Y and Z-axis and temperature new data available. Default value: 0

(0: a new set of data is not yet available; 1: a new set of data is available)

Temperature new data available if the T_ONLY bit in CTRL7 (26h) is set to ‘1’.

ZMDA Z-axis new data available. Default value: 0

(0: new data for the Z-axis is not yet available; 1: new data for the Z-axis is available)

YMDA Y-axis new data available. Default value: 0

(0: new data for the Y-axis is not yet available; 1: new data for the Y-axis is available)

XMDA X-axis new data available. Default value: 0

(0: new data for the X-axis is not yet available; 1: new data for the X-axis is available)

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LSM303D Register description

8.3 OUT_X_L_M (08h), OUT_X_H_M (09h)

X-axis magnetic data. The value is expressed in 16-bit as two’s complement.

8.4 OUT_Y_L_M (0Ah), OUT_Y_H_M (0Bh)

Y-axis magnetic data. The value is expressed in 16-bit as two’s complement.

8.5 OUT_Z_L_M (0Ch), OUT_Z_H_M (0Dh)

Z-axis magnetic data. The value is expressed in 16-bit as two’s complement.

8.6 WHO_AM_I (0Fh)

Device identification register.

8.7 INT_CTRL_M (12h)

Table 19. WHO_AM_I register

010 01001

Table 20. INT_CTRL_M register

XMIEN YMIEN ZMIEN PP_OD IEA MIEL 4D MIEN

Table 21. INT_CTRL_M register description

XMIEN Enable interrupt recognition on X-axis for magnetic data. Default value: 0.

(0: disable interrupt recognition; 1: enable interrupt recognition)

YMIEN Enable interrupt recognition on Y-axis for magnetic data. Default value: 0.

(0: disable interrupt recognition; 1: enable interrupt recognition)

ZMIEN Enable interrupt recognition on Z-axis for magnetic data. Default value: 0.

(0: disable interrupt recognition; 1: enable interrupt recognition)

PP_OD Interrupt pin configuration. Default value: 0.

(0: push-pull; 1: open drain)

IEA Interrupt polarity. Default value: 0.

(0: interrupt active-low; 1: interrupt active-high)

MIEL Latch interrupt request on INT_SRC_M (13h) register. Default value: 0.

(0: interrupt request not latched; 1: interrupt request latched)

Once the MIEL is set to ‘1’, the interrupt is cleared by reading the INT_SRC_M (13h)

4D 4D enable: 4D detection on acceleration data is enabled when 6D bit in IG_CFG1 (30h) is

set to 1. Default value: 0.

MIEN Enable interrupt generation for magnetic data. Default value: 0.

(0: disable interrupt generation; 1: enable interrupt generation)

32/52 DocID023312 Rev 2

8.8 INT_SRC_M (13h)

8.9 INT_THS_L_M (14h), INT_THS_H_M (15h)

Magnetic interrupt threshold. Default value: 0.

The value is expressed in 16-bit unsigned.

Even if the threshold is expressed in absolute value, the device detects both positive and

negative thresholds.

Table 22. INT_SRC_M register

M_PTH_X M_PTH_Y M_PTH_Z M_NTH_X M_NTH_Y M_NTH_Z MROI MINT

Table 23. INT_SRC_M register description

M_PTH_X Magnetic value on X-axis exceeds the threshold on the positive side.

Default value: 0.

M_PTH_Y Magnetic value on Y-axis exceeds the threshold on the positive side.

Default value: 0.

M_PTH_Z Magnetic value on Z-axis exceeds the threshold on the positive side.

Default value: 0.

M_NTH_X Magnetic value on X-axis exceeds the threshold on the negative side.

Default value: 0.

M_NTH_Y Magnetic value on Y-axis exceeds the threshold on the negative side.

Default value: 0.

M_NTH_Z Magnetic value on Z-axis exceeds the threshold on the negative side.

Default value: 0.

MROI Internal measurement range overflow on magnetic value.

Default value: 0.

MINT Magnetic interrupt event. The magnetic field value exceeds the threshold.

Default value: 0.

Table 24. INT_THS_L_M register

THS7 THS6 THS5 THS4 THS3 THS2 THS1 THS0

Table 25. INT_THS_H_M register

0 THS14 THS13 THS12 THS11 THS10 THS9 THS8

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LSM303D Register description

8.10 OFFSET_X_L_M (16h), OFFSET_X_H_M (17h)

Magnetic offset for X-axis. Default value: 0.

The value is expressed in 16-bit as two’s complement.

8.11 OFFSET_Y_L_M (18h), OFFSET_Y_H_M (19h)

Magnetic offset for Y-axis. Default value: 0.

The value is expressed in 16-bit as two’s complement.

8.12 OFFSET_Z_L_M (1Ah), OFFSET_Z_H_M (1Bh)

Magnetic offset for Z-axis. Default value: 0.

The value is expressed in 16-bit as two’s complement.

8.13 REFERENCE_X (1Ch)

Reference value for high-pass filter for X-axis acceleration data.

8.14 REFERENCE_Y (1Dh)

Reference value for high-pass filter for Y-axis acceleration data.

Table 26. OFFSET_X_L_M register

OFF_X_7 OFF_X_6 OFF_X_5 OFF_X_4 OFF_X_3 OFF_X_2 OFF_X_1 OFF_X_0

Table 27. OFFSET_X_H_M register

OFF_X_15 OFF_X_14 OFF_X_13 OFF_X_12 OFF_X_11 OFF_X_10 OFF_X_9 OFF_X_8

Table 28. OFFSET_Y_L_M register

OFF_Y_7 OFF_Y_6 OFF_Y_5 OFF_Y_4 OFF_Y_3 OFF_Y_2 OFF_Y_1 OFF_Y_0

Table 29. OFFSET_Y_H_M register

OFF_Y_15 OFF_Y_14 OFF_Y_13 OFF_Y_12 OFF_Y_11 OFF_Y_10 OFF_Y_9 OFF_Y_8

Table 30. OFFSET_Z_L_M register

OFF_Z_7 OFF_Z_6 OFF_Z_5 OFF_Z_4 OFF_Z_3 OFF_Z_2 OFF_Z_1 OFF_Z_0

Table 31. OFFSET_Z_H_M register

OFF_Z_15 OFF_Z_14 OFF_Z_13 OFF_Z_12 OFF_Z_11 OFF_Z_10 OFF_Z_9 OFF_Z_8

34/52 DocID023312 Rev 2

8.15 REFERENCE_Z (1Eh)

Reference value for high-pass filter for Z-axis acceleration data.

8.16 CTRL0 (1Fh)

8.17 CTRL1 (20h)

Table 32. CTRL0 register

BOOT FIFO_EN FTH_EN 0(1)

1. These bits must be set to ‘0’ for correct operation of the device.

0(1) HP_Click HPIS1 HPIS2

Table 33. CTRL0 register description

BOOT Reboot memory content. Default value: 0

(0: normal mode; 1: reboot memory content)

FIFO_EN FIFO enable. Default value: 0

(0: FIFO disable; 1: FIFO enable)

FTH_EN FIFO programmable threshold enable. Default value: 0

(0: disable; 1: enable)

HP_Click High-pass filter enabled for click function. Default value: 0

(0: filter bypassed; 1: filter enabled)

HPIS1 High-pass filter enabled for interrupt generator 1. Default value: 0

(0: filter bypassed; 1: filter enabled)

HPIS2 High-pass filter enabled for interrupt generator 2. Default value: 0

(0: filter bypassed; 1: filter enabled)

Table 34. CTRL1 register

AODR3 AODR2 AODR1 AODR0 BDU AZEN AYEN AXEN

Table 35. CTRL1 register description

AODR [3:0] Acceleration data-rate selection. Default value: 0000

(0000: Power-down mode; Others: Refer to Table 36)

BDU Block data update for acceleration and magnetic data. Default value: 0

(0: continuous update; 1: output registers not updated until MSB and LSB have been

read)

AZEN Acceleration Z-axis enable. Default value: 1

(0: Z-axis disabled; 1: Z-axis enabled)

AYEN Acceleration Y-axis enable. Default value: 1

(0: Y-axis disabled; 1: Y-axis enabled)

AXEN Acceleration X-axis enable. Default value: 1

(0: X-axis disabled; 1: X-axis enabled)

DocID023312 Rev 2 35/52

LSM303D Register description

AODR [3:0] is used to set power mode and ODR selection. In the following table bit

selection of AODR [3:0] for all frequencies is shown.

8.18 CTRL2 (21h)

Table 36. Acceleration data rate configuration

AODR3 AODR2 AODR1 AODR0 Power mode and ODR selection

0 0 0 0 Power-down mode

0 0 0 1 3.125 Hz

0 0 1 0 6.25 Hz

0 0 1 1 12.5 Hz

0 1 0 0 25 Hz

0 1 0 1 50 Hz

0 1 1 0 100 Hz

0 1 1 1 200 Hz

1 0 0 0 400 Hz

1 0 0 1 800 Hz

1 0 1 0 1600 Hz

Table 37. CTRL2 register

ABW1 ABW0 AFS2 AFS1 AFS0 0(1)

1. This bit must be set to ‘0’ for correct operation of the device.

AST SIM

Table 38. CTRL2 register description

ABW[1:0] Accelerometer anti-alias filter bandwidth. Default value: 00

Refer to Table 39

AFS[2:0] Acceleration full-scale selection. Default value: 000

Refer to Table 40

AST Acceleration self-test enable. Default value: 0

(0: self-test disabled; 1: self-test enabled)

SIM SPI serial interface mode selection. Default value: 0

(0: 4-wire interface; 1: 3-wire interface)

Table 39. Acceleration anti-alias filter bandwidth

ABW1 ABW0 Anti-alias filter bandwidth

0 0 773 Hz

0 1 194 Hz

36/52 DocID023312 Rev 2

8.19 CTRL3 (22h)

1 0 362 Hz

1 1 50 Hz

Table 40. Acceleration full-scale selection

AFS2 AFS1 AFS0 Acceleration full scale

0 0 0 ±2 g

0 0 1 ±4 g

0 1 0 ±6 g

0 1 1 ±8 g

1 0 0 ±16 g

Table 39. Acceleration anti-alias filter bandwidth

ABW1 ABW0 Anti-alias filter bandwidth

Table 41. CTRL3 register

INT1

_BOOT

INT1

_Click

INT1

_IG1

INT1

_IG2

INT1

_IGM

INT1

_DRDY_A

INT1

_DRDY_M

INT1

_EMPTY

Table 42. CTRL3 register description

INT1_BOOT Boot on INT1 enable. Default value: 0

(0: disable; 1: enable)

INT1_Click Click generator interrupt on INT1. Default value: 0

(0: disable; 1: enable)

INT1_IG1 Inertial interrupt generator 1 on INT1. Default value: 0

(0: disable; 1: enable)

INT1_IG2 Inertial interrupt generator 2 on INT1. Default value: 0

(0: disable; 1: enable)

INT1_IGM Magnetic interrupt generator on INT1. Default value: 0

(0: disable; 1: enable)

INT1_DRDY_A Accelerometer data-ready signal on INT1. Default value: 0

(0: disable; 1: enable)

INT1_DRDY_M Magnetometer data-ready signal on INT1. Default value: 0

(0: disable; 1: enable)

INT1_EMPTY FIFO empty indication on INT1. Default value: 0

(0: disable; 1: enable)

DocID023312 Rev 2 37/52

LSM303D Register description

8.20 CTRL4 (23h)

8.21 CTRL5 (24h)

Table 43. CTRL4 register

INT2

_Click

INT2

_INT1

INT2

_INT2

INT2

_INTM

INT2

_DRDY_A

INT2

_DRDY_M

INT2

_Overrun

INT2

_FTH

Table 44. CTRL4 register description

INT2

_Click

Click generator interrupt on INT2. Default value: 0

(0: disable; 1: enable)

INT2

_IG1

Inertial interrupt generator 1 on INT2. Default value: 0

(0: disable; 1: enable)

INT2

_IG2

Inertial interrupt generator 2 on INT2. Default value: 0

(0: disable; 1: enable)

INT2

_IGM

Magnetic interrupt generator on INT2. Default value: 0

(0: disable; 1: enable)

INT2

_DRDY_A

Accelerometer data-ready signal on INT2. Default value: 0

(0: disable; 1: enable)

INT2

_DRDY_M

Magnetometer data-ready signal on INT2. Default value: 0

(0: disable; 1: enable)

INT2

_Overrun

FIFO overrun interrupt on INT2. Default value: 0

(0: disable; 1: enable)

INT2

_FTH

FIFO threshold interrupt on INT2. Default value: 0

(0: disable; 1: enable)

Table 45. CTRL5 register

TEMP_EN M_RES1 M_RES0 M_ODR2 M_ODR1 M_ODR0 LIR2 LIR1

Table 46. CTRL5 register description

TEMP_EN Temperature sensor enable. Default value: 0

(0: temperature sensor disabled; 1: temperature sensor enabled)

M_RES [1:0] Magnetic resolution selection. Default value: 00

(00: low resolution, 11: high resolution)

M_ODR [2:0] Magnetic data rate selection. Default value: 110

Refer to Table 47

LIR2 Latch interrupt request on INT2_SRC register, with INT2_SRC register cleared by

reading INT2_SRC itself. Default value: 0.

(0: interrupt request not latched; 1: interrupt request latched)

LIR1 Latch interrupt request on INT1_SRC register, with INT1_SRC register cleared by

reading INT1_SRC itself. Default value: 0.

(0: interrupt request not latched; 1: interrupt request latched)

38/52 DocID023312 Rev 2

8.22 CTRL6 (25h)

8.23 CTRL7 (26h)

Table 47. Magnetic data rate configuration

MODR2 MODR1 MODR0 ODR selection

0 0 0 3.125 Hz

0 0 1 6.25 Hz

0 1 0 12.5 Hz

0 1 1 25 Hz

1 0 0 50 Hz

1 0 1 100 Hz(1)

1. Available only for accelerometer ODR > 50 Hz or accelerometer in power-down mode (refer to Table 36,

AODR setting).

1 1 0 Do not use

1 1 1 Reserved

Table 48. CTRL6 register

0(1) MFS1 MFS0 0(1)

1. These bits must be set to ‘0’ for correct operation of the device.

0(1) 0(1) 0(1) 0(1)

Table 49. CTRL6 register description

MFS [1:0] Magnetic full-scale selection. Default value: 01

Refer to Table 50

Table 50. Magnetic full-scale selection

MFS1 MFS0 Magnetic full scale

0 0 ±2 gauss

0 1 ±4 gauss

1 0 ±8 gauss

1 1 ±12 gauss

Table 51. CTRL7 register

AHPM1 AHPM0 AFDS T_ONLY 0(1)

1. This bit must be set to ‘0’ for correct operation of the device.

MLP MD1 MD0

DocID023312 Rev 2 39/52

LSM303D Register description

8.24 STATUS_A (27h)

Table 52. CTRL7 register description

AHPM[1:0] High-pass filter mode selection for acceleration data. Default value: 00

Refer to Table 53

AFDS Filtered acceleration data selection. Default value: 0

(0: internal filter bypassed; 1: data from internal filter sent to output register and FIFO)

T_ONLY Temperature sensor only mode. Default value: 0

If this bit is set to ‘1’, the temperature sensor is on while the magnetic sensor is off.

MLP Magnetic data low-power mode. Default value: 0

If this bit is ‘1’, the M_ODR [2:0] is set to 3.125 Hz independently from the MODR set-

tings. Once the bit is set to ‘0’, the magnetic data rate is configured by the MODR bits

in the CTRL5 (24h) register.

MD[1:0] Magnetic sensor mode selection. Default 10

Refer to Table 54

Table 53. High-pass filter mode selection

AHPM1 AHPM0 High-pass filter mode

0 0 Normal mode (reset X, Y and Z-axis, reading respective REFERENCE_X

(1Ch), REFERENCE_Y (1Dh) and REFERENCE_Z (1Eh) registers)

0 1 Reference signal for filtering

1 0 Normal mode

1 1 Auto-reset on interrupt event

Table 54. Magnetic sensor mode selection

MD1 MD0 Magnetic sensor mode

0 0 Continuous-conversion mode

0 1 Single-conversion mode

1 0 Power-down mode

1 1 Power-down mode

Table 55. STATUS_A register

ZYXAOR ZAOR YAOR XAOR ZYXADA ZADA YADA XADA

40/52 DocID023312 Rev 2

8.25 OUT_X_L_A (28h), OUT_X_H_A (29h)

X-axis acceleration data. The value is expressed in 16-bit as two’s complement.

8.26 OUT_Y_L_A (2Ah), OUT_Y_H_A (2Bh)

Y-axis acceleration data. The value is expressed in 16-bit as two’s complement.

8.27 OUT_Z_L_A (2Ch), OUT_Z_H_A (2Dh)

Z-axis acceleration data. The value is expressed in 16-bit as two’s complement.

8.28 FIFO_CTRL (2Eh)

Table 56. STATUS_A register description

ZYXAOR Acceleration X, Y and Z-axis data overrun. Default value: 0

(0: no overrun has occurred; 1: a new set of data has overwritten the previous data)

ZAOR Acceleration Z-axis data overrun. Default value: 0

(0: no overrun has occurred; 1: new data for the Z-axis has overwritten the previous data)

YAOR Acceleration Y-axis data overrun. Default value: 0

(0: no overrun has occurred; 1: new data for the Y-axis has overwritten the previous data)

XAOR Acceleration X-axis data overrun. Default value: 0

(0: no overrun has occurred; 1: new data for the X-axis has overwritten the previous data)

ZYXADA Acceleration X, Y and Z-axis new value available. Default value: 0

(0: a new set of data is not yet available; 1: a new set of data is available)

ZADA Acceleration Z-axis new value available. Default value: 0

(0: new data for the Z-axis is not yet available; 1: new data for the Z-axis is available)

YADA Acceleration Y-axis new value available. Default value: 0

(0: new data for the Y-axis is not yet available; 1: new data for the Y-axis is available)

XADA Acceleration X-axis new value available. Default value: 0

(0: new data for the X-axis is not yet available; 1: new data for the X-axis is available)

Table 57. FIFO_CTRL register

FM2 FM1 FM0 FTH4 FTH3 FTH2 FTH1 FTH0

Table 58. FIFO_CTRL register description

FM[2:0] FIFO mode selection. Default value: 000

Refer to Table 59

FTH[4:0] FIFO threshold level. Default value: 00000

DocID023312 Rev 2 41/52

LSM303D Register description

Interrupt generator 2 can change the FIFO mode.

8.29 FIFO_SRC (2Fh)

FiFO status register.

8.30 IG_CFG1 (30h)

Inertial interrupt generator 1 configuration register.

Table 59. FIFO mode configuration

FM2 FM1 FM0 FIFO mode

0 0 0 Bypass mode

0 0 1 FIFO mode

0 1 0 Stream mode

0 1 1 Stream-to-FIFO mode

1 0 0 Bypass-to-Stream mode

Table 60. FIFO_SRC register

FTH OVRN EMPTY FSS4 FSS3 FSS2 FSS1 FSS0

Table 61. FIFO_SRC register description

FTH FIFO threshold status.

FTH bit is set to ‘1’ when FIFO content exceeds threshold level.

OVRN FIFO overrun status.

OVRN bit is set to ‘1’ when FIFO buffer is full.

EMPTY Empty status.

EMPTY bit is set to ‘1’ when all FIFO samples have been read and FIFO is empty.

FSS[4:0] FIFO stored data level.

FSS4-0 bits contain the current number of unread FIFO levels.

Table 62. IG_CFG1 register

AOI 6D ZHIE/

ZUPE

ZLIE/

ZDOWNE

YHIE/

YUPE

YLIE/

YDOWNE

XHIE/

XUPE

XLIE/

XDOWNE

42/52 DocID023312 Rev 2

Content of this register is loaded at boot.

Write operation at this address is possible only after system boot.

Difference between AOI-6D = ‘01’ and AOI-6D = ‘11’.

AOI-6D = ‘01’ is movement recognition. An interrupt is generated when orientation moves

from an unknown zone to a known zone. The interrupt signal stays for a duration ODR.

AOI-6D = ‘11’ is direction recognition. An interrupt is generated when orientation is inside a

known zone. The interrupt signal stays until orientation is inside the zone.

8.31 IG_SRC1 (31h)

Inertial interrupt generator 1 status register.

Table 63. IG_CFG1 register description

AOI And/Or combination of interrupt events. Default value: 0.

Refer to Table 64

6D 6-direction detection function enabled. Default value: 0.

Refer to Table 64

ZHIE/

ZUPE

Enable interrupt generation on Z high event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request)

ZLIE/

ZDOWNE

Enable interrupt generation on Z low event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request)

YHIE/

YUPE

Enable interrupt generation on Y high event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request.)

YLIE/

YDOWNE

Enable interrupt generation on Y low event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request.)

XHIE/

XUPE

Enable interrupt generation on X high event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request.)

XLIE/

XDOWNE

Enable interrupt generation on X low event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request.)

Table 64. Interrupt mode

AOI 6D Interrupt mode

0 0 OR combination of interrupt events

0 1 6-direction movement recognition

1 0 AND combination of interrupt events

1 1 6-direction position recognition

Table 65. IG_SRC1 register

0 IA ZHZLYHYLXHXL

DocID023312 Rev 2 43/52

LSM303D Register description

Reading at this address clears the IG_SRC1 (31h) IA bit (and the interrupt signal on the

corresponding interrupt pin) and allows the refreshment of data in the IG_SRC1 (31h)

8.32 IG_THS1 (32h)

8.33 IG_DUR1 (33h)

The D6 - D0 bits set the minimum duration of the interrupt 1 event to be recognized.

Duration steps and maximum values depend on the ODR chosen.

Table 66. IG_SRC1 register description

IA Interrupt status. Default value: 0

(0: no interrupt has been generated; 1: one or more interrupts have been generated)

ZH Z high. Default value: 0

(0: no interrupt; 1: Z high event has occurred)

ZL Z low. Default value: 0

(0: no interrupt; 1: Z low event has occurred)

YH Y high. Default value: 0

(0: no interrupt; 1: Y high event has occurred)

YL Y low. Default value: 0

(0: no interrupt; 1: Y low event has occurred)

XH X high. Default value: 0

(0: no interrupt; 1: X high event has occurred)

XL X low. Default value: 0

(0: no interrupt; 1: X low event has occurred)

Table 67. IG_THS1 register

0 THS6 THS5 THS4 THS3 THS2 THS1 THS0

Table 68. IG_THS1 register description

THS[6:0] Interrupt generator 1 threshold. Default value: 000 0000

Table 69. IG1_DUR1 register

0 D6D5D4D3D2D1D0

Table 70. IG1_DUR1 register description

D[6:0] Duration value. Default value: 000 0000

44/52 DocID023312 Rev 2

8.34 IG_CFG2 (34h)

This register contains the settings for the inertial interrupt generator 2.

Content of this register is loaded at boot.

Write operation at this address is possible only after system boot.

Difference between AOI-6D = ‘01’ and AOI-6D = ‘11’.

AOI-6D = ‘01’ is movement recognition. An interrupt is generated when the orientation

moves from an unknown zone to a known zone. The interrupt signal remains for a duration

ODR.

AOI-6D = ‘11’ is direction recognition. An interrupt is generated when the orientation is

inside a known zone. The interrupt signal remains until the orientation is inside the zone.

Table 71. IG_CFG2 register

AOI 6D ZHIE/

ZUPE

ZLIE/

ZDOWNE

YHIE/

YUPE

YLIE/

YDOWNE

XHIE/

XUPE

XLIE/

XDOWNE

Table 72. IG_CFG2 register description

AOI And/Or combination of interrupt events. Default value: 0. Refer to Table 73

6D 6-direction detection function enabled. Default value: 0. Refer to Table 73

ZHIE/

ZUPE

Enable interrupt generation on Z high event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request)

ZLIE/

ZDOWNE

Enable interrupt generation on Z low event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request)

YHIE/

YUPE

Enable interrupt generation on Y high event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request.)

YLIE/

YDOWNE

Enable interrupt generation on Y low event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request.)

XHIE/

XUPE

Enable interrupt generation on X high event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request.)

XLIE/

XDOWNE

Enable interrupt generation on X low event or on direction recognition. Default

value: 0 (0: disable interrupt request; 1: enable interrupt request.)

Table 73. Interrupt mode

AOI 6D Interrupt mode

0 0 OR combination of interrupt events

0 1 6-direction movement recognition

1 0 AND combination of interrupt events

1 1 6-direction position recognition

DocID023312 Rev 2 45/52

LSM303D Register description

8.35 IG_SRC2 (35h)

This register contains the status for the inertial interrupt generator 2.

Reading at this address clears the IG_SRC2 (35h) IA bit (and the interrupt signal on the

corresponding interrupt pin) and allows the refresh of data in the IG_SRC2 (35h) register if

the latched option was chosen.

8.36 IG_THS2 (36h)

8.37 IG_DUR2 (37h)

Table 74. IG_SRC2 register

0 IA ZHZLYHYLXHXL

Table 75. IG_SRC2 register description

IA Interrupt generator 2 status. Default value: 0

(0: no interrupt has been generated; 1: one or more interrupts have been generated)

ZH Z high. Default value: 0

(0: no interrupt; 1: Z high event has occurred)

ZL Z low. Default value: 0

(0: no interrupt; 1: Z low event has occurred)

YH Y high. Default value: 0

(0: no interrupt; 1: Y high event has occurred)

YL Y low. Default value: 0

(0: no interrupt; 1: Y low event has occurred)

XH X high. Default value: 0

(0: no interrupt; 1: X high event has occurred)

XL X low. Default value: 0

(0: no interrupt; 1: X low event has occurred)

Table 76. IG2_THS2 register

0 THS6 THS5 THS4 THS3 THS2 THS1 THS0

Table 77. IG2_THS2 register description

THS[6:0] Interrupt generator 2 threshold. Default value: 000 0000

Table 78. IG_DUR2 register

0 D6D5D4D3D2D1D0

46/52 DocID023312 Rev 2

The D6 - D0 bits set the minimum duration of the interrupt 2 event to be recognized.

Duration steps and maximum values depend on the ODR chosen.

8.38 CLICK_CFG (38h)

Table 79. IG_DUR2 register description

D6 - D0 Duration value. Default value: 000 0000

Table 80. CLICK_CFG register

-- -- ZD ZS YD YS XD XS

Table 81. CLICK_CFG register description

ZD Enable interrupt double-click on Z-axis. Default value: 0

(0: disable interrupt request; 1: enable interrupt request on measured accel. value

higher than preset threshold)

ZS Enable interrupt single-click on Z-axis. Default value: 0

(0: disable interrupt request; 1: enable interrupt request on measured accel. value

higher than preset threshold)

YD Enable interrupt double-click on Y-axis. Default value: 0

(0: disable interrupt request; 1: enable interrupt request on measured accel. value

higher than preset threshold)

YS Enable interrupt single-click on Y-axis. Default value: 0

(0: disable interrupt request; 1: enable interrupt request on measured accel. value

higher than preset threshold)

XD Enable interrupt double-click on X-axis. Default value: 0

(0: disable interrupt request; 1: enable interrupt request on measured accel. value

higher than preset threshold)

XS Enable interrupt single-click on X-axis. Default value: 0

(0: disable interrupt request; 1: enable interrupt request on measured accel. value

higher than preset threshold)

DocID023312 Rev 2 47/52

LSM303D Register description

8.39 CLICK_SRC (39h)

8.40 CLICK_THS (3Ah)

8.41 TIME_LIMIT (3Bh)

Table 82. CLICK_SRC register

-- IA DClick SClick Sign Z Y X

Table 83. CLICK_SRC register description

IA Interrupt active. Default value: 0

(0: no interrupt has been generated; 1: one or more interrupts have been generated)

DClick Double-click enable. Default value: 0

(0: double-click detection disable; 1: double-click detection enable)

SClick Single-click enable. Default value: 0

(0: single-click detection disable; 1: single-click detection enable)

Sign Click sign. 0: positive detection; 1: negative detection

Z Z-click detection. Default value: 0

(0: no interrupt; 1: Z high event has occurred)

Y Y-click detection. Default value: 0

(0: no interrupt; 1: Y high event has occurred)

X X-click detection. Default value: 0

(0: no interrupt; 1: X high event has occurred)

Table 84. CLICK_THS register

- Ths6 Ths5 Ths4 Ths3 Ths2 Ths1 Ths0

Table 85. CLICK_THS register description

Ths[6:0] Click threshold. Default value: 000 0000

Table 86. TIME_LIMIT register

- TLI6 TLI5 TLI4 TLI3 TLI2 TLI1 TLI0

Table 87. TIME_LIMIT register description

TLI[6:0] Click time limit. Default value: 000 0000

48/52 DocID023312 Rev 2

8.42 TIME_LATENCY (3Ch)

8.43 TIME_WINDOW (3Dh)

8.44 ACT_THS (3Eh)

8.45 ACT_DUR (3Fh)

Table 88. TIME_LATENCY register

TLA7 TLA6 TLA5 TLA4 TLA3 TLA2 TLA1 TLA0

Table 89. TIME_LATENCY register description

TLA[7:0] Double-click time latency. Default value: 0000 0000

Table 90. TIME_WINDOW register

TW7 TW6 TW5 TW4 TW3 TW2 TW1 TW0

Table 91. TIME_WINDOW register description

TW[7:0] Double-click time window

Table 92. ACT_THS register

-- ACTH6 ACTH5 ACTH4 ACTH3 ACTH2 ACTH1 ACTH0

Table 93. ACT_THS register description

ACTH[6:0] Sleep-to-Wake, Return-to-Sleep activation threshold

1 LSb = 16 mg

Table 94. ACT_DUR register

ActD7 ActD6 ActD5 ActD4 ActD3 ActD2 ActD1 ActD0

Table 95. ACT_DUR register description

ActD[7:0] Sleep-to-Wake, Return-to-Sleep duration

DUR = (Act_DUR + 1)*8/ODR

DocID023312 Rev 2 49/52

LSM303D Package information

9 Package information

In order to meet environmental requirements, ST offers these devices in different grades of

ECOPACK® packages, depending on their level of environmental compliance. ECOPACK

specifications, grade definitions and product status are available at: www.st.com.

ECOPACK is an ST trademark.

Package information LSM303D

50/52 DocID023312 Rev 2

Figure 12. LGA 3x3x1.0 16L mechanical drawing

Table 96. LGA 3x3x1.0 16L mechanical data

Dim.

Min. Typ. Max.

A1 1

A2 0.785

A3 0.200

D1 2.850 3.000 3.150

E1 2.850 3.000 3.150

L1 1.000 1.060

L2 2.000 2.060

N1 0.500

N2 1.000

M 0.040 0.100

P1 0.875

P2 1.275

T1 0.290 0.350 0.410

T2 0.190 0.250 0.310

d 0.150

k 0.050

7983231_M

DocID023312 Rev 2 51/52

LSM303D Revision history

10 Revision history

Table 97. Document revision history

Date Revision Changes

22-Jun-2012 1 Initial release

05-Nov-2013 2

Document status promoted from preliminary to production data

Changed abbreviation of magnetic sensitivity to M_So and updated

footnote 6 in Table 3: Sensor characteristics

Added ESD to Table 8: Absolute maximum ratings

Minor textual updates throughout document

LSM303D

52/52 DocID023312 Rev 2

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