LSM303DLM - STMICROELECTRONICS

Preliminary data

This is preliminary information on a new product now in development or undergoing evaluation. Details are subject to

change without notice.

April 2011 Doc ID 018725 Rev 1 1/38

LSM303DLM

Sensor module:

3-axis accelerometer and 3-axis magnetometer

Features

■Analog supply voltage: 2.16 V to 3.6 V

■Digital supply voltage IOs: 1.8 V

■Power-down mode

■3 magnetic field channels and 3 acceleration

channels

■±1.3 to ±8.1 gauss magnetic field full-scale

■±2 g/±4 g/±8 g dynamically selectable full-

scale

■High performance g-sensor

■I2C serial interface

■2 independent programmable interrupt

generators for free-fall and motion detection

■Accelerometer sleep-to-wakeup function

■6D orientation detection

■ECOPACK®, RoHS, and “Green” compliant

Applications

■Compensated compass

■Map rotation

■Position detection

■Motion-activated functions

■Free-fall detection

■Intelligent power-saving for handheld devices

■Display orientation

■Gaming and virtual reality input devices

■Impact recognition and logging

■Vibration monitoring and compensation

Description

The LSM303DLM is a system-in-package

featuring a 3D digital linear acceleration sensor

and a 3D digital magnetic sensor.

The various sensing elements are manufactured

by using specialized micromachining processes,

while the IC interfaces are realized using a CMOS

technology that allows the design of a dedicated

circuit which is trimmed to better match the

sensing element characteristics. The

LSM303DLM has a linear acceleration full-scale

of ±2 g / ±4 g / ±8 g and a magnetic field full-scale

of ±1.3 / ±1.9 / ±2.5 / ±4.0 / ±4.7 / ±5.6 / ±8.1

gauss, both fully selectable by the user.

The LSM303DLM includes an I2C serial bus

interface that supports standard mode (100 kHz)

and fast mode (400 kHz). The system can be

configured to generate an interrupt signal by

inertial wakeup/free-fall events, as well as by the

position of the device itself. Thresholds and timing

of interrupt generators are programmable on the

fly by the end user.

Magnetic and accelerometer parts can be

enabled or put into power-down mode separately.

The LSM303DLM is available in a plastic land grid

array package (LGA), and is guaranteed to

operate over an extended temperature range from

-40 to +85 °C.

Table 1. Device summary

Part number

Temp.

range

[°C]

Package Packing

LSM303DLM

-40 to +85 LGA-28

Tray

LSM303DLMTR Tape and

reel

LGA-28L (5x5x1.0 mm)

www.st.com

Contents LSM303DLM

2/38 Doc ID 018725 Rev 1

Contents

1 Block diagram and pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.2 Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 Module specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.1 Sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.2 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.3 Communication interface characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.3.1 Sensor I2C - inter IC control interface . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.1 Linear acceleration sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.2 Zero-g level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.3 Sleep-to-wakeup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

5 Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

5.1 Factory calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

6 Application hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

6.1 External capacitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

6.2 Soldering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

6.3 High current wiring effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

7 Digital interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

7.1 I2C serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

7.1.1 I2C operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7.1.2 Linear acceleration digital interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

7.1.3 Magnetic field digital interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

8 Register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

9 Register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

LSM303DLM Contents

Doc ID 018725 Rev 1 3/38

9.1 Linear acceleration register description . . . . . . . . . . . . . . . . . . . . . . . . . . 22

9.1.1 CTRL_REG1_A (20h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

9.1.2 CTRL_REG2_A (21h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

9.1.3 CTRL_REG3_A (22h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

9.1.4 CTRL_REG4_A (23h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

9.1.5 CTRL_REG5_A (24h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ) 26

9.1.6 HP_FILTER_RESET_A (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

9.1.7 REFERENCE_A (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

9.1.8 STATUS_REG_A(27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

9.1.9 OUT_X_L_A (28h), OUT_X_H_A (29h) . . . . . . . . . . . . . . . . . . . . . . . . . 27

9.1.10 OUT_Y_L_A (2Ah), OUT_Y_H_A (2Bh) . . . . . . . . . . . . . . . . . . . . . . . . 27

9.1.11 OUT_Z_L_A (2Ch), OUT_Z_H_A (2Dh) . . . . . . . . . . . . . . . . . . . . . . . . 27

9.1.12 INT1_CFG_A (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

9.1.13 INT1_SRC_A (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

9.1.14 INT1_THS_A (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

9.1.15 INT1_DURATION_A (33h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

9.1.16 INT2_CFG_A (34h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

9.1.17 INT2_SRC_A (35h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

9.1.18 INT2_THS_A (36h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

9.1.19 INT2_DURATION_A (37h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

9.2 Magnetic field sensing register description . . . . . . . . . . . . . . . . . . . . . . . 32

9.2.1 CRA_REG_M (00h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

9.2.2 CRB_REG_M (01h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

9.2.3 MR_REG_M (02h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

9.2.4 OUT_X_H_M (03), OUT_X_LH_M (04h) . . . . . . . . . . . . . . . . . . . . . . . . 33

9.2.5 OUT_Z_H_M (05), OUT_Z_L_M (06h) . . . . . . . . . . . . . . . . . . . . . . . . . 34

9.2.6 OUT_Y_H_M (07), OUT_Y_L_M (08h) . . . . . . . . . . . . . . . . . . . . . . . . . 34

9.2.7 SR_REG_M (09h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

9.2.8 IR_REG_M (0Ah/0Bh/0Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

9.2.9 WHO_AM_I _M (0F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

10 Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

11 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

List of tables LSM303DLM

4/38 Doc ID 018725 Rev 1

List of tables

Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Table 2. Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Table 3. Sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Table 4. Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Table 5. I2C slave timing values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Table 6. Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Table 7. Serial interface pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Table 8. Serial interface pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Table 9. Transfer when master is writing one byte to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Table 10. Transfer when master is writing multiple bytes to slave . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Table 11. Transfer when master is receiving (reading) one byte of data from slave . . . . . . . . . . . . . 16

Table 12. SAD and read/write patterns. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Table 13. Transfer when master is receiving (reading) multiple bytes of data from slave . . . . . . . . . 17

Table 14. SAD and read/write patterns. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Table 15. Register address map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Table 16. CTRL_REG1_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Table 17. CTRL_REG1_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Table 18. Power mode and low-power output data rate configurations . . . . . . . . . . . . . . . . . . . . . . . 21

Table 19. Normal-mode output data rate configurations and low-pass cut-off frequencies . . . . . . . . 22

Table 20. CTRL_REG2_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Table 21. CTRL_REG2_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Table 22. High-pass filter mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Table 23. High-pass filter cut-off frequency configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Table 24. CTRL_REG3_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Table 25. CTRL_REG3_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Table 26. Data signal on INT 1 and INT 2 pad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Table 27. CTRL_REG4_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Table 28. CTRL_REG4_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Table 29. CTRL_REG5_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Table 30. CTRL_REG5_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Table 31. Sleep-to-wakeup configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Table 32. REFERENCE_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Table 33. REFERENCE_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Table 34. STATUS_REG_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Table 35. STATUS_REG_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Table 36. INT1_CFG_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Table 37. INT1_CFG_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Table 38. Interrupt 1 source configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Table 39. INT1_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Table 40. INT1_SRC_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Table 41. INT1_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Table 42. INT1_THS description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Table 43. INT1_DURATION_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Table 44. INT2_DURATION_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Table 45. INT2_CFG_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Table 46. INT2_CFG_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Table 47. Interrupt mode configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Table 48. INT2_SRC_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

LSM303DLM List of tables

Doc ID 018725 Rev 1 5/38

Table 49. INT2_SRC_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Table 50. INT2_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Table 51. INT2_THS description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Table 52. INT2_DURATION_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Table 53. INT2_DURATION_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Table 54. CRA_REG_M register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Table 55. CRA_REG_M description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Table 56. Data rate configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Table 57. CRA_REG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Table 58. Gain setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Table 59. MR_REG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Table 60. MR_REG description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Table 61. Magnetic sensor operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Table 62. SR register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 63. SR register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 64. IRA_REG_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 65. IRB_REG_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 66. IRC_REG_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 67. WHO_AM_I_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 68. Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Block diagram and pin description LSM303DLM

6/38 Doc ID 018725 Rev 1

1 Block diagram and pin description

1.1 Block diagram

Figure 1. Block diagram

Y+

Z+

Y-

Z-

X+

X-

MUX

SDA_M

SCL_M

I (a)

CHARGE

AMPLIFIER

Sensing Block

Sensing Interface

A/D Control

Logic

converter

I2C

INT1

INT2

MUX

I (M)

CHARGE

AMPLIFIER

Y+

Z+

Y-

Z-

X+

X-

INTERRUPT GEN.

CLOCK

TRIMMING

CIRCUITS

REFERENCE

OFFSET

CIRCUITS

BUILT-IN

CIRCUITS

SET/RESET

SDA_A

SCL_A

AM09239V1

LSM303DLM Block diagram and pin description

Doc ID 018725 Rev 1 7/38

1.2 Pin description

Figure 2. Pin connection

Table 2. Pin description

Pin# Name Function

1 Reserved Connect to GND

2 GND 0 V supply

3 Reserved Connect to GND

4 SA0_A Linear acceleration signal I2C less significant bit of the device

address (SA0)

5 NC Internally not connected

6VddPower supply

7 Reserved Connect to Vdd

8 Reserved Leave unconnected

9 Reserved Leave unconnected

10 Reserved Leave unconnected

11 Reserved Leave unconnected

12 SET2 S/R capacitor connection (C2)

13 Reserved Leave unconnected

14 Reserved Leave unconnected

15 C1 Reserved capacitor connection (C1)

16 SET1 S/R capacitor connection (C2)

17 Reserved Connect to GND

18 DRDY_M Magnetic signal interface data ready

19 SDA_M Magnetic signal interface I2C serial data (SDA)

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Block diagram and pin description LSM303DLM

8/38 Doc ID 018725 Rev 1

20 SCL_M Magnetic signal interface I2C serial clock (SCL)

21 NC Internally not connected

22 Vdd_IO Signal interface power supply for I/O pins

23 Reserved Connect to Vdd_IO

24 SCL_A Linear acceleration signal interface I2C serial clock (SCL)

25 SDA_A Linear acceleration signal interface I2C serial data (SDA)

26 INT1 Inertial Interrupt 1

27 INT2 Inertial Interrupt 2

28 Reserved Connect to GND

Table 2. Pin description (continued)

Pin# Name Function

LSM303DLM Module specifications

Doc ID 018725 Rev 1 9/38

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)

FS bit set to 00 ±2.0

gFS bit set to 01 ±4.0

FS bit set to 11 ±8.0

M_FS Magnetic measurement range

GN bits set to 001 ±1.3

gauss

GN bits set to 010 ±1.9

GN bits set to 011 ±2.5

GN bits set to 100 ±4.0

GN bits set to 101 ±4.7

GN bits set to 110 ±5.6

GN bits set to 111 ±8.1

LA_So Linear acceleration sensitivity

FS bit set to 00

12-bit representation 1

mg/digit

FS bit set to 01

12-bit representation 2

FS bit set to 11

12-bit representation 3.9

M_GN Magnetic gain setting

GN bits set to 001 (X,Y) 1100

LSB/

gauss

GN bits set to 001 (Z) 980

GN bits set to 010 (X,Y) 855

GN bits set to 010 (Z) 760

GN bits set to 011 (X,Y) 670

GN bits set to 011 (Z) 600

GN bits set to 100 (X,Y) 450

GN bits set to 100 (Z) 400

GN bits set to 101 (X,Y) 400

GN bits set to 101 (Z) 355

GN bits set to 110 (X,Y) 330

GN bits set to 110 (Z) 295

GN bits set to 111(2) (X,Y) 230

GN bits set to 111(2) (Z) 205

Module specifications LSM303DLM

10/38 Doc ID 018725 Rev 1

2.2 Electrical characteristics

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

LA_TCSo Linear acceleration sensitivity

change vs. temperature FS bit set to 00 ±0.01 %/°C

LA_TyOff

Linear acceleration typical

Zero-g level offset

accuracy(3),(4)

FS bit set to 00 ±60 mg

LA_TCOff Linear acceleration Zero-g level

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

M_CAS Magnetic cross-axis sensitivity Cross field = 0.5 gauss

H applied = ±3 gauss ±1 %FS/

gauss

M_EF Maximum exposed field No permitting effect on

zero reading 10000 gauss

M_R Magnetic resolution 5 mgauss

M_DF Disturbing field

Sensitivity starts to

degrade. Use S/R pulse to

restore sensitivity

20 gauss

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.

Table 3. Sensor characteristics (continued)

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

Table 4. 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 V

Idd Current consumption in normal

mode(2) 360 µA

IddPdn Current consumption in power-

down mode 2µA

Top Operating temperature range -40 +85 °C

1. Typical specifications are not guaranteed.

2. Magnetic sensor setting ODR = 7.5 Hz. Accelerometer sensor ODR = 50 Hz.

LSM303DLM Module specifications

Doc ID 018725 Rev 1 11/38

2.3 Communication interface characteristics

2.3.1 Sensor I2C - inter IC control interface

Subject to general operating conditions for Vdd and top.

Figure 3. I2C slave timing diagram (b)

Table 5. 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 0.01 3.45 0.01 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.

b. Measurement points are done at 0.2·Vdd_IO and 0.8·Vdd_IO, for both ports.

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Absolute maximum ratings LSM303DLM

12/38 Doc ID 018725 Rev 1

3 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.

Table 6. 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, SDA) -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

This is a mechanical shock sensitive device, improper handling can cause permanent

damage to the part.

This is an ESD sensitive device, improper handling can cause permanent damage to

the part.

LSM303DLM Terminology

Doc ID 018725 Rev 1 13/38

4 Terminology

4.1 Linear acceleration sensitivity

Linear acceleration sensitivity describes the gain of the accelerometer sensor and can be

determined by applying 1 g acceleration to it. As the sensor can measure DC accelerations,

this can be done easily by pointing the selected axis towards the ground, noting the output

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

again. By doing so, a ±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 over time. The sensitivity

tolerance describes the range of sensitivities of a large number of sensors.

4.2 Zero-g level

Zero-g level Offset (LA_TyOff) describes the deviation of an actual output signal from the

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

horizontal surface measures 0 g on both the X and Y axes, whereas the Z axis measures 1

g. Ideally, the output is in the middle of the dynamic range of the sensor (content of OUT

registers 00h, data expressed as 2’s complement number). A deviation from the ideal value

in this case is called Zero-g offset. Offset is, to some extent, a result of stress to the 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 “Linear acceleration Zero-g level change vs. temperature” (LA_TCOff) in

Table 3. The Zero-g level tolerance (TyOff) describes the standard deviation of the range of

Zero-g levels of a group of sensors.

4.3 Sleep-to-wakeup

The “sleep-to-wakeup” function, in conjunction with low-power mode, allows further

reduction of system power consumption and the development of new smart applications.

The LSM303DLM may be set to a low-power operating mode, characterized by lower data

rate refreshing. In this way, the device, even if sleeping, continues sensing acceleration and

generating interrupt requests.

When the sleep-to-wakeup function is activated, the LSM303DLM is able to automatically

wake up as soon as the interrupt event has been detected, increasing the output data rate

and bandwidth. With this feature the system may be efficiently switched from low-power

mode to full-performance depending on user-selectable positioning and acceleration events,

therefore ensuring power-saving and flexibility.

Functionality LSM303DLM

14/38 Doc ID 018725 Rev 1

5 Functionality

The LSM303DLM is a system-in-package featuring a 3D digital linear acceleration and 3D

digital magnetic field detection sensor.

The system includes specific sensing elements and an IC interface capable of measuring

both the linear acceleration and the magnetic field applied on it and to provide a signal to the

external world through an I2C serial interface with separated digital output.

The sensing system is manufactured using specialized micromachining processes, while

the IC interfaces are realized using a CMOS technology that allows the design of a

dedicated circuit which is trimmed to better match the sensing element characteristics.

The LSM303DLM features two data-ready signals (RDY) which indicate when a new set of

measured acceleration data and magnetic data are available, therefore simplifying data

synchronization in the digital system that uses the device.

The LSM303DLM may also be configured to generate an inertial wakeup and free-fall

interrupt signal according to a programmed acceleration event along the enabled axes. Both

free-fall and wakeup can be used simultaneously on two different accelerometer interrupts.

5.1 Factory calibration

The IC interface is factory calibrated for linear acceleration sensitivity (LA_So), and linear

acceleration Zero-g level (LA_TyOff).

The trimming values are stored inside the device in non-volatile memory. When the device is

turned on, the trimming parameters are downloaded into the registers to be used during

normal operation. This allows the use of the device without further calibration.

LSM303DLM Application hints

Doc ID 018725 Rev 1 15/38

6 Application hints

Figure 4. LSM303DLM electrical connection - recommended for I2C fast mode

6.1 External capacitors

The C1 and C2 external capacitors should have a low SR value ceramic type construction.

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 obtain proper behavior of the IC (refer to Figure 4).

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

selectable and accessible through the I2C interface.

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 interface.

DIRECTIONS OF

DETECTABLE

MAGNETIC FIELDS

DIRECTIONS OF

DETECTABLE

ACCELERATIONS

RES

SCL_A

RES

GND

(TOP VIEW)

RES

418

RES

SDA_A

INT1

INT2

Vdd_IO

RES

VDD

SDA_M

SCL_M

SET1

RES

DRDY_M

LSM303DLM

SA0

RES

2822

C2=0.22uF

GND

C1=4.7uF

Vdd_IO

Vdd

C4 = 100uF

C3 = 10uF

GND

SET2

RES

Vdd_IO

Rpu

Electrical connection

Rpu=10kOhm

RES

Vdd_IO

RpuRpu=10kOhm

AM09240V1

Application hints LSM303DLM

16/38 Doc ID 018725 Rev 1

6.2 Soldering information

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

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.

6.3 High current wiring effects

High current in the 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 computation.

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

LSM303DLM Digital interfaces

Doc ID 018725 Rev 1 17/38

7 Digital interfaces

The registers embedded inside the LSM303DLM are accessible through two separate I2C

serial interfaces; one for the accelerometer core and the other for the magnetometer core.

The two interfaces can be connected together on the PCB.

7.1 I2C serial interface

The LSM303DLM I2C is a bus slave. The I2C is employed to write the data into the 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 bidirectional line used for sending and receiving the data

to/from the interface.

Table 7. Serial interface pin description

Pin name Pin description

SCL_A I2C serial clock (SCL) for accelerometer

SDA_A I2C serial data (SDA) for accelerometer

SCL_M I2C serial clock (SCL) for magnetometer

SDA_M I2C serial data (SDA) for magnetometer

Table 8. Serial interface pin description

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 LSM303DLM

18/38 Doc ID 018725 Rev 1

7.1.1 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 8th 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.

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 inside the LSM303DLM behaves like 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 (SUB) is transmitted; the

7 LSBs 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

increased to allow multiple data read/write.

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

of bytes transferred 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 a 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.

Table 9. Transfer when master is writing one byte to slave

Master ST SAD + W SUB DATA SP

Slave SAK SAK SAK

Table 10. Transfer when master is writing multiple bytes to slave

Master ST SAD + W SUB DATA DATA SP

Slave SAK SAK SAK SAK

Table 11. 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

LSM303DLM Digital interfaces

Doc ID 018725 Rev 1 19/38

7.1.2 Linear acceleration digital interface

For linear acceleration, the default (factory) 7-bit slave address is 001100xb. The SDO/SA0

pad can be used to modify the least significant bit of the device address. If the SA0 pad is

connected to voltage supply, the LSB is ‘1’ (address 0011001b) otherwise, if the SA0 pad is

connected to ground, the LSB value is ‘0’ (address 0011000b). This solution permits

connecting and addressing two different accelerometers to the same I2C lines.

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 the direction unchanged. Table 12 explains how the

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

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

master acknowledge.

7.1.3 Magnetic field digital interface

For magnetic sensors the default (factory) 7-bit slave address is 0011110xb.

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 the direction unchanged. Table 14 explains how the

SAD is composed.

Table 12. SAD and read/write patterns

Command SAD[6:1] SAD[0] = SA0 R/W SAD+R/W

Read 001100 0 1 00110001 (31h)

Write 001100 0 0 00110000 (30h)

Read 001100 1 1 00110011 (33h)

Write 001100 1 0 00110010 (32h)

Table 13. 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

Table 14. SAD and read/write patterns

Command SAD[6:0] R/W SAD+R/W

Read 0011110 1 00111101 (3Dh)

Write 0011110 0 00111100 (3Ch)

Digital interfaces LSM303DLM

20/38 Doc ID 018725 Rev 1

Magnetic signal interface reading/writing

The interface uses an address pointer to indicate which register location is to be read from

or written to. These pointer locations are sent from the master to this slave device and

succeed the 7-bit address plus 1 bit read/write identifier.

To minimize communication between the master and magnetic digital interface of

LSM303DLM, the address pointer updates automatically without master intervention.

This automatic address pointer update has two additional features. First, when address 12

or higher is accessed, the pointer updates to address 00, and secondly, when address 08 is

reached, the pointer rolls back to address 03. Logically, the address pointer operation

functions as shown below.

If (address pointer = 08) then the address pointer = 03

Or else, if (address pointer >= 12) then the address pointer = 0

Or else, (address pointer) = (address pointer) + 1

The address pointer value itself cannot be read via the I2C bus.

Any attempt to read an invalid address location returns 0, and any write to an invalid

address location, or an undefined bit within a valid address location, is ignored by this

device.

LSM303DLM Register mapping

Doc ID 018725 Rev 1 21/38

8 Register mapping

Table 15 provides a listing of the 8-bit registers embedded in the device and the related

addresses:

Table 15. Register address map

Name Slave

address Type

Default Comment

Hex Binary

Reserved (do not modify) Table 12 -- 00 - 1F -- -- Reserved

CTRL_REG1_A Table 12 rw 20 010 0000 00000111

CTRL_REG2_A Table 12 rw 21 010 0001 00000000

CTRL_REG3_A Table 12 rw 22 010 0010 00000000

CTRL_REG4_A Table 12 rw 23 010 0011 00000000

CTRL_REG5_A Table 12 rw 24 010 0100 00000000

HP_FILTER_RESET_A Table 12 r 25 010 0101 -- Dummy register

REFERENCE_A Table 12 rw 26 010 0110 00000000

STATUS_REG_A Table 12 r 27 010 0111 00000000

OUT_X_L_A Table 12 r 28 010 1000 output

OUT_X_H_A Table 12 r 29 010 1001 output

OUT_Y_L_A Table 12 r 2A 010 1010 output

OUT_Y_H_A Table 12 r 2B 010 1011 output

OUT_Z_L_A Table 12 r 2C 010 1100 output

OUT_Z_H_A Table 12 r 2D 010 1101 output

Reserved (do not modify) Table 12 -- 2E - 2F -- -- Reserved

INT1_CFG_A Table 12 rw 30 011 0000 00000000

INT1_SOURCE_A Table 12 r 31 011 0001 00000000

INT1_THS_A Table 12 rw 32 011 0010 00000000

INT1_DURATION_A Table 12 rw 33 011 0011 00000000

INT2_CFG_A Table 12 rw 34 011 0100 00000000

INT2_SOURCE_A Table 12 r 35 011 0101 00000000

INT2_THS_A Table 12 rw 36 011 0110 00000000

INT2_DURATION_A Table 12 rw 37 011 0111 00000000

Reserved (do not modify) Table 12 -- 38 - 3F -- -- Reserved

CRA_REG_M Table 14 rw 00 00000000 00010000

CRB_REG_M Table 14 rw 01 00000001 00100000

MR_REG_M Table 14 rw 02 00000010 00000011

22/38 Doc ID 018725 Rev 1

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 calibrated values. Their content is automatically restored when the device is powered

up.

OUT_X_H_M Table 14 r 03 00000011 output

OUT_X_L_M Table 14 r 04 00000100 output

OUT_Y_H_M Table 14 r 07 00000101 output

OUT_Y_L_M Table 14 r 08 00000110 output

OUT_Z_H_M Table 14 r 05 00000111 output

OUT_Z_L_M Table 14 r 06 00001000 output

SR_REG_Mg Table 14 r 09 00001001 00000000

IRA_REG_M Table 14 r 0A 00001010 01001000

IRB_REG_M Table 14 r 0B 00001011 00110100

IRC_REG_M Table 14 r 0C 00001100 00110011

Reserved (do not modify) Table 14 -- 0D - 0E -- -- Reserved

WHO_AM_I_M Table 14 r 0F 00001111 00111100 Who am I ID

Reserved (do not modify) Table 14 -- 10 - 3A -- -- Reserved

Table 15. Register address map (continued)

Name Slave

address Type

Default Comment

Hex Binary

LSM303DLM Register description

Doc ID 018725 Rev 1 23/38

9 Register description

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

acceleration data. The register address, made up of 7 bits, is used to identify them and to

write the data through the serial interface.

9.1 Linear acceleration register description

9.1.1 CTRL_REG1_A (20h)

PM bits allow selection between power-down and two operating active modes. The device is

in power-down mode when the PD bits are set to “000” (default value after boot). Table 18

shows all the possible power mode configurations and respective output data rates. Output

data in the low-power modes are computed with a low-pass filter cut-off frequency defined

by DR1 and DR0 bits.

DR bits, in normal-mode operation, select the data rate at which acceleration samples are

produced. In low-power mode they define the output data resolution. Table 19 shows all the

possible configurations for the DR1 and DR0 bits.

Table 16. CTRL_REG1_A register

PM2 PM1 PM0 DR1 DR0 Zen Yen Xen

Table 17. CTRL_REG1_A description

PM2 - PM0 Power mode selection. Default value: 000

(000: power-down; others: refer to Table 18)

DR1, DR0 Data rate selection. Default value: 00

(00:50 Hz; others: refer to Table 19)

Zen Z axis enable. Default value: 1

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

Ye n Y axis enable. Default value: 1

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

Xen X axis enable. Default value: 1

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

Table 18. Power mode and low-power output data rate configurations

PM2 PM1 PM0 Power mode selection Output data rate [Hz]

ODRLP

0 0 0 Power-down --

0 0 1 Normal mode ODR

0 1 0 Low-power 0.5

24/38 Doc ID 018725 Rev 1

9.1.2 CTRL_REG2_A (21h)

The BOOT bit is used to refresh the content of internal registers stored in the Flash memory

block. At device power-up, the content of the Flash memory block is transferred to the

internal registers related to trimming functions to permit good device behavior. If, for any

0 1 1 Low-power 1

1 0 0 Low-power 2

1 0 1 Low-power 5

1 1 0 Low-power 10

Table 19. Normal-mode output data rate configurations and low-pass cut-off

frequencies

DR1 DR0 Output data rate [Hz]

ODR

Low-pass filter cut-off

frequency [Hz]

00 50 37

01 100 74

1 0 400 292

1 1 1000 780

Table 18. Power mode and low-power output data rate configurations (continued)

PM2 PM1 PM0 Power mode selection Output data rate [Hz]

ODRLP

Table 20. CTRL_REG2_A register

BOOT HPM1 HPM0 FDS HPen2 HPen1 HPCF1 HPCF0

Table 21. CTRL_REG2_A description

BOOT Reboot memory content. Default value: 0

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

HPM1, HPM0 High-pass filter mode selection. Default value: 00

(00: normal mode; others: refer to Table 22)

FDS Filtered data selection. Default value: 0

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

HPen2 High-pass filter enabled for Interrupt 2 source. Default value: 0

(0: filter bypassed; 1: filter enabled)

HPen1 High-pass filter enabled for Interrupt 1 source. Default value: 0

(0: filter bypassed; 1: filter enabled)

HPCF1,

HPCF0

High-pass filter cut-off frequency configuration. Default value: 00

(00: HPc=8; 01: HPc=16; 10: HPc=32; 11: HPc=64)

LSM303DLM Register description

Doc ID 018725 Rev 1 25/38

reason, the content of the trimming registers has changed, it is sufficient to use this bit to

restore the correct values. When the BOOT bit is set to ‘1’ the content of the internal Flash is

copied to the corresponding internal registers and is used to calibrate the device. These

values are factory-trimmed and are different for every accelerometer. They permit good

device behavior and normally do not have to be modified. At the end of the boot process, the

BOOT bit is again set to ‘0’.

HPCF[1:0]. These bits are used to configure the high-pass filter cut-off frequency (ft), which

is given by:

The equation can be simplified to the following approximated equation:

9.1.3 CTRL_REG3_A (22h)

Table 22. High-pass filter mode configuration

HPM1 HPM0 High-pass filter mode

0 0 Normal mode (reset reading HP_RESET_FILTER)

0 1 Reference signal for filtering

1 0 Normal mode (reset reading HP_RESET_FILTER)

Table 23. High-pass filter cut-off frequency configuration

HPcoeff2,1 ft [Hz]

Data rate = 50 Hz

ft [Hz]

Data rate = 100 Hz

ft [Hz]

Data rate = 400 Hz

ft [Hz]

Data rate = 1000 Hz

00 1 2 8 20

01 0.5 1 4 10

10 0.25 0.5 2 5

11 0.125 0.25 1 2.5

ft11

HPc

------------–

⎝⎠

⎛⎞

2π

------

⋅ln=

6HPc⋅

----------------------=

Table 24. CTRL_REG3_A register

IHL PP_OD LIR2 I2_CFG1 I2_CFG0 LIR1 I1_CFG1 I1_CFG0

Table 25. CTRL_REG3_A description

IHL Interrupt active high, low. Default value: 0

(0: active high; 1: active low)

PP_OD Push-pull/open drain selection on interrupt pad. Default value 0.

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

26/38 Doc ID 018725 Rev 1

9.1.4 CTRL_REG4_A (23h)

The BDU bit is used to inhibit output register updates between the reading of the upper and

lower register parts. In default mode (BDU = ‘0’), the lower and upper register parts are

updated continuously. If it is not certain whether to read faster than the output data rate, it is

recommended to set BDU bit to ‘1’. In this way, after the reading of the lower (upper) register

part, the content of that output register is not updated until the upper (lower) part is read

also. This feature avoids reading LSB and MSB related to different samples.

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)

I2_CFG1,

I2_CFG0

Data signal on INT 2 pad control bits. Default value: 00.

(see Table 26)

LIR1

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

reading INT1_SRC register. Default value: 0.

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

I1_CFG1,

I1_CFG0

Data signal on INT 1 pad control bits. Default value: 00.

(see Table 26)

Table 26. Data signal on INT 1 and INT 2 pad

I1(2)_CFG1 I1(2)_CFG0 INT 1(2) Pad

0 0 Interrupt 1 (2) source

0 1 Interrupt 1 source OR Interrupt 2 source

1 0 Data ready

1 1 Boot running

Table 25. CTRL_REG3_A description (continued)

Table 27. CTRL_REG4_A register

BDU BLE FS1 FS0 0 0 0(1)

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

---

Table 28. CTRL_REG4_A description

BDU Block data update. Default value: 0

(0: continuos update; 1: output registers not updated between MSB and LSB reading)

BLE Big/little endian data selection. Default value 0.

(0: data LSB @ lower address; 1: data MSB @ lower address)

FS1, FS0 Full-scale selection. Default value: 00.

(00: ±2 g; 01: ±4 g; 11: ±8 g)

LSM303DLM Register description

Doc ID 018725 Rev 1 27/38

9.1.5 CTRL_REG5_A (24h)

TurnOn bits are used for turning on the sleep-to-wakeup function.

By setting the TurnOn [1:0] bits to 11, the “sleep-to-wakeup” function is enabled. When an

interrupt event occurs, the device goes into normal mode, increasing the ODR to the value

defined in CTRL_REG1_A. Although the device is in normal mode, CTRL_REG1_A content

is not automatically changed to “normal mode” configuration.

9.1.6 HP_FILTER_RESET_A (25h)

Dummy register. Reading at this address instantaneously zeroes the content of the internal

high-pass filter. If the high-pass filter is enabled, all three axes are instantaneously set to 0

g. This makes it possible to surmount the settling time of the high-pass filter.

9.1.7 REFERENCE_A (26h)

This register sets the acceleration value taken as a reference for the high-pass filter output.

When the filter is turned on (at least one FDS, HPen2, or HPen1 bit is equal to ‘1’) and HPM

bits are set to “01”, filter out is generated taking this value as a reference.

Table 29. CTRL_REG5_A register

000000TurnOn1TurnOn0

Table 30. CTRL_REG5_A description

Tu rn On 1 ,

Tu r n O n 0 Turn-on mode selection for sleep-to-wakeup function. Default value: 00.

Table 31. Sleep-to-wakeup configuration

TurnOn1 TurnOn0 Sleep-to-wakeup status

0 0 Sleep-to-wakeup function is disabled

Turned on: the device is in low-power mode

(ODR is defined in CTRL_REG1_A)

Table 32. REFERENCE_A register

Ref7 Ref6 Ref5 Ref4 Ref3 Ref2 Ref1 Ref0

Table 33. REFERENCE_A description

Ref7 - Ref0 Reference value for high-pass filter. Default value: 00h.

28/38 Doc ID 018725 Rev 1

9.1.8 STATUS_REG_A(27h)

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

X-axis acceleration data. The value is expressed as 2’s complement.

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

Y-axis acceleration data. The value is expressed as 2’s complement.

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

Z-axis acceleration data. The value is expressed as 2’s complement.

9.1.12 INT1_CFG_A (30h)

Table 34. STATUS_REG_A register

ZYXOR ZOR YOR XOR ZYXDA ZDA YDA XDA

Table 35. STATUS_REG_A description

ZYXOR X, Y, and Z axis data overrun. Default value: 0

(0: no overrun has occurred, 1: new data has overwritten the previous one)

ZOR

Z axis data overrun. Default value: 0

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

one)

YOR

Y axis data overrun. Default value: 0

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

one)

XOR

X axis data overrun. Default value: 0

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

one)

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

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

ZDA 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)

YDA 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)

XDA 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)

Table 36. INT1_CFG_A register

AOI 6D ZHIE ZLIE YHIE YLIE XHIE XLIE

LSM303DLM Register description

Doc ID 018725 Rev 1 29/38

Configuration register for Interrupt 1 source.

9.1.13 INT1_SRC_A (31h)

Table 37. INT1_CFG_A description

AOI AND/OR combination of interrupt events. Default value: 0

(see Table 38).

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

(see Table 38).

ZHIE

Enable interrupt generation on Z high event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value higher than preset threshold)

ZLIE

Enable interrupt generation on Z low event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value lower than preset threshold)

YHIE

Enable interrupt generation on Y high event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value higher than preset threshold)

YLIE

Enable interrupt generation on Y low event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value lower than preset threshold)

XHIE

Enable interrupt generation on X high event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value higher than preset threshold)

XLIE

Enable interrupt generation on X low event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value lower than preset threshold)

Table 38. Interrupt 1 source configurations

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 39. INT1_SRC register

0 IA ZHZLYHYLXHXL

30/38 Doc ID 018725 Rev 1

Interrupt 1 source register. Read-only register.

Reading at this address clears the INT1_SRC_A IA bit (and the interrupt signal on the INT 1

pin) and allows the refreshing of data in the INT1_SRC_A register if the latched option was

chosen.

9.1.14 INT1_THS_A (32h)

9.1.15 INT1_DURATION_A (33h)

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.

Table 40. INT1_SRC_A description

IA Interrupt active. 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 41. INT1_THS register

0 THS6 THS5 THS4 THS3 THS2 THS1 THS0

Table 42. INT1_THS description

THS6 - THS0 Interrupt 1 threshold. Default value: 000 0000

Table 43. INT1_DURATION_A register

0 D6D5D4D3D2D1D0

Table 44. INT2_DURATION_A description

D6 - D0 Duration value. Default value: 000 0000

LSM303DLM Register description

Doc ID 018725 Rev 1 31/38

9.1.16 INT2_CFG_A (34h)

Configuration register for Interrupt 2 source.

Table 45. INT2_CFG_A register

AOI 6D ZHIE ZLIE YHIE YLIE XHIE XLIE

Table 46. INT2_CFG_A description

AOI AND/OR combination of interrupt events. Default value: 0

(see Table 47).

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

(see Table 47).

ZHIE

Enable interrupt generation on Z high event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value higher than preset threshold)

ZLIE

Enable interrupt generation on Z low event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value lower than preset threshold)

YHIE

Enable interrupt generation on Y high event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value higher than preset threshold)

YLIE

Enable interrupt generation on Y low event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value lower than preset threshold)

XHIE

Enable interrupt generation on X high event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value higher than preset threshold)

XLIE

Enable interrupt generation on X low event. Default value: 0

(0: disable interrupt request,

1: enable interrupt request on measured accel. value lower than preset threshold)

Table 47. Interrupt mode configuration

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

32/38 Doc ID 018725 Rev 1

9.1.17 INT2_SRC_A (35h)

Interrupt 2 source register. Read-only register.

Reading at this address clears the INT2_SRC_A IA bit (and the interrupt signal on the INT 2

pin) and allows the refreshing of data in the INT2_SRC_A register if the latched option was

chosen.

9.1.18 INT2_THS_A (36h)

9.1.19 INT2_DURATION_A (37h)

Table 48. INT2_SRC_A register

0 IA ZHZLYHYLXHXL

Table 49. INT2_SRC_A description

IA Interrupt active. 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 50. INT2_THS register

0 THS6 THS5 THS4 THS3 THS2 THS1 THS0

Table 51. INT2_THS description

THS6 - THS0 Interrupt 1 threshold. Default value: 000 0000

Table 52. INT2_DURATION_A register

0 D6D5D4D3D2D1D0

LSM303DLM Register description

Doc ID 018725 Rev 1 33/38

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

Duration time steps and maximum values depend on the ODR chosen.

9.2 Magnetic field sensing register description

9.2.1 CRA_REG_M (00h)

9.2.2 CRB_REG_M (01h)

Table 53. INT2_DURATION_A description

D6 - D0 Duration value. Default value: 000 0000

Table 54. CRA_REG_M register

0(1) 0(1)

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

0(1) DO2 DO1 DO0 0(1) 0(1)

Table 55. CRA_REG_M description

DO2 to DO0 Data output rate bits. These bits set the rate at which data is written to all three data

output registers (refer to Table 56). Default value: 100

Table 56. Data rate configurations

DO2 DO1 DO0 Minimum data output rate (Hz)

00 0 0.75

00 1 1.5

01 0 3.0

01 1 7.5

10 0 15

10 1 30

11 0 75

1 1 1 220

Table 57. CRA_REG register

GN2 GN1 GN0 0(1)

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

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

CRA_REG description

GN1-0 Gain configuration bits. The gain configuration is common for all channels (refer to

Table 58)

34/38 Doc ID 018725 Rev 1

9.2.3 MR_REG_M (02h)

9.2.4 OUT_X_H_M (03), OUT_X_LH_M (04h)

X-axis magnetic field data. The value is expressed as 2’s complement.

9.2.5 OUT_Z_H_M (05), OUT_Z_L_M (06h)

Z-axis magnetic field data. The value is expressed as 2’s complement.

9.2.6 OUT_Y_H_M (07), OUT_Y_L_M (08h)

Y-axis magnetic field data. The value is expressed as 2’s complement.

Table 58. Gain setting

GN2 GN1 GN0

Sensor input

field range

[Gauss]

Gain X/Y and

[LSB/Gauss]

Gain Z

[LSB/Gauss] Output range

0 0 1 ±1.3 1100 980

0xF800–0x07FF

(-2048–2047)

010 ±1.9 855 760

011 ±2.5 670 600

100 ±4.0 450 400

101 ±4.7 400 355

110 ±5.6 330 295

111 ±8.1 230 205

Table 59. MR_REG

0(1)

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

0(1) 0(1) 0(1) 0(1) 0(1) MD1 MD0

Table 60. MR_REG description

MD1-0 Mode select bits. These bits select the operation mode of this device (refer to

Table 61)

Table 61. Magnetic sensor operating mode

MD1 MD0 Mode

0 0 Continuous-conversion mode

0 1 Single-conversion mode

1 0 Sleep-mode. Device is placed in sleep-mode

1 1 Sleep-mode. Device is placed in sleep-mode

LSM303DLM Register description

Doc ID 018725 Rev 1 35/38

9.2.7 SR_REG_M (09h)

9.2.8 IR_REG_M (0Ah/0Bh/0Ch)

9.2.9 WHO_AM_I _M (0F)

Table 62. SR register

-- -- -- -- -- -- LOCK DRDY

Table 63. SR register description

LOCK Data output register lock. Once a new set of measurements is available, this bit

is set when the first magnetic field data register has been read.

DRDY Data ready bit. This bit is when a new set of measurements is available.

Table 64. IRA_REG_M

01001000

Table 65. IRB_REG_M

00110100

Table 66. IRC_REG_M

00110011

Table 67. WHO_AM_I_M

00111100

Package information LSM303DLM

36/38 Doc ID 018725 Rev 1

10 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.

Figure 5. LGA-28: mechanical data and package dimensions

Dimensions

Ref. mm

Min. Typ. Max.

A1 1

A2 0.785

A3 0.200

D1 4.850 5.000 5.150

E1 4.850 5.000 5.150

L1 1.650

L2 3.300

N1 0.550

M 0.040 0.100 0.160

T1 0.260 0.300 0.340

T2 0.360 0.400 0.440

d 0.200

k 0.050

h 0.100

LGA-28 (5x5x1)

Land Grid Array Packages

Outline and

8192208_B

mechanical data

LSM303DLM Revision history

Doc ID 018725 Rev 1 37/38

11 Revision history

Table 68. Document revision history

Date Revision Changes

11-Apr-2011 1 Initial release.

LSM303DLM

38/38 Doc ID 018725 Rev 1

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