ST LSM303D User Manual

Ultra compact high performance e-Compass

LGA-16

(3x3x1 mm)

3D accelerometer and 3D magnetometer module

Features

■ 3 magnetic field channels and 3 acceleration

channels

■ ±2/±4/±8/±12 gauss dynamically selectable

magnetic full-scale

■ ±2/±4/±6/±8/±16 g dynamically selectable

linear acceleration full-scale

■ 16-bit data output

■ SPI / I

■ Analog supply voltage 2.16 V to 3.6 V

■ Power-down mode / low-power mode

■ Programmable interrupt generators for free-

■ Embedded temperature sensor

■ Embedded FIFO

■ ECOPACK

Applications

■ Tilt compensated compass

■ Map rotation

■ Position detection

■ Motion activated functions

■ Free-fall detection

■ Click/double click recognition

■ Pedometer

■ Intelligent power saving for handheld devices

■ Display orientation

■ Gaming and virtual reality input devices

■ Impact recognition and logging

■ Vibration monitoring and compensation

2

C serial interfaces

fall, motion detection and magnetic field
detection

®

, RoHS and “Green” compliant

LSM303D

Datasheet — preliminary data

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. All full­scales available are fully selectable by the user.

The LSM303D includes an I
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 on the fly.

Magnetic and accelerometer parts can be
enabled or put into power-down mode separately.

The LSM303D is available in plastic land grid
array package (LGA) and is guaranteed to
operate over an extended temperature range from

-40 °C to +85 °C.

Table 1. Device summary

Part number

Temperature

range [°C]

2

C serial bus interface

Package Packaging

LSM303D -40 to +85 LGA-16 Tray

LSM303DTR -40 to +85 LGA-16

June 2012 Doc ID 023312 Rev 1 1/54

This is preliminar y information on a new product now in development or undergoing evaluation. Details are subject to
change without notice.

Tape and

reel

www.st.com

54

Contents LSM303D

Contents

1 Block diagram and pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.2 Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2 Module specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.1 Sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.2 Temperature sensor characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.3 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2.4 Communication interface characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.4.1 SPI - serial peripheral interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.4.2 Sensor I2C - inter IC control interface . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.5 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.1 Set/reset pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.2 Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.2.1 Linear acceleration sensor sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.2.2 Magnetic sensor sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.3 Zero-g level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.4 Zero-gauss level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

4 Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4.1 Self-test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4.2 Temperature sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4.3 FIFO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4.4 Factory calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5 Application hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.1 External capacitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.2 Pull-up resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.3 Digital Interface power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5.4 Soldering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2/54 Doc ID 023312 Rev 1

LSM303D Contents

5.5 High-current wiring effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

6 Digital interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.1 I2C serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.1.1 I2C operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.2 SPI bus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

6.2.1 SPI read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

6.2.2 SPI write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6.2.3 SPI read in 3-wire mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

7 Output register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

8 Register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

8.1 TEMP_OUT_L (05h), TEMP_OUT_H (06h) . . . . . . . . . . . . . . . . . . . . . . . 31

8.2 STATUS_M (07h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

8.3 OUT_X_L_M (08h), OUT_X_H_M (09h) . . . . . . . . . . . . . . . . . . . . . . . . . 32

8.4 OUT_Y_L_M (0Ah), OUT_X_H_M (0Bh) . . . . . . . . . . . . . . . . . . . . . . . . . 32

8.5 OUT_X_L_M (0Ch), OUT_X_H_M (0Dh) . . . . . . . . . . . . . . . . . . . . . . . . . 32

8.6 WHO_AM_I (0Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

8.7 INT_CTRL_M (12h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

8.8 INT_SRC_M (13h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

8.9 INT_THS_L_M (14h), INT_THS_H_M (15h) . . . . . . . . . . . . . . . . . . . . . . 33

8.10 OFFSET_X_L_M (16h), OFFSET_X_H_M (17h) . . . . . . . . . . . . . . . . . . . 34

8.11 OFFSET_Y_L_M (18h), OFFSET_Y_H_M (19h) . . . . . . . . . . . . . . . . . . . 34

8.12 OFFSET_Z_L_M (1Ah), OFFSET_Z_H_M (1Bh) . . . . . . . . . . . . . . . . . . 34

8.13 REFERENCE_X (1Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

8.14 REFERENCE_Y (1Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

8.15 REFERENCE_Z (1Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

8.16 CTRL0 (1Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

8.17 CTRL1 (20h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

8.18 CTRL2 (21h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

8.19 CTRL3 (22h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

8.20 CTRL4 (23h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

8.21 CTRL5 (24h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Doc ID 023312 Rev 1 3/54

Contents LSM303D

8.22 CTRL6 (25h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

8.23 CTRL7 (26h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

8.24 STATUS_A (27h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

8.25 OUT_X_L_A (28h), OUT_X_H_A (29h) . . . . . . . . . . . . . . . . . . . . . . . . . . 42

8.26 OUT_Y_L_A (2Ah), OUT_X_H_A (2Bh) . . . . . . . . . . . . . . . . . . . . . . . . . 42

8.27 OUT_X_L_A (2Ch), OUT_X_H_A (2Dh) . . . . . . . . . . . . . . . . . . . . . . . . . 42

8.28 FIFO_CTRL (2Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

8.29 FIFO_SRC (2Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

8.30 IG_CFG1 (30h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

8.31 IG_SRC1 (31h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

8.32 IG_THS1 (32h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

8.33 IG_DUR1 (33h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

8.34 IG_CFG2 (34h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

8.35 IG_SRC2 (35h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

8.36 IG_THS2 (36h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

8.37 IG_DUR2 (37h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

8.38 CLICK_CFG (38h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

8.39 CLICK_SRC (39h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

8.40 CLICK_THS (3Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.41 TIME_LIMIT (3Bh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.42 TIME_LATENCY (3Ch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.43 TIME WINDOW (3Dh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.44 Act_THS (3Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.45 Act_DUR (3Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

9 Package Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

10 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4/54 Doc ID 023312 Rev 1

LSM303D List of tables

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Table 18. STATUS_M description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Table 19. WHO_AM_I register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Table 20. INT_CTRL_M register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Table 21. INT_CTRL_M description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Table 22. INT_SRC_M register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 23. INT_SRC_M description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 24. INT_THS_L_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Table 25. INT_THS_H_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Table 26. OFFSET_X_L_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Table 27. OFFSET_X_H_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Table 28. OFFSET_Y_L_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Table 29. OFFSET_Y_H_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Table 30. OFFSET_Z_L_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Table 31. OFFSET_Z_H_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Table 32. CTRL0 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Table 33. CTRL0 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Table 34. CTRL1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Table 35. CTRL1 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Table 36. Acceleration data rate configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Table 37. CTRL2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Table 38. CTRL2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Table 39. Acceleration anti-alias filter bandwidth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Table 40. Acceleration full-scale selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Table 41. CTRL3 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Table 42. CTRL3 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Table 43. CTRL4 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Table 44. CTRL4 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Table 45. CTRL5 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Table 46. CTRL5 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Table 47. Magnetic data rate configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Table 48. CTRL6 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Doc ID 023312 Rev 1 5/54

List of tables LSM303D

Table 49. CTRL6 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Table 50. Magnetic full-scale selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Table 51. CTRL7 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Table 52. CTRL7 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Table 53. High-pass filter mode selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Table 54. Magnetic sensor mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Table 55. STATUS_A register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Table 56. STATUS_A description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Table 57. FIFO_CTRL register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Table 58. FIFO_CTRL register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Table 59. FIFO mode configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Table 60. FIFO_SRC register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Table 61. FIFO_SRC description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Table 62. IG_CFG1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Table 63. IG_CFG1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Table 64. Interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Table 65. IG_SRC1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Table 66. IG_SRC1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Table 67. IG_THS1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Table 68. IG_THS1 description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Table 69. IG1_DUR1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Table 70. IG1_DUR1 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Table 71. IG_CFG2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Table 72. IG_CFG2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Table 73. Interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Table 74. IG_SRC2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Table 75. IG_SRC2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Table 76. IG2_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 77. IG2_THS register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 78. IG_DUR2 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 79. IG_DUR2 register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 80. CLICK_CFG register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 81. CLICK_CFG description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Table 82. CLICK_SRC register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Table 83. CLICK_SRC register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Table 84. CLICK_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 85. CLICK_SRC register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 86. TIME_LIMIT register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 87. TIME_LIMIT description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 88. TIME_LATENCY register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 89. TIME_LATENCY description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 90. TIME_WINDOW register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 91. TIME_WINDOW description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 92. Act_THS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table 93. Act_THS register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table 94. Act_DUR register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table 95. Act_DUR description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table 96. TFLGA 3x3x1.0 16L mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Table 97. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

6/54 Doc ID 023312 Rev 1

LSM303D List of figures

List of figures

Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Figure 2. Pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Figure 3. SPI slave timing diagram (2). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Figure 4. I2C slave timing diagram (3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Figure 5. LSM303D electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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. TFLGA 3x3x1.0 16L mechanical drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Doc ID 023312 Rev 1 7/54

Block diagram and pin description LSM303D

Y+

Z+

Y-

Z-

X+

X-

MUX

CS

SCL/SPC

I (a)

+

-

CHARGE

AMPLIFIER

Sensing Block Sensing Interface

A/D

Control

Logic

converter

DI

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

1

5

9

13

(BOTTOM VIEW)

Y

1

X

Z

Pin 1 indicator

X

Z

Y

TOP VIEW

AM12677V1

1 Block diagram and pin description

1.1 Block diagram

Figure 1. Block diagram

1.2 Pin description

Figure 2. Pin connection

8/54 Doc ID 023312 Rev 1

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)

4

SCL

SPC

5GND0 V supply

SDA

6

SDI

SDO

2

I

C serial clock (SCL)

SPI serial port clock (SPC)

2

I

C serial data (SDA)
SPI serial data input (SDI)
3-wire interface serial data output (SDO)

7

SDO

SA0

SPI serial data output (SDO)

2

I

C less significant bit of the device address (SA0)

SPI enable

8CS

2

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

I
enabled; 0: SPI communication mode / I

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

2

C disabled)

Doc ID 023312 Rev 1 9/54

Module specifications LSM303D

2 Module specifications

2.1 Sensor characteristics

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

Table 3. Sensor characteristics

Symbol Parameter Test conditions Min. Typ.

LA_FS

M_FS Magnetic measurement range

LA_So Linear acceleration sensitivity

M_GN Magnetic sensitivity

LA_TCSo

M_TCSo

LA_TyOff

LA_TCOff

LA_An

Linear acceleration
measurement range

Linear acceleration sensitivity
change vs. temperature

Magnetic sensitivity change
vs. temperature

Linear acceleration typical
zero-g level offset
accuracy

Linear acceleration zero-g
level change vs. temperature

Linear acceleration noise
density

(3),(4)

(2)

Linear acceleration FS=±2g 0.061

Linear acceleration FS=±4g 0.122

Linear acceleration FS=±6g 0.183

Linear acceleration FS=±8g 0.244

Linear acceleration FS=±16g 0.732

Magnetic FS=±2gauss 0.080

Magnetic FS=±4gauss 0.160

Magnetic FS=±8gauss 0.320

Magnetic FS=±12gauss 0.479

Max. delta from 25 °C ±0.5 m

Linear acceleration FS=2g;
ODR = 100 Hz

(a)

.

(1)

Max. Unit

±2

±4

±6

±8

±16

±2

±4

±8

±12

±0.01 %/°C

±0.05 %/°C

±60 mg

g

gauss

mg/LSB

mgauss/

LSB

g/°C

150

ug/

sqrt(Hz)

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

10/54 Doc ID 023312 Rev 1

LSM303D Module specifications

Table 3. Sensor characteristics (continued)

Symbol Parameter Test conditions Min. Typ.

(1)

Max. Unit

M_R Magnetic noise density

M_CAS

Magnetic cross-axis
sensitivity

M_EF Maximum exposed field

Magnetic FS = 2gauss;
LR setting
CTRL5 (M_RES [1,0]) = 00b

Cross field = 0.5 gauss
Applied = ±3 gauss

No permitting effect on zero
reading

5

±1

10000 gauss

mgauss/

RMS

%FS/

gauss

Sensitivity starts to degrade.

M_DF Magnetic disturbing field

LA_ST

Linear acceleration self-test
positive difference

(6)

Automatic S/R pulse restores
the sensitivity

(5)

±2g range, X, Y-axis
AST = 1 see Table 37

±2g range, Z-axis
AST = 1 see Table 37

70

70

20 gauss

1700

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]

6.

(CTRL5 AST bit =1)

- OUTPUT[mg]

(

CTRL5 AST bit =0

.

)

mg

2.2 Temperature sensor characteristics

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

Table 4. Temperature sensor characteristics

Symbol Parameter Test conditions Min. Typ.

TSDr

TODR Temperature refresh rate

Top Operating temperature range -40 +85 °C

1. Typical specifications are not guaranteed.

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

Temperature sensor output
change vs. temperature

-

b. The product is factory calibrated at 2.5 V.

(b)

.

(1)

8 LSB/°C

M_ODR

(2)

[2:0]

Max. Unit

Hz

Doc ID 023312 Rev 1 11/54

Module specifications LSM303D

2.3 Electrical characteristics

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

Table 5. Electrical characteristics

Symbol Parameter

Tes t

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

LR setting

Idd

eCompass
in normal mode

(2)

current consumption

(3)

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

300 µA

Ta bl e 4 5

IddSL

Current consumption in
power-down

(4)

1µA

Top Operating temperature range -40 +85

1. Typical specifications are not guaranteed.

2. eCompass

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.

: accelerometer - magnetic sensor.

°C

12/54 Doc ID 023312 Rev 1

LSM303D Module specifications

SPC

CS

SDI

SDO

t

su(CS)

t

v(SO)

t

h(SO)

t

h(SI)

t

su(SI)

t

h(CS)

t

dis(SO)

t

c(SPC)

MSB IN

MSB OUT

LSB OUT

LSB IN

(3)

(3)

(3)

(3)

(3)

(3)

(3)

(3)

2.4 Communication interface characteristics

2.4.1 SPI - serial peripheral interface

Subject to general operating conditions for Vdd and Top.

Table 6. SPI slave timing values

(1)

Val ue

Symbol Parameter

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

Unit

ns

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.

(2)

Figure 3. SPI slave timing diagram

2. Measurement points are done at 0.2·Vdd_IO and 0.8·Vdd_IO, for both input and output ports.

Doc ID 023312 Rev 1 13/54

Module specifications LSM303D

SD A

SCL

t

f(SD A )

t

su(SP)

t

w(SCLL)

t

su(SD A)

t

r(SDA )

t

su(SR)

t

h(ST)

t

w(SCLH )

t

h(SDA )

t

r(SCL)

t

f(SCL)

t

w(SP:SR)

STAR T

REPEATED

STA RT

STO P

STA RT

2.4.2 Sensor I2C - inter IC control interface

Subject to general operating conditions for Vdd and Top.

Table 7. I2C slave timing values

Symbol Parameter

I2C standard mode

(1)

I2C fast mode

Min. Max. Min. Max.

(1)

Unit

f

(SCL)

t

w(SCLL)

t

w(SCLH)

t

su(SDA)

t

h(SDA)

t

r(SDA) tr(SCL)

t

f(SDA) tf(SCL)

t

h(ST)

t

su(SR)

t

su(SP)

t

w(SP:SR)

SCL clock frequency 0 100 0 400 kHz

SCL clock low time 4.7 1.3

SCL clock high time 4.0 0.6

SDA setup time 250 100 ns

SDA data hold time 0 3.45 0 0.9 µs

SDA and SCL rise time 1000 20 + 0.1C

SDA and SCL fall time 300 20 + 0.1C

START condition hold time 4 0.6

Repeated START condition
setup time

4.7 0.6

STOP condition setup time 4 0.6

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.

Figure 4. I

2

C slave timing diagram

(3)

µs

(2)

b

(2)

b

300

ns

300

µs

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

14/54 Doc ID 023312 Rev 1

LSM303D Module specifications

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

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.

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

A

A

T

POW

UNP

T

OP

STG

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

Acceleration (any axis, unpowered)

Operating temperature range -40 to +85 °C

Storage temperature range -40 to +125 °C

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

3,000 for 0.5 ms g

10,000 for 0.1 ms g

3,000 for 0.5 ms g

10,000 for 0.1 ms g

Doc ID 023312 Rev 1 15/54

Terminology LSM303D

3 Terminology

3.1 Set/reset pulse

The set/reset pulse is an automatic operation performed before each magnetic acquisition
cycle to de-gauss the sensor and to ensure alignment of the magnetic dipoles 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 also 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 in X-axis and 0 g in 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 2’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 from temperature and power supply.

16/54 Doc ID 023312 Rev 1

LSM303D Functionality

4 Functionality

4.1 Self-test

Self-test allows to check the linear acceleration sensor functionality without moving it. The
self-test function is off when the self-test bit (ST) 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 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 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 2’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 a 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 INT1/2 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.

Doc ID 023312 Rev 1 17/54