lsm303dlhc-spin

---

This is a P8X32A/Propeller, P2X8C4M64P/Propeller 2 driver object for the LSM303 (DLHC, AGR) 6DoF IMU

IMPORTANT: This software is meant to be used with the spin-standard-library (P8X32A) or p2-spin-standard-library (P2X8C4M64P). Please install the applicable library first before attempting to use this code, otherwise you will be missing several files required to build the project.

Salient Features

• I2C connection at up to 400kHz
• Read raw accelerometer, magnetometer data output, or scaled (micro-g's, micro-gauss, resp.)
• Set output data rate
• Set full-scale range (except LSM303AGR magnetometer - hardware limitation)
• Enable per-axis output (accel)
• Flags to indicate data is ready (accel, mag), has overrun (accel), has overflowed current scale setting (mag)
• Set calibration offsets (accel, mag)
• FIFO control and flag reading (accel; empty, full, number of unread samples)
• Single and double-click detection (accel)
• Interrupts: per-axis mask, threshold (accel)
• Magnetometer: low-pass filter output data, on-chip temperature compensation

Requirements

P1/SPIN1:

• spin-standard-library
• 1 extra core/cog for the PASM I2C engine (none if the bytecode-based engine is used)
• sensor.accel.common.spinh (provided by spin-standard-library)
• sensor.magnetometer.common.spinh (provided by spin-standard-library)

P2/SPIN2:

• p2-spin-standard-library
• sensor.accel.common.spin2h (provided by spin-standard-library)
• sensor.magnetometer.common.spin2h (provided by spin-standard-library)

Compiler Compatibility

Processor	Language	Compiler	Backend	Status
P1	SPIN1	FlexSpin (6.9.4)	Bytecode	OK
P1	SPIN1	FlexSpin (6.9.4)	Native/PASM	OK
P2	SPIN2	FlexSpin (6.9.4)	NuCode	OK
P2	SPIN2	FlexSpin (6.9.4)	Native/PASM2	OK

(other versions or toolchains not listed are not supported, and may or may not work)

Hardware compatibility

• LSM303DLHC
• LSM303AGR

Limitations

• No support for DRDY or interrupt pins
• No support for SPI-connected (LSM303AGR only) sensors - planned