Introduction

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Adafruit CircuitPython module for the LSM303 6-DoF with 3-axis accelerometer and magnetometer

Dependencies

This driver depends on:

Please ensure all dependencies are available on the CircuitPython filesystem. This is easily achieved by downloading the Adafruit library and driver bundle.

Usage Example

import time
import board
import busio

import adafruit_lsm303

i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lsm303.LSM303(i2c)

while True:
        raw_accel_x, raw_accel_y, raw_accel_z = sensor.raw_acceleration
        accel_x, accel_y, accel_z = sensor.acceleration
        raw_mag_x, raw_mag_y, raw_mag_z = sensor.raw_magnetic
        mag_x, mag_y, mag_z = sensor.magnetic

        print('Acceleration raw: ({0:6d}, {1:6d}, {2:6d}), (m/s^2): ({3:10.3f}, {4:10.3f}, {5:10.3f})'.format(raw_accel_x, raw_accel_y, raw_accel_z, accel_x, accel_y, accel_z))
        print('Magnetometer raw: ({0:6d}, {1:6d}, {2:6d}), (gauss): ({3:10.3f}, {4:10.3f}, {5:10.3f})'.format(raw_mag_x, raw_mag_y, raw_mag_z, mag_x, mag_y, mag_z))
        print('')
        time.sleep(1.0)

Contributing

Contributions are welcome! Please read our Code of Conduct before contributing to help this project stay welcoming.

Building locally

To build this library locally you’ll need to install the circuitpython-build-tools package.

python3 -m venv .env
source .env/bin/activate
pip install circuitpython-build-tools

Once installed, make sure you are in the virtual environment:

source .env/bin/activate

Then run the build:

circuitpython-build-bundles --filename_prefix adafruit-circuitpython-lsm303 --library_location .

Sphinx documentation

Sphinx is used to build the documentation based on rST files and comments in the code. First, install dependencies (feel free to reuse the virtual environment from above):

python3 -m venv .env
source .env/bin/activate
pip install Sphinx sphinx-rtd-theme

Now, once you have the virtual environment activated:

cd docs
sphinx-build -E -W -b html . _build/html

This will output the documentation to docs/_build/html. Open the index.html in your browser to view them. It will also (due to -W) error out on any warning like Travis will. This is a good way to locally verify it will pass.

Table of Contents

Simple tests

Ensure your device works with these simple tests.

examples/lsm303_simpletest.py
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""" Display both accelerometer and magnetometer data once per second """

import time
import board
import busio
import adafruit_lsm303

i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lsm303.LSM303(i2c)

while True:
    acc_x, acc_y, acc_z = sensor.acceleration
    mag_x, mag_y, mag_z = sensor.magnetic

    print('Acceleration (m/s^2): ({0:10.3f}, {1:10.3f}, {2:10.3f})'.format(acc_x, acc_y, acc_z))
    print('Magnetometer (gauss): ({0:10.3f}, {1:10.3f}, {2:10.3f})'.format(mag_x, mag_y, mag_z))
    print('')
    time.sleep(1.0)
examples/fast_accel/fast_accel.py
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""" Read data from the accelerometer and print it out, ASAP! """

import board
import busio

import adafruit_lsm303

i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lsm303.LSM303(i2c)

while True:
    accel_x, accel_y, accel_z = sensor.acceleration
    print('{0:10.3f} {1:10.3f} {2:10.3f}'.format(accel_x, accel_y, accel_z))
examples/fast_mag/fast_mag.py
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""" Read data from the magnetometer and print it out, ASAP! """

import board
import busio
import adafruit_lsm303

i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lsm303.LSM303(i2c)

while True:
    mag_x, mag_y, mag_z = sensor.magnetic
    print('{0:10.3f} {1:10.3f} {2:10.3f}'.format(mag_x, mag_y, mag_z))
examples/raw_and_cooked/raw_and_cooked.py
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""" Display both accelerometer and magnetometer data once per second """

import time
import board
import busio

import adafruit_lsm303

i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lsm303.LSM303(i2c)

while True:
    raw_accel_x, raw_accel_y, raw_accel_z = sensor.raw_acceleration
    accel_x, accel_y, accel_z = sensor.acceleration
    raw_mag_x, raw_mag_y, raw_mag_z = sensor.raw_magnetic
    mag_x, mag_y, mag_z = sensor.magnetic

    print('Acceleration raw: ({0:6d}, {1:6d}, {2:6d}), (m/s^2): ({3:10.3f}, {4:10.3f}, {5:10.3f})'
          .format(raw_accel_x, raw_accel_y, raw_accel_z, accel_x, accel_y, accel_z))
    print('Magnetometer raw: ({0:6d}, {1:6d}, {2:6d}), (gauss): ({3:10.3f}, {4:10.3f}, {5:10.3f})'
          .format(raw_mag_x, raw_mag_y, raw_mag_z, mag_x, mag_y, mag_z))
    print('')
    time.sleep(1.0)

adafruit_lsm303

CircuitPython driver for the LSM303 accelerometer + magnetometer.

  • Author(s): Dave Astels

Implementation Notes

Hardware:

Software and Dependencies:

class adafruit_lsm303.LSM303(i2c)[source]

Driver for the LSM303 accelerometer/magnetometer.

acceleration

The processed accelerometer sensor values. A 3-tuple of X, Y, Z axis values in meters per second squared that are signed floats.

mag_gain

The magnetometer’s gain.

mag_rate

The magnetometer update rate.

magnetic

The processed magnetometer sensor values. A 3-tuple of X, Y, Z axis values in microteslas that are signed floats.

raw_acceleration

The raw accelerometer sensor values. A 3-tuple of X, Y, Z axis values that are 16-bit signed integers.

raw_magnetic

The raw magnetometer sensor values. A 3-tuple of X, Y, Z axis values that are 16-bit signed integers.

Indices and tables