#accelerometer #magnetometer #embedded-hal-driver #mems #low-power #sensors

no-std lsm303agr

Platform-agnostic Rust driver for the LSM303AGR ultra-compact high-performance eCompass module: ultra-low-power 3D accelerometer and 3D magnetometer

7 releases (1 stable)

1.0.0 Jan 22, 2024
0.3.0 Jul 17, 2023
0.2.2 Sep 21, 2021
0.2.0 Jul 13, 2021
0.1.0 Sep 13, 2020

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Rust LSM303AGR Ultra-low-power 3D Accelerometer and 3D Magnetometer Driver

crates.io Docs Minimum Supported Rust Version Build Status Coverage Status

This is a platform agnostic Rust driver for the LSM303AGR ultra-compact high-performance eCompass module: ultra-low-power 3D accelerometer and 3D magnetometer using the embedded-hal traits.

This driver allows you to:

  • Connect through I2C or SPI. See: new_with_i2c().
  • Initialize the device. See: init().
  • Accelerometer:
    • Read measured acceleration. See: acceleration().
    • Get accelerometer status. See: accel_status().
    • Set accelerometer mode and output data rate. See: set_accel_mode_and_odr().
    • Set accelerometer scale. See: set_accel_scale().
    • Get accelerometer ID. See: accelerometer_id().
    • Get temperature sensor status. See: temperature_status().
    • Read measured temperature. See: temperature().
    • Configure FIFO. See: acc_set_fifo_mode().
    • Enable/disable interrupts. See: acc_enable_interrupt().
  • Magnetometer:
    • Get the magnetometer status. See: mag_status().
    • Change into continuous/one-shot mode. See: into_mag_continuous().
    • Read measured magnetic field. See: magnetic_field().
    • Set magnetometer mode and output data rate. See: set_mag_mode_and_odr().
    • Get magnetometer ID. See: magnetometer_id().
    • Enable/disable magnetometer built in offset cancellation. See: enable_mag_offset_cancellation().
    • Enable/disable magnetometer low-pass filter. See: mag_enable_low_pass_filter().

The LSM303AGR is an ultra-low-power high- performance system-in-package featuring a 3D digital linear acceleration sensor and a 3D digital magnetic sensor. The LSM303AGR has linear acceleration full scales of ±2g/±4g/±8g/±16g and a magnetic field dynamic range of ±50 gauss.

The LSM303AGR includes an I2C serial bus interface that supports standard, fast mode, fast mode plus, and high-speed (100 kHz, 400 kHz, 1 MHz, and 3.4 MHz) and an SPI serial standard interface.

The system can be configured to generate an interrupt signal for free-fall, motion detection and magnetic field detection.

The magnetic and accelerometer blocks can be enabled or put into power-down mode separately.

Documents: Datasheet - Application note


To use this driver, import this crate and an embedded_hal implementation, then instantiate the device.

Please find additional examples using hardware in this repository: driver-examples

use linux_embedded_hal::{Delay, I2cdev};
use lsm303agr::{AccelMode, AccelOutputDataRate, Lsm303agr};

fn main() {
    let dev = I2cdev::new("/dev/i2c-1").unwrap();
    let mut sensor = Lsm303agr::new_with_i2c(dev);
        .set_accel_mode_and_odr(&mut Delay, AccelMode::Normal, AccelOutputDataRate::Hz50)
    loop {
        if sensor.accel_status().unwrap().xyz_new_data() {
            let data = sensor.acceleration().unwrap();
                "Acceleration: x {} y {} z {}",


For questions, issues, feature requests, and other changes, please file an issue in the github project.


Licensed under either of

at your option.


Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.