Arduino library to support the LSM303AGR 3D accelerometer and 3D magnetometer
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examples/X_NUCLEO_IKS01A2_LSM303AGR_DataLog_Terminal
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README.md

LSM303AGR

Arduino library to support the LSM303AGR 3D accelerometer and 3D magnetometer

API

This sensor uses I2C to communicate. It is then required to create a TwoWire interface before accessing to the sensors:

dev_i2c = new TwoWire(I2C2_SDA, I2C2_SCL);  
dev_i2c->begin();  

An instance can be created and enbaled following the procedure below:

Acc = new LSM303AGR_ACC_Sensor(dev_i2c);
Acc->Enable();
Mag = new LSM303AGR_MAG_Sensor(dev_i2c);  
Mag->Enable();  

The access to the sensor values is done as explained below:

Read accelerometer and magnetometer.

Acc->GetAxes(accelerometer);
Mag->GetAxes(magnetometer);  

Documentation

You can find the source files at
https://github.com/stm32duino/LSM303AGR

The LIS3MDL datasheet is available at
http://www.st.com/content/st_com/en/products/mems-and-sensors/e-compasses/lsm303agr.html