30 min

Achieve unparalleled precision in sensing both magnetic and gravitational fields using LSM303AGR and PIC18F45K22

Your window into magnetic and gravitational fields

LSM303AGR Click with EasyPIC v7

Published Sep 13, 2023

Click board™

LSM303AGR Click

Development board

EasyPIC v7


NECTO Studio



Our innovative solution opens the door to a new era of sensing capabilities, allowing you to precisely measure the magnetic and gravitational fields along three orthogonal axes. It's your key to unlocking groundbreaking insights in geophysics, navigation, and beyond.



Hardware Overview

How does it work?

LSM303AGR Click is based on the LSM303AGR, a low-power and high-performance sensor featuring a digital linear acceleration sensor, and a digital magnetic sensor from STMicroelectronics, capable of sensing magnetic and gravitational fields in all three axes. The sensor is a highly integrated system in package (SIP), offering two independent sensors, charge amplifiers, A/D converters, and control logic sections. There are two independent I2C slave addresses for each of the sensors: 0011001b is the slave address of the accelerometer, while the 0011110b is the slave address of the magnetic sensor. These are 7bit addresses, to complete the address sequence, an R/W bit needs to be added at the end. An interrupt pin (INT_MAG/DRDY) allows the interrupt generated by an event within the LSM303AGR IC, to alert the host MCU. This pin is routed to the mikroBUS™ INT pin. The power of the LSM303AGR IC lies in its configurable interrupt engine. The function, threshold, and timing of the interrupt signal on the INT pin can be completely defined by the user. Its behavior can be programmed by setting a range of appropriate registers via the I2C bus. The sensor offers detection of many events, caused either by the sensors themselves or by the error/status events within the sensor IC. For example, the interrupt can be generated if there is data ready to be transferred to the host MCU if the FIFO buffer overflow occurred and so on.

A combination of events is also available, with either 'OR' or 'AND' function between the generated events. It allows developing HID applications, which react on tapping, moving, positioning, etc. The LSM303AGR device offers digital filtering, compensation, self-test, and more. It allows resolution, sampling time and power consumption to be adjusted, allowing the Click board™ to be tailored to any application. Trimming values for zero-g level, zero-gauss level, and sensitivity adjustment are stored into the internal non-volatile memory and are copied to the registers upon restart. This allows the sensor to perform accurate measurements without repeated calibration after each power-up cycle. Another feature used to increase the accuracy of the sensor is the hard-iron compensation, which compensates the readings, in cases when an object with magnetic properties is placed near the sensor, permanently biasing the output values. Six registers hold magnetic values for the compensation and are automatically subtracted from readings. Many signal processing features such as the low-pass and high-pass filtering, also help to obtain accurate and reliable readings from this sensor. A self-test procedure can be used to verify the functionality of the device. The internal current generates an internal magnetic field, which is then sensed by the sensors. The readings during self-test should look like in the table,

given in the LSM303AGR datasheet. If these readings look differently, a particular device can be discarded. The device contains a FIFO buffer, which can be used for the accelerometer sensor only. It is 32 levels deep, allowing 32 sets of readings along X, Y, and Z axes to be stored. The buffer can be bypassed, it can be fixed so that new data is discarded when it is full, and it can be set to streaming mode so that the new data pushes out the oldest information from the buffer. An interrupt can be triggered if a programmed threshold is exceeded so that the buffer can be read before the data is lost. The sampling frequency and the resolution can be selected from 1Hz up to 5.736 kHz and from 8 bits up to 12 bits. These settings affect the power consumption. The device can work in normal mode, high-resolution mode, and low power mode. This affects the acquisition time as well as the power consumption. In addition, the device can work in continuous mode, or in a single shot mode. A single shot mode allows the device to consume less power, as the single measurement is done on a command, after which device reverts to idle mode and the DRDY (data ready) bit is set. Again, the datasheet of the LSM303AGR offers an in-depth explanation of all the registers and their functionality.

LSM303AGR Click top side image
LSM303AGR Click bottom side image

Features overview

Development board

EasyPIC v7 is the seventh generation of PIC development boards specially designed to develop embedded applications rapidly. It supports a wide range of 8-bit PIC microcontrollers from Microchip and has a broad set of unique functions, such as a powerful onboard mikroProg programmer and In-Circuit debugger over USB-B. The development board is well organized and designed so that the end-user has all the necessary elements in one place, such as switches, buttons, indicators, connectors, and others. With four different connectors for each port, EasyPIC v7 allows you to connect accessory boards, sensors, and custom electronics more efficiently than ever. Each part of

the EasyPIC v7 development board contains the components necessary for the most efficient operation of the same board. An integrated mikroProg, a fast USB 2.0 programmer with mikroICD hardware In-Circuit Debugger, offers many valuable programming/debugging options and seamless integration with the Mikroe software environment. Besides it also includes a clean and regulated power supply block for the development board. It can use various external power sources, including an external 12V power supply, 7-23V AC or 9-32V DC via DC connector/screw terminals, and a power source via the USB Type-B (USB-B) connector. Communication options such as

USB-UART and RS-232 are also included, alongside the well-established mikroBUS™ standard, three display options (7-segment, graphical, and character-based LCD), and several different DIP sockets. These sockets cover a wide range of 8-bit PIC MCUs, from PIC10F, PIC12F, PIC16F, PIC16Enh, PIC18F, PIC18FJ, and PIC18FK families. EasyPIC v7 is an integral part of the Mikroe ecosystem for rapid development. Natively supported by Mikroe software tools, it covers many aspects of prototyping and development thanks to a considerable number of different Click boards™ (over a thousand boards), the number of which is growing every day.

EasyPIC v7 horizontal image

Microcontroller Overview

MCU Card / MCU




MCU Memory (KB)


Silicon Vendor


Pin count


RAM (Bytes)


Used MCU Pins

mikroBUS™ mapper

Power Supply
I2C Clock
I2C Data

Take a closer look


LSM303AGR Click Schematic schematic

Step by step

Project assembly

EasyPIC v7 front image hardware assembly

Start by selecting your development board and Click board™. Begin with the EasyPIC v7 as your development board.

EasyPIC v7 front image hardware assembly
Buck 22 Click front image hardware assembly
MCU DIP 40 hardware assembly
EasyPIC v7 MB 1 - upright/background hardware assembly
Necto image step 2 hardware assembly
Necto image step 3 hardware assembly
Necto image step 4 hardware assembly
NECTO Compiler Selection Step Image hardware assembly
NECTO Output Selection Step Image hardware assembly
Necto image step 6 hardware assembly
Necto DIP image step 7 hardware assembly
EasyPIC PRO v7a Display Selection Necto Step hardware assembly
Necto image step 9 hardware assembly
Necto image step 10 hardware assembly
Necto PreFlash Image hardware assembly

Track your results in real time

Application Output

After pressing the "FLASH" button on the left-side panel, it is necessary to open the UART terminal to display the achieved results. By clicking on the Tools icon in the right-hand panel, multiple different functions are displayed, among which is the UART Terminal. Click on the offered "UART Terminal" icon.

UART Application Output Step 1

Once the UART terminal is opened, the window takes on a new form. At the top of the tab are two buttons, one for adjusting the parameters of the UART terminal and the other for connecting the UART terminal. The tab's lower part is reserved for displaying the achieved results. Before connecting, the terminal has a Disconnected status, indicating that the terminal is not yet active. Before connecting, it is necessary to check the set parameters of the UART terminal. Click on the "OPTIONS" button.

UART Application Output Step 2

In the newly opened UART Terminal Options field, we check if the terminal settings are correct, such as the set port and the Baud rate of UART communication. If the data is not displayed properly, it is possible that the Baud rate value is not set correctly and needs to be adjusted to 115200. If all the parameters are set correctly, click on "CONFIGURE".

UART Application Output Step 3

The next step is to click on the "CONNECT" button, after which the terminal status changes from Disconnected to Connected in green, and the data is displayed in the Received data field.

UART Application Output Step 4

Software Support

Library Description

This library contains API for LSM303AGR Click driver.

Key functions:

  • lsm303agr_get_acc_axis_x - Reading the raw X axis data and calculating the value

  • lsm303agr_get_mag_axis_x - Reading the raw X axis data and calculating the value

  • lsm303agr_get_mag_axis_y - Reading the raw Y axis data and calculating the value

Open Source

Code example

This example can be found in NECTO Studio. Feel free to download the code, or you can copy the code below.

 * \file 
 * \brief LSM303AGR Click example
 * # Description
 * This example returns accel and magnet values from the LSM303AGR sensor.
 * The demo application is composed of two sections :
 * ## Application Init 
 * I2C Driver initaliation and setting operating modes of accelerometer and
 * magnetometer 
 * ## Application Task  
 * Reading accelerometer and magnetometer axis X,Y,Z and displaying via UART
 * \author MikroE Team
// ------------------------------------------------------------------- INCLUDES

#include "board.h"
#include "log.h"
#include "lsm303agr.h"

// ------------------------------------------------------------------ VARIABLES

static lsm303agr_t lsm303agr;
static log_t logger;
static float read_data;

// ------------------------------------------------------ APPLICATION FUNCTIONS

void application_init ( void )
    log_cfg_t log_cfg;
    lsm303agr_cfg_t cfg;

     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, "---- Application Init ----" );

    //  Click initialization.

    lsm303agr_cfg_setup( &cfg );
    lsm303agr_init( &lsm303agr, &cfg );
    lsm303agr_default_cfg ( &lsm303agr );

void application_task ( void )
    //  Task implementation.

    log_printf(&logger, "======== Accelerometer data ========\r\n");
    read_data = lsm303agr_get_acc_axis_x ( &lsm303agr );
    log_printf(&logger, "X Axis : %.2f\r\n", read_data);

    read_data = lsm303agr_get_acc_axis_y ( &lsm303agr );
    log_printf(&logger, "Y Axis : %.2f\r\n", read_data);

    read_data = lsm303agr_get_acc_axis_z ( &lsm303agr );
    log_printf(&logger, "Z Axis : %.2f\r\n", read_data);
    log_printf(&logger, "======== Mangetometer data ========\r\n");
    read_data = lsm303agr_get_mag_axis_x ( &lsm303agr );
    log_printf(&logger, "X Axis : %.2f\r\n", read_data);

    read_data = lsm303agr_get_mag_axis_y ( &lsm303agr );
    log_printf(&logger, "Y Axis : %.2f\r\n", read_data);

    read_data = lsm303agr_get_mag_axis_z ( &lsm303agr );
    log_printf(&logger, "Z Axis : %.2f\r\n", read_data);

    Delay_ms( 2000 );

void main ( void )
    application_init( );

    for ( ; ; )
        application_task( );

// ------------------------------------------------------------------------ END

Additional Support