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X-NUCLEO-IKS01A3: shield (Mode 2) sample


This sample is provided as an example to test the X-NUCLEO-IKS01A3 shield configured in Sensor Hub mode (Mode 2). Please refer to X-NUCLEO-IKS01A3: MEMS Inertial and Environmental Multi sensor shield for more info on this configuration.

This sample enables LIS2DW12 and LSM6DSO sensors. Since all other shield devices are connected to LSM6DSO, the LSM6DSO driver is configured in sensorhub mode (CONFIG_LSM6DSO_SENSORHUB=y) with a selection of two maximum slaves among LPS22HH, HTS221 and LIS2MDL (default is LIS2MDL + LPS22HH).

Then sensor data are displayed periodically

  • LIS2DW12 3-Axis acceleration

  • LSM6DSO 6-Axis acceleration and angular velocity

  • LSM6DSO (from LIS2MDL) 3-Axis magnetic field intensity

  • LSM6DSO (from LPS22HH) ambient temperature and atmospheric pressure

Optionally HTS221 can substitute one between LIS2MDL and LPS22HH

  • LSM6DSO (from HTS221): ambient temperature and relative humidity


This sample communicates over I2C with the X-NUCLEO-IKS01A3 shield stacked on a board with an Arduino connector. The board’s I2C must be configured for the I2C Arduino connector (both for pin muxing and devicetree). See for example the ST Nucleo F401RE board source code:

  • $ZEPHYR_BASE/boards/arm/nucleo_f401re/nucleo_f401re.dts

  • $ZEPHYR_BASE/boards/arm/nucleo_f401re/pinmux.c

Please note that this sample can’t be used with boards already supporting one of the sensors available on the shield (such as disco_l475_iot1) as sensors multiple instances are not supported.

Building and Running

This sample runs with X-NUCLEO-IKS01A3 stacked on any board with a matching Arduino connector. For this example, we use a ST Nucleo F401RE board.

west build -b nucleo_f401re samples/shields/x_nucleo_iks01a3/sensorhub/

Sample Output

X-NUCLEO-IKS01A3 sensor dashboard

LIS2DW12: Accel (m.s-2): x: -0.077, y: 0.536, z: 9.648
LSM6DSO: Accel (m.s-2): x: -0.062, y: -0.028, z: 10.035
LSM6DSO: GYro (dps): x: -0.003, y: -0.001, z: 0.000
LSM6DSO: Magn (gauss): x: -0.052, y: -0.222, z: -0.059
LSM6DSO: Temperature: 27.9 C
LSM6DSO: Pressure:100.590 kpa
1:: lsm6dso acc trig 208
1:: lsm6dso gyr trig 208

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