This is the documentation for the latest (main) development branch of Zephyr. If you are looking for the documentation of previous releases, use the drop-down menu on the left and select the desired version.

X-NUCLEO-IKS01A3: shield Standard (Mode 1) sample


This sample is provided as an example to test the X-NUCLEO-IKS01A3 shield configured in Standard mode (Mode 1). Please refer to X-NUCLEO-IKS01A3: MEMS Inertial and Environmental Multi sensor shield for more info on this configuration.

This sample enables all sensors of a X-NUCLEO-IKS01A3 shield, and then periodically reads and displays data from the shield sensors:

  • HTS221: ambient temperature and relative humidity

  • LPS22HH ambient temperature and atmospheric pressure

  • LIS2MDL 3-Axis magnetic field intensity

  • LIS2DW12 3-Axis acceleration

  • LSM6DSO 6-Axis acceleration and angular velocity

  • STTS751 temperature sensor


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/standard/

Sample Output

X-NUCLEO-IKS01A3 sensor dashboard

HTS221: Temperature: 27.5 C
HTS221: Relative Humidity: 27.0%
LPS22HH: Temperature: 27.3 C
LPS22HH: Pressure:99.150 kpa
STTS751: Temperature: 27.6 C
LIS2MDL: Magn (gauss): x: -0.445, y: -0.054, z: -0.066
LIS2MDL: Temperature: 26.8 C
LIS2DW12: Accel (m.s-2): x: -0.413, y: 0.077, z: 10.337
LSM6DSO: Accel (m.s-2): x: 0.133, y: -0.133, z: 10.102
LSM6DSO: GYro (dps): x: 0.000, y: -0.006, z: -0.058
1:: lis2mdl trig 208
1:: lps22hh trig 214
1:: lsm6dso acc trig 426
1:: lsm6dso gyr trig 426

<updated endlessly every 2 seconds>