X-NUCLEO-IKS02A1 shield: Sensorhub (Mode 2) sample


This sample is provided as an example to test the X-NUCLEO-IKS02A1 shield configured in Sensor Hub mode (Mode 2). Please refer to X-NUCLEO-IKS02A1: MEMS Inertial and Environmental Multi sensor shield for more info on this configuration.

This sample enables IIS2DLPC and ISM330DHCX sensors. Since all other shield devices are connected to ISM330DHCX, the ISM330DHCX driver is configured in sensorhub mode (CONFIG_ISM330DHCX_SENSORHUB=y) with the IIS2MDC magnetometer as external slave.

Then sensor data are displayed periodically

  • IIS2DLPC 3-Axis acceleration

  • ISM330DHCX 6-Axis acceleration and angular velocity

  • ISM330DHCX (from IIS2MDC) 3-Axis magnetic field intensity


This sample communicates over I2C with the X-NUCLEO-IKS02A1 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:

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-IKS02A1 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_iks02a1/sensorhub/

Sample Output

X-NUCLEO-IKS02A1 sensor Mode 2 dashboard

IIS2DLPC: Accel (m.s-2): x: 0.077, y: -0.766, z: 9.878
ISM330DHCX: Accel (m.s-2): x: 0.383, y: -0.234, z: 9.763
ISM330DHCX: GYro (dps): x: 0.004, y: 0.003, z: -0.005
ISM330DHCX: Magn (gauss): x: 0.171, y: 0.225, z: -0.363
7:: iis2dlpc trig 1215
7:: ism330dhcx acc trig 2494
7:: ism330dhcx gyr trig 2494

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