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 list at the bottom of the left panel and select the desired version.

X-NUCLEO-IKS02A1 shield - Standard (Mode 1)


This sample is provided as an example to test the X-NUCLEO-IKS02A1 shield configured in Standard mode (Mode 1). Please refer to X-NUCLEO-IKS02A1: MEMS Inertial and Environmental Multi sensor shield for more info on this configuration.

This sample enables all sensors of a X-NUCLEO-IKS02A1 shield, and then periodically reads and displays data from the shield sensors:

  • IIS2MDC 3-Axis magnetic field intensity

  • IIS2DLPC 3-Axis acceleration

  • ISM330DHCX 6-Axis acceleration and angular velocity


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:

  • $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-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/standard/

Sample Output

X-NUCLEO-IKS02A1 sensor Mode 1 dashboard

IIS2DLPC: Accel (m.s-2): x: 0.000, y: 0.000, z: 9.342
IIS2MDC: Magn (gauss): x: -0.120, y: -0.095, z: -0.338
IIS2MDC: Temperature: 25.1 C
ISM330DHCX: Accel (m.s-2): x: 0.182, y: -0.306, z: 9.753
ISM330DHCX: GYro (dps): x: 0.005, y: 0.001, z: -0.004
5:: iis2dlpc trig 809
5:: ism330dhcx acc trig 3332
5:: ism330dhcx gyr trig 1666

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