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‎README.md‎

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# X-NUCLEO-IKS5A1
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Arduino library to support industrial motion MEMS and environmental sensor expansion board
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The X-NUCLEO-IKS5A1 is a industrial motion MEMS sensor expansion board for the STM32 Nucleo.
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It is equipped with Arduino UNO R3 connector layout, and is designed around the ISM6HG256X 3D accelerometer and 3D gyroscope,
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the ISM330IS 3D accelerometer and 3D gyroscope with ISPU, the IIS2DULPX 3D accelerometer, the IIS2MDC 3D magnetometer,
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and the ILPS22QS pressure sensor.
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The X-NUCLEO-IKS5A1 interfaces with the STM32 microcontroller or the Arduino boards via the I²C pin.
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# Examples
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There are several examples with the X-NUCLEO-IKS5A1 library.
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* X_NUCLEO_IKS5A1_HelloWorld: This application provides a simple example of usage of the X-NUCLEO-IKS5A1
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Expansion Board. It shows how to display on a hyperterminal the values of all on-board industrial MEMS sensors.
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* X_NUCLEO_IKS5A1_IIS2DULPX_6D_Orientation: This application shows how to use IIS2DULPX sensor to find out the 6D orientation and display data on a hyperterminal.
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* X_NUCLEO_IKS5A1_IIS2DULPX_Wake_Up_Detection: This application shows how to detect the wake-up event using the IIS2DULPX sensor.
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* X_NUCLEO_IKS5A1_ISM6HG256X_6D_Orientation: This application shows how to use ISM6HG256X to find out the 6D orientation and display data on a hyperterminal.
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* X_NUCLEO_IKS5A1_ISM6HG256X_Double_Tap_Detection: This application shows how to detect the double tap event using the ISM6HG256X.
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* X_NUCLEO_IKS5A1_ISM6HG256X_FIFO_Polling: This application shows how to get data from FIFO in pooling mode and print them on terminal.
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* X_NUCLEO_IKS5A1_ISM6HG256X_FIFO_Interrupt: This application shows how to get data from FIFO using interrupt and print them on terminal.
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* X_NUCLEO_IKS5A1_ISM6HG256X_Free_Fall_Detection: This application shows how to detect the free fall event using the ISM6HG256X.
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* X_NUCLEO_IKS5A1_ISM6HG256X_Pedometer: This application shows how to use ISM6HG256X to count steps.
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* X_NUCLEO_IKS5A1_ISM6HG256X_Single_Tap_Detection: This application shows how to detect the single tap event using the ISM6HG256X.
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* X_NUCLEO_IKS5A1_ISM6HG256X_Tilt_Detection: This application shows how to detect the tilt event using the ISM6HG256X.
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* X_NUCLEO_IKS5A1_ISM6HG256X_Wake_Up_Detection: This application shows how to detect the wake-up event using the ISM6HG256X.
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* X_NUCLEO_IKS5A1_ISM330IS_ISPU_Sensor_Fusion: This application implements the sensor fusion of the accelerometer and gyroscope,
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configured in high-performance mode at 104 Hz. The configuration generates an interrupt on INT1 when the quaternion for the new sample
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is computed and available in the output registers.
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* X_NUCLEO_IKS5A1_ISM330IS_ISPU_Tap: This application implements the tap detection solution based on the accelerometer data.
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The configuration generates an interrupt on INT1 when the tap event for the new sample is computed and available in the output registers.
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# Dependencies
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The X-NUCLEO-IKS5A1 library requires the following STM32duino libraries:
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* STM32duino ISM6HG256X: https://github.com/stm32duino/ISM6HG256X
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* STM32duino ISM330IS: https://github.com/stm32duino/ISM330IS
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* STM32duino IIS2DULPX: https://github.com/stm32duino/IIS2DULPX
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* STM32duino IIS2MDC: https://github.com/stm32duino/IIS2MDC
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* STM32duino ILPS22QS: https://github.com/stm32duino/ILPS22QS
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## Documentation
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You can find the source files at
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https://github.com/stm32duino/X-NUCLEO-IKS5A1
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The X-NUCLEO-IKS5A1 datasheet is available at
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https://www.st.com/en/ecosystems/x-nucleo-iks5a1.html

‎examples/X_NUCLEO_IKS5A1_HelloWorld/X_NUCLEO_IKS5A1_HelloWorld.ino‎

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/*
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@file X_NUCLEO_IKS5A1_HelloWorld.ino
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@author STMicroelectronics
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@brief Example to use the STMicrolectronics X-NUCLEO-IKS5A1
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*******************************************************************************
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Copyright (c) 2025, STMicroelectronics
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All rights reserved.
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This software component is licensed by ST under BSD 3-Clause license,
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the "License"; You may not use this file except in compliance with the
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License. You may obtain a copy of the License at:
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opensource.org/licenses/BSD-3-Clause
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*******************************************************************************
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*/
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// Includes
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#include <ILPS22QSSensor.h>
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#include <ISM6HG256XSensor.h>
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#include <ISM330ISSensor.h>
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#include <IIS2DULPXSensor.h>
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#include <IIS2MDCSensor.h>
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#ifdef ARDUINO_SAM_DUE
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#define DEV_I2C Wire1
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#elif defined(ARDUINO_ARCH_STM32)
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#define DEV_I2C Wire
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#elif defined(ARDUINO_ARCH_AVR)
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#define DEV_I2C Wire
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#else
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#define DEV_I2C Wire
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#endif
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#define SerialPort Serial
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// Components
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ILPS22QSSensor PressTemp(&DEV_I2C);
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ISM6HG256XSensor AccGyr(&DEV_I2C);
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ISM330ISSensor AccGyr2(&DEV_I2C);
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IIS2DULPXSensor Acc3(&DEV_I2C);
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IIS2MDCSensor Mag(&DEV_I2C);
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void setup() {
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// Led.
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pinMode(LED_BUILTIN, OUTPUT);
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// Initialize serial for output.
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SerialPort.begin(115200);
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// Initialize I2C bus.
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DEV_I2C.begin();
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PressTemp.begin();
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PressTemp.Enable();
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AccGyr.begin();
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AccGyr.Enable_X();
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AccGyr.Enable_G();
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AccGyr2.begin();
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AccGyr2.Enable_X();
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AccGyr2.Enable_G();
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Acc3.begin();
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Acc3.Enable_X();
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Mag.begin();
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Mag.Enable();
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}
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void loop() {
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// Led blinking.
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digitalWrite(LED_BUILTIN, HIGH);
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delay(250);
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digitalWrite(LED_BUILTIN, LOW);
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delay(250);
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// Read pressure and temperature.
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float pressure = 0, temperature = 0;
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PressTemp.GetPressure(&pressure);
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PressTemp.GetTemperature(&temperature);
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// Read accelerometer and gyroscope.
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ISM6HG256X_Axes_t accelerometer;
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ISM6HG256X_Axes_t gyroscope;
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AccGyr.Get_X_Axes(&accelerometer);
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AccGyr.Get_G_Axes(&gyroscope);
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// Read accelerometer and gyroscope.
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ISM330IS_Axes_t accelerometer2;
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ISM330IS_Axes_t gyroscope2;
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AccGyr2.Get_X_Axes(&accelerometer2);
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AccGyr2.Get_G_Axes(&gyroscope2);
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//Read accelerometer
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IIS2DULPX_Axes_t accelerometer3;
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Acc3.Get_X_Axes(&accelerometer3);
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//Read magnetometer
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int32_t magnetometer[3];
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Mag.GetAxes(magnetometer);
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// Output data.
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SerialPort.print("| Pres[hPa]: ");
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SerialPort.print(pressure, 2);
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SerialPort.print(" | Temp[C]: ");
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SerialPort.print(temperature, 2);
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SerialPort.println(" |");
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SerialPort.print("| Acc[mg]: ");
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SerialPort.print(accelerometer.x);
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SerialPort.print(" ");
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SerialPort.print(accelerometer.y);
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SerialPort.print(" ");
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SerialPort.print(accelerometer.z);
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SerialPort.print(" | Gyr[mdps]: ");
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SerialPort.print(gyroscope.x);
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SerialPort.print(" ");
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SerialPort.print(gyroscope.y);
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SerialPort.print(" ");
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SerialPort.print(gyroscope.z);
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SerialPort.println(" |");
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SerialPort.print("| Acc2[mg]: ");
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SerialPort.print(accelerometer2.x);
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SerialPort.print(" ");
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SerialPort.print(accelerometer2.y);
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SerialPort.print(" ");
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SerialPort.print(accelerometer2.z);
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SerialPort.print(" | Gyr2[mdps]: ");
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SerialPort.print(gyroscope2.x);
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SerialPort.print(" ");
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SerialPort.print(gyroscope2.y);
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SerialPort.print(" ");
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SerialPort.print(gyroscope2.z);
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SerialPort.println(" |");
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SerialPort.print("| Acc3[mg]: ");
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SerialPort.print(accelerometer3.x);
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SerialPort.print(" ");
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SerialPort.print(accelerometer3.y);
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SerialPort.print(" ");
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SerialPort.print(accelerometer3.z);
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SerialPort.println(" |");
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SerialPort.print("| Mag[mGauss]: ");
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SerialPort.print(magnetometer[0]);
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SerialPort.print(" ");
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SerialPort.print(magnetometer[1]);
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SerialPort.print(" ");
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SerialPort.print(magnetometer[2]);
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SerialPort.println(" |");
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SerialPort.println("");
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}

‎examples/X_NUCLEO_IKS5A1_IIS2DULPX_6D_Orientation/X_NUCLEO_IKS5A1_IIS2DULPX_6D_Orientation.ino‎

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/*
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@file X_NUCLEO_IKS5A1_IIS2DULPX_6D_Orientation.ino
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@author STMicroelectronics
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@brief Example to use the IIS2DULPX 6D Orientation
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*******************************************************************************
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Copyright (c) 2025, STMicroelectronics
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All rights reserved.
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This software component is licensed by ST under BSD 3-Clause license,
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the "License"; You may not use this file except in compliance with the
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License. You may obtain a copy of the License at:
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opensource.org/licenses/BSD-3-Clause
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*******************************************************************************
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*/
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#include <IIS2DULPXSensor.h>
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#define INT1_pin A2
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IIS2DULPXSensor IIS2DULPX(&Wire);
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// Interrupts.
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volatile int mems_event = 0;
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char report[256];
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void INT1Event_cb();
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void sendOrientation();
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void setup()
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{
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// Initialize serial.
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Serial.begin(115200);
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delay(1000);
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// Initialize LED.
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pinMode(LED_BUILTIN, OUTPUT);
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// Initialize I2C.
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Wire.begin();
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// Enable INT1 pin.
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attachInterrupt(INT1_pin, INT1Event_cb, RISING);
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// Initialize components.
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IIS2DULPX.begin();
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IIS2DULPX.Enable_X();
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// Enable 6D Orientation.
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IIS2DULPXStatusTypeDef ret = IIS2DULPX.Enable_6D_Orientation(IIS2DULPX_INT1_PIN);
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}
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void loop()
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{
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if (true) {
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mems_event = 0;
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// Initialize the structure to zero at the beginning of each loop using memset
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IIS2DULPX_Event_Status_t status;
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memset(&status, 0, sizeof(IIS2DULPX_Event_Status_t));
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IIS2DULPX.Get_X_Event_Status(&status);
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if (status.D6DOrientationStatus) {
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// Send 6D Orientation
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sendOrientation();
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// LED blinking.
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digitalWrite(LED_BUILTIN, HIGH);
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delay(100);
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digitalWrite(LED_BUILTIN, LOW);
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}
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}
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}
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void INT1Event_cb()
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{
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mems_event = 1;
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}
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void sendOrientation()
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{
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uint8_t xl = 0;
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uint8_t xh = 0;
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uint8_t yl = 0;
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uint8_t yh = 0;
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uint8_t zl = 0;
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uint8_t zh = 0;
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IIS2DULPX.Get_6D_Orientation_XL(&xl);
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IIS2DULPX.Get_6D_Orientation_XH(&xh);
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IIS2DULPX.Get_6D_Orientation_YL(&yl);
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IIS2DULPX.Get_6D_Orientation_YH(&yh);
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IIS2DULPX.Get_6D_Orientation_ZL(&zl);
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IIS2DULPX.Get_6D_Orientation_ZH(&zh);
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if (xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0) {
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sprintf(report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n |________________| \r\n");
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}
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else if (xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0) {
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sprintf(report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n |________________| \r\n");
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}
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else if (xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0) {
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sprintf(report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n |________________| \r\n");
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}
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else if (xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0) {
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sprintf(report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n |________________| \r\n");
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}
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else if (xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1) {
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sprintf(report, "\r\n __*_____________ " \
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"\r\n |________________| \r\n");
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}
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else if (xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0) {
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sprintf(report, "\r\n ________________ " \
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"\r\n |________________| " \
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"\r\n * \r\n");
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}
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else {
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sprintf(report, "None of the 6D orientation axes is set in accelerometer.\r\n");
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}
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Serial.print(report);
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}

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