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The following table lists the Core Kit sensors supported on the Qualcomm Dragonwing™ RB3 Gen 2 Development Kit. For more information about the Core Kit, see Qualcomm Dragonwing™ RB3 Gen 2 Development Kit Quick Start. Table : Core Kit sensors
PlacementSensor partSensor type
Main boardICM42688Accelerometer and gyroscope
Only one accelerometer and gyroscope sensor part can be enabled on the Vision Kit at a time. The following table lists the Vision Kit sensors supported on the Qualcomm Dragonwing™ RB3 Gen 2 Development Kit. For more information about the Vision Kit, see Qualcomm Dragonwing™ RB3 Gen 2 Development Kit Quick Start. Table : Vision Kit sensors
PlacementSensor partSensor type
Main boardICM42688Accelerometer and gyroscope
Vision mezzanineICM42688Accelerometer and gyroscope
ICP-10111Pressure/barometer
AK09915Magnetometer
Sensors and serial bus configuration The following table lists the GPIO numbers, serial bus, QSH registry configuration, and interrupts for different sensors to configure the sensor drivers on the Qualcomm Dragonwing™ RB3 Gen 2 Development Kit:
GPIOsInterfaceSensors connectedQSH registry parametersInterrupts
GPIO_159I2CMagnetometer (AK09915)
Pressure (ICP-10111)		bus_type: 0 (SNS_BUS_I2C)
bus_instance: 1
max_bus_speed_khz: 400
slave_config: I2C slave address		Polling

Note: Pressure and magnetometer sensors are configured in the polling mode in the Dragonwing RB3 Gen 2 Development Kit.
GPIO_160
GPIO_161I3CNot connectedbus_type: 3 (SNS_BUS_I3C_SDR)
bus_instance: 2
max_bus_speed_khz: 12500
slave_config: I2C static address
i3c_address: User-defined I3C dynamic address		N.A.
GPIO_162
GPIO_163SPIAccelerometer and gyroscope (ICM42688)bus_type: 1 (SNS_BUS_SPI)
bus_instance: 3
max_bus_speed_khz: 9600
slave_config: 0: For SPI, this value indicates the chip-select line for the slave.		GPIO_103
GPIO_164
GPIO_165
GPIO_166
GPIO_171UARTBTLEbus_type: 2 (SNS_BUS_UART)
bus_instance: 36		N.A.
GPIO_172
GPIO_173UARTDebugbus_type: 2 (SNS_BUS_UART)
bus_instance: 7		N.A.
GPIO_174