> ## Documentation Index
> Fetch the complete documentation index at: https://dragonwingdocs.qualcomm.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Sensors on the platform

> Sensor parts and connectivity configurations available on the Dragonwing RB3 Gen 2 Development Kit.

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](https://docs.qualcomm.com/doc/80-80023-253).

**Table : Core Kit sensors**

| Placement  | Sensor part | Sensor type                 |
| ---------- | ----------- | --------------------------- |
| Main board | ICM42688    | Accelerometer 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](https://docs.qualcomm.com/doc/80-80023-253).

**Table : Vision Kit sensors**

<table>
  <thead>
    <tr><th>Placement</th><th>Sensor part</th><th>Sensor type</th></tr>
  </thead>

  <tbody>
    <tr><td>Main board</td><td>ICM42688</td><td>Accelerometer and gyroscope</td></tr>
    <tr><td rowspan="3">Vision mezzanine</td><td>ICM42688</td><td>Accelerometer and gyroscope</td></tr>
    <tr><td>ICP-10111</td><td>Pressure/barometer</td></tr>
    <tr><td>AK09915</td><td>Magnetometer</td></tr>
  </tbody>
</table>

**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:

<table>
  <thead>
    <tr><th>GPIOs</th><th>Interface</th><th>Sensors connected</th><th>QSH registry parameters</th><th>Interrupts</th></tr>
  </thead>

  <tbody>
    <tr>
      <td>GPIO\_159</td>
      <td rowspan="2">I<sup>2</sup>C</td>
      <td rowspan="2">Magnetometer (AK09915)<br />Pressure (ICP-10111)</td>
      <td rowspan="2"><code>bus\_type: 0 (SNS\_BUS\_I2C)</code><br /><code>bus\_instance: 1</code><br /><code>max\_bus\_speed\_khz: 400</code><br /><code>slave\_config:</code> I<sup>2</sup>C slave address</td>
      <td rowspan="2">Polling<br /><br /><strong>Note:</strong> Pressure and magnetometer sensors are configured in the polling mode in the Dragonwing RB3 Gen 2 Development Kit.</td>
    </tr>

    <tr><td>GPIO\_160</td></tr>

    <tr>
      <td>GPIO\_161</td>
      <td rowspan="2">I<sup>3</sup>C</td>
      <td rowspan="2">Not connected</td>
      <td rowspan="2"><code>bus\_type: 3 (SNS\_BUS\_I3C\_SDR)</code><br /><code>bus\_instance: 2</code><br /><code>max\_bus\_speed\_khz: 12500</code><br /><code>slave\_config:</code> I<sup>2</sup>C static address<br /><code>i3c\_address</code>: User-defined I<sup>3</sup>C dynamic address</td>
      <td rowspan="2">N.A.</td>
    </tr>

    <tr><td>GPIO\_162</td></tr>

    <tr>
      <td>GPIO\_163</td>
      <td rowspan="4">SPI</td>
      <td rowspan="4">Accelerometer and gyroscope (ICM42688)</td>
      <td rowspan="4"><code>bus\_type: 1 (SNS\_BUS\_SPI)</code><br /><code>bus\_instance: 3</code><br /><code>max\_bus\_speed\_khz: 9600</code><br /><code>slave\_config: 0</code>: For SPI, this value indicates the chip-select line for the slave.</td>
      <td rowspan="4">GPIO\_103</td>
    </tr>

    <tr><td>GPIO\_164</td></tr>
    <tr><td>GPIO\_165</td></tr>
    <tr><td>GPIO\_166</td></tr>

    <tr>
      <td>GPIO\_171</td>
      <td rowspan="2">UART</td>
      <td rowspan="2">BTLE</td>
      <td rowspan="2"><code>bus\_type: 2 (SNS\_BUS\_UART)</code><br /><code>bus\_instance: 36</code></td>
      <td rowspan="2">N.A.</td>
    </tr>

    <tr><td>GPIO\_172</td></tr>

    <tr>
      <td>GPIO\_173</td>
      <td rowspan="2">UART</td>
      <td rowspan="2">Debug</td>
      <td rowspan="2"><code>bus\_type: 2 (SNS\_BUS\_UART)</code><br /><code>bus\_instance: 7</code></td>
      <td rowspan="2">N.A.</td>
    </tr>

    <tr><td>GPIO\_174</td></tr>
  </tbody>
</table>