boards/shields: add support for x-nucleo-iks4a1 shield

x-nucleo-iks4a1 shield is an arduino compatible companion board
which can be used on top of Nucleo standard boards for industrial
applications. Following MEMS sensor are currently supported:

    - LSM6DSO16IS: MEMS 3D accelerometer + 3D gyroscope
    - LSM6DSV16X: MEMS 3D accelerometer + 3D gyroscope
    - LIS2MDL: MEMS 3D magnetometer
    - LPS22DF: Low-power and high-precision MEMS pressure sensor

(https://www.st.com/resource/en/data_brief/x-nucleo-iks4a1.pdf)

The board exports three overlays:

    1. x_nucleo_iks4a1.overlay (standard mode)

       All MEMS sensors are connected to micro-controller.

    2. x_nucleo_iks4a1_shub1.overlay (HUB1 mode)

       LSM6DSV16X IMU sensor act as a sensor_hub with LIS2MDL and
       LPS22DF connected to it.

    3. x_nucleo_iks4a1_shub2.overlay (HUB2 mode)

       LSM6DSO16IS IMU sensor act as a sensor_hub with LIS2MDL and
       LPS22DF connected to it.

Signed-off-by: Armando Visconti <armando.visconti@st.com>

boards/shields/x_nucleo_iks4a1/Kconfig.shield

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+# Copyright (c) 2024 STMicroelectronics
+# SPDX-License-Identifier: Apache-2.0
+
+config SHIELD_X_NUCLEO_IKS01A4
+	def_bool $(shields_list_contains,x_nucleo_iks4a1)

boards/shields/x_nucleo_iks4a1/doc/index.rst

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+.. _x-nucleo-iks4a1:
+
+X-NUCLEO-IKS4A1: MEMS Inertial and Environmental Multi sensor shield
+####################################################################
+
+Overview
+********
+The X-NUCLEO-IKS4A1 is a motion MEMS and environmental sensor expansion board
+for the STM32 Nucleo. It is equipped with Arduino UNO R3 connector layout, and
+allows application development with features like sensor HUB (LSM6DSO16IS and
+LSM6DSV16X), camera module integration and Qvar touch/swipe gestures (thanks to
+the equipped electrode).
+
+.. image:: img/x-nucleo-iks4a1.jpg
+     :align: center
+     :alt: X-NUCLEO-IKS4A1
+
+More general information about the board can be found at the
+`X-NUCLEO-IKS4A1 website`_.
+
+Hardware Description
+********************
+
+X-NUCLEO-IKS4A1 provides the following key features:
+
+ - LSM6DSO16IS: MEMS 3D accelerometer (±2/±4/±8/±16 g) + 3D gyroscope
+   (±125/±250/±500/±1000/±2000 dps) with ISPU (Intelligent Processing Unit)
+ - LIS2MDL: MEMS 3D magnetometer (±50 gauss)
+ - LIS2DUXS12: Ultra low-power MEMS 3D accelerometer (±2/±4/±8/±16 g) with
+   Qvar, AI, & anti-aliasing
+ - LPS22DF: Low-power and high-precision MEMS pressure sensor, 260-1260 hPa
+   absolute digital output barometer
+ - SHT40AD1B: High-accuracy, ultra-low-power relative humidity and temperature
+   sensor (by Sensirion)
+ - STTS22H: Low-voltage, ultralow-power, 0.5 °C accuracy temperature sensor
+   (–40 °C to +125 °C)
+ - LSM6DSV16X: MEMS 3D accelerometer (±2/±4/±8/±16 g) + 3D gyroscope
+   (±125/±250/±500/±1000/±2000/±4000 dps) with embedded sensor fusion, AI, Qvar
+ - DIL 24-pin socket available for additional MEMS adapters and other sensors
+ - Free comprehensive development firmware library and example for all sensors
+   compatible with STM32Cube firmware
+ - Equipped with Qvar touch/swipe electrode
+ - I²C sensor hub features on LSM6DSO and LSM6DSV16X available
+ - MIPI I3C® compatibility for communication with LIS2DUXS12, LSM6DSV16X and
+   LPS22DF
+ - Compatible with STM32 Nucleo boards
+ - Equipped with Arduino UNO R3 connector
+ - Equipped with industrial connector for IR sensor (STHS34PF80) application
+   development. It can be connected at the same time of external MEMS through
+   DIL24 adapter
+ - Available interface for external camera module applications coupled with
+   LSM6DSV16X through aux SPI (3/4 w)
+ - RoHS compliant
+ - WEEE compliant
+ - UKCA compliant
+
+Hardware Configuration
+**********************
+
+X-NUCLEO-IKS4A1 board can be configured in five different modes, which can be
+selected through J4 and J5 jumpers. Additional information about X-NUCLEO-IKS4A1
+configuration modes and how sensors are connected together can be found in the
+`X-NUCLEO-IKS4A1 user manual`_
+
+.. _x-nucleo-iks4a1-mode-1:
+
+Mode 1: Standard Mode
+=====================
+
+In standard I2C mode, all devices are connected to an external main board via the
+same I2C bus.
+
+The board configuration is:
+
+ - J4: 1-2, 11-12 (STM_SDA = SENS_SDA, HUB_SDx = GND)
+ - J5: 1-2, 11-12 (STM_SCL = SENS_SCL, HUB_SCx = GND)
+
+.. _x-nucleo-iks4a1-mode-2:
+
+Mode 2: LSM6DSO16IS SensorHub Mode (SHUB2)
+==========================================
+
+In this sensor hub I2C mode, it is possible to power-up the 6-axes IMU
+(Inertial Measurement Unit) functionalities by collecting external data
+through a direct control of the on-board environmental sensors (temperature,
+pressure and magnetometer) and external sensor (DIL24) through the auxiliary
+I2Cz bus "SENS_I2C". LSM6DSV16X, LIS2DUXS12 and SHT40AD1B remains connected
+to the main bus "uC_I2C" coming from the external board.
+
+The board configuration is:
+
+ - J4: 7-8 (HUB2_SDx = SENS_SDA)
+ - J5: 7-8 (HUB2_SCx = SENS_SCL)
+
+.. _x-nucleo-iks4a1-mode-3:
+
+Mode 3: LSM6DSV16X SensorHub Mode (SHUB1)
+=========================================
+
+In this sensor hub, it is possible to power-up the 6-axes IMU (Inertial
+Measurement Unit) functionalities by collecting external data through
+a direct control of the on-board environmental sensors (temperature,
+pressure and magnetometer) and external sensor (DIL24) through the auxiliary
+I2C bus "SENS_I2C". LSM6DSO16IS, LIS2DUXS12 and SHT40AD1B remains connected
+to the main bus "uC_I2C" coming from the external board.
+
+The board configuration is:
+
+ - J4: 5-6 (HUB1_SDx = SENS_SDA)
+ - J5: 5-6 (HUB1_SDx = SENS_SDA)
+
+Mode 4: DIL24 SensorHub Mode
+============================
+
+In case a sensor with sensor hub embedded functionality is mounted to the
+board through DIL24 adapter, it is possible to exploit this functionality
+as for LSM6DSO16IS and the LSM6DSV16X. In this configuration, may be necessary
+to connect the DIL24 to the external board through SPI lines in order to
+avoid an address conflict on I2C bus with the LSM6DSO16IS and the LSM6DSV16X.
+This is done by changing the SBx configuration.
+
+The board configuration is:
+
+ - J4: 9-10 (DIL_SDx = SENS_SDA)
+ - J5: 9-10 (DIL_SDx = SENS_SDA)
+
+Mode 5: LSM6DSO16IS as Qvar controller
+======================================
+
+In this configuration, it is possible to use the equipped Qvar swipe electrode
+(by plugging it on JP6 and JP7 connectors) through the LSM6DSO16IS.
+
+The board configuration is:
+
+ - J4: 3-4 (HUB1_SDx = QVAR1)
+ - J5: 3-4 (HUB1_Scx = QVAR2)
+
+Devicetree Overlays
+*******************
+
+There are three predefined DT overlays in the board:
+
+- :zephyr_file:`boards/shields/x_nucleo_iks4a1/x_nucleo_iks4a1.overlay`
+  This overlay describes sensor connections (and matching h/w configuration to be done)
+  as explained in Standard Mode (:ref:`x-nucleo-iks4a1-mode-1`)
+- :zephyr_file:`boards/shields/x_nucleo_iks4a1/x_nucleo_iks4a1_shub1.overlay`
+  This overlay describes sensor connections (and matching h/w configuration to be done)
+  as explained in SHUB1 Mode (:ref:`x-nucleo-iks4a1-mode-3`)
+- :zephyr_file:`boards/shields/x_nucleo_iks4a1/x_nucleo_iks4a1_shub2.overlay`
+  This overlay describes sensor connections (and matching h/w configuration to be done)
+  as explained in SHUB2 Mode (:ref:`x-nucleo-iks4a1-mode-2`)
+
+.. _X-NUCLEO-IKS4A1 website:
+   http://www.st.com/en/ecosystems/x-nucleo-iks4a1.html
+
+.. _X-NUCLEO-IKS4A1 user manual:
+   https://www.st.com/resource/en/user_manual/um3239-getting-started-with-the-xnucleoiks4a1-motion-mems-and-environmental-sensor-expansion-board-for-stm32-nucleo-stmicroelectronics.pdf

boards/shields/x_nucleo_iks4a1/x_nucleo_iks4a1.overlay

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+/*
+ * Copyright (c) 2024 STMicroelectronics
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	aliases {
+		magn0 = &lis2mdl_1e_x_nucleo_iks4a1;
+		accel0 = &lsm6dso16is_6a_x_nucleo_iks4a1;
+		accel1 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
+		press0 = &lps22df_5d_x_nucleo_iks4a1;
+	};
+};
+
+&arduino_i2c {
+	lsm6dso16is_6a_x_nucleo_iks4a1: lsm6dso16is@6a {
+		compatible = "st,lsm6dso16is";
+		reg = <0x6a>;
+		accel-odr = <0x1b>;
+		gyro-odr = <0x11>;
+		irq-gpios =  <&arduino_header 5 GPIO_ACTIVE_HIGH>; /* A5 (PC0) */
+		drdy-pin = <1>;
+	};
+
+	lsm6dsv16x_6b_x_nucleo_iks4a1: lsm6dsv16x@6b {
+		compatible = "st,lsm6dsv16x";
+		reg = <0x6b>;
+		accel-odr = <0x02>;
+		gyro-odr = <0x02>;
+		int2-gpios =  <&arduino_header 10 GPIO_ACTIVE_HIGH>; /* D4 (PB5) */
+		drdy-pin = <2>;
+		drdy-pulsed;
+	};
+
+	lis2mdl_1e_x_nucleo_iks4a1: lis2mdl@1e {
+		compatible = "st,lis2mdl";
+		reg = <0x1e>;
+		irq-gpios =  <&arduino_header 2 GPIO_ACTIVE_HIGH>; /* A2 (PA4) */
+	};
+
+	lps22df_5d_x_nucleo_iks4a1: lps22df@5d {
+		compatible = "st,lps22df";
+		reg = <0x5d>;
+		drdy-pulsed;
+		drdy-gpios =  <&arduino_header 12 GPIO_ACTIVE_HIGH>; /* D6 (PB10) */
+	};
+};

boards/shields/x_nucleo_iks4a1/x_nucleo_iks4a1_shub1.overlay

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+/*
+ * Copyright (c) 2024 STMicroelectronics
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	aliases {
+		accel0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
+	};
+};
+
+&arduino_i2c {
+	lsm6dsv16x_6b_x_nucleo_iks4a1: lsm6dsv16x@6b {
+		compatible = "st,lsm6dsv16x";
+		reg = <0x6b>;
+		accel-odr = <0x02>;
+		gyro-odr = <0x02>;
+		int1-gpios =  <&arduino_header 11 GPIO_ACTIVE_HIGH>; /* D5 */
+		drdy-pin = <1>;
+	};
+};

boards/shields/x_nucleo_iks4a1/x_nucleo_iks4a1_shub2.overlay

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+/*
+ * Copyright (c) 2024 STMicroelectronics
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	aliases {
+		accel0 = &lsm6dso16is_6a_x_nucleo_iks4a1_shub;
+	};
+};
+
+&arduino_i2c {
+	lsm6dso16is_6a_x_nucleo_iks4a1_shub: lsm6dso16is@6a {
+		compatible = "st,lsm6dso16is";
+		reg = <0x6a>;
+		irq-gpios =  <&arduino_header 5 GPIO_ACTIVE_HIGH>; /* A5 */
+		drdy-pin = <1>;
+	};
+};