ST X-NUCLEO-IKS4A1 User manual
Introduction
The X-NUCLEO-IKS4A1 is a motion MEMS and environmental sensor evaluation board kit consisting of the main board X-
NUCLEO-IQS4A1, which hosts the motion MEMS and environmental sensors, and the detachable add-on board STEVAL-
MKE001A, which hosts the Qvar swipe electrodes.
It is compatible with the Arduino UNO R3 connector layout and features the LSM6DSO16IS and LSM6DSV16X MEMS 3D
accelerometers, the LIS2MDL 3-axis magnetometer, the LIS2DUXS12 3-axis accelerometer, the LPS22DF MEMS pressure
sensor, the SHT40AD1B humidity and temperature sensor, and the STTS22H temperature sensor.
The X-NUCLEO-IKS4A1 interfaces with the STM32 microcontroller via the I²C pin or, for external sensors mounted on DIL24
adaptor, SPI Pins.
Figure 1. X-NUCLEO-IKS4A1 expansion board
Getting started with the X-NUCLEO-IKS4A1 motion MEMS and environmental
sensor expansion board for STM32 Nucleo
UM3239
User manual
UM3239 - Rev 1 - October 2023
For further information contact your local STMicroelectronics sales office. www.st.com
1 Getting started
1.1 Hardware requirements
The X-NUCLEO-IKS4A1 is designed to be used with STM32 Nucleo boards (visit www.st.com for further
information).
Figure 2. X-NUCLEO-IKS4A1 plugged on an STM32 Nucleo board
The X-NUCLEO-IKS4A1 must be connected on the matching pins of any STM32 Nucleo board with the Arduino
UNO R3 connector.
Note: X-NUCLEO-IKS4A1 components are ESD sensitive and, as the board has male/female pass-through
connectors, it is important to handle it with care to avoid bending or damaging the pins.
Related links
See the X-CUBE-MEMS1 product page for firmware and related documentation
UM3239
Getting started
UM3239 - Rev 1 page 2/23
2 System requirements
To complete the system setup, you need:
•a Windows® (7, 8, 10) PC
• a USB type A to mini-B USB cable to connect the STM32 Nucleo to the PC
• board firmware and software package (X-CUBE-MEMS1) installed on the user PC
UM3239
System requirements
UM3239 - Rev 1 page 3/23
3 Hardware description
The board lets you test the functionality of the motion MEMS accelerometer, gyroscope and magnetometer, and
environmental humidity, temperature and pressure sensors, via the I²C communication bus.
It also allows complete testing of all LSM6DSO16IS and LSM6DSV16X functionalities and Qvar touch and swipe
gestures. There is also the possibility to attach the STHS34PF80 IR sensor to enable presence and motion
detection applications.
The board 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: ultralow 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
• 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 LIS2DUXS12 through aux SPI
(3/4 w)
• RoHS compliant
• WEEE compliant
• UKCA compliant
Each device has a separate power supply to allow power consumption measurement of every sensor.
The expansion board is power supply compatible with STM32 Nucleo boards: it mounts an LDO to generate 1.8 V
for all the MEMS sensors except for the external sensor mounted on DIL24 adapter, which can be supplied both
from 1.8 V and 3.3 V (main supply from Nucleo board).
All signals between the sensors and the main board are translated by a level shifter.
3.1 Default solder bridge configuration
The user can configure several aspects of the X-NUCLEO-IKS4A1 through several solder bridges which can be
left open (not mounted) or closed (mounted) to configure different hardware settings.
UM3239
Hardware description
UM3239 - Rev 1 page 4/23
3.2 Block diagram
The LSM6DSO16IS and the LSM6DSV16X have an I²C sensor hub that allows them to behave as the I²C master
for other slave devices connected via an I²Caux bus. Various bus configurations are possible to select the I²C
master of the environmental/DIL24 sensors.
Mode 1: standard I²C bus connection (all sensors)
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)
Figure 3. X-NUCLEO-IKS4A1 standard I²C
Mode 2: LSM6DSO16IS I²C sensor hub (all sensors)
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: 5-6 (HUB2_SDx = SENS_SDA)
• J5: 5-6 (HUB2_SCx = SENS_SCL)
Figure 4. X-NUCLEO-IKS4A1 LSM6DSO16IS I²C sensor hub
UM3239
Block diagram
UM3239 - Rev 1 page 5/23
Mode 3: LSM6DSV16X I²C sensor hub
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: 7-8 (HUB1_SDx = SENS_SDA)
• J5: 7-8 (HUB1_SDx = SENS_SDA)
DIL24 adapter (to I²C2): SB16, SB21
Not mounted: SB6, SB10, SB12, SB14, SB18, SB19, SB20, SB22
Figure 5. LSM6DSV16X I²C sensor hub
Mode 4: DIL24 I²C sensor hub (all sensors)
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)
Figure 6. X-NUCLEO-IKS4A1 DIL24, I²C sensor hub (all sensors)
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)
UM3239
Block diagram
UM3239 - Rev 1 page 6/23
3.3 Sensor I²C address selection
Most sensors allow I²C address LSB selection by pulling the SD0 pin low or high. The board has solder bridges to
control SD0 level.
Table 1. Solder bridges for I²C address
Address in bold are the default I2C addresses
Sensor SD0 low SD0 high
STTS22H (U8) ADD= 71h
LIS2DUXS12 (U5) SB19 ADD=31h SB20 ADD=33h
LSM6DSO16IS (U9) SB35 ADD=D5h SB34 ADD=D7h
LPS22DF (U6) SB31 ADD=B9h SB29 ADD=BBh
LIS2MDL (U7) ADD =3Ch ADD =3Ch
SHT40AD1B (U10) ADD= 89h ADD= 89h
DIL24 Adapter (J1) SB43/SB44 SB41/SB42
LSM6DSV16X (U4) SB17 ADD=D5h SB15 ADD=D7h
3.4 Sensor current consumption measurement
The X-NUCLEO-IKS4A1 expansion board is equipped with OR resistors that allow separate current consumption
measurement for each sensor.
To measure current consumption, connect an ammeter to the appropriate pads.
Note: As the sensors have very low current consumption, you should set a suitable range and use an ammeter with
low burden voltage.
Table 2. Resistors/jumpers for current consumption measurement
Sensor Resistor/jumper
LIS2MDL (U7) R18
LSM6DSO16IS (U9) R21
SHT40AD1B (U10) R22
LIS2DUXS12 (U5) R16
STTS22H (U8) R19
LPS22DF (U6) R32
DIL24 Adapter (J1) JP5
LSM6DSV16X R33
3.5 Sensor disconnection
To disconnect a sensor, you should disconnect the I²C bus as well as the power supply. See the table below for
the relevant jumpers and solder bridges.
Table 3. Link between sensors, jumpers and I²C solder bridges
Sensor SDA SCL
LIS2MDL (U7) SB30 SB26
LSM6DSO16IS (U9) SB38 SB36
SHT40AD1B (U10) SB39 SB37
LIS2DUXS12 (U5) SB22 SB16
UM3239
Sensor I²C address selection
UM3239 - Rev 1 page 7/23
Sensor SDA SCL
STTS22H (U8) SB33 SB32
LPS22DF (U6) SB28 SB25
DIL24 Adapter (J1) SB47, SB49, SB48 SB51, SB53, SB52
LSM6DSV16X SB21 SB18
3.6 Adapter board for DIL24 socket
An additional sensor can be connected as an adapter board to J6 DIL24 socket.
As there are a few different interrupt signal assignments for DIL24 pins, the appropriate pin can be selected using
the J2 header.
Related links
Please visit the ST website to find other available sensors
3.7 Connectors
Table 4. Arduino R3 UNO connectors
Connector Pin(1) Signal
CN5
7 GND
9 I²C SDA
10 I²C SCL
CN6
2 3.3 V
4 3.3 V
6 GND
7 GND
8 N.C.[FT1]
CN8
3 LIS2MDL DRDY
4 LIS2DUXS12 INT
5 STTS22H INT
6 LSM6DSO16IS INT1
CN9
3 USER INT
4 SPI CLK
5 LSM6DSV16X INT2
6 LSM6DSV16X INT1
7 LPS22DF INT1
8 LSM6DSO16IS INT2
1. unlisted pins are not connected.
UM3239
Adapter board for DIL24 socket
UM3239 - Rev 1 page 8/23
Table 5. ST morpho connectors
Connector Pin(1) Signal
CN7
12 3.3 V
16 3.3 V
20 GND
22 GND
32 LIS2MDL DRDY
34 LIS2DUXS12 INT
36 STTS22H INT
38 LSM6DSO16IS INT1
CN10
3 I²C SCL
5 I²C SDA
23 LSM6DSO16IS INT2
25 LPS22DF INT1
27 LSM6DSV16X INT1
29 LSM6DSV16X INT2
31 SPI CLK
33 USER INT
1. The unlisted pins are not connected.
UM3239
Connectors
UM3239 - Rev 1 page 9/23
4 Schematic diagrams
Figure 7. X-NUCLEO-IKS4A1 circuit schematic (1 of 4)
STTS22H_INT
LPS22DF_INT
LIS2MDL_DRDY
1V8
M_INT_Pin16
M_INT_Pin24
M_INT_Pin17
M_SA0/DEN
M_SA0/DRDY
M_INT1
M_INT2 3V3
STHS34PF80_INT
SPI
I2C2
LIS2DUXS12_INT2
LIS2DUXS12_INT1
LSM6DSO16IS_INT1
LSM6DSO16IS_INT2
LSM6DSV16X_INT2
LSM6DSV16X_INT1
U_Arduino_Nucleo Connectors
Arduino_Nucleo Connectors.SchDoc
1V8
STHS34PF80_INT
LPS22DF_INT
STTS22H_INT
LIS2MDL_DRDY
LIS2DUXS12_INT2
QVAR2
QVAR1
SENS_I2C
STM_I2C
HUB2_I2C
DIL24_I2C
LIS2DUXS12_INT1
LSM6DSO16IS_INT1
LSM6DSO16IS_INT2
LSM6DSV16X_INT2
LSM6DSV16X_INT1
U_Sensors
Sensors.SchDoc
M_INT_Pin17
M_INT1
M_INT_Pin16
M_INT2
M_INT_Pin24
M_SA0/DEN
M_SA0/DRDY
3V3
1V8
SPI
Q2
Q1
HUB2_I2C
STM_I2C
DIL_I2C
SENS_I2C
U_Adapter Board
Adapter Board.SchDoc
UM3239 - Rev 1 page 10/23
UM3239
Schematic diagrams
Table of contents
Other ST Computer Hardware manuals
ST
ST STEVAL-IFP045V1 User manual
ST
ST X-NUCLEO-LED12A1 User manual
ST
ST STEVAL-BCN002V1B User manual
ST
ST STEVAL-MKI015V1 Quick start guide
ST
ST STM32Cube User manual
ST
ST X-NUCLEO-OUT02A1 User manual
ST
ST STM32Cube Quick setup guide
ST
ST X-NUCLEO-IDW01M1 User manual
ST
ST X-NUCLEO-OUT13A1 User manual
ST
ST EVLKST8500GH-2 User manual
ST
ST STM32 Nucleo User manual
ST
ST UM2960 User manual
ST
ST X-NUCLEO-SAFEA1B Operating instructions
ST
ST X-NUCLEO-IHM03A1 User manual
ST
ST STNRG328S User manual
ST
ST ST92163 User manual
ST
ST X-NUCLEO-NFC03A1 Parts list manual
ST
ST STM32 Nucleo User manual
ST
ST STM32G071B-DISCO User manual
ST
ST STM32F3DISCOVERY User manual
Popular Computer Hardware manuals by other brands
EMC2
EMC2 VNX Series Hardware Information Guide
Panasonic
Panasonic DV0PM20105 Operation manual
Mitsubishi Electric
Mitsubishi Electric Q81BD-J61BT11 user manual
Gigabyte
Gigabyte B660M DS3H AX DDR4 user manual
Raidon
Raidon iT2300 Quick installation guide
National Instruments
National Instruments PXI-8186 user manual
dbx
dbx Zone Pro 1260 user manual
Galaxy
Galaxy GHDX2-2430S-24F4D Installation and hardware reference manual
Intel
Intel AXXRMFBU4 Quick installation user's guide
Kontron
Kontron DIMM-PC/MD product manual
STEINWAY LYNGDORF
STEINWAY LYNGDORF SP-1 installation manual
Advantech
Advantech ASMB-935 Series user manual