ST X-NUCLEO-GNSS2A1 Manual de usuario
Introduction
The X-NUCLEO-GNSS2A1 expansion board is based on the Teseo-VIC3DA tiny GNSS module. It represents an affordable,
easy-to-use, global navigation satellite system (GNSS) module, which embeds a TeseoIII single die standalone positioning
receiver IC, usable in different configurations in your STM32 Nucleo project.
The Teseo-VIC3DA is a compact (16.0 x 12.2 mm) module that provides superior accuracy thanks to the on-board temperature
compensated crystal oscillator (TCXO) and a reduced time-to-first fix (TTFF) with its dedicated real-time clock (RTC) oscillator.
The Teseo-VIC3DA module runs the GNSS firmware (X-CUBE-GNSS1) to perform all the GNSS operations including
acquisition, tracking, navigation, and data output without any external memory support.
The X-NUCLEO-GNSS2A1 expansion board is compatible with the Arduino UNO R3 connector and the ST morpho connector. It
can be plugged to an STM32 Nucleo development board and stacked with additional STM32 Nucleo expansion boards.
Figure 1. X-NUCLEO-GNSS2A1 expansion board
Getting started with the X-NUCLEO-GNSS2A1 expansion board based on the
Teseo-VIC3DA dead-reckoning GNSS module for STM32 Nucleo
UM3020
User manual
UM3020 - Rev 1 - July 2022
For further information contact your local STMicroelectronics sales office. www.st.com
1Getting started
1.1 Board overview
The X-NUCLEO-GNSS2A1 expansion board for STM32 Nucleo is a GNSS multiconstellation receiver with dead-
reckoning that covers a wide range of applications where geo-location is required.
The key features are:
• Operating supply voltage: 3.3 V
• Ambient temperature: -40/+85°C
• Sensitivity: -163 dBm (tracking mode)
• Interfaces:
– a UART port
– an I²C port
– configurable digital I/O time pulse
– EXTINT input for wake-up
• NMEA protocol
• Assisted GNSS:
– autonomous AGNSS
– real-time, server-based
• Simultaneous multiconstellation:
– GPS
– Galileo
– Glonass
– BeiDou
– QZSS
• Compatible with STM32 Nucleo development boards
• Compatible with the Arduino UNO R3 connector
•Teseo-VIC3DA dead-reckoning automotive firmware
• Provision of FWD and WHEELTICK signals
• Automotive GNSS and 6-axis inertial sensor
• LNA and SAW filters on the RF path
• SMA female antenna connector
• RoHS and WEEE compliant
UM3020
Getting started
UM3020 - Rev 1 page 2/21
1.2 Hardware and software requirements
The X-NUCLEO-GNSS2A1 must be plugged onto an STM32 Nucleo development board through the Arduino
UNO R3 connectors, as shown in the figure below.
Figure 2. X-NUCLEO-GNSS2A1 expansion board connected to an STM32 Nucleo development board
The X-NUCLEO-GNSS2A1 can be connected to any STM32 Nucleo development board, even though complete
testing has been performed on the NUCLEO-F401RE board.
To use the STM32 Nucleo development boards with the X-NUCLEO-GNSS2A1 expansion board, the following
software and hardware specifications are required:
• a PC with Microsoft Windows® 10 to install the software package (X-CUBE-GNSS1);
• an STM32 Nucleo development board (NUCLEO-L053R8 or NUCLEO-F401RE);
• a type A to mini-B USB cable to connect the STM32 Nucleo to the PC;
• the X-CUBE-GNSS1 software package;
•TESEO-SUITE.
The installation of the X-CUBE-GNSS1 and the TESEO-SUITE graphical user interface utility on the user PC
requires:
• 128 MB of RAM;
• 40 MB of hard disk space.
UM3020
Hardware and software requirements
UM3020 - Rev 1 page 3/21
1.3 Board setup
To set up the X-NUCLEO-GNSS2A1 expansion board, follow the procedure below.
Step 1. Check the jumper position shown below:
Table 1. X-NUCLEO-GNSS2A1 expansion board - jumper 1 default settings
Signal Jumper Configuration
I²C-SCL J11 Closed
I²C-SDA J12 Closed
VCC-VCC_IO J14 Closed
V14Bat J15 Closed
SYS_FWD J23 1-2
SYS_WHEELTICK J24 2-3
SYS_RESETn J25 1-2
SYS_WAKEUP J26 2-3
UART-RX J27 2-3
UART-TX J28 2-3
SYS_PPS J29 1-2
SYS_IRQ J30 2-3
Step 2. Connect the X-NUCLEO-GNSS2A1 to the STM32 Nucleo development board.
Step 3. Power the STM32 Nucleo development board using the type A mini-B USB cable.
Step 4. Program the STM32 Nucleo development board using the firmware example provided.
Step 5. Reset the MCU via the STM32 Nucleo development board [reset] button.
The evaluation kit is ready-to-use.
UM3020
Board setup
UM3020 - Rev 1 page 4/21
2Hardware description
2.1 X-NUCLEO-GNSS2A1 expansion board for STM32 Nucleo
The X-NUCLEO-GNSS2A1 allows testing the Teseo-VIC3DA GNSS module functionality via the firmware
package contained in the X-CUBE-GNSS1 software.
Important: Program the microcontroller on the STM32 Nucleo development board.
The Teseo-VIC3DA module and the STM32 Nucleo development board communicate through the expansion
board connectors (CN5, CN6, CN8, and CN9) as listed in the tables below.
Table 2. Interconnection between STM32 Nucleo development board and X-NUCLEO-GNSS2A1 expansion
board (left-side connectors)
STM32 Nucleo pins
X-NUCLEO-GNSS2A1
CN6 (power)
CN8 (analog)
Pin Signal
NC X
IOREF 2 3V3
RESET 3
3V3 4 3V3
5V 5
GND 6 GND
GND 7 GND
VIN 8
A0 1
A1 2
A2 3
A3 4
A4 5
A5 6
Table 3. Interconnection between STM32 Nucleo development board and X-NUCLEO-GNSS2A1 expansion
board (right-side connectors)
STM32 Nucleo pins
X-NUCLEO-GNSS2A1
CN5 (digital) CN9 (digital)
Pin Signal Pin Signal
D15 10 SCL2
D14 9 SDA2
AREF 8
GND 7 GND
D13 6 WAKE_UP
D12 5
D11 4
D10 3
UM3020
Hardware description
UM3020 - Rev 1 page 5/21
STM32 Nucleo pins
X-NUCLEO-GNSS2A1
CN5 (digital) CN9 (digital)
Pin Signal Pin Signal
D9 2 RESET
D8 1 RX0
D7 8 RESET
D6 7 PPS
D5 6
D4 5 WAKE_UP
D3 4
D2 3 TX0/PPS
D1 2 RX
D0 1 TX
2.2 Teseo-VIC3DA module
The X-NUCLEO-GNSS2A1 expansion board embeds the Teseo-VIC3DA automotive GNSS dead-reckoning
module with 6-axis IMU.
The Teseo-VIC3DA is an easy-to-use global navigation satellite system (GNSS) standalone module. It embeds
the TeseoIII single-die standalone positioning receiver IC, which works simultaneously on multiple constellations
(GPS/Galileo/Glonass/BeiDou/QZSS).
Table 4. Teseo-VIC3DA details
Feature Description
Sales type Teseo-VIC3DA
Package LLC 24 pins (16.0 mm x 12.2 mm)
Operating voltage 3.3 V
2.3 GNSS antenna
The GNSS antenna (manufacturer INPAQ, part number B3G02G-S3-XX-A) is attached to the board through a
SMA connector (with its trademark and model).
Important: The antenna provided by the manufacturer can be replaced only with an identical one.
2.4 UART, I²C, and GPIO connection options
The Teseo-VIC3DA module embedded in the X-NUCLEO-GNSS2A1 expansion board can be used to work with
the board in different configurations when different expansion boards are used and a conflict of signals occurs.
UM3020
Teseo-VIC3DA module
UM3020 - Rev 1 page 6/21
Table 5. X-NUCLEO-GNSS2A1 expansion board: Teseo-VIC3DA interface with the STM32 Nucleo
development board
Signal Pins STM32 Nucleo (optional connections)
I²C-SCL d15 -
I²C-SDA d14 -
Wakeup d13 d4
Reset d7 d9
PPS d6 d2
UART-RX d8 d1
UART-TX d2 d0
For the optional connections, modify the firmware according to the STM32 resources to be used.
2.5 Current measurement
To monitor the Teseo-VIC3DA module power consumption, insert an ammeter probe between J14 pin (VCC) and
J15 pin (VBAT).
As the Teseo-VIC3DA power consumption is very low during most of its operating time, an accurate instrument in
the range of few μA is required.
2.6 ODO connector
The ODO connector on the X-NUCLEO-GNSS2A1 exposes two input signals for the Teseo-VIC3DA, which
embeds the TESEO dead reckoning. These two signals are specific to dead-reckoning applications and provide
the odometer information using the pins FWD (pin2) and WHEELTICK (pin3).
UM3020
Current measurement
UM3020 - Rev 1 page 7/21
2.7 X-NUCLEO-GNSS2A1 expansion board component placement
Figure 3. X-NUCLEO-GNSS2A1 expansion board component placement details
UM3020
X-NUCLEO-GNSS2A1 expansion board component placement
UM3020 - Rev 1 page 8/21
3Schematic diagrams
Figure 4. X-NUCLEO-GNSS2A1 circuit schematic (1 of 3)
GNSS Module
Battery
SMD0402
SMD0603
SMD0603
SMD0603
SMD0603
SMD0603
SMD0603
SMD0603
ODO Connector
SMD0402
+VCC_IO
Battery Holder (CR2032)
+VCC_IO +VBatt
GND
GND
GND
GND
+VBatt
GND
+VCC_IO
GND
GND
GND
GND
+VCC_IO
SYS_RESETn
TX
SYS_WAKEUP
RX
I2C_CLOCK
I2C_DATA
AntOFFRF_IN
VCC_RF
SYS_FWD
SYS_WHEELTICK
SYS_IRQ
SYS_PPS
C14100pF
R10
330E
D3
Green_LED
J16
1
2
3
4
con4-strip-male
D5
BAT20J
R38 0E
J14
HEADER1x2
1
1
Closed
22
R8
330E
R11
0E
R420E
D2
Red_LED
R2
R1
Q1
1
2
MUN2214T1G
3
R44 0E
R41 0E
R37 0E
R33
NM
R40 0E
R390E
C13100nF
R36 0E
JR14
R35 0E
SHUNT 2.54 mm.
JR15
TP1
R43SHUNT 2.54 mm.0E
J15
HEADER1x2
1
1
Closed
22
D1
BAT20J
U1
1
TESEO-VIC3DATR
WakeUp
2Reserved
PPS
3
4WHEELTICK
5
IRQ
6Reserved_1
7Reserved_2
8nReset
9VCC_RF
GND
10
11 RF_IN
GND
12 GND 13
14
AntOFF
FWD 15
16
Reserved_3
17
Reserved_4
18
I2C_SDA
19
I2C_SCL
20
UART-TX
21
UART-RX
22
V_BAT
VCC 23
GND 24
VL1
NM
R9
0E
PPS
RESETn SYS_RESETn
SYS_WAKEUP
WAKEUP
RX
UART_TX TX
I2C_SDA
I2C_SCL
I2C_DATA
I2C_CLOCK
UART_RX
UART_TX
UART_RX
I2C_SCL
I2C_SDA
WAKEUP
PPS
AntOFF
RF_IN
RESETn
VCC_RF
FWD
WHEELTICK
FWD
WHEELTICK
IRQ
FWD SYS_FWD
WHEELTICK
IRQ
SYS_WHEELTICK
SYS_IRQ
PPS SYS_PPS
UM3020 - Rev 1 page 9/21
UM3020
Schematic diagrams
Figure 5. X-NUCLEO-GNSS2A1 circuit schematic (2 of 3)
NUCLEO CONNECTORS
CN7 of NUCLEO BOARD
CN8 of NUCLEO BOARDCN6 of NUCLEO BOARD
CN10 of NUCLEO BOARD
CN5 of NUCLEO BOARDCN9 of NUCLEO BOARD
{Default}
{Default}
{D8 = PA9: STM32 USART1_TX}
{Default}
{Default}
{Default}
{Default}
{Default}
{Default}
+3V3
+3V3
IOREF
GND
RX
I2C_CLOCK
I2C_DATA
+VCC_IO
SYS_FWD
SYS_WHEELTICK
SYS_RESETn
TX
SYS_WAKEUP SYS_PPS
SYS_IRQ
J28
1
2
HEADER1X3
3
JR17
NM
CN10
1
ST morpho
2
3 4
5 6
7 8
9 10
11 12
1314
15 16
17 18
19 20
21 22
23 24
25 26
2728
29 30
31 32
3334
35 36
3738
CN6
1
Arduino
2
3
4
5
6
7
8
J11
1
HEADER1x2
1
Closed
22
J24
1
2
HEADER1X3
3
CN5
1
Arduino
2
3
4
5
6
7
8
9
10
CN8
1
Arduino
2
3
4
5
6
JR9
J26
SHUNT 2.54 mm.
1
2
HEADER1X3
3
CN9
1
Arduino
2
3
4
5
6
7
8
J23
1
2
HEADER1X3
3
J12
HEADER1x2
1
1
Closed
22
JR13
NM
CN7
1 2
ST morpho
3 4
5 6
7 8
9 10
11 12
13 14
1516
17 18
1920
21 22
23 24
25 26
27 28
29 30
31 32
3334
35 36
37 38
J25
1
2
HEADER1X3
3
JR11
SHUNT 2.54 mm.
JR12
SHUNT 2.54 mm.
JR19
SHUNT 2.54 mm.
JR18
J29
SHUNT 2.54 mm.
1
2
HEADER1X3
3
J30
1
2
HEADER1X3
3
JR2
J27
SHUNT 2.54 mm.
1
2
HEADER1X3
3
JR16
SHUNT 2.54 mm.
JR4
PC11
PD2
SHUNT 2.54 mm.
E5V
GND
IOREF
RESET
+3V3
+5V
GND
GND
VIN
PA0A0
PA1 A1
PA4 A2
PB0A3
PC1 A4
PC0 A5
D7 PA8
D5/PWMPB4
D6/PWMPB10
D4 PB5
PB3D3/PWM
D2 PA10
D1/RX PA2
D0/TXPA3
PC10
PC12
VDD
BOOT0
NC/PF6
NC/PF7
PA13
PA14
PA15
GND
PB7
PC13
PC14
PC15
PH0/PF0/PD0
PH1/PF1/PD1
PC2
VLCD/VBAT
PC3
PC8
PC6
PC5
U5V
PD8
PA12
PA11
PB12
PB11/NC
GND
PB2
PB1
PB15
PB14
PB13
AGND
PC4
NC/PF5
NC/PF4
PB8D15/SCL
PB9D14/SDA
AVDD
GND
PA5D13/SCK
PA6D12/MISO
PA7D11/MOSI/PWM
PB6D10/CS/PWM
PC7D9/PWM
D8 PA9
PC9
D15/SCL
D14/SDA
RX
D6/PWM
D7 D8
SHUNT 2.54 mm.
{Default}
D4
D9/PWM
D4
SHUNT 2.54 mm.
{Default}
D7
D13/SCK
D8
SYS_WAKEUP
D1/RX
D0/TX D2
D2D6/PWM
SYS_PPS
{D2 = PA10: STM32 USART1_RX}
TX
D13/SCK D9/PWM
SYS_IRQ
UM3020 - Rev 1 page 10/21
UM3020
Schematic diagrams
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