u-blox C099-F9P User guide

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F9P high precision

Fi for

C099-F9P

Application board (rev. E), ODIN-W2 Mbed™ firmware

User guide

Abstract

The C099-F9P board enables customers to evaluate RTK operation with the ZED­GNSS receiver. The board provides short-range wireless connection via Bluetooth® or Wi­receiving correction data and logging via wireless connectivity.

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C099-F9P - User guide

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Document information

Title C099-F9P

Subtitle Application board (rev. E), ODIN-W2 Mbed™ firmware

Document type User guide

Document number UBX-18063024

Revision and date R12 29-Jun-2020

Disclosure restriction

C1-Public

This document applies to the following products:

Product name Type numbers Firmware version PCN reference

C099-F9P C099-F9P-0-03

C099-F9P-1-03
C099-F9P-2-03

FW 1.00 HPG 1.13
c099mbed3_v2.0.0

N/A Production ready

Product status

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-blox AG.

-blox.com.

ted to, with respect to the accuracy, correctness, reliability and fitness for a particular

-blox.

-blox assumes no liability for its use. No warranty, either express or

-blox at any time without notice. For the most recent

or any part thereof is only

C099-F9P - User guide

Contents

Document information ................................................................................................................................ 2

Contents .......................................................................................................................................................... 3

1 Introduction ............................................................................................................................................. 5

1.1 Package contents ....................................................................................................................................... 6

1.2 Additional sources of information ........................................................................................................... 6

2 C099-F9P quick start ........................................................................................................................... 7

2.1 Starting up ................................................................................................................................................... 7

3 C099-F9P description .......................................................................................................................... 9

3.1 Component overview .................................................................................................................................. 9

3.2 Component identification ......................................................................................................................... 9

ZED-F9P status LEDs ......................................................................................................................11

ODIN-W2 activity LED ......................................................................................................................12

4 Using the C099-F9P ........................................................................................................................... 13

4.1 Powering the board ...................................................................................................................................13

Non-wireless operation ....................................................................................................................14

4.2 GNSS RF input ...........................................................................................................................................14

4.3 User interfaces ..........................................................................................................................................15

FTDI USB bridge ................................................................................................................................15

Command line interface of ODIN-W2 ...........................................................................................16

4.4 Persistent ODIN-W2 settings.................................................................................................................17

Revert to factory default .................................................................................................................17

5 Rover operation using NTRIP .......................................................................................................... 18

5.1 PC hosting via u-center ............................................................................................................................18

5.2 Mobile hosting ...........................................................................................................................................19

6 Wireless communication .................................................................................................................. 20

6.1 Bluetooth pairing .......................................................................................................................................20

ODIN-W2 as pairing responder ......................................................................................................20

ODIN-W2 as pairing initiator ..........................................................................................................20

6.2 Bluetooth serial port .................................................................................................................................21

Server SPP connection ....................................................................................................................21

Client SPP connection .....................................................................................................................21

6.3 Wi-Fi connectivity .....................................................................................................................................22

Wi-Fi access point and UDP server ...............................................................................................22

6.4 Host UDP client..........................................................................................................................................24

Client UDP connection .....................................................................................................................24

6.5 Wireless link limitations ..........................................................................................................................24

Data throughput ...............................................................................................................................24

Link loss ..............................................................................................................................................25

Windows OS issues with Bluetooth SPP ......................................................................................25

7 Firmware update ................................................................................................................................. 26

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7.1 ZED-F9P firmware update ......................................................................................................................26

7.2 ODIN-W2 firmware update ......................................................................................................................29

Mbed OS 3 application firmware ...................................................................................................29

u-connectXpress software .............................................................................................................29

8 Arduino header connections ........................................................................................................... 31

Appendix ....................................................................................................................................................... 32

A Glossary ................................................................................................................................................. 32

B C099-F9P antenna specification ................................................................................................... 32

B.1 Wi-Fi/Bluetooth antenna specification ....................................................................................... 32

C ODIN-W2 firmware upload via JTAG ............................................................................................ 32

D Mechanical board dimensions ........................................................................................................ 33

E C099-F9P schematics ....................................................................................................................... 33

Related documents ................................................................................................................................... 39

Revision history .......................................................................................................................................... 39

Contact .......................................................................................................................................................... 40

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C099-F9P - User guide

1 Introduction

The C099-F9P board is a convenient tool that allows customers to become familiar with the u-blox
ZED-F9P high precision GNSS module. The board provides facilities for evaluating the product and
demonstrating its key features. The C099-F9P application board offers:

• A ZED-F9P module for use as an RTK rover or reference station

• An ODIN-W2 short-range module with Arm®

provide untethered operation using Bluetooth and Wi-Fi which are configurable via a command
line interface (CLI)

2

• Power supply options comprising a USB connection, Li-Po (lithium polymer) cell with recharging
ability, and 6-12 V DC input

3

• Small, lightweight board (110 x 55 mm) with Arduino R3/Uno shield connections for host
expansion

This User guide describes the following use cases:

1. Base and rover operation via serial connectivity

2. Rover operation via Bluetooth Classic (with ODIN-W2 Mbed FW)

3. Rover operation via Wi-Fi (with ODIN-W2 Mbed FW)

4. Base and rover operation via Wi-Fi (with ODIN-W2 Mbed FW)

Mbed™ firmware1 tailored for C099-F9P usage to

This user guide is split into several useful sections, including:

• Section 2: C099-F9P quick start provides information on how to get C099-F9P up and running
straight out of the box.

• Section 3: C099-F9P description identifies the board’s facilities.

• Section 4: Using the C099-F9P provides a comprehensive guide for in-depth usage.

• Section 5: Rover operation using NTRIP shows different ways of connecting to an NTRIP service.

• Section 6: Wireless communication describes the use case of connecting base and rover boards.

• Section 7: Firmware update provides instructions for updating the firmware of the ZED-F9P high

precision GNSS module as well as the ODIN-W2 short-range module.

• Section 8: Arduino header connections provides mechanical specifications for Arduino R3/Uno.

• The sections in the Appendix provide information on how to upload the ODIN-W2 firmware via

JTAG, C099-F9P antenna schematics, and C099-F9P mechanical board dimensions and
schematics.

1

The Mbed FW shall be used only with a C099-F9P kit.

2

S-center usage is not required nor supported by the CLI.

3

The C099-F9P kit does not contain a battery or mains power adapter.

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1.1 Package contents

The delivered package contains:

• C099-F9P board (rev. E)

• u-blox ANN-MB-00 multi-band GNSS antenna and ground plane

• Wi-Fi/Bluetooth antenna

• USB interconnect cable

• Quick start guide

• USB-to-DC plug adapter cable

Figure 1: C099-F9P board and antennas

1.2 Additional sources of information

Prior to using the board, it is useful to download the appropriate evaluation software and keep handy
the documents listed in the Related documents section.

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2 C099-F9P quick start

This section provides some quick steps to enable ZED-F9P operation before exploring the more
complex configurations described later.

USB port ZED-F9P LEDs ZED-F9P module ZED-RF connector

Figure 2: Basic C099-F9P overview with details needed for quick start

2.1 Starting up

• Connect the supplied multi-band GNSS antenna to the ZED-RF SMA connector. Ensure good
signal reception.

• Connect the USB to a Windows PC; this will power the board. The FTDI and USB drivers will be
installed automatically
time. Note that the board has current limitation functionality on USB. Thus, ZED-F9P and ODIN­W2 modules will power up after the drivers have been successfully installed and the USB
enumeration is completed.

• Start u-center and connect to the COM port identified as C099 application board, ZED-F9P using
Device Manager. Set the baud rate to 460800 baud. See section 4.3.1 for detailed instructions.

• The time pulse LED on the C099-F9P board will blink in blue once the ZED-F9P has obtained valid
time information. Figure 3 below shows a typical u-center view with active satellite signal levels.

To operate the ZED-F9P in RTK mode, the GNSS antenna must be placed in an open environment and
the unit must be connected to an RTK correction service. Where available, the evaluation kit comes
with a free trial of the SmartNet correction service. Consult the leaflet included with the kit for
information on how to register for the service and how to obtain mount point and user connection
details before moving to the next steps.

RTK corrections can be applied using a u-center built-in NTRIP client. To use the C099-F9P board with
a correction service follow these next steps:

• In u-center, click on the Receiver menu item.

• Select NTRIP Client…

• Fill in the settings for the NTRIP caster, username and password.

• Click Update source table and select the recommended NTRIP mount point.

• Click OK to close the dialog and connect to the service.

• In the Data View of u-center, the Fix Mode should change from 3D to 3D/DGNSS when RTCM

corrections are received. The RTK LED will blink in green.

4

from Windows Update when the user connects the board for the first

4

For manual driver installation, check GNSS Sensor and VCP Device Driver User guide in Related documents

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C099-F9P - User guide

• Eventually, the status will change to 3D/DGNSS/FIXED and the RTK LED will show a steady green
light.

Figure 3: u-center showing a view of the ZED-F9P default operation

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3 C099-F9P description

3.1 Component overview

The C099-F9P houses the ZED-F9P RTK high precision positioning module and an ODIN-W2 module
for wireless short-range communications. An FTDI component provides dedicated COM port
connections with the ZED-F9P and ODIN-W2 via a USB connector.

The board can be powered by USB, a DC supply socket, or by a Li-Po (lithium polymer) battery. The
board has been designed using an Arduino form factor with the modules’ serial ports routed to the
shield headers. Note that a secondary USB power source is available via the USB-to-DC plug adapter
cable.

The block diagram in Figure 4 shows the logical signal flow between the individual parts.

Figure 4: C099-F9P block diagram

3.2 Component identification

The following images show the position of major parts and user interfaces.

• Main components – Figure 5.

• Switches and LEDs – Figure 6.

Their functions are described later on in this section.

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C099-F9P - User guide

J9

J8

J3

J2

ODIN-W2 UART ports)

Arduino Uno connectors

DC power jack

Battery connector

GNSS antenna connector

Wi-Fi/Bluetooth antenna connector

ZED-F9P multi band GNSS RTK module

ODIN-W2 multi-radio module

J2, J3, J8, J9

Figure 5: Main components and USB ports

USB (ZED-F9P USB and UART,

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ODIN-W2 safeboot pins

ZED-F9P safeboot button

Battery incorrect polarity indicator

ZED-F9P and ODIN-W2 reset button

ODIN-W2 switch 0 interrupt button

ODIN-W2 activity LED

GNSS LEDs: TP, RTK, Geofence

Battery charger LED

LED

Figure 6: Switches and LEDs

☞ The microSD card functionality is not supported by the currently released Mbed firmware for

ODIN-W2.

3.2.1 ZED-F9P status LEDs

The board provides three LEDs to show the ZED-F9P status. The location of the LEDs is shown in
Figure 7 below.

The RTK status LED provides an indication of the state of the ZED-F9P module RTK-STAT pin.

• At start-up the LED is off.

• When a valid stream of RTCM messages is being received and utilized, but no RTK fixed mode has

been achieved, the yellow LED flashes.

• When in RTK fixed mode, the yellow LED is turned on.

The blue time pulse LED will flash at the default 1 Hz rate when the time solution is valid.

If activated, the Geofence status LED indicates the current Geofence status, i.e. in or outside a
designated area.

See the ZED-F9P Interface description [2] for help with configuring the time pulse output or activating
the Geofence pin.

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ZED-F9P Geofence status LED

ZED-F9P RTK status LED

ZED-F9P time pulse LED

Figure 7: ZED-F9P LEDs

3.2.2 ODIN-W2 activity LED

The ODIN-W2 module uses a multi-colored LED to show particular activity status. This is positioned
adjacent to the ZED-F9P and ODIN-W2 reset switch and shown below in Figure 8. The activity status
is summarized in Table 1 below.

Status LED color Remark

Successful start-up, Bluetooth radio initialized Green

Bluetooth serial port profile (SPP) connection
created

Successful SPP data packet transmission Blinking blue

Failed SPP data packet transmission Blinking red Weak signal, Bluetooth SPP connection failure

Wi-Fi access point and station (AP and STA) ready Yellow Ready to accept incoming Wi-Fi STA connection

Wi-Fi STA connected to AP Purple Ready to accept incoming UDP client connection

Successful UDP packet transmission over Wi-Fi Blinking purple UDP packet reception is not indicated

ODIN-W2 in safeboot mode LED off

Table 1: ODIN-W2 Mbed FW LED activity states and colors

Blue Connection initiated and accepted

Safeboot is triggered during start-up. Requires
the safeboot jumper to be connected.

Figure 8: ODIN-W2 activity LED position on C099-F9P board

ODIN-W2 activity LED

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