U-blox C099-F9P Users manual

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Abstract

F9P high precision

Fi for

C099-F9P

Application board (rev. E), ODIN-W2 u-connectXpress software

User guide

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

u document. Copying, reproduction, modification or disclosure to third parties of this document or any part thereof is only permitted with the The information contained herein is provided “as is” and u implied, is given, including but not limited purpose of the information. This document may be revised by u documents, visit www.u Copyright © u

Document information

Title C099-F9P

Subtitle Application board (rev. E), ODIN-W2 u-connectXpress software

Document type User guide

Document number UBX-18055649

Revision and date R09 29-Jun-2020

Disclosure restriction

C1-Public

This document applies to the following products:

Product name Type number Firmware version PCN reference

C099-F9P C099-F9P-0-03

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

FW 1.00 HPG 1.13 u-connectXpress SW 5.0.1 or later

N/A Production ready

Product status

-blox or third parties may hold intellectual property rights in the products, names, logos and designs included in this

express written permission of u-blox.

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

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

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

-blox.com.

-blox AG.

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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

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

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

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

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

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

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

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

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

4.3.2 Bluetooth serial COM port connection .........................................................................................16

5 Rover operation using NTRIP .......................................................................................................... 20

5.1 PC hosting via u-center ............................................................................................................................20

5.2 Mobile hosting ...........................................................................................................................................21

5.3 Pairing the host with the C099-F9P ......................................................................................................21

6 Reference station and rover pairing ............................................................................................. 22

6.1 Wi-Fi connection between two C099-F9P boards ..............................................................................22

6.1.1 Configuring a C099-F9P rover for Wi-Fi operation ....................................................................22

6.1.2 Configuring a C099-F9P reference station (Base) for Wi-Fi operation .................................25

6.1.3 ZED-F9P reference station (Base) and rover configuration ....................................................26

7 Firmware update ................................................................................................................................. 29

7.1 ZED-F9P firmware update ......................................................................................................................29

7.2 ODIN-W2 firmware update ......................................................................................................................31

7.2.1 Mbed OS 3 application firmware ...................................................................................................32

7.2.2 u-connectXpress software .............................................................................................................32

8 Arduino header connections ........................................................................................................... 36

Appendix ....................................................................................................................................................... 37

A Glossary ................................................................................................................................................. 37

B Resources .............................................................................................................................................. 37

C u-blox ODIN-W2 BT Rover.txt ......................................................................................................... 37

D Rover ODIN-W2 Access Point UDP Server.txt .......................................................................... 39

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E Reference station ODIN-W2 UDP client.txt ............................................................................... 39

F F9P Base config C99.txt ................................................................................................................... 40

G F9P Rover config C99.txt ................................................................................................................. 41

H C099-F9P antenna specification ................................................................................................... 41

H.1 Wi-Fi/Bluetooth antenna specification ................................................................................................41

I Mechanical board dimensions ........................................................................................................ 42

J C099-F9P schematics ....................................................................................................................... 42

Related documents ................................................................................................................................... 48

Revision history .......................................................................................................................................... 48

Contact .......................................................................................................................................................... 49

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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 to provide untethered operation using Bluetooth and Wi-Fi

• Power supply options comprising a USB connection, Li-Po (lithium polymer) cell with recharging

ability, and 6-17 V DC input

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

The C099-F9P board allows for two alternative firmware versions to be used with the ODIN-W2 short-range module. These are:

1. C099-F9P Mbed3 application firmware. This is the default ODIN-W2 firmware pre-loaded to C099-

F9P boards.

2. ODIN-W2 u-connectXpress software. This is the standard firmware for ODIN-W2 modules. See

section 7.2 on how to change to this firmware.

☞ This User guide describes how to use the C099-F9P board with the ODIN-W2 u-connectXpress

software.

This User guide describes the following use cases:

1. Base and rover operation via serial connectivity

2. Base and rover operation via Wi-Fi (with ODIN-W2 u-connectXpress software)

3. Rover operation via Bluetooth Classic (with ODIN-W2 u-connectXpress software)

This user guide is split into several sections:

• 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: Reference station and rover pairing shows pairing using two C099-F9P boards as a

reference/rover pair.

• 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 the u-blox configuration files and give information on C099-

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

The C099-F9P kit does not contain a battery or an external 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.

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

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

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• 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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ODIN-W2 UART ports)

Arduino Uno connectors

DC power jack

Battery connector

GNSS antenna connector

Wi-Fi/BT 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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GNSS LEDs: TP, RTK, Geofence

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

Battery charger LED

LED

Figure 6: Switches and LEDs

☞ The MicroSD card slot is not used in this version of the board. The ODIN-W2 Switch 0 interrupt is

not required for normal customer use.

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 [1] for help with configuring the time pulse output or activating the Geofence pin.

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ODIN-W2 activity LED

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 reset switch and shown below in Figure 8. The activity status is summarized in Table 1 below.

Mode Status LED color

Data mode, EDM IDLE Green

Command mode IDLE Orange

Data mode, Command mode, EDM CONNECTING Purple

Data mode, Command mode, EDM CONNECTED3 Blue

Table 1: ODIN-W2 u-connectXpress software LED activity states and colors

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

On data activity, the active LED flashes.

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4 Using the C099-F9P

The C099-F9P is shipped with the latest HPG firmware for the ZED-F9P GNSS module. Information on updating either module’s firmware is provided in section 7 Firmware update, if required.

4.1 Powering the board

The board can be powered from a variety of sources:

• The USB connection

• A 3.7 V Li-Po Battery via a JST connector

• An external 6-12 V DC source via a 2.1mm connector; center pin V+. Also, the included USB-to-DC

plug adapter cable can be used to provide an additional USB power source.

USB

DC power jack

Li-Po battery connector

Figure 9: Power connections

Figure 10: Typical single-cell 3.7 V Li-Po battery with JST connector

⚠ Follow all published safety advice for using bare cell Li-Po batteries while charging and protecting

them from mechanical damage. Fire risk can occur if the advice is not followed.

⚠ Ensure correct polarity on the JST battery connector. In case of an incorrect polarity, the incorrect

polarity LED will be on. Due to the polarity protection feature, the supply rails will not be powered.

All supply connections are fed via a Schottky diode to the main supply bus to allow multiple sources to be connected in parallel. The Li-Po battery will be charged from either the DC power source or the

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Orange battery incorrect

USB power source. The charging status is indicated by a red LED which is on during charging and turned off when fully charged.

When less than 500 mA is available from the USB host, ensure sufficient extra supply via the DC power jack. Note that due to the higher current consumption caused by the battery charging it is not recommended to charge the battery via USB only.

☞ Supplying through the USB port requires the power source (USB host) to support the USB

enumeration process. If the power source is not capable of enumeration, you may use the provided USB-to-DC adapter cable and connect it to the DC plug. There is no current limitation for the DC supply.

Red battery charge LED

polarity indicator LED

Figure 11: Battery charge status LED

4.1.1 Non-wireless operation

For use-case scenarios where non-wireless data link is needed the ODIN-W2 can be disabled. In order to disable the ODIN-W2, connect the safeboot jumper which forces the ODIN-W2 into safeboot mode during the device start-up. See Figure 6 to locate the safeboot pins.

On average, the ODIN-W2 consumes less current when started in the safeboot mode. In addition, the safeboot mode ensures that no intentional radiation originates from the 2.4 GHz antenna connector.

4.2 GNSS RF input

The C099-F9P board should be used with the antenna supplied with the kit. If another active antenna is used, be aware that the RF input has a bias output designed to supply 3.3 V DC with a 70 mA maximum current load. A DC block is advisable if the board is connected to a signal distribution scheme or GNSS simulator to prevent any potential shorting of the antenna bias.

SMA GNSS antenna connector

Figure 12: GNSS antenna connector

When using the supplied antenna it is advisable to use the ground plane provided. Otherwise ensure that there is an adequate ground plane, e.g. by mounting in the center of a metallic car roof.

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ZED-F9P and ODIN-W2

Figure 13: The supplied GNSS multi-band antenna

4.3 User interfaces

The C099-F9P has a number of fixed connection options besides the wireless modes. There is also an additional Arduino R3 / Uno interface for external host connection.

The USB connector on the board provides connection via an on-board hub providing:

• An FTDI USB bridge to ZED-F9P UART1 and ODIN-W2 UART COM ports.

• Dedicated connection to the ZED-F9P USB port.

4.3.1 FTDI USB bridge

When the USB cable from the user’s PC is connected, a driver will load and set up two virtual serial ports, as shown below in Figure 14. Additionally, a further serial VCP will be created to provide a direct connection with the ZED-F9P USB port.

☞ Ensure that the PC is connected to the internet to load the drivers from Windows Update.

The first of these is connected to the ZED-F9P serial port and should be selected with u-center. The second serial device is for the ODIN-W2 module when using s-center. In Figure 14 the ODIN-W2 connection is the first port (COM 62) and the ZED-F9P connection is the second port (COM 64). Port numbering can be different between individual PCs, but the same arrangement applies.

COM ports installed

Figure 14: Windows Device Manager COM port view

In addition, a third VCP will be created corresponding to the ZED-F9P USB port. Windows 10 users will see a new VCP device in the Device Manager window as it will load an in-built driver. With older Windows installations, a driver will be loaded via Windows Update. In this case the device will be identified as a u-blox GNSS device in the Device Manager window.

Open u-center, select the ZED-F9P serial port, and set the baud rate to 460800 to match the ZEDF9P default UART setting. Once connected, u-center shows typical received signal levels from multiple GNSS bands, see Figure 15 below.

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Figure 15: u-center view with ZED-F9P connected

Additional UBX protocol messages can be enabled to view additional information in u-center. For example, the following are typical messages the user can poll or enable for periodic update.

• UBX-NAV-HPPOSLLH

• UBX-NAV-RELPOSNED

• UBX-NAV-SIG

• UBX-NAV-PVT

• UBX-NAV-STATUS

• UBX-NAV-SVIN

For help with the Message view, see u-center User guide [3].

4.3.2 Bluetooth serial COM port connection

Before using Bluetooth ensure that the supplied Wi-Fi/Bluetooth antenna has been connected to the SMA connector “ODIN-RF” to ensure correct operation of the wireless functions.

• Create the u-blox configuration file for the rover BT link. Use the “u-blox ODIN-W2 BT Rover.txt”

file listed in Appendix D. You can also download the file from Github: https://github.com/u-

blox/ublox-C099_F9P-uCS/tree/master/odin-w2

• For information on how to upload configuration file using s-center, see section 6.1.1 Configuring

a C099-F9P rover for Wi-Fi operation.

On the PC, go to the Bluetooth setup and in the Windows Add a device window, add the ODIN-W2 module as a device, identified as “ODIN-W2-XXXX”, by selecting ODIN-W2 and clicking Next. See Figure 16 and Figure 17 below.

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Figure 16: Windows 7 Add a device window shows ODIN-W2

Figure 17: Click on the ODIN-W2 and select Next

You can locate the device by examining the Bluetooth connections under the Ports tab in the Windows Device Manager. Search for a “Standard Serial over Bluetooth link” - usually the first one on the list. Use this device for connecting the ZED-F9P to u-center.

Figure 18: Installed Bluetooth SPP port

The ODIN-W2 module communicates with the ZED-F9P via a serial port which is shared with the FTDI USB/COM port via multiplexors. Once Bluetooth communication is established with the ODIN-W2, a jumper connection should be made at position “3OE” to connect the serial ports of the ZED-F9P and ODIN-W2 together. See Figure 19 below.

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Jumper position “3OE”

Figure 19: C099-F9P rover jumper position

For information, Figure 20 below shows the C099-F9P logical connections for serial interfaces with the “OE3” jumper set as required to connect the ODIN-W2 and ZED-F9P serial ports.

Figure 20: Schematic showing serial interface connection with jumper OE3 setting

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4.3.2.1 Windows OS issues with Bluetooth SPP

There are some known issues with the Windows Bluetooth Serial Port Profile (SPP) implementation for Windows 7-10. Symptoms include the Bluetooth Virtual COM port not installing or applications not connecting to the Bluetooth Virtual COM port. In other cases Windows might crash or become unresponsive. This is not related to the ODIN-W2 Bluetooth implementation that uses the Bluetooth standard SPP.

Figure 21: ASUS USB-BT400

A known industry fix is to not use the Windows Bluetooth stack and PC Bluetooth hardware. This is done by using a USB Bluetooth adapter that uses its own Bluetooth stack. A device that is known to work is the ASUS USB-BT400 (USB 2.0). Once installed use the Bluetooth Virtual COM port assigned to this device and not the built-in Bluetooth.

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5 Rover operation using NTRIP

This section shows how the ZED-F9P is used as a rover using correction information provided over the internet using NTRIP. This is usually provided by a host from a single reference station or as a Network RTK Virtual Reference Service (VRS).

A suitable host is a PC with internet access. A host runs an NTRIP client and streams RTCM corrections to the C099-F9P through a UART or Bluetooth connection. Messages transmitted through a Bluetooth or Wi-Fi link are forwarded to I2C bus and vice versa. The user is advised to enable desired messages in both UART and I2C interfaces in ZED-F9P.

5.1 PC hosting via u-center

The u-center application includes an NTRIP client for PC hosting. The u-center User guide [3] provides help when setting NTRIP service connections. Users can connect via Bluetooth for wireless operation or directly via a serial COM port. Once the service is active, RTCM corrections are sent over the connection and data can be logged as usual with u-center.

The u-center User guide [3] provides more information concerning NTRIP connections. Enter the required connection settings using the client setting window show below.

Figure 22: u-center NTRIP client view

Ensure that the NTRIP client connection icon is green. This indicates a successful NTRIP connection and that RTCM data is transferred to the C099-F9P.

Figure 23: u-center NTRIP client communication indicator

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Confirm that the rover has obtained RTK fixed mode in the u-center Data view:

Figure 24: u-center Data view RTK FIXED indication

5.2 Mobile hosting

A portable rover option is offered by an Android application which utilizes Bluetooth connection to a single C099-F9P. An example application is provided by Lefebure and it is available from Google Play Store: https://play.google.com/store/apps/details?id=com.lefebure.ntripclient.

Figure 25: Lefebure Android NTRIP client

5.3 Pairing the host with the C099-F9P

For both options the user needs to pair the host (PC or mobile) with the C099-F9P ODIN-W2 wireless module.

Once paired the user can then attach the host application to the C099-F9P to send and receive data.

☞ See Section 4.3.2 Bluetooth serial COM port connection for pairing information.

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Bidirectional peer-to-peer Wi-Fi link

Rover

6 Reference station and rover pairing

This section is provided for users with two C099-F9P boards and provides configuration information when setting up a C099-F9P as a reference station to provide local RTCM corrections for a C099-F9P rover. This connection uses Wi-Fi connectivity to maximize range for untethered operation.

6.1 Wi-Fi connection between two C099-F9P boards

This set-up relies on establishing a peer-to-peer Wi-Fi connection between two C099-F9P boards for short base-line applications, e.g. drones and the like.

Separate ODIN-W2 configuration files are required to enable the reference station and rover C099F9P boards to operate as an Access Point and client respectively. Ensure the ODIN-W2 on the rover and reference station runs the u-blox u-connectXpress software.

Prior to use, the reference station C099-F9P needs RTCM3 output messages enabled and its position surveyed-in. When the device is surveyed-in, it will enable output of the RTCM3 1005 message to enable the rover to begin RTK operation. Consult the Integration manual [2] for information relating to reference station operation for more information.

In this example the C099-F9P reference station sends corrections to a C099-F9P rover and the rover transmits NMEA and UBX messages back to the base. The rover operation can be viewed remotely with u-center connected to the reference station’s ODIN-W2 COM port.

Figure 26: Reference and rover C099-F9P set up

The sub-sections below describe the steps required to configure the boards for Wi-Fi operation plus the settings needed for rover and base operation.

USB #1 ODIN-W2 port to u-center for rover data

Base

6.1.1 Configuring a C099-F9P rover for Wi-Fi operation

The following steps provide guidance on configuring the C099-F9P ODIN-W2 Wi-Fi for rover operation:

☞ Disconnect any UART multiplexor jumper connections before proceeding.

• Connect the rover unit via USB to a PC.

• Install the u-blox s-center evaluation application.

• Open s-center which will show the following view:

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Figure 27: s-center connection setting window

• Select the COM port installed for the ODIN-W2.

• Set the baud rate to 460800 baud.

• Ensure hardware flow control is not enabled.

• Click on the “FTDI USB Latency Timer” Update button.

• Click Open Port.

• If the C099-F9P is powered, the ODIN-W2 responds with AT commands.

Figure 28: s-center connected to ODIN-W2

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It is important to do a factory reset on the ODIN-W2 before downloading a new configuration file. Click the Factory button in the same window to perform a factory reset.

Figure 29: s-center factory reset button

After factory reset, the device will be set with a baud rate of 115200 baud with hardware flow control enabled. You must change this to no hardware flow control:

• First set s-center to 115200 baud and no flow control.

• Open the COM port.

• Select EVK-ODIN-W2 via ST-LINK button as shown below to disable flow control.

Figure 30: Resetting ODIN-W2 to no flow control

Click the AT Mode button to ensure it is responding correctly. You will see it respond with AT commands if communication is OK.

Figure 31: Clicking AT Mode button

Download the u-blox configuration file for the rover Wi-Fi link. Use the “Rover ODIN-W2 Access Point UDP Server.txt” file listed in Appendix D. You can also download the file from Github:

https://github.com/u-blox/ublox-C099_F9P-uCS/tree/master/odin-w2

Select File > Download Configuration.

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Figure 32: Selecting File > Download Configuration

Select the “Rover ODIN-W2 Access Point UDP Server.txt” file and click Open.

Figure 33: Selecting file “Rover ODIN-W2 Access Point UDP Server.txt”

Disconnect s-center from the ODIN-W2 port and toggle the C099-F9P off and on again to ensure it will be using the new configurations as default.

Position a jumper as shown in Figure 20 to connect the ZED-F9P and ODIN UARTs. This will enable correction traffic from the rover and provide a return path for messages from the rover.

Connect the GNSS antenna, ensure use with the supplied ground plane and place in good GNSS visibility conditions.

In order to prevent the ODIN-W2 from mistranslating NMEA and UBX streams, it is advisable to reprogram the factory default escape sequence ‘+++’ as described in the AT command manual [5].

6.1.2 Configuring a C099-F9P reference station (Base) for Wi-Fi operation

The following steps describe setting up the C099-F9P ODIN-W2 Wi-Fi for reference station operation.

☞ Disconnect any jumper connections before proceeding.

Follow the same process for configuration described above in section 6.1.1 Configuring a C099-F9P rover for Wi-Fi operation except load the reference station configuration file “Base ODIN-W2 Station UDP client.txt” instead - see Appendix E for the file listing.

After this the C099-F9P reference station will require setting up as shown below to enable sending correction data to the rover.

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6.1.3 ZED-F9P reference station (Base) and rover configuration

With the latest version u-center, connect to the C099-F9P using the dedicated ZED-F9P USB connection.

See section “Required configuration of the base and rover” in the ZED-F9P Integration Manual [2] for details on configuring the required RTCM3 messages and setting the ZED-F9P as a reference station. We provide easy-to-use configuration files to download, as detailed in the next section.

☞ Ensure all RTCM messages are set to transmit from UART1 and the baud rate is set to 460800,

otherwise the ZED-F9P and ODIN-W2 cannot communicate. Wrong settings can occur if the ZEDF9P firmware is updated or the ZED-F9P UART1 is set to its default state.

☞ Ensure that the UART1 port protocols are set to “None” for input and “RTCM3” for output to

prevent input of the received rover messages.

☞ Place a jumper at position “OE3” as shown in Figure 19, this will connect the ODIN-W2 and ZED-

F9P UARTs to provide transmission of RTCM messages to the rover.

6.1.3.1 Downloading Base ZED-F9P configuration file

Download the configuration files from: https://github.com/u-blox/ublox-C099_F9P-uCS

Or save the contents of Appendix F to a .txt file. Open u-center View > Generation 9 Configuration

View:

Figure 34: u-center View > Generation 9 Configuration View

Select Advanced Configuration:

Figure 35: u-center View > Generation 9 Configuration View > Advanced Configuration

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Important next step – return receiver to defaults by selecting the icon in the Action toolbar (see number 1 in Figure 36):

Figure 36: Return receiver to defaults and select 38400 baud

Select Load to load the “F9P Base config C99.txt” file and Send to send the configuration:

Figure 37: Load “F9P Base config C99.txt” file and click Send

Keep the USB connected to the PC, however disconnect u-center from the ZED-F9P USB port and connect to the ODIN-W2 USB Virtual Com Port. This will allow viewing and logging of the rover C099F9P message data via the return Wi-Fi link.

Connect the GNSS antenna, ensuring use with the supplied ground plane and place in good GNSS visibility conditions.

Now load the “F9P Base Survey in start.txt” file in the same way, except do not return the receiver to default settings, as we have a working configuration. It should carry out the Survey-In process and then output all the required RTCM messages.

6.1.3.2 Downloading Rover ZED-F9P configuration file

Connect the Rover ZED-F9P via the dedicated USB connection.

Load and Send the “F9P Rover config C99.txt” file as shown in the previous section. Both units will now be ready to operate. You would have previously downloaded it from the u-blox GITHUB repository, or copied the contents of Appendix F to a .txt file.

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A Wi-Fi connection is established between reference and rover boards when the rover C099-F9P is powered up. The ODIN-W2 activity LED is set blue when the base and rover have connected and flashes when data transfer is occurring. Look for acquisition activity shown in u-center to confirm the rover is operating correctly.

⚠ Ensure that any rover ZED-F9P output messages and configurations required are set before

connecting the reference as this can only be done via the dedicated ZED-F9P USB connection. Ensure that the configuration is saved to flash to avoid reverting to a default operation after power cycling.

u-center will now show the rover GNSS information via the reference C099-F9P ODIN-W2 connection:

Figure 38: u-center satellite signal view

Check that the rover has obtained a RTK Fixed mode in u-center Data view:

Figure 39: u-center Data view RTK FIXED indication

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7 Firmware update

This section shows how to update the GNSS and Wi-Fi/Bluetooth modules’ firmware if required.

The board is delivered with the latest versions of firmware running on the ZED-F9P and ODIN-W2 modules. However, newer versions may become available during the lifetime of the product.

7.1 ZED-F9P firmware update

This section shows how to update the firmware and re-enable the configuration settings required for the C099-F9P. The user has two possible serial communication channels to update ZED-F9P: UART1 and USB2.0 ports.

To update the ZED-F9P, connect to u-center via USB to the COM port identified as the ZED-F9P and poll MON-VER to view the installed firmware: see Figure 14 for the Device Manager COM port view. The shipped units will have HPG 1.12 firmware or newer. To download a new firmware follow the sequence detailed below.

Figure 40: MON-VER poll response

To begin updating the firmware, select Tools > Firmware Update…

Figure 41: Selecting u-center Firmware Update mode

The following Firmware image update window will appear:

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Figure 42: Selecting u-center Firmware image folder

At the top is the Firmware image file selection window. Click on the button to the right of the window. This allows you to select the folder and file. Select the new firmware image bin file.

Set the Enter safeboot before update and Send training sequence options. Set the Use this baudrate

for update option and select e.g. 460800 from the pull-down list. This is shown in Figure 43 below.

Figure 43: Setting the required baud rate, safeboot and training sequence options

Then click the GO button at the bottom left corner of the window to begin the download.

Figure 44: Click GO for firmware update

The firmware update progress indication is shown adjacent to the input window.

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Figure 45: Programming progress and completion message

When programming is complete, the module will start up in a default configuration in which the ZEDF9P serial port is set to 38400 baud. This requires changing to 460800 baud to provide sufficient data bandwidth and work correctly with the ODIN-W2 module. In order to make the baud rate change persistent follow the instructions in the figure below.

Figure 46: Setting ZED-F9P UART1 back to 460800 baud and saving it to flash memory

7.2 ODIN-W2 firmware update

Users have a choice of running two distinct firmware variants in ODIN-W2. By factory default the ODIN-W2 on a C099-F9P runs a dedicated Mbed application firmware.

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7.2.1 Mbed OS 3 application firmware

The latest released binary is available via the u-blox git-hub repository:

https://github.com/u-blox/ublox-C099_F9P-mbed-3

Firmware update on ODIN-W2 is possible by the following tool set:

• Through ODIN-W2 UART1 by using stm32flash.exe

It is recommended to download the stm32flash.exe command line tool from STM website or from Sourceforge: https://sourceforge.net/projects/stm32flash/

Place the downloaded stm32flash executable in the same folder with the FW binary and check for a correct ODIN-W2 COM port number in the Device Manager (Windows users).

To ensure no settings persist over the firmware versions, it is recommended to revert to factory default before uploading a new firmware.

Prior to firmware upload, the ODIN-W2 must be started in safeboot mode. Proceed by placing a safeboot jumper and reboot C099-F9P. Location of the safeboot pin header and the reset button is depicted in Figure 6. To confirm the ODIN-W2 started in safeboot mode the ODIN-W2 activity LED remains off. Use the following command structure in power shell or command prompt to start the FW upload:

.\stm32flash.exe -b 115200 -w <c099mbed3.bin> -S 0x8000000 COM<port number>

To confirm a successful FW upload remove the safeboot jumper and restart the device. The ODINW2 activity LED lights up.

Figure 47: Power shell capture of FW upload

7.2.2 u-connectXpress software

To utilize the standard ODIN-W2 connectivity stack, a firmware update is required.

The latest u-blox u-connectXpress software and related documentation is available via u-blox.com:

https://www.u-blox.com/en/product/odin-w2-series

It is recommended to download the stm32flash.exe command line tool from STM website or from Sourceforge: https://sourceforge.net/projects/stm32flash/

The software upload procedure consists of two consecutive phases. First, you must upload a bootloader, but prior to the bootloader upload, you must restart the ODIN-W2 in safe boot mode.

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Proceed by placing a safe boot jumper and reboot the C099-F9P. The location of the safe boot pin header and the reset button is depicted in Figure 6: Switches and LEDs.

Continue with the bootloader upload:

.\stm32flash.exe -b 115200 -w <ODIN-W2-BOOT.bin> -S 0x8000000 COM<port number>

The actual connectivity software shall be uploaded while the ODIN-W2 is still in safe boot mode. Ensure correct memory indexing by incrementing the memory argument as shown below:

.\stm32flash.exe -b 115200 -w <ODIN-W26X-SW.bin> -S 0x8010000 COM<port number>

Figure 48: Power shell capture of bootloader upload

Figure 49: Power shell capture of connectivity software upload

Once the connectivity software is uploaded successfully, the ODIN-W2 will be set with a baud rate of 115200 baud with hardware flow control enabled. You must change this to no hardware flow control and set the ODIN-W2 UART baud rate to 460800 to ensure sufficient link bandwidth.

To proceed, restart the ODIN-W2 in a normal boot mode by removing the safeboot jumper and pressing the RESET button.

• Set s-center to 115200 baud and no flow control.

• Open the COM port.

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Select EVK-ODIN-W2 via ST-LINK button to disable flow control as shown in Figure 30.

Navigate to “User Defines” AT command tab, as shown in Figure 50.

Figure 50: Set baud rate

Execute the following command set sequentially:

• AT+UMRS=460800,2,8,1,1,0

• AT&W

• AT+CPWROFF

Finally, adjust s-center baud rate to match 460800 by closing and opening the UART port.

Click the AT Mode button to ensure it is responding correctly. You will see it respond with AT commands if communication is OK.

Figure 51: Clicking AT Mode button

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Download a u-blox configuration file for the ODIN-W2 module. The “u-blox ODIN-W2 BT Rover.txt” file is the default configuration file shipped with the C099-F9P. See Appendix C for configuration file resources.

Figure 52: Selecting File > Download Configuration

Figure 53: Selecting “u-blox ODIN-W2 BT Rover.txt” file

Select the file and click Open. It will download the file and write it to flash.

☞ The ODIN-W2 UART will now be set to 460800 baud in Data default mode. It will be ready for use

again.

Disconnect s-center from the ODIN-W2 port and power the C099-F9P off and on to ensure it will be using the new configurations as default.

Position a jumper at “OE3” for Bluetooth operation.

The rover is now ready to connect to PC or Mobile via Bluetooth SPP.

The board is now ready to use for the wireless connection examples described in the earlier sections.

When untethered operation is not required, the ZED-F9P dedicated USB connection on the C099-F9P can be used for supplying corrections and monitoring or logging purposes with u-center.

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J9, Arduino D

J8, Arduino C

J3, Arduino B

J2, Arduino A

8 Arduino header connections

The board size and four connectors comply with the Arduino R3/Uno mechanical specification. The functions of each I/O align as much as possible to the Arduino-specified functions. Check the pin functions before using with an Arduino R3/Uno; see Figure 55 below. All the pin functions besides power are 3.3 V compliant.

Figure 54: C099-F9P Arduino connectors

Figure 55 C099-F9P Arduino R3 connections

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Appendix A Glossary

Abbreviation Definition

FW Firmware

Li-Po Lithium polymer

NTRIP Networked transport of RTCM via internet protocol

RTK Real time kinematic

UART Universal asynchronous receiver transmitter

USB Universal serial bus

UTC Coordinated universal time

VCP Virtual COM port

Table 2: Explanation of the abbreviations and terms used

B Resources

Applicable configuration files are available in u-blox Github:

https://github.com/u-blox/ublox-C099_F9P-uCS

C u-blox ODIN-W2 BT Rover.txt

Copy all the text below this line into a text file named “u-blox ODIN-W2 BT Rover.txt”.

AT+UBTLN="ODIN-W2-xxxx" AT+UBTLC=000000 AT+UBTCM=2 AT+UBTDM=3 AT+UBTPM=2 AT+UBTMSP=1 AT+UBTLE=0 AT+UBTSM=1 AT+UNHN="ODIN-W2-200036001551373333393539" AT+UDDRP=0,"",0 AT+UDDRP=1,"",0 AT+UDDRP=2,"",0 AT+UDDRP=3,"",0 AT+UDDRP=4,"",0 AT+UDDRP=5,"",0 AT+UDDRP=6,"",0 AT+UWSCA=0,4 AT+UWSC=0,0,0 AT+UWAPC=0,4 AT+UWAPC=0,0,0 AT+UWAPC=0,2,"" AT+UWAPC=0,4,1 AT+UWAPC=0,5,2,2 AT+UWAPC=0,100,1 AT+UWAPC=0,106,1 AT+UWSC=0,0,0 ATS2=43 ATS3=13 ATS4=10 ATS5=8 AT+UDCFG=0,1 AT&S1 AT&D0

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ATE1 AT+UBTCFG=1,1 AT+UBTCFG=2,1 AT+UBTCFG=3,56602 AT+UBTCFG=4,127 AT+UBTCFG=5,0 AT+UBTCFG=6,0 AT+UBTCFG=7,2000 AT+UBTCFG=8,0 AT+UBTCFG=9,0 AT+UBTLECFG=1,1600 AT+UBTLECFG=2,2000 AT+UBTLECFG=3,7 AT+UBTLECFG=4,24 AT+UBTLECFG=5,40 AT+UBTLECFG=6,0 AT+UBTLECFG=7,2000 AT+UBTLECFG=8,5000 AT+UBTLECFG=9,48 AT+UBTLECFG=10,48 AT+UBTLECFG=11,24 AT+UBTLECFG=12,40 AT+UBTLECFG=13,0 AT+UBTLECFG=14,2000 AT+UBTLECFG=15,5000 AT+UBTLECFG=16,48 AT+UBTLECFG=17,48 AT+UBTLECFG=18,24 AT+UBTLECFG=19,40 AT+UBTLECFG=20,0 AT+UBTLECFG=21,2000 AT+UBTLECFG=22,5000 AT+UBTLECFG=23,48 AT+UBTLECFG=24,48 AT+UBTLECFG=25,0 AT+UMSM=1 AT+UMRS=460800,2,8,1,1,1 AT&W AT+CPWROFF

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D Rover ODIN-W2 Access Point UDP Server.txt

Copy all the text below this line into a text file named “Rover ODIN-W2 Access Point UDP Server .txt”.

AT+UWAPCA=0,4 AT+UWAPC=0,0,1 AT+UWAPC=0,2,UBXWifi AT+UWAPC=0,4,1 AT+UWAPC=0,5,1,1 AT+UWAPC=0,100,1 AT+UWAPC=0,101,192.168.0.10 AT+UWAPC=0,102,255.255.0.0 AT+UWAPC=0,103,192.168.0.1 AT+UWAPC=0,104,0.0.0.0 AT+UWAPC=0,105,0.0.0.0 AT+UWAPC=0,106,1 AT+UWAPCA=0,1 AT+UWAPCA=0,3 AT+UWCFG=1,0 AT+UDSC=1,2,5003,1 AT+UMSM=1 AT+UMRS=460800,2,8,1,1,0 AT&D0 AT&W AT+CPWROFF

E Reference station ODIN-W2 UDP client.txt

Copy all the text below this line into a text file named “Base ODIN-W2 Station UDP client.txt”.

AT+UWSCA=0,4 AT+UWSC=0,0,1 AT+UWSC=0,2,"UBXWifi" AT+UWSC=0,5,1 AT+UWSC=0,100,2 AT+UWSCA=0,1 AT+UWSCA=0,3 AT+UWCFG=1,0 AT+UMSM=1 AT+UDDRP=0,"udp://192.168.0.10:5003",2 AT+UMRS=460800,2,8,1,1,0 AT&D0 AT&W AT+CPWROFF

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F F9P Base config C99.txt

Copy all the text below this line into a text file named “F9P Base config C99.txt.

# Config changes format version 1.0 # created by u-center version 18.11 at 11:37:53 on Tuesday, 08 Jan 2019 [del] [set] RAM CFG-UART1INPROT-NMEA 0 # write value 0 to item id 10730002 Flash CFG-UART1INPROT-NMEA 0 # write value 0 to item id 10730002 RAM CFG-UART1INPROT-RTCM3X 0 # write value 0 to item id 10730004 Flash CFG-UART1INPROT-RTCM3X 0 # write value 0 to item id 10730004 RAM CFG-UART1OUTPROT-UBX 0 # write value 0 to item id 10740001 Flash CFG-UART1OUTPROT-UBX 0 # write value 0 to item id 10740001 RAM CFG-UART1OUTPROT-NMEA 0 # write value 0 to item id 10740002 Flash CFG-UART1OUTPROT-NMEA 0 # write value 0 to item id 10740002 RAM CFG-UART1OUTPROT-RTCM3X 1 # write value 1 to item id 10740004 Flash CFG-UART1OUTPROT-RTCM3X 1 # write value 1 to item id 10740004 Flash CFG-UART1INPROT-UBX 0 # write value 0 to item id 10730001 RAM CFG-UART1INPROT-UBX 0 # write value 0 to item id 10730001 RAM CFG-MSGOUT-RTCM_3X_TYPE1005_UART1 0x1 # write value 1 0x1 to item id 209102be Flash CFG-MSGOUT-RTCM_3X_TYPE1005_UART1 0x1 # write value 1 0x1 to item id 209102be RAM CFG-MSGOUT-RTCM_3X_TYPE1074_UART1 0x1 # write value 1 0x1 to item id 2091035f Flash CFG-MSGOUT-RTCM_3X_TYPE1074_UART1 0x1 # write value 1 0x1 to item id 2091035f RAM CFG-MSGOUT-RTCM_3X_TYPE1084_UART1 0x1 # write value 1 0x1 to item id 20910364 Flash CFG-MSGOUT-RTCM_3X_TYPE1084_UART1 0x1 # write value 1 0x1 to item id 20910364 RAM CFG-MSGOUT-RTCM_3X_TYPE1124_UART1 0x1 # write value 1 0x1 to item id 2091036e Flash CFG-MSGOUT-RTCM_3X_TYPE1124_UART1 0x1 # write value 1 0x1 to item id 2091036e RAM CFG-MSGOUT-RTCM_3X_TYPE1230_UART1 0x5 # write value 5 0x5 to item id 20910304 Flash CFG-MSGOUT-RTCM_3X_TYPE1230_UART1 0x5 # write value 5 0x5 to item id 20910304 RAM CFG-MSGOUT-RTCM_3X_TYPE1005_USB 0x1 # write value 1 0x1 to item id 209102c0 Flash CFG-MSGOUT-RTCM_3X_TYPE1005_USB 0x1 # write value 1 0x1 to item id 209102c0 RAM CFG-MSGOUT-RTCM_3X_TYPE1074_USB 0x1 # write value 1 0x1 to item id 20910361 Flash CFG-MSGOUT-RTCM_3X_TYPE1074_USB 0x1 # write value 1 0x1 to item id 20910361 RAM CFG-MSGOUT-RTCM_3X_TYPE1084_USB 0x1 # write value 1 0x1 to item id 20910366 Flash CFG-MSGOUT-RTCM_3X_TYPE1084_USB 0x1 # write value 1 0x1 to item id 20910366 RAM CFG-MSGOUT-RTCM_3X_TYPE1124_USB 0x1 # write value 1 0x1 to item id 20910370 Flash CFG-MSGOUT-RTCM_3X_TYPE1124_USB 0x1 # write value 1 0x1 to item id 20910370 RAM CFG-MSGOUT-RTCM_3X_TYPE1230_USB 0x5 # write value 5 0x5 to item id 20910306 Flash CFG-MSGOUT-RTCM_3X_TYPE1230_USB 0x5 # write value 5 0x5 to item id 20910306 RAM CFG-MSGOUT-RTCM_3X_TYPE1094_UART1 0x1 # write value 1 0x1 to item id 20910369 Flash CFG-MSGOUT-RTCM_3X_TYPE1094_UART1 0x1 # write value 1 0x1 to item id 20910369 RAM CFG-MSGOUT-RTCM_3X_TYPE1094_USB 0x1 # write value 1 0x1 to item id 2091036b Flash CFG-MSGOUT-RTCM_3X_TYPE1094_USB 0x1 # write value 1 0x1 to item id 2091036b RAM CFG-MSGOUT-UBX_NAV_PVT_USB 0x1 # write value 1 0x1 to item id 20910009 Flash CFG-MSGOUT-UBX_NAV_PVT_USB 0x1 # write value 1 0x1 to item id 20910009 RAM CFG-MSGOUT-UBX_NAV_SVIN_USB 0x1 # write value 1 0x1 to item id 2091008b Flash CFG-MSGOUT-UBX_NAV_SVIN_USB 0x1 # write value 1 0x1 to item id 2091008b Flash CFG-UART1-BAUDRATE 0x70800 # write value 460800 0x70800 to item id 40520001 RAM CFG-UART1-BAUDRATE 0x70800 # write value 460800 0x70800 to item id 40520001

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SMA plug (inner thread and pin)

G F9P Rover config C99.txt

Copy all the text below this line into a text file named “F9P Rover config C99.txt.

# Config changes format version 1.0 # created by u-center version 18.11 at 11:16:51 on Tuesday, 27 Nov 2018 [del] [set] RAM CFG-UART1INPROT-UBX 1 # write value 1 to item id 10730001 Flash CFG-UART1INPROT-UBX 1 # write value 1 to item id 10730001 RAM CFG-UART1INPROT-NMEA 0 # write value 0 to item id 10730002 Flash CFG-UART1INPROT-NMEA 0 # write value 0 to item id 10730002 RAM CFG-UART1INPROT-RTCM3X 1 # write value 1 to item id 10730004 Flash CFG-UART1INPROT-RTCM3X 1 # write value 1 to item id 10730004 RAM CFG-UART1OUTPROT-UBX 1 # write value 1 to item id 10740001 Flash CFG-UART1OUTPROT-UBX 1 # write value 1 to item id 10740001 RAM CFG-UART1OUTPROT-NMEA 1 # write value 1 to item id 10740002 Flash CFG-UART1OUTPROT-NMEA 1 # write value 1 to item id 10740002 RAM CFG-UART1OUTPROT-RTCM3X 0 # write value 0 to item id 10740004 Flash CFG-UART1OUTPROT-RTCM3X 0 # write value 0 to item id 10740004 RAM CFG-USBINPROT-UBX 1 # write value 1 to item id 10770001 Flash CFG-USBINPROT-UBX 1 # write value 1 to item id 10770001 RAM CFG-USBINPROT-NMEA 1 # write value 1 to item id 10770002 Flash CFG-USBINPROT-NMEA 1 # write value 1 to item id 10770002 RAM CFG-USBINPROT-RTCM3X 1 # write value 1 to item id 10770004 Flash CFG-USBINPROT-RTCM3X 1 # write value 1 to item id 10770004 RAM CFG-USBOUTPROT-UBX 1 # write value 1 to item id 10780001 Flash CFG-USBOUTPROT-UBX 1 # write value 1 to item id 10780001 Flash CFG-USBOUTPROT-NMEA 1 # write value 1 to item id 10780002 RAM CFG-USBOUTPROT-RTCM3X 0 # write value 0 to item id 10780004 Flash CFG-USBOUTPROT-RTCM3X 0 # write value 0 to item id 10780004 Flash CFG-UART1-BAUDRATE 0x70800 # write value 460800 0x70800 to item id 40520001 RAM CFG-UART1-BAUDRATE 0x70800 # write value 460800 0x70800 to item id 40520001

H C099-F9P antenna specification

H.1 Wi-Fi/Bluetooth antenna specification

EX-IT WLAN RPSMA / Ex-IT WLAN SMA

Manufacturer ProAnt

Type ½ wave dipole dual-band antenna

Polarization Vertical

Gain +3 dBi

Impedance 50 Ω

Size 107 mm (straight)

Type Monopole

Connector

Comment To be mounted on the U.FL to SMA or reverse polarity SMA adapter cable

Approval FCC, IC, RED, MIC, NCC, KCC*, ANATEL, and ICASA

Table 3: Wi-Fi/Bluetooth antenna

Reverse polarity SMA plug (inner thread and pin receptacle)

☞ The variant included in the C099-F9P kit is with SMA connector and has to be mounted on the

corresponding antenna connector of the C099-F9P board if you wish to use Wi-Fi or Bluetooth connectivity.

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I Mechanical board dimensions

Figure 56: C099-F9P rev. E dimensions

J C099-F9P schematics

The following pages show the complete schematic for the C099-F9P evaluation board.

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2020

Revision history

Revision Date Name Comments

R01 10-Jul-2018 ghun/byou Initial release.

R02 19-Oct-2018 byou Updates for the C099-F9P rev. B board revision.

R03 09-Jan-2019 olep Updates for FW upload procedure for ODIN-W2.

R04 21-Feb-2019 olep

R05 25-Sep-2019 jhak/jjus Updates for the C099-F9P rev. C board revision.

R06 07-Nov-2019 jhak Updates for the C099-F9P rev. E board revision.

R07 05-Dec-2019 mala Improved the quality of the schematics drawings.

R08 09-Apr-2020 jhak/mala

R09 29-June-

ghun Update for HPG 1.13

Updated Arduino J9 schematics. Polarity requirement of the battery connector.

Connectivity SW renamed u-connectXpress.

Added a missing step about selecting EVK-ODIN-W2 via ST-LINK in section “u-connectXpress software”.

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C099-F9P - User guide

Contact

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UBX-18055649 - R09 Contact Page 49 of 49

U-blox C099-F9P Users manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Document information

Contents

1 Introduction

1.1 Package contents

1.2 Additional sources of information

2 C099-F9P quick start

2.1 Starting up

3 C099-F9P description

3.1 Component overview

3.2 Component identification

3.2.1 ZED-F9P status LEDs

3.2.2 ODIN-W2 activity LED

4 Using the C099-F9P

4.1 Powering the board

4.1.1 Non-wireless operation

4.2 GNSS RF input

4.3 User interfaces

4.3.1 FTDI USB bridge

4.3.2 Bluetooth serial COM port connection

4.3.2.1 Windows OS issues with Bluetooth SPP

5 Rover operation using NTRIP

5.1 PC hosting via u-center

5.2 Mobile hosting

5.3 Pairing the host with the C099-F9P

6 Reference station and rover pairing

6.1 Wi-Fi connection between two C099-F9P boards

6.1.1 Configuring a C099-F9P rover for Wi-Fi operation

6.1.2 Configuring a C099-F9P reference station (Base) for Wi-Fi operation

6.1.3 ZED-F9P reference station (Base) and rover configuration

6.1.3.1 Downloading Base ZED-F9P configuration file

6.1.3.2 Downloading Rover ZED-F9P configuration file

7 Firmware update

7.1 ZED-F9P firmware update

7.2 ODIN-W2 firmware update

7.2.1 Mbed OS 3 application firmware

7.2.2 u-connectXpress software

8 Arduino header connections

B Resources

C u-blox ODIN-W2 BT Rover.txt

UBX-18055649 - R09 Appendix Page 37 of 49

D Rover ODIN-W2 Access Point UDP Server.txt

E Reference station ODIN-W2 UDP client.txt

F F9P Base config C99.txt

G F9P Rover config C99.txt

H C099-F9P antenna specification

H.1 Wi-Fi/Bluetooth antenna specification

I Mechanical board dimensions

J C099-F9P schematics

Related documents

Revision history

Contact