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C099-F9P-1 [U-BLOX]

Application board (rev. E), ODIN-W2 Mbed™ firmware;
C099-F9P-1
型号： C099-F9P-1
厂家： u-blox AG    u-blox AG
描述：

Application board (rev. E), ODIN-W2 Mbed™ firmware
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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 ZED-F9P high precision  
GNSS receiver. The board provides short-range wireless connection via Bluetooth® or Wi-Fi for  
receiving correction data and logging via wireless connectivity.  
UBX-18063024 - R12  
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www.u-blox.com  
C099-F9P - User guide  
Document information  
Title  
C099-F9P  
Subtitle  
Application board (rev. E), ODIN-W2 Mbed™ firmware  
Document type  
Document number  
Revision and date  
Disclosure restriction  
User guide  
UBX-18063024  
R12  
29-Jun-2020  
C1-Public  
This document applies to the following products:  
Product status  
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  
u-blox or third parties may hold intellectual property rights in the products, names, logos and designs included in this  
document. Copying, reproduction, modification or disclosure to third parties of this document or any part thereof is only  
permitted with the express written permission of u-blox.  
The information contained herein is provided “as is” and u-blox assumes no liability for its use. No warranty, either express or  
implied, is given, including but not limited to, with respect to the accuracy, correctness, reliability and fitness for a particular  
purpose of the information. This document may be revised by u-blox at any time without notice. For the most recent  
documents, visit www.u-blox.com.  
Copyright © u-blox AG.  
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Contents  
Document information................................................................................................................................2  
Contents ..........................................................................................................................................................3  
1
Introduction.............................................................................................................................................5  
1.1 Package contents ....................................................................................................................................... 6  
1.2 Additional sources of information ........................................................................................................... 6  
C099-F9P quick start...........................................................................................................................7  
2.1 Starting up ................................................................................................................................................... 7  
C099-F9P description ..........................................................................................................................9  
3.1 Component overview.................................................................................................................................. 9  
3.2 Component identification ......................................................................................................................... 9  
ZED-F9P status LEDs......................................................................................................................11  
ODIN-W2 activity LED......................................................................................................................12  
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  
Rover operation using NTRIP.......................................................................................................... 18  
5.1 PC hosting via u-center............................................................................................................................18  
5.2 Mobile hosting ...........................................................................................................................................19  
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  
Firmware update................................................................................................................................. 26  
2
3
4
5
6
7
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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  
Arduino header connections ........................................................................................................... 31  
8
Appendix ....................................................................................................................................................... 32  
A
B
Glossary ................................................................................................................................................. 32  
C099-F9P antenna specification................................................................................................... 32  
B.1 Wi-Fi/Bluetooth antenna specification....................................................................................... 32  
C
D
E
ODIN-W2 firmware upload via JTAG............................................................................................ 32  
Mechanical board dimensions........................................................................................................ 33  
C099-F9P schematics....................................................................................................................... 33  
Related documents ................................................................................................................................... 39  
Revision history.......................................................................................................................................... 39  
Contact.......................................................................................................................................................... 40  
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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 with Arm® Mbed™ firmware1 tailored for C099-F9P usage to  
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 input3  
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)  
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 automatically4 from Windows Update when the user connects the board for the first  
time. Note that the board has current limitation functionality on USB. Thus, ZED-F9P and ODIN-  
W2 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 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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GNSS antenna connector  
Wi-Fi/Bluetooth antenna connector  
ZED-F9P multi band GNSS RTK module  
ODIN-W2 multi-radio module  
J9  
J8  
J3  
J2  
J2, J3, J8, J9  
Arduino Uno connectors  
DC power jack  
Battery connector  
USB (ZED-F9P USB and UART,  
ODIN-W2 UART ports)  
Figure 5: Main components and USB ports  
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ZED-F9P and ODIN-W2 reset button  
ZED-F9P safeboot button  
ODIN-W2 switch 0 interrupt button  
ODIN-W2 activity LED  
ODIN-W2 safeboot pins  
GNSS LEDs: TP, RTK, Geofence  
Battery charger LED  
Battery incorrect polarity indicator  
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 time pulse LED  
ZED-F9P RTK status LED  
ZED-F9P Geofence status 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  
Green  
Remark  
Successful start-up, Bluetooth radio initialized  
Bluetooth serial port profile (SPP) connection  
created  
Blue  
Connection initiated and accepted  
Successful SPP data packet transmission  
Failed SPP data packet transmission  
Blinking blue  
Blinking red  
Weak signal, Bluetooth SPP connection failure  
Ready to accept incoming Wi-Fi STA connection  
Ready to accept incoming UDP client connection  
UDP packet reception is not indicated  
Wi-Fi access point and station (AP and STA) ready Yellow  
Wi-Fi STA connected to AP  
Purple  
Successful UDP packet transmission over Wi-Fi  
ODIN-W2 in safeboot mode  
Blinking purple  
LED off  
Safeboot is triggered during start-up. Requires  
the safeboot jumper to be connected.  
Table 1: ODIN-W2 Mbed FW LED activity states and colors  
ODIN-W2 activity LED  
Figure 8: ODIN-W2 activity LED position on C099-F9P board  
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4 Using the C099-F9P  
The ZED-F9P is shipped with the latest HPG firmware. Check the latest ODIN-W2 Mbed FW  
availability and information on the FW update procedures in section 7 Firmware update.  
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 2.1 mm 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. Protect the  
batteries 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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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  
Orange battery incorrect  
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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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.  
ZED-F9P and ODIN-W2  
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 when it loads a built-in 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 (V18.12 or later), select the ZED-F9P serial port, and set the baud rate to 460800 to  
match the ZED-F9P 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 Command line interface of ODIN-W2  
The user controls the ODIN-W2 through a command line interface (CLI) which supports Remote  
Procedure Call syntax as described below:  
/<function_name>/run <argument 1> <argument 2> …  
To access the ODIN-W2 CLI use the following default serial settings:  
•
•
•
Baud rate: 460800  
Serial frame: 8 bits, 1 stop bit, no parity  
Flow control: None  
Prior to connecting to the ODIN-W2 CLI check the below terminal settings:  
Putty (Settings – Terminal)  
☞
o
local echo force off  
o
o
implicit CR in every LF off  
implicit LF in every CR off  
☞
Tera Term (Setup – Terminal)  
o
o
o
newline receive CR and transmit CR  
local echo disabled  
terminal ID VT100  
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Figure 16: CLI help command  
Figure 17: Example RPC syntax  
By typing the help command as in Figure 16, the ODIN-W2 will display all available user commands  
with a short description. The CLI embodies character echo with limited text edit functions. Misspelled  
commands are replied to with a list of supported commands. Note that ODIN-W2 features I/O-related  
functions for diagnostic purposes. These functions are listed by the CLI but are not documented in  
this User guide.  
4.4 Persistent ODIN-W2 settings  
By default the ODIN-W2 starts in Bluetooth initiator role, and the ODIN-W2 UART1 is configured to  
use a 460800 baud rate. However, some user settings can be stored in the non-volatile data storage  
(flash) in the ODIN-W2 and applied after a power cycle.  
The user settings are saved into the flash memory via the following CLI command:  
/mem_store/run <argument 1> <argument 2>  
4.4.1 Revert to factory default  
Factory default settings can be set by one of the two methods:  
1. /mem_erase/run(via CLI)  
2. Press down the SW0 button for more than 3 seconds.  
During the next re-start of the ODIN-W2, the factory default settings will be applied.  
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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 shown below.  
Figure 18: 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 19: u-center NTRIP Client connection icon in the status bar of u-center  
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Confirm that the rover has obtained RTK fixed mode in the u-center Data view:  
Figure 20: 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.  
The application integrates an NTRIP client which forwards corrections received from a cellular or a  
wireless network to Bluetooth interface. In addition, the application logs the incoming NMEA  
messages from the C099-F9P into the phone memory.  
Prior to usage, the following steps are required:  
1. Pair an Android phone with C099-F9P (see section 6.1.1 ODIN-W2 as pairing responder).  
2. Insert the necessary credentials for the NTRIP service through the application settings.  
3. Configure the desired NMEA messages to I2C interface in ZED-F9P via the UART 1 interface.  
Figure 21: Lefebure Android NTRIP client  
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6 Wireless communication  
6.1 Bluetooth pairing  
Prior to operation, the user is requested to pair the ODIN-W2 with a host device. Pairing is the process  
for creating one or more shared secret keys and is required only once for a pair of devices. The ODIN-  
W2 can be paired with one of the two alternatives:  
1. The host initiates, ODIN-W2 responds.  
2. ODIN-W2 initiates, the host responds.  
6.1.1 ODIN-W2 as pairing responder  
Once verified that the terminal connection is available, use the following command to make the ODIN-  
W2 visible and connectable:  
/bt_visible/run  
ODIN-W2 will acknowledge a successful reception of the command and inform once it is ready to  
respond to a pairing request.  
Next, perform Bluetooth scan to find the C099-F9P. Every C099-F9P has a predefined unique  
Bluetooth name of type BT_C099-F9P_XYZW as shown in Figure 22.  
Figure 22: Windows 10 menu for adding a Bluetooth device  
6.1.2 ODIN-W2 as pairing initiator  
Once you have verified a working CLI connection, use the following command to scan any nearby  
Bluetooth devices. Prior to that, enable Bluetooth visibility at the host device.  
/bt_inquiry/run  
The C099-F9P will list the nearby Bluetooth devices, their Bluetooth addresses (“MAC”) and the  
corresponding RSSI values. To ensure sufficient radio link quality, check that the RSSI level of the host  
device is well above -80 dBm. Weak signal levels can result in connection losses and limited range.  
Once the host device has been found by the C099-F9P, the following command starts the pairing  
process:  
/bt_bond/run <MAC address>  
ODIN-W2 will wait until the user has accepted the pairing request on the host device. Note that the  
pairing request will fail if an internal timeout is reached. Typically, you can accept an incoming pairing  
request in the host Bluetooth menu. Finally, the host and ODIN-W2 will permanently store their  
exchanged link keys for future connections.  
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6.2 Bluetooth serial port  
C099-F9P supports incoming and outgoing Bluetooth serial connections. In order to find the  
corresponding Bluetooth COM ports refer to Bluetooth options as indicated in Figure 23.  
Figure 23: Bluetooth COM ports  
Typically Windows hosts will automatically set the corresponding COM ports if the pairing process  
was initiated at the host, as described in 6.1.1 ODIN-W2 as pairing responder. Often, the user is  
requested to add incoming and outgoing ports manually if the pairing process was initiated at C099-  
F9P, as described in 6.1.2 ODIN-W2 as pairing initiator.  
6.2.1 Server SPP connection  
In order to use the server port (incoming port) at the host PC, connect to the incoming COM port at u-  
center prior to the CLI command on the C099-F9P:  
/bt_sppcli/run <MAC address>  
After a successful connection the C099-F9P starts to stream data from ZED-F9P to the Bluetooth  
COM port. Note that you can ignore the baud rate of the Bluetooth serial port at the host PC.  
6.2.2 Client SPP connection  
In order to use the outgoing port (client port) at the host PC, set the C099-F9P in server mode by  
issuing the following command:  
/bt_visible/run  
After selecting the client port (outgoing port) at u-center, the C099-F9P will be automatically  
requested to open a data stream between the ZED-F9P and the Bluetooth COM port. Note that  
u-center has default COM port behavior resulting in connection failures or non-listed outgoing  
Bluetooth COM ports. As a workaround it is recommended to change the default COM port  
enumeration in u-center as shown in Figure 24.  
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Figure 24: u-center COM port enumeration  
To force the C099-F9P to start in Bluetooth SPP server mode at the next device restart, use the  
following CLI command:  
/mem_store/run bt 1  
You can later revert to default start-up settings by erasing the memory content, which is described in  
section 4.4.1 Revert to factory default.  
6.3 Wi-Fi connectivity  
The C099-F9P can be operated in Wi-Fi mode to enable longer communication range, higher wireless  
link throughput and interconnection between base and rover boards. The on-board ZED-F9P and  
ODIN-W2 are interconnected via I2C bus, as in the Bluetooth operation. Hence, ensure that the desired  
ZED-F9P messages are enabled for the I2C interface.  
Base  
✔
Rover  
Wi-Fi access point / UDP server  
Wi-Fi station / UDP client  
✔
✔
N/A  
Table 2: ODIN-W2 Wi-Fi modes  
6.3.1 Wi-Fi access point and UDP server  
The C099-F9P RTK base can be set to operate as a Wi-Fi access point and UDP server to deliver RTCM  
corrections via a Wi-Fi link. For rover operation, the C099-F9P can be configured either to Wi-Fi STA  
or Wi-Fi AP mode. The latter configuration is suitable for a single rover connected to a u-center UDP  
client. Refer to section 4.3.2 Command line interface of ODIN-W2 to recap the required terminal  
settings for the command line interface.  
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6.3.1.1 Base operation in Wi-Fi AP mode  
Follow the steps below to configure the ODIN-W2 in Wi-Fi AP mode and to redirect incoming rover  
data to the ODIN-W2 UART1 port (remote logging) as depicted in Figure 25. The UART1 and USB  
ports on the rover ZED-F9P remain as optional logging interfaces.  
1. Configure the C099-F9P to Wi-Fi AP mode by using the CLI command in terminal:  
/mem_store/run wifi_ap  
2. Set the C099-F9P Wi-Fi and I2C interfaces to support base operation5:  
/mem_store/run base  
3. Re-start the C099-F9P to apply the Wi-Fi AP settings.  
The ODIN-W2 waits until a Wi-Fi STA (rover) connects to it before streaming any data over the  
wireless link. See section 6.3.1.3 Rover operation in Wi-Fi STA mode for rover configurations.  
4. Apply ZED-F9P base settings through u-center by connecting to ZED-F9P UART 1 port.  
Any RTCM messages sent over the Wi-Fi link shall be configured for ZED-F9P I2C interface as  
depicted in Figure 25.  
Figure 25: Wi-Fi base and rover setup  
6.3.1.2 Rover operation in Wi-Fi AP mode  
In order to connect to a C099-F9P rover via a Wi-Fi link, follow the configuration steps below:  
1. Configure the C099-F9P to Wi-Fi AP mode by using the CLI command in terminal:  
/mem_store/run wifi_ap  
2. Set the C099-F9P to operate as a rover:  
/mem_store/run rover  
3. Re-start the C099-F9P to apply the Wi-Fi AP settings.  
4. Connect the host PC’s Wi-Fi to the Wi-Fi AP of C099-F9P:  
“C099-F9P” is the default SSID  
“123456789” is the default WPA2 passphraseWi-Fi Station and UDP Client  
5 ZED-F9P I2C output port is enabled for RTCM messages. Disabled for UBX and NMEA protocols.  
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6.3.1.3 Rover operation in Wi-Fi STA mode  
Typically the Wi-Fi STA mode is applicable when two C099-F9Ps (base and rover) interconnect via a  
Wi-Fi link. Firstly, it is recommended to configure the base as instructed in section 6.3.1.1 Base  
operation in Wi-Fi AP mode. Secondly, the rover C099-F9P is set up to function in Wi-Fi STA and rover  
mode:  
1. Configure the C099-F9P to Wi-Fi STA mode by using the CLI command in terminal:  
/mem_store/run wifi_sta  
2. Set the C099-F9P to operate as a rover:  
/mem_store/run rover  
3. Re-start the C099-F9P to apply the Wi-Fi STA settings.  
4. The rover C099-F9P will automatically connect to the C099-F9P base.  
The AP and STA use the default pre-stored SSID “C099-F9P”. You can set a new SSID and read the  
current SSID by the following commands:  
1. Read the current SSID setting:  
/wifi_getssid/run  
2. Set and store a new SSID:  
/wifi_setssid/run <your_SSID>  
☞
Wi-Fi connectivity between base and rover requires matching SSID.  
6.4 Host UDP client  
6.4.1 Client UDP connection  
Follow the below steps to start monitoring the ZED-F9P output and to feed in RTCM correction data:  
1. Navigate to Receiver > Connection> Network Connection menu at u-center and connect to the  
C099-F9P via a UDP client socket:  
udp://192.168.0.1:5555  
2. After a successful UDP connection, the NTRIP connection can be started as described in section  
5.1. RTCM messages will be automatically forwarded to the active UDP socket when the Current  
connection option is used on the NTRIP menu.  
Figure 26: UDP client connection  
6.5 Wireless link limitations  
6.5.1 Data throughput  
The system throughput of the Bluetooth and Wi-Fi links is dominated by the effective I2C and  
Bluetooth SPP or Wi-Fi data rates, respectively. The user is recommended to limit the average byte  
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load from ZED-F9P to 17 kB/sec. The following examples approximate the output load of the default  
configuration of ZED-F9P firmware:  
•
•
•
1 Hz navigation rate: NMEA, UBX-NAV-RELPOSNED, UBX-NAV-PVT enabled < 2.4 kB/sec  
5 Hz navigation rate: NMEA, UBX-NAV-RELPOSNED, UBX-RXM-RTCM enabled < 17 kB/sec  
10 Hz navigation rate: NMEA, UBX-RXM-RTCM enabled < 14 kB/sec  
The ODIN-W2 outputs an error message upon too high I2C bus load. In such situations some  
messages may get dropped. To avoid that, the user is recommended to adjust the enabled messages  
on the ZED-F9P I2C interface.  
6.5.2 Link loss  
6.5.2.1 Bluetooth Classic  
During a Bluetooth transmission failure (red LED blinking), check the system for typical root causes:  
•
•
Bluetooth SPP COM port on the host device stalled or disconnected.  
Insufficient signal quality between the host device and C099-F9P.  
Recover the system by re-starting the ODIN-W2. Reset can be done by pressing down the reset  
button.  
If ZED-F9P is configured through a Bluetooth link, e.g. using UBX-CFG messages, it is recommended  
to apply all configurations manually at u-center. Uploading a large configuration file may fail due to  
the limited link bandwidth.  
6.5.2.2 Wi-Fi 2.4 GHz  
A Wi-Fi disconnection is reported by a CLI message from ODIN-W2 UART1 interface and the LED  
indication (yellow LED). If the disconnection is not intended, check the Wi-Fi interface at the host PC.  
Wi-Fi channel congestion can be avoided by changing the Wi-Fi AP channel on C099-F9P. Typically,  
channel congestion is experienced when the Wi-Fi connection indicators (e.g. LEDs) are OK but no  
data is received. Use the following commands to set and read the current channel stored in the ODIN-  
W2 RAM:  
1. /wifi_setch/run <integer number 1-11>  
2. /wifi_getch/run  
Then, continue with the Wi-Fi connectivity settings, refer to section 6.3 Wi-Fi connectivity. Ensure the  
C099-F9P is rebooted to apply the new channel.  
6.5.3 Windows OS issues with Bluetooth SPP  
There are some known issues with the Windows Bluetooth serial port profile (SPP) implementation  
for Windows 7-10. The 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 un-responsive. This is not related  
to the ODIN-W2 Bluetooth implementation that uses the Bluetooth  
standard SPP.  
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 interface.  
Figure 27: ASUS USB-BT400  
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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. To  
download a new firmware follow the sequence detailed below.  
Figure 28: MON-VER poll response for a receiver with firmware version HPG 1.10  
To begin updating the firmware, select Tools > Firmware Update…  
Figure 29: Selecting u-center Firmware Update mode  
The following Firmware image update window will appear:  
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Figure 30: Selecting u-center Firmware image folder  
At the top is the Firmware image file selection window. Click on the button on 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  
32 below.  
Figure 31: 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 32: Click GO for firmware update  
The firmware update progress indication is shown adjacent to the input window.  
When programming is complete, the module will start up in a default configuration in which the ZED-  
F9P 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, make the selections shown in Figure 34.  
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Figure 33: Setting ZED-F9P UART1 back to 460800 baud and saving it to flash memory  
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7.2 ODIN-W2 firmware update  
Users have a choice to run two distinct firmware variants in ODIN-W2. By factory default the ODIN-  
W2 on a C099-F9P runs a dedicated Mbed application firmware.  
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. Instructions can be found in section 4.4.1 Revert to factory  
default.  
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 ODIN-  
W2 activity LED lights up.  
Figure 34: Power shell capture of FW upload  
7.2.2 u-connectXpress software  
In order to utilize the standard ODIN-W2 connectivity stack a firmware update is required. The latest  
u-blox u-connectXpress software and documentation is available via u-blox.com:  
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https://www.u-blox.com/en/product/odin-w2-series  
The software upload procedure consists of two consecutive phases. Firstly, a bootloader is required  
to be uploaded:  
.\stm32flash.exe -b 115200 -w <ODIN-W2-BOOT.bin> -S 0x8000000 COM<port number>  
After a succesful bootloader upload, the actual u-connectXpress software shall be uploaded while  
incrementing the memory index as shown below  
.\stm32flash.exe -b 115200 -w <ODIN-W26X-SW.bin> -S 0x8010000 COM<port number>  
Instructions of connectivity configurations of ODIN-W2 running the u-connectXpress SW are  
available in C099-F9P User guide [5].  
Figure 35: Power shell capture of bootloader upload  
Figure 36: Power shell capture of u-connectXpresssoftware upload  
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8 Arduino header connections  
The board size and the 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 and electrical compatibility before using with an Arduino R3/Uno - see Figure 39 below. All  
the pin functions besides power are 3.3 V compliant.  
J9, Arduino D  
J8, Arduino C  
J3, Arduino B  
J2, Arduino A  
Figure 37: C099-F9P Arduino connectors  
Figure 38: C099-F9P Arduino R3 connections  
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Appendix  
A Glossary  
Abbreviation  
Definition  
CLI  
Command line interface  
Firmware  
FW  
LiPo  
Lithium polymer  
NTRIP  
NVDS  
RTK  
Networked transport of RTCM via internet protocol  
Non-volatile data storage  
Real time kinematic  
UART  
UDP  
Universal asynchronous receiver transmitter  
User datagram protocol  
Universal serial bus  
USB  
UTC  
Coordinated universal time  
Virtual COM port  
VCP  
Wi-Fi AP  
Wi-Fi STA  
Wi-Fi access point  
Wi-Fi station  
Table 3: Explanation of the abbreviations and terms used  
B C099-F9P antenna specification  
B.1 Wi-Fi/Bluetooth antenna specification  
EX-IT WLAN RPSMA / Ex-IT WLAN SMA  
Manufacturer ProAnt  
Type  
½ wave dipole dual-band antenna  
Polarization  
Gain  
Vertical  
+3 dBi  
Impedance  
Size  
50 Ω  
107 mm (straight)  
Monopole  
Type  
•
•
Reverse polarity SMA plug (inner thread and pin receptacle)  
SMA plug (inner thread and pin)  
Connector  
Comment  
Approval  
To be mounted on the U.FL to SMA or reverse polarity SMA adapter cable  
FCC, IC, RED, MIC, NCC, KCC*, ANATEL, and ICASA  
Table 4: Wi-Fi/Bluetooth antenna  
☞
The variant included in the the C099-F9P kit is with an 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.  
C ODIN-W2 firmware upload via JTAG  
ODIN-W2 firmware upload is possible through the 10-pin JTAG connector by using the STM Link  
Utility SW and ST LINK V2 debugger device. STM Link Utility software can be found on  
https://www.st.com/en/development-tools/stsw-link004.html  
Check the availability of ST LINK V2 debugger device with local STM distributors.  
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D Mechanical board dimensions  
Figure 39: C099-F9P rev. E dimensions  
E C099-F9P schematics  
The following pages show the complete schematic for the C099-F9P evaluation board.  
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Related documents  
[1]  
[2]  
[3]  
[4]  
[5]  
[6]  
ZED-F9P Integration manual, doc. no. UBX-18010802  
ZED-F9P Interface description, doc. no. UBX-18010854  
u-center User guide, doc. no. UBX-13005250  
u-blox GNSS Sensor and VCP Device Driver User guide, doc. no. UBX-15022397  
C099-F9P User guide (with ODIN-W2 u-connectXpress SW), doc. no. UBX-18055649  
ANN-MB series multi-band GNSS antennas Data sheet, doc.no. UBX-18049862  
☞
For regular updates to u-blox documentation and to receive product change notifications, register  
on our homepage (www.u-blox.com).  
Revision history  
Revision  
Date  
Name  
ghun/byou  
byou  
Comments  
R01  
10-Jul-2018  
19-Oct-2018  
8-Nov-2018  
1-Feb-2019  
21-Feb-2019  
Initial release  
R02  
Updates for the C099-F9P rev. B board revision.  
Updates for Mbed3 FW in ODIN-W2  
Updates for Wi-Fi and NVDS features in ODIN-W2  
R03  
olep  
R04  
olep  
R05  
olep  
Updated Arduino J9 schematics. Polarity requirement of the battery  
connector.  
R06  
R07  
R08  
R09  
29-Mar-2019  
23-May-2019  
olep  
olep  
Updates for Wi-Fi AP and STA operation  
Editorial changes  
11-June-2019 olep  
Updates on Wi-Fi base instructions.  
25-Sep-2019  
12-Nov-2019  
5-Dec-2019  
jhak/jjus  
Added instructions for non-wireless operation.  
Updates for the C099-F9P rev. C board revision  
R10  
jhak  
Updates for the C099-F9P rev. E board revision.  
Connectivity SW renamed to u-connectXpress  
R11  
R12  
mala  
Improved the quality of the schematic drawings.  
Update for HPG 1.13  
29-June 2020 ghun  
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Contact  
For complete contact information, visit us at www.u-blox.com.  
u-blox Offices  
North, Central and South America  
u-blox America, Inc.  
Headquarters  
Europe, Middle East, Africa  
Asia, Australia, Pacific  
u-blox Singapore Pte. Ltd.  
u-blox AG  
Phone: +1 703 483 3180  
Phone: +65 6734 3811  
E-mail: info_us@u-blox.com  
Phone: +41 44 722 74 44  
E-mail: info@u-blox.com  
Support: support@u-blox.com  
E-mail: info_ap@u-blox.com  
Support: support_ap@u-blox.com  
Regional Office West Coast:  
Regional Office Australia:  
Phone: +1 408 573 3640  
E-mail: info_us@u-blox.com  
Phone: +61 2 8448 2016  
E-mail: info_anz@u-blox.com  
Support: support_ap@u-blox.com  
Technical Support:  
Phone: +1 703 483 3185  
E-mail: support@u-blox.com  
Regional Office China (Beijing):  
Phone: +86 10 68 133 545  
E-mail: info_cn@u-blox.com  
Support: support_cn@u-blox.com  
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Phone: +86 23 6815 1588  
E-mail: info_cn@u-blox.com  
Support: support_cn@u-blox.com  
Regional Office China (Shanghai):  
Phone: +86 21 6090 4832  
E-mail: info_cn@u-blox.com  
Support: support_cn@u-blox.com  
Regional Office China (Shenzhen):  
Phone: +86 755 8627 1083  
E-mail: info_cn@u-blox.com  
Support: support_cn@u-blox.com  
Regional Office India:  
Phone: +91 80 405 092 00  
E-mail: info_in@u-blox.com  
Support: support_in@u-blox.com  
Regional Office Japan (Osaka):  
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E-mail: info_jp@u-blox.com  
Support: support_jp@u-blox.com  
Regional Office Japan (Tokyo):  
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E-mail: info_jp@u-blox.com  
Support: support_jp@u-blox.com  
Regional Office Korea:  
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