# 3. V3.2 GNSS (ZED-F9P) MAG BARO with EXTERNAL ANTENNA hardware
Multi-band GNSS receiver delivers centimeter level accuracy in seconds.
The ZED-F9P positioning multi-band GNSS and real time kinematics (RTK) technology in a compact form factor, to deliver centimeter-level accuracies in seconds for the industrial navigation and robotics markets. ZED-F9P concurrently uses GNSS signals from all four GNSS constellations (GPS, GLONASS, Galileo, and BeiDou). GNSS signals from multiple frequency bands (L1/L2) combined with RTK technology enables fast convergence times and reliable performance for scalable applications, including robotic lawnmowers, unmanned autonomous vehicles (UAV), and semi-automated or fully automated machinery.
# 3.1. Features
- Concurrent reception of GPS, GLONASS, Galileo and BeiDou
- Multi-band RTK with fast convergence times and reliable performance
- Centimeter-level accuracy in a small and energy-efficient module
- Easy integration of RTK for fast time-to-market
- Magnetometer RM3100 (opens new window)
- Baro BMP280
- 2 CAN
- 2 JST SM04B connectors compatible with Dronecode Autopilot Connector Standard (opens new window)
- 1 MOLEX (opens new window) non standart connector
- GNSS module ZED-F9P (opens new window) (Datasheet (opens new window) and Interface Description (opens new window))
- External antenna MCX connector
# 3.2. Wire
Schematic features. Schematic can be provided via issue.
The node has 3 connectors which are described in the table below.
|1||CAN1, CAN2||Devices that deliver power to the bus are required to provide 4.5–5.5 V on the bus power line, 5.0 V nominal. Devices that are powered from the bus should expect 4.5–5.5 V on the bus power line. The current shall not exceed 1 A per connector.|
|2||CAN3, CNA4||Can be powered from 5.5 to 30 volts and connected to CAN bus|
|3||SWD||STM32 firmware updating using programmer-sniffer.|
|4||DEBUG||Debug connector matches with Zubax probe (opens new window)|
|5||CC||Camera capture port can be used to receive |
|6||MCX||To be used with external active antenna|
Here (opens new window) you can find manufacturer part number of connectors it self and its mates.
Pin configuration and functions
|Pin||CAN3, CAN4||DEBUG||Pin||CAN1, CAN2||SWD||CC|
|2||Vin||GPS TXO||2||CAN High||SWCLK||TIMEPULSE|
|3||CAN High||GPS RXI||3||CAN Low||SWDIO||EXTINT|
Here you can see all connections of MCU.
|MCU PIN||PIN Numer||NET Name||Description|
# 3.3. Specifications
Scheme is shown on the picture below. CAN model can be provided via email request or issue on github or downloaded on GrabCAD (opens new window).
|Width, mm||Length, mm||Height, mm|
|Mount holes (D = 3.2 mm)||46||33|
Total weight of device less than 14 g.
The casing can be downloaded from GrabCAD (opens new window) and printed in ABS or PLA plastic. The housing consists of two parts: top and bottom. It can be assembled using M2 L=10mm (opens new window) screws DIN 912 (ISO 4762) and Bras Hot Melt Insert Nut (opens new window). The assembled unit can be fixed with double-sided tape or with M2 L=12-20mm (opens new window) screws.
Bill of materials:
|ABS or PLA plastic|
|M2 L=10mm (opens new window) screws DIN 912 (ISO 4762)||2||In case of double-sided tape mount type|
|Bras Hot Melt Insert Nut (opens new window)||2|
|M2 L=12-20mm (opens new window) screws DIN 912 (ISO 4762)||4||In case of screws|
Absolute Maximum Ratings
*Noted Voltage should be delivered only with current limitation under 2.5 Amp.
Recommended operating conditions
|V (CAN1, CAN2)||5||V|
|Human-body model (HBM)||2000||V|
|Charged-device model (CDM)||500||V|
# Recommended mechanical mounting
# Functional Block Diagram
# Connection example diagram
# 3.5. Power Supply Recommendations
Device is designed to operate from an input voltage supply range between 4.5 V and 5.5 V over CAN1 or CAN2 connector, or 5.5 - 30 V from CAN3,CAN4. This input supply must be able to withstand the maximum input current and maintain a stable voltage. The resistance of the input supply rail should be low enough that an input current transient does not cause a high enough drop that can cause a false UVLO fault triggering and system reset. The amount of bulk capacitance is not critical, but a 47-μF or 100-μF electrolytic capacitor is a typical choice.
# 3.6. Revision history
|v3.2.0 (opens new window)||Initial design|