# 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.

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drawing drawing drawing
drawing drawing drawing

# 3.1. Features

# 3.2. Wire

Schematic features. Schematic can be provided via issue.

Connectors

The node has 3 connectors which are described in the table below.

Connector Description
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 external interrupt from camera trigger and send timepulse to payload such as autopilot
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
1 Vin 3.3V 1 5V in GND 3.3V
2 Vin GPS TXO 2 CAN High SWCLK TIMEPULSE
3 CAN High GPS RXI 3 CAN Low SWDIO EXTINT
4 CAN Low SWDIO 4 GND 3.3V GND
5 GND SWCLK
6 GND GND

Here you can see all connections of MCU.

pinout
MCU PIN PIN Numer NET Name Description
PA9 29 USART1_TX
PA10 32 USART1_RX
PA5 16 TX_READY
PC7 31 TIMEPULSE
PA13 35 SWDIO
PA14-BOOT0 36 SWCLK
PA12_[PA10] 34 STM_USB_DP
PA11_[PA9] 33 STM_USB_DM
PB12 24 SPI_SS
PB13 25 SPI2_SCK
PB11 23 SPI2_MOSI
PB14 26 SPI2_MISO
PC6 30 RTK
PA2 13 nRESET
PC13 1 INTERNAL_LED_RED
PC14-OSC32_IN 2 INTERNAL_LED_GREEN
PC15-OSC32_OUT 3 INTERNAL_LED_BLUE
PB7 46 I2C1_SDA
PB6 45 I2C1_SCL
PB1 20 FDCAN2_TX
PB0 19 FDCAN2_RX
PD1 39 FDCAN1_TX
PD0 38 FDCAN1_RX
PA4 15 EXTINT
PB9 48 EXT_RGB_LED_RED
PB8 47 EXT_RGB_LED_GREEN
PB5 44 EXT_RGB_LED_BLUE
PB15 27 CAN2_TERMINATOR
PA15 37 CAN1_TERMINATOR
PA3 14 ANT_DETECT
PA0 11 ADC_VIN
PA7 18 ADC_VERSION
PA6 17 ADC_CURRENT
PA1 12 ADC_5V

# 3.3. Specifications

# Mechanical

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).

schematic

Width, mm Length, mm Height, mm
Outline 52 39 13.9
PCB 52 39 1.6
Mount holes (D = 3.2 mm) 46 33

Total weight of device less than 14 g.

# Housing

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.

drawing

Bill of materials:

Name Qty Comment
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
Double-sided tape
M2 L=12-20mm (opens new window) screws DIN 912 (ISO 4762) 4 In case of screws

Absolute Maximum Ratings

Parameter MIN MAX UNIT
Vin 5.5 55* V
V 4.5 5.5 V
I max A
Operating temperature

*Noted Voltage should be delivered only with current limitation under 2.5 Amp.

Recommended operating conditions

Parameter Value UNIT
Vin (CAN3) 30 V
V (CAN1, CAN2) 5 V
I max A

ESD ratings

Description Value UNIT
Human-body model (HBM) 2000 V
Charged-device model (CDM) 500 V

# MTFF

# Integration

# Functional Block Diagram

# Connection example diagram

connection

# 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

version Description
v3.2.0 (opens new window) Initial design