# 3. V3 GNSS (ZED-F9P, L1/L2 RTK) MAG BARO 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/L5) 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

# 3.1. Features

# 3.2. Wire

Schematic features. Schematic can be provided via issue.


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 SWD STM32 firmware updating using programmer-sniffer.
3 J1 Debug connector matches with Zubax probe (opens new window)
3 CAN3 Can be powered from 5.5 to 30 volts and connected to CAN.
4 UART Can be used to setup the GPS module
5 USB Can be used to setup the GPS module
6 MCX In case of configuration this board to be used with external active antenna it should be connected here

Here you can find manufacturer part number of connectors it self and its mates.

Type MP Suitable Wire Type MP
CAN1, CAN2, UART, SWD JST SM04B-GHS-TB(LF)(SN) JST 4-pins cable (opens new window) JST GHR-04V-S (opens new window) and pin SSHL-002T-P0.2 (opens new window)
CAN3 MOLEX 502585-0670 (opens new window) MOLEX 6-pins cable (opens new window) MOLEX 5025780600 (opens new window) and pin 5025790000 (opens new window)
MCX Female MCX coaxial 50 Ohm connector Male MCX -

Pin configuration and functions

1 Vin 1 5V in GND 5V
2 Vin 2 CAN High SWCLK TXO
4 CAN Low 4 GND 3.3V GND

# 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
Outline 59.7 59.1 16.1
PCB 59.7 59 .1 1.6

Total weight of device less than 50 g.


Information about case presented here.

Absolute Maximum Ratings

Parameter MIN MAX UNIT
Vin (CAN1) 5.5 55* V
V (CAN2, CAN3) 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

# 3.4. Description

# 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 CAN2 or CAN3 connector, or 5.5 - 30 V from CAN1. 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.

Can be powered from:

# 3.6. Revision history

version Description
v3.1.1 (opens new window) RF amp corrections
v3.1.0 (opens new window) Just initial version to test all new features