# 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.
# 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 FDCAN or CAN 2.0
- 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))
- GPS L1/L2 and Glonass 36.00mm Stacked Patch Single Feed Antenna (opens new window)
# 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||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 (opens new window) you can find manufacturer part number of connectors it self and its mates.
Pin configuration and functions
|3||CAN High||3||CAN Low||SWDIO||RXI|
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|
Total weight of device less than 42 g.
The housing model can be downloaded on GrabCAD (opens new window) and printed using PLA or ABS plastic.
Absolute Maximum Ratings
|V (CAN2, CAN3)||4.5||5.5||V|
*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 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
|v3.1.1 (opens new window)||RF amp corrections|
|v3.1.0 (opens new window)||Just initial version to test all new features|